Sunday, January 25, 2009

Biometrics


Biometrics (ancient Greek: bios life, metron measure) refers to two very different fields of study and application. The first, which is the older and is used in biological studies, is the collection, synthesis, analysis and management of data in biology. Biometrics in reference to biological sciences, or biostatistics, has been studied since the early twentieth century.



More recently and incongruously, the term's meaning has been broadened to include the study of methods for uniquely recognizing humans based upon one or more intrinsic physical or behavioral traits.
Overview
Biometrics are used to identify the input sample when compared to a template, used in cases to identify specific people by certain characteristics.

possession-based
using one specific "token" such as a security tag or a card
knowledge-based
the use of a code or password.
Standard validation systems often use multiple inputs of samples for sufficient validation, such as particular characteristics of the sample. This intends to enhance security as multiple different samples are required such as security tags and codes and sample dimensions



Biometric characteristics can be divided in two main classes, as represented in figure on the right:

physiological are related to the shape of the body. The oldest traits, that have been used for more than 100 years, are fingerprints. Other examples are face recognition, hand geometry and iris recognition.
behavioral are related to the behavior of a person. The first characteristic to be used, still widely used today, is the signature. More modern approaches are the study of keystroke dynamics and of voice.[citation needed]
Recently, a new trend has been developed that merges human perception to computer database in a brain-machine interface. This approach has been referred to as cognitive biometrics. Cognitive biometrics is based on specific responses of the brain to stimuli which could be used to trigger a computer database search. Currently, cognitive biometrics systems are being developed to use brain response to odor stimuli [3], facial perception [4] and mental performance [5] for search at ports and high security areas. These systems are based on use of functional transcranial Doppler (fTCD) and functional transcranial Doppler spectroscopy (fTCDS) [6] to obtain brain responses, which are used to match a target odor, a target face or target performance profile stored in a computer database. Thus, the precision of human perception provides the data to match that stored in the computer with improve sensitivity of the system.

Strictly speaking, voice is also a physiological trait because every person has a different pitch, but voice recognition is mainly based on the study of the way a person speaks, commonly classified as behavioral.

Other biometric strategies are being developed such as those based on gait (way of walking), retina, hand veins, finger veins, ear canal, facial thermogram, DNA, odor and scent, palm prints and footprints.


[edit] Odor and Scent Cognitive Biometric Systems
Odor evaluation is important in criminal prosecution and defense. Blood hounds and other dogs have been used to identify individuals by their scent trails. Dogs are first offered a reference article, such as a handkerchief, hat, or an article of clothing.[7] This scent evidence is usually admissible in court. It's employed similarly to finger print identification. [8] The latter is premised on the alleged factuality of the "individual odor theory," which hold that each person has a unique scent that can be identified by the dog and related back to a specific individual. High courts have accepted the performance of canine scent identification, even when it is claimed that they are detecting the scent of a specific individual at the scene of a crime nearly 2 years after the crime was committed as discussed in the case State v. Eugene Wiley Case No. 8001659, 18th Judicial Circuit, Brevard County Fla. (1982). Canine scent identification is not without problems; juries have convicted defendants almost solely on the basis of odor evaluation evidence which has subsequently been shown to be unreliable, even fraudulent, as in the case State v. Kevin Roscoe, CR-127656, 11-20-90, Maricopa County, Arizona Superior Court, Judge Paulson. It is therefore imperative that further research studies of the abilities of such scenting dogs be undertaken. Especially, the ability to scent match odors from individuals to handled objects, under controlled laboratory conditions [9];[10] However, in some studies dogs have proven capable of performing such scent matching tasks at levels greater than chance, their error rates are seldom more than 10 to 20% [11] Errors may also be introduced by the interpretation of the behavioral response of the dog. What is probably lacking is an objective physiologic correlate of scent matching odors in canine detectives. The latter has the subject matter current research. There is thus ample evidence that in primates olfactory memory has several unique characteristics, the most striking being its resistance to decay over long intervals, suggesting a specialized memory system. However, investigations into the neural substrates of human olfactory memory have been limited. Previous positron emission tomography (PET) studies have shown significant regional cerebral blood flow (rCBF) increases during olfactory stimulation: unilateral in the right orbitofrontal cortex (OFC), and bilaterally in the inferior frontal and temporal lobes (piriform cortex) [12]. A new approach that uses noninvasive transcranial Doppler ultrasound to measure mean blood flow velocities in human and canine subjects during odor presentation is currently being evaluated. The target odor such as bomb making materials (e.g. TNT) or noxious chemicals elicit are first committed to memory in human or canine detectors. A area wide search such as at a seaport or at an airport could produce a matching odor, that triggers pattern recognition by computer. The latter is a brain-machine interface for odor recognition such as that described in United States Patent No. 6,663,571.[citation needed]


[edit] Facial Cognitive Biometric Systems
The analysis and recognition of facial features is a tool used in the detection of criminals and undesirables. Conventional biometric methods introduced to improve security are mainly based on cross matching the face of the person with that recorded in their databases. At present, the data is static and would not, for example, identify suspects with cosmetic or plastic surgery modification of their faces to escape identification. However, it is possible to train persons that could be referred to as "face-minders", to memorized faces of suspects on a watch-list, by way of example. Trainees could acquire skills of cross-matching key features of faces of persons seen at the ports as compared to that in the forensic facial database. However to be effective, subjective judgment must be replaced with objective physiologic correlates of good matches. This will require objective online detection of physiologic variables, suggestive of facial memory involvement and cross matching the online variables to expected variables, for the particular face involved. Online brain imaging adapted for use for such applications include electrophysiological techniques and transcranial Doppler ultrasound. One such brain-machine interface method based on functional transcranial Doppler spectroscopy (fTCDS), detects the presence of an equivalent to cortical long-term potentiation (CLTP), in the left middle cerebral artery [13] in male face minders and triggers a search for a matching face, to be reviewed by other observers as described in United States Patent Application No. 20040158155.


[edit] Cognitive Performance Biometric Systems
Task performance using general intelligence must elicit responses in neural anatomic structures for processing of the information. In task requiring general intelligence there is the necessity of keeping several conceptual formulations in mind such as during Raven's Progressive Matrices (RPM), and is itself a working memory function [14] involving prefrontal cortex [15]. Basso and others demonstrated that post-rolandic structures may be more critical for this general task as shown in patients with brain lesions [16]. Evidence obtained in normal subjects using positron emission tomography studies have shown that high g tasks do not show diffuse recruitment of multiple brain regions, instead they are associated with selective recruitment of lateral prefrontal cortex in one or both hemispheres [17].

It has been shown that working memory is typically associated with activations in the prefrontal cortex (PFC), anterior cingulate, parietal and occipital regions. These brain areas received blood supply from the middle cerebral arteries. Two fundamental working-memory processes have been identified: the passive maintenance of information in short-term memory and the active manipulation of this information [18].

In young subjects, studies using RPM tasks showed areas of regional CBF activation that comprised inferolateral temporal cortex including the fusiform gyrus bilaterally, and the middle temporal gyrus on the left, portions of the left medial temporal cortex including the parahippocampal gyrus, the left inferior parietal lobule, and the cerebellum[19]. The identified anatomic structures (except for the cerebellum) derive major blood supply from the middle cerebral artery. In a study, using functional transcranial Doppler (fTCD), Njemanze demonstrated that for successful resolution of RPM tasks, females used a left hemisphere strategy while males used the right hemisphere. The latter implies that general intelligence is associated with neural systems within one hemisphere that are accessible to a variety of cognitive processes. It was demonstrated that bi-hemispheric activation was associated with Wrong ANSWER, which may suggest that, increasing level of task difficulty is associated with diverse pattern of neural activation due to broad sampling of all major cognitive functions [20]. Njemanze postulated that, successful RPM problem-solving employs a discrete knowledge strategy (DKS), that selects neural pathways represented in one hemisphere. While unsuccessful outcome implicates a non-discrete knowledge strategy (nDKS). RPM paradigm could be viewed as a working memory task.

