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Current projects, Grouped by Center Affiliation [Past Projects]

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• 3D Head Motion Recovery in Real Time - A cylindrical model-based algorithm recovers the full motion (3D rotations and 3D translations) of the head in real time.
• 3D Mine Mapping - We are developing robotic systems for automated 3D mine mapping.
• A-Match - A-Match, the interface to the RETSINA Matchmaker, provides a web interface for users to advertise their agents, customize agents, find other agents, and query them.
• AAM Fitting Algorithms - Many varieties of algorithms for fitting Cootes and Taylor's "Active Appearance Models" are developed.
• AAMs with Occlusion - We are developing algorithms to construct AAMs from occluded training images and to efficiently fit AAMs to faces containing occlusion.
• Accurate Camera Calibration from Planar Patterns - A novel camera calibration method can increases not only an accuracy of intrinsic camera parameters but also an accuracy of stereo camera calibration by utilizing a single framework for square, circle, and ring planar calibration patterns.
• Active Home/Personal Robotics - Creating a robot to help with tasks in the home.
• Actuator with Mechanically Adjustable Series Compliance - We are developing actuation methods for highly dynamic legged locomotion.
• Adaptive Interoperability of Multiple Heterogeneous Agents - To enable requester agents to find provider agents in environments with heterogeneous and dynamic information services, we have developed middle agents which serve to increase agent interoperability.
• Advanced Sensor Based Defect Management at Construction Sites - This research project builds on, combines and extends the advances in generating 3D environments using laser scanners.
• AFOSR PRET: Information Fusion for Command and Control: The Translation of Raw Data To Actionable Knowledge and Decision - We are conducting a multidisciplinary research effort to develop the next generation of information fusion systems.
• Agent Storm - Agent Storm is a scenario where agents autonomously coordinate their team-oriented roles and actions while executing a mission.
• Agent-based Composition of Behavioral Models - This project focuses on accurately modeling human physical behaviors; these models are used 1) to create computer generated forces (CGFs) that exhibit human-like behavior and 2) to recognize physical behaviors performed by trainees in a MOUT (Military Operations in Urban Terrain) team training simulation.
• Aircraft Maintenance - A wearable software system that uses RETSINA agents to assist in the process of documenting and making repairs to aircraft.
• Amaranth - Real-Time System for Adaptive Optimization of End-to-End Quality of Service
• AMC Barrelmaster Scheduling - Integrated management of airlift and tanker missions at the USAF Air Mobility Command.
• Application Specific Integrated MEMS Process Service - Creating the design, fabrication and characterization support for enabling integration of MEMS and CMOS to span from low cost prototyping to high volume production.
• Architecture for Agile Assembly - Reduction of time to market in agile manufacturing
• Asynchronous Teams of Autonomous Agents - An asynchronous team is a way of organizing large numbers of very different types of agents-from the simplest of microelectromechanical devices through intelligent robots to expert humans.
• Automated Material Transport System
• Autonomous Helicopter - Develop a vision-guided robot helicopter
• Autonomous Navigation System - The NREC is leading the development of perception and path planning within the Autonomous Navigation System program for the Future Combat System.
• BeatBots - We are developing robots that can participate in coordinated rhythmic social interactions with people.
• Behavior Planning for Character Animation - We are exploring a behavior planning approach to automatically generate realistic motions for animated characters.
• Bow Leg Hopper - A novel, single-leg, dynamically stabilized planar robot that efficiently traverses rugged terrains under computer control.
• BowGo - We have developed BOWGO (patent pending) - a new kind of pogo stick that bounces higher, farther and more efficiently than conventional devices.
• Cell Tracking - We are developing fully-automated computer vision-based cell tracking algorithms and a system that automatically determines the spatiotemporal history of dense populations of cells over extended period of time.
• Circuit Extraction from MEMS Layout - We are developing a MEMS extraction module which reads in the geometric description of the layout structure and reconstructs the corresponding schematic.
