ISRWiki - User contributions [en]

Recommendations for European Project Proposals

2012-11-06T14:48:58Z

Jruesch:

==Recommendations 2012==

[[Media:Eu_proposals_recommendations_2012.pdf‎]]

Recommendations for European Project Proposals

2012-11-06T14:48:35Z

Jruesch:

==Recommendations 2012==
[[Media:Eu_proposals_recommendations_2012.pdf‎]]
[[File:Eu_proposals_recommendations_2012.pdf‎]]

Recommendations for European Project Proposals

2012-11-06T14:48:16Z

Jruesch: /* Recommendations 2012 */

==Recommendations 2012==
[[Media:Eu_proposals_recommendations_2012.pdf‎]]

File:Eu proposals recommendations 2012.pdf

2012-11-06T14:47:55Z

Jruesch:

Recommendations for European Project Proposals

2012-11-06T14:45:53Z

Jruesch: Created page with " ==Recommendations 2012=="

==Recommendations 2012==

Main Page

2012-11-06T14:45:03Z

Jruesch: /* Research */

<big>'''Welcome to the MediaWiki space of the [http://www.isr.ist.utl.pt Institute for Systems and Robotics].'''</big>

== Opportunities ==

=== Current ===

=== Past ===

* [[BII 2009]]
* [[Dissertation/Project proposals]]
* [[BII 2008]]

== Research ==

* bureaucracy: [[Prospective PhD students]]
* [[Vislab | Computer and Robot Vision Lab (VisLab)]]
** robots: [[Chica]], [[Chico]], [[Darwin]], [[Nao]], [[Vizzy]]
** archive: [[VisLab logbook]], [[VisLab Videos]], [[VisLab Proceedings]], [[VisLab Meetings]]
** datasets: [[Multiple View Tracking]]
** demos: [[Affordance imitation]], '''[[iCub demos]]''', [[Cyberglove Remote Control]]
** hardware: [[Chico3 laptop machine configuration]], [[Cortex]], [[iCubBrain server configuration]], [[Kinect]], [[pc104]], [[vislab8]] (NVIDIA Tesla GPGPU)
** software: [[VisLab machines configuration]], [[VisLab network]], [[RobotCub coding basics]], '''[[RobotCub software]], '''[[Poeticon software]]
* [[Intelligent Robots and Systems Group]]
** robots: [[RAPOSA robot|RAPOSA]], [[ISR Bioloid Humanoid|Bioloid]]
* [[Lisbon-K Chromosome Dataset]]
* [[International conferences deadlines]]
* [[Journals]]
* [[Computer Vision Journals RSS feeds]]
* European Projects: [[Recommendations for European Project Proposals]]
* [[Introduction to ROS]]
** [http://ftp.isr.ist.utl.pt/pub/roswiki/ Local mirror of ROS wiki]

== Teaching ==

* [[Robotics lab resources]]
* [[Autonomous Systems resources]]
* [[Discrete Event Dynamic Systems resources]]
* [[Artificial Intelligence and Decision Systems resources]]

== Events ==

=== Ongoing ===

* [[Ocupação Científica de Jovens nas Férias 2012]]

=== Past ===

* [[Ocupação Científica de Jovens nas Férias 2011]]
* [[Ocupação Científica de Jovens nas Férias 2010]]
* [http://vislab.isr.ist.utl.pt/RLSS09 RLSS09: Robot Learning Summer School]
* [[Ocupação Científica de Jovens nas Férias 2009]]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]]

== Computing ==

* [[ISR computing resources]]
* [[Macintosh resources]] (incl. useful tips)
* [[Python resources]]

== Misc ==

* [[Administrative checklist]] (internal use only) -- '''check here for all rules concerning purchases, conference trips, paper credits, etc.'''
* [http://library.isr.ist.utl.pt/isr/logo/ ISR logos]
* [[List of restaurants]]
* [http://wiki.isr.ist.utl.pt Former ISR wiki pages]
* Use this [[SandBox]] for experimentation with MediaWiki

Main Page

2012-11-06T14:44:52Z

Jruesch: /* Research */

<big>'''Welcome to the MediaWiki space of the [http://www.isr.ist.utl.pt Institute for Systems and Robotics].'''</big>

== Opportunities ==

=== Current ===

=== Past ===

* [[BII 2009]]
* [[Dissertation/Project proposals]]
* [[BII 2008]]

== Research ==

* bureaucracy: [[Prospective PhD students]]
* [[Vislab | Computer and Robot Vision Lab (VisLab)]]
** robots: [[Chica]], [[Chico]], [[Darwin]], [[Nao]], [[Vizzy]]
** archive: [[VisLab logbook]], [[VisLab Videos]], [[VisLab Proceedings]], [[VisLab Meetings]]
** datasets: [[Multiple View Tracking]]
** demos: [[Affordance imitation]], '''[[iCub demos]]''', [[Cyberglove Remote Control]]
** hardware: [[Chico3 laptop machine configuration]], [[Cortex]], [[iCubBrain server configuration]], [[Kinect]], [[pc104]], [[vislab8]] (NVIDIA Tesla GPGPU)
** software: [[VisLab machines configuration]], [[VisLab network]], [[RobotCub coding basics]], '''[[RobotCub software]], '''[[Poeticon software]]
* [[Intelligent Robots and Systems Group]]
** robots: [[RAPOSA robot|RAPOSA]], [[ISR Bioloid Humanoid|Bioloid]]
* [[Lisbon-K Chromosome Dataset]]
* [[International conferences deadlines]]
* [[Journals]]
* [[Computer Vision Journals RSS feeds]]
* European Projects: [[Recommendations for European Project Proposals 2012]]
* [[Introduction to ROS]]
** [http://ftp.isr.ist.utl.pt/pub/roswiki/ Local mirror of ROS wiki]

== Teaching ==

* [[Robotics lab resources]]
* [[Autonomous Systems resources]]
* [[Discrete Event Dynamic Systems resources]]
* [[Artificial Intelligence and Decision Systems resources]]

== Events ==

=== Ongoing ===

* [[Ocupação Científica de Jovens nas Férias 2012]]

=== Past ===

* [[Ocupação Científica de Jovens nas Férias 2011]]
* [[Ocupação Científica de Jovens nas Férias 2010]]
* [http://vislab.isr.ist.utl.pt/RLSS09 RLSS09: Robot Learning Summer School]
* [[Ocupação Científica de Jovens nas Férias 2009]]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]]

== Computing ==

* [[ISR computing resources]]
* [[Macintosh resources]] (incl. useful tips)
* [[Python resources]]

== Misc ==

* [[Administrative checklist]] (internal use only) -- '''check here for all rules concerning purchases, conference trips, paper credits, etc.'''
* [http://library.isr.ist.utl.pt/isr/logo/ ISR logos]
* [[List of restaurants]]
* [http://wiki.isr.ist.utl.pt Former ISR wiki pages]
* Use this [[SandBox]] for experimentation with MediaWiki

VisLab book wishlist

2011-11-24T15:35:00Z

Jruesch: /* First batch (July 2011) */

= From November 2011 Onwards =

* Encyclopedia of Animal Behavior http://www.amazon.com/Encyclopedia-Animal-Behavior-Michael-Breed/dp/0080453333

= First batch (July 2011) =

Has been ordered.