This suggests that the DKS model may have a correlate in mnemonic operations. In other words, DKS model may have a discrete knowledge base (DKB) of essential components needed for task resolution, while for nDKS, DKB is absent, and hence a "global" or bi-hemispheric search occurs. Based on these findings, a brain-machine interface system was designed as described in United State Patent No. 6,390,979. A pattern of blood flow velocity changes is obtained in response to a set intelligence task, which is used to form a 'mental signature' that could be repeatedly recognized, in an automated man-machine interface system. The system is designed to go beyond passive recognition, but rather to set a desired level of 'mental performance', before access is gained into the system. The device could be used as a 'lie detector' based on the fact that, it could distinguish Wrong ANSWER which elicits bi-hemispheric activation, from Correct ANSWER that activates unilateral response.[citation needed]


[edit] Comparison of various biometric technologies
It is possible to understand if a human characteristic can be used for biometrics in terms of the following parameters:

[21]

Universality
each person should have the characteristic
Uniqueness
is how well the biometric separates individually from another.
Permanence
measures how well a biometric resists aging.
Collectability
ease of acquisition for measurement.
Performance
accuracy, speed, and robustness of technology used.
Acceptability
degree of approval of a technology.
Circumvention
ease of use of a substitute.
The following table shows a comparison of existing biometric systems in terms of those parameters:

Comparison of various biometric technologies, modified from Jain et al., 2004[21] (H=High, M=Medium, L=Low) Biometrics: Universality Uniqueness Permanence Collectability Performance Acceptability Circumvention*
Face H L M H L H L
Fingerprint M H H M H M H
Hand geometry M M M H M M M
Keystrokes L L L M L M M
Hand veins M M M M M M H
Iris H H H M H L H
Retinal scan H H M L H L H
Signature L L L H L H L
Voice M L L M L H L
Facial thermograph H H L H M H H
Odor H H H L L M L
DNA H H H L H L L
Gait M L L H L H M
Ear Canal M M H M M H M

A. K. Jain ranks each biometric based on the categories as being either low, medium, or high. A low ranking indicates poor performance in the evaluation criterion whereas a high ranking indicates a very good performance.


[edit] Biometric systems

The basic block diagram of a biometric systemThe diagram on right shows a simple block diagram of a biometric system. When such a system is networked together with telecommunications technology, biometric systems become telebiometric systems. The main operations a system can perform are enrollment and test. During the enrollment, biometric information from an individual is stored. During the test, biometric information is detected and compared with the stored information. Note that it is crucial that storage and retrieval of such systems themselves be secure if the biometric system is to be robust. The first block (sensor) is the interface between the real world and our system; it has to acquire all the necessary data. Most of the times it is an image acquisition system, but it can change according to the characteristics desired. The second block performs all the necessary pre-processing: it has to remove artifacts from the sensor, to enhance the input (e.g. removing background noise), to use some kind of normalization, etc. In the third block features needed are extracted. This step is an important step as the correct features need to be extracted and the optimal way. A vector of numbers or an image with particular properties is used to create a template. A template is a synthesis of all the characteristics extracted from the source, in the optimal size to allow for adequate identifiability.

If enrollment is being performed the template is simply stored somewhere (on a card or within a database or both). If a matching phase is being performed, the obtained template is passed to a matcher that compares it with other existing templates, estimating the distance between them using any algorithm (e.g. Hamming distance). The matching program will analyze the template with the input. This will then be output for any specified use or purpose (e.g. entrance in a restricted area ) .


[edit] Functions
A biometric system can provide the following two functions [22]:

Verification
Authenticates its users in conjunction with a smart card, username or ID number. The biometric template captured is compared with that stored against the registered user either on a smart card or database for verification.
Identification
Authenticates its users from the biometric characteristic alone without the use of smart cards, usernames or ID numbers. The biometric template is compared to all records within the database and a closest match score is returned. The closest match within the allowed threshold is deemed the individual and authenticated.

[edit] Performance
Biometric systems are succeptable to the following kinds of errors:

False Rejection Rate (FRR) or Type I Error
False Acceptance Rate (FAR) or Type II Error
[23]

Performance measurement Measurement Shorthand acronym Description
false accept rate or false match rate FAR or FMR the probability that the system incorrectly declares a successful match between the input pattern and a non-matching pattern in the database. It measures the percent of invalid matches. These systems are critical since they are commonly used to forbid certain actions by disallowed people.
false reject rate or false non-match rate FRR or FNMR the probability that the system incorrectly declares failure of match between the input pattern and the matching template in the database. It measures the percent of valid inputs being rejected.
receiver operating characteristic or relative operating characteristic ROC In general, the matching algorithm performs a decision using some parameters (e.g. a threshold). In biometric systems the FAR and FRR can typically be traded off against each other by changing those parameters. The ROC plot is obtained by graphing the values of FAR and FRR, changing the variables implicitly. A common variation is the Detection error trade-off (DET), which is obtained using normal deviate scales on both axes. This more linear graph illuminates the differences for higher performances (rarer errors).
equal error rate or crossover error rate EER or CER the rate at which both accept and reject errors are equal. ROC or DET plotting is used because how FAR and FRR can be changed, is shown clearly. When quick comparison of two systems is required, the EER is commonly used. Obtained from the ROC plot by taking the point where FAR and FRR have the same value. The lower the EER, the more accurate the system is considered to be.
failure to enroll rate FTE or FER the percentage of data input is considered invalid and fails to input into the system. Failure to enroll happens when the data obtained by the sensor are considered invalid or of poor quality.
failure to capture rate FTC Within automatic systems, the probability that the system fails to detect a biometric characteristic when presented correctly.
template capacity the maximum number of sets of data which can be input into the system..

As the sensitivity of biometric devices increases, it decreases the FAR but increases the FRR.

The following table shows the state of art of some biometric systems:




State of art of biometric recognition systems Biometrics EER FAR FRR Subjects Comment Reference
Face n.a. 1% 10% 37437 Varied lighting, indoor/outdoor FRVT (2002)[24]
Fingerprint n.a. 1% 0.1% 25000 US Government operational data FpVTE (2003)[25]
Fingerprint 2% 2% 2% 100 Rotation and exaggerated skin distortion FVC (2004)[26]
Hand geometry 1% 2% 0.1% 129 With rings and improper placement (2005)[27]
Iris < 1% 0.94% 0.99% 1224 Indoor environment ITIRT (2005)[28]
Iris 0.01% 0.0001% 0.2% 132 Best conditions NIST (2005)[29]
Keystrokes 1.8% 7% 0.1% 15 During 6 months period (2005)[30]
Voice 6% 2% 10% 310 Text independent, multilingual NIST (2004)[31]

One simple but artificial way to judge a system is by EER, but not all the authors provided it. Moreover, there are two particular values of FAR and FRR to show how one parameter can change depending on the other. For fingerprint there are two different results, the one from 2003 is older but it was performed on a huge set of people, while in 2004 far fewer people were involved but stricter conditions have been applied. For iris, both references belong to the same year, but one was performed on more people, the other one is the result of a competition between several universities so, even if the sample is much smaller, it could reflect better the state of art of the field.
As with many interesting and powerful developments of technology, there are concerns about biometrics. The biggest concern is the fact that once a fingerprint or other biometric source has been compromised it is compromised for life, because users can never change their fingerprints. A theoretical example is a debit card with a personal Identification Number (PIN) or a biometric. Some argue that if a person's biometric data is stolen it might allow someone else to access personal information or financial accounts, in which case the damage could be irreversible. However, this argument ignores a key operational factor intrinsic to all biometrics-based security solutions: biometric solutions are based on matching, at the point of transaction, the information obtained by the scan of a "live" biometric sample to a pre-stored, static "match template" created when the user originally enrolled in the security system. Most of the commercially available biometric systems address the issues of ensuring that the static enrollment sample has not been tampered with. More importantly, one can prevent that malicous verifiers can steal templates from the database, see private biometrics [32].

So the problem can effectively be limited to cases where the scanned "live" biometric data is hacked. Even then, most competently designed solutions contain anti-hacking routines. For example, the scanned "live" image is virtually never the same from scan to scan owing to the inherent plasticity of biometrics; so, ironically, a "replay" attack using the stored biometric is easily detected because it is too perfect a match.

The television program MythBusters attempted to break into a commercial security door equipped with biometric authentication as well as a personal laptop so equipped.[33] While the laptop's system proved more difficult to bypass, the advanced commercial security door with "live" sensing was fooled with a printed scan of a fingerprint after it had been licked. There is no basis to assume that the tested security door is representative of the current typical state of biometric authentication, however. With careful matching of tested biometric technologies to the particular use that is intended, biometrics provide a strong form of authentication that effectively serves a wide range of commercial and government applications.

Biometric verification of an individual’s identity can help control the risks associated with misidentification. However, biometric verification can itself be compromised through vulnerabilities in the system. This can occur through deliberate attempts to breach security and the integrity of the biometric process as shown in the television program MythBusters. To address this risk the Biometrics Institute has established a Biometrics Vulnerability Assessment Methodology.

However, the clear concern is that the number of biometric samples of an individual are limited. If all samples are lost via compromise the legitimate owner will be unable to replace the old ones. Additionally, the limited number of samples means that there is a concern with secondary use of biometric data: a user who accesses two systems with the same fingerprint may allow one to masquerade is her to the other. Several solutions to this problem are actively being researched.[citation needed]


[edit] Privacy
A concern is how a person's biometric, once collected, can be protected. Australia has therefore introduced a Biometrics Institute Privacy Code in order to protect consumer personal data beyond the current protections offered by the Australian Privacy Act.

Another concern is that if the system is used at more than one location, a person's movements may be tracked as with any non-anonymous authentication system. An example of this would be posted security cameras linked to a facial recognition system, or a public transportation system requiring the use of biometry or registered identification card.


