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Published on October 3, 2008

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Technical ActivitiesReport : Technical ActivitiesReport Kong Xin Bo, VP TA Technical ActivitiesReport : Technical ActivitiesReport Ken Goldberg, VP TA Slide 3: RAS Technical Activities Board Ken Goldberg, VP Technical Activities goldberg@berkeley.edu RAS Officers 45 TC co-chairs 15 DLs Frank van der Stappen, Assoc. VPTA Katsu Yamane, Assoc. VPTA “At-large” members: Tatsuo Arai, Alicia Casals, Satoshi Tadokoro, and Sebastian Thrun Slide 4: TAB Report, ICRA, Orlando, 20 May 2006 Approved: Establish 2 New TCs: Algorithms for Planning and Control of Robot Motion Space Robotics Approved: Expanding DL program from 15 to 24 DLS Approved: Most Active DL Award (+$1000/year) Approved: Expand Young Professionals Lunch to IROS (+$5000/year) Approved: Approve TAB Charter Slide 5: TAB Report, IROS, Shanghai, Oct 2006 Review Past Work: TAB meeting, Young Professionals Lunch Proposal: Name Change: Young Professionals Lunch GOLD Lunch (Graduates of the Last Decade) Selected RAS Technical Milestones Quick Review of TCs Proposal: Name Change TC on Semiconductor Factory Automation TC on Semiconductor Manufacturing Automation Proposal: Establish New TC: Technical Committee on Haptics (TCH) New DL Candidates from Under-Represented Areas Future Work: RAS Focus of Interest, other ideas Slide 6: Young Professionals Lunch Thursday, 12:00-1:00pm Slide 7: Motion to Approve Proposal: Name Change: Young Professionals Lunch -> GOLD Lunch (Graduates of the Last Decade) Slide 8: GOLD Lunch Slide 9: 2006 IEEE Conference on Automation Science and Engineering (IEEE CASE’06) October 7-10, Shanghai, China Microsoft Robotics StudioReleased Summer 2006 : Microsoft Robotics StudioReleased Summer 2006 Slide 12: Panasonic Telegarden, $5000 RAS Technical Committees : RAS Technical Committees Aerial & Unmanned Aerial Robotics Agricultural Robotics Bio-Robotics Comp. and Robot Vision Human-Robot Interaction & Coordination Humanoid Robotics Intelligent Transportation Manufacturing Automation Micro/Nano Robotics Motion Planning Networked Robotics Programming Environments Prototyping for R&A Rehabilitation Robotics Robo-Ethics Safety, Security, and Rescue Semiconductor & Factory Automation Service Robots Space Robots Surgical Robotics Underwater Robotics Slide 14: Aerial Robotics and Unmanned Aerial Vehicles Flying opens new opportunities to robotically perform field services and tasks like search and rescue, observation and mapping. Key areas to be addressed include autonomous missions, localization and multi-vehicle coordination. Activities: IEEE Robotics and Automation Magazine Special Issue "Unmanned Aerial Vehicles: Enabling Technologies and Roadmap for Autonomy", Guest Editors: K.P. Valavanis (USF) and G.J. Vachtsevanos (Georgia Tech) Springer-Verlag Book on UAVs (to be published) 2006 2nd Annual Indoor Aerial Robot Competition, May 7, 2006 - Philadelphia ICRA 2006: Full day workshop, “UAVs: Missions and Payloads” Full day tutorial, “Hands-on Lessons for UAV Construction” To Join, Contact Paul Oh: paul@coe.drexel.edu IEEE Robotics & Automation SocietyAgricultural Robotics Technical Committee : IEEE Robotics & Automation SocietyAgricultural Robotics Technical Committee Australia and the National Centre for Engineering in Agriculture develop Vision/GPS/Inertial guidance systems for farm machinery University of Southern Queensland researchers and the National Centre for Engineering in Agriculture develop image processing systems for livestock recognition University of Georgia researchers develop networked autonomous GPS guided farm vehicles To Join: Jason Stone: stonej@usq.edu.au John Billingsley: billings@usq.edu.au Slide 16: Bio Robotics The main focus of Biorobotics is to learn from biological systems via a “biomechatronic” point of view, trying to understand the scientific and engineering principles underlying their extraordinary performance. design and