* Plasticity in the Visual System: From Genes to Circuits, Raphael Pinaud (Editor), Liisa A. Tremere (Editor), Peter de Weerd, Springer 2006, http://www.amazon.com/Plasticity-Visual-System-Genes-Circuits/dp/0387281894 (*)
* [http://www.springer.com/engineering/robotics/book/978-3-540-23957-4 Springer Handbook of Robotics]. Bruno Siciliano, Oussama Khatib (Editors). Springer, 2008. (**)
* [http://www.amazon.com/Human-Motor-Control-Second-Rosenbaum/dp/0123742269 Human Motor Control], David Rosenbaum. Elsevier/Academic Press, 2010. ()
* [http://www.amazon.co.uk/Designing-Sociable-Intelligent-Robotics-Autonomous/dp/0262025108 Designing Sociable Robots], Cynthia Breazeal. MIT Press, 2002. (*)
* [http://www.amazon.com/Computer-Vision-Approach-David-Forsyth/dp/0130851981 Computer vision, A modern approach], David Forsyth and Jean Ponce.
* [http://www.amazon.fr/Pattern-Recognition-Machine-Learning-Christopher/dp/0387310738/sr=8-1/qid=1158928255/ref=sr_1_1/402-9555855-8053710?ie=UTF8&s=english-books Pattern recognition and machine learning ], Christopher M. Bishop

= Future batches =

Books that are not yet published, or that we do not manage to order in time:

* [http://www.springer.com/computer/image+processing/book/978-0-85729-996-3 Visual Analysis of Humans], Moeslund, Th.B.; Hilton, A.; Krüger, V.; Sigal, L. (Editors). Springer, September 2011. (*)

[[Category:Vislab]]

VisLab book wishlist

2011-11-24T15:34:38Z

Jruesch: /* First batch (July 2011) */

= From November 2011 Onwards =

* Encyclopedia of Animal Behavior http://www.amazon.com/Encyclopedia-Animal-Behavior-Michael-Breed/dp/0080453333

= First batch (July 2011) =

* Plasticity in the Visual System: From Genes to Circuits, Raphael Pinaud (Editor), Liisa A. Tremere (Editor), Peter de Weerd, Springer 2006, http://www.amazon.com/Plasticity-Visual-System-Genes-Circuits/dp/0387281894 (*)
* [http://www.springer.com/engineering/robotics/book/978-3-540-23957-4 Springer Handbook of Robotics]. Bruno Siciliano, Oussama Khatib (Editors). Springer, 2008. (**)
* [http://www.amazon.com/Human-Motor-Control-Second-Rosenbaum/dp/0123742269 Human Motor Control], David Rosenbaum. Elsevier/Academic Press, 2010. ()
* [http://www.amazon.co.uk/Designing-Sociable-Intelligent-Robotics-Autonomous/dp/0262025108 Designing Sociable Robots], Cynthia Breazeal. MIT Press, 2002. (*)
* [http://www.amazon.com/Computer-Vision-Approach-David-Forsyth/dp/0130851981 Computer vision, A modern approach], David Forsyth and Jean Ponce.
* [http://www.amazon.fr/Pattern-Recognition-Machine-Learning-Christopher/dp/0387310738/sr=8-1/qid=1158928255/ref=sr_1_1/402-9555855-8053710?ie=UTF8&s=english-books Pattern recognition and machine learning ], Christopher M. Bishop

= Future batches =

Books that are not yet published, or that we do not manage to order in time:

* [http://www.springer.com/computer/image+processing/book/978-0-85729-996-3 Visual Analysis of Humans], Moeslund, Th.B.; Hilton, A.; Krüger, V.; Sigal, L. (Editors). Springer, September 2011. (*)

[[Category:Vislab]]

Vislab

2011-02-01T15:14:01Z

Jruesch: /* Book Wishlist */

Institutional information:
http://vislab.isr.ist.utl.pt

Our YouTube channel, containing nice videos and demonstrations:
http://www.youtube.com/user/VislabLisboa

Our internal video page on this wiki:
[[VisLab Videos]]

== Research Topics ==

* Machine Learning
* Computer Vision

== Projects ==

=== Current projects ===

* First-MM - Flexible Skill Acquisition and Intuitive Robot Tasking for Mobile Manipulation (EC FP7, Feb. 2010 - Jul. 2013)
** http://www.first-mm.eu/
** The goal of First-MM is to build the basis for a new generation of autonomous mobile manipulation robots that can flexibly be instructed to perform complex manipulation and transportation tasks. The project will develop a novel robot programming environment that allows even non-expert users to specify complex manipulation tasks in real-world environments. In addition to a task specification language, the environment includes concepts for probabilistic inference and for learning manipulation skills from demonstration and from experience.
* HANDLE - Developmental Pathway Towards Autonomy and Dexterity in Robot In-Hand Manipulation (EC FP7, Feb. 2009 - Feb. 2013)
** http://www.handle-project.eu
** This project aims at providing advanced perception and control capabilities to the Shadow Robot hand, one of the most advanced robotic hands in mechanical terms. We follow some paradigms of human learning to make the system able to grasp and manipulate objects of different characteristics: learning by imitation and by self-exploration. Different object characteristics and usages (object affordances) determine the way the hand will perform the grasping and manipulation actions.
* RoboSoM - A Robotic Sense of Movement (EC FP7, Dec. 2009 - Dec. 2012)
** http://www.robosom.eu/
** This project aims at advancing the state-of-the-art in motion perception and control in a humanoid robot. The fundamental principles to explore are rooted on theories of human perception: Expected Perception (EP) and the Vestibular Unified Reference Frame.

=== Past projects ===

* RobotCub - Robotic Open-Architecture Technology for Cognition, Understanding and Behaviour (EC FP6, Sept. 2004 - Jan. 2010)
** http://www.robotcub.org
* URUS - Ubiquitous Networking Robotics in Urban Settings (EC FP6, Dec. 2006 - Nov. 2009)
** http://urus.upc.es
* CAVIAR - Context-Aware Vision Using Image-Based Active Recognition (EC FP6, 2002 - 2005)
** http://homepages.inf.ed.ac.uk/rbf/CAVIAR/
* MIRROR - Mirror Neurons for Recognition (EC FP5, 2001 - 2004)

== People ==

=== Permanent staff ===

* [http://users.isr.ist.utl.pt/~jasv/ José Santos-Victor]
* [http://users.isr.ist.utl.pt/~alex Alexandre Bernardino]
* [http://users.isr.ist.utl.pt/~jpc/ João Paulo Costeira]
* [http://welcome.isr.ist.utl.pt/people/index.asp?accao=showpeople&id_people=2 João Sentieiro]
* [http://users.isr.ist.utl.pt/~jag/ José Gaspar]

=== Researchers ===

* [http://users.isr.ist.utl.pt/~plinio/ Plinio Moreno]
* [http://users.isr.ist.utl.pt/~ricardo/ Ricardo Ferreira]

=== PhD students ===

* Bruno Damas
* Dario Figueira
* [http://users.isr.ist.utl.pt/~gsaponaro/ Giovanni Saponaro]
* Jonas Hörnstein
* Jonas Ruesch
* [http://users.isr.ist.utl.pt/~mtaiana/ Matteo Taiana]
* Nuno Moutinho
* [http://welcome.isr.ist.utl.pt/people/index.asp?accao=showpeople&id_people=105 Pedro Ribeiro]
* Ravin DeSouza ([http://www.ist.utl.pt/en/about-IST/global-cooperation/IST-EPFL/ IST-EPFL])
* Sébastien Gay ([http://www.ist.utl.pt/en/about-IST/global-cooperation/IST-EPFL/ IST-EPFL])
* Urbain Prieur (IST-UPMC)

=== Master's students ===

* Ashish Jain
* Duarte Aragão
* Filipe Vieiga
* João Pimentel
* Lester García
* Marco Henriques
* Martim Brandão
* Tayebeh Razmi

=== Other staff ===

* Ana Santos (administrative)
* Nuno Conraria (engineering)
* Ricardo Nunes (engineering)