[edit] Biometrics sensors' obstacles
Different sensors (hardware producers), generating different biometrics outcomes, different outcomes cannot be encryptedly compared (they will never match). It is very difficult to create standard on identical encryption paths. Biometrics standard can be obtained only if the common information is unconcealed. Currently each biometric scanner's vendor is responsible for generating his own encryption method. In order to unify the biometrics collection method(s) the Standardization procedure must force Biometrics exposure, however, exposed biometrics information present a serious threat to privacy rights.


[edit] Marketing of biometric products
Despite confirmed cases of defeating commercially available biometric scanners, many companies marketing biometric products (especially consumer-level products such as readers built into keyboards) claim the products as replacements, rather than supplements, for passwords. Furthermore, regulations regarding advertising and manufacturing of biometric products are (as of 2006) largely non-existent. Consumers and other end users must rely on published test data and other research that demonstrate which products meet certain performance standards and which are likely to work best under operational conditions. Given the ease with which other security measures such passwords and access tokens may be compromised, and the relative resistance of biometrics to being defeated through alteration and reverse engineering, large scale adoption of biometrics may offer significant protection against the economic and social problems associated with identity theft.[citation needed]

The use of fingerprints for identification in schools

[edit] Sociological concerns
As technology advances, and time goes on, more private companies and public utilities may use biometrics for safe, accurate identification. These advances are likely to raise concerns such as:

Physical
Some believe this technology can cause physical harm to an individual using the methods, or that instruments used are unsanitary. For example, there are concerns that retina scanners might not always be clean.
Personal Information
There are concerns whether our personal information taken through biometric methods can be misused, e.g. by the government to determine unwanted traits in humans for global population control. Also, the data obtained using biometrics can be used in unauthorized ways without the individual's consent.

[edit] Danger to owners of secured items
When thieves cannot get access to secure properties, there is a chance that the thieves will stalk and assault the property owner to gain access. If the item is secured with a biometric device, the damage to the owner could be irreversible, and potentially cost more than the secured property. For example, in 2005, Malaysian car thieves cut off the finger of a Mercedes-Benz S-Class owner when attempting to steal the car[34].


[edit] Cancelable Biometrics
Physical features, such as face, fingerprint, iris, retina, hand, or behavioral features, such as signature, voice, gait, must fulfill a certain criteria to qualify for use in recognition. They must be unique, universal, acceptable, collectible and convenient to the person, in addition, to reliability at recognition, performance and circumvention. Most importantly, however, permanence is a key feature for biometrics. They must retain all the above features in particular the uniqueness unchanged, or acceptably changed, over the lifetime of the individual. On the other hand, this fundamental feature has brought biometrics to challenge a new risk. If biometric data is obtained, for example compromised from a database, by unauthorized users, the genuine owner will lose control over them forever and lose his/her identity.

Previously, research was focusing on using biometrics to overcome the weakness in traditional authentication systems that use tokens, passwords or both. Weakness, such as sharing passwords, losing tokens, guessable passwords, forgetting passwords and a lot more, were successfully targeted by biometric systems, although accuracy still remains a great challenge for many different biometric data. But one ordinary advantage of password does not exist in biometrics. That is re-issue. If a token or a password is lost or stolen, they can be cancelled and replaced by a newer version i.e. reissued. On the other hand, this is not naturally available in biometrics. If someone’s face is compromised from a database, they cannot cancel it neither reissue it. All data, including biometrics is vulnerable whether in storage or in processing state. It is relatively recently research has been undertaken to consider protection of biometric data more seriously. Cancelable biometrics is a way in which to inherit the protection and the replacement features into biometrics. It was first proposed by Ratha et al.[35]. Besides reliable accuracy performance and the replacement policy cancellable biometric has to be non-revisable in order to fulfill the aim.

Several methods for generating cancellable biometrics have been proposed. Essentially, cancelable biometrics perform a distortion of the biometric image or features before matching. The variability in the distortion parameters provides the cancelable nature of the scheme. Some of the proposed techniques operate using their own recognition engines, such as Teoh et al.[36] and Savvides et al.[37], whereas other methods, such as Dabbah et al.[38], take the advantage of the advancement of the well-established biometric research for their recognition front-end to conduct recognition. Although this increases the restrictions on the protection system, it makes the cancellable templates more accessible for available biometric technologies.

In general, cancelable biometrics may be seen to represent a promising approach to address biometric security and privacy vulnerabilities. However, there are several concerns about the security of such schemes. First, there is very little work analysing their security, except for an analysis of biohashing [39]. Secondly, while distortion schemes should be preferably non-invertible[40], no detailed proposed scheme has this property. In fact, it would appear to be trivial to undistort the template given knowledge of the distortion key in most cases. Third, cancelable biometrics would appear to be difficult to implement in the untrusted scenarios for which they are proposed: if the user does not trust the owner of the biometric sensor to keep the biometric private, how can they enforce privacy on the distortion parameters used? This last concern is perhaps the most serious: the security of cancelable biometrics depends on secure management of the distortion parameters, which must be used for enrollment and made available at matching. Furthermore, such keys may not be much better protected than current passwords and PINs. In summary, cancelable biometrics offer a possible solution to certain serious security and privacy concerns of biometric technology; however, current schemes leave a number of important issues unaddressed. Research is very active in this subject, and may succeed in addressing these concerns.


[edit] Uses and initiatives

[edit] Australia
Visitors intending to visit Australia may soon have to submit to biometric authentication as part of the Smartgate system, linking individuals to their visas and passports. Biometric data are already collected from some visa applicants by Immigration. Australia is the first country to introduce a Biometrics Privacy Code, which is established and administered by the Biometrics Institute. The Biometrics Institute Privacy Code Biometrics Institute forms part of Australian privacy legislation. The Code includes privacy standards that are at least equivalent to the Australian National Privacy Principles (NPPs) in the Privacy Act and also incorporates higher standards of privacy protection in relation to certain acts and practices. Only members of the Biometrics Institute are eligible to subscribe to this Code. Biometrics Institute membership, and thus subscription to this Code, is voluntary.


[edit] Brazil
Since the beginning of the 20th century, Brazilian citizens have had user ID cards. The decision by the Brazilian government to adopt fingerprint-based biometrics was spearheaded by Dr. Felix Pacheco at Rio de Janeiro, at that time capital of the Federative Republic. Dr. Pacheco was a friend of Dr. Juan Vucetich, who invented one of the most complete tenprint classification systems in existence. The Vucetich system was adopted not only in Brazil, but also by most of the other South American countries. The oldest and most traditional ID Institute in Brazil (Instituto de Identificação Félix Pacheco) was integrated at DETRAN [9] (Brazilian equivalent to DMV) into the civil and criminal AFIS system in 1999.

Each state in Brazil is allowed to print its own ID card, but the layout and data are the same for all of them. The ID cards printed in Rio de Janeiro are fully digitized using a 2D bar code with information which can be matched against its owner off-line. The 2D bar code encodes a color photo, a signature, two fingerprints, and other citizen data. This technology was developed in 2000 in order to enhance the safety of the Brazilian ID cards.

By the end of 2005, the Brazilian government started the development of its new passport. The new documents started to be released by the beginning of 2007, at Brasilia-DC. The new passport included several security features, like Laser perforation, UV hidden symbols, security layer over variable data and etc.. Brazilian citizens will have their signature, photo, and 10 rolled fingerprints collected during passport requests. All of the data is planned to be stored in ICAO E-passport standard. This allows for contactless electronic reading of the passport content and Citizens ID verification since fingerprint templates and token facial images will be available for automatic recognition.


[edit] Germany
The biometrics market in Germany will experience enormous growth until 2009. “The market size will increase from approximately 12 million € (2004) to 377 million €” (2009). “The federal government will be a major contributor to this development”.[41] In particular, the biometric procedures of fingerprint and facial recognition can profit from the government project.[41] In May 2005 the German Upper House of Parliament approved the implementation of the ePass, a passport issued to all German citizens which contain biometric technology. The ePass has been in circulation since November 2005, and contains a chip that holds a digital photograph and one fingerprint from each hand, usually of the index fingers, though others may be used if these fingers are missing or have extremely distorted prints. “A third biometric identifier – iris scans – could be added at a later stage”.[42] An increase in the prevalence of biometric technology in Germany is an effort to not only keep citizens safe within German borders but also to comply with the current US deadline for visa-waiver countries to introduce biometric passports.[42] In addition to producing biometric passports for German citizens, the German government has put in place new requirements for visitors to apply for visas within the country. “Only applicants for long-term visas, which allow more than three months' residence, will be affected by the planned biometric registration program. The new work visas will also include fingerprinting, iris scanning, and digital photos”.[43]

Germany is also one of the first countries to implement biometric technology at the Olympic Games to protect German athletes. “The Olympic Games is always a diplomatically tense affair and previous events have been rocked by terrorist attacks - most notably when Germany last held the Games in Munich in 1972 and 11 Israeli athletes were killed”.[44]