fabrication of novel, high performance bio-inspired machines and systems, for many different potential applications; and to develop (nano, micro, macro) novel devices that can better act on, substitute parts of, and assist human beings, such as in diagnosis, surgery, prosthetics, rehabilitation and personal assistance. Haptics Symposium 2006 Workshop March 25, 2006 - Arlington VA (Washington DC) USA Biorob2006 was the first International Biorobotics conference, co-sponsored by IEEE RAS and IEEE EMBS and held in February 2006 in Pisa Italy. To Join: Hannaford, Blake (blake@ee.washington edu) Takanishi, Atsuo (takanisi@waseda.jp) Slide 17: . . To join: danik@nada.kth.se IEEE Robotics & Automation SocietyComputer and Robot Vision Technical Committee Chairs: Danica Kragic (KTH) and Ioannis Kakadiaris (UH) Vision Based Simultaneous Localization and Mapping Real-time, Stereo Based Object Recognition and Pose Estimation Vision Based Activity Interpretation for Robot Learning by Demonstration Human-Robot Interaction and Coordination Co-Chairs: Cecilia Laschi , Cynthia Breazeal, Yasushi Nakauchi : Human-Robot Interaction and Coordination Co-Chairs: Cecilia Laschi , Cynthia Breazeal, Yasushi Nakauchi Recent Technical Developments Computational models of core human socio-cognitive skills (such as perspective taking and shared attention) have been successfully demonstrated to improve the quality of human-robot teamwork and interaction HRI frameworks have successfully been applied to traditional machine learning methods to enable humanoid and mobile robots to learn from natural human interactions via imitation, demonstration, and tutelage. The HRI community has embarked on developing evaluation metrics that embrace multi-disciplinary perspectives such as human factors, psychology, robotics, etc. for diverse areas of HRI such as Urban Search and Rescue, Social Robotics, H-R teams for Space Exploration, and more. To Join: tchric-all@hri.iit.tsukuba.ac.jp Robonaut (teleop)-astronaut teams at NASA JSC DB learning by demonstration to play air-hockey at ATR Leonardo sharing attention during collaborative tasks at MIT Media Lab Slide 19: Humanoid Robotics IEEE-RAS International Conference on Humanoid Robots 2005 Event - conference December 5, 2005 - Tsukuba, Japan The conference theme was "Humanoid Robots that Interact with Humans and the Society," reflecting growing interests in personal service and entertainment robots that can interact with humans. The conference was part of a series started in Boston in 2000, and traveled through Tokyo (2001), Karlsruhe/Munich (2003), and Santa Monica (2004), and brought the spirit to Tsukuba. The 2005 World Exposition, Aichi, Japan had taken place from March 25 to September 25, 2005 with a theme on "nature's wisdom" for rediscovering the relationship between humanity and technology, and featuring the robotic exposition. Topics of interest include, but are not limited to, anthropomorphism in robotics (hardware/software/theory), Robotics for human science (behavioral/psychological/cognitive/neural science), Human science for robotics, Human-robot interaction, Humanoid robot applications, Key-components for humanoid robots. To Join: Sugano, Shigeki (sugano@waseda.jp) Hirukawa, Hirohisa (hiro. Hirukawa@aist.go.jp) Lee, C. S. George (csglee@purdue.edu) Slide 20: The DARPA Grand Challenge The first race ever that saw 5 autonomous vehicles reach the finish line after 130+ miles of desert, rough terrain, and extreme conditions. The first time that unmanned vehicles succeed in this extremely complex task. Christian Laugier; Urbano Nunes; Alberto Broggi Cybercars: a new approach for sustainable mobility Emerging as an alternative to the private passenger car, cybercars try to offer the same flexibility and much less nuisances based on fully automated electrical vehicles with on-demand and door-to-door capability. Fleets of such vehicles are being deployed in several worldwide cities and are already operational in specific environments