http://mediawiki.isr.tecnico.ulisboa.pt/api.php?action=feedcontributions&feedformat=atom&user=RVentura 2026-07-06T16:17:25Z User contributions MediaWiki 1.41.0 http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Administrative_checklist&diff=4564 2012-02-27T10:43:04Z

<p>RVentura: /* Purchases */</p> <hr /> <div>== Funding acknowledgments ==<br /> <br /> '''(updated 30-Jan-2012)'''<br /> <br /> === ACTIVITIES FUNDED BY LARSyS (PLURIANUAL) BUDGET (FCT rules) ===<br /> <br /> &lt;code&gt;This work was supported by project the FCT [ PEst-OE/EEI/LA0009/2011]&lt;/code&gt;<br /> <br /> === ACTIVITIES FUNDED BY FCT PROJECTS (FCT rules) ===<br /> <br /> &lt;code&gt;This work was supported by project [CONTRACT REFERENCE HERE]&lt;/code&gt;<br /> <br /> (example PTDC/EEA-CRO/111197/2009 MAST AM)<br /> <br /> === ACTIVITIES UNDER AN FCT GRANT (e.g. BII, PhD, Postdoc) ===<br /> <br /> example (replace grant reference)<br /> <br /> &lt;code&gt;Partially funded with grant SFRH/BD/0000/2006, from Fundação para a Ciência e a Tecnologia.&lt;/code&gt;<br /> <br /> === EU PROJECTS ===<br /> <br /> &lt;code&gt;This work was partially funded by EU Project ACRONYM&lt;/code&gt;<br /> <br /> Obviously if more than one funding source is involved, one needs to combine several of these references together.<br /> <br /> Example<br /> <br /> &lt;code&gt;This work was partially funded by FCT [ PEst-OE/EEI/LA0009/2011] and EU Project MYGOD&lt;/code&gt;<br /> <br /> This is very important since the incorrect acknowledgment to the funding agency will cause ELIGIBILITY problems.<br /> <br /> == For conference trips ==<br /> <br /> All professors and researchers have to ask their secretariat for taking care of ''Modelo 94'' form. To do that, send her/him the following information. NOTE THAT THIS INFORMATION HAS TO BE SENT AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE!<br /> * Conference name, place, and URL<br /> * Final version of the paper to be presented, if any<br /> * Acceptance document (can be an email) or formal invitation<br /> * Trip dates (departure and arrival)<br /> * Airplane ticket cost (not needed if ticket reservation is done by them, which is the usual case)<br /> * Additional transportation expenses estimate, if any (e.g., taxi, train, etc.)<br /> * Whether ''ajudas de custo'' are at 100% or 70%<br /> ** 100% (=148,91EUR per day) means that it has to cover the hotel expenses, while 70% (of the previous amount) means that the hotel is paid separately<br /> ** if 70% is choosen, also indicate number of nights and nightly rate<br /> ** NOTE: according to regulations, hotel cannot be above three stars (exceptions are accepted as long as properly justified)<br /> * Conference registration cost (with proof document, e.g. invoice or printout of registration form)<br /> <br /> In case of being a professor at IST, one has also to contact the ''Area Científica/Secção/Departamento'' for secretariat for obtaining an authorization of leave, indicating the following information ALSO AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE.<br /> * Conference name, place, and URL<br /> * Final version of the paper to be presented, if any<br /> * Acceptance document (can be an email) or formal invitation<br /> * Trip dates (departure and arrival)<br /> * ''Modelo 94'', usually sent by ISR secretariat directly (but check for it anyway)<br /> <br /> During the trip do not forget to:<br /> * keep the '''boarding passes''' for all airplane legs<br /> * bring an invoice/receipt of the conference registration, '''including''' the reference '''IST-501507930''' somewhere (the address field is usually the best place)<br /> * bring a conference participation certificate<br /> * a confirmation of the number of stars of the hotel<br /> and send all these items to the ISR secretariar after the return<br /> <br /> == Purchases ==<br /> <br /> Send to the ISR secretariat a proposal complying with the following rules:<br /> <br /> * FUNDING SOURCE: '''IST'''<br /> ** addressed to '''Instituto Superior Tecnico'''<br /> ** containing VAT number: '''501507930'''<br /> ** containing a proposal reference number<br /> ** with and without IVA (VAT)<br /> ** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)<br /> ** containing the delivery date<br /> ** containing the payment conditions (at least 30 days)<br /> <br /> * FUNDING SOURCE: '''IST-ID'''<br /> ** addressed to '''IST-ID'''<br /> ** containing VAT number: '''509830072'''<br /> ** containing a proposal reference number<br /> ** with and without IVA (VAT)<br /> ** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)<br /> ** containing the delivery date<br /> ** containing the payment conditions (at least 30 days)<br /> <br /> <br /> [[Códigos CPV para aquisições]]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=RAPOSA_robot&diff=4557 2012-02-14T11:35:29Z

