Regional program ICT Asia Project proposal training research development by epmd

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									Regional program ICT-Asia Project proposal (training – research – development)
Rules:
Each project must have a research component and/or a training component and/or an innovation transfer component. Each project should have • At least a French partner • At least 2 Asian partners coming from 2 different countries, one of which being located in Southeast Asia Co-financing is encouraged. The projects last 2 years. A mid-term evaluation will be conducted.

Project Presentation Form
A. Project Outline
A1 Project title French-Asian Cyber Transportation (FACT)

A2

Area Intelligent Vehicle

A3

Goal of the project To advance the state-of-the-art technologies on an intelligent and environment friendly robotic vehicle referred to here as cybercars, through international collaboration, by taking advantage of the rapid growth of information and communication technologies. To promote the application of cybercars to autonomous personal public transportation, called here as Cyber Transportation, in campuses, airports, tourist attractions, shopping malls and traffic/pollution-free residential and apartment complexes. To expand the concept of cybercars and CyberTransportation to Asian regions including China, Japan, Korea and Singapore. To exchange ideas, research results and technologies to be outsourced among the collaborating partners through joint workshops, symposia, seminars, as well as exchanging researchers.

A4

Summary of the project By taking advantage of the rapid growth of information and communication technologies the project will focus on adding further capabilities and functionalities to the current cybercars aiming to deploy it in downtown areas to reduce the use of private automobiles. To successfully deploy cybercars in the physical environments in which we live (natural or conceived for human), it is important to incorporate capabilities such as: human interaction (on board and off board), communication between cybercars for information sharing and navigation, communication between cybercars and the infrastructure, detecting roads’ signs, structures and features, driving accordance the rules. The proposed project combines 7 research groups (three French and four Asian) having

complementary skills and expertise to conduct research in the area of ITS and AGV, particularly focused on models and algorithms allowing for safe autonomous navigation in dynamic environments (like those found in a urban context). To promote the concept of cybercars and CyberTransportation in the Asian countries, the partners will deploy the cybercars in small scales such as campus setup. To exchange ideas, the first workshop will be conducted in the first quarter of project to kick off the collaboration. A yearly workshop will be conducted to exchange ideas, research results and technologies. Finally the funding would be used to initiate new joint projects based on this collaboration on the intelligent vehicle topic.

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A5. Information on the project partners Asian partner A : Korea Institution Person in charge Address Sungkyunkwan University Prof. Sukhan Lee

Asian partner B : Japan Institution University of Tokyo Prof. Katsushi IKEUCHI 4-6-1 Komaba, Meguro-ku, Tokyo, Japan Tel: +81-3-5452-6242 Fax: +81-3-5452-6244 ki@iis.u-tokyo.ac.jp

Tel/Fax E-mail

Person in charge 300 Cheoncheon-dong, Jangan- Address gu, Suwon, Gyeonggi-do 440-746, Korea Tel: +82-31-299-6475, Tel/Fax Fax: +82-31-299-6478 lsh@ece.skku.ac.kr E-mail

Asian partner C : China Institution Person in charge Address Tel/Fax E-mail Shanghai Jiao Tong University Prof. RuQing YANG

Asian partner D : Singapore Institution Electronic Engineering Nanyang Technological University Prof. Danwei Wang Nanyang Ave. Singapore 639798 Tel: +65-6790-5376 Fax: +65-6792-0415 edwwang@ntu.edu.sg

Person in charge 1954, HuaShan Road, 200030 Address Shanghai, P.R. China Tel: +86-21-62932680 Tel/Fax rqyang@sjtu.edu.cn E-mail

French partner A : Institution Person in charge Address INRIA-Rhone-Alpes Dr. Thierry Fraichard Inria Rhône-Alpes 655 avenue de l'Europe 38334 Saint-Ismier Cedex France +33 4 76 615221 +33 4 76 615210 Thierry.fraichard@inrialpes.fr

French partner B : Institution Person in charge Address INRIA- Rocquencourt Dr. Michel Parent BP 105 78153 Le Chesnay Cedex France tel: +33 1 3963 5593 fax: +33 1 3963 5591 michel.parent@inria.fr

Tel/Fax E-mail

Tel/Fax E-mail

French partner C : LASMEA-GRAVIR Institution Person in charge Address LASMEA-GRAVIR Dr. Philippe Martinet Campus des Cezeaux 63177 Aubiere Cedex France +33 473 407 653 martinet@lasmea.univbpclermont.fr

French partner D : Institution Person in charge Address

Tel/Fax E-mail

Tel/Fax E-mail

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B. Project details
B1. Principal orientation of the project (training – research – applied research with or without private sector participation)
Each partner has been conducting research related to this area based on other funding sources. The principal orientation of this proposal is to foster the exchange of ideas, researchers, and research results. This project would be used as seed money to attract more funding from governments toward the use of cybercars and CyberTransportation.

