I’m pleased to bring GoRobotics an exclusive interview with Angelica Lim of Kyoto University. When I first started writing here at GoRobotics, one of my goals that I stated was to bring more compelling academic research to the general public and enthusiasts because behind lots of jargon and hidden in some grad student’s lab somewhere is a robot waiting for it’s chance in the spotlight.

Let’s get right into things with Angelica.

How did you end up a roboticist? Was it a childhood dream?

I had no idea I wanted to be a roboticist when I was a kid. It started when I was on exchange in France, doing a year of Computer Science classes at the University of Nice. One of our projects was to pick amongst research topics proposed by faculty members, and “Build a Data Server for an Autonomous Underwater Vehicle (AUV)” was one of them. I ended up choosing that on a whim, and our team did a pretty good job coding it up in C++ under her specs. I got called back the next year to help integrate it with a real “live” AUV for a competition in England, and I was hooked. I liked it so much that I put together the robotics team back home in Canada. That was my second robotics competition – hopefully not my last!

How did you end up in Japan working on robots?
The main reason I wanted to come to Japan was simply because the hardware is much more advanced and easy to acquire. Full-size humanoid research platforms have been out in Japan for almost a decade. Only now are companies like Willow Garage starting to gain traction in North America.

On a more personal level, I also felt like my research options would be limited in North America. In the US, robotics research is heavily funded by the military, and therefore it seemed to me, at least that my research would have to conform to very serious and grave goals in order to gain funding. In Japan, robotics applications sound less like “Big Dog” and more like “RIBA Nurse Robot” and “Fan Dancing Robots” . I prefer the Japanese outlook on a future with robots. Does that make sense?

More after the jump …

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The M3-Neony and M3-Synchy were developed as baby bots aimed at testing machine learning software, and specifically to take a look at fine motor skill development. The hardware on this adorable little bot are some typical cameras, a microphone, gyro, accelerometer, and tactile sensors.

I heard about the M3–neony and M3-synchy through this Engadget article but I was disappointed the coverage was so scant. When I began blogging for GoRobotics, I mentioned briefly my loved for HCI, and in particular human-robot interaction – naturally, this article inspired me enough for a second article today. But, as I was excited reading about it, it looks like the article only mentions briefly the research goals of the bots. There is, however, a lot of information about what was used to make them for you gearheads out there. I’m going to comb to find the Japanese lab site if I can, in the meantime here is what’s available so far:

This article at Plastic Pals seems to have more detailed specs on these two robots. The article is long, but features more detailed specs on the bot:

[...] it is 50cm (19.6″) tall, weighs about 3.5kg (7.7 lbs) – about the size of a newborn.  A pair of CMOS cameras for sight and microphones for hearing, as well as gyro and accelerometer sensors, and tactile sensors provide various feedback. The robot has a total of 22 degrees of freedom, powered by high torque (41kg/cm) servo motors sold by Osaka-based robotics company Vstone.

The main focus is on facial expressions and arm gestures, so it is an upper body robot only, with 17 DOF (2 eyes x3, neck x3, waist x2, 2 arms x3), measuring 30cm (12″) tall and weighing 2.5kg (5.5 lbs). The head is equipped with a single wide-angle lens CCD camera, two microphones, a speaker, and 15 LEDs which cause the robot to blush bright red.  Combined with object recognition, speech recognition, and speech synthesis, the robot will be able to communicate in a variety of ways.  The chest and arms appear to be based on Vstone’s Robovie-X hobby robot kit.

If anyone finds out more about what kind of tactile sensors are involved, I’d love to hear about it. Tactile sensors aren’t something I hear about a lot and I’d love to put together an article on what’s out there.

You can catch a video here, and do check out the Plastic Pals article – they have a great gallery of these baby bots.

Today I have an interesting tidbit for those of you on LinkedIn ! There is now a LinkedIn group for hobby roboteers! Now I have even more of a reason to finally get on LinkedIn – we’ll see how much the temptation drives me.

The meat of today’s article is MIT’s MeBot.

MIT's MeBot

MIT has a pretty established humanoid robotics lab, meaning they’re at the forefront of our latent dreams to one day have cyborgs and robots walk the streets with our fellow man. (Call it whimsy, call it crazy, but I’m looking forward to an increasing number of robots in society. ) Anybody interested in robotics already knows of the legacy that MIT has for it’s robotics development, including Kismet – a rather impressive early attempt at robot-human social interaction (you can find more about Kismet here), and Cog – another human-robot interaction experiment that followed the reasoning that Cog should be able to learn from interacting with humans (more information about Cog here). MeBot comes to us from the Personal Robotics Lab.

Telerobotics is the area of robotics development concerned with – you probably guessed it – remote-control robots. The overarching idea of the field is that work needs to be done at a distance in some situations in life, and telerobotics is here to aim to answer those challenges.

The robot was presented at the Human-Robot Interaction conference in Osaka, Japan. Putting an OQO atop for a head plus some gesturing arms into the mix, it adds depth to the notion that you could really be there, and with a decent range of motion, rolling down the halls of MIT. Remotely. Via a robot.