<p>RVentura: </p> <hr /> <div>[[Image:Raposa.jpg|thumb|400px|RAPOSA]][[Image:Raposa NG.png|thumb|400px|RAPOSA-NG]]<br /> <br /> == News and events ==<br /> <br /> * (Feb 2010) RAPOSA appeared in a news report on search and rescue robots (Falar Global) - watch the [[#RAPOSA_in_the_Falar_Global_TV_news_report|video]] below<br /> * (Jan 2010) RAPOSA participates in a search and rescue trial in Lisbon, together with Regimento de Bombeiros Sapadores de Lisboa<br /> * (Jun 2009) News report in Exame Informática ([http://exameinformatica.clix.pt/multimedia/video/1002799.html link])<br /> * (Jun 2009) RAPOSA was present in the ISR stand at Innovation Days 2009 fair (FIL)<br /> * (November 2008) RAPOSA was present in the [http://forum.cienciaviva.pt/ Forum Ciência Viva] where autonomous stair climbing was demonstrated<br /> * (March 2008) RAPOSA was present in the [http://jeec.ist.utl.pt/2008/ VIII Jornadas de Engenharia Electrotécnica e Computadores].<br /> * (August 2007) A joint team of ISR/IST and IDMind members participated in [http://www.c-elrob.eu/ Civilian European Land-Robot Trial (C-ELROB 2007)] event, having achieved the '''6th place''' (in 12 teams) of the Urban Trial.<br /> * (July 2007) RAPOSA was present in the Portugal Electronics and ITs (PorTI 2007) fair, collocated with the [http://www.eu2007.pt/ Portuguese Presidency of the European Union].<br /> <br /> == Description of the robots ==<br /> <br /> === RAPOSA ===<br /> <br /> <br /> RAPOSA is a robot for Search and Rescue (SAR) operations, designed to operate in outdoors hazardous environments, such as debris resulting from structure collapses. At this stage, the robot is equipped for search operations only, defined as the tele-operated detection of victims, using specific sensors, whose information is transmitted to the remote operator. The robot equipment (sensors) may be adapted to the specific needs. At the moment it includes 3 conventional cameras, one thermal camera, several explosive and toxic gas sensors, temperature and humidity sensors, inclinometers, artificial lights, microphone and speakers. The robot dimensions are length: 75cm, width: 37cm, height: 17,5cm and weight: 27Kg.<br /> <br /> The robot is semi-autonomous, i.e., it is tele-operated via a wireless link from a remote console using a conventional GUI and a gamepad, but can simultaneously display the capacity to carry out short tasks autonomously. The robot can execute commands sent by a team of SAR experts, located in a safe place. During task execution, the robot is able to process the information from different sensors to the remote command station, so as to provide the human team with relevant information on its surrounding environment (terrain conditions, temperature, dangerous gases, water or heat sources, either from human victims or not). The robot has small dimensions and weight. It is tolerant to impact, dust and humidity and its all terrain capable, namely it can climb stairs. Moreover, it can be lifted by a cable, to facilitate deployment from a height (e.g., into a pipeline).<br /> <br /> Research is currently being carried out with the aim of endowing RAPOSA with a higher degree of autonomy, meaning that certain operations requiring manual operation can be done autonomously by the robot. These include: autonomous stair climbing, autonomous docking, and preventive stop after hole detection. Moreover, human-robot interaction issues are also being tackled by improving the operator interface, namely exploring augmented reality techniques.<br /> <br /> === RAPOSA NG ===<br /> <br /> Main page: [[RAPOSA-NG]]<br /> <br /> <br /> IdMind designed a new version of RAPOSA for commercial purposes, named RAPOSA NG (Next Generation). This new RAPOSA <br /> integrates most functionalities from its predecessor and serves the same purposes. It has sensor detection of explosive gases, toxic gases, temperature and humidity, as well as vision sensors (two conventional cameras at the frontal body, one backyard conventional camera and thermal camera forward) and inclinometers.<br /> <br /> The robot dimensions are length: 84cm, width: 47cm, height: 18cm and weight: 17Kg (without batteries).<br /> <br /> ISR has in its possession one RAPOSA NG without most onboard equipment from origin, besides its body and thacked wheels. When acquired, it came with: <br /> <br /> * 2 Maxon 150W DC motors for differential drive (one for each track);<br /> * Firgelli Automation DC motor to tilt the front body;<br /> * 2 electronic boards: <br /> ** Motors encoding;<br /> ** Relay board to control and redirect power supplies;<br /> <br /> The following components are currently installed:<br /> <br /> * Commell LV-679: A Mini-ITX Motherboard with<br /> ** Intel Core 2 Duo 1.6Ghz 4Mo 800Mhz Processor;<br /> ** 2 Kingston 1GB 667Mhz DDR2 RAM;<br /> ** Intel PRO/Wireless LAN 2100 3B Mini PCI adapter;<br /> ** Kingston SSDNow V Series 64GB.<br /> * Point Grey Bumblebee2: A firewire stereo camera system;<br /> * MicroStrain 3DM-GX2: An IMU with triaxial accelerometer, triaxial gyro, triaxial magnetometer, temperature sensors, and an on-board processor;<br /> <br /> == Videos ==<br /> <br /> Check the [[RAPOSA video gallery]].<br /> <br /> == Research team ==<br /> <br /> === Current ===<br /> <br /> * [http://www.isr.ist.utl.pt/people/yoda Rodrigo Ventura] (Assistant Professor)<br /> * [http://users.isr.ist.utl.pt/~pal Pedro Lima] (Associate Professor)<br /> * Filipe Jesus (MSc student)<br /> * Pedro Vieira (MSc student)<br /> * João Reis (MSc student)<br /> <br /> === Past ===<br /> <br /> * Henrique Martins (MSc student, 2009)<br /> * Jorge Ferraz (MSc student, 2009)<br /> * Fausto Ferreira (MSc degree, 2008)<br /> * Manuel Jansen (IAESTE internship, 2009)<br /> * Nuno Marques (MSc student)<br /> * João Viana (BII scholarship)<br /> * Nuno Santos (BII scholarship)<br /> <br /> == Project background ==<br /> <br /> The RAPOSA robot was developed by a consortium lead by the company [http://www.idmind.pt IDMind], together with [http://www.isr.ist.utl.pt ISR/IST], the Lisbon firefighters brigade, and the [http://www.usc.edu/ University of South California]. It was financed by [http://www.adi.pt AdI] and POSI.<br /> <br /> [[Media:FINAL REPORT 2005.pdf|Project final report (PDF)]]<br /> <br /> Please check the [http://raposa.idmind.pt IDMInd's RAPOSA webpage] for further information.<br /> <br /> == Publications ==<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=RAPOSA_robot&diff=4556 2012-02-14T11:35:11Z

<p>RVentura: </p> <hr /> <div>[[Image:Raposa.jpg|thumb|350px|RAPOSA]][[Image:Raposa NG.png|thumb|350px|RAPOSA-NG]]<br /> <br /> == News and events ==<br /> <br /> * (Feb 2010) RAPOSA appeared in a news report on search and rescue robots (Falar Global) - watch the [[#RAPOSA_in_the_Falar_Global_TV_news_report|video]] below<br /> * (Jan 2010) RAPOSA participates in a search and rescue trial in Lisbon, together with Regimento de Bombeiros Sapadores de Lisboa<br /> * (Jun 2009) News report in Exame Informática ([http://exameinformatica.clix.pt/multimedia/video/1002799.html link])<br /> * (Jun 2009) RAPOSA was present in the ISR stand at Innovation Days 2009 fair (FIL)<br /> * (November 2008) RAPOSA was present in the [http://forum.cienciaviva.pt/ Forum Ciência Viva] where autonomous stair climbing was demonstrated<br /> * (March 2008) RAPOSA was present in the [http://jeec.ist.utl.pt/2008/ VIII Jornadas de Engenharia Electrotécnica e Computadores].<br /> * (August 2007) A joint team of ISR/IST and IDMind members participated in [http://www.c-elrob.eu/ Civilian European Land-Robot Trial (C-ELROB 2007)] event, having achieved the '''6th place''' (in 12 teams) of the Urban Trial.<br /> * (July 2007) RAPOSA was present in the Portugal Electronics and ITs (PorTI 2007) fair, collocated with the [http://www.eu2007.pt/ Portuguese Presidency of the European Union].<br /> <br /> == Description of the robots ==<br /> <br /> === RAPOSA ===<br /> <br /> <br /> RAPOSA is a robot for Search and Rescue (SAR) operations, designed to operate in outdoors hazardous environments, such as debris resulting from structure collapses. At this stage, the robot is equipped for search operations only, defined as the tele-operated detection of victims, using specific sensors, whose information is transmitted to the remote operator. The robot equipment (sensors) may be adapted to the specific needs. At the moment it includes 3 conventional cameras, one thermal camera, several explosive and toxic gas sensors, temperature and humidity sensors, inclinometers, artificial lights, microphone and speakers. The robot dimensions are length: 75cm, width: 37cm, height: 17,5cm and weight: 27Kg.<br /> <br /> The robot is semi-autonomous, i.e., it is tele-operated via a wireless link from a remote console using a conventional GUI and a gamepad, but can simultaneously display the capacity to carry out short tasks autonomously. The robot can execute commands sent by a team of SAR experts, located in a safe place. During task execution, the robot is able to process the information from different sensors to the remote command station, so as to provide the human team with relevant information on its surrounding environment (terrain conditions, temperature, dangerous gases, water or heat sources, either from human victims or not). The robot has small dimensions and weight. It is tolerant to impact, dust and humidity and its all terrain capable, namely it can climb stairs. Moreover, it can be lifted by a cable, to facilitate deployment from a height (e.g., into a pipeline).<br /> <br /> Research is currently being carried out with the aim of endowing RAPOSA with a higher degree of autonomy, meaning that certain operations requiring manual operation can be done autonomously by the robot. These include: autonomous stair climbing, autonomous docking, and preventive stop after hole detection. Moreover, human-robot interaction issues are also being tackled by improving the operator interface, namely exploring augmented reality techniques.<br /> <br /> === RAPOSA NG ===<br /> <br /> Main page: [[RAPOSA-NG]]<br /> <br /> <br /> IdMind designed a new version of RAPOSA for commercial purposes, named RAPOSA NG (Next Generation). This new RAPOSA <br /> integrates most functionalities from its predecessor and serves the same purposes. It has sensor detection of explosive gases, toxic gases, temperature and humidity, as well as vision sensors (two conventional cameras at the frontal body, one backyard conventional camera and thermal camera forward) and inclinometers.<br /> <br /> The robot dimensions are length: 84cm, width: 47cm, height: 18cm and weight: 17Kg (without batteries).<br /> <br /> ISR has in its possession one RAPOSA NG without most onboard equipment from origin, besides its body and thacked wheels. When acquired, it came with: <br /> <br /> * 2 Maxon 150W DC motors for differential drive (one for each track);<br /> * Firgelli Automation DC motor to tilt the front body;<br /> * 2 electronic boards: <br /> ** Motors encoding;<br /> ** Relay board to control and redirect power supplies;<br /> <br /> The following components are currently installed:<br /> <br /> * Commell LV-679: A Mini-ITX Motherboard with<br /> ** Intel Core 2 Duo 1.6Ghz 4Mo 800Mhz Processor;<br /> ** 2 Kingston 1GB 667Mhz DDR2 RAM;<br /> ** Intel PRO/Wireless LAN 2100 3B Mini PCI adapter;<br /> ** Kingston SSDNow V Series 64GB.<br /> * Point Grey Bumblebee2: A firewire stereo camera system;<br /> * MicroStrain 3DM-GX2: An IMU with triaxial accelerometer, triaxial gyro, triaxial magnetometer, temperature sensors, and an on-board processor;<br /> <br /> == Videos ==<br /> <br /> Check the [[RAPOSA video gallery]].<br /> <br /> == Research team ==<br /> <br /> === Current ===<br /> <br /> * [http://www.isr.ist.utl.pt/people/yoda Rodrigo Ventura] (Assistant Professor)<br /> * [http://users.isr.ist.utl.pt/~pal Pedro Lima] (Associate Professor)<br /> * Filipe Jesus (MSc student)<br /> * Pedro Vieira (MSc student)<br /> * João Reis (MSc student)<br /> <br /> === Past ===<br /> <br /> * Henrique Martins (MSc student, 2009)<br /> * Jorge Ferraz (MSc student, 2009)<br /> * Fausto Ferreira (MSc degree, 2008)<br /> * Manuel Jansen (IAESTE internship, 2009)<br /> * Nuno Marques (MSc student)<br /> * João Viana (BII scholarship)<br /> * Nuno Santos (BII scholarship)<br /> <br /> == Project background ==<br /> <br /> The RAPOSA robot was developed by a consortium lead by the company [http://www.idmind.pt IDMind], together with [http://www.isr.ist.utl.pt ISR/IST], the Lisbon firefighters brigade, and the [http://www.usc.edu/ University of South California]. It was financed by [http://www.adi.pt AdI] and POSI.<br /> <br /> [[Media:FINAL REPORT 2005.pdf|Project final report (PDF)]]<br /> <br /> Please check the [http://raposa.idmind.pt IDMInd's RAPOSA webpage] for further information.<br /> <br /> == Publications ==<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=RAPOSA_robot&diff=4555 2012-02-14T11:33:15Z

