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Overview of Cybernet Systems Corporation Robotics. Joseph Tesar – jt@cybernet.com Charles Jacobus, Ph.D. – chuck@cybernet.com. Cybernet Systems Corporation 727 Airport Blvd Ann Arbor, Michigan 48108 www.cybernet.com. Cybernet Biography. Founded in 1988 Special Status: Woman-owned

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overview of cybernet systems corporation robotics

Overview of Cybernet Systems CorporationRobotics

  • Joseph Tesar – jt@cybernet.com
  • Charles Jacobus, Ph.D. – chuck@cybernet.com

Cybernet Systems Corporation

727 Airport Blvd

Ann Arbor, Michigan 48108

www.cybernet.com

slide2

Cybernet Biography

  • Founded in 1988
  • Special Status: Woman-owned
  • Over 200 contracts completed – largest SBIR winner in the Midwest
  • 16 Patents, ~20 patents pending
  • Specialization: Robotics, Sensors, Software
  • Commercialization and R&D

Cybernet

cybernet s mission
Cybernet’s Mission
  • Our mission is to apply Cybernet-developed technology to the human machine interface. Areas include:
    • Distributed Simulations
    • Robotics and Computer Vision
    • Human Interface Systems
    • Wired and Wireless Network Appliances

Cybernet

technology areas
Technology Areas
  • Distributed Simulations
    • Scalable Massive MultiNode Simulator (OpenSkies)
    • Simulation engines (3D, terrain, sound, scenario)
  • Robotics and Computer Vision
    • Autonomous actions using vision inputs
  • Human Interface Systems
    • Non traditional methods for interfacing machines to humans, using gestures, eyetracking and voice commands
    • Distributed medical data collection and data distribution

Cybernet

robotics r d track record
Robotics R&D Track Record

Current and past sponsors:

  • NASA:
    • Force Feedback (haptic joysticks),
    • Computer Vision for 3D Object Localization
    • Semi-Autonomous Robotic Command Creation
  • DoD (Army, DARPA, OSD, Navy, AF):
    • Novel Robotic Platforms – omnidirectional, walkers, etc
    • Gesture Recognition
    • Hands Free Control of Computers
    • OCUs (Demo II, Wearable OCU for Man Portable Systems – FCS)
    • Telemaintenance of Robotic Platforms (FCS)
    • Distributed Simulation
  • Future Combat Systems (Boeing)

Cybernet

cybernet firsts
Cybernet Firsts

1989: (NASA) First general purpose FF Joystick

1992: (ARL) First portable robotics OCU

1994: (DARPA/TACOM) First Linux used in Demo II OCU

1994: (JPO) HMMWV Robotics retrofit kit

1996: (CECOM) Laptop touch-controlled OCU for field digital photo intel

(USAF) Computer vision augmented GPS navigation prototype

(NIH, NASA, DARPA) First Internet Medical Appliance

1997: (Mich) Walking/Rolling robot prototype -- experimental design for long endurance, flexible obstacle breaching, fast traversal of flat terrain

1998: (Navy) Small omnidirectional platform prototype -- experimental design for agility and speed

(Ford Motor Co) 6DOF articulated linkage (pantograph) with end effector

1998: (STRICOM) Locomotion Platform, Virtual Test Range

1999/00: (TACOM) Semi-Autonomous Rendezvous and Docking for Robots

(Commercial) NetMAX Linux-based Servers (Secure, Connect, Share)

2000:(JPO) Wearable OCU; (ARL) Hands Free Interface; (Army) Low cost augmented GPS

2001: MedStar Medical Data Collection, (Army) Automated Parachute Deployment

(STRICOM) Gesture Dismounted Soldier Simulation Control

2002: (Army) Telemaintenance for Robotic Vehicles; (Army) “Instant” Communications

Network, OpenSkies Massive Multiplayer Game Network Engine

Cybernet

commercial success force feedback devices
Commercial Success - Force Feedback Devices
  • Beginning: NASA sponsored work (1989-92)
    • Resulted in 10 Patents from 1992 to present
  • Business goal: Create a large sales volume robotic product
  • Result: Force Feedback Joystick for PCs
    • Spun-off to Immersion Corporation, San Jose CA (Nasdaq: IMMR) in 1998
    • Licensees:
      • Logitech, Microsoft, Sony, CH Products
    • Cybernet and Immersion collaborate on Haptics development projects.