=== Miscellaneous and past members ===

* Afshin Dehghan
* Anastácia Rodrigues (administrative)
* António Bastos
* Bruno Dias
* [http://roboticslab.uc3m.es/roboticslab/persona.php?id_pers=42 Carla González], Universidad Carlos III de Madrid, Spain
* Carlo Favali, visiting PhD student, University of Genoa, Italy
* Carlos Carreira, University of Valencia, Spain
* César Silva, Ph.D. (2001)
* Christian Wressnegger
* Claudia Deccó, visiting PhD student, University of São Paulo, Brazil
* Cláudia Soares
* Daniel Matter, IAESTE intern
* Diego Ortín, visiting PhD student, University of Zaragoza, Spain
* Etienne Grossmann
* Eval Bacca Cortes, visiting MSc student, University of Cali, Colombia
* Freek Stulp, visiting researcher, University of Groningen, The Netherlands and University of Edinburgh, UK
* [http://www.speech.kth.se/~giampi/ Giampiero Salvi], Royal Institute of Technology, Sweden
* Gianluca De Leo, University of Genoa, Italy
* Ivana Cingovksa, IAESTE intern
* [http://webdiis.unizar.es/~jminguez/ Javier Minguez], visiting PhD student, University of Zaragoza, Spain
* [http://users.isr.ist.utl.pt/~maciel/ João Maciel], Ph.D. (2002)
* José Eduardo Vianna, Universidade Federal do Espírito Santo, Brazil
* Kristijan Petkov, summer 2010 IAESTE intern
* Lenildo Silva, visiting PhD student, Universidade Federal do Rio de Janeiro, Brazil
* Luís Jordão
* [http://webdiis.unizar.es/~montesan/ Luis Montesano]
* Luís Vargas
* [http://www.isr.ist.utl.pt/~macl Manuel Lopes]
* Marco Zucchelli, visiting PhD student, Royal Institute of Technology, Sweden
* Maria Nazarycheva
* Matteo Perrone, University of Genoa, Italy
* Mauricio Arias, Escuela de Ingeniería de Antioquia, Colombia
* Miguel Praça
* Mišél Batmendijn
* Mohit Khurana, summer 2008 intern
* Niall Winters, visiting PhD student, Trinity College, Dublin, Ireland
* [http://nicolagreggio.altervista.org/ Nicola Greggio], Sant'Anna School of Advanced Studies, Pisa, Italy
* Nuno Gracias
* Nuno Pinho
* [http://www.gatv.ssr.upm.es/index.php/en/component/content/article/62 Nuria Sánchez], Universidad Politécnica de Madrid, Spain
* Raquel Vassallo, visiting PhD student, Universidade Federal do Espírito Santo, Brazil
* Ricardo Beira
* [http://users.isr.ist.utl.pt/~rco/ Ricardo Oliveira]
* Roberto Iannello, University of Genoa, Italy
* Roger Castro Freitas, visiting PhD student, Universidade Federal do Espírito Santo, Brazil
* [http://users.isr.ist.utl.pt/~rmcantin Rubén Martínez-Cantín]
* Sandra Nope Rodríguez
* Sjoerd van der Zwaan, M.Sc. (2001)
* Vicente Javier Traver
* Verica Krunić
* Vítor Costa, M.Sc. (1999)

== Material ==

=== Book Wishlist ===

* Plasticity in the Visual System: From Genes to Circuits, Raphael Pinaud (Editor), Liisa A. Tremere (Editor), Peter de Weerd, Springer 2006, http://www.amazon.com/Plasticity-Visual-System-Genes-Circuits/dp/0387281894 (*)

== Robots ==

* [[Baltazar]]
* [[Chico]] (iCubLisboa01)
* [[Chica]]
* [[Vizzy]]

== Other resources ==

=== Cortex cluster ===

''For information on the setup of this cluster, see [[Cortex]].''

=== Demos ===

* [[Binocular Head]]
* [[Imitation]]
* [[Surveillance]]

=== iCubBrain cluster ===

''For information on the setup of this cluster, see [[iCubBrain server configuration]].''

=== Network ===

{|
!description
!IP address
!domain name
|-
|gateway
|10.10.1.254
|gtisr.visnet
|-
|Chico pc104
|10.10.1.50
|
|-
|Chico clients
|10.10.1.51-59
|
|-
|Chico icubsrv laptop
|10.10.1.51
|
|-
|Chica net
|10.10.1.60-69
|
|-
|Balta net
|10.10.1.70-79
|
|-
|cortex server
|10.10.1.240
|server.visnet
|-
|cortex switch
|10.10.1.250
|swcompurack.visnet
|-
|vislab switch
|10.10.1.251
|swvislab.visnet
|-
|cortex1
|10.10.1.1
|cortex1.visnet
|-
|cortex2
|10.10.1.2
|cortex2.visnet
|-
|cortex3
|10.10.1.3
|cortex3.visnet
|-
|cortex4
|10.10.1.4
|cortex4.visnet
|-
|cortex5
|10.10.1.5
|cortex5.visnet
|-
|cortex6 (64 bit)
|10.10.1.6
|cortex6.visnet
|-
|icubbrain1 (64 bit)
|10.10.1.41
|icubbrain1.visnet
|-
|icubbrain2 (32 bit)
|10.10.1.42
|icubbrain2.visnet
|-
|DHCP range
|10.10.1.100-199
|
|}

''For further details, go to the [[VisLab network]] article.''

=== SVN repository ===

You can find the VisLab SVN repository at:
svn://svn.isr.ist.utl.pt/vislab

=== Tutorials ===

* [[3D ball tracker]]

* [[OpenRAVE Tutorial]]

=== Useful links ===

* [[Checklist for new VisLab members]]
* YARP for iCub: [[RobotCub coding basics]]
* iCub Joints: http://eris.liralab.it/wiki/ICub_joints
* iKinArmCtrl: http://eris.liralab.it/iCub/dox/html/group__iKinArmCtrl.html
* [[Temp 2010-11 iCub system update]]
* [[Software installation tricks]]

== VisLab category ==

The page ''Category:Vislab'' (linked below) lists all pages related to VisLab.

[[Category:Learning]]
[[Category:Robots]]
[[Category:Vislab]]

Vislab

2011-02-01T15:10:40Z

Jruesch: /* Robots */

Institutional information:
http://vislab.isr.ist.utl.pt

Our YouTube channel, containing nice videos and demonstrations:
http://www.youtube.com/user/VislabLisboa

Our internal video page on this wiki:
[[VisLab Videos]]

== Research Topics ==

* Machine Learning
* Computer Vision

== Projects ==

=== Current projects ===

* First-MM - Flexible Skill Acquisition and Intuitive Robot Tasking for Mobile Manipulation (EC FP7, Feb. 2010 - Jul. 2013)
** http://www.first-mm.eu/
** The goal of First-MM is to build the basis for a new generation of autonomous mobile manipulation robots that can flexibly be instructed to perform complex manipulation and transportation tasks. The project will develop a novel robot programming environment that allows even non-expert users to specify complex manipulation tasks in real-world environments. In addition to a task specification language, the environment includes concepts for probabilistic inference and for learning manipulation skills from demonstration and from experience.
* HANDLE - Developmental Pathway Towards Autonomy and Dexterity in Robot In-Hand Manipulation (EC FP7, Feb. 2009 - Feb. 2013)
** http://www.handle-project.eu
** This project aims at providing advanced perception and control capabilities to the Shadow Robot hand, one of the most advanced robotic hands in mechanical terms. We follow some paradigms of human learning to make the system able to grasp and manipulate objects of different characteristics: learning by imitation and by self-exploration. Different object characteristics and usages (object affordances) determine the way the hand will perform the grasping and manipulation actions.
* RoboSoM - A Robotic Sense of Movement (EC FP7, Dec. 2009 - Dec. 2012)
** http://www.robosom.eu/
** This project aims at advancing the state-of-the-art in motion perception and control in a humanoid robot. The fundamental principles to explore are rooted on theories of human perception: Expected Perception (EP) and the Vestibular Unified Reference Frame.