<p>RVentura: </p> <hr /> <div>[[Image:Raposa.jpg|thumb|300px|RAPOSA]][[Image:Raposa NG.png|thumb|300px|RAPOSA-NG]]<br /> <br /> == News and events ==<br /> <br /> * (Feb 2010) RAPOSA appeared in a news report on search and rescue robots (Falar Global) - watch the [[#RAPOSA_in_the_Falar_Global_TV_news_report|video]] below<br /> * (Jan 2010) RAPOSA participates in a search and rescue trial in Lisbon, together with Regimento de Bombeiros Sapadores de Lisboa<br /> * (Jun 2009) News report in Exame Informática ([http://exameinformatica.clix.pt/multimedia/video/1002799.html link])<br /> * (Jun 2009) RAPOSA was present in the ISR stand at Innovation Days 2009 fair (FIL)<br /> * (November 2008) RAPOSA was present in the [http://forum.cienciaviva.pt/ Forum Ciência Viva] where autonomous stair climbing was demonstrated<br /> * (March 2008) RAPOSA was present in the [http://jeec.ist.utl.pt/2008/ VIII Jornadas de Engenharia Electrotécnica e Computadores].<br /> * (August 2007) A joint team of ISR/IST and IDMind members participated in [http://www.c-elrob.eu/ Civilian European Land-Robot Trial (C-ELROB 2007)] event, having achieved the '''6th place''' (in 12 teams) of the Urban Trial.<br /> * (July 2007) RAPOSA was present in the Portugal Electronics and ITs (PorTI 2007) fair, collocated with the [http://www.eu2007.pt/ Portuguese Presidency of the European Union].<br /> <br /> == Description of the robots ==<br /> <br /> === RAPOSA ===<br /> <br /> <br /> RAPOSA is a robot for Search and Rescue (SAR) operations, designed to operate in outdoors hazardous environments, such as debris resulting from structure collapses. At this stage, the robot is equipped for search operations only, defined as the tele-operated detection of victims, using specific sensors, whose information is transmitted to the remote operator. The robot equipment (sensors) may be adapted to the specific needs. At the moment it includes 3 conventional cameras, one thermal camera, several explosive and toxic gas sensors, temperature and humidity sensors, inclinometers, artificial lights, microphone and speakers. The robot dimensions are length: 75cm, width: 37cm, height: 17,5cm and weight: 27Kg.<br /> <br /> The robot is semi-autonomous, i.e., it is tele-operated via a wireless link from a remote console using a conventional GUI and a gamepad, but can simultaneously display the capacity to carry out short tasks autonomously. The robot can execute commands sent by a team of SAR experts, located in a safe place. During task execution, the robot is able to process the information from different sensors to the remote command station, so as to provide the human team with relevant information on its surrounding environment (terrain conditions, temperature, dangerous gases, water or heat sources, either from human victims or not). The robot has small dimensions and weight. It is tolerant to impact, dust and humidity and its all terrain capable, namely it can climb stairs. Moreover, it can be lifted by a cable, to facilitate deployment from a height (e.g., into a pipeline).<br /> <br /> Research is currently being carried out with the aim of endowing RAPOSA with a higher degree of autonomy, meaning that certain operations requiring manual operation can be done autonomously by the robot. These include: autonomous stair climbing, autonomous docking, and preventive stop after hole detection. Moreover, human-robot interaction issues are also being tackled by improving the operator interface, namely exploring augmented reality techniques.<br /> <br /> === RAPOSA NG ===<br /> <br /> Main page: [[RAPOSA-NG]]<br /> <br /> <br /> IdMind designed a new version of RAPOSA for commercial purposes, named RAPOSA NG (Next Generation). This new RAPOSA <br /> integrates most functionalities from its predecessor and serves the same purposes. It has sensor detection of explosive gases, toxic gases, temperature and humidity, as well as vision sensors (two conventional cameras at the frontal body, one backyard conventional camera and thermal camera forward) and inclinometers.<br /> <br /> The robot dimensions are length: 84cm, width: 47cm, height: 18cm and weight: 17Kg (without batteries).<br /> <br /> ISR has in its possession one RAPOSA NG without most onboard equipment from origin, besides its body and thacked wheels. When acquired, it came with: <br /> <br /> * 2 Maxon 150W DC motors for differential drive (one for each track);<br /> * Firgelli Automation DC motor to tilt the front body;<br /> * 2 electronic boards: <br /> ** Motors encoding;<br /> ** Relay board to control and redirect power supplies;<br /> <br /> The following components are currently installed:<br /> <br /> * Commell LV-679: A Mini-ITX Motherboard with<br /> ** Intel Core 2 Duo 1.6Ghz 4Mo 800Mhz Processor;<br /> ** 2 Kingston 1GB 667Mhz DDR2 RAM;<br /> ** Intel PRO/Wireless LAN 2100 3B Mini PCI adapter;<br /> ** Kingston SSDNow V Series 64GB.<br /> * Point Grey Bumblebee2: A firewire stereo camera system;<br /> * MicroStrain 3DM-GX2: An IMU with triaxial accelerometer, triaxial gyro, triaxial magnetometer, temperature sensors, and an on-board processor;<br /> <br /> == Videos ==<br /> <br /> Check the [[RAPOSA video gallery]].<br /> <br /> == Research team ==<br /> <br /> === Current ===<br /> <br /> * [http://www.isr.ist.utl.pt/people/yoda Rodrigo Ventura] (Assistant Professor)<br /> * [http://users.isr.ist.utl.pt/~pal Pedro Lima] (Associate Professor)<br /> * Filipe Jesus (MSc student)<br /> * Pedro Vieira (MSc student)<br /> * João Reis (MSc student)<br /> <br /> === Past ===<br /> <br /> * Henrique Martins (MSc student, 2009)<br /> * Jorge Ferraz (MSc student, 2009)<br /> * Fausto Ferreira (MSc degree, 2008)<br /> * Manuel Jansen (IAESTE internship, 2009)<br /> * Nuno Marques (MSc student)<br /> * João Viana (BII scholarship)<br /> * Nuno Santos (BII scholarship)<br /> <br /> == Project background ==<br /> <br /> The RAPOSA robot was developed by a consortium lead by the company [http://www.idmind.pt IDMind], together with [http://www.isr.ist.utl.pt ISR/IST], the Lisbon firefighters brigade, and the [http://www.usc.edu/ University of South California]. It was financed by [http://www.adi.pt AdI] and POSI.<br /> <br /> [[Media:FINAL REPORT 2005.pdf|Project final report (PDF)]]<br /> <br /> Please check the [http://raposa.idmind.pt IDMInd's RAPOSA webpage] for further information.<br /> <br /> == Publications ==<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=RAPOSA_robot&diff=4554 2012-02-14T11:33:00Z

