These slide are from the NVIDIA GTC Express Webminar presented by Martin Peniak and Anthony Morse. There should be an audio/video version available at NVIDIA GTC site below.
http://www.gputechconf.com/object/gtc-express-webinar.html
The presentation focuses on the cognitive robotics research, GPUs and Aquila, an open-source toolkit providing many different tools and biologically-inspired models, useful for cognitive and developmental robotics research. Aquila addresses the need for high-performance robot control, which is typically confounded by processing power limitations that are inherent in the standard CPU architectures.
1ST DISIM WORKSHOP ON ENGINEERING CYBER-PHYSICAL SYSTEMSHenry Muccini
The University of L'Aquila, Italy, has organized an internal meeting on Engineering Cyber-Physical Systems (26 Jan 2016). About 35 colleagues from the DISIM (Information Engineering, Computer Science, and Mathematics) have participated and made presentations.
This SlideShare collects all the presentations.
If interested to future events, feel free to contact us:
Alessandro D’Innocenzo – alessandro.dinnocenzo@univaq.it -
Henry Muccini - henry.muccini@univaq.it
Radio frequency identification(RFID) technology using at various application by using radio frequency ranges.
It is especially used at tollgates. For automation of gate control.
It can also used at library systems.
ROS-Industrial Kuka LBR-iiwa community meetingClay Flannigan
Open community meeting focused on the Kuka LBR iiwa robot and development activities within the ROS-Industrial Community. Video here: http://youtu.be/brDMvFzdfAk
1ST DISIM WORKSHOP ON ENGINEERING CYBER-PHYSICAL SYSTEMSHenry Muccini
The University of L'Aquila, Italy, has organized an internal meeting on Engineering Cyber-Physical Systems (26 Jan 2016). About 35 colleagues from the DISIM (Information Engineering, Computer Science, and Mathematics) have participated and made presentations.
This SlideShare collects all the presentations.
If interested to future events, feel free to contact us:
Alessandro D’Innocenzo – alessandro.dinnocenzo@univaq.it -
Henry Muccini - henry.muccini@univaq.it
Radio frequency identification(RFID) technology using at various application by using radio frequency ranges.
It is especially used at tollgates. For automation of gate control.
It can also used at library systems.
ROS-Industrial Kuka LBR-iiwa community meetingClay Flannigan
Open community meeting focused on the Kuka LBR iiwa robot and development activities within the ROS-Industrial Community. Video here: http://youtu.be/brDMvFzdfAk
IoT Architectures for a Digital Twin with Apache Kafka, IoT Platforms and Mac...Kai Wähner
A digital twin is a digital replica of a living or non-living physical entity. This session discusses the benefits and IoT architectures of a Digital Twin in Industrial IoT (IIoT) and its relation to Apache Kafka, IoT frameworks and Machine Learning. Kafka is often used as central event streaming platform to build a scalable and reliable digital twin for real time streaming sensor data. A live demo shows a scalable digital twin infrastructure for condition monitoring and predictive maintenance in real time for a connected car infrastructure leveraging Kafka, MQTT and TensorFlow.
Key Take-Aways:
• Learn about use cases and characteristics of a digital twin in various industries
• Understand how to build a digital twin for every single (of tens of thousands) IoT device or machine
• See different IoT architectures with Kafka and other IoT technologies and products, including edge, hybrid and global deployments
• Understand the relation to Machine Learning and bring added value to your IoT infrastructure by enabling use cases like predictive maintenance
• Understand how the Apache Kafka enables scalable and flexible end-to-end integration processing from IIoT data to various backend applications
• Watch a live demo of an end-to-end integration, real time processing and analytics of thousands of IoT devices
More details:
https://www.kai-waehner.de/blog/2019/11/28/apache-kafka-industrial-iot-iiot-build-an-open-scalable-reliable-digital-twin/
https://www.kai-waehner.de/blog/2020/03/25/architectures-digital-twin-digital-thread-apache-kafka-iot-platforms-machine-learning/
https://youtu.be/Q3eKPEVwNVY
Home automation using IoT literature review pptTanujkumar101
This ppt has covered through 5 research paper (1 base paper + 4 research paper) .there each paper have its marit and demerits . first paper based on raspberry Pi , second one is on Arduino, third one is on esp8266 and forth one on PLC and conclusion have comparison part .
