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

建议#0312802标题：ITR：走向计算机视觉和机器人中的有机计算PI：Schaal，Stefan U。这个项目的重点是开发一种方法学，以推进自然环境中灵活的机器人和视觉中的自组织计算范例。这些应用领域需要极其复杂的系统，正如我们大脑的大部分处理能力比任何技术系统都大几个数量级，致力于视觉和行为控制这一事实所表明的那样。目前的计算方法能否设计出所需复杂性的系统，这是值得怀疑的。随着认识到必须开发全新的设计原则，并将该项目视为建立新的计算范例有机计算(OC)的更广泛努力的一部分。OC渴望理解和模拟生命系统中的信息处理，这是一种似乎不遵循传统算法控制的信息处理形式，而是一种进化、适应、面向目标的自组织和学习机制。这项研究将通过一系列理论和实验研究来实现这一目标，这些研究将演示OC的原理以及它如何在计算机视觉和机器人控制的经典问题中取代传统编程。在智力方面，该项目将对未来强大的大规模智能和自主系统做出重大贡献，并更好地科学理解以自主视觉、运动控制和视觉-运动协调为基础的功能原理，以期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的开发风格，并使计算机系统对非技术用户的直接创造性影响开放。我们的特定样本应用的重要意义将是在非结构化环境中使用先进的传感、感知和驱动系统，作为人机交互系统的基础，也是神经假肢和康复工程以及机器人和自动车辆控制等新兴领域的基础。

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.