=== Past projects ===

* RobotCub - Robotic Open-Architecture Technology for Cognition, Understanding and Behaviour (EC FP6, Sept. 2004 - Jan. 2010)
** http://www.robotcub.org
* URUS - Ubiquitous Networking Robotics in Urban Settings (EC FP6, Dec. 2006 - Nov. 2009)
** http://urus.upc.es
* CAVIAR - Context-Aware Vision Using Image-Based Active Recognition (EC FP6, 2002 - 2005)
** http://homepages.inf.ed.ac.uk/rbf/CAVIAR/
* MIRROR - Mirror Neurons for Recognition (EC FP5, 2001 - 2004)

== People ==

=== Permanent staff ===

* [http://users.isr.ist.utl.pt/~jasv/ José Santos-Victor]
* [http://users.isr.ist.utl.pt/~alex Alexandre Bernardino]
* [http://users.isr.ist.utl.pt/~jpc/ João Paulo Costeira]
* [http://welcome.isr.ist.utl.pt/people/index.asp?accao=showpeople&id_people=2 João Sentieiro]
* [http://users.isr.ist.utl.pt/~jag/ José Gaspar]

=== Researchers ===

* [http://users.isr.ist.utl.pt/~plinio/ Plinio Moreno]
* [http://users.isr.ist.utl.pt/~ricardo/ Ricardo Ferreira]

=== PhD students ===

* Bruno Damas
* Dario Figueira
* [http://users.isr.ist.utl.pt/~gsaponaro/ Giovanni Saponaro]
* Jonas Hörnstein
* Jonas Ruesch
* [http://users.isr.ist.utl.pt/~mtaiana/ Matteo Taiana]
* Nuno Moutinho
* [http://welcome.isr.ist.utl.pt/people/index.asp?accao=showpeople&id_people=105 Pedro Ribeiro]
* Ravin DeSouza ([http://www.ist.utl.pt/en/about-IST/global-cooperation/IST-EPFL/ IST-EPFL])
* Sébastien Gay ([http://www.ist.utl.pt/en/about-IST/global-cooperation/IST-EPFL/ IST-EPFL])
* Urbain Prieur (IST-UPMC)

=== Master's students ===

* Ashish Jain
* Duarte Aragão
* Filipe Vieiga
* João Pimentel
* Lester García
* Marco Henriques
* Martim Brandão
* Tayebeh Razmi

=== Other staff ===

* Ana Santos (administrative)
* Nuno Conraria (engineering)
* Ricardo Nunes (engineering)

=== Miscellaneous and past members ===

* Afshin Dehghan
* Anastácia Rodrigues (administrative)
* António Bastos
* Bruno Dias
* [http://roboticslab.uc3m.es/roboticslab/persona.php?id_pers=42 Carla González], Universidad Carlos III de Madrid, Spain
* Carlo Favali, visiting PhD student, University of Genoa, Italy
* Carlos Carreira, University of Valencia, Spain
* César Silva, Ph.D. (2001)
* Christian Wressnegger
* Claudia Deccó, visiting PhD student, University of São Paulo, Brazil
* Cláudia Soares
* Daniel Matter, IAESTE intern
* Diego Ortín, visiting PhD student, University of Zaragoza, Spain
* Etienne Grossmann
* Eval Bacca Cortes, visiting MSc student, University of Cali, Colombia
* Freek Stulp, visiting researcher, University of Groningen, The Netherlands and University of Edinburgh, UK
* [http://www.speech.kth.se/~giampi/ Giampiero Salvi], Royal Institute of Technology, Sweden
* Gianluca De Leo, University of Genoa, Italy
* Ivana Cingovksa, IAESTE intern
* [http://webdiis.unizar.es/~jminguez/ Javier Minguez], visiting PhD student, University of Zaragoza, Spain
* [http://users.isr.ist.utl.pt/~maciel/ João Maciel], Ph.D. (2002)
* José Eduardo Vianna, Universidade Federal do Espírito Santo, Brazil
* Kristijan Petkov, summer 2010 IAESTE intern
* Lenildo Silva, visiting PhD student, Universidade Federal do Rio de Janeiro, Brazil
* Luís Jordão
* [http://webdiis.unizar.es/~montesan/ Luis Montesano]
* Luís Vargas
* [http://www.isr.ist.utl.pt/~macl Manuel Lopes]
* Marco Zucchelli, visiting PhD student, Royal Institute of Technology, Sweden
* Maria Nazarycheva
* Matteo Perrone, University of Genoa, Italy
* Mauricio Arias, Escuela de Ingeniería de Antioquia, Colombia
* Miguel Praça
* Mišél Batmendijn
* Mohit Khurana, summer 2008 intern
* Niall Winters, visiting PhD student, Trinity College, Dublin, Ireland
* [http://nicolagreggio.altervista.org/ Nicola Greggio], Sant'Anna School of Advanced Studies, Pisa, Italy
* Nuno Gracias
* Nuno Pinho
* [http://www.gatv.ssr.upm.es/index.php/en/component/content/article/62 Nuria Sánchez], Universidad Politécnica de Madrid, Spain
* Raquel Vassallo, visiting PhD student, Universidade Federal do Espírito Santo, Brazil
* Ricardo Beira
* [http://users.isr.ist.utl.pt/~rco/ Ricardo Oliveira]
* Roberto Iannello, University of Genoa, Italy
* Roger Castro Freitas, visiting PhD student, Universidade Federal do Espírito Santo, Brazil
* [http://users.isr.ist.utl.pt/~rmcantin Rubén Martínez-Cantín]
* Sandra Nope Rodríguez
* Sjoerd van der Zwaan, M.Sc. (2001)
* Vicente Javier Traver
* Verica Krunić
* Vítor Costa, M.Sc. (1999)

== Material ==

=== Book Wishlist ===

* Plasticity in the Visual System: From Genes to Circuits, Raphael Pinaud (Editor), Liisa A. Tremere (Editor), Peter de Weerd, Springer 2006, http://www.amazon.com/Plasticity-Visual-System-Genes-Circuits/dp/0387281894

== Robots ==

* [[Baltazar]]
* [[Chico]] (iCubLisboa01)
* [[Chica]]
* [[Vizzy]]

== Other resources ==

=== Cortex cluster ===

''For information on the setup of this cluster, see [[Cortex]].''

=== Demos ===

* [[Binocular Head]]
* [[Imitation]]
* [[Surveillance]]

=== iCubBrain cluster ===

''For information on the setup of this cluster, see [[iCubBrain server configuration]].''

=== Network ===

{|
!description
!IP address
!domain name
|-
|gateway
|10.10.1.254
|gtisr.visnet
|-
|Chico pc104
|10.10.1.50
|
|-
|Chico clients
|10.10.1.51-59
|
|-
|Chico icubsrv laptop
|10.10.1.51
|
|-
|Chica net
|10.10.1.60-69
|
|-
|Balta net
|10.10.1.70-79
|
|-
|cortex server
|10.10.1.240
|server.visnet
|-
|cortex switch
|10.10.1.250
|swcompurack.visnet
|-
|vislab switch
|10.10.1.251
|swvislab.visnet
|-
|cortex1
|10.10.1.1
|cortex1.visnet
|-
|cortex2
|10.10.1.2
|cortex2.visnet
|-
|cortex3
|10.10.1.3
|cortex3.visnet
|-
|cortex4
|10.10.1.4
|cortex4.visnet
|-
|cortex5
|10.10.1.5
|cortex5.visnet
|-
|cortex6 (64 bit)
|10.10.1.6
|cortex6.visnet
|-
|icubbrain1 (64 bit)
|10.10.1.41
|icubbrain1.visnet
|-
|icubbrain2 (32 bit)
|10.10.1.42
|icubbrain2.visnet
|-
|DHCP range
|10.10.1.100-199
|
|}

''For further details, go to the [[VisLab network]] article.''

=== SVN repository ===

You can find the VisLab SVN repository at:
svn://svn.isr.ist.utl.pt/vislab

=== Tutorials ===

* [[3D ball tracker]]

* [[OpenRAVE Tutorial]]

=== Useful links ===

* [[Checklist for new VisLab members]]
* YARP for iCub: [[RobotCub coding basics]]
* iCub Joints: http://eris.liralab.it/wiki/ICub_joints
* iKinArmCtrl: http://eris.liralab.it/iCub/dox/html/group__iKinArmCtrl.html
* [[Temp 2010-11 iCub system update]]
* [[Software installation tricks]]

== VisLab category ==

The page ''Category:Vislab'' (linked below) lists all pages related to VisLab.

[[Category:Learning]]
[[Category:Robots]]
[[Category:Vislab]]

Affordance imitation

2009-12-14T19:10:58Z

Jruesch: /* Running */

= Modules =

This is the architecture for the Object Affordances demo, to be shown during the RobotCub review of January 2010.

[[Image:arch.jpg]] (scheme updated on 2009-07-28)

= Demo Organization =

We divide the software that makes up this demo into two chunks, or applications:
# Attention System
# Object Affordances application, which contains everything else
Each of the above applications is internally composed of several modules.