The Internet-of-Things provides us with lots of sensor data. However, the data by themselves do not provide value unless we can turn them into actionable, contextualized information. Big data and data visualization techniques allow us to gain new insights by batch-processing and off-line analysis. Real-time sensor data analysis and decision-making is often done manually but to make it scalable, it is preferably automated. Artificial Intelligence provides us the framework and tools to go beyond trivial real-time decision and automation use cases for IoT.
Cyborg is a technology which can improve the capabilities of the human being and upgrades him. Cyborg is an cybernetic organism which is a part human and a part machine which gets inputs from the human senses and the machine interface. Cybernetic organism is a chip implanted in a human body which is interfaced to the central nervous system of the body and also receives messages from the machine.
*History of cyborg
*brain computer interface
*Examples of cyborg
Autonomous drone - indoor navigation
Lightweight frame design
Indoor Wi-Fi repeater with maximum coverage
GPS integration
Direction detection by compass
Calibration by Gyroscope
It is a technique to modify a source speaker's speech to sound as if it was spoken by a target speaker.
Voice morphing enables speech patterns to be cloned
And an accurate copy of a person's voice can be made that can wishes to say, anything in the voice of someone else.
Performance trends and alerts with ThingSpeak IoTAnoush Najarian
We use data analysis and visualization capabilities of ThingSpeak, our favorite Internet of Things platform to capture and analyze performance data, to help with performance monitoring and to generate alerts
Cornell University’s Hod Lipson is seeking to understand if machines can learn analytical laws automatically. For centuries, scientists have attempted to identify and document analytical laws underlying physical phenomena in nature. Despite the prevalence of computing power, the process of finding natural laws and their corresponding equations has resisted automation. Lipson has developed machines that take in information about their environment and discover natural laws all on their own, even learning to walk.
IoT Architectures for a Digital Twin with Apache Kafka, IoT Platforms and Mac...Kai Wähner
A digital twin is a digital replica of a living or non-living physical entity. This session discusses the benefits and IoT architectures of a Digital Twin in Industrial IoT (IIoT) and its relation to Apache Kafka, IoT frameworks and Machine Learning. Kafka is often used as central event streaming platform to build a scalable and reliable digital twin for real time streaming sensor data. A live demo shows a scalable digital twin infrastructure for condition monitoring and predictive maintenance in real time for a connected car infrastructure leveraging Kafka, MQTT and TensorFlow.
Key Take-Aways:
• Learn about use cases and characteristics of a digital twin in various industries
• Understand how to build a digital twin for every single (of tens of thousands) IoT device or machine
• See different IoT architectures with Kafka and other IoT technologies and products, including edge, hybrid and global deployments
• Understand the relation to Machine Learning and bring added value to your IoT infrastructure by enabling use cases like predictive maintenance
• Understand how the Apache Kafka enables scalable and flexible end-to-end integration processing from IIoT data to various backend applications
• Watch a live demo of an end-to-end integration, real time processing and analytics of thousands of IoT devices
More details:
https://www.kai-waehner.de/blog/2019/11/28/apache-kafka-industrial-iot-iiot-build-an-open-scalable-reliable-digital-twin/
https://www.kai-waehner.de/blog/2020/03/25/architectures-digital-twin-digital-thread-apache-kafka-iot-platforms-machine-learning/
https://youtu.be/Q3eKPEVwNVY
Home automation using IoT literature review pptTanujkumar101
This ppt has covered through 5 research paper (1 base paper + 4 research paper) .there each paper have its marit and demerits . first paper based on raspberry Pi , second one is on Arduino, third one is on esp8266 and forth one on PLC and conclusion have comparison part .