B2. Project description
This project aims at conducting common research activities in the area of Intelligent Transportation Systems (ITS) and Automated Guided Vehicles (AGV). Indeed, reducing the use of the private automobile in downtown areas, by offering new modern public transportation systems which are both convenient and "sustainable'' is a primary concern in modern societies today. The recent developments of automated driving techniques make it now potentially feasible to move cars autonomously and safely in the physical environments in which we live (natural or conceived for human). Such environments are richer in information (with respect to artificial environments), introduce significant dynamicity, are unpredictable by nature and imply complex interactions with human: they demand decision-making processes and actions on the basis of incomplete information. Indeed, previous approaches in robotics have brought some partial contributions to the solution of the general problem of generating motions in the real world. However, they generally allow robots to acquire the necessary autonomy properties only in artificial environments carefully fixed up for them and generally ill-adapted for human. Furthermore, it is important to incorporate capabilities such as: human interaction (on board and off board), communication between cybercars for information sharing and navigation, communication between cybercars and the infrastructure, detecting roads’ signs, structures and features, driving accordance the rules. The proposed project combines 7 research groups (three French and four Asian) having complementary skills and expertise to conduct research in the area of ITS and AGV, particularly focused on models and algorithms allowing for safe autonomous navigation in dynamic environments (like those found in a urban context). To promote the concept of cybercars and CyberTransportation in the Asian countries, the partners will deploy the cybercars in small scales such as campus environment. The project will start by a technical meeting (first step) aiming at: Task T1 : selecting autonomous driving scenarios to be investigated Task T2 : giving a description of possible technologies developed by the partners The second step of the program concerns the collaboration actions for studying and developing the technologies for the selected scenarios: Task T3 : driver modeling (Managed by NTU, Singapore) Task T4 : developing image based understanding of the environment (Managed by ISRC, Korea) Task T5 : developing vision based navigation techniques (Managed by LASMEA, France) Task T6 : developing autonomous navigation techniques (Managed by INRIA-Rhône-Alpes, France) Task T7 : developing control and navigation techniques using vision, ladar and magnet (Managed by STJU, China) Task T8 : developing communication and cooperative driving technologies (managed by INRIARocquencourt, France) Task T9 : developing Mixed-Reality environment and 3D digital map for navigation (Managed by ITS, Japan))

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B2.1. Objective
The main objective is to bring the expertise of researchers in autonomous navigation (INRIA-RhôneAlpes), cooperative behaviors (INRIA-Rocquencourt), sensor-based (visual servoing) robot motion control (LASMEA), robust sensor fusion techniques (Sungkyunkwan University), platform development (SJTU), Mixed-Reality Environment development (ITS), and behaviour modelling (NTU), in order to develop advanced models and algorithms towards motion autonomy in open and dynamic environments (i.e. in partially known environments, where time and dynamics play a major role), and leading to varied

interactions with human.
The requested funding would be used to set up the collaboration between France and the four Asian countries to: - Conduct annual joint workshops - Exchange researchers and research results - Set up international collaboration - Apply the advanced ICT (Information and Communication Technology) in the cars and transport systems to improve the efficiency, safety, and quality of urban life towards the goals of the French-Asian Cyber Transportation project. Through this seed money, France and the four Asian countries would seek larger funding toward promoting cybercars and CyberTransportation in the Asian region and in the world.