=Attention System application =

==Installation==
* Adjust and install the camera_calib.xml.template from app/defaults/scripts for your robot. Adjust everything tagged as 'CHANGE' (nodes, contexts, config files). Use camCalibConfig to determine the calibration parameters. camera_calib.xml starts the cameras, framegrabber guis, image viewers and camera calibration modules.
* Adjust and install the attention.xml.template from app/demoAffv2/scripts. Adjust everything tagged as 'CHANGE' (mainly nodes). Make sure you compiled the Qt user interface at least on your local machine used for graphical interaction. This application depends on the camera_calib.xml (cameras and camera calibration ports) and on the icub/head motor controlboard (dependencies are listed by the manager.py).

==Running==

* Start cameras_calib.xml application using the manager.py script. Check you get the calibrated images.
* Start attention.xml application using the manager.py script. Check all modules and ports are up and ready. You should see now the Qt user interface (applicationGui) on the machine you configured it to run on. You can then either connect all the listed connections shown in the manager.py user interface or use the applicationGui to connect them one by one. Note: You need to initialize the salience filter user interface by pressing the button 'initialize', this loads user interface controls for the available filters the salience module is running. Set at least one filter weight non-zero to start the attention system.

==Switch On/Off the Attention System==

* The attentionSelection module implements a switch for modules which want to attach/detach the attention system to/from the robot head controller. To do so you can either include the attentionSalienceLib in your project and use the RemoteAttentionSelection class which connects to the attentionSelection/conf port or if you prefer to do it 'by hand' you can send a bottle of the format (('s''e''t')('o''u''t')(1/0)) to the attentionSelection/conf port. Setting out to 1 or calling RemoteAttentionSelection::setInhibitOutput(1) will inhibit head control commands being sent from attentionSelection to controlGaze.

= Object Affordances application =

The core of this application is coordinated by the Query Collector (<code>demoAffv2</code> in iCub repository); so, the application folder is in <code>$ICUB_ROOT/app/demoAffv2</code>: XML scripts and .ini config files of all Affordances-related modules belong there, in subdirectories <code>scripts/</code> and <code>conf/</code> respectively.

Currently existing .ini configuration files:
* edisonConfig.ini - configuration file for the Edison Blob Segmentation module
* blobDescriptor.ini

Currently existing XML files (these are generic templates - our versions are in <code>$ICUB_ROOT/app/iCubLisboa01/scripts</code>):
* blob_descriptor.xml.template
* edison_segmentation.xml.template

== affActionPrimitives ==

In November 2009, Christian, Ugo and others began the development of a module containing affordances primitives, called '''affActionPrimitives''' in the iCub repository. This module relies on the ICartesianControl interface, hence to compile it you need to enable the module icubmod_cartesiancontrollerclient in CMake while compiling the iCub repository, and to make this switch visible you have to tick the USE_ICUB_MOD just before.

Attention: '''perform CMake configure/generate operations twice''' in a row prior to compiling the new module, due to a CMake bug; moreover, do not remove the CMake cache between the first and the second configuration.

To enable the cartesian features on the PC104, you have to launch iCubInterface pointing to the iCubInterfaceCartesian.ini file. Just afterwards you need to launch the solvers through the Application Manager XML file located under $ICUB_ROOT/app/cartesianSolver/scripts. PC104 code requires to be compiled with option icubmod_cartesiancontrollerserver active; but the iCubLisboa01 is already prepared.

== EdisonSegmentation (blob segmentation) ==

Implemented by '''edisonSegmentation''' module in the iCub repository.
Module that takes a raw RGB image as input and provides a segmented (labeled) image at the output, indicating possible objects or object parts present in the scene.

Ports:
* /conf
** configuration
* /rawImg:i
** input original image (RGB)
* /rawImg:o
** output original image (RGB)
* /labeledImg:o (INT)
** segmented image with the labels
* /viewImg:o
** Segmented image with the colors models for each region (good to visualize)

Check full documentation at [http://eris.liralab.it/iCub/dox/html/group__icub__edisonSegmentation.html the official iCub Software Site]

Example of application:

edisonSegmentation.exe --context demoAffv2/conf
yarpdev --device opencv_grabber --movie segm_test_icub.avi --loop --framerate 0.1
yarpview /raw
yarpview /view
yarp connect /grabber /edisonSegm/rawImg:i
yarp connect /edisonSegm/rawImg:o /raw
yarp connect /edisonSegm/viewImg:o /view

Video file [[ Media:Segm_test_icub.avi | segm_test_icub.avi ]] is a sequence with images taken from the icub with colored objects in front and can be downloaded here.

== BlobDescriptor ==

Implemented by '''blobDescriptor''' in the iCub repository.
Module that receives a labeled image and the corresponding raw image and creates descriptors for each one of the identified objects.

Ports (not counting the prefix <code>/blobDescriptor</code>):
* <code>/rawImg:i</code>
* <code>/labeledImg:i</code>
* <code>/rawImg:o</code>
* <code>/viewImg:o</code> - image with overlay edges
* <code>/affDescriptor:o</code>
* <code>/trackerInit:o</code> - colour histogram and parameters that will serve to initialize a tracker, e.g., CAMSHIFT

Full documentation from the official iCub repository is [http://eris.liralab.it/iCub/dox/html/group__icub__blobDescriptor.html here].

== EffectDetector ==

Implemented by effectDetector module in the iCub repository. 
Algorithm:
1.wait for initialization signal and parameters on /init
2.read the raw image that was used for the segmentation on /rawsegmimg:i
3.read the current image on /rawcurrimg:i
4.check if the the ROI specified as an initialization parameter is similar in the two images
5.if (similarity<threshold)
6. answer 0 on /init and go back to 1.
7.else
8. answer 1 on /init
9. while(not received another signal on /init)
10. estimate the position of the tracked object
11. write the estimate on /effect:o
12. read a new image on /rawcurrimg:i
13. end
14.end

Ports:
* /init //receives a bottle with (u, v, width, height, h1, h2, ..., h16, vmin, vmax, smin), answers 1 for success or 0 for failure.
* /rawSegmImg:i //raw image that was used for the segmentation
* /rawCurrImg:i
* /effect:o //flow of (u,v) positions of the tracked object

Example of application:

yarpserver

effectDetector

yarpdev --device opencv_grabber --name /images

yarp connect /images /effectDetector/rawcurrimg
yarp connect /images /effectDetector/rawsegmimg

yarp write ... /effectDetector/init
#type this as input:
350 340 80 80 255 128 0 0 0 0 0 0 0 0 0 0 0 0 0 255 0 256 150

yarp read ... /effectDetector/effect
#show something red to the camera, to see something happening.

== QueryCollector ==

Implemented by demoAffv2 module in the iCub repository.
Module that receives inputs from the object descriptor module and the effect descriptor. When activated by the behavior controller, info about the objects is used to select actions that will be executed by the robot. In the absence of interaction activity, it notifies it to the behavior controller that may decide to switch to another behavior.

Ports:

* /demoAffv2/effect
* /demoAffv2/synccamshift
* /demoAffv2/objsdesc
* /demoAffv2/
* /demoAffv2/motioncmd
* /demoAffv2/gazecmd
* /demoAffv2/behavior:i
* /demoAffv2/behavior:o
* /demoAffv2/out
* /demoAffv2/out

= Ports and communication =

The interface between modules is under development. The current version (subject to changes as we refine it) is as follows:

* Behavior to AttentionSelection -> vocabs "on" / "off"
* Behavior to Query -> vocabs "on" / "off". We should add some kind of context to the on command (imitation or learning being the very basic).
* Gaze Control -> Behavior: read the current head state/position
* Query to Behavior -> "end" / "q"
* Query to Effect Detector. The main objective of this port is to start the tracker at the object of interest. We need to send at least:
** position (x,y) within the image. 2 doubles.
** size (h,w). 2 doubles.
** color histogram. TBD.
** saturation parameters (max min). 2 int.
** intensity (max min). 2 int.

* Effect Detector to Query
* Camshiftplus format

* blobDescriptor -> query
** Affordance descriptor. Same format as camshiftplus
** tracker init data. histogram (could be different from affordance) + saturation + intensity

* query -> object segmentation
** vocab message: "do seg"

* object segmentation -> blob descriptor
** labelled image
** raw image

Affordance imitation

2009-12-14T18:57:58Z

Jruesch: /* Attention System application */

= Modules =

This is the architecture for the Object Affordances demo, to be shown during the RobotCub review of January 2010.

