Sage is a robot that has been installed at the Carnegie Museum of Natural History as a full-time autonomous member of the staff. Its goal is to provide educational content to museum visitors in order to augment their museum experience. This paper discusses all aspects of the related research and development. The functional obstacle avoidance system, which departs from the conventional occupancy grid-based approaches, is described. Sage's topological navigation system, using only color vision and odometric information, is also described. Long-term statistics provide a quantitative measure of
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TEAM MEMBERS:
Illah NourbakhshJudith BobenageSebastien GrangeRon LutzRoland MeyerAlvaro Soto
This article describes the software architecture of an autonomous, interactive tour-guide robot. It presents a modular and distributed software architecture, which integrates localization, mapping, collision avoidance, planning, and various modules concerned with user interaction and Web-based telepresence. At its heart, the software approach relies on probabilistic computation, on-line learning, and any-time algorithms. It enables robots to operate safely, reliably, and at high speeds in highly dynamic environments, and does not require any modifications of the environment to aid the robot's
The Computer Museum will develop two 2500 sq. ft. computer-based exhibits the "Virtual Fishtank: Splashing Into Complex Systems". One exhibit will be installed permanently in the Computer Museum and the other will travel nationally for three to five years. These exhibits will use computer modeling of fish to introduce the public to new ideas about complex systems science and demonstrate the central concept that complex behaviors and patterns can emerge from simple interactions among simple rules. Visitors will spend eight to ten minutes designing their own fish at one of the ten FishBuilder computer stations. As they make decisions, they will be able to observe the effects of their rule selections on a computer display. When satisfied with their design, visitors can then "tag" their fish by placing their initials on fish tails and launch them in the central "fishtank". Large projection screens will encircle visitors in a dramatic simulation of an underwater aquarium environment. Visitors will observe and analyze how the few simple rules imbedded in the design of individual fish give rise to complex behaviors and patterns in the entire ecosystem. This exhibit draws on research conducted at MIT's Media Lab, The Computer Museum, and the New England Aquarium and will be able to reach people with a variety of learning styles. It anticipated completion date is March, 1998 for the TCM's version and the traveling version will begin it's national tour in September, 1998.
The Science Museum of Minnesota (SMM) in collaboration with the Illinois State Museum (ISM), the St. Louis Science Center (SLSC), and the National Center for Supercomputing Applications(NCSA) at the University of Illinois in Champaign, Illinois, will form a museum consortium to develop two virtual reality interactive displays (River Pilot Simulator and Digital River Basin) and other web-based activities that focus on the Mississippi River. This group will be known as the Mississippi River Web Museum Consortium. Each museum will end up with both software modules that will lead visitors to the story of the River. The river's local presence will serve as an entry point for the visitors at each museum. The NCSA will contribute their access to and knowledge of powerful computer simulation, scientific visualization, and collaborations technologies that are usually restricted to research settings and rarely available to a museum audience or the general public. The Consortium will also develop a shared site on the WWW that will invite users to engage in guided inquiry that will deepen their understanding of the large, complex, and integrated river system. The science content underlying the project will include river hydrology and geomorphology, life sciences, environmental studies employing geographic information systems, and the physics of motion. The activities will address a number of the National Science Education Standards. Complementary programming linking these activities with formal education include a RiverWeb(tm) Posting Board and a RiverWeb(tm) Classroom Resource Guide.
The Science Museum of Minnesota (SMM) in collaboration with the Illinois State Museum (ISM), the St. Louis Science Center (SLSC), and the National Center for Supercomputing Applications(NCSA) at the University of Illinois in Champaign, Illinois, will form a museum consortium to develop two virtual reality interactive displays (River Pilot Simulator and Digital River Basin) and other web-based activities that focus on the Mississippi River. This group will be known as the Mississippi River Web Museum Consortium. Each museum will end up with both software modules that will lead visitors to the story of the River. The river's local presence will serve as an entry point for the visitors at each museum. The NCSA will contribute their access to and knowledge of powerful computer simulation, scientific visualization, and collaborations technologies that are usually restricted to research settings and rarely available to a museum audience or the general public. The Consortium will also develop a shared site on the WWW that will invite users to engage in guided inquiry that will deepen their understanding of the large, complex, and integrated river system. The science content underlying the project will include river hydrology and geomorphology, life sciences, environmental studies employing geographic information systems, and the physics of motion. The activities will address a number of the National Science Education Standards. Complementary programming linking these activities with formal education include a RiverWeb(tm) Posting Board and a RiverWeb(tm) Classroom Resource Guide.
The Science Museum of Minnesota (SMM) in collaboration with the Illinois State Museum (ISM), the St. Louis Science Center (SLSC), and the National Center for Supercomputing Applications(NCSA) at the University of Illinois in Champaign, Illinois, will form a museum consortium to develop two virtual reality interactive displays (River Pilot Simulator and Digital River Basin) and other web-based activities that focus on the Mississippi River. This group will be known as the Mississippi River Web Museum Consortium. Each museum will end up with both software modules that will lead visitors to the story of the River. The river's local presence will serve as an entry point for the visitors at each museum. The NCSA will contribute their access to and knowledge of powerful computer simulation, scientific visualization, and collaborations technologies that are usually restricted to research settings and rarely available to a museum audience or the general public. The Consortium will also develop a shared site on the WWW that will invite users to engage in guided inquiry that will deepen their understanding of the large, complex, and integrated river system. The science content underlying the project will include river hydrology and geomorphology, life sciences, environmental studies employing geographic information systems, and the physics of motion. The activities will address a number of the National Science Education Standards. Complementary programming linking these activities with formal education include a RiverWeb(tm) Posting Board and a RiverWeb(tm) Classroom Resource Guide.
The Science Museum of Minnesota (SMM) in collaboration with the Illinois State Museum (ISM), the St. Louis Science Center (SLSC), and the National Center for Supercomputing Applications(NCSA) at the University of Illinois in Champaign, Illinois, will form a museum consortium to develop two virtual reality interactive displays (River Pilot Simulator and Digital River Basin) and other web-based activities that focus on the Mississippi River. This group will be known as the Mississippi River Web Museum Consortium. Each museum will end up with both software modules that will lead visitors to the story of the River. The river's local presence will serve as an entry point for the visitors at each museum. The NCSA will contribute their access to and knowledge of powerful computer simulation, scientific visualization, and collaborations technologies that are usually restricted to research settings and rarely available to a museum audience or the general public. The Consortium will also develop a shared site on the WWW that will invite users to engage in guided inquiry that will deepen their understanding of the large, complex, and integrated river system. The science content underlying the project will include river hydrology and geomorphology, life sciences, environmental studies employing geographic information systems, and the physics of motion. The activities will address a number of the National Science Education Standards. Complementary programming linking these activities with formal education include a RiverWeb(tm) Posting Board and a RiverWeb(tm) Classroom Resource Guide.