Brain, Body and Machine: Proceedings of an International Symposium on the Occasion of the 25th Anniversary of the McGill University Centre for

ISBN-13: 9783642162589 / Angielski / Miękka / 2010 / 327 str.

Jorge Angeles; Benoit Boulet; James J. Clark

Opis

The Centre for Intelligent Machines (CIM), McGill University, was of?cially c- ated on November13th, 1985, upon approvalby the University Senate. The mission of the centre is, since its inception, to excel in the ?eld of intelligent systems, stressing basic research, technology development and education. Intelligent - chines are understood, along these lines, as systems capable of adapting their go- oriented behavior by sensing and interpreting their environment, making decisions and plans, and then carrying out those plans using physical actions. Research - tivities of interest to CIM include robot design, mechanical system dynamics, robot control, computervision, visualperception, medicalimaging, haptics, systemtheory and applications, and virtual environments.These ?elds can be succinctly described by the title of the international symposium recorded in this book, Brain, Bodyand Machine (BBM). CIM s objectof research is thusre?ected in the book, wherereaderswill ?nd that most papers cover at least two of the three main thrusts. Papers re?ect the state-- the-artofthemultidisciplineofintelligentmachines, nowadayshighlydiversi?ed.A broad spectrum of applications is covered, from humanoid robots and autonomous planetary rovers, to innovative procedures and systems for shape-reproduction and on to systems or devices for medical diagnosis. Applications are all geared to one commongoal, a better quality of life for highlychallengedpatients or simply for the healthy individual. Methods to face the challenges include not only sophisticated deterministic algorithms, but also their heuristic counterparts, at the roots of what is known assoftcomputing."

Spis treści

Force and Visual Control for Safe Human-Robot Interaction.- 3D Automatic Segmentation of the Hippocampus Using Wavelets with Applications to Radiotherapy Planning.- Rigid Registration of 3D Ultrasound and MRI: Comparing Two Approaches on Nine Tumor Cases.- A New Approach to Virtual Mirroring for View Integration.- Designing a Metric for the Difference between Gaussian Densities.- Physical Asymmetries and Brightness Perception.- A Learning-Based Patient Repositioning Method from Limited-Angle Projections.- Image and Video Region Saliency Based on Space and Motion.- Generalized PCA via the Backward Stepwise Approach in Image Analysis.- Performance of MRF-Based Stereo Algorithms for Cluttered Scenes.- Medial Spheres for Shape Approximation.- A Heuristic Algorithm for Slicing in the Rapid Freeze Prototyping of Sculptured Bodies.- Robust Design of 2nd Order Terminal ILC Using ?-Analysis and a Genetic Algorithm Approach.- Development of an Anthropomorphic Saxophone-Playing Robot.- Human Safety Algorithms for a Parallel Cable-Driven Haptic Interface.- Hybrid Stabilizing Control for the Spatial Double Inverted Pendulum.- Closed-Loop Control of Plasma Osmolality.- Cooperative Exploration, Localization, and Visual Map Construction.- Sliding-Mode Velocity and Yaw Control of a 4WD Skid-Steering Mobile Robot.- On the Design and Validation of an Intelligent Powered Wheelchair: Lessons from the SmartWheeler Project.- Devon Island as a Proving Ground for Planetary Rovers.- Leader-Follower Cucker-Smale Type Flocking Synthesized via Mean Field Stochastic Control Theory.- Dynamic Locomotion with a Wheeled-Legged Quadruped Robot.- Underactuated Cable-Driven Robots: Machine, Control and Suspended Bodies.- Computing the Rigid-Body Acceleration Field from Nine Accelerometer Measurements.- Singularity Analysis of a Six-Dof Parallel Manipulator Using Grassmann-Cayley Algebra and Gröbner Bases.

Blurb

On the occasion of its 25th anniversary, McGill University's Centre for Intelligent Machines (CIM) invited outstanding researchers from academia and R\&D environments to discuss the state of the art in research areas of interest to CIM. The response is documented in the papers assembled here, under the umbrella of the {\em International Symposium on Brain, Body and Machine}, held in Montreal on November 10--13, 2010. Areas of interest include heuristic algorithms, computer vision, medical imaging, haptics, human-machine interaction, systems and control, robot design and control, and multibody system dynamics. Applications cover a road spectrum, from shape identification and reconstruction to drug-dose regulation and body-motion detection and control. Contributors come from research laboratories based all over the world, not only from academia, but also from government agencies and industry.