[[Image:arch.jpg]] (scheme updated on 2009-07-28)

= Demo Organization =

We divide the software that makes up this demo into two chunks, or applications:
# Attention System
# Object Affordances application, which contains everything else
Each of the above applications is internally composed of several modules.

=Attention System application =

==Installation==
* Adjust and install the camera_calib.xml.template from app/defaults/scripts for your robot. Adjust everything tagged as 'CHANGE' (nodes, contexts, config files). Use camCalibConfig to determine the calibration parameters. camera_calib.xml starts the cameras, framegrabber guis, image viewers and camera calibration modules.
* Adjust and install the attention.xml.template from app/demoAffv2/scripts. Adjust everything tagged as 'CHANGE' (mainly nodes). Make sure you compiled the Qt user interface at least on your local machine used for graphical interaction. This application depends on the camera_calib.xml (cameras and camera calibration ports) and on the icub/head motor controlboard (dependencies are listed by the manager.py).

==Running==

* Start cameras_calib.xml application using the manager.py script. Check you get the calibrated images.
* Start attention.xml application using the manager.py script. Check all modules and ports are up and ready. You should see now the Qt user interface (applicationGui) on the machine you configured it to run on. You can then either connect all the listed connections shown in the manager.py user interface or use the applicationGui to connect them one by one. Note: You need to initialize the salience filter user interface by pressing the button 'initialize', this loads user interface controls for the available filters the salience module is running. Set at least one filter weight non-zero to start the attention system.

= Object Affordances application =

The core of this application is coordinated by the Query Collector (<code>demoAffv2</code> in iCub repository); so, the application folder is in <code>$ICUB_ROOT/app/demoAffv2</code>: XML scripts and .ini config files of all Affordances-related modules belong there, in subdirectories <code>scripts/</code> and <code>conf/</code> respectively.

Currently existing .ini configuration files:
* edisonConfig.ini - configuration file for the Edison Blob Segmentation module
* blobDescriptor.ini

Currently existing XML files (these are generic templates - our versions are in <code>$ICUB_ROOT/app/iCubLisboa01/scripts</code>):
* blob_descriptor.xml.template
* edison_segmentation.xml.template

== affActionPrimitives ==

In November 2009, Christian, Ugo and others began the development of a module containing affordances primitives, called '''affActionPrimitives''' in the iCub repository. This module relies on the ICartesianControl interface, hence to compile it you need to enable the module icubmod_cartesiancontrollerclient in CMake while compiling the iCub repository, and to make this switch visible you have to tick the USE_ICUB_MOD just before.

Attention: '''perform CMake configure/generate operations twice''' in a row prior to compiling the new module, due to a CMake bug; moreover, do not remove the CMake cache between the first and the second configuration.

To enable the cartesian features on the PC104, you have to launch iCubInterface pointing to the iCubInterfaceCartesian.ini file. Just afterwards you need to launch the solvers through the Application Manager XML file located under $ICUB_ROOT/app/cartesianSolver/scripts. PC104 code requires to be compiled with option icubmod_cartesiancontrollerserver active; but the iCubLisboa01 is already prepared.

== EdisonSegmentation (blob segmentation) ==

Implemented by '''edisonSegmentation''' module in the iCub repository.
Module that takes a raw RGB image as input and provides a segmented (labeled) image at the output, indicating possible objects or object parts present in the scene.

Ports:
* /conf
** configuration
* /rawImg:i
** input original image (RGB)
* /rawImg:o
** output original image (RGB)
* /labeledImg:o (INT)
** segmented image with the labels
* /viewImg:o
** Segmented image with the colors models for each region (good to visualize)

Check full documentation at [http://eris.liralab.it/iCub/dox/html/group__icub__edisonSegmentation.html the official iCub Software Site]

Example of application:

edisonSegmentation.exe --context demoAffv2/conf
yarpdev --device opencv_grabber --movie segm_test_icub.avi --loop --framerate 0.1
yarpview /raw
yarpview /view
yarp connect /grabber /edisonSegm/rawImg:i
yarp connect /edisonSegm/rawImg:o /raw
yarp connect /edisonSegm/viewImg:o /view

Video file [[ Media:Segm_test_icub.avi | segm_test_icub.avi ]] is a sequence with images taken from the icub with colored objects in front and can be downloaded here.

== BlobDescriptor ==

Implemented by '''blobDescriptor''' in the iCub repository.
Module that receives a labeled image and the corresponding raw image and creates descriptors for each one of the identified objects.

Ports (not counting the prefix <code>/blobDescriptor</code>):
* <code>/rawImg:i</code>
* <code>/labeledImg:i</code>
* <code>/rawImg:o</code>
* <code>/viewImg:o</code> - image with overlay edges
* <code>/affDescriptor:o</code>
* <code>/trackerInit:o</code> - colour histogram and parameters that will serve to initialize a tracker, e.g., CAMSHIFT

Full documentation from the official iCub repository is [http://eris.liralab.it/iCub/dox/html/group__icub__blobDescriptor.html here].

== EffectDetector ==

Implemented by effectDetector module in the iCub repository. 
Algorithm:
1.wait for initialization signal and parameters on /init
2.read the raw image that was used for the segmentation on /rawsegmimg:i
3.read the current image on /rawcurrimg:i
4.check if the the ROI specified as an initialization parameter is similar in the two images
5.if (similarity<threshold)
6. answer 0 on /init and go back to 1.
7.else
8. answer 1 on /init
9. while(not received another signal on /init)
10. estimate the position of the tracked object
11. write the estimate on /effect:o
12. read a new image on /rawcurrimg:i
13. end
14.end

Ports:
* /init //receives a bottle with (u, v, width, height, h1, h2, ..., h16, vmin, vmax, smin), answers 1 for success or 0 for failure.
* /rawSegmImg:i //raw image that was used for the segmentation
* /rawCurrImg:i
* /effect:o //flow of (u,v) positions of the tracked object

Example of application:

yarpserver

effectDetector

yarpdev --device opencv_grabber --name /images

yarp connect /images /effectDetector/rawcurrimg
yarp connect /images /effectDetector/rawsegmimg

yarp write ... /effectDetector/init
#type this as input:
350 340 80 80 255 128 0 0 0 0 0 0 0 0 0 0 0 0 0 255 0 256 150

yarp read ... /effectDetector/effect
#show something red to the camera, to see something happening.

== QueryCollector ==

Implemented by demoAffv2 module in the iCub repository.
Module that receives inputs from the object descriptor module and the effect descriptor. When activated by the behavior controller, info about the objects is used to select actions that will be executed by the robot. In the absence of interaction activity, it notifies it to the behavior controller that may decide to switch to another behavior.

Ports:

* /demoAffv2/effect
* /demoAffv2/synccamshift
* /demoAffv2/objsdesc
* /demoAffv2/
* /demoAffv2/motioncmd
* /demoAffv2/gazecmd
* /demoAffv2/behavior:i
* /demoAffv2/behavior:o
* /demoAffv2/out
* /demoAffv2/out

= Ports and communication =

The interface between modules is under development. The current version (subject to changes as we refine it) is as follows:

* Behavior to AttentionSelection -> vocabs "on" / "off"
* Behavior to Query -> vocabs "on" / "off". We should add some kind of context to the on command (imitation or learning being the very basic).
* Gaze Control -> Behavior: read the current head state/position
* Query to Behavior -> "end" / "q"
* Query to Effect Detector. The main objective of this port is to start the tracker at the object of interest. We need to send at least:
** position (x,y) within the image. 2 doubles.
** size (h,w). 2 doubles.
** color histogram. TBD.
** saturation parameters (max min). 2 int.
** intensity (max min). 2 int.

* Effect Detector to Query
* Camshiftplus format

* blobDescriptor -> query
** Affordance descriptor. Same format as camshiftplus
** tracker init data. histogram (could be different from affordance) + saturation + intensity

* query -> object segmentation
** vocab message: "do seg"

* object segmentation -> blob descriptor
** labelled image
** raw image

Cortex

2009-07-07T13:53:59Z

Jruesch: /* OTHER */

Cortex is a computation rack for VisLab humanoid robots.