• COALA - We are developing a model of inter-organizational electronic commerce.
• Cohn-Kanade AU-Coded Facial Expression Database - An AU-coded database of over 2000 video sequences of over 200 subjects displaying various facial expressions.
• Collaborative Agents - Cooperative robotics
• Composable Simulation - Software environment which facilitates creating simulations of mechatronic systems
• Computer Assisted Medical Instrument Navigation - We are developing a system to help clinicians to precisely navigate various catheters inside human hearts.
• Constrained Controlled Coverage - Coverage of two dimensional surfaces embedded in three dimensions with emphasis on uniform coverage.
• Cooperative Attack Munition Real Time Assessment - We are developing the algorithms required to achieve cohesive, flexible and robust coordination of large teams of autonomous Wide Area Search Munitions (WASMs) that can be controlled by a small number of human operators.
• Coordinators - The DARPA COORDINATORS program defines a challenging multi-agent application, with agents operating in a highly dynamic environment, where no agent has a complete view of the problem.
• Cyberinfrastructure for Human-Robot Interaction Research - We seek to provide the field of Human-Robot Interaction (HRI) with collaborative mechanisms and methods for evaluation and exploratory analysis.
• Daml-S (Semantic) Matchmaker - We have developed our Semantic Matchmaker, an entity that will allow web services to locate other services, using DAML-S, a DAML-based language for describing service capabilities.
• Deception Detection - Learning facial indicators of deception
• Depression Assessment - This project aims to compute quantitative behavioral measures related to depression severity from facial expression, body gestures, and vocal prosody in clinical interviews.
• Desktop Robotics - Is it possible to build robots which take the desktop as their task domain?
• Dexterous Haptic Interface for Interaction with Remote/Virtual Environments - Convey finger touch and force information to a human operator
• Discovery - We are developing an autoconfiguration mechanism for agents and infrastructures.
• Dismount Control Project - We are deveopling Dismount, a system used to track position of an individual and programming a robot to follow it.
• Distributed Design System - CODES - Providing people, tools, and information for integrated robotics design
• Dynamic Biped - We are developing a new series of bipedal walking robots that use passive-dynamic principles.
• Dynamically-Stable Mobile Robots in Human Environments - We are developing novel dynamically-stable rolling machine and walking machine research platforms to study interactions with people and operating in normal home and workplace environments.
• Educational Robotics - We are developing both physical robots and curriculum that will make educational robotics viable at the middle school and high school levels.
• Electronic Commerce
• Evaluation of MSP Extraction Algorithms - The aim of this project is to evaluate different state-of-art algorithms for automatic extraction of the mid-sagital plane in brain images.
• Event Detection in Videos - Our event detection method can detect a wide range of actions in video by correlating spatio-temporal shapes to over-segmented videos without background subtraction.
• Expeditionary Target Identification and Exchange System - we are developing ETIES, a modular software system that provides for target identification, handoff, and engagement.
• Explosive Ordnance Disposal Robot - Very Low Cost - We are deveopling a suite of highly capable mobile robots for Explosive Ordnance Disposal and First Responders which are very low in total ownership costs.
• EyeVision
• Face Detection - We are developing computer methods to automatically locate human faces in photos and video.
• Face Detection Databases - A collection of databases for training and testing face detectors.
• Face Recognition - Recognizing people from images and videos.
• Face Recognition Across Illumination - Recognizing people from faces: video and still iamges.
• Face Recognition Across Pose - Recognizing people from different poses.
• Face Video Hallucination - A learning-based approach to super-resolve human face videos.
• Facial Asymmetry as a Biometric - We are investigating the effect of facial asymmetry measurement statistics as a biometric under expression variations.
• Facial Expression Analysis - Automatic facial expression encoding, extraction and recognition, and expression intensity estimation for the applications of MPEG4 application: teleconferencing, human-computer interaction/interface.
• Facial Feature Detection - Detecting facial features in images.
