Brain, body and machine : proceedings of an International Symposium on the Occasion of the 25th Anniversary of the McGill University Centre for Intelligent Machines

On the occasion of its 25th anniversary, McGill University's Centre for Intelligent Machines (CIM) invited outstanding researchers from academia and R\ & D environments to discuss the state of the art in research areas of interest to CIM. The response is documented in the papers assembled here, under the umbrella of the {\em International Symposium on Brain, Body and Machine}, held in Montreal on November 10--13, 2010. Areas of interest include heuristic algorithms, computer vision, medical imaging, haptics, human-machine interaction, systems and control, robot design and control, and multibody system dynamics. Applications cover a road spectrum, from shape identification and reconstruction to drug-dose regulation and body-motion detection and control. Contributors come from research laboratories based all over the world, not only from academia, but also from government agencies and industry Front Matter....Pages - Force and Visual Control for Safe Human-Robot Interaction....Pages 1-16 3D Automatic Segmentation of the Hippocampus Using Wavelets with Applications to Radiotherapy Planning....Pages 17-31 Rigid Registration of 3D Ultrasound and MRI: Comparing Two Approaches on Nine Tumor Cases....Pages 33-43 A New Approach to Virtual Mirroring for View Integration....Pages 45-55 Designing a Metric for the Difference between Gaussian Densities....Pages 57-70 Physical Asymmetries and Brightness Perception....Pages 71-82 A Learning-Based Patient Repositioning Method from Limited-Angle Projections....Pages 83-94 Image and Video Region Saliency Based on Space and Motion....Pages 95-109 Generalized PCA via the Backward Stepwise Approach in Image Analysis....Pages 111-123 Performance of MRF-Based Stereo Algorithms for Cluttered Scenes....Pages 125-136 Medial Spheres for Shape Approximation....Pages 137-148 A Heuristic Algorithm for Slicing in the Rapid Freeze Prototyping of Sculptured Bodies....Pages 149-162 Robust Design of 2 nd Order Terminal ILC Using μ -Analysis and a Genetic Algorithm Approach....Pages 163-174 Development of an Anthropomorphic Saxophone-Playing Robot....Pages 175-186 Human Safety Algorithms for a Parallel Cable-Driven Haptic Interface....Pages 187-200 Hybrid Stabilizing Control for the Spatial Double Inverted Pendulum....Pages 201-215 Closed-Loop Control of Plasma Osmolality....Pages 217-225 Cooperative Exploration, Localization, and Visual Map Construction....Pages 227-245 Sliding-Mode Velocity and Yaw Control of a 4WD Skid-Steering Mobile Robot....Pages 247-258 On the Design and Validation of an Intelligent Powered Wheelchair: Lessons from the SmartWheeler Project....Pages 259-268 Devon Island as a Proving Ground for Planetary Rovers....Pages 269-281 Leader-Follower Cucker-Smale Type Flocking Synthesized via Mean Field Stochastic Control Theory....Pages 283-298 Dynamic Locomotion with a Wheeled-Legged Quadruped Robot....Pages 299-310 Underactuated Cable-Driven Robots: Machine, Control and Suspended Bodies....Pages 311-323 Computing the Rigid-Body Acceleration Field from Nine Accelerometer Measurements....Pages 325-339 Singularity Analysis of a Six-Dof Parallel Manipulator Using Grassmann-Cayley Algebra and Gröbner Bases....Pages 341-352