= The Cluster =

It contains 7 machines:
* 1 server that manages startup, shutdown and the file system of the clients.
* 6 clients that run the user processes.

All clients mount the same file system. Therefore, performing changes in the file system of one of the clients will reflect to all others.

= The Network =

Cortex machines are at the vislab robotics network domain:
* Domain: visnet
* Subnet: 10.10.1.*

== Cortex nodes ==

Cortex server and clients have the following ip's and domain names:
* Server: 10.10.1.240, server.visnet
* Client 1: 10.10.1.1, cortex1.visnet
* Client 2: 10.10.1.2, cortex2.visnet
* Client 3: 10.10.1.3, cortex3.visnet
* Client 4: 10.10.1.4, cortex4.visnet
* Client 5: 10.10.1.5, cortex5.visnet
* Client 6: 10.10.1.6, cortex6.visnet

== Other nodes ==

Other assigned ip's and names are:
* Gateway: 10.10.1.254, gtisr.visnet
* Cortex Switch: 10.10.1.250, swcompurack.visnet
* Vislab Switch: 10.10.1.251, swvislab.visnet
* DHCP Range: 10.10.1.100-199
* Chico Net: 10.10.1.50-59
* Chica Net: 10.10.1.60-69
* Balta Net: 10.10.1.70-79

== Connectivity ==
Cortex machines are connected to Cortex Switch, that links to Vislab switch with a fiber optic connection of 4Gb/s.

== Traffic ==
Network traffic can be checked at:
* http://inode1.isrnet/cacti (user guest, pass guest)

= The Cortex Server =

The server has:
* Boot folder for the clients at /tftpboot/pxelinux.cfg. Contains the files:
** default - default boot file
** <mac_address> - specific for a machine with the given mac address.
* startup scripts for each machine at /nfsroot/app

= The Cortex Clients =

== Configuration ==

The clients have:
* A superuser account (compurack) to administer system wide settings (configurations, libs, etc)
* Normal user accounts. The logon script runs by default the content of file $HOME/.bash_env, where users can set their environment variables, e.g. export ICUB_DIR=$HOME/iCub.
* A yarp account to update and install the yarp library. YARP_DIR is set by default to /home/yarp/yarp2 to all users (in /etc/bash.bashrc).
* An "icub" account with sudo privileges (done with <code>sudo adduser icub admin</code> on 2009-06-30)

= Global Libraries and Repositories =

== YARP ==
Yarp was set using the following commands (after logging in as yarp):
cvs -d:pserver:anonymous@yarp0.cvs.sourceforge.net:/cvsroot/yarp0 login
cvs -z3 -d:pserver:anonymous@yarp0.cvs.sourceforge.net:/cvsroot/yarp0 co -P yarp2
cd yarp2
cmake . (or ccmake .)
make
make test

== OTHER ==

Other system wide libraries/apps are installed by the superuser. Currently the following libraries are installed:

CURSES
apt-get install libncurses5-dev

ACE
apt-get install libace-dev

CMAKE
apt-get install cmake

GSL
apt-get install libgsl0-dev

GTK/GTKMM/GLADE
apt-get install libgtk2.0-dev
apt-get install libgtkmm-2.4-dev
apt-get install libglademm-2.4-dev
OPENCV
THE REPOSITORY IS NOW IN SVN FORM, WE NEED TO UPDATE THIS.
cvs -z3 -d:pserver:anonymous@opencvlibrary.cvs.sourceforge.net:/cvsroot/opencvlibrary co -P opencv
cd opencv
./configure
make
make install
add /usr/local/lib to /etc/ld.so.conf

GLEW (OpenGL extension finder)
apt-get install glew-utils
apt-get install libglew1.5-dev

GLUT (Glu Utility toolkit)
apt-get install libglut-dev

= User Repositories =

Each user should manage its own repositories, e.g. the iCub repository:
cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub
then you should add <iCub>/bin to your PATH by editing your ~/.bashrc like this:
PATH=$PATH:~/iCub/bin/
ICUB_DIR=~/iCub/
export ICUB_DIR
ICUB_ROOT=$ICUB_DIR
export ICUB_ROOT

You should also edit ~/.bash_env adding these lines:
export ICUB_DIR=$HOME/iCub
export ICUB_ROOT=$ICUB_DIR
this is needed when you connect non-interactively via ssh to a Cortex computer, for instance when execute a "yarp run ..." on a Cortex, from Chico2.

Be aware that Ubuntu 7.10 (the version currently installed on the cluster) has a conflict with iKin, specifically with iCub/conf/FindIPOPT.cmake (used by iKin): for now, in order to compile iKin, change the following line of FindIPOPT.cmake from
SET(IPOPT_LIB ${IPOPT_LIB} gfortranbegin gfortran)
to
SET(IPOPT_LIB ${IPOPT_LIB} gfortran)

= Other configurations =

== Network tuning ==

sysctl -w net.core.rmem_max=8388608
sysctl -w net.core.wmem_max=8388608
sysctl -w net.core.rmem_default=65536
sysctl -w net.core.wmem_default=65536
sysctl -w net.ipv4.tcp_rmem='4096 87380 8388608'
sysctl -w net.ipv4.tcp_wmem='4096 65536 8388608'
sysctl -w net.ipv4.tcp_mem='8388608 8388608 8388608'
sysctl -w net.ipv4.route.flush=1

== Prompt ($PS1) ==
The prompt is set to "user@cortex?:pwd$" in /etc/bash.bashrc. With those settings, if you log in to Cortex1, the prompt will be "user@cortex1:~$".
We chose to do so because sometimes it's convenient to have the number of the Cortex machine you're working on embedded in the prompt.
By default, though, this configuration is overridden in the users' ~/.bashrc file, and the prompt is set to "user@source" regardless of the Cortex machine you log in to. 
If you want to inhibit this behaviour in ~/.bashrc and thus have a prompt like "user@cortex?:pwd", just comment these lines in your ~/.bashrc:
# set a fancy prompt (non-color, unless we know we "want" color)
case "$TERM" in
xterm-color)
PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
;;
*)
PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
;;
esac
However, for users created after 2009-05-07, the prompt is already set to "user@cortex?:pwd$" by default.

= Helper commands =

* Check the kernel : uname -m

* Check the file versions : file

* Set bash shell in /etc/passwd

* Check disk space: du –h –s /home

* Check per user processes: ps -U <user>

[[Category:Vislab]]

Cortex

2009-06-29T18:02:15Z

Jruesch: /* OTHER */

Cortex is a computation rack for VisLab humanoid robots.

= The Cluster =

It contains 7 machines:
* 1 server that manages startup, shutdown and the file system of the clients.
* 6 clients that run the user processes.

All clients mount the same file system. Therefore, performing changes in the file system of one of the clients will reflect to all others.

= The Network =

Cortex machines are at the vislab robotics network domain:
* Domain: visnet
* Subnet: 10.10.1.*

== Cortex nodes ==

Cortex server and clients have the following ip's and domain names:
* Server: 10.10.1.240, server.visnet
* Client 1: 10.10.1.1, cortex1.visnet
* Client 2: 10.10.1.2, cortex2.visnet
* Client 3: 10.10.1.3, cortex3.visnet
* Client 4: 10.10.1.4, cortex4.visnet
* Client 5: 10.10.1.5, cortex5.visnet
* Client 6: 10.10.1.6, cortex6.visnet

== Other nodes ==

Other assigned ip's and names are:
* Gateway: 10.10.1.254, gtisr.visnet
* Cortex Switch: 10.10.1.250, swcompurack.visnet
* Vislab Switch: 10.10.1.251, swvislab.visnet
* DHCP Range: 10.10.1.100-199
* Chico Net: 10.10.1.50-59
* Chica Net: 10.10.1.60-69
* Balta Net: 10.10.1.70-79

== Connectivity ==
Cortex machines are connected to Cortex Switch, that links to Vislab switch with a fiber optic connection of 4Gb/s.