B2.2. Areas of application
All these projects rely on the same basic idea: reducing the use of the private automobile in areas such as: - Campuses - Tourist attractions - Airports - Shopping malls - Down town areas, especially the crowded and densely populated areas. The long term objective is to offer new modern public transportation systems which are both convenient and "sustainable''. Furthermore, the cybercars can be used to help elderly and the disabled. Also, the developed technologies would be useful for general intelligent passenger vehicles. B2.3. Expected results Such a transportation system is designed for offering "automated travels'' on the routes where the flows can be high at certain periods of time, and "manually driven travels'' in the areas located in the vicinity of the automated network. Expected results are as follow: 1. 2. 3. 4. Developing state-of-the-art technology for Intelligent Vehicles. Designing and developing new capabilities for the cybercars for robust and reliable operation. Implementing cybercars idea in campus environment in Asian countries. Setting up collaboration between France and Asian countries for future research on Intelligent Vehicles, especially cybercars.

The recent developments of automated driving techniques make it now potentially feasible to move cars autonomously on paved roads between stations. If the speed is limited (to say 15 km/h), the road does not even have to be protected; this means that stations can be located on the ground level, and hence be very inexpensive compared to aboveground or underground stations needed by PRT systems. For higher speeds, it will probably be necessary in densely populated areas to have a protected network which could for example double an existing highway network.

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B3. Implementation phases and schedule
The project is supposed to start on January 2006 and for two years (2006-2007). Year 2006: Starting the project, selecting scenarios and required technologies, initial studies January to June 2006 : Tasks T1 & T2 Mutual visits, first workshop and technical meeting for scenario selection o February 2006 (T1-T2): Visit of French Institutions by Asian partners o June 2006 (T1-T2): Visit of some Asian Institutions by French partners & First workshop in Asia July to December 2006 : Tasks T3 to T9 (first step) Study of the involved technologies, first simulation results, writing the report year 1. o Exchange of researchers/students (at minimum one trip both side) o Definition of internship and postdoctoral subjects proposals, using participating countries funding programs (at minimum one position both side). Year 2007: Implementation and evaluation of real experimental vehicles (T3-T9 (second step)): January to June 2007: Study of possible implementations and of the related technical issues (Tasks T3 to T9, second step). o Exchange of researchers/students/postdocs, based on the exchange program defined during year 1 o June 2007: visit of some French Institutions by some Asian partners July to December 2007 Implementation of the technologies (tasks T3 to T9), real evaluation on real vehicles (T3-T9), writing the final report. January 2008 Final workshop in one of the Asian partners or France (seminar dedicated on the developed and evaluated technologies/techniques).

B4. Contributions
After defining the scenarios and related technologies (Tasks T1 & T2), each partners will takes in charge a particular task in the predefined list (T3 to T9). Since several partners have already an experimental platform including one or several CyCab robot, several experimentations will be conducted using the CyCab robot.

The CyCab robot A typical possible working scenario based on such an experimental platform could be defined as follows: the CyCab robot is equipped with a Sick laser range finder, vision sensors, ladar, GPS, and humancomputer interaction sensors evolving on a campus. With these sensors in such an environment, the robot should sense cars, either parked or moving, the pedestrians, and the map of the environment. We plan to use these sensors to download, update and maintain a dynamic 3D map of the campus area: roads, buildings, parking spaces, cars, pedestrians, etc. Then, this map can be used to plan paths from a starting point to a requested destination by the passenger while avoiding pedestrians and other manoeuvring cars. Furthermore, a Mixed-Reality environment could be created for simulation and even prediction of the cybercars’ interactions with the environment.

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List of tasks and partners involvements: - Tasks T3: NTU will be the leader for task T3. ISRC and ITS will also contribute to this task .
The objective is to study the driver model, the integrated automotive intelligence, and self-trained driving behaviours. - Task T4: ISRC will be the leader for task T4. LASMEA-GRAVIR and NTU will also contribute to this task. The objective is to study road structure, signs and signal detection. - Task T5: LASMEA-GRAVIR will be the leader for task T5. INRIA- Rocquencourt will also contribute to this task. The objective is to study visual servoing for controlling a mobile robot submitted or not to nonholonomic constraints. - Task T6: INRIA-Rhône-Alpes will be the leader for task T6. ISRC and NTU will also contribute to this task. The objective is to study advanced automated navigation techniques which can be applied in dynamic environments. - Task T7: SJTU will be the leader for task T6. LASMEA-GRAVIR and ISRC will also contribute to this task. The objective is to study the use vision, radar and magnetic sensors for controlling the vehicle navigation. - Task T8: INRIA-Rocquencourt will be the leader for task T6. SJTU will also participate to this task. The objective is to study the cooperative behavior and the fleet management problems. - Task T9: ITS will be the leader for task T6. ISRC will also contribute to this task. The objective is to study the design and the implementation of a Mixed-Reality Environment and 3D mapping for cybercars localization, navigation and simulation.