such as shuttle services for passenger transportation. Steering Control Combination of Adaptive Cruise Control (ACC) and Lane Keep Assist System (LKAS). Join: Urbano Nunes, urbano@isr.uc.pt Manufacturing Automation : Manufacturing Automation Co-Chairs: Michael Yu Wang Chinese University of Hong Kong Zexiang Li Hong Kong University of Science & Technology  Kin Huat LowNanyang Technological University, Singapore "Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools for Semiconductor Manufacturing"Jingang Yi, (Lam Research Corporation), Shengwei Ding, (University ofCalifornia at Berkeley) and Dezhen Song, (Texas A&M University, USA) "Geometric Computation for Assembly Planning with Planar Toleranced Parts"Yaron Ostrovsky-Berman and Leo Joskowicz (The Hebrew University of Jerusalem, Israel) "Analysis of Andon Type Transfer Production Lines: A Quantitative Approach"Jingshan Li and Dennis E. Blumenfeld (General Motors Research & Development Center, USA) To join: Kin Huat Lowmkhlow@ntu.edu.sg Slide 22: Micro/Nano Robotics and Automation Technical Committee Co-Chairs: Fumihito Arai and Ari Requicha arai @ imech.mech.tohoku.ac.jp requicha @ usc.edu Recent Advances: Electron micrograph of a MEMS microrobot that can be controlled electrostatically in the plane. Reference: B. Donald, C. Levey, C. McGray, I. Paprotny and D. Rus, “An untethered, electrostatic, globally controllable MEMS micro-robot”, J. Microelectromechanical Systems, Vol. 15, No. 1, pp. 1-15, February 2006. A self-assembly technique for building arbitrary shapes at the nanoscale by folding long, single-stranded DNA. Reference: P. W. K. Rothemund, “Folding DNA to create nanoscale shapes and patterns”, Nature, Vol. 440, pp. 297-302, 16 March 2006. Slide 23: NEW! Algorithms for Planning and Control of Robot Motion To Join: Brock, Oliver oli@cs.umass.edu LaValle, Steve Hasegawa, Tsutomu Siméon, Thierry Slide 24: Networked Robots A "networked robot" is a robotic device connected to a communications network such as the Internet or LAN. The network could be wired or wireless, and based on any of of a variety of protocols such as TCP, UDP, or 802.11. Many new applications are now being developed ranging from automation to exploration. There are two subclasses of Networked Robots: 1) Tele-operated, where human supervisors send commands and receive feedback via the network. Such systems support research, education, and public awareness by making valuable resources accessible to broad audiences. 2) Autonomous, where robots and sensors exchange data via the network. In such systems, the sensor network extends the effective sensing range of the robots, allowing them to communicate with each other over long distances to coordinate their activity. Networked robots pose a number of technical challenges related to network noise, reliability, congestion, fixed and variable time delay, stability, passivity, range and power limitations, deployment, coverage, safety, localization, sensor and actuation fusion, and user interface design. New capabilities arise frequently with the introduction of new hardware, software, and protocol standards. Wolfram Burgard, Nak-Young Chong, and Gaurav Sukhatme Founding Co-Chairs: Ken Goldberg and Roland Siegwart To Join: burgard@informatik.uni-freiburg.de Programming Environments in Robotics & AutomationAdvances in Robot Software Development : Programming Environments in Robotics & AutomationAdvances in Robot Software Development Domain Analysis : identification of issues and challenges in robot software development Hardware heterogeneity Prototype/Simulation/Reality Component-based Development : definition of reusable software component models Component internal behavior Component external interface Component integration Framework-based Development : definition of software architectures for robot control application Middleware for distribution Functionality customization To Join: Brugali, Davide Brugali.unibg.it Prototyping for Robotics & Automation : Prototyping for Robotics & Automation TC Chairs: I-Ming Chen (Nanyang Technological University Metin Sitti (Carnegie Mellon University) Recent Technical Developments Spherical Actuators (3-DOF ball-joint like direct-drive actuator) Micro- & Nano manipulation components (Flexure-based Electromagnetic Linear Actuator for high precision force control and positioning) Reconfigurable Automation (Reconfigurable and modular robotics) To Join: I-Ming Chen (michen@ntu.edu.sg) Spherical actuator Flexure linear actuator Reconf. automation Slide 27: Rehabilitation Robotics Michelle J. Johnson Eugenio Guglielmelli Takahori Shibata Marquette University, USA Università Campus Bio-Medico, Italy AIST, Japan (From RAS Area 1: Americas) (From RAS Area 2: Europe, Middle Est & Africa) (From RAS Area 3: Asia & Oceania) MEMOS is a novel low-cost, 2 d.o.f. mechatronic system for elbow-shoulder rehabilitation Developed by the ARTS Lab of the Scuola Superiore Sant’Anna (Pisa) and experimented at Fondazione S. Maugeri (Veruno), Italy Preliminary clinical trials on post-stroke patients show very encouraging results This robot consists of two Stewart Platform type legs and waist with a passenger seat Developed by Waseda University (Tokyo) in co-operation with the TMSUK company Preliminary tests confirmed the stability and effectiveness of the system carrying one 60 Kg passenger The KineAssist is a robotic device for gait and balance motor training It results from a partnership of the Rehab Institute of Chicago with the IDEO company Key novel feature is therapist-robot physical interaction and co-operation for assisting the patient exercise RECENT ACHIEVEMENTS ROBOT-THERAPIST CO-OPERATION FOR LOWER LIMB MOTOR THERAPY A NEW SIMPLE SYSTEM FOR ROBOT-MEDIATED UPPER LIMB MOTOR THERAPY THE WL-16 LEGGED CHAIR FOR MOBILITY OF THE ELDERLY AND THE DISABLED Roboethics : Roboethics Co-chairs: Gianmarco Veruggio <gianmarco@veruggio.it> (corresponding chair) Ronald C. Arkin <arkin@cc.gatech.edu> Atsuo Takanishi <takanisi@waseda.jp> Roboethics – Ethical aspects in the design, development and employment of Intelligent Machines. The TC was born in January 2004, at the First International Symposium on Roboethics, Villa Nobel, Sanremo, Italy. RECENT DEVELOPMENTS: IEEE Workshop on Roboethics organized by the TC at ICRA2005, Barcelona. EURON Atelier on Roboethics, Genova, Italy, February 2006 Current Number of Members: 42 Slide 29: Safety Security and Rescue Robotics * IEEE International Workshop on Safety, Securitiy and Rescue Robotics (SSRR 2006) Workshop August 25, 2006 - NIST, Gaithersburg, MD, USA Contact Information: Adam Jacoff (adam dot jacoff at nist dot gov) * IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR 2005) Workshop June 9, 2005 - Kobe, Japan o Nardi, Daniele (nardi@dis.uniroma1.it) + Univ. Roma "La Sapienza", Dip. Informatica e Sistemistica o Voyles, Richard (voyles.cs.umn.edu) + University of Minnesota o Matsuno, Fumitoshi (matsuno.hi.mce.uec. Ac.jp) + The University of Electro-Communications + corresponding chair - send email to join committee * Committee Chairs Emeritus: o Tadokoro, Satoshi (tadokoro.rm.is.tohoku.ac. jp) + Tohoku University To Join: : Satoshi Tadokoro (tadokoro@rm.is.tohoku.ac.jp) Slide 31: Service Robotics robot systems providing services of various kinds to human users. Above all, the Service Robots Technical Committee understands itself as a forum for exchange of information related to the design and development of service robots. This committee hopes to bring together researchers and developers from various disciplines such as mechanical engineering, electrical engineering, computer science, artificial intelligence and cognitive science. The Committee wants to serve as a contact point and facilitator to bring industries interested in the field of service robotics together with the research community. To Join: Prof. Dr. Erwin Prassler, Fiorini, Paolo (paolo.fiorini@univr.it) + University of Verona Slide 32: NEW! Space Robotics Wagner, Rick, email: Rick dot Wagner at NGC