Projects

From Hande Celikkanat

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[http://kovan.ceng.metu.edu.tr/index.php/MultilevelConceptualization '''Development of Hierarchical Concepts in Humanoid Robots''']
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'''Mar. 2014--present'''
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Funded by [http://www.tubitak.gov.tr/ The Scientific and Technological Research Council of Turkey (TUBITAK)]  through project  111E287
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* Modeled human-like developmental learning of concepts, in a densely connected concept web based on a Markov Random Field, promoting their learning in relation to each other, thereby making them more robust and easily accessible.
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* Proposed a hybrid extension of the Markov Random Field to allow for directed information flow regarding spatial concepts.
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* Demonstrated the benefits of the probabilistic concept web in the humanoid robot iCub, over various scenarios of reasoning and object recognition.
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* Proposed how contextual information can emerge in this concept web, and developed an incremental variant of Latent Dirichlet Allocation for detecting contexts in an online and unsupervised manner.
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* On the iCub humanoid robot, showed how contextual information can be beneficial for improving object recognition, selecting appropriately safe actions, and computationally efficient planning.
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[http://www.rossiproject.net/rossi/ '''ROSSI: Emergence of Communication in Robots through Sensorimotor and Social Interaction''']
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'''Mar. 2010 -- Jan. 2011'''
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Funded by European Union through Framework Programme 7
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* Implemented a head-centered visual representation module (proposed by Grossberg et al.). The module relies on retinal images and current head-eye configuration information from the proprioceptive sensors of the robot in order to extract a pose-independent representation for environmental objects.
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* Implemented the Vector Integration to Endpoint (VITE) model for human-like movements on the iCub humanoid robot.
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[http://kovan.ceng.metu.edu.tr/index.php/CoSwarm '''Controllable Robotic Swarm''']
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'''Jun. 2006 -- Sept. 2009'''
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Funded by [http://www.tubitak.gov.tr/ The Scientific and Technological Research Council of Turkey (TUBITAK)]  through project  104E066
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* Developed self-organized flocking behavior for [http://www.kovan.ceng.metu.edu.tr/index.php/Robots/Kobot Kobot] robot (designed and implemented by KOVAN Research Lab. for swarm robotic studies)
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* Investigated the necessary and sufficient conditions for successful directional ``control'' of a self-organized flock by informed individuals spread throughout the flock, whose identities are not known to the other naive individuals
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* Took part in development of an OpenGL/ODE-based physical simulator for the Kobot robot platform
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* Developed a kernel module running on an onboard Linux processor for camera access on the Kobot robot platform
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* Developed an [http://www.kovan.ceng.metu.edu.tr/pub/pdf/tok06a.pdf embedded omnidirectional vision algorithm] for the Kobot robot platform

Revision as of 20:21, 4 May 2015

Development of Hierarchical Concepts in Humanoid Robots Mar. 2014--present Funded by The Scientific and Technological Research Council of Turkey (TUBITAK) through project 111E287

  • Modeled human-like developmental learning of concepts, in a densely connected concept web based on a Markov Random Field, promoting their learning in relation to each other, thereby making them more robust and easily accessible.
  • Proposed a hybrid extension of the Markov Random Field to allow for directed information flow regarding spatial concepts.
  • Demonstrated the benefits of the probabilistic concept web in the humanoid robot iCub, over various scenarios of reasoning and object recognition.
  • Proposed how contextual information can emerge in this concept web, and developed an incremental variant of Latent Dirichlet Allocation for detecting contexts in an online and unsupervised manner.
  • On the iCub humanoid robot, showed how contextual information can be beneficial for improving object recognition, selecting appropriately safe actions, and computationally efficient planning.


ROSSI: Emergence of Communication in Robots through Sensorimotor and Social Interaction Mar. 2010 -- Jan. 2011 Funded by European Union through Framework Programme 7

  • Implemented a head-centered visual representation module (proposed by Grossberg et al.). The module relies on retinal images and current head-eye configuration information from the proprioceptive sensors of the robot in order to extract a pose-independent representation for environmental objects.
  • Implemented the Vector Integration to Endpoint (VITE) model for human-like movements on the iCub humanoid robot.

Controllable Robotic Swarm Jun. 2006 -- Sept. 2009 Funded by The Scientific and Technological Research Council of Turkey (TUBITAK) through project 104E066

  • Developed self-organized flocking behavior for Kobot robot (designed and implemented by KOVAN Research Lab. for swarm robotic studies)
  • Investigated the necessary and sufficient conditions for successful directional ``control of a self-organized flock by informed individuals spread throughout the flock, whose identities are not known to the other naive individuals
  • Took part in development of an OpenGL/ODE-based physical simulator for the Kobot robot platform
  • Developed a kernel module running on an onboard Linux processor for camera access on the Kobot robot platform
  • Developed an embedded omnidirectional vision algorithm for the Kobot robot platform
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