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B5. Organization & qualifications FACT project manager: Dr. Christian Laugier
Christian Laugier is Research Director at INRIA (French National Institute for Research on Computer Science and Control), and scientific leader of the Robotics project-team e-Motion at INRIA Rhône-Alpes. He received the Ph.D. and “State Doctor” degrees in Computer Science from Grenoble University (France) in 1976, and 1987 respectively. He has been involved in research in the fields of Computer Graphics and Robotics for more than 20 years; his current research interests mainly lies in the areas of Motion Autonomy, Intelligent Vehicles, and Decisional Processes. In 1997, he was awarded the Nakamura Prize for his contribution to the advancement of the technology on Intelligent Robots and Systems. Christian Laugier is a member of several scientific national and international committees (several French scientific committees, Adcom of IROS, Adcom of the EURON European Network, etc.), and he is regularly involved in the organizing committees of the major international conferences in Robotics (e.g. IEEE ICRA and IEEE/RSJ IROS). In addition to his research and teaching activities, he participated in the start-up of four industrial companies in the fields of Robotics, Computer Vision, and Computer Graphics. He was a member of the administration boards of ITMI (from 1984 to 1987), ALEPH Technologies (from 1989 to 1990), and Getris Images (from 1998 to 2000); he also served as a Scientific Consultant for ITMI and ALEPH Technologies. http://emotion.inrialpes.fr/laugier/

1- INRIA, France
INRIA (National Institute for Research in Computer Science and Control) is a French public-sector scientific and technological institute operating under the dual authority of the Ministry of Research and the Ministry of Industry. INRIA's missions are "to undertake basic and applied research, to design experimental systems, to ensure technology and knowledge transfer, to organize international scientific exchanges, to carry out scientific assessments, and to contribute to standardization". INRIA gathers in its premises around 3,000 persons including 2,500 scientists and trainees, many of which belong to partner organizations (CNRS, industrial labs and universities) and are assigned to work on common "projects". The research carried out at INRIA brings together experts from the fields of computer science and applied mathematics covering the following areas: Networks and Systems; Software Engineering and Symbolic Computing; Man-Machine Interaction; Image Processing, Data Management, Knowledge Systems, Simulation and Optimization of Complex Systems. Contribution to standards is done through the Institute's co-ordination of the World Wide Web Consortium, and through participation of ETSI, IEEE, etc. INRIA has been involved over the last 12 years in the application of Information Technologies in the field of intelligent road transport and in particular in driving assistance and automation. INRIA has participated in numerous European research programmes in this field such as Carsense, DIATS, Stardust, CyberCars, CyberMove, REACT. INRIA was the coordinator of the CyberCars and CyberMove Projects. Project director at INRIA- Rhône-Alpes: Dr. Thierry Fraichard Since January 2003, Thierry Fraichard is a Research Associate in the e-Motion team of Inria Rhône-Alpes and the Gravir laboratory (CNRS Mixed research Unit 5527). rom December 1994 to December 2002, he was a member of the Sharp project of Inria. Thierry Fraichard received his Ph.D in Computer Science from the Institut National Polytechnique de Grenoble in April 1992 for his dissertation on "Motion planning for a nonholonomic mobile in a dynamic workspace". From December 1993 to November 1994, he was a Postdoctoral Fellow in the Manipulation Laboratory of the Robotics Institute at Carnegie Mellon University in Pittsburgh, PA. In 1997, he took part actively in the organisation of the IEEE-RSJ Int. Conf. In Intelligent Robots and Systems (secretary, member of the programme committee and local arrangements committee). From November 2000 to January 2001, then again in November 2001, he was Tan Chin Tuan Fellow in the Intelligent Systems Laboratory of the Nanyang Technological University in Singapore. From September to December 2002, he was a JSPS Fellow in the Distributed Adaptive Research Unit of the Riken Institute in Tokyo. Thierry Fraichard's research focuses on motion autonomy for vehicles with a special emphasis on motion planning for nonholonomic systems, motion planning in dynamic workspaces, motion planning in the presence of uncertainty and the design of control architectures for autonomous vehicles. In addition to his research and teaching activities, Thierry