Biometric technology was first used at the Olympic Summer Games in Athens, Greece in 2004. “On registering with the scheme, accredited visitors will receive an ID card containing their fingerprint biometrics data that will enable them to access the 'German House'. Accredited visitors will include athletes, coaching staff, team management and members of the media”.[44]

As a protest against the increasing use of biometric data, the influential hacker group Chaos Computer Club published a fingerprint of German Minister of the Interior Wolfgang Schäuble in the March 2008 edition of its magazine Datenschleuder. The magazine also included the fingerprint on a film that readers could use to fool fingerprint readers.[45]


[edit] Iraq
Biometrics are being used extensively in Iraq to catalogue as many Iraqis as possible providing Iraqis with a verifiable identification card, immune to forgery. During account creation, the collected biometrics information is logged into a central database which then allows a user profile to be created. Even if an Iraqi has lost their ID card, their identification can be found and verified by using their unique biometric information. Additional information can also be added to each account record, such as individual personal history. This can help American forces determine whether someone has been causing trouble in the past. One major system in use in Iraq is called BISA.[46] This system uses a smartcard and a user's biometrics (fingerpint, iris, and face photos) to ensure they are authorized access to a base or facility.[47] Another is called BAT for Biometric Automated Toolset.[48]


[edit] Japan
Several banks in Japan have adopted either palm vein authentication or finger vein authentication technology on their ATMs. Palm vein authentication technology which was developed by Fujitsu, among other companies, proved to have a false acceptance rate of 0.01177% and a false rejection rate of 4.23%. Finger vein authentication technology, developed by Hitachi, has a false acceptance rate of 0.0100% and a false rejection rate of 1.26%. [49] Finger vein authentication technology has so far been adopted by banks such as Sumitomo Mitsui Financial Group, Mizuho Financial Group and Japan Post Bank. Palm vein authentication technology has been adopted by banks such as the Bank of Tokyo-Mitsubishi UFJ. [50]


[edit] Nigeria
The Nigerian Government has now rolled out fingerprint recognition throughout its airports on flights to reduce passport fraud. All new passports distributed now have a biometric chip containing the individuals characteristic in encrypted template form.[citation needed]


[edit] United Kingdom
Fingerprint scanners used in some schools to facilitate the subtraction of funds from an account financed by parents for the payment of school dinners. By using such a system nutritional reports can be produced for parents to surveil a child's intake. This has raised questions from liberty groups as taking away the liberty of choice from the youth of society. Other concerns arise from the possibility of data leaking from the providers of school meals to interest groups that provide health services such as the NHS and insurance groups that may end up having a detrimental effect on the ability of individuals to enjoy equality of access to services.


[edit] United States
The United States government has become a strong advocate of biometrics with the increase in security concerns in recent years, since September 11, 2001. Starting in 2005, US passports with facial (image-based) biometric data were scheduled to be produced. Privacy activists in many countries have criticized the technology's use for the potential harm to civil liberties, privacy, and the risk of identity theft. Currently, there is some apprehension in the United States (and the European Union) that the information can be "skimmed" and identify people's citizenship remotely for criminal intent, such as kidnapping. There also are technical difficulties currently delaying biometric integration into passports in the United States, the United Kingdom, and the rest of the EU. These difficulties include compatibility of reading devices, information formatting, and nature of content (e.g. the US currently expect to use only image data, whereas the EU intends to use fingerprint and image data in their passport RFID biometric chip(s)).

The speech made by President Bush on May 15, 2006, live from the Oval Office, was very clear: from now on, anyone willing to go legally in the United States in order to work there will be card-indexed and will have to communicate his fingerprints while entering the country.

"A key part of that system [for verifying documents and work eligibility of aliens] should be a new identification card for every legal foreign worker. This card should use biometric technology,such as digital fingerprints, to make it tamper-proof." President George W Bush (Addresses on Immigration Reform, May 15, 2006). Bush issued a presidential directive (NSPD 59, HSPD 24)[51] in 2008 which requires increased capability for sharing and interoperability in "collection, storage, use, analysis, and sharing of biometric and associated biographic and contextual information of individuals" among the departments and agencies of the executive branch of the U.S. federal government.[51][52]

The US Department of Defense (DoD) Common Access Card, is an ID card issued to all US Service personnel and contractors on US Military sites. This card contains biometric data and digitized photographs. It also has laser-etched photographs and holograms to add security and reduce the risk of falsification. There have been over 10 million of these cards issued.

According to Jim Wayman, director of the National Biometric Test Center at San Jose State University, Walt Disney World is the nation's largest single commercial application of biometrics.[53] However, the US Visit program will very soon surpass Walt Disney World for biometrics deployment.

On February 6, 2008, West Virginia University, in Morgantown, West Virginia, became the national academic leader for the FBI's biometric research.[54] [55] The university was the first in the world to establish a Bachelor of Science Degree in Biometric Systems, and also established the initial chapter of the Student Society for the Advancement of Biometrics (SSAB) in 2003.[56] WVU also offers a graduate level certificate and Master’s degree emphasis in Biometrics.


[edit] Venezuela
In the year 2004 Venezuela's National Elections Counsel, or (CNE), adopted a fingerprint validation system which is used to avoid double voting in regular elections; used since then the investment was made to allow the sending of voters template information at real time with and then verify it before accessing the secret voting ballot room. Voting population is approximately estimated for 2008 at 17 million voters, in the last years more than 11 election had been realized and the verification system is operated in most of the voting locations.




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Face recognition system software


A facial recognition system is a computer application for automatically identifying or verifying a person from a digital image or a video frame from a video source. One of the ways to do this is by comparing selected facial features from the image and a facial database.
Techniques

[edit] Traditional
Some facial recognition algorithms identify faces by extracting landmarks, or features, from an image of the subject's face. For example, an algorithm may analyze the relative position, size, and/or shape of the eyes, nose, cheekbones, and jaw. These features are then used to search for other images with matching features.[2] Other algorithms normalize a gallery of face images and then compress the face data, only saving the data in the image that is useful for face detection. A probe image is then compared with the face data




3-D
A newly emerging trend, claimed to achieve previously unseen accuracies, is three-dimensional face recognition. This technique uses 3-D sensors to capture information about the shape of a face. This information is then used to identify distinctive features on the surface of a face, such as the contour of the eye sockets, nose, and chin.[4]

One advantage of 3-D facial recognition is that it is not affected by changes in lighting like other techniques. It can also identify a face from a range of viewing angles, including a profile view.[2][4]


[edit] Skin texture analysis
Another emerging trend uses the visual details of the skin, as captured in standard digital or scanned images. This technique, called skin texture analysis, turns the unique lines, patterns, and spots apparent in a person’s skin into a mathematical space.[2]

Tests have shown that with the addition of skin texture analysis, performance in recognizing faces can increase 20 to 25 percent.[2][4]


[edit] Notable users and deployments
The London Borough of Newham, in the UK, previously trialled a facial recognition system built into their borough-wide CCTV system.

The German Federal Police use a facial recognition system to allow voluntary subscribers to pass fully automated border controls at Frankfurt Rhein-Main international airport. Subscribers need to be European Union or Swiss citizens.[citation needed] Recognition system are also used by casinos to catch card counters and other blacklisted individuals.

The Australian Customs Service has an automated border processing system called SmartGate that uses facial recognition. The system compares the face of the individual with the image in the e-passport microchip, certifying that the holder of the passport is the rightful owner.

Pennsylvania Justice Network searches crime scene photographs and CCTV footage in the mugshot database of previous arrests. A number of cold cases have been resolved since the system became operational in 2005. Other law enforcement agencies in the USA and abroad use arrest mugshot databases in their forensic investigative work.

U.S. Department of State operates one of the largest face recognition systems in the world with over 75 million photographs that is actively used for visa processing.

Spaceship Earth in EPCOT uses this for the touch screen part of the ride.


[edit] Additional uses
In addition to being used for security systems, authorities have found a number of other applications for facial recognition systems. While earlier post 9/11 deployments were well publicized trials, more recent deployments are rarely written about due to their covert nature.

At Super Bowl XXXV in January 2001, police in Tampa Bay, Florida, used Identix’s facial recognition software, FaceIt, to search for potential criminals and terrorists in attendance at the event.[2] (it found 19 people with pending arrest warrants)[5]

In the 2000 presidential election, the Mexican government employed facial recognition software to prevent voter fraud. Some individuals had been registering to vote under several different names, in an attempt to place multiple votes. By comparing new facial images to those already in the voter database, authorities were able to reduce duplicate registrations.[6] Similar technologies are being used in the United States to prevent people from obtaining fake identification cards and driver’s licenses.[7][8]

There are also a number of potential uses for facial recognition that are currently being developed. For example, the technology could be used as a security measure at ATM’s; instead of using a bank card or personal identification number, the ATM would capture an image of your face, and compare it to your photo in the bank database to confirm your identity. This same concept could also be applied to computers; by using a webcam to capture a digital image of yourself, your face could replace your password as a means to log-in.[2]

As part of the investigation of the Disappearance of Madeleine McCann the British police are calling on visitors to the Ocean Club Resort, Praia da Luz in Portugal or the surrounding areas in the two weeks leading up to the child's disappearance on Thursday 3 May 2007 to provide copies of any photographs of people taken during their stay, in an attempt to identify the abductor using a biometric facial recognition application.[9][10]


[edit] Comparative study
Among the different biometric techniques facial recognition may not be the most reliable and efficient but its great advantage is that it does not require aid from the test subject. Properly designed systems installed in airports, multiplexes, and other public places can detect presence of criminals among the crowd. Other biometrics like fingerprints, iris, and speech recognition cannot perform this kind of mass scanning. However, questions have been raised on the effectiveness of facial recognition software in cases of railway and airport security.