dot com Dimi Apostolopoulos, Carnegie-Mellon University Hobson Lane, Northrop Grumman Corporation, email: Hobson dot Lane at NGC dot com Richard Volpe, California Institute of Technology, Jet Propulsion Laboratory, IEEE Robotics and Automation's Technical Committee onSurgical Robotics : IEEE Robotics and Automation's Technical Committee onSurgical Robotics To join, please contact Corresponding Chair: Jaydev P. Desai - desai@coe.drexel.edu Some examples of recent applications… Locomoting Devices MRI-Compatible Robotics Credit: S. DiMaio et al., BioRob 2006 Credit: Metin Sitti, CMU TC Co-Chairs: Jaydev P. Desai, desai@coe.drexel.edu Frank Tendick, frank.tendick@ucsf.edu Mamoru Mitsuishi, mamoru@nml.t.u-tokyo.ac.jp Automatic Detection of Instruments in Laparoscopic Images Credit: (Voros, et. al., TIMC) Underwater Robotics Co-Chairs: J. Yuh and Dan Stilwell : Underwater Robotics Co-Chairs: J. Yuh and Dan Stilwell The Japan Agency for Marine-Earth Science and Technology (JAMSTEC) has developed a deep-sea vehicle, URASHIMA for ocean science and exploration of ocean resources. This vehicle is one of the first underwater vehicles powered by fuel cell technology. http://www.jamstec.go.jp/ The Autonomous System Laboratory (ASL) of the University of Hawaii, MASE, Inc, and The Naval Undersea Warfare Center (NUWC) have developed the SAUVIM AUV for intervention missions in up to 6,000m depth and demonstrated its autonomous robotic arm operation in 2005. http://www.eng.hawaii.edu/~asl/ To Join: stilwell.vt.edu RAS Technical Committees : RAS Technical Committees Aerial & Unmanned Aerial Robotics Agricultural Robotics Bio-Robotics Comp. and Robot Vision Human-Robot Interaction & Coordination Humanoid Robotics Intelligent Transportation Manufacturing Automation Micro/Nano Robotics Motion Planning Networked Robotics Programming Environments Prototyping for R&A Rehabilitation Robotics Robo-Ethics Safety, Security, and Rescue Semiconductor & Factory Automation Service Robots Space Robots Surgical Robotics Underwater Robotics Slide 36: Motion to Approve Proposal: Name Change TC on Semiconductor Factory Automation -> TC on Semiconductor Manufacturing Automation Slide 37: Motion to Establish an RAS Technical Committee on: Technical Committee on Haptics (TCH) The successful deployment of haptic interfaces requires continuing advances in hardware design, control, software algorithms, as well as our understanding of the human somatosensory system. Priority areas : 1) Devices & technology 2) Tactile display and tactile sensing 3) Haptic rendering 4) Perception & psychophysics 5) Neuroscience 6) Haptic cognition 7) Multimodal perception 8) Sensory guided motor control 9) Applications in entertainment, medicine, rehabilitation, education, data perceptualization, art, rapid prototyping, remote collaboration, etc. Hong Z. Tan (Purdue University, USA) hongtan@purdue.edu Matthias Harders (ETH Zurich, Switzerland) Hiroyuki Kajimoto (University of Tokyo, Japan) Slide 38: Motion to Expand the RAS Distinguished Lecturer Program from 15 to 24 members We are working to create more impact from the RAS Distinguished Lecturer Program, which promotes the field of Robotics and Automation to the broad engineering community and to the public at large. The Program has a budget of $10,000/year to support air transport when DLs arrange speaking engagements with local IEEE Chapters. Beginning in 2006, Distinguished Lecturers are also encouraged to arrange and present "Public Lectures" : Public Lectures are aimed at non-specialists, and can be given in high-schools, senior citizens homes, science fairs, science museums, and the like. Proposal: Expand the number of DLs from 5 per region to 8 per region. Rationale: * To represent more countries within each region. We would like to appoint DLs in currently under-represented countries that can serve to inspire and advance Robotics and Automation within these countries. * To thereby reduce transport costs for talks at IEEE Chapters. This proposal will