<p>RVentura: </p> <hr /> <div>[[Image:Raposa.jpg|thumb|300px|RAPOSA]][[Image:Raposa NG.png|left|300px|RAPOSA-NG]]<br /> <br /> == News and events ==<br /> <br /> * (Feb 2010) RAPOSA appeared in a news report on search and rescue robots (Falar Global) - watch the [[#RAPOSA_in_the_Falar_Global_TV_news_report|video]] below<br /> * (Jan 2010) RAPOSA participates in a search and rescue trial in Lisbon, together with Regimento de Bombeiros Sapadores de Lisboa<br /> * (Jun 2009) News report in Exame Informática ([http://exameinformatica.clix.pt/multimedia/video/1002799.html link])<br /> * (Jun 2009) RAPOSA was present in the ISR stand at Innovation Days 2009 fair (FIL)<br /> * (November 2008) RAPOSA was present in the [http://forum.cienciaviva.pt/ Forum Ciência Viva] where autonomous stair climbing was demonstrated<br /> * (March 2008) RAPOSA was present in the [http://jeec.ist.utl.pt/2008/ VIII Jornadas de Engenharia Electrotécnica e Computadores].<br /> * (August 2007) A joint team of ISR/IST and IDMind members participated in [http://www.c-elrob.eu/ Civilian European Land-Robot Trial (C-ELROB 2007)] event, having achieved the '''6th place''' (in 12 teams) of the Urban Trial.<br /> * (July 2007) RAPOSA was present in the Portugal Electronics and ITs (PorTI 2007) fair, collocated with the [http://www.eu2007.pt/ Portuguese Presidency of the European Union].<br /> <br /> == Description of the robots ==<br /> <br /> === RAPOSA ===<br /> <br /> <br /> RAPOSA is a robot for Search and Rescue (SAR) operations, designed to operate in outdoors hazardous environments, such as debris resulting from structure collapses. At this stage, the robot is equipped for search operations only, defined as the tele-operated detection of victims, using specific sensors, whose information is transmitted to the remote operator. The robot equipment (sensors) may be adapted to the specific needs. At the moment it includes 3 conventional cameras, one thermal camera, several explosive and toxic gas sensors, temperature and humidity sensors, inclinometers, artificial lights, microphone and speakers. The robot dimensions are length: 75cm, width: 37cm, height: 17,5cm and weight: 27Kg.<br /> <br /> The robot is semi-autonomous, i.e., it is tele-operated via a wireless link from a remote console using a conventional GUI and a gamepad, but can simultaneously display the capacity to carry out short tasks autonomously. The robot can execute commands sent by a team of SAR experts, located in a safe place. During task execution, the robot is able to process the information from different sensors to the remote command station, so as to provide the human team with relevant information on its surrounding environment (terrain conditions, temperature, dangerous gases, water or heat sources, either from human victims or not). The robot has small dimensions and weight. It is tolerant to impact, dust and humidity and its all terrain capable, namely it can climb stairs. Moreover, it can be lifted by a cable, to facilitate deployment from a height (e.g., into a pipeline).<br /> <br /> Research is currently being carried out with the aim of endowing RAPOSA with a higher degree of autonomy, meaning that certain operations requiring manual operation can be done autonomously by the robot. These include: autonomous stair climbing, autonomous docking, and preventive stop after hole detection. Moreover, human-robot interaction issues are also being tackled by improving the operator interface, namely exploring augmented reality techniques.<br /> <br /> === RAPOSA NG ===<br /> <br /> Main page: [[RAPOSA-NG]]<br /> <br /> <br /> IdMind designed a new version of RAPOSA for commercial purposes, named RAPOSA NG (Next Generation). This new RAPOSA <br /> integrates most functionalities from its predecessor and serves the same purposes. It has sensor detection of explosive gases, toxic gases, temperature and humidity, as well as vision sensors (two conventional cameras at the frontal body, one backyard conventional camera and thermal camera forward) and inclinometers.<br /> <br /> The robot dimensions are length: 84cm, width: 47cm, height: 18cm and weight: 17Kg (without batteries).<br /> <br /> ISR has in its possession one RAPOSA NG without most onboard equipment from origin, besides its body and thacked wheels. When acquired, it came with: <br /> <br /> * 2 Maxon 150W DC motors for differential drive (one for each track);<br /> * Firgelli Automation DC motor to tilt the front body;<br /> * 2 electronic boards: <br /> ** Motors encoding;<br /> ** Relay board to control and redirect power supplies;<br /> <br /> The following components are currently installed:<br /> <br /> * Commell LV-679: A Mini-ITX Motherboard with<br /> ** Intel Core 2 Duo 1.6Ghz 4Mo 800Mhz Processor;<br /> ** 2 Kingston 1GB 667Mhz DDR2 RAM;<br /> ** Intel PRO/Wireless LAN 2100 3B Mini PCI adapter;<br /> ** Kingston SSDNow V Series 64GB.<br /> * Point Grey Bumblebee2: A firewire stereo camera system;<br /> * MicroStrain 3DM-GX2: An IMU with triaxial accelerometer, triaxial gyro, triaxial magnetometer, temperature sensors, and an on-board processor;<br /> <br /> == Videos ==<br /> <br /> Check the [[RAPOSA video gallery]].<br /> <br /> == Research team ==<br /> <br /> === Current ===<br /> <br /> * [http://www.isr.ist.utl.pt/people/yoda Rodrigo Ventura] (Assistant Professor)<br /> * [http://users.isr.ist.utl.pt/~pal Pedro Lima] (Associate Professor)<br /> * Filipe Jesus (MSc student)<br /> * Pedro Vieira (MSc student)<br /> * João Reis (MSc student)<br /> <br /> === Past ===<br /> <br /> * Henrique Martins (MSc student, 2009)<br /> * Jorge Ferraz (MSc student, 2009)<br /> * Fausto Ferreira (MSc degree, 2008)<br /> * Manuel Jansen (IAESTE internship, 2009)<br /> * Nuno Marques (MSc student)<br /> * João Viana (BII scholarship)<br /> * Nuno Santos (BII scholarship)<br /> <br /> == Project background ==<br /> <br /> The RAPOSA robot was developed by a consortium lead by the company [http://www.idmind.pt IDMind], together with [http://www.isr.ist.utl.pt ISR/IST], the Lisbon firefighters brigade, and the [http://www.usc.edu/ University of South California]. It was financed by [http://www.adi.pt AdI] and POSI.<br /> <br /> [[Media:FINAL REPORT 2005.pdf|Project final report (PDF)]]<br /> <br /> Please check the [http://raposa.idmind.pt IDMInd's RAPOSA webpage] for further information.<br /> <br /> == Publications ==<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Administrative_checklist&diff=4553 2012-02-10T18:56:53Z

