ITR/CISE: Towards Organic Computing in Computer Vision and Robotics

ITR/CISE：迈向计算机视觉和机器人领域的有机计算

• 批准号: 0312802
• 负责人: Stefan Schaal
• 金额: $ 34万
• 依托单位: University of Southern California
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-07-01 至 2006-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0312802&HistoricalAwards=false
• 关键词: ITR; CISE; Towards; Organic; Computing

ABSTRACTProposal #0312802Title: ITR: Towards Organic Computing in Computer Vision and Robotics PI: Schaal, StefanU. of Southern CaliforniaThis project focuses on developing a methodology to advance a self-organizing computing paradigm in flexible robotics and vision in natural environments. These application domains require systems of tremendous complexity, as also indicated by the fact that a large part of our brains, with a processing capacity orders of magnitude larger than any technical system, is devoted to vision and control of behavior. It is doubtful whether systems of the required complexity can be designed by current computing methodologies. It is proceeded with the realization that radically new design principles will have to be developed, and are seeing this project as part of a broader effort to establish the new computing paradigm Organic Computing (OC). OC aspires to understand and emulate information processing in living systems, a form of information processing that does not seem to follow traditional algorithmic control, but rather mechanisms of evolution, adaptation, goal-oriented self-organization and learning.The study will perform towards this goal by a series of theoretical and experimental studies that will demonstrate the principles of OC and how it can replace traditional programming in classical problems of computer vision and robotic control. On the intellectual side, the project will contribute considerably to robust large-scale intelligent and autonomous systems in the future, and a better scientific understanding of the functional principles that are at the basis of autonomous vision, motor control, and visual-motor coordination, also with a view towards interdisciplinary exchange with the neuroscience. The broader impact will be to profoundly transform the style in which large software systems are developed and to open computer systems to the direct creative influence of the non-technical user. The significance of our particular sample applications will be progress with advanced sensing, perception and actuation systems in unstructured environments, as a basis for HCI systems and also for the emerging field of neuro-prosthetics and rehabilitation engineering as well as robotics and autonomous vehicle control.

摘要提案#0312802标题：ITR：计算机视觉和机器人中的有机计算PI：Schaal，StefanU。该项目的重点是开发一种方法，以推进自然环境中灵活机器人和视觉的自组织计算范式。这些应用领域需要非常复杂的系统，这也表明了我们大脑的很大一部分，其处理能力比任何技术系统都要大几个数量级，专门用于视觉和行为控制。目前的计算方法是否能设计出所需复杂度的系统是值得怀疑的。它继续与实现，从根本上说，新的设计原则将不得不开发，并看到这个项目作为一个更广泛的努力，建立新的计算范式有机计算（OC）的一部分。OC渴望理解和模仿生命系统中的信息处理，这种信息处理形式似乎不遵循传统的算法控制，而是进化，适应，目标导向型自我组织和学习。本研究将通过一系列的理论和实验研究来实现这一目标，这些研究将展示组织学习的原理以及它如何在经典编程中取代传统编程。计算机视觉和机器人控制的问题。在智力方面，该项目将为未来强大的大规模智能和自主系统做出巨大贡献，并更好地科学理解自主视觉，运动控制和视觉运动协调的功能原理，同时也是为了与神经科学进行跨学科交流。更广泛的影响将是深刻地改变大型软件系统开发的风格，并开放计算机系统，让非技术用户直接产生创造性的影响。我们的特殊样本应用的意义将是在非结构化环境中先进的传感，感知和驱动系统的进步，作为HCI系统的基础，也为新兴的神经假肢和康复工程领域以及机器人和自主车辆控制。