not affect the $10,000 DL budget. Slide 39: Europe Wolfram Burgard Alicia Casals Jean Paul Laumond Bruno Siciliano Roland Siegwart Americas Nancy Amato Vijay Kumar Peter Luh Deirdre Meldrum Metin Sitti RAS Distinguished Lecturers Asia and Pacific Hugh Durrant-Whyte Shuuji Kajita Yoshihiko Nakamura Shigeki Sugano Michael Wang Slide 40: Expanding the RAS Distinguished Lecturer Program from 15 to 24 members Appointing 9 New Distinguished Lecturers: 3 from Asia: India: N. Vishu Viswanadham Taiwan: Li-Chen Fu Korea: Frank Park 3 from Europe: Sweden/Norway: Klas Nilsson Israel: Dan Halperin Africa/Egypt/Iran: Majid Nili 3 from North Americas: Mexico: Alfredo Weitzefeld Canada: Tim Salcudean South America: Slide 41: RAS Field of Interest Statement (FOI) (1998): The Society is interested in both applied and theoretical issues in robotics and automation. Robotics is here defined to include intelligent machines and systems used, for example, in space exploration, human services, or manufacturing; whereas automation includes the use of automated methods in various applications, for example, factory, office, home, or transportation systems to improve performance and productivity. Slide 42: RAS Field of Interest Statement (FOI) (1998): The Society is interested in both applied and theoretical issues in robotics and automation. Robotics is here defined to include intelligent machines and systems used, for example, in space exploration, human services, or manufacturing; whereas automation includes the use of automated methods in various applications, for example, factory, office, home, or transportation systems to improve performance and productivity. Possible updates: Robotics: mobile robots, humanoids, networked robots, … Automation: sustained operations in health care, life sciences, security, … Slide 43: New ideas: How to facilitate TC Chairs role in ICRA, IROS, CASE Session Assignment? TC’s organizing informal “Birds of a Feather” meetings (lunches, dinners, gatherings at the hotel bar, etc) during conferences TC’s promoting conference sessions based on advance conf announcements Slide 44: Coordinating RAS Research Efforts: Benchmarks, Metrics, and Milestones Slide 45: TAB Report, IROS, Shanghai, Oct 2006 Review Past Work: TAB meeting, Young Professionals Lunch Proposal: Name Change: Young Professionals Lunch GOLD Lunch (Graduates of the Last Decade) Selected RAS Technical Milestones Quick Review of TCs Proposal: Name Change TC on Semiconductor Factory Automation TC on Semiconductor Manufacturing Automation Proposal: Establish New TC: Technical Committee on Haptics (TCH) New DL Candidates from Under-Represented Areas Future Work: RAS Focus of Interest, other ideas Springer Handbook of Robotics : Springer Handbook of Robotics Bruno Siciliano Oussama Khatib Editors Slide 48: Duties of the VPTA   The Vice President of Technical Activities (VPTA) is elected by the Adcomm and serves a 2 year term.   Encourage RAS Research and Technical Activity Organize and Chair semi-annual TAB meetings Coordinate TC Activity Administer DL Program (and funding requests) Organize the annual Young Professionals Lunch at ICRA Serve as a reliable point of contact for the TAB Attend Excomm and Adcomm meetings Administer budget for TC promotion and website improvement Administer budget DL budget (check the amount) Administer Annual Most Active TC Award Administer Annual Most Active DL Award [provisional] Coordinate and promtly submit semi-annual reports to the Adcomm Maintain the TAB website Communicate at least twice a year with TC Chairs Promptly respond to inquiries from fellow researchers and the press Alert President about major research developments Propose New Initiatives to the TAB, President, and Adcomm Recommend TC Chairs to the President-elect Recommend Distinguished Lecturers to the President-elect Recommend two Associate VPs TAB (one per region) Recommend new TCs to the Adcomm Recommend retiring TCs to the Adcomm

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