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Fraichard is and has been involved in a number of research programmes related to transport systems: French project Predit Mobivip, "Public Individual Vehicles for Mobility in Downtown Area " [20032006]; European project IST-2000-28487, "Cybernetic Cars for a New Transportation System in the Cities", Cybercars [2001-2004]; European project Carsense, Sensing of Car Environment at Low Speed Driving" [2000-2003]; French R&D programmes La Route Automatisée [1998-2002] and Praxitèle [1994-1997]; European project Eurêka Prometheus Pro-Art, "Programme for a European Traffic with Highest Efficiency and Unprecedented Safety" [1988-1994]. http://emotion.inrialpes.fr/fraichard/ Project director at INRIA-Rocquencourt: Dr. Michel Parent Michel Parent is currently the program manager at INRIA of the R&D team on automated vehicles (IMARA research group). He was also the program coordinator of the European project CyberCars (www.cybercars.org). This program has resulted from the development at INRIA of a new type of vehicle called the CyCab which includes drive-by-wire and automatic driving and is now manufactured by Robosoft, an INRIA start-up company. Michel Parent has spent half of his time in research and academia at such places as Stanford University and MIT in the USA and INRIA in France, and the other half in the robotics industry. He is the author of several books on robotics, vision and intelligent vehicles, and numerous publications and patents. Michel Parent has an engineering degree from the French Aeronautics School (ENSAE), a Masters degree in Operation Research and a PhD in Computer Science, both from Case Western Reserve University, USA. http://www-rocq.inria.fr/imara/equipe/pages-perso/Michel/Michel.html

2- LASMEA-GRAVIR, France
The Laboratory for Electronic Material and Electromagnetism, and for Automatics of Clermont-Ferrand (LASMEA) is a research center jointly depending from the French National Council for Scientific Research (CNRS) and the Blaise Pascal University of Clermont-Ferrand. The laboratory has been created on January 1st, 1994 in order to federate research activities in Information Technologies. The Vision and Robotics Research Group (GRAVIR) of the LASMEA has a staff of 26 persons (22 faculty members and 4 CNRS researchers), 20 PhD students and 2 post-docs. Its research activities cover 5 areas including calibration of camera and robots, sensor integration and characterization, fine measurement; Pattern recognition and tracking, Multi-sensorial perception; Robotic System Control: visual servoing for manipulators and mobile robots, robust control, control of complex mechanism Architecture and Algorithm Adequation in vision applications (SOC, fast prototyping, active sensor) and one major scientific project based on Intelligent Vehicle. These five areas are complementary and interact through several application fields, and in particular Intelligent Vehicle: perception and control by vision, telemeter, radar, and GPS. GRAVIR is involved in ROADSENSE, PARATO, ARCOS2003, ROBEA-BODEGA, PREDIT-MOBIVIP, and has many contracts with PSA, Renault, Thomson, Sagem, and Daimler Benz. Project director at LAMSEA-GRAVIR: Dr. Philippe Martinet Philippe Martinet (Clermont-Ferrand 1962) is a currently full professor of Automatics and Robotics in IFMA (French Engineering Institute in Advanced Mechanics), and research scientist in LASMEA (Blaise Pascal University in Clermont-Ferrand). He shares the lead of the research group GRAVIR (Vision and Robotics group) with Frederic Jurie and Jean-Marc Lavest. His research interests include visual servoing, vision based control, robust control, automated guided vehicles, active vision and sensor integration, visual tracking, and parallel architecture for visual servoing applications. Until now, he co-authored more than 50 papers in these fields.