== Traffic ==
Network traffic can be checked at:
* http://inode1.isrnet/cacti (user guest, pass guest)

= The Cortex Server =

The server has:
* Boot folder for the clients at /tftpboot/pxelinux.cfg. Contains the files:
** default - default boot file
** <mac_address> - specific for a machine with the given mac address.
* startup scripts for each machine at /nfsroot/app

= The Cortex Clients =

== Configuration ==

The clients have:
* A superuser account (compurack) to administer system wide settings (configurations, libs, etc)
* Normal user accounts. The logon script runs by default the content of file $HOME/.bash_env, where users can set their environment variables, e.g. export ICUB_DIR=$HOME/iCub.
* A yarp account to update and install the yarp library. YARP_DIR is set by default to /home/yarp/yarp2 to all users (in /etc/bash.bashrc).

= Global Libraries and Repositories =

== YARP ==
Yarp was set using the following commands (after logging in as yarp):
cvs -d:pserver:anonymous@yarp0.cvs.sourceforge.net:/cvsroot/yarp0 login
cvs -z3 -d:pserver:anonymous@yarp0.cvs.sourceforge.net:/cvsroot/yarp0 co -P yarp2
cd yarp2
cmake . (or ccmake .)
make
make test

== OTHER ==

Other system wide libraries/apps are installed by the superuser. Currently the following libraries are installed:

CURSES
apt-get install libncurses5-dev

ACE
apt-get install libace-dev

CMAKE
apt-get install cmake

GSL
apt-get install libgsl0-dev

GTK/GTKMM/GLADE
apt-get install libgtk2.0-dev
apt-get install libgtkmm-2.4-dev
apt-get install libglademm-2.4-dev
OPENCV
THE REPOSITORY IS NOW IN SVN FORM, WE NEED TO UPDATE THIS.
cvs -z3 -d:pserver:anonymous@opencvlibrary.cvs.sourceforge.net:/cvsroot/opencvlibrary co -P opencv
cd opencv
./configure
make
make install
add /usr/local/lib to /etc/ld.so.conf

GLEW (OpenGL extension finder)
apt-get install glew-utils
apt-get install libglew1.5-dev

= User Repositories =

Each user should manage its own repositories, e.g. the iCub repository:
cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub
then you should add <iCub>/bin to your PATH by editing your ~/.bashrc like this:
PATH=$PATH:~/iCub/bin/
ICUB_DIR=~/iCub/
export ICUB_DIR
ICUB_ROOT=$ICUB_DIR
export ICUB_ROOT

You should also edit ~/.bash_env adding these lines:
export ICUB_DIR=$HOME/iCub
export ICUB_ROOT=$ICUB_DIR
this is needed when you connect non-interactively via ssh to a Cortex computer, for instance when execute a "yarp run ..." on a Cortex, from Chico2.

Be aware that Ubuntu 7.10 (the version currently installed on the cluster) has a conflict with iKin, specifically with iCub/conf/FindIPOPT.cmake (used by iKin): for now, in order to compile iKin, change the following line of FindIPOPT.cmake from
SET(IPOPT_LIB ${IPOPT_LIB} gfortranbegin gfortran)
to
SET(IPOPT_LIB ${IPOPT_LIB} gfortran)

= Other configurations =

Tuning network:
sysctl -w net.core.rmem_max=8388608
sysctl -w net.core.wmem_max=8388608
sysctl -w net.core.rmem_default=65536
sysctl -w net.core.wmem_default=65536
sysctl -w net.ipv4.tcp_rmem='4096 87380 8388608'
sysctl -w net.ipv4.tcp_wmem='4096 65536 8388608'
sysctl -w net.ipv4.tcp_mem='8388608 8388608 8388608'
sysctl -w net.ipv4.route.flush=1

Prompt ($PS1): 
The prompt is set to "user@cortex?:pwd$" in /etc/bash.bashrc. With those settings, if you log in to Cortex1, the prompt will be "user@cortex1:~$".
We chose to do so because sometimes it's convenient to have the number of the Cortex machine you're working on embedded in the prompt.
By default, though, this configuration is overridden in the users' ~/.bashrc file, and the prompt is set to "user@source" regardless of the Cortex machine you log in to. 
If you want to inhibit this behaviour in ~/.bashrc and thus have a prompt like "user@cortex?:pwd", just comment these lines in your ~/.bashrc:
# set a fancy prompt (non-color, unless we know we "want" color)
case "$TERM" in
xterm-color)
PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
;;
*)
PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
;;
esac
However, for users created after 2009-05-07, the prompt is already set to "user@cortex?:pwd$" by default.

= Helper commands =

* Check the kernel : uname -m

* Check the file versions : file

* Set bash shell in /etc/passwd

* Check disk space: du –h –s /home

* Check per user processes: ps -U <user>

[[Category:Vislab]]

International conferences deadlines

2008-07-11T11:28:55Z

Jruesch: /* Computer Vision */

'''REMARK:''' Please keep this list short (max 5 items per subject)!

== Biomedical ==

* '''25 Jul 2008''': ISABEL 2008 (http://isabel2008.es.aau.dk/)
* '''28 Jul 2008''': SPIE Medical Imaging 2009 (http://spie.org/medical-imaging.xml)

== Computer Vision ==

* '''11 Jul 2008''': CVMP 2008 (http://conferences.theiet.org/cvmp/index.htm)
* '''15 Jul 2008''': PRIA 2008 (http://www.pria2008.info/)
* '''15 Sep 2008''': VISAPP 2009 (http://www.visapp.org/)
* '''7 Nov 2008''': MVA 2009 (http://www.mva-org.jp/mva2009/)
* '''25 Feb 2009''': ICCV 2009 (http://www.iccv2009.org)
* '''Beginning of 2010?'''': ECCV 2010 September (http://www.ics.forth.gr/eccv2010/)

== Machine Learning ==

* '''15 Aug 2008''': ICAPR 2009 (http://www.isical.ac.in/~icapr09/)

== Robotics ==

* '''14 Jul 2008''': IEEE ROSE 2008 (http://www.site.uottawa.ca/ROSE2008/)
* '''15 Sep 2008''': IEEE ICRA 2009 (http://www.icra2009.org)
* '''31 Oct 2008''': SYROCO 2009 (http://www.syroco2009.org)

== Signal and Image Processing ==

* '''29 Sep 2008''': IEEE ICASSP 2009 (http://icassp09.com)

== More conferences ==

* [http://www.aaai.org/Meetings/aimeetings.php meetings in cooperation with AAAI]
* [http://www.ieee.org/web/conferences/callforpapers/index.html list of IEEE conferences]
* [http://iris.usc.edu/Information/Iris-Conferences.html large list of image/vision conferences]

Journals

2008-06-17T18:23:03Z

Jruesch: New page: ==Robotics== *Autonomous Robots, Springer Netherlands *International Journal on Humanoid Robot, World Scientific *IEEE Transactions on Robotics *Advanced Robotics, The Robotics Society ...

==Robotics==

*Autonomous Robots, Springer Netherlands
*International Journal on Humanoid Robot, World Scientific
*IEEE Transactions on Robotics
*Advanced Robotics, The Robotics Society of japan

==Vision / Signal Processing==

*IEEE Transactions on Image Processing
*Signal Processing, Elsevier

==Artificial Intelligence==

*IEEE Transactions on Systems, Man and Cybernetics

==Miscellaneous==

*Pattern Analysis and Applications, Springer
*IEEE Transactions on Intelligent Transportation Systems

Main Page

2008-06-17T18:19:02Z

Jruesch: /* Research */

<big>'''Welcome to the MediaWiki space of the [http://www.isr.ist.utl.pt Institute for Systems and Robotics].'''</big>

Consult [[Help:Contents|these wiki help pages]] for usage information.

Feel free to edit the following list with your pages hosted here.

== Research ==

* [[Rescue project]]
** [[RAPOSA robot]]
** [[Blimp robot]]
* [[Cognitive architecture for iCub]]
* [[Lisbon-K Chromosome Dataset]]
* [[International conferences deadlines]]
* [[Journals]]

== Teaching ==

* [[Dissertation/Project proposals]]
* [[Robotics lab resources]]

== Computing ==

* [[ISR computing resources]]
* [[Python resources]]

== Misc ==

* [http://wiki.isr.ist.utl.pt Former ISR wiki pages]
* Use this [[SandBox]] for experimentation with MediaWiki