<p>RVentura: /* Purchases */</p> <hr /> <div>== Funding acknowledgments ==<br /> <br /> '''(updated 30-Jan-2012)'''<br /> <br /> === ACTIVITIES FUNDED BY LARSyS (PLURIANUAL) BUDGET (FCT rules) ===<br /> <br /> &lt;code&gt;This work was supported by project the FCT [ PEst-OE/EEI/LA0009/2011]&lt;/code&gt;<br /> <br /> === ACTIVITIES FUNDED BY FCT PROJECTS (FCT rules) ===<br /> <br /> &lt;code&gt;This work was supported by project [CONTRACT REFERENCE HERE]&lt;/code&gt;<br /> <br /> (example PTDC/EEA-CRO/111197/2009 MAST AM)<br /> <br /> === ACTIVITIES UNDER AN FCT GRANT (e.g. BII, PhD, Postdoc) ===<br /> <br /> example (replace grant reference)<br /> <br /> &lt;code&gt;Partially funded with grant SFRH/BD/0000/2006, from Fundação para a Ciência e a Tecnologia.&lt;/code&gt;<br /> <br /> === EU PROJECTS ===<br /> <br /> &lt;code&gt;This work was partially funded by EU Project ACRONYM&lt;/code&gt;<br /> <br /> Obviously if more than one funding source is involved, one needs to combine several of these references together.<br /> <br /> Example<br /> <br /> &lt;code&gt;This work was partially funded by FCT [ PEst-OE/EEI/LA0009/2011] and EU Project MYGOD&lt;/code&gt;<br /> <br /> This is very important since the incorrect acknowledgment to the funding agency will cause ELIGIBILITY problems.<br /> <br /> == For conference trips ==<br /> <br /> All professors and researchers have to ask their secretariat for taking care of ''Modelo 94'' form. To do that, send her/him the following information. NOTE THAT THIS INFORMATION HAS TO BE SENT AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE!<br /> * Conference name, place, and URL<br /> * Final version of the paper to be presented, if any<br /> * Acceptance document (can be an email) or formal invitation<br /> * Trip dates (departure and arrival)<br /> * Airplane ticket cost (not needed if ticket reservation is done by them, which is the usual case)<br /> * Additional transportation expenses estimate, if any (e.g., taxi, train, etc.)<br /> * Whether ''ajudas de custo'' are at 100% or 70%<br /> ** 100% (=148,91EUR per day) means that it has to cover the hotel expenses, while 70% (of the previous amount) means that the hotel is paid separately<br /> ** if 70% is choosen, also indicate number of nights and nightly rate<br /> ** NOTE: according to regulations, hotel cannot be above three stars (exceptions are accepted as long as properly justified)<br /> * Conference registration cost (with proof document, e.g. invoice or printout of registration form)<br /> <br /> In case of being a professor at IST, one has also to contact the ''Area Científica/Secção/Departamento'' for secretariat for obtaining an authorization of leave, indicating the following information ALSO AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE.<br /> * Conference name, place, and URL<br /> * Final version of the paper to be presented, if any<br /> * Acceptance document (can be an email) or formal invitation<br /> * Trip dates (departure and arrival)<br /> * ''Modelo 94'', usually sent by ISR secretariat directly (but check for it anyway)<br /> <br /> During the trip do not forget to:<br /> * keep the '''boarding passes''' for all airplane legs<br /> * bring an invoice/receipt of the conference registration, '''including''' the reference '''IST-501507930''' somewhere (the address field is usually the best place)<br /> * bring a conference participation certificate<br /> * a confirmation of the number of stars of the hotel<br /> and send all these items to the ISR secretariar after the return<br /> <br /> == Purchases ==<br /> <br /> * Send to the ISR secretariat a proposal complying with the following rules:<br /> ** addressed to '''Instituto Superior Tecnico'''<br /> ** containing VAT number: '''501507930'''<br /> ** containing a proposal reference number<br /> ** with and without IVA (VAT)<br /> ** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)<br /> ** containing the delivery date<br /> ** containing the payment conditions (at least 30 days)<br /> <br /> '''IMPORTANT: as of October 15th, 2011, the rules change to:'''<br /> ** addressed to '''IST-ID'''<br /> ** containing VAT number: '''509830072'''<br /> ** containing a proposal reference number<br /> ** with and without IVA (VAT)<br /> ** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)<br /> ** containing the delivery date<br /> ** containing the payment conditions (at least 30 days)<br /> <br /> <br /> [[Códigos CPV para aquisições]]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4551 2012-02-06T19:25:05Z

<p>RVentura: </p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions<br /> ** Research Assistant #1 (IST/ISR, Lisbon) -- [[Media:EDITAL BL470 2011-export.pdf|(poster)]] [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26798&amp;lang=pt (eracareers call)]<br /> *** Deadline: '''Dec 16th, 2011'''<br /> *** Send applications to '''rodrigo.ventura (AT) isr.ist.utl.pt'''<br /> ** Research Assistant #2 (M-ITI, Madeira) -- [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> *** Deadline: '''Dec 27th, 2011'''<br /> *** Send applications to '''ian (AT) uma.pt'''<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (IST/ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, IST/ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Faculty, M-ITI)<br /> * Alexandre Bernardino (Faculty, IST/ISR)<br /> * José Gaspar (Faculty, IST/ISR)<br /> * José Gouveia Pereira Corujeira (MSc, M-ITI)<br /> * Filipe Jesus (MSc candidate, IST/ISR)<br /> * Pedro Vieira (MSc candidate, IST/ISR)<br /> * João Mendes (MSc candidate, IST/ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4550 2012-02-06T19:22:38Z

<p>RVentura: /* People */</p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions<br /> ** Research Assistant #1 (ISR, Lisbon) -- [[Media:EDITAL BL470 2011-export.pdf|(poster)]] [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26798&amp;lang=pt (eracareers call)]<br /> *** Deadline: '''Dec 16th, 2011'''<br /> *** Send applications to '''rodrigo.ventura (AT) isr.ist.utl.pt'''<br /> ** Research Assistant #2 (M-ITI, Madeira) -- [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> *** Deadline: '''Dec 27th, 2011'''<br /> *** Send applications to '''ian (AT) uma.pt'''<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Faculty, M-ITI)<br /> * Alexandre Bernardino (Faculty, ISR)<br /> * José Gaspar (Faculty, ISR)<br /> * José Gouveia Pereira Corujeira (MSc, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * João Mendes (MSc candidate, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Administrative_checklist&diff=4535 2012-01-30T11:38:28Z