PerForce (1992)

Logitech (2000)

Cybernet

commercial success network appliances
Commercial Success - Network Appliances
  • DARPA : Demo II Portable OCU (1994-1996): PC parts & Linux
    • Result: One Patent, Software, and Web GUI Intellectual Property
  • Business Goal:
    • Create Linux-based O/S Products

Demo II Portable OCU

& Radio Set

  • Result: Netmax Internet Appliance Software
    • Server, Firewall, FileServer
    • See www.netmax.com

NetMAX Linux Internet

Appliance Software Family

Cybernet

slide9

Commercial Success - Medical Internet Appliances

  • NASA, DARPA, NIH funded Internet Physiological Monitor (1994-1998)
    • Three patents covering medical instruments directly connected to the Internet
  • Business Proposition:
    • Automate out-patient monitoring Sell/License technology
      • GE, Agilent, CyberCare, Guidant

802.11 Compatible

Multiparameter Monitor

MedStar Data Collection Unit

CDPD/PCS EKG Monitor

(Holter and Cardiac Event)

Cybernet

commercial success gesture recognition
Commercial Success - Gesture Recognition
  • Gesture Technology
    • Use human motion as machine inputs (eye motion, hand motion, etc.) - 6 patents pending
    • Commercial Software for computer games (see www.useyourheadsw.com)
    • 6 patents pending
    • Webcam based Eyetracker Cursor Control
    • Kiosk API product at Smithsonian
    • Army (STRICOM) hand gesture recognition system

Eyemotion controls cursor – blink detection represents “click”

Cybernet

commercial success distributed simulation
Commercial Success - Distributed Simulation
  • Distributed Simulation Products
    • OpenSkies scaled-up HLA for commercial game pay-for-play, messaging, routing (patented)
    • Engines for 3D, terrain, sound, chat, AI, scenarios, physics
    • Now Licensing to Game Developers for Massively Multiplayer PC Games (MMPG)
    • see //www.openskies.net for downloads and tutorials

Cybernet

platform technology
Platform Technology

Standard

Robotics/ Nav

Retrofit Kits

Cybernet

field portable ocu wireless hmi
Field Portable OCU (Wireless HMI)

2002: “Wearable” OCU with software interface

1994: DARPA/TACOM

Cybernet

slide14

Field Portable OCU (with Wireless Networking)

1994: DARPA/TACOM

1998: Ameritech

1992: ARL

1996: CECOM

Cybernet

networked human robot interface
Networked Human-Robot Interface
  • System Architecture
    • Based on LAN technology
    • Client/Server
    • Wireless protocols
  • “Instant” Network
    • Network self-forming
    • Mobile routing as robots move in the field

Cybernet

vision based robotic sensors
Vision Based Robotic Sensors
  • 3D object localization
  • Find “Pose” of the target (position and rotation of the target) in the field of view
  • Matches a known polymodel to an image from camera

Polymodel Match

Image from Camera

Cybernet

novel robotic platforms
Novel Robotic Platforms

6DOF Linkage

Omnidirectional Platform

Walking Robot

CyberStryder (Virtual Environment)

Cybernet

slide18

Motion Tracking Products

Augmented

GPS

3-axis Magnetometer

GPS

Motion and Gesture Tracking

Automatic

Parachute

Deployment

DifferentialOdometers

Cybernet

video based optical tracking

Target RGB Reference Color

Matching Color Space – RGB reference and Intensity volume

Video Based Optical Tracking
  • Optical Tracking Based On:
    • Motion
    • Color
    • Shape

Cybernet

optical tracking video based
Optical Tracking – Video Based
  • Example – UseYourHead™ Headtracker
  • Matches
    • Object Shape
    • Object Color
  • Simple USB Webcam
  • Headmotion is a mouse input
  • Hands remain free to perform other inputs

Cybernet

navigaze headmouse for disabled
NaviGaze – Headmouse for Disabled
  • Move mouse with any selected head feature
    • eye pupil
    • nostril
    • bridge of glasses
  • Click mouse by
    • closing eyes
    • flaring nose
  • WebCam video input

Cybernet

active eyetracking headtracking
Active Eyetracking & Headtracking
  • Localize objects in 3D space
  • Up to 30 tags
  • Up to 900 Hz update rate

Tags on helmet track head motion

Eyetracker integrated into HMD for Gaze Location

Cybernet

eyetracking headtracking
Eyetracking & Headtracking
  • Fuse inputs from ET & HT to control virtual scene

Headtracker (upper left) establishes frame of reference

Eyetracker defines Gaze direction

Cybernet

active tracking of human motion
Active Tracking of Human Motion
  • Attach tags to body part to generate a digital file of complex motions

Raw Video

Raw Tracking Data

Cybernet

active tracking of human motion1
Active Tracking of Human Motion
  • Raw video can be converted into a synthetic, rendered scene

Raw Video

Final Rendered Scene

Cybernet

staff qualifications
Staff Qualifications
  • PhD in Computer Science, EE, HCI
  • MSEE/CS/ME
  • Robotics/EE/CS/ME/HCI tech. Staff
  • Business Development
  • CAD/CAM for Mech. and EE.
  • Rapid Prototyping Facility
  • Expertise in electronics, digital, RF, software development, networks, robotics, security, web methods and e-commerce

Cybernet