The proposal here is that this mode allows the user to be more engaged through the movement of the head and arms. The head tracks  the face of of the user so that it can ‘look around’. The arms are moved by a set of hand-operated controls.

The “Gulper AUV” is an underwater vehicle that is programmed to look for information of use to the scientific community.

Gulper AUV Sub-Aquatic Robot

The group explains that it has ‘trained’ the robot to retrieve the highest-quality information back to them.

“We tell it, ‘here’s the range of tasks that we want you to perform’, and it goes off and assesses what is happening in the ocean, making decisions about how much of the range it will cover to get back the data we want.” says Dr Maughan of MBARI.

The Gulper AUV is used to help scientists keep tabs on various algae. In particular, these scientists are keeping watch for algae blooms that could means problems for the ecosystem.

It used to be the case that a ship would be sent out for a whole day every few weeks to retrieve the kind of information that the Gulper AUV can nab in one of its trips. They just take it out to the harbor, and away it goes on its mission. Around twenty-four hours later, it comes back, they hoist it away, and analyze the results.

The biggest flag to go off in my mind is that this must require some interesting exploration and path planning algorithms to deal with an undersea environment. Taking a look at MBARI’s website, the Gulper AUV is equipped with four sonar that operate simultaneously to provide a fantastic map of the sea floor in high resolution.

The multibeam sonar produces high-resolution bathymetry (analogous to topography on land), the sidescan sonars produce imagery based on the intensity of the sound energy’s reflections, and the subbottom profiler penetrates sediments on the seafloor, allowing the detection of layers within the sediments, faults, and depth to the basement rock. All components are rated to 6000 m depth. The vehicle is launched on programmed missions and runs on its own battery power until it returns to the ship, as programmed, for recovery – MBARI AUV Mapping Page

Head over to the article at BBC to hear an audio snippet about the Gulper AUV. it’s about halfway down the page. If you think that’s cool, then you’d also better head over to the AUV’s home page at MBARI to check out the technical goods.

After months of trying, NASA is calling it quits on freeing the Spirit rover from the Martian sand that it’s been stuck in since May of 2009.  Unfortunately, after six years of tireless service, the end might be very near for the rover, which faces a severe Martian winter in its current position. NASA engineers will spend the next few weeks preparing Spirit to face the winter weather, and hope that it will be able to continue on as a stationary scientific platform.

“Spirit is not dead; it has just entered another phase of its long life,” said Doug McCuistion, director of the Mars Exploration Program at NASA Headquarters in Washington. “We told the world last year that attempts to set the beloved robot free may not be successful. It looks like Spirit’s current location on Mars will be its final resting place.”

The Martian winter will begin in May. Until then, NASA will try and use remaining power to change the inclination of Spirit in order to help it capture more sunlight. NASA says that unless Spirit can be positioned in a better position, it is unlikely that it will survive.

Meanwhile, Opportunity, Spirit’s sister, continues to amble onwards towards a crater called Endeavor. NASA has some good videos summarizing Spirit’s six years.

The famous underwater ROV (remotely operated vehicle), Jason, which was integral in discovering the wreck of the Titanic and other famous ships, recently captured a spectacular underwater volcano eruption in high definition. This extremely rare event is even more impressive considering it’s 4000 feet (1200 meters) below the ocean’s surface, in an area of the Pacific ocean near Fiji. This is the deepest erupting underwater volcano ever discovered and the extreme water pressure allowed Jason to record video mere feet from the eruption. The lava spewing from the West Mata volcano is also thought to be an extremely rare, and very hot, form of lava previously only found on extinct volcanoes.

You can see videos of the eruption after the jump.

Jason is operated by Woods Hole Oceanographic Institute and the work was funded by NOAA and NSF.

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Cornell University has won the 12th annual AUVSI Autonomous Underwater Vehicle Competition. And, according to Cornell’s tweet, second place goes to University of Victoria and 3rd to University of Rhode Island. Interestingly, these three teams weren’t even in the top 5 of last year’s compeitors (pdf), so they seem to have put in a lot of work. You can read all of the team’s technical papers here. Cornell’s, U.Vic. and URI’s papers will make interesting reading for all the 2010 competitors with an ax to grind.

Congratulations to Nova, Aerius, and Ram-Boat ’09 and all the engineers behind them on a job well done.

After the jump are two recap videos from the 1st and 2nd days competition.

If you like this story, will you please Digg it? Thanks!

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Mars Rover Stuck

After over five years of tireless service, the Mars rover Spirit is one again in trouble.  Our long-lived martian friend now appears to be stuck in the sand. Spirit, which has been dragging an immobile wheel for nearly three years, has been circling a, “low plateau called ‘Home Plate’ for two months”, where it stumbled into some very soft martian sand. After proceeding about 1 meter, it now appears that the wheels are almost half-way deep into the sand (which you can see in the picture), and NASA engineers have suspended movement until they can further analyze the situation.

“We are proceeding methodically and cautiously. It may be weeks before we try moving Spirit again. Meanwhile, we are using Spirit’s scientific instruments to learn more about the physical properties of the soil that is giving us trouble.”