• Feature-based 3D Head Tracking - A feature-based head tracking algorithm can handle occlusions and fast motion of face.
• Fingersight^TM - We are developing videotactile fingertip sensors which will enable people to interact with the visible world via their fingertips.
• Formal Verification of Autonomous Systems - We are developing tools and techniques to support formal verification of autonomous systems.
• Foundation for MEMS Synthesis - shorten MEMS development cycle
• Free-Roaming Planar Motors - We are developing autonomous planar motors for precision positioning.
• Frontal Face Alignment - This face alignment method detects generic frontal faces with large appearance variations and 2D pose changes and identifies detailed facial structures in images.
• Generic Active Appearance Models - We are pursuing techniques for non-rigid face alignment based on Constrained Local Models (CLMs) that exhibit superior generic performance over conventional AAMs.
• Geometrically Coherent Image Interpretation - Understanding a 3D scene from a single image
• Global Connection Project - The Global Connection Project develops software tools and technologies to increase the power of images to connect, inform, and inspire people to become engaged and responsible global citizens.
• Grace - The Grace project is a collaboration among several schools and research labs to design a robot capable of fully performing the AAAI Grand Challenge.
• Hand Tracking and 3-D Pose Estimation - A 2-D and 3-D model-based tracking method can track a human hand rapidly moving and deformed on complicated backgrounds and recover its 3-D pose parameters.
• HeartLander - A miniature mobile robot for minimally invasive therapy on the beating heart through a single percutaneous incision.
• High-Aspect-Ratio CMOS Micromachining Process - We have developed an integrated CMOS- MEMS process in which electrostatically actuated microstructures with high-aspect-ratio composite-beam suspensions are fabricated using conventional CMOS processing.
• Highly-Articulated Robotic Probe - We developed and tested a prototype based on an innovative approach of a highly articulated robotic probe.
• Human Kinematic Modeling and Motion Capture - We are developing a system for building 3D kinematic models of humans and then using the models to track the person in new video sequences.
• Human Motion Transfer - We are developing a system for capturing the motion of one person and rendering a different person performing the same motion.
• Human Odometer - We are developing the Human Odometer - a system designed for situational awareness for firefighter tracking.
• Human-Robot Interaction - The human-robot interaction project explores aspects of social interaction between people and robots, in particular how robots should be designed to provide people with appropriate interactions.
• IBM ITA: Human-Agent Teamwork Models - We are developing models of human-agent teamwork for implementation in software agent systems.
• Image Enhancement for Faces - Video enhancement techniques, specifically tailored for human faces.
• Integrated MEMS Inertial Measurement Unit - Developing a monolithic inertial measurement unit that exploits integrated-microdevice CAD tools to achieve superior system performance over individual microdevices.
• Intelligent Assembly Modelling and Simulation - Facilitating assemblability checking in a virtual, simulated environment
• Inter-Process Communication Package - We are developing a high-level support package for connecting and sending data among processes using TCP / IP sockets.
• Knee Surgery Simulation - Haptic interface for simulated knee surgery and interaction with volumetric data.
• Language for Advertisement and Request for Knowledge Sharing - A common agent capability description language (ACDL) for matching service-requesting software agents with service-providing software agents.
• Legless Locomotion - A novel locomotion technique for legged robots when their legs don't touch the ground!
• Lego Educational Robotics - Self-paced robotics education labs
• LSTAT/Snake Robot - We are working with the US Army's TATRC department (Telemedicine & Advanced Technology Research Center) to integrate a snake robot into the LSTAT system.
• Magnetic Levitation Haptic Consortium - Low-cost, high-fidelity haptic magnetic levitation haptic interface systems for use by a consortium of haptics researchers in the United States
• Matchmaker - A middle agent that facilitates conections among agents that provide services and agents that request services.
• MIGSOCK - We are developing MIGSOCK, a Linux kernel module that re-implements TCP to make socket migration possible.