3- Shanghai Jiao Tong University, China
Shanghai Jiao Tong University (SJTU) is one of 10 key universities in China. The original research areas were transportation technologies and the name of the university -- “Jiao Tong” means transportation in Chinese. Now SJTU has developed itself into an all-around university with engineering technology as the major subject through its century-long history. A number of its disciplines have been advancing towards the world's level, such as communication and electronic system, naval architecture and ocean engineering, automatic control, composite materials, and metal plasticity processing. The Research Institute of Robotics affiliated to SJTU, was founded in 1985. It is a pioneer in the research field of robotics in China and the main research base of robotics and mechatronics technology in

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Shanghai. It has many characteristics and advantages in some research areas such as mobile robotics, special robotics and flexible automatic assembly system and computer control of mechatronics equipment. STJU is now participates in a European research Project (CyberC3) as the coordinator, which focuses on the introduction of CyberCars in China with a demonstration planned in Shanghai in 2006 (http://cyberc3.sjtu.edu.cn/). Project director at SJTU: Professor Ruqing Yang Ruqing Yang is currently a professor in SJTU. He is also the project manager of the EU-Asia Project CyberC3 (www.cyberc3.sjtu.edu.cn), a two-year project focuses on the development of automated vehicles (cybercars) in China in cooperation with INRIA(France) and Coimbra University(Portugal). Ruqing Yang has worked more than 20 years in the fields of mobile robots, and leaded a number of research programmes related to mobile robots and intelligent vehicles. The developed robots have been applied in the fields of fire fighting, anti-terror, nuclear power plant, transformer substations, etc.

4- Institute of Industrial Science, University of Tokyo
The University of Tokyo currently consists of 10 faculties, 11 institutes, 14 graduate schools, and a number of shared facilities. The Institute of Industrial Science is the largest among these institutes, and now includes three research departments, one guest chairs, six research centers, Chiba experiment station, shared facilities and administrative offices. The faculty members of the Institute, in addition to pursuing research in their respective fields, play an active role in the Graduate School by conducting courses, experiments, exercises, research meetings, and so forth, as, well as supervising graduate students for their master's and doctoral these in the divisions of Engineering and Science. The IIS operates three research departments, in each of which fundamental research activities are carried out in the individual research laboratories, and then based on their outcome, collaborative research, extensive research, general research and project research activities are promoted in close-knit cooperation of researchers from different disciplines. Particularly the project research activities are operated at research centers as research strategy facilities, and all of this research organization is supported by shared facilities and administrative offices. Center for Advanced Mobility ITS Collaboration (tentative name), which we call ITS Center, is one of the research centers and it has been founded in 2005. ITS Center covers on the fields of computer vision, traffic engineering and mechanical engineering. In other words, researchers from three different fields work together in ITS Center. Project director at ITS: Prof. Katsushi Ikeuchi Katsushi Ikeuchi received B.E. degree from Kyoto University in 1973 and the Ph.D. from the University of Tokyo in 1978. After working at MIT AI Laboratory for three years, ETL for five years, and CMU Robotics Institute for ten years, he joined the University of Tokyo in 1996, and is currently a full professor. His research interest spans computer vision, robotics, and computer graphics. In these research fields, he has received several awards, including the David Marr Prize in computational vision for the paper "shape from inter-reflection," and IEEE R&A K-S Fu memorial best transaction paper award for the paper "Toward Automatic Robot Instruction from Perception- Mapping Human Grasps to Manipulator Grasps." In addition, in 1992, his paper, "Numerical Shape from Shading and Occluding Boundaries," was selected as one of the most influential papers to have appeared in Artificial Intelligence Journal within the past ten years. His IEEE activities include General Chair, IROS95, ITSC00, IV01; Program Chair, CVPR96, ICCV03; Associate Editor, IEEE TRA, IEEE TPAMI; distinguished lecture SPS (2000-2002) , RAS (2004-2006). Dr. Ikeuchi was elected to IEEE Fellow in 1998. He is the EIC of International Journal of Computer Vision.

5- Intelligent Systems Research Center, Sungkyunkwan University, Korea
The Intelligent Systems Research Center at Sungkyunkwan University has developed a Sensor Fusion paradigm called "Perception Net" where many physical and logical sensors form a net of information processing units, the consistency of which is dynamically maintained through data fusion. In the net, the fusion of multiple measurement data and known constraints are done by projecting measured data and their uncertainties into the constraint manifold formed in the measurement space. They have applied this