Even if Spirit never recovers, it will have been operation for more than 5 years past its original mission – a pretty hefty return-on-investment. But, here’s hoping for some more martian exploration time from dear Spirit.

Festo, a German engineering company which brought us the stunning AirJelly, has now unveiled their latest project – life-like robo-penginus. Even better, there ‘s a swimming and a flying version. The penguins, which were designed to showcase a new mechanical linkage/control design for robotic arms, are amazingly life-like. Aside from the creepy glowing eyes, the underwater variety could well be mistaken for the real thing. The swimming penguins can move their heads and tails, just like real penguins, and navigate using a 3D sonar developed by EvoLogics. The flying variety use ultrasonic receivers to map out their flying space, with the help of stragegically placed ultrasonic transmitter. Both penguins use fiberglass rods through the length length of their body to provide structure, and when the rods are pushed/pulled, to move their heads and tails.

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This is one of the most refreshing and clever uses of robotic technology that I’ve come across in a while – using robots to tend a tomato garden. The garden came about from the work of postdoc Nikolaus Correll who works in the MIT Distributed Robotics Lab and was part of an undergraduate class taught in the Fall of 2008. The garden uses iRobot Create’s, equipped with 4 DOF arms to tend the plants. Each robot is equipped with a watering system and each plant monitors its soil humidity. When a plant needs water a request is sent, via a mesh network, to the robots, which water the plants. A camera on each robot also catalogs the location and ripeness of the tomatoes on the plants for harvesting. You can read more about the garden here and here (pdf). Video of the robotic garden in action after the jump.

[Via Boing Boing]

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NASA is working on an UAV to fly above the surface of mars and take high resolution video of the landscape below. The ARES mission will involve a 6.5 meter wingspan UAV that will cruise along 1 mile above the martian surface. The cameras on board are very high resolution, such that, “if there was a candy wrapper on the surface, we could read the name and ingrediants off of it.”

Once the plane reaches the surface of Mars, NASA plans on live streaming the video feed from the plane. That will definitely be something to watch for. No word on how long the plane will remain airborne.

Riding with Robots brings us a neat story of how NASA has recycled one of their missions, and turned it into another. The EPOXI (Extrasolar Planet Observation and Deep Impact Extended Investigation) mission utilizes the main vehicle from the Deep Impact mission to performan another series of experiments which will perform a close (600 miles) fly-by of the comet Hartley 2 on October 11, 2010. During its trip to Hartley 2, the space probe will pass by Earth a total of 4 times and is currently in a solar orbit. The probe uses Earth’s gravity to gently nudge it into the path of the comet. The mission, which is being run by the University of Maryland, will only end up costing tax-payers $40 million USD (compared to $330 million USD cost of Deep Impact).

From the lab of YutaHiroto Tanaka, here’s some slow-motion video of a butterfly ornithopter in flight. It appears this video is part of a paper that was submitted to the IROS 2008 (International Conference on Intelligent Robots and Systems) conference.

[Via DIYDrones, Via MAKE]

The Mars Phoenix Lander is dying dead (see below). Dying a slow death of hypothermia. You see, the fading Martian summer sunlight is causing Phoenix to become starved for photons with which it charges its batteries. Without a fresh battery charge each day, Phoenix is unable to keep its heaters running all night. When the heaters stop running, so does Phoenix.

“This is exactly the scenario we expected for the mission’s final phase, though the dust storm brought it a couple weeks sooner than we had hoped,” said Phoenix Project Manager Barry Goldstein of NASA’s Jet Propulsion Laboratory, Pasadena, Calif. “We will be trying to gain some additional science during however many days we have left. Any day could be our last.”

To commemorate the passing of our Martian robotic pal, Gizmodo is having Phoenix as a “guestblogger” on their site. Phoenix is summing up his thoughts for the world at the end of his life. You can also keep up with Phoenix’s last moments via Twitter.

In the slim chance that Phoenix manages to stay in one piece during the Martian winter, he’s programming to wake up and alert NASA that he’s still alive. In the meantime, Phoenix, we’ll miss you.

Update: NASA has officially ended the Phoenix mission. Phoenix is now officially dead. They haven’t heard from him since Nov. 2nd. [Via Riding with Robots]

The DelFly Micro, built by Delft University of Technology, is the world’s smallest ornithopther. The flapping robot has a 10 cm wingspan and even includes a video camera. In a mere year-and-a-half, the team decreased the weight from the 16 grams of the DelFly II, to the amazing 3 grams of the DelFly Micro.

The group hopes to use the ornithopther to study the aerodynamics of small flapping vehicles, as computer simulations prove very difficult. They also hope to use the onboard camera to achieve autonomous flight using machine vision. The current vehicle has a 30mAh lithium polymer battery that allows for 3 minutes of flight-time (the battery is 1/3 of the DelFly’s weight). The wings are made of mylar and flap at 30 Hz.

You can see some video of the ornithopther flying after the jump.

Update: The August 15th edition (MP3) of the Robots Podcast features an interview with the creators of the DelFly Micro.

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