• MINTEC - Supply chain management
• Mobile Autonomous Robot Software - Develop complete, effective and scalable software for autonomous robot teams. Demonstrate robot teams with integrated action, perception, reasoning, communication and cooperative strategies that solve complex multiagent tasks.
• Mobile Communications amongst Heterogeneous Agents - We are developing a multi-agent system for "Anyware" communications and display.
• Modeling by Videotape - Factorization method of solving the structure-from-motion problem
• MORSE - The MORSE project is a simulated range operation, designed to evaluate effectiveness of the cognitive models and agents, in order to improve individual and team performance.
• Motion Planning for Snake Robots - Creating algorithims for computer control of hyper-redundant manipulators existing in high dimension configuration spaces.
• Multi-People Tracking - Our multi-people tracking method can automatically initialize and terminate paths of people and follow multiple and changeable number of people on cluttered scenes over long time intervals.
• Multi-view Car Detection and Registration - This method can detect cars with occlusions and varying viewpoints from a single still images by using multi-class boosting algorithm.
• Multimodal Data Collection - A multimodal database of subjects performing the tasks involved in cooking, captured with several sensors (audio, video, motion capture, accelerometer/gyroscope).
• Needle Steering for Brain Surgery - We are developing high accuracy proportional steering of flexible needles for minimally invasive navigation in the brain.
• Object Recognition Using Statistical Modeling - Automobile and human face detection via statistical modeling.
• Planning for Manipulation - Developing algorithms for autonomous manipulation.
• Pleiades - A project aimed at developing methods for automating negotiation among agents and implementing effective machine learning techniques.
• Precision Freehand Sculpting - We are developing a handheld tool to accurately cut bone for joint replacement surgery.
• Precomputed Search Trees: Planning for Interactive Goal-Driven Animation - We present a novel approach for interactively synthesizing motions for characters navigating in complex environments.
• Product Decomposition - a method of decomposing sheet-metal products into a few, easily manufactured parts
• Profile-Based Scheduling Procedures - We are investigating approaches to constraint-posting scheduling.
• Project LISTEN's Reading Tutor - Project LISTEN's Reading Tutor listens to children read aloud.
• Psychophysics of Haptic Interaction - Quantitative comparisons of human subjects performing peg-in-hole experiments with real, virtual, and real-remote haptic environments
• Quality of Life Technology Center - QoLT is a unique partnership between Carnegie Mellon and the University of Pittsburgh that brings together a cross-disciplinary team of technologists, clinicians, industry partners, end users, and other stakeholders to create revolutionary technologies that will improve and sustain the quality of life for all people.
• Rapid Design Through Virtual and Physical Prototyping - Rapid design and generation of parts and assemblies
• Real-time Face Detection - A face detection system has an accurate detection rate and real time performance by using an ensemble of weak classifiers.
• Reconfigurable Vision Machine - Developing new hardware and software for high performance computer vision.
• Reflectance Perception - We have developed Reflectance Perception - an image processing software that intelligently compensates for illumination problems in digital pictures.
• Reflective Agents with Distributed Adaptive Reasoning - The focus of the RADAR project is to build a cognitive assistant that embodies machine learning technology that is able to function without requiring expert tuning or specially trained users.
• Remoted Bulldozer for Training and Human Factors Evaluation - A Teleoperated Bulldozer
• Resonator Synthesis - We have developed a resonator synthesis module; the first in a series of synthesis modules to overcome the lack of MEMS Cell Libraries.
• Retract-like structures for SE(2) and SE(3) - Motion planning algorithm for thr rod-shaped robots, based on distance measurements.
• RETSINA Semantic Web Calendar Agent - We are Retsina Semantic Web Calendar Agent to assist in organizing and scheduling meetings between several individuals, and coordinating these meetings based on existing schedules maintained by MS Outlook.
• Reusable Environment for Task Structured Intelligent Network Agents - An architecture for developing distributed intelligent software agents that cooperate asynchronously to perform goal-directed information retrieval and information integration in support of a varie
• Roboceptionist - In collaboration with the Drama Department, we are developing technology for long-term social interaction.