<p>RVentura: /* Funding acknowledgments */</p> <hr /> <div>== Funding acknowledgments ==<br /> <br /> '''(updated 30-Jan-2012)'''<br /> <br /> === ACTIVITIES FUNDED BY LARSyS (PLURIANUAL) BUDGET (FCT rules) ===<br /> <br /> &lt;code&gt;This work was supported by project the FCT [ PEst-OE/EEI/LA0009/2011]&lt;/code&gt;<br /> <br /> === ACTIVITIES FUNDED BY FCT PROJECTS (FCT rules) ===<br /> <br /> &lt;code&gt;This work was supported by project [CONTRACT REFERENCE HERE]&lt;/code&gt;<br /> <br /> (example PTDC/EEA-CRO/111197/2009 MAST AM)<br /> <br /> === ACTIVITIES UNDER AN FCT GRANT (e.g. BII, PhD, Postdoc) ===<br /> <br /> example (replace grant reference)<br /> <br /> &lt;code&gt;Partially funded with grant SFRH/BD/0000/2006, from Fundação para a Ciência e a Tecnologia.&lt;/code&gt;<br /> <br /> === EU PROJECTS ===<br /> <br /> &lt;code&gt;This work was partially funded by EU Project ACRONYM&lt;/code&gt;<br /> <br /> Obviously if more than one funding source is involved, one needs to combine several of these references together.<br /> <br /> Example<br /> <br /> &lt;code&gt;This work was partially funded by FCT [ PEst-OE/EEI/LA0009/2011] and EU Project MYGOD&lt;/code&gt;<br /> <br /> This is very important since the incorrect acknowledgment to the funding agency will cause ELIGIBILITY problems.<br /> <br /> == For conference trips ==<br /> <br /> All professors and researchers have to ask their secretariat for taking care of ''Modelo 94'' form. To do that, send her/him the following information. NOTE THAT THIS INFORMATION HAS TO BE SENT AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE!<br /> * Conference name, place, and URL<br /> * Final version of the paper to be presented, if any<br /> * Acceptance document (can be an email) or formal invitation<br /> * Trip dates (departure and arrival)<br /> * Airplane ticket cost (not needed if ticket reservation is done by them, which is the usual case)<br /> * Additional transportation expenses estimate, if any (e.g., taxi, train, etc.)<br /> * Whether ''ajudas de custo'' are at 100% or 70%<br /> ** 100% (=148,91EUR per day) means that it has to cover the hotel expenses, while 70% (of the previous amount) means that the hotel is paid separately<br /> ** if 70% is choosen, also indicate number of nights and nightly rate<br /> ** NOTE: according to regulations, hotel cannot be above three stars (exceptions are accepted as long as properly justified)<br /> * Conference registration cost (with proof document, e.g. invoice or printout of registration form)<br /> <br /> In case of being a professor at IST, one has also to contact the ''Area Científica/Secção/Departamento'' for secretariat for obtaining an authorization of leave, indicating the following information ALSO AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE.<br /> * Conference name, place, and URL<br /> * Final version of the paper to be presented, if any<br /> * Acceptance document (can be an email) or formal invitation<br /> * Trip dates (departure and arrival)<br /> * ''Modelo 94'', usually sent by ISR secretariat directly (but check for it anyway)<br /> <br /> During the trip do not forget to:<br /> * keep the '''boarding passes''' for all airplane legs<br /> * bring an invoice/receipt of the conference registration, '''including''' the reference '''IST-501507930''' somewhere (the address field is usually the best place)<br /> * bring a conference participation certificate<br /> * a confirmation of the number of stars of the hotel<br /> and send all these items to the ISR secretariar after the return<br /> <br /> == Purchases ==<br /> <br /> * Send to the ISR secretariat a proposal complying with the following rules:<br /> ** addressed to '''Instituto Superior Tecnico'''<br /> ** containing VAT number: '''501507930'''<br /> ** containing a proposal reference number<br /> ** with and without IVA (VAT)<br /> ** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)<br /> ** containing the delivery date<br /> ** containing the payment conditions (at least 30 days)<br /> <br /> '''IMPORTANT: as of October 15th, 2011, the rules change to:'''<br /> ** addressed to '''ISR/IST-ID'''<br /> ** containing VAT number: '''509830072'''<br /> ** containing a proposal reference number<br /> ** with and without IVA (VAT)<br /> ** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)<br /> ** containing the delivery date<br /> ** containing the payment conditions (at least 30 days)<br /> <br /> <br /> [[Códigos CPV para aquisições]]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SandBox&diff=4458 2011-12-27T18:13:35Z

<p>RVentura: </p> <hr /> <div>[[From Bio-Inspired to Institutional-Inspired Collective Robotics]]<br /> <br /> <br /> sggf<br /> fgdss<br /> dfg<br /> dfgs<br /> sd<br /> f<br /> sg<br /> <br /> == ola ==<br /> <br /> <br /> &lt;math&gt;<br /> \begin{bmatrix}<br /> 1.0 &amp; 0.0 &amp; 0.0 &amp; 0.0\\<br /> 0.0 &amp; 0.0 &amp; -1.0 &amp; 0.0\\<br /> 0.0 &amp; 1.0 &amp; 0.0 &amp; 0.0\\<br /> 0.0 &amp; 0.0 &amp; 0.0 &amp; 1.0<br /> \end{bmatrix}<br /> &lt;/math&gt;</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4444 2011-12-27T12:24:31Z

<p>RVentura: /* People */</p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions<br /> ** Research Assistant #1 (ISR, Lisbon) -- [[Media:EDITAL BL470 2011-export.pdf|(poster)]] [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26798&amp;lang=pt (eracareers call)]<br /> *** Deadline: '''Dec 16th, 2011'''<br /> *** Send applications to '''rodrigo.ventura (AT) isr.ist.utl.pt'''<br /> ** Research Assistant #2 (M-ITI, Madeira) -- [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> *** Deadline: '''Dec 27th, 2011'''<br /> *** Send applications to '''ian (AT) uma.pt'''<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Faculty, M-ITI)<br /> * Alexandre Bernardino (Faculty, ISR)<br /> * José Gaspar (Faculty, ISR)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Macintosh_resources&diff=4403 2011-12-26T14:48:04Z

<p>RVentura: </p> <hr /> <div>This page contains useful information for Macintosh users. Please do feel free to add content!<br /> <br /> == Software repositories ==<br /> <br /> ** [http://www.opensourcemac.org/ Open Source Mac]<br /> ** [http://www.versiontracker.com/macosx/ Version Tracker (Mac OS X)]<br /> ** [http://macresearch.org/ MacResearch]<br /> <br /> == X Windows ==<br /> <br /> Make sure you install the latest version of http://xquartz.macosforge.org/trac/wiki because the X11 shipped with OS X Leopard is not as updated as this one.<br /> <br /> == LaTeX ==<br /> <br /> Suggested packages:<br /> * [http://www.tug.org/mactex MacTeX] (Rodrigo; ''NOTE: MacTeX includes TeXshop'')<br /> * [http://www.uoregon.edu/~koch/texshop/ TeXShop] (Giovanni)<br /> <br /> Related software:<br /> * For creating LaTeX equations on-the-fly (e.g., drag-and-drop to a presentation): http://ktd.club.fr/programmation/latexit_en.php<br /> <br /> == Python ==<br /> <br /> Suggested package: http://www.python.org/download (the standard one)<br /> <br /> To install python modules in the user account follow these steps:<br /> (this is an example where modules are installed in '''~/Library/python''', adapt accordingly)<br /> * create a file named '''~/.pydistutils.cfg''' containing<br /> &lt;pre&gt;<br /> [install]<br /> home=~/Library/python<br /> &lt;/pre&gt;<br /> * add the following line to '''~/.profile'''<br /> &lt;pre&gt;<br /> export PYTHONPATH=~/Library/python/lib/python<br /> &lt;/pre&gt;<br /> <br /> Make sure you check the [[Python resources]] page in this mediawiki.<br /> <br /> == Linux software ==<br /> <br /> Suggested package: http://www.macports.org<br /> <br /> == Emacs ==<br /> <br /> Suggested package: http://aquamacs.org<br /> <br /> == GIMP ==<br /> <br /> Suggested package: http://gimp.lisanet.de/Website/Download.html<br /> <br /> == Mail ==<br /> <br /> A helpful tip for improving Mail performance can be found at http://www.macintouch.com/readerreports/mail_app/topic2610.html<br /> <br /> &lt;blockquote&gt;<br /> I found a workaround for the slow IMAP performance, linked to the 'updating cache directory' activity. To fix the problem, go to your account setup under preferences. On the IMAP account having difficulty, go to the advanced tab. Where it says 'keep copies for offline viewing', change it to 'only messages I've read' or don't keep copies at all.<br /> &lt;/blockquote&gt;<br /> <br /> == ROS ==<br /> <br /> To install ROS follow these instructions: http://www.ros.org/wiki/electric/Installation/OSX/Homebrew</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4402 2011-12-22T10:45:46Z

<p>RVentura: /* People */</p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions<br /> ** Research Assistant #1 (ISR, Lisbon) -- [[Media:EDITAL BL470 2011-export.pdf|(poster)]] [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26798&amp;lang=pt (eracareers call)]<br /> *** Deadline: '''Dec 16th, 2011'''<br /> *** Send applications to '''rodrigo.ventura (AT) isr.ist.utl.pt'''<br /> ** Research Assistant #2 (M-ITI, Madeira) -- [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> *** Deadline: '''Dec 27th, 2011'''<br /> *** Send applications to '''ian (AT) uma.pt'''<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Faculty, M-ITI)<br /> * Alexandre Bernardino (Faculty, ISR)<br /> * José Gaspar (Faculty, ISR)<br /> * Vassilis Kostakos (Faculty, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4384 2011-12-07T11:45:28Z

