System-Level Cognitive Modeling with Ikaros
The goal of the Ikaros project is to develop an open infrastructure for system-level cognitive modelling. This includes system-level models of the brain, but also cognitive models that are not directly motivated by brain function. The article describes the background for the project and the details of the Ikaros system.
Map-making Robots: A Review of the Occupancy Grid Map Algorithm
Rasmus Arnling Bååth describes how grid maps can be implemented in Ikaros. The occupancy grid map algorithm was implemented and a number of experiments were conducted to investigate how it would perform given different types of sensor noise.
The Brain Database - A Proof of Concept
To what extent can ideas and techniques from the semantic web be used for testing cognitive models against neuroscientific data? In this article, Marie Gustafsson describes a first attempt to use semantic web techniques for validation of computational brain models.
April 20, 2014
The Ikaros math library has been updated with functions for homogenous matrix operations. These functions simplifies the creation and manipulation of homogenous matrices and include a number of functions that parallels those for ordinary matrices. Theses functions form the basis for a number of new modules in Ikaros that can be used for recognition of objects in three dimensions, localize of a robot based on visual landmarks, or for forward and inverse kinematics for a robot arm. There are also interfaces in the work that will allow conversion between homogenous matrices as spatial representations and population coding of space. This will make it possible to build hybrid systems where part of the robot control system uses traditional mathematical techniques and parts of the system uses more neuromorphic methods.
A Humanoid Robot
March 7, 2013
A humanoid robot controlled by Ikaros was demonstrated today at the CCL meeting in Lund. The robot has fourteen degrees of freedom that allows it show articulated movements with its head and arms. Ikaros is used for real-time control of the robot's Dynamixel servos and for visual processing of the video streams from the two eyes and depth sensor. The control system of the robot uses the standard modules in Ikaros for nearly all processing including visual tracking, depth perception, depth segmentations, face recognition and motor control. Using a sequencer module, the robot is able to produce well timed movement as responses to people it detects in front of it.
A Faster WebUI
November 3, 2012
The new WebUI in Ikaros 1.4 is substantially faster than the previous version. It is now possible to stream image data in full HD (1920x1080) to the web browser at 14 frames per second using the standard settings. With some tweaks it can run as fast as 20 fps. In addition, the WebUI is now completely threaded and runs independently. This allows the WebUI to work smoothly regardless of whether Ikaros is running in play mode or in real-time mode. We have also began to rewrite most of the user interface in HTML5 + Canvas which makes it much faster than the old SVG graphics. However, the WebUI still supports all the old SVG objects and will continue to do so for some time. First out of the new WebUI objects is the path object that replaces the functionality of the two line-objects. Many more WebUI objects will be added in the near future.
A number of models of haptic perception have used Ikaros to control different robot hands.