The Internet-of-Things provides us with lots of sensor data. However, the data by themselves do not provide value unless we can turn them into actionable, contextualized information. Big data and data visualization techniques allow us to gain new insights by batch-processing and off-line analysis. Real-time sensor data analysis and decision-making is often done manually but to make it scalable, it is preferably automated. Artificial Intelligence provides us the framework and tools to go beyond trivial real-time decision and automation use cases for IoT.
Cyborg is a technology which can improve the capabilities of the human being and upgrades him. Cyborg is an cybernetic organism which is a part human and a part machine which gets inputs from the human senses and the machine interface. Cybernetic organism is a chip implanted in a human body which is interfaced to the central nervous system of the body and also receives messages from the machine.
*History of cyborg
*brain computer interface
*Examples of cyborg
Autonomous drone - indoor navigation
Lightweight frame design
Indoor Wi-Fi repeater with maximum coverage
GPS integration
Direction detection by compass
Calibration by Gyroscope
It is a technique to modify a source speaker's speech to sound as if it was spoken by a target speaker.
Voice morphing enables speech patterns to be cloned
And an accurate copy of a person's voice can be made that can wishes to say, anything in the voice of someone else.
Performance trends and alerts with ThingSpeak IoTAnoush Najarian
We use data analysis and visualization capabilities of ThingSpeak, our favorite Internet of Things platform to capture and analyze performance data, to help with performance monitoring and to generate alerts
Cornell University’s Hod Lipson is seeking to understand if machines can learn analytical laws automatically. For centuries, scientists have attempted to identify and document analytical laws underlying physical phenomena in nature. Despite the prevalence of computing power, the process of finding natural laws and their corresponding equations has resisted automation. Lipson has developed machines that take in information about their environment and discover natural laws all on their own, even learning to walk.
Learning the skill of archery by a humanoid robot iCubPetar Kormushev
Humanoid robot iCub learns the skill of archery. After being instructed how to hold the bow and release the arrow, the robot learns by itself to aim and shoot arrows at the target. It learns to hit the center of the target in only 8 trials.
Reactive Reaching and Grasping on a Humanoid: Towards Closing the Action-Perc...Juxi Leitner
My presentation at the ICINCO 2014 (the 11th International Conference on Informatics in Control, Automation and Robotics)
Abstract: We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles – other objects detected in the visual stream – while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.
Introduction to humanoid robot iCub, YARP and simulatorMartin Peniak
This is a very basic introduction to humanoid robotic platform iCub, YARP (Yet Another Robotic Platform) - software that is used to facilitate communication with the robot and also iCub simulator that is a tool that we use first to develop our system before we deploy it on the real physical robot.
Presentation NASA's Social Media Manager Stephanie Schierholz gave at the 4th Annual Social Media for PR & Corporate Communications conference presented by Ragan Communications and PRSA in February 2011.
Internet for all: Stratospheric solutions by Google loon and Facebook droneAbdullateef Abdulsalam
Internet for all: Stratospheric solutions by Google loon and Facebook drone
Course project for Wireless Technologies course at Northwestern University's MSIT program
the Facebook Connectivity Lab is developing many new technologies to bring affordable internet access to more people, more quickly. One of the technologies we are building is a fleet of solar-powered aircraft called Aquila. Once they are fully operational, these high-altitude planes will stay airborne for up to 90 days at a time and beam broadband coverage to a 60-mile-wide area on the ground, helping to open the opportunities of the internet to people in under-connected regions.