<p>RVentura: /* News and Events */</p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions<br /> ** Research Assistant #1 (ISR, Lisbon) -- [[Media:EDITAL BL470 2011-export.pdf|(poster)]] [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26798&amp;lang=pt (eracareers call)]<br /> *** Deadline: '''Dec 16th, 2011'''<br /> *** Send applications to '''rodrigo.ventura (AT) isr.ist.utl.pt'''<br /> ** Research Assistant #2 (M-ITI, Madeira) -- [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> *** Deadline: '''Dec 27th, 2011'''<br /> *** Send applications to '''ian (AT) uma.pt'''<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=File:EDITAL_BL470_2011-export.pdf&diff=4383 2011-12-07T11:42:30Z

<p>RVentura: uploaded a new version of &amp;quot;File:EDITAL BL470 2011-export.pdf&amp;quot;</p> <hr /> <div></div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4382 2011-12-07T11:40:55Z

<p>RVentura: /* News and Events */</p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> ** Research Assistant #1 (ISR, Lisbon) -- [[Media:EDITAL BL470 2011-export.pdf|(poster)]] [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26798&amp;lang=pt (eracareers call)] | Send applications to '''rodrigo.ventura (AT) isr.ist.utl.pt'''<br /> ** Research Assistant #2 (M-ITI, Madeira) -- [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4381 2011-12-06T13:52:10Z

<p>RVentura: /* News and Events */</p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> ** Research Assistant #1 (ISR, Lisbon) -- [[Media:EDITAL BL470 2011-export.pdf|(call)]]. Send applications to '''rodrigo.ventura (AT) isr.ist.utl.pt'''<br /> ** Research Assistant #2 (M-ITI, Madeira) -- [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4380 2011-12-06T13:51:55Z

<p>RVentura: /* News and Events */</p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> ** Research Assistant #1 (ISR, Lisbon) -- [[Media:EDITAL BL470 2011-export.pdf|(call)]] send applications to '''rodrigo.ventura (AT) isr.ist.utl.pt'''<br /> ** Research Assistant #2 (M-ITI, Madeira) -- [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4379 2011-12-06T13:51:39Z

<p>RVentura: /* News and Events */</p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> ** Research Assistant #1 (ISR, Lisbon) -- [[Media:EDITAL BL470 2011-export.pdf|call]] send applications to '''rodrigo.ventura (AT) isr.ist.utl.pt'''<br /> ** Research Assistant #2 (M-ITI, Madeira) -- [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=File:EDITAL_BL470_2011-export.pdf&diff=4378 2011-12-06T13:47:44Z

<p>RVentura: </p> <hr /> <div></div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4377 2011-12-05T13:02:56Z

<p>RVentura: /* News and Events */</p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> ** Research Assistant #1 (ISR, Lisbon)<br /> ** Research Assistant #2 (M-ITI, Madeira) [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (eracareers call)]<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4376 2011-12-05T12:11:28Z

<p>RVentura: </p> <hr /> <div>'''Website: http://aurero.isr.ist.utl.pt'''<br /> <br /> == News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> ** Research Assistant #1 (ISR, Lisbon) (call)<br /> ** Research Assistant #2 (M-ITI, Madeira) [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (call)]<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4375 2011-12-05T12:02:59Z

<p>RVentura: </p> <hr /> <div>== News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> ** Research Assistant #1 (ISR, Lisbon) (call)<br /> ** Research Assistant #2 (M-ITI, Madeira) [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (call)]<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (M-ITI)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, M-ITI)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4374 2011-12-05T12:02:33Z

<p>RVentura: /* News and Events */</p> <hr /> <div>== News and Events ==<br /> <br /> * '''Grant opportunity''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> ** Research Assistant #1 (ISR, Lisbon) (call)<br /> ** Research Assistant #2 (M-ITI, Madeira) [http://www.eracareers.pt/opportunities/index.aspx?task=global&amp;jobId=26930 (call)]<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (MiTi)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, MiTi)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4373 2011-12-05T11:58:04Z

<p>RVentura: </p> <hr /> <div>== News and Events ==<br /> <br /> * '''Research Grant''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> <br /> == Executive Summary ==<br /> <br /> [[Image:Raposa NG.png|250px|thumb|RAPOSA-NG platform]]<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> {|<br /> | [[Image:Screen Shot 2011-12-01 at 11.23.42 PM (small).jpg|300px|thumb|3D reconstruction of lab]]<br /> | [[Image:Slam6d.png|377px|thumb|Monocular 6D-SLAM in lab]]<br /> |}<br /> <br /> == Partners ==<br /> <br /> {| align=right frame<br /> | <br /> [[Image:Logo IST color.png|70px]]<br /> [[Image:Logo MITI.png|130px]]<br /> |}<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> <br /> ISR-Lisbon is a university based R&amp;D institution where multidisciplinary advanced research activities are developed in the areas of Robotics and Information Processing, including Systems and Control Theory, Signal Processing, Computer Vision, Optimization, AI and Intelligent Systems, Biomedical Engineering. Applications include Autonomous Ocean Robotics, Search and Rescue, Mobile Communications, Multimedia, Satellite Formation, Robotic Aids.<br /> <br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (MiTi)] (Madeira, Portugal)<br /> <br /> The work of the institute mainly concentrates on innovation in the areas of computer science, human-computer interaction, and entertainment technology. Feel welcome to explore the information here on our educational programs and our research efforts.<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, MiTi)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=File:Slam6d.png&diff=4372 2011-12-05T11:48:37Z

<p>RVentura: Monocular 6D-SLAM (Filipe Jesus)</p> <hr /> <div>Monocular 6D-SLAM (Filipe Jesus)</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=File:Screen_Shot_2011-12-01_at_11.23.42_PM_(small).jpg&diff=4371 2011-12-05T11:23:01Z

<p>RVentura: 3D reconstruction from Kinect data (Pedro Vieira)</p> <hr /> <div>3D reconstruction from Kinect data (Pedro Vieira)</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=File:Raposa_NG.png&diff=4370 2011-12-05T11:13:55Z

<p>RVentura: </p> <hr /> <div></div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=File:Logo_MITI.png&diff=4369 2011-12-05T11:00:47Z

<p>RVentura: </p> <hr /> <div></div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=AuReRo:_Augmented_Reality_Robotics&diff=4368 2011-12-05T10:47:41Z

