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www.cybernet.com

Overview of Cybernet Systems CorporationRobotics

Cybernet Systems Corporation727 Airport Blvd

Ann Arbor, Michigan 48108 www.cybernet.com

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

Cybernet

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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 Biography

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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 SystemsWired and Wireless Network Appliances

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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

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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)

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Cybernet Firsts1989: (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

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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)

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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

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

Demo II Portable OCU & Radio Set

NetMAX Linux InternetAppliance Software Family

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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

CDPD/PCS EKG Monitor(Holter and Cardiac Event)

MedStar Data Collection Unit

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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”

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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

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Platform Technology

Standard Robotics/ Nav Retrofit Kits

Figure 1. Small Robots

(a) Matilda (controlled by Cybernet OCU)

(b) Cybernet’s Hybrid Locomotion Platform (legged and wheel)

(c) Cybernet’s Omnidirectional Platform

(a)

(c)

(b)

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Field Portable OCU (Wireless HMI)

1994: DARPA/TACOM

2002: “Wearable” OCU with software interface

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Field Portable OCU (with Wireless Networking)

1992: ARL

1994: DARPA/TACOM

1996: CECOM

1998: Ameritech

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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

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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

Image from Camera Polymodel Match

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Novel Robotic Platforms

Omnidirectional Platform

CyberStryder (Virtual Environment)

Walking Robot

6DOF Linkage

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3-axis 3-axis MagnetometerMagnetometer

GPSGPS

DifferentialDifferential OdometersOdometers

Motion Tracking Products

Automatic ParachuteDeployment

AugmentedGPS

Motion and Gesture Tracking

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Video Based Optical Tracking

Optical Tracking Based On: Motion Color Shape

Target RGB Reference Color Matching Color Space –

RGB reference and Intensity volume

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Optical Tracking – Video Based

Example – UseYourHead™ HeadtrackerMatches

Object Shape Object Color

Simple USB WebcamHeadmotion is a mouse inputHands remain free to perform other inputs

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NaviGaze – Headmouse for Disabled

Move mouse with any selected head feature

eye pupilnostrilbridge of glasses

Click mouse by closing eyesflaring nose

WebCam video input

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Localize objects in 3D space Up to 30 tags Up to 900 Hz update rate

Active Eyetracking & Headtracking

Tags on helmet track head motion

Eyetracker integrated into HMD for Gaze Location

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Eyetracking & Headtracking

Fuse inputs from ET & HT to control virtual scene

Headtracker (upper left) establishes frame of reference

Eyetracker defines Gaze direction

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Active Tracking of Human Motion

Attach tags to body part to generate a digital file of complex motions

Raw Video Raw Tracking Data

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Raw video can be converted into a synthetic, rendered scene

Active Tracking of Human Motion

Raw Video Final Rendered Scene

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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