[edit] Criticisms

[edit] Weaknesses
Face recognition is not perfect and struggles to perform under certain conditions. Ralph Gross, a researcher at the Carnegie Mellon Robotics Institute, describes one obstacle related to the viewing angle of the face: "Face recognition has been getting pretty good at full frontal faces and 20 degrees off, but as soon as you go towards profile, there've been problems."[4]

Other conditions where face recognition does not work well include poor lighting, sunglasses, long hair, or other objects partially covering the subject’s face, and low resolution images.[2]


[edit] Effectiveness
Critics of the technology complain that the London Borough of Newham scheme has, as of 2004[update], never recognized a single criminal, despite several criminals in the system's database living in the Borough and the system having been running for several years. "Not once, as far as the police know, has Newham's automatic facial recognition system spotted a live target."[11][12] This information seems to conflict with claims that the system was credited with a 34% reduction in crime - which better explains why the system was then rolled out to Birmingham also.[13]

An experiment by the local police department in Tampa, Florida, had similarly disappointing results.[14]

"Camera technology designed to spot potential terrorists by their facial characteristics at airports failed its first major test at Boston's Logan Airport"[15]


[edit] Privacy concerns
Despite the potential benefits of this technology, many citizens are concerned that their privacy will be invaded. Some fear that it could lead to a “total surveillance society,” with the government and other authorities having the ability to know where you are, and what you are doing, at all times. This is not to be an underestimated concept as history has shown that states have typically abused such access before.[16]


[edit] Recent Improvements
In 2006, the performance of the latest face recognition algorithms were evaluated in the Face Recognition Grand Challenge. High-resolution face images, 3-D face scans, and iris images were used in the tests. The results indicated that the new algorithms are 10 times more accurate than the face recognition algorithms of 2002 and 100 times more accurate than those of 1995. Some of the algorithms were able to outperform human participants in recognizing faces and could uniquely identify identical twins.[4]


[edit] Early development
Pioneers of Automated Facial Recognition include: Woody Bledsoe, Helen Chan Wolf, and Charles Bisson.

During 1964 and 1965, Bledsoe, along with Helen Chan and Charles Bisson, worked on using the computer to recognize human faces (Bledsoe 1966a, 1966b; Bledsoe and Chan 1965). He was proud of this work, but because the funding was provided by an unnamed intelligence agency that did not allow much publicity, little of the work was published. Given a large database of images (in effect, a book of mug shots) and a photograph, the problem was to select from the database a small set of records such that one of the image records matched the photograph. The success of the method could be measured in terms of the ratio of the answer list to the number of records in the database. Bledsoe (1966a) described the following difficulties:

“ This recognition problem is made difficult by the great variability in head rotation and tilt, lighting intensity and angle, facial expression, aging, etc. Some other attempts at facial recognition by machine have allowed for little or no variability in these quantities. Yet the method of correlation (or pattern matching) of unprocessed optical data, which is often used by some researchers, is certain to fail in cases where the variability is great. In particular, the correlation is very low between two pictures of the same person with two different head rotations. „
—Woody Bledsoe, 1966


This project was labeled man-machine because the human extracted the coordinates of a set of features from the photographs, which were then used by the computer for recognition. Using a graphics tablet (GRAFACON or RAND TABLET), the operator would extract the coordinates of features such as the center of pupils, the inside corner of eyes, the outside corner of eyes, point of widows peak, and so on. From these coordinates, a list of 20 distances, such as width of mouth and width of eyes, pupil to pupil, were computed. These operators could process about 40 pictures an hour. When building the database, the name of the person in the photograph was associated with the list of computed distances and stored in the computer. In the recognition phase, the set of distances was compared with the corresponding distance for each photograph, yielding a distance between the photograph and the database record. The closest records are returned.

This brief description is an oversimplification that fails in general because it is unlikely that any two pictures would match in head rotation, lean, tilt, and scale (distance from the camera). Thus, each set of distances is normalized to represent the face in a frontal orientation. To accomplish this normalization, the program first tries to determine the tilt, the lean, and the rotation. Then, using these angles, the computer undoes the effect of these transformations on the computed distances. To compute these angles, the computer must know the three-dimensional geometry of the head. Because the actual heads were unavailable, Bledsoe (1964) used a standard head derived from measurements on seven heads.

After Bledsoe left PRI in 1966, this work was continued at the Stanford Research Institute, primarily by Peter Hart. In experiments performed on a database of over 2000 photographs, the computer consistently outperformed humans when presented with the same recognition tasks (Bledsoe 1968). Peter Hart (1996) enthusiastically recalled the project with the exclamation, "It really worked!"

By about 1997, the system developed by Christoph von der Malsburg and graduate students of the University of Bochum in Germany and the University of Southern California in the United States outperformed most systems with those of Massachusetts Institute of Technology and the University of Maryland rated next. The Bochum system was developed through funding by the United States Army Research Laboratory. The software was sold as ZN-Face and used by customers such as Deutsche Bank and operators of airports and other busy locations. The software was "robust enough to make identifications from less-than-perfect face views. It can also often see through such impediments to identification as mustaches, beards, changed hair styles and glasses—even sunglasses".[17]

In about January 2007, image searches were "based on the text surrounding a photo," for example, if text nearby mentions the image content. Polar Rose technology can guess from a photograph, in about 1.5 seconds, what any individual may look like in three dimensions, and thought they "will ask users to input the names of people they recognize in photos online" to help build a database.[citation needed]


[edit] Future Developments-Retailing
A possible future application for facial recognition systems lies in retailing. A retail store (for example,a grocery store) may have cash registers equipped with cameras,the cameras would be aimed at the faces of customers,so pictures of customers could be obtained. The camera would be the primary means of identifying the customer,and if visual identification failed,the customer could complete the purchase by using a PIN (personal identification number). After the cash register had calculated the total sale,the face recognition system would verify the identify of the customer and the total amount of the sale would be deducted from the customer's bank account. Hence,face-based retailing would provide convenience for retail customers,since they could go shopping simply by showing their faces,and there would be no need to bring debit cards,or other financial media. Wide-reaching applications of face-based retailing are possible,including retail stores,restaurants,movie theaters,car rental companies,hotels,etc.


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Robotics




Components of robots

Structure
The structure of a robot is usually mostly mechanical and can be called a kinematic chain (its functionality being similar to the skeleton of the human body). The chain is formed of links (its bones), actuators (its muscles), and joints which can allow one or more degrees of freedom. Most contemporary robots use open serial chains in which each link connects the one before to the one after it. These robots are called serial robots and often resemble the human arm. Some robots, such as the Stewart platform, use a closed parallel kinematical chain. Other structures, such as those that mimic the mechanical structure of humans, various animals, and insects, are comparatively rare. However, the development and use of such structures in robots is an active area of research (e.g. biomechanics). Robots used as manipulators have an end effector mounted on the last link. This end effector can be anything from a welding device to a mechanical hand used to manipulate the environment.



Power source
At present; mostly (lead-acid) batteries are used, but potential powersources could be:

compressed air canisters (see air car)
flywheel energy storage
organic garbage (trough anaerobic digestion
feces (human, animal); may be intresting in a military context; as feces of small combat groups may be reused for the energy requirements of the robot assistant (see DEKA's project Slingshot stirling engine on how the system would operate)
still untested energy sources (eg Joe Cell, ...)
radioactive source (such as with the proposed Ford car of the '50); too proposed in movies as Red Planet (film)

Actuation

A robot leg powered by Air MusclesActuators are the "muscles" of a robot, the parts which convert stored energy into movement. By far the most popular actuators are electric motors, but there are many others, powered by electricity, chemicals, and compressed air.