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paradigm of sensor fusion to an automobile lane departure warning system and obtained an excellent result, where they carried out real experiments on freeways in various weather conditions. ISRC is now participating as part of the Safe Move Project which will end in 2006. Project director at ISRC: Prof. Sukhan Lee Professor Sukhan Lee is currently a full professor at Sungkyunkwan University in Korea and an adjunct professor of computer science, University of Southern California. He is also the Korean project coordinator for the Safe Move project. Dr. Lee has more than 25 years experience in robotics in both academia and industry with more than 100 publications in prestigious journals and conferences. His academic experience was started with Korean Academy of Army in 1974, following by research at Rensselaer Polytechnic Institute in the US and KAIST in Korea in 1982 and 1995 respectively. He joined the University of Southern California in 1983. He also served as a senior member of the technical staff at NASA’s Jet Propulsion Laboratories (JPL), California Institute of Technology from 1990 till 1997. His industrial background starts with directing projects at Samsung’s SAIT (Samsung Advanced Institute of Technology) in 1997. In 2001 he was assigned as the Chief Research Officer at SAIT where he developed and patented lane following algorithms for intelligent vehicles. In 2003 he joined SKKU as a full professor. Dr. Lee was served as the team leader for Korea’s future technology investigating team in 2002. Dr. Lee is an IEEE fellow member and the vice president of the Robotics and Automation Society’s Industrial Activity Board (IAB). He is also a Vice President of the Korean Sensor Society and a Vice President of the Korean Electrical and Electronics Materials Society.

6- Nanyang Technological University (NTU), Singapore
NTU was established as Nanyang Technological Institute (NTI) in 1981 and inaugurated as NTU in 1991 and recently ranked by the Times Higher Education Supplement at 50th in the world (33rd in engineering/IT) and 7th in Asia, in its ranking of the best universities in the world. The School of Electrical and Electronic Engineering (EEE) and the School of Computer Engineering (SCE) are two of the six engineering schools in the university’s College of Engineering. The School of Electrical and Electronic Engineering has 260 professors, 60 researchers, 140 technical supporting staff members and 40 administration staff, over 4000 undergraduate students and 500 full time PhD and M.Eng students and 600 Master of Science students. The School of EEE has diversified disciplines, including Divisions of Information Engineering, Control and Instrumentation, Microelectronics Engineering, Circuits and Systems, Power Engineering, Communications. The School of Computer Engineering is organized into four divisions, namely: Computer Communications, Computer Science, Computing Systems, and Information Systems. As of September 2004, the School comprises 109 academic staff members, 45 research staff, 60 technical and administration support staff, 2030 undergraduates, and 238 graduate students. Project directors at NTU: 1) Professor Wang Danwei Dr. Danwei is the director of the Centre for Intelligent Machines and deputy director of Robotics Research Centre at NTU. His research interests include mobile robotics, positioning systems, robotic manipulators, control theory and applications. He has published over 160 technical papers in refereed journals and academic conferences since 1988. He has been active in professial activities such as conference organisations and served as the general chair of ICARCV2002 and will serve as the general chair for IEEE RAM2006. His lab has four outdoor mobile vehicles and three of them are CyCabs with many sensors and accessaries. http://www.ntu.edu.sg/home/edwwang/ Project directors at NTU: 2) Professor Michel Pasquier Dr. Pasquier is the director of the recently established Centre for Computational Intelligence (C2i) at SCE-NTU. His research interests and the centre’s focus areas include cognitive systems, adaptation and learning, nature-inspired systems, and anticipatory computing, with applications in intelligent transportation, robotics and control, medical diagnosis, financial engineering, etc. Dr Pasquier has 15

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years experience in developing intelligent systems in France, Japan, and Singapore, including some collaboration with the INRIA.

B6. Others
ISRC from SKKU, INRIA Rhône-Alpes and LASMEA-GRAVIR are currently investigating and collaborating on the SafeMove project (STAR programme). STJU is now participating on a European research Project (CyberC3) as the coordinator, which focuses on the introduction of CyberCars in China, with a demonstration planned in Shanghai in 2006. Other partners can be added during the project (contacts are already initiated): - Potential new Korean partner : Min-Hong Han from Korea University. - Potential new Japan partner : Hajime Asama from Tokyo University.

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C. Budget propositions
Asian partners 1st year Mobility : 25 070 € Operating cost : 1 930 € 2nd year Mobility : 25 070 € Operating cost : 1 930 € total 54,000 € France 1st year 2nd year Total Mobility : 24 000 € Operating cost : 0 € Mobility : 24 000 € Operating cost : 0 € 48 000 €

Planned co-financing:
France 1st year 2nd year total Asia 1st year 2nd year Total

0€ 0€ 0€

50,000 € 50,000 € 100,000 €

Applications for some additional local funding will be done during the first year of the project. Some potential possibilities have already been identified: Korean Government, JSPS in Japan, A-Star in Singapore.