This presentation shows the impact of GPU computing on cognitive robotics by showing a series of novel experiments in the area of action and language acquisition in humanoid robots and computer vision. Cognitive robotics is concerned with endowing robots with high-level cognitive capabilities to enable the achievement of complex goals in complex environments. Reaching the ultimate goal of developing cognitive robots will require tremendous amount of computational power, which was until recently provided mostly by standard CPU processors. However, CPU cores are optimised for serial code execution at the expense of parallel execution, which renders them relatively inefficient when it comes to high-performance computing applications. The ever-increasing market demand for high-performance, real-time 3D graphics has evolved the GPU into highly parallel, multithreaded, many-core processor extraordinary computational power and very high memory bandwidth. These vast computational resources of modern GPUs can now be used by the most of the cognitive robotics models as they tend to be inherently parallel. Various interesting and insightful cognitive models were developed and addressed important scientific questions concerning action-language acquisition and computer vision. While they have provided us with important scientific insights, their complexity and application has not improved much over the last years. The experimental tasks as well as the scale of these models are often minimised to avoid excessive training times that grow exponentially with the number of neurons and the training data. However, this impedes further progress and development of complex neurocontrollers that would be able to take the cognitive robotics research a step closer to reaching the ultimate goal of creating intelligent machines. This presentation shows several cases where the application of the GPU computing on cognitive robotics algorithms resulted in the development of large-scale neurocontrollers of previously unseen complexity, which enabled conducting the novel experiments described herein.
Introduction_to_DEEP_LEARNING.ppt machine learning that uses data, loads ...gkyenurkar
Deep learning is a branch of machine learning that uses data, loads and loads of data, to teach computers how to do things only humans were capable of before.
A LOW COST EEG BASED BCI PROSTHETIC USING MOTOR IMAGERY ijitcs
Brain Computer Interfaces (BCI) provide the opportunity to control external devices using the brain
ElectroEncephaloGram (EEG) signals. In this paper we propose two software framework in order to
control a 5 degree of freedom robotic and prosthetic hand. Results are presented where an Emotiv
Cognitive Suite (i.e. the 1st framework) combined with an embedded software system (i.e. an open source
Arduino board) is able to control the hand through character input associated with the taught actions of
the suite. This system provides evidence of the feasibility of brain signals being a viable approach to
controlling the chosen prosthetic. Results are then presented in the second framework. This latter one
allowed for the training and classification of EEG signals for motor imagery tasks. When analysing the
system, clear visual representations of the performance and accuracy are presented in the results using a
confusion matrix, accuracy measurement and a feedback bar signifying signal strength. Experiments with
various acquisition datasets were carried out and with a critical evaluation of the results given. Finally
depending on the classification of the brain signal a Python script outputs the driving command to the
Arduino to control the prosthetic. The proposed architecture performs overall good results for the design
and implementation of economically convenient BCI and prosthesis.
Brain Computer Interface and Artificial Brain: Interfacing Microelectronics a...Lk Rigor
Signals from the brain can be processed to improve quality of human life. Such is the aim of biotechnology, to harness cellular and biomolecular processes to develop technologies that can improve human life. How can brain computer interface (BCI) and artificial brain achieve that?
Design and Evaluation Case Study: Evaluating The Kinect Device In The Task of...Waqas Tariq
We verify the hypothesis that Microsoft’s Kinect device is tailored for defining more efficient interaction compared to the commodity mouse device in the context of information visualization. For this goal, we used Kinect during interaction design and evaluation considering an application on information visualization (over agrometeorological, cars, and flowers datasets). The devices were tested over a visualization technique based on clouds of points (multidimensional projection) that can be manipulated by rotation, scaling, and translation. The design was carried according to technique Participatory Design (ISO 13407) and the evaluation answered to a vast set of Usability Tests. In the tests, the users reported high satisfaction scores (easiness and preference) but, also, they signed out with low efficiency scores (time and precision). In the specific context of a multidimensional-projection visualization, our conclusion is that, in respect to user acceptance, Kinect is a device adequate for natural interaction; but, for desktop-based production, it still cannot compete with the traditional long-term mouse design.