Motors: The vast majority of robots use electric motors, including brushed and brushless DC motors.
Stepper motors: As the name suggests, stepper motors do not spin freely like DC motors; they rotate in discrete steps, under the command of a controller. This makes them easier to control, as the controller knows exactly how far they have rotated, without having to use a sensor. Therefore, they are used on many robots and CNC machines.
Piezo motors: A recent alternative to DC motors are piezo motors or ultrasonic motors. These work on a fundamentally different principle, whereby tiny piezoceramic elements, vibrating many thousands of times per second, cause linear or rotary motion. There are different mechanisms of operation; one type uses the vibration of the piezo elements to walk the motor in a circle or a straight line.[10] Another type uses the piezo elements to cause a nut to vibrate and drive a screw. The advantages of these motors are nanometer resolution, speed, and available force for their size.[11] These motors are already available commercially, and being used on some robots.[12][13]
Air muscles: The air muscle is a simple yet powerful device for providing a pulling force. When inflated with compressed air, it contracts by up to 40% of its original length. The key to its behavior is the braiding visible around the outside, which forces the muscle to be either long and thin, or short and fat. Since it behaves in a very similar way to a biological muscle, it can be used to construct robots with a similar muscle/skeleton system to an animal.[14] For example, the Shadow robot hand uses 40 air muscles to power its 24 joints.
Electroactive polymers: Electroactive polymers are a class of plastics which change shape in response to electrical stimulation.[15] They can be designed so that they bend, stretch, or contract, but so far there are no EAPs suitable for commercial robots, as they tend to have low efficiency or are not robust.[16] Indeed, all of the entrants in a recent competition to build EAP powered arm wrestling robots, were beaten by a 17 year old girl.[17] However, they are expected to improve in the future, where they may be useful for microrobotic applications.[18]
Elastic nanotubes: These are a promising, early-stage experimental technology. The absence of defects in nanotubes enables these filaments to deform elastically by several percent, with energy storage levels of perhaps 10J per cu cm for metal nanotubes. Human biceps could be replaced with an 8mm diameter wire of this material. Such compact "muscle" might allow future robots to outrun and outjump humans.[19]

Manipulation
Robots which must work in the real world require some way to manipulate objects; pick up, modify, destroy, or otherwise have an effect. Thus the 'hands' of a robot are often referred to as end effectors,[20] while the arm is referred to as a manipulator.[21] Most robot arms have replaceable effectors, each allowing them to perform some small range of tasks. Some have a fixed manipulator which cannot be replaced, while a few have one very general purpose manipulator, for example a humanoid hand.

Mechanical Grippers: One of the most common effectors is the gripper. In its simplest manifestation it consists of just two fingers which can open and close to pick up and let go of a range of small objects. See end effectors.
Vacuum Grippers: Pick and place robots for electronic components and for large objects like car windscreens, will often use very simple vacuum grippers. These are very simple astrictive [22] devices, but can hold very large loads provided the prehension surface is smooth enough to ensure suction.
General purpose effectors: Some advanced robots are beginning to use fully humanoid hands, like the Shadow Hand and the Schunk hand.[23] These highly dexterous manipulators, with as many as 20 degrees of freedom and hundreds of tactile sensors[24]
For the definitive guide to all forms of robot endeffectors, their design, and usage consult the book "Robot Grippers".[25]


Locomotion

Rolling robots

Segway in the Robot museum in Nagoya.For simplicity, most mobile robots have four wheels. However, some researchers have tried to create more complex wheeled robots, with only one or two wheels.

Two-wheeled balancing: While the Segway is not commonly thought of as a robot, it can be thought of as a component of a robot. Several real robots do use a similar dynamic balancing algorithm, and NASA's Robonaut has been mounted on a Segway.[26]
Ballbot: Carnegie Mellon University researchers have developed a new type of mobile robot that balances on a ball instead of legs or wheels. "Ballbot" is a self-contained, battery-operated, omnidirectional robot that balances dynamically on a single urethane-coated metal sphere. It weighs 95 pounds and is the approximate height and width of a person. Because of its long, thin shape and ability to maneuver in tight spaces, it has the potential to function better than current robots can in environments with people.[27]
Track Robot: Another type of rolling robot is one that has tracks, like NASA's Urban Robot, Urbie.[28]

Walking robots

iCub robot, designed by the RobotCub ConsortiumWalking is a difficult and dynamic problem to solve. Several robots have been made which can walk reliably on two legs, however none have yet been made which are as robust as a human. Many robots have also been build that walk on more than 2 legs; these robots being significantly more easy to construct. Hybrids too have been proposed in movies as iRobot, where they walk on 2 legs and switch to 4 (arms+legs) when going to a sprint. Typically, robots on 2 legs can walk well on flat floors, and can occasionally walk up stairs. None can walk over rocky, uneven terrain. Some of the methods which have been tried are:

ZMP Technique: The Zero Moment Point (ZMP) is the algorithm used by robots such as Honda's ASIMO. The robot's onboard computer tries to keep the total inertial forces (the combination of earth's gravity and the acceleration and deceleration of walking), exactly opposed by the floor reaction force (the force of the floor pushing back on the robot's foot). In this way, the two forces cancel out, leaving no moment (force causing the robot to rotate and fall over).[29] However, this is not exactly how a human walks, and the difference is quite apparent to human observers, some of whom have pointed out that ASIMO walks as if it needs the lavatory.[30][31][32] ASIMO's walking algorithm is not static, and some dynamic balancing is used (See below). However, it still requires a smooth surface to walk on.
Hopping: Several robots, built in the 1980s by Marc Raibert at the MIT Leg Laboratory, successfully demonstrated very dynamic walking. Initially, a robot with only one leg, and a very small foot, could stay upright simply by hopping. The movement is the same as that of a person on a pogo stick. As the robot falls to one side, it would jump slightly in that direction, in order to catch itself.[33] Soon, the algorithm was generalised to two and four legs. A bipedal robot was demonstrated running and even performing somersaults.[34] A quadruped was also demonstrated which could trot, run, pace, and bound.[35] For a full list of these robots, see the MIT Leg Lab Robots page.
Dynamic Balancing: A more advanced way for a robot to walk is by using a dynamic balancing algorithm, which is potentially more robust than the Zero Moment Point technique, as it constantly monitors the robot's motion, and places the feet in order to maintain stability.[36] This technique was recently demonstrated by Anybots' Dexter Robot,[37] which is so stable, it can even jump.[38]
Passive Dynamics: Perhaps the most promising approach utilizes passive dynamics where the momentum of swinging limbs is used for greater efficiency. It has been shown that totally unpowered humanoid mechanisms can walk down a gentle slope, using only gravity to propel themselves. Using this technique, a robot need only supply a small amount of motor power to walk along a flat surface or a little more to walk up a hill. This technique promises to make walking robots at least ten times more efficient than ZMP walkers, like ASIMO.[39][40]




Other methods of locomotion

RQ-4 Global Hawk unmanned aerial vehicleFlying: A modern passenger airliner is essentially a flying robot, with two humans to manage it. The autopilot can control the plane for each stage of the journey, including takeoff, normal flight, and even landing.[41] Other flying robots are uninhabited, and are known as unmanned aerial vehicles (UAVs). They can be smaller and lighter without a human pilot onboard, and fly into dangerous territory for military surveillance missions. Some can even fire on targets under command. UAVs are also being developed which can fire on targets automatically, without the need for a command from a human. However these robots are unlikely to see service in the foreseeable future because of the morality issues involved. Other flying robots include cruise missiles, the Entomopter, and the Epson micro helicopter robot.

Two robot snakes. Left one has 64 motors (with 2 degrees of freedom per segment), the right one 10.Snaking: Several snake robots have been successfully developed. Mimicking the way real snakes move, these robots can navigate very confined spaces, meaning they may one day be used to search for people trapped in collapsed buildings.[42] The Japanese ACM-R5 snake robot[43] can even navigate both on land and in water.[44]
Skating: A small number of skating robots have been developed, one of which is a multi-mode walking and skating device, Titan VIII[dead link]. It has four legs, with unpowered wheels, which can either step or roll.[45] Another robot, Plen, can use a miniature skateboard or rollerskates, and skate across a desktop.[46]
Swimming: It is calculated that when swimming some fish can achieve a propulsive efficiency greater than 90%.[47] Furthermore, they can accelerate and maneuver far better than any man-made boat or submarine, and produce less noise and water disturbance. Therefore, many researchers studying underwater robots would like to copy this type of locomotion.[48] Notable examples are the Essex University Computer Science Robotic Fish,[49] and the Robot Tuna built by the Institute of Field Robotics, to analyze and mathematically model thunniform motion.[50]




Environmental interaction and navigation

RADAR, GPS, LIDAR, ... are all combined to provide proper navigation and obstacle avoidanceRobots also require navigation hardware and software in order to anticipate on their environment. In particular unforeseen events (eg people and other obstacles that are not stationary) can cause problems or collisions. Some highly advanced robots as ASIMO, EveR-1, Meinü robot have particular good robot navigation hardware and software. Also, self-controlled car, Ernst Dickmanns' driverless car and the entries in the DARPA Grand Challenge are capable of sensing the environment well and make navigation decisions based on this information. Most of the robots include regular a GPS navigation device with waypoints, along with radar, sometimes combined with other sensor data such as LIDAR, video cameras, and inertial guidance systems for better navigation in between waypoints.