<p>RVentura: Created page with &quot;== News and Events == * &#039;&#039;&#039;Research Grant&#039;&#039;&#039; -- Call for two positions &#039;&#039;(deadline: Dec 16th, 2011)&#039;&#039; == Executive Summary == Field robotics is the use of sturdy robots in uns...&quot;</p> <hr /> <div>== News and Events ==<br /> <br /> * '''Research Grant''' -- Call for two positions ''(deadline: Dec 16th, 2011)''<br /> <br /> == Executive Summary ==<br /> <br /> Field robotics is the use of sturdy robots in unstructured environments. One important example of such a scenario is in Search And Rescue (SAR) operations to seek out victims of catastrophic events in urban environments. While advances in this domain have the potential to save human lives, many challenging problems still hinder the deployment of SAR robots in real situations. This project tackles one such crucial issue: effective real time mapping. To address this problem, we adopt a multidisciplinary approach by drawing on both Robotics and Human Computer Interaction (HCI) techniques and methodologies.<br /> <br /> To achieve effective human-robot interaction (HRI), we propose presenting a pair of stereo camera feeds from a robot to an operator through an Augmented Reality (AR) head-mounted display (HMD). This will provide an immersive experience to the controller and has the capacity to display rich contextual information. To further enhance this display, we will superimpose mapping data generated by SLAM-6D (Simultaneous Localization And Mapping) algorithms over the video input using Augmented Reality (AR) techniques. Three modes of display will be available: (1) a top view 2D map, to aid navigation and provide an overview of spaces, (2) a rendered 3D model to allow the operator to explore a virtual model of the environment in detail, and (3) a superimposed rendered 3D model, synchronized with the field of view of the operator to form an augmented camera view. To achieve this latter mode we will track the angular position of the HMD and use it to both control the orientation of the robot's cameras and the rendering of the AR scene.<br /> <br /> We will use real firefighter training camps as an experimental setup, leveraging a prior relationship between IST/ISR and the Lisbon firefighter corporation. The cooperation with firefighter teams will also provide subjects for initial task analyses and later usability evaluations of the system in the field. Concerning the robotic platforms, we will use existing robotic platforms at IST/ISR (e.g., the RAPOSA robot, together with other commercial platforms), upgrading them with the necessary equipment to achieve the project goals: 3D ranging sensors, calibrated stereo camera pairs with a pan&amp;tilt mounting, and increased computing power.<br /> <br /> == Partners ==<br /> <br /> * [http://www.isr.ist.utl.pt/ Institute for Systems and Robotics (ISR)], Instituto Superior Técnico (Lisbon, Portugal)<br /> * [http://www.m-iti.org/ Madeira Interactive Technologies Institute (MiTi)] (Madeira, Portugal)<br /> <br /> == People ==<br /> <br /> * [http://users.isr.ist.utl.pt/~yoda/ Rodrigo Ventura] (Principal Investigator, ISR)<br /> * [http://www.whereveriam.org/work/ Ian Oakley] (Researcher, MiTi)<br /> * Filipe Jesus (MSc candidate, ISR)<br /> * Pedro Vieira (MSc candidate, ISR)<br /> * Felix Tener (IAESTE grantee, ISR)<br /> * Keiya Okada (IAESTE grantee, ISR)<br /> <br /> == Funding ==<br /> <br /> * FRARIM: Human-robot interaction with field robots using augmented reality and interactive mapping (PTDC/EIA-CCO/113257/2009)<br /> * LARSyS Plurianual Budget (PEst-OE/EEI/LA0009/2011)<br /> <br /> == Related work ==<br /> <br /> === Projects ===<br /> <br /> * [[RAPOSA robot]]<br /> * [http://rescue.isr.ist.utl.pt/ Rescue project]<br /> <br /> === Publications ===<br /> <br /> * '''Immersive 3-D Teleoperation of a Search and Rescue Robot Using a Head-Mounted Display''', Henrique Martins, Rodrigo Ventura, IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA-09), Mallorca, Spain, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2130_Martins09.pdf PDF]<br /> * '''Robust Autonomous Stair Climbing by a Tracked Robot Using Accelerometer Sensors''', Jorge Ferraz, Rodrigo Ventura, International Conference on Climbing and Walking Robots (CLAWAR-09), Istanbul, Turkey, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/2131_Ferraz09.pdf PDF]<br /> * '''Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm''', Fausto Ferreira, Rodrigo Ventura, Workshop on Robotics for Disaster Response, ICRA 2009 - IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1995_paper.pdf PDF]<br /> * '''A Search and Rescue Robot with Tele-Operated Tether Docking System''', C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 , 2007. &amp;mdash [http://welcome.isr.ist.utl.pt/img/pdfs/1632_IndustrialRobot.pdf PDF]<br /> * '''RAPOSA: Semi-Autonomous Robot for Rescue Operations''' , C. Marques, J. Cristovão, Pedro Lima, João Frazão, M. Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006. &amp;mdash; [http://welcome.isr.ist.utl.pt/img/pdfs/1486_paper-final-short.pdf PDF]</div>

RVentura http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Intelligent_Robots_and_Systems_Group&diff=4367 2011-12-05T10:20:51Z

<p>RVentura: /* Projects */</p> <hr /> <div>The Intelligent Robots and Systems Group was born as of the former ISR/IST [http://islab.isr.ist.utl.pt/ Intelligent Systems] and [http://lrm.isr.ist.utl.pt/ Mobile Robotics] laboratories.<br /> <br /> == People ==<br /> <br /> Active senior members of the lab:<br /> <br /> * [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]<br /> * [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]<br /> * [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]<br /> * [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]<br /> * [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]<br /> * [http://www.isr.ist.utl.pt/~mtjspaan/ Matthijs Spaan]<br /> * [http://sites.google.com/site/paginapessoaldeporfiriosilva/ Porfírio Silva]<br /> <br /> == Projects ==<br /> <br /> The IRS group has been involved in several financed projects, both European and national.<br /> <br /> === Current projects ===<br /> <br /> * [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)<br /> * [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)<br /> * [http://decpucs.isr.ist.utl.pt Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)<br /> * [http://socrob.isr.ist.utl.pt SocRob: Soccer Robots or Society of Robots] (ISR internal)<br /> * [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)<br /> * [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)<br /> * [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)<br /> * [http://users.isr.ist.utl.pt/~jseq/RIOL/ Robotic inspection over power lines] (FCT)<br /> <br /> === Past projects ===<br /> * [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP6)<br /> * FEMDS (ESA)<br /> * HROSS (EUCLID RTP9)<br /> * [http://socrob.isr.ist.utl.pt SocRob2004/FCT]<br /> * [http://rescue.isr.ist.utl.pt RESCUE]<br /> * [http://raposa.isr.ist.utl.pt RAPOSA]<br /> * [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]<br /> * DARE<br /> * MS-AGENCY<br /> * [http://lci.isr.ist.utl.pt/projects/ older projects of the Intelligent Control Lab]<br /> <br /> == Other research ==<br /> <br /> Current research is being conducted by IRS group members in these core areas:<br /> <br /> * [[Institutional Robotics]]<br /> * [[Field Robotics]]<br /> * [[Humanoid Robotics]]<br /> * [[Formation State Estimation and Control]]<br /> * [[Discrete Event Systems Based Robotic Task Modeling]]<br /> * [[Planning under Uncertainty]]<br /> * [[Cooperative Active Perception]]<br /> * [[Cognitive Architectures]]<br /> <br /> == PhD Theses ==<br /> <br /> An overview of PhD theses (co-)supervised by IRS group members.<br /> <br /> * [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.<br /> * [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.<br /> * [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.<br /> * [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.<br /> * [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.<br /> * [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.<br /> * [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.<br /> * [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.<br /> * [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.<br /> * [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.<br /> <br /> == ISR Associate Laboratory ==<br /> <br /> The Intelligent Robots and Systems group has actively participated in the research activities within [http://users.isr.ist.utl.pt/~jasv/temaB/ theme B (Robotic Monitoring and Surveillance)] of Institute for Systems and Robotics -- Associate Laboratory. <br /> <br /> == Workshops ==<br /> <br /> The following workshops had IRS group members on their organizing comitees.<br /> <br /> * [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)<br /> * [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]<br /> * [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]<br /> * [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]<br /> * [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)<br /> * [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)<br /> * [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)<br /> * [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)<br /> <br /> == Institutional Links ==<br /> <br /> The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:<br /> <br /> * http://www.aass.oru.se/Agora/EuronCoop/ &amp;mdash; '''CR SIG''': EURON Special Interest Group on Cooperative Robotics<br /> * http://www.ieee.org &amp;mdash; '''IEEE''': Institute of Electrical and Electronics Engineers<br /> * http://www.aaai.org &amp;mdash; '''AAAI''': Association for the Advancement of Artificial Intelligence<br /> * http://www.robocup.org &amp;mdash; '''RoboCup''': Robot World Cup Initiative<br /> * http://www.spr.ua.pt &amp;mdash; '''SPR''': Sociedade Portuguesa de Robótica<br /> * http://www.appia.pt &amp;mdash; '''APPIA''': Associação Portuguesa Para a Inteligência Artificial<br /> <br /> == Software ==<br /> <br /> Public domain software developed at IRS group, in the context of research activities.<br /> <br /> * [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]<br /> * [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]<br /> * [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]<br /> * [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]<br /> <br /> Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).<br /> <br /> * Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]<br /> * Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]<br /> * Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]<br /> <br /> == Hardware ==<br /> <br /> * [[Bioloid Extension Project]]<br /> <br /> == Scientific Activities for Youngsters ==<br /> <br /> The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them. <br /> <br /> * Pioneer project of S&amp;T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]<br /> * [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]</div>

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