@conference {12026,
	title = {A Sensory-Motor Language for Human Activity Understanding},
	booktitle = {2006 6th IEEE-RAS International Conference on Humanoid Robots},
	year = {2006},
	month = {2006/12/04/6},
	pages = {69 - 75},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {We have empirically discovered that the space of human actions has a linguistic framework. This is a sensory-motor space consisting of the evolution of the joint angles of the human body in movement. The space of human activity has its own phonemes, morphemes, and sentences. We present a human activity language (HAL) for symbolic non-arbitrary representation of visual and motor information. In phonology, we define atomic segments (kinetemes) that are used to compose human activity. We introduce the concept of a kinetological system and propose five basic properties for such a system: compactness, view-invariance, reproducibility, selectivity, and reconstructivity. In morphology, we extend sequential language learning to incorporate associative learning with our parallel learning approach. Parallel learning is effective in identifying the kinetemes and active joints in a particular action. In syntax, we suggest four lexical categories for our human activity language (noun, verb, adjective, and adverb). These categories are combined into sentences through syntax for human movement},
	keywords = {Actuators, associative learning, atomic segments, computational linguistics, Computer science, Computer vision, Educational institutions, grammars, human activity language, human activity understanding, human movement syntax, Humanoid robots, HUMANS, joint angles, kinetemes, kinetological system, Laboratories, learning (artificial intelligence), List key index terms here, Morphology, motor information, No mare than 5, parallel learning, Reproducibility of results, Robot kinematics, Robot programming, robot vision, sensory-motor language, sequential language learning, symbolic nonarbitrary representation, visual information},
	isbn = {1-4244-0200-X},
	doi = {10.1109/ICHR.2006.321365},
	author = {Guerra-Filho,G. and Aloimonos, J.}
}
@article {12216,
	title = {A miniature pan-tilt actuator: the spherical pointing motor},
	journal = {IEEE Transactions on Robotics and Automation},
	volume = {10},
	year = {1994},
	month = {1994/06//},
	pages = {298 - 308},
	abstract = {A pan-tilt mechanism is a computer-controlled actuator designed to point an object such as a camera sensor. For applications in active vision, a pan-tilt mechanism should be accurate, fast, small, inexpensive and have low power requirements. The authors have designed and constructed a new type of actuator meeting these requirements, which incorporates both pan and tilt into a single, two-degree-of-freedom device. The spherical pointing motor (SPM) consists of three orthogonal motor windings in a permanent magnetic field, configured to move a small camera mounted on a gimbal. It is an absolute positioning device and is run open-loop. The SPM is capable of panning and tilting a load of 15 grams, for example a CCD image sensor, at rotational velocities of several hundred degrees per second with a repeatability of .15{\textdegree}. The authors have also built a miniature camera consisting of a single CCD sensor chip and miniature lens assembly that fits on the rotor of this motor. In this paper, the authors discuss the theory of the SPM, which includes its basic electromagnetic principles, and derive the relationship between applied currents and resultant motor position. The authors present an automatic calibration procedure and discuss open- and closed-loop control strategies. Finally, the authors present the physical characteristics and results of their prototype},
	keywords = {absolute positioning device, active vision, Actuators, Application software, Assembly, automatic calibration, camera sensor, CAMERAS, CCD image sensors, CCD sensor chip, Charge coupled devices, Charge-coupled image sensors, closed-loop control strategies, computerised control, Lenses, Magnetic fields, miniature lens assembly, miniature pan-tilt actuator, open-loop control strategies, orthogonal motor windings, pan-tilt mechanism, Permanent magnet motors, position control, Scanning probe microscopy, spherical pointing motor, two-degree-of-freedom device},
	isbn = {1042-296X},
	doi = {10.1109/70.294205},
	author = {Bederson, Benjamin B. and Wallace,R.S. and Schwartz,E.L.}
}
@conference {12201,
	title = {Control and design of the spherical pointing motor},
	booktitle = {, 1993 IEEE International Conference on Robotics and Automation, 1993. Proceedings},
	year = {1993},
	month = {1993/05/02/6},
	pages = {630-636 vol.2 - 630-636 vol.2},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {A miniature pan-tilt actuator, the spherical pointing motor (SPM) has been built. The SPM is an absolute positioning device, designed to orient a small camera sensor in two degrees-of-rotational-freedom. It is 4 cm{\texttimes}5 cm{\texttimes}6 cm and weighs 160 g. The operating principle of the SPM is to orient a permanent magnet to the magnetic field induced by three orthogonal coils by applying the appropriate ratio of currents to the coils. The open-loop control and design of the SPM are described. Physical characteristics and velocity measurements of the prototype are reported. The SPM is modeled with a simple second order system. Without control, it oscillates substantially when a single impulse is applied. By applying a second impulse without feedback, the oscillation can be reduced by as much as a factor of ten},
	keywords = {absolute positioning device, Actuators, camera sensor, CAMERAS, Coils, electric actuators, electric motors, Magnetic field measurement, Magnetic sensors, Open loop systems, open-loop control, orthogonal coils, pan-tilt actuator, permanent magnet, Permanent magnet motors, Permanent magnets, position control, Scanning probe microscopy, second order system, spherical pointing motor, velocity control, Velocity measurement, velocity measurements},
	isbn = {0-8186-3450-2},
	doi = {10.1109/ROBOT.1993.291888},
	author = {Bederson, Benjamin B. and Wallace,R.S. and Schwartz,E.L.}
}