Human interaction

Kismet can produce a range of facial expressions.If robots are to work effectively in homes and other non-industrial environments, the way they are instructed to perform their jobs, and especially how they will be told to stop will be of critical importance. The people who interact with them may have little or no training in robotics, and so any interface will need to be extremely intuitive. Science fiction authors also typically assume that robots will eventually be capable of communicating with humans through speech, gestures, and facial expressions, rather than a command-line interface. Although speech would be the most natural way for the human to communicate, it is quite unnatural for the robot. It will be quite a while before robots interact as naturally as the fictional C-3PO.

Speech recognition: Interpreting the continuous flow of sounds coming from a human (speech recognition), in real time, is a difficult task for a computer, mostly because of the great variability of speech. The same word, spoken by the same person may sound different depending on local acoustics, volume, the previous word, whether or not the speaker has a cold, etc.. It becomes even harder when the speaker has a different accent.[51] Nevertheless, great strides have been made in the field since Davis, Biddulph, and Balashek designed the first "voice input system" which recognized "ten digits spoken by a single user with 100% accuracy" in 1952.[52] Currently, the best systems can recognize continuous, natural speech, up to 160 words per minute, with an accuracy of 95%.[53]
Gestures: One can imagine, in the future, explaining to a robot chef how to make a pastry, or asking directions from a robot police officer. On both of these occasions, making hand gestures would aid the verbal descriptions. In the first case, the robot would be recognizing gestures made by the human, and perhaps repeating them for confirmation. In the second case, the robot police officer would gesture to indicate "down the road, then turn right". It is quite likely that gestures will make up a part of the interaction between humans and robots.[54] A great many systems have been developed to recognize human hand gestures.[55]
Facial expression: Facial expressions can provide rapid feedback on the progress of a dialog between two humans, and soon it may be able to do the same for humans and robots. Frubber robotic faces have been constructed by Hanson Robotics, allowing a great amount of facial expressions due to the elasticity of the rubber facial coating and imbedded subsurface motors (servos)to produce the facial expressions. [56] The coating and servos are build untop of a metal skull. A robot should know how to approach a human, judging by their facial expression and body language. Whether the person is happy, frightened, or crazy-looking affects the type of interaction expected of the robot. Likewise, a robot like Kismet can produce a range of facial expressions, allowing it to have meaningful social exchanges with humans.[57]
Artificial emotions Artificial emotions can also be imbedded and are composed of a sequence of facial expressions and/or gestures. As can be seen from the movie Final_Fantasy:_The_Spirits_Within, the programming of these artificial emotions is quite complex and requires a great amount of human observation. To simplify this programming in the movie Final_Fantasy:_The_Spirits_Within, presets were created together with a special software program. This allowed the producers of decreasing the time required tremendously to make the film. These presets could possibly be transferred for use in real-life robots.
Personality: Many of the robots of science fiction have a personality, and that is something which may or may not be desirable in the commercial robots of the future.[58] Nevertheless, researchers are trying to create robots which appear to have a personality:[59][60] i.e. they use sounds, facial expressions and body language to try to convey an internal state, which may be joy, sadness, or fear. One commercial example is Pleo, a toy robot dinosaur, which can exhibit several apparent emotions.[61]

Control

A robot-manipulated marionette, with complex control systemsThe mechanical structure of a robot must be controlled to perform tasks. The control of a robot involves three distinct phases - perception, processing, and action (robotic paradigms). Sensors give information about the environment or the robot itself (e.g. the position of its joints or its end effector). This information is then processed to calculate the appropriate signals to the actuators (motors) which move the mechanical.

The processing phase can range in complexity. At a reactive level, it may translate raw sensor information directly into actuator commands. Sensor fusion may first be used to estimate parameters of interest (e.g. the position of the robot's gripper) from noisy sensor data. An immediate task (such as moving the gripper in a certain direction) is inferred from these estimates. Techniques from control theory convert the task into commands that drive the actuators.

At longer time scales or with more sophisticated tasks, the robot may need to build and reason with a "cognitive" model. Cognitive models try to represent the robot, the world, and how they interact. Pattern recognition and computer vision can be used to track objects. Mapping techniques can be used to build maps of the world. Finally, motion planning and other artificial intelligence techniques may be used to figure out how to act. For example, a planner may figure out how to achieve a task without hitting obstacles, falling over, etc.

Control systems may also have varying levels of autonomy. Direct interaction is used for haptic or tele-operated devices, and the human has nearly complete control over the robot's motion. Operator-assist modes have the operator commanding medium-to-high-level tasks, with the robot automatically figuring out how to achieve them. An autonomous robot may go for extended periods of time without human interaction. Higher levels of autonomy do not necessarily require more complex cognitive capabilities. For example, robots in assembly plants are completely autonomous, but operate in a fixed pattern.


Dynamics and kinematics
The study of motion can be divided into kinematics and dynamics. Direct kinematics refers to the calculation of end effector position, orientation, velocity, and acceleration when the corresponding joint values are known. Inverse kinematics refers to the opposite case in which required joint values are calculated for given end effector values, as done in path planning. Some special aspects of kinematics include handling of redundancy (different possibilities of performing the same movement), collision avoidance, and singularity avoidance. Once all relevant positions, velocities, and accelerations have been calculated using kinematics, methods from the field of dynamics are used to study the effect of forces upon these movements. Direct dynamics refers to the calculation of accelerations in the robot once the applied forces are known. Direct dynamics is used in computer simulations of the robot. Inverse dynamics refers to the calculation of the actuator forces necessary to create a prescribed end effector acceleration. This information can be used to improve the control algorithms of a robot.

In each area mentioned above, researchers strive to develop new concepts and strategies, improve existing ones, and improve the interaction between these areas. To do this, criteria for "optimal" performance and ways to optimize design, structure, and control of robots must be developed and implemented.


Robot Research
Further information: Open-source_robotics
Further information: Evolutionary robotics
Much of the research in robotics focuses not on specific industrial tasks, but on investigations into new types of robots, alternative ways to think about or design robots, and new ways to manufacture them.

A first particular new innovation in robotdesign is the opensourcing of robot-projects. To describe the level of advancement of a robot, the term Generation Robots can be used. This term is coined by Professor Hans Moravec, Principal Research Scientist at the Carnegie Mellon University Robotics Institute in describing the near future evolution of robot technology.[62] First, second and third generation robots are First generation robots, Moravec predicted in 1997, should have an intellectual capacity comparable to perhaps a lizard and should become available by 2010. Because the first generation robot would be incapable of learning, however, professor Moravec predicts that the second generation robot would be an improvement over the first and become available by 2020, with an intelligence maybe comparable to that of a mouse. The third generation robot should have an intelligence comparable to that of a monkey. Though fourth generation robots, robots with human intelligence, professor Moravec predicts, would become possible, he does not predict this happening before around 2040 or 2050.

The second is Evolutionary Robots. This is a methodology that uses evolutionary computation to help design robots, especially the body form, or motion and behavior controllers. In a similar way to natural evolution, a large population of robots is allowed to compete in some way, or their ability to perform a task is measured using a fitness function. Those that perform worst are removed from the population, and replaced by a new set, which have new behaviors based on those of the winners. Over time the population improves, and eventually a satisfactory robot may appear. This happens without any direct programming of the robots by the researchers. Researchers use this method both to create better robots,[63] and to explore the nature of evolution.[64] Because the process often requires many generations of robots to be simulated, this technique may be run entirely or mostly in simulation, then tested on real robots once the evolved algorithms are good enough.[65]


Education and Training

The SCORBOT-ER 4u - educational robot.Robotics as an undergraduate area of study is fairly common, although few universities offer robotics degrees.

In the United States, only Worcester Polytechnic Institute offers a Bachelor of Science in Robotics Engineering. Universities that have graduate degrees focused on robotics include Carnegie Mellon University, MIT, UPENN, and UCLA.

In Australia, there are Bachelor of Engineering degrees at the universities belonging to the Centre for Autonomous Systems (CAS) [66]: University of Sydney, University of New South Wales, and the University of Technology, Sydney. Other universities include Deakin University, Flinders University, Swinburne University of Technology, and the University of Western Sydney. Others offer degrees in Mechatronics.

In India a post-graduate degree in Mechatronics is offered at Madras Institute of Technology, Chennai.

In the UK, Robotics degrees are offered by a number of institutions including the Heriot-Watt University, University of Essex, the University of Liverpool, University of Reading, Sheffield Hallam University, Staffordshire University,University of Sussex, Robert Gordon University and the University of Wales, Newport.

In Mexico, the Monterrey Institute of Technology and Higher Education offers a Bachelor of Science in Digital Systems and Robotics Engineering[67] and a Bachelor of Science in Mechatronics.[68]

In Iran, the Shahrood University of Technology and Hamedan University of Technology offer a Bachelor of Science in Robotics Engineering. Others offer degrees in Mechatronics. Universities that have graduate degrees focused on Mechatronics include Sharif university of Technology, Amirkabir university of technology, Khajeh Nasiroddin Tusi University of Technology, Tabriz university, and Semnan university.