Design and Evaluation Case Study: Evaluating The Kinect Device In The Task of...Waqas Tariq
We verify the hypothesis that Microsoft’s Kinect device is tailored for defining more efficient interaction compared to the commodity mouse device in the context of information visualization. For this goal, we used Kinect during interaction design and evaluation considering an application on information visualization (over agrometeorological, cars, and flowers datasets). The devices were tested over a visualization technique based on clouds of points (multidimensional projection) that can be manipulated by rotation, scaling, and translation. The design was carried according to technique Participatory Design (ISO 13407) and the evaluation answered to a vast set of Usability Tests. In the tests, the users reported high satisfaction scores (easiness and preference) but, also, they signed out with low efficiency scores (time and precision). In the specific context of a multidimensional-projection visualization, our conclusion is that, in respect to user acceptance, Kinect is a device adequate for natural interaction; but, for desktop-based production, it still cannot compete with the traditional long-term mouse design.
Design and Evaluation Case Study: Evaluating The Kinect Device In The Task of...Waqas Tariq
We verify the hypothesis that Microsoft’s Kinect device is tailored for defining more efficient interaction compared to the commodity mouse device in the context of information visualization. For this goal, we used Kinect during interaction design and evaluation considering an application on information visualization (over agrometeorological, cars, and flowers datasets). The devices were tested over a visualization technique based on clouds of points (multidimensional projection) that can be manipulated by rotation, scaling, and translation. The design was carried according to technique Participatory Design (ISO 13407) and the evaluation answered to a vast set of Usability Tests. In the tests, the users reported high satisfaction scores (easiness and preference) but, also, they signed out with low efficiency scores (time and precision). In the specific context of a multidimensional-projection visualization, our conclusion is that, in respect to user acceptance, Kinect is a device adequate for natural interaction; but, for desktop-based production, it still cannot compete with the traditional long-term mouse design.
What is Aquila Software Architecture for Cognitive Robotics?Martin Peniak
Aquila 2.0, an open-source cross-platform software architecture for cognitive robotics that makes use of independent heterogeneous CPU-GPU modules with loosely coupled dynamically generated graphical user interfaces.
Fluoridation, the scientific fraud of a centuryMartin Peniak
An overwhelming number of independent scientific research has shown that fluoride is a neurotoxin causing lower IQs[1], cancer[2][3], changing bone structure and strength[4-11], birth defects and prenatal deaths[12], acute adverse reactions[13][14], skeletal fluorosis[15][16], increased lead levels in blood[17], osteoarthritis[18], repetitive stress injury[19], permanent disfigurement of teeth in children[20], inhibiting of key enzymes and negatively affecting neural system[21], suppressed thyroid function[22-27], acute poisoning and impairment of the immune system[14].
Co-evolving controller and sensing abilities in a simulated Mars Rover explorerMartin Peniak
M. Peniak, D.Marocco, A. Cangelosi (2009). Co-evolving controller and sensing abilities in a simulated Mars Rover explorer. IEEE Congress on Evolutionary Computation (CEC) 2009. Trondheim, Norway, 18th-21nd May
Vedecká evidencia poukazujúca na spojenie hmoty a vedomiaMartin Peniak
Vedecká evidencia poukazujúca na spojenie hmoty a vedomia. Túto evidenciu som prezentoval 25 augusta 2009 v K KLUBE, Detva, Slovenko.
Začína stručným prehľadom vedeckého pokroku za posledných pár storočí, prechádza cez 10 vedeckých experimentov, ktoré jasne poukazujú na toto spojenie. Ku koncu pojednávam o pohľade na realitu ako hologram čo sa zdá byť najlepšie vysvetlujúci model mozgu, vesmíru a vôbec reality ako takej.
Taktiež táto prezentácia sa opiera o poznaty z biológie, kvantovej mechaniky, astronómie, neurológie a pod.
Jej jediným účelom bolo priniesť najnovšie informácie, ktoré môžno ešte niesú také bežné na Slovenku kvôli jazykovej bariére. Záver je zameraný na bežného človeka a aku mu tieto poznatky môžu pomôcť rozšíriť pohľad na realitu na jeho silu s ňou vedome manipulovať silou mysle a emócií.