C1. Exchange of researchers:
The details of the travel expenses based on 176 Euros/day and 1500 Euros for one flight ticket has been listed in the following: From INRIA-Rhone-Alpes (20,000 euros): Christian Laugier and Thierry Fraichard 50 days with 5 to 6 trips: 8,800 + 7,500 Laboratory expenses: Tel, Fax 2 Internships (one per year) 16,300 Euros 1,700 Euros 2,000 Euros

Members of INRIA Rhône-Alpes will first visit the foreign partners in order to define the research program in deep. Three working trip will be made during the first year (1) and the second year (2). INRIA Rhône-Alpes will welcome researcher from China, Japan, Korea and Singapore during the first and second year. A final global trip would be done in order to organize a final meeting dealing with the research project. An internship per year would be given for students to visit INRIA Rhône-Alpes. From LASMEA-GRAVIR (12,000 euros): Philippe Martinet 30 days with 4 to 5 trips: 5,280 + 6,000 Laboratory expenses: Tel, Fax 11,280 Euros 720 Euros

Members of LASMEA will first visit the foreign partners in order to define the research program in deep. Three working trip will be made during the first year (1) and the second year (2). LASMEA will welcome researcher from China, Japan, Korea and Singapore during the first and second year. A final global trip would be done in order to organize a final meeting dealing with the research project.

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From INRIA- Rocquencourt (14,000 euros): Michel Parent 30 days with 4 to 5 trips: 5,280 + 6,000 Laboratory expenses: Tel, Fax 2 Internships (one per year) 11,280 Euros 720 Euros 2,000 Euros

Members of IMARA will first visit the foreign partners in order to define the research program in deep. Three working trip will be made during the first year (1) and the second year (2). IMARA will welcome researcher from China, Japan, Korea and Singapore during the first and second year. A final global trip would be done in order to organize a final meeting dealing with the research project. An internship per year would be given for students to visit INRIA-Rocquencourt. From China (12,000 euros) SJTU (Shanghai Jiao Tong University) Ruqing Yang 30 days with 4 to 5 trips: 5,280 + 6,000 Laboratory expenses: Tel, Fax 11,280 Euros 720 Euros

During the first year, members of SJTU will first visit the French partner in order to define the research program in deep. Four working trip will be made during the first year (2) and the second year (2). SJTU will welcome researcher from France and other Asian partners during the first and second year. A final global trip would be done in order to organize a final meeting dealing with the research project.

From Japan (12,000 euros) The University Tokyo Katsushi Ikeuchi 30 days with 4 to 5 trips: 5,280 + 6,000 Laboratory expenses: Tel, Fax 11,280 Euros 720 Euros

During the first year, members of Tokyo University will first visit the French partner in order to define the research program in deep. Four working trip will be made during the first year (2) and the second year (2). The University Tokyo will welcome researcher from France and other Asian partners during the first and second year. A final global trip would be done in order to organize a final meeting dealing with the research project.

From Korea (18,000 euros) ISRC (Intelligent System Research Center), SungKyunKwan University Sukhan Lee, Jong Moo Choi, Seung-Min Baek, Hadi Moradi 50 days with 5 to 6 trips: 8,800 + 7,500 Laboratory expenses: Tel, Fax 16,300 Euros 1,700 Euros

During the first year, members of ISRC will first visit the French partner in order to define the research program in deep. Four working trip will be made during the first year (2) and the second year (2). ISRC will welcome researcher from France and other Asian partners during the first and second year. A final global trip would be done in order to organize a final meeting dealing with the research project. From Singapore (12,000 euros) CIM and C2i Michel Pasquier and Wang Danwei 30 days with 4 to 5 trips: 5,280 + 6,000 Laboratory expenses: Tel, Fax 11,280 Euros 720 Euros

During the first year, members of CIM will first visit the French partner in order to define the research program in deep. Four working trip will be made during the first year (2) and the second year (2). CIM

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will welcome researcher from France and other Asian partners during the first and second year. A final global trip would be done in order to organize a final meeting dealing with the research project.

C2. Organizing Seminars: The additional expenses for the seminars will mainly be supported by the welcoming research institutes.

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