Robots recently became a popular tool in raising interests in computing for middle and high school students. First year computer science courses at several universities were developed which involves the programming of a robot instead of the traditional software engineering based coursework. Examples include Course 6 at MIT and the Institute for Personal Robots in Education at the Georgia Institute of Technology with Bryn Mawr College.

Some specialised robotics jobs require new skills, such as those of robot installer and robot integrator.[69] While universities have long included robotics research in their curricular offerings and tech schools have taught industrial robotic arm control, new college programs in applied mobile robots are under development at universities in both the US and EU, with help from Microsoft, MobileRobots Inc and other companies encouraging the growth of robotics.


Employment in robotics

A robot technician builds small all-terrain robots. (Courtesy: MobileRobots Inc)As the number of robots increases, robotics-related jobs grow. Some jobs require existing job skills, such as building cables, assembling parts and testing.

Healthcare
Script Pro manufactures a robot designed to help pharmacies fill prescriptions that consist of oral solids or medications in pill form. The pharmacist or pharmacy technician enters the prescription information into its information system. The system, upon determining whether or not the drug is in the robot, will send the information to the robot for filling. The robot has 3 different size vials to fill determined by the size of the pill. The robot technician, user, or pharmacist determines the needed size of the vial based on the tablet when the robot is stocked. Once the vial is filled it is brought up to a conveyor belt that delivers it to a holder that spins the vial and attaches the patient label. Afterwards it is set on another conveyor that delivers the patient’s medication vial to a slot labeled with the patient's name on an LED read out. The pharmacist or technician then checks the contents of the vial to ensure it’s the correct drug for the correct patient and then seals the vials and sends it out front to be picked up. The robot is a very time efficient device that the pharmacy depends on to fill prescriptions.

McKesson’s Robot RX is another healthcare robotics product that helps inpatient pharmacies dispense thousands of medications daily with little or no errors. The robot can be ten feet wide and thirty feet long and can hold hundreds of different kinds of medications and thousands of doses. The pharmacy saves many resources like staff members that are otherwise unavailable in a resource scarce industry. It uses an electromechanical head coupled with a pneumatic system to capture each dose and deliver it to its either stocked or dispensed location. The head moves along a single axis while it rotates 180 degrees to pull the medications. During this process it uses barcode technology to verify its pulling the correct drug. It then delivers the drug to a patient specific bin on a conveyor belt. Once the bin is filled with all of the drugs that a particular patient needs and that the robot stocks, the bin is then released and returned out on the conveyor belt to a technician waiting to load it into a cart for delivery to the floor.

TUG robots, from Aethon, are a necessity for any hospital’s inpatient pharmacy. TUGs are a medication delivery robot. They are stationed at or near the pharmacy on a charging base designed to keep their batteries at optimal levels. Once a pharmacy has a number of meds to send to the floors, they load the TUGs by putting in their code to unlock the drawers and start sorting the meds by delivery station. After it has been loaded the user selects the locations in the order they want them delivered and then hit the send button. The TUG backs up, turns, and goes on it path to its destination. It uses a series of navigational tools to find it way around. For the most part it is laser guided and uses a 180 degree laser to check for walls and obstacles in its path. It also makes use of infrared sensors and sonar for navigation, obstacle avoidance, and detection. Using these navigational tools it uses an internal map that is designed by the TUG itself and an Implementation Specialist from Aethon to drive down a planned path to its destinations. If it needs to navigate between floors the company will, with help from an elevator vendor, set up an elevator computer interface and the TUG will communicate wirelessly with an elevator controller to gain access and control of an elevator to take it to the desired floor. From that point the TUG will make its delivery, return home, and wait for another delivery.


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Sony VAIO VGN-NR385E/W Review

Introduction

019 From afar, it’s easy to mistake the Sony VAIO VGN-NR385E/W as a possible Apple MacBook. After all, this system shares many of the same qualities as a MacBook - smooth white color, rounded corners, and a solid construction. Of course, once you get closer (and you see the VAIO logo emblazoned across the top), you’ll quickly realize that this is indeed a Sony VAIO system. The Sony NR series is Sony’s value oriented notebook series which aims to deliver a balance between performance, style, and value.

On the performance front, this notebook delivers an Intel Core 2 Duo processor, a bright 15.4 inch widescreen display, and a large capacity 200GB internal hard drive. For style.. well the mere fact that it looks somewhat like a MacBook says it all right? And for value, the VGN-NR385E/W is fairly inexpensive - with many places selling this system for as low as $600 dollars after rebates or instant savings. Join me as I take a look at the Sony VAIO VGN-NR385E/W.


Specifications

The system being reviewed today comes with an Intel Core 2 Duo T5550 processor clocked in at 1.83GHz, 2GB of RAM, a 15.4 inch XBRITE-ECO LCD, a 200GB SATA Hard Drive, and a built-in DVD/CD burner with dual layer support. For network connectivity, the system has 802.11 a/b/g support, and 10/100 Ethernet. Powering the 1280 x 800 display is a feeble Intel Graphics Media Accelerator X3100 which utilizes shared memory. Other niceties include 4 USB 2.0 ports, 1 FireWire port, 1 ExpressCard/34 slot, and a Memory Stick and SD card slot. For input, there’s a full sized 86 key keyboard with a 2.5 mm stroke and 19.05 putch, and a two button touchpad.

Finally, the system measures 14.2 x 10.6 x 1.5 inches and weighs 6.2 lbs - not exactly an ultra-portable notebook system. There’s a rechargeable Lithium Ion battery and the system comes with Windows Vista Home Premium installed.

Display

The VAIO VGN-NR385E/W comes with a 15.4 inch XBRITE-ECO widescreen LCD display and yes.. the display is indeed bright. Characters are sharp, colors are vibrant, pictures are clear, and movies are a joy to view on this display - at least when you’re viewing it head on. Unfortunately, both the vertical and horizontal viewing angles are limited at best with the horizontal angles better than the vertical. Colors and brightness fall off when you move off-center from the display.

Keyboard and Trackpad

The VAIO VGN-NR385E/W comes with a full-sized 86 key keyboard and two special function keys on the upper right hand corner. I must admit that it took me some time to get used to the keyboard on this notebook. It’s certainly not a ThinkPad keyboard - but then again, few system keyboards can actually compare to a ThinkPad keyboard. If you’re not a fan of somewhat mushy keyboards with short key travel depths, then you might not be a fan of this keyboard.

The built-in track-pad has a large surface area which is always a plus in my book. The mouse buttons are well positioned below the track-pad and the buttons themselves offer responsive tactile feedback.

Interfaces and Connectivity

The system comes with a good array of interfaces - ranging from four USB 2.0 ports, a FireWire port, a microphone and headphone jack, and a VGA port. The built-in ExpressCard/34 slot gives you the ability to expand system capabilities.

Networking wise, there’s a built-in 10/100 Ethernet jack, as well as 802.11 a/b/g wireless connectivity. I had little trouble connecting to my Linksys Wi-Fi 802.11g router. If there’s one glaring omission, it would be the lack of a Bluetooth stack.

Storage

The VGN-NR385E/W boasts a capacious 200GB Serial ATA Hard Drive which should be ample storage for most users out there. If you feel the need to burn, you’ll love the built-in dual layer DVD/CD burner with support for a variety of DVD/CD formats including DVD+/-R DL, DVD+/-R, DVD+/-RW, DVD-RAM, CD-R/RW, DVD-ROM, and CD-ROM.

Software

Sony typically pre-installs a large number of applications on VAIO systems, and unfortunately the VGN-NR385E/W is no different. There are at least eight different VAIO applications installed on the notebook - most of which quite honestly, I’ll never use but who knows - maybe you will. Sony also bundles a ton of other third party applications with the notebook.. or as I like to call it - crap-ware. I’m sorry but I just can’t stand all the crap-ware that gets installed on notebook/desktop systems these days. Here’s a list of the applications that I removed from the notebook:

* InstallAware Assistant for Office 2007
* Adobe Acrobat
* AOL Toolbar 4.0
* Corel Paint Shop Pro Photo
* Crackle ScreenSaver
* Norton 360 trial
* Office 2007 Home/Student Trial
* QuickBooks Simple Start
* Microsoft Works
* Sony LocationFree Player
* Napster
* Roxio Easy Media Center
* Spy Sweeper
* VAIO Survey
* VAIO MusicBox


Performance

Let’s be real here - the Sony VAIO VGN-NR385E/W won’t blow anyone out of the water when it comes to speed. After all, it only has a 1.83GHz Intel Core 2 Duo.. which is plenty powerful enough for most everyday application. The goal of the Sony VAIO NR series is to try and strike a balance between features, style, and value - which classifies this system as a budget oriented notebook.

With that said, this sub $1000 (really sub $800) notebook is still a very decent performing system. Now for those of you who really must have benchmarking numbers, I quickly ran PC Mark 2005 and 3D Mark 2006. On PC Marks 2005, the VGN-NR385E