Nech sú všetky bytosti šťastné :)
Model Attribute Check Company Auto PropertyCeline George
In Odoo, the multi-company feature allows you to manage multiple companies within a single Odoo database instance. Each company can have its own configurations while still sharing common resources such as products, customers, and suppliers.
Operation “Blue Star” is the only event in the history of Independent India where the state went into war with its own people. Even after about 40 years it is not clear if it was culmination of states anger over people of the region, a political game of power or start of dictatorial chapter in the democratic setup.
The people of Punjab felt alienated from main stream due to denial of their just demands during a long democratic struggle since independence. As it happen all over the word, it led to militant struggle with great loss of lives of military, police and civilian personnel. Killing of Indira Gandhi and massacre of innocent Sikhs in Delhi and other India cities was also associated with this movement.
Palestine last event orientationfvgnh .pptxRaedMohamed3
An EFL lesson about the current events in Palestine. It is intended to be for intermediate students who wish to increase their listening skills through a short lesson in power point.
The French Revolution, which began in 1789, was a period of radical social and political upheaval in France. It marked the decline of absolute monarchies, the rise of secular and democratic republics, and the eventual rise of Napoleon Bonaparte. This revolutionary period is crucial in understanding the transition from feudalism to modernity in Europe.
For more information, visit-www.vavaclasses.com
Unit 8 - Information and Communication Technology (Paper I).pdfThiyagu K
This slides describes the basic concepts of ICT, basics of Email, Emerging Technology and Digital Initiatives in Education. This presentations aligns with the UGC Paper I syllabus.
Students, digital devices and success - Andreas Schleicher - 27 May 2024..pptxEduSkills OECD
Andreas Schleicher presents at the OECD webinar ‘Digital devices in schools: detrimental distraction or secret to success?’ on 27 May 2024. The presentation was based on findings from PISA 2022 results and the webinar helped launch the PISA in Focus ‘Managing screen time: How to protect and equip students against distraction’ https://www.oecd-ilibrary.org/education/managing-screen-time_7c225af4-en and the OECD Education Policy Perspective ‘Students, digital devices and success’ can be found here - https://oe.cd/il/5yV
Synthetic Fiber Construction in lab .pptxPavel ( NSTU)
Synthetic fiber production is a fascinating and complex field that blends chemistry, engineering, and environmental science. By understanding these aspects, students can gain a comprehensive view of synthetic fiber production, its impact on society and the environment, and the potential for future innovations. Synthetic fibers play a crucial role in modern society, impacting various aspects of daily life, industry, and the environment. ynthetic fibers are integral to modern life, offering a range of benefits from cost-effectiveness and versatility to innovative applications and performance characteristics. While they pose environmental challenges, ongoing research and development aim to create more sustainable and eco-friendly alternatives. Understanding the importance of synthetic fibers helps in appreciating their role in the economy, industry, and daily life, while also emphasizing the need for sustainable practices and innovation.
Ethnobotany and Ethnopharmacology:
Ethnobotany in herbal drug evaluation,
Impact of Ethnobotany in traditional medicine,
New development in herbals,
Bio-prospecting tools for drug discovery,
Role of Ethnopharmacology in drug evaluation,
Reverse Pharmacology.
4. Cognitive Robotics
Cognitive Robotics draws from classical robotics, artificial intelligence, cognitive science and
neurobiology to elucidate and synthesize aspects of action-oriented intelligence.
Linguistics Computer Science
Psychology AI Neuroscience
4
6. Ungrounded Symbol Systems
Computers can easily be pre-programmed to memorise a
dictionary, but cannot fully understand the language they use
STRENGTH: power to resist force
FORCE: strength or power exerted upon an object
PUSH: to apply force to (something) in order to move it POWER: applied force producing motion
6
Example of self-referential, amodal network of word definitions in Webster’s Dictionary (Roy 2005) Chinese Room (Searle 1980)
7. Cognitive Robotics
An objects identity or category, it’s meaning lies in the profile of
dynamic interactions that it affords
7
8. Cognitive Robotics
Replicating child psychology
experiments
Testing psychological theory
Finding common processes underlying
disparate phenomenon
Prompting new questions and
investigations
Developing technology
8
9. iCub humanoid robot
The dimensions are similar to that of a 3.5 year old
child
53 degrees of freedom
Came from the European Framework 6 project:
RobotCub (www.robotcub.org)
There are now 20 iCubs in different labs in Europe
and 1 in the US
Continued design - v2.0 to come out soon
Various ongoing project outcomes are distributed
via an open-source software repository and via
hardware upgrades
A free iCub simulator is available
9
13. iCub humanoid robot
Simulator
Open-source
Developed as part of a joint effort
with the European project iTalk
Widely adopted within cognitive
robotics community
V. Tikhanoff, P. Fitzpatrick, F. Nori, L. Natale, G. Metta, and A. Cangelosi, “The icub humanoid robotsimulator,”
In International Conference on Intel ligentRObots and Systems IROS, Nice, France, 2008 13
14. GPUs in robotics
It’s all about real time
Motion compliance < 1 ms
Vision (30fps) < 33 ms
Vision (60fps) < 16 ms
We typically take 33 ms as the cut-off time. 1 complete cycle of
everything critical MUST be completed in that time.
Of course some processes are not critical and their information
can be used as and when it becomes available, subject to
various constraints.
14
15. GPUs in robotics
It’s all about real time
Our models of learning, integrating multi-modal
information, and controlling the robot are based on
Neural Networks
Each neuron within a neural network computes its own
activation based on local information
Learning algorithms continuously adapt the strength of
connections between neurons
Both processes are inherently parallel
15
16. GPUs in robotics
It’s all about real time
CUDA lets us build much bigger and more complex
neural networks while remaining within the real time
constraints
CUDA also accelerates some of the pre-processing
required (e.g. vision processing)
16
17. GPUs in robotics
Vision processing example
Carlo Ciliberto and Vadim Tikhanoff used GPU-accelerated SIFT-based feature
extraction for iCub object recognition
“In Robotics it is crucial to have systems that perform in real time since the artificial agent has to continuously adapt to
(possibly sudden) changes in the environment. Clearly the CPU implementation of the SIFT detection/extraction was
unsatisfactory in this regard while the GPU one allowed us to overcome this obstacle.”
“We did not perform a rigorous comparison between CPU and GPU implementations since the difference of computational
times was so huge we did not bother. In particular we experienced times greater than 1000 ms for the OpenCV Sift
detector/extractor on CPU while around 20 ms for the GPU implementation.”
17
19. Aquila
History
Project started in 2009 as a simple open-source GUI application for our research with iCub
CUDA was adopted to accelerate growing number of interacting systems
Several limitations have recently led to a completely decoupled redesign
19
20. Aquila
Research with iCub made easier and more accessible
“There are many advantages using Aquila ....I am mainly using Aquila for eye tracking and the feature of
video streaming using the screen in the iCub world. The biggest advantage is the ability to record the
eyes and control what is displayed on the screen at the same time.”
“My future goal would be to add a new eye tracking method inspired by human infants visual
development system and Aquila has been a huge advantage providing the fast and user
friendly experimental environment.”
Neda Hantehzadeh, Southern Illinois University of Carbondale
20
21. Aquila
Terminal
Interfaces to iCub face expression and force control modules
ICub connection visualisation
21
22. Aquila
Sequence Recorder
Records, saves and replays sequences
Works with force control module
Set a home position, force threshold monitoring
Different options: timing, custom output formatting, etc.