• Robotic Demining - We are developing an autonomous robot to find landmines.
• Robotic Origami Folding - Origami, the human art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example for many difficult and general manipulation problems.
• Robotic Soccer - The RoboSoccer project develops collaboration among multiple autonomous agents.
• Robots in Scansorial Environments - We are developing a bioinspired climbing robot with the unique ability to walk on land and climb on vertical surfaces.
• Schematic Design for MEMS - We have developed nodal simulation software to enable a structured representation for MEMS design using a hierarchical set of MEM components.
• Search and Rescue - Giving Urban Search and Rescue workers more technological tools to help find and save victims of natural disasters.
• Secure Agent Name Server - We are developing a secure agent name server which requires preregistration for deployment.
• Simultaneous Localization and Mapping - We are developing a geometric mapping strategy that directs a mobile robot to explore an unknown environment while taking into consideration sensor and encoder uncertainty.
• Snake Robot Design - Analyzing the factors that are of importance in designing a snake robot, and implementing new designs.
• Social Robots - We are developing robots with personality.
• Sonic Flashlight^TM - We are developing a method of medical visualization that merges real time ultrasound images with direct human vision.
• Spatio-Temporal Facial Expression Segmentation - A two-step approach temporally segment facial gestures from video sequences. It can register the rigid and non-rigid motion of the face.
• Teleoperation with a 12-DOF Coarse-Fine Manipulator - High-fidelity manipulation of remote environments using a 6-DOF robot equipped with a 6-DOF magnetic levitation fine-motion wrist.
• Telepresence Robot Kit - To design, create, and disseminate robotics curricula and technologies that motivate young women and men to actively explore science and technology.
• Telesupervised Adaptive Ocean Sensor Fleet - We are developing a HAB Investigation Telesupervised Adaptive Sensor System (HABITASS) to address the limitations of existing systems.
• Temporal Segmentation of Human Motion - Temporal segmentation of human motion
• Temporal Shape-From-Silhouette - We are developing algorithms for the computation of 3D shape from multiple silhouette images captured across time.
• Text Miner - We are developing Text Miner, a system that automatically classifies news reports on a company's financial outlook.
• Texture Replacement in Real Images - We are developing methods to replace some specified texture patterns in an image while preserving lighting effects, shadows and occlusions.
• The CMUcam Vision Sensor - We have developed CMUcam - a new low-cost, low-power sensor for mobile robots.
• The Electric Cable Differential (ECD) Leg - We are designing a bipedal robot to be capable of running, walking, jumping, hopping, and generally behaving in a highly dynamic manner.
• The Personal Rover Project - We have developed the Personal Rover - a 18"x12"x24" highly autonomous, programmable robot.
• Time-optimal Vehicle Trajectories - What's the fastest way to drive a mobile robot?
• Toy Robots Initiative - The Toy Robots Initiative aims to commercialize robotics technologies in the educational, toy and entertainment fields.
• Transitional Unmanned Ground Vehicle - Cross Country Navigation
• Treasure Hunt: Pickup Teams - We are developing a single heterogeneous human-robot team capable of effectively locating objects of interest (treasure) spread over a complex, previously unknown environment.
• Ultra-High-Density Data Cache for Low-Power Communications - Demonstrating technology for a 10 GB/cm2 rewritable data storage system using MEMS-based actuators and magnetic recording.
• Urban Search and Rescue - We are developing Hybrid Teams of Autonomous Agents: Cyber Agents, Robots and People (CARPs) to address the challenges of urban search and rescue.
• WARREN - The WARREN system is a multi-agent application that is designed to help users monitor and manage their financial portfolio.
• WebMate - A personal agent for World-Wide Web browsing that enhances searches and learns user interests.
• Xavier - Perceptual, reasoning and learning abilities in autonomous mobile robots