22
23. Aquila
Epigenetic Robotics Architecture
Learning of names and objects through body association
Research provided a number of predictions directly inspiring a number of follow up experiments in child development closing
the gap between robotics and psychology
23
Morse, A.F., Belpaeme, T., Cangelosi, A., & Floccia, C., (2011) Modelling U Shaped Perfromance Curves in Ongoing Development. Proceedings of the Cognitive Science Conference 2011
24. Aquila
Multiple Time-scales Recurrent Neural Network
Humans are good at learning complex actions Motor primitives are flexibly combined into novel sequences of actions
Constant repetition of movements with certain Human motor control system known to have motor primitives implemented as
components segmented as reusable elements low as at the spinal cord and hi-level planning and execution takes place in
primary motor cortex
24
M. Peniak, D. Marocco, J. Tani, Y. Yamashita, K. Fischer, A. Cangelosi (2011). Multiple Time Scales Recurrent Neural Network for Complex Action Acquisition. International Joint Conference on Development and Learning
(ICDL) and Epigenetic Robotics (ICDL-EPIROB) 2011. Frankfurt, Germany, August 24-27, 2011.
25. Aquila
Self-organising Maps
Also known as Kohonen maps
Type of artificial neural network that is
trained using unsupervised learning
Representing multidimensional data in
much lower dimensional spaces –
typically one or two dimensions
This process, of reducing the
dimensionality of vectors, is essentially
a data compression technique known
as vector quantisation
Example: 3D colour input (rgb values)
represented by a 2D map
25
26. Aquila
Abstraction-reaction Accumulator
Inspired by the early cybernetics work
Developed by Chris Larcombe
C. Larcombe, A. Morse, A. Cangelosi (2011). Learning to React to Abstractions: Accumulating Adaptations in a Humanoid Embodiment. International Joint Conference on Development and Learning (ICDL) 26 Epigenetic
and
Robotics (ICDL-EPIROB) 2011.
27. Aquila
Vision
iCub and USB cameras
Filters and transforms
Record frame and videos
Kinect support for iCub teleoperation
27
30. Aquila
History
Modules not available individually
Compilation more difficult due to increasing number of modules
Host machine execution only
Linux-only support
30
31. Aquila 2.0
Present
Modules
are independent from Aquila but can make use of its features (graphical interface, module management, etc.)
can run in multiple instances on different hosts and GPU devices across networks
Linux, Windows and OSX support
Compiles as part of the main iCub repository
Simpler, faster and more efficient
Better platform for developers
Ongoing work is focused on porting the old modules
31
32. Aquila 2.0
Aquila 2.0
detects compiled Aquila-compliant modules on
the network
launches any of these modules on any GPU or
CPU processor found on the network
dynamically creates their graphical user
interfaces under individual tabs
Aquila-compliant modules
run as a standalone processes
can be used without Aquila (terminal mode)
specific ports are used for Aquila interfacing
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34. Evolutionary Robotics
Relatively new technique for the automatic creation of autonomous robots
Inspired by the Darwinian principle of selective reproduction of the fittest
Views robots as autonomous artificial organisms that develop their own skills in
close interaction with the environment and without human intervention
Drawing heavily on biology and ethology, it uses the tools of neural networks,
genetic algorithms, dynamic systems, and biomorphic engineering
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Nolfi S. and Floreano D. [2000]. Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines. Cambridge, MA: MIT Press/Bradford Books
35. Evolutionary Robotics
The evolutionary process is notoriously time-consuming
GPU implementations of genetic algorithms result in better results in much shorter time
For example see: P. Pospichal and J. Jaros, "Gpu-based acceleration of the genetic algorithm," in GECCO 2010
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Nolfi S. and Floreano D. [2000]. Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines. Cambridge, MA: MIT Press/Bradford Books
36. Current Development at NVIDIA
Aquila and Evolutionary Robotics
Novel GPU implementation of scalable genetic algorithms
New module that is using these algorithms to facilitate
evolution of a biologically-inspired vision system
Modules ready by the end of 2012
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37. "Imagination is the highest form of research"
Albert Einstein
Anthony Morse Martin Peniak
http://fostsvn.uopnet.plymouth.ac.uk/amorse/ www.martinpeniak.com
anthony.morse@plymouth.ac.uk martin.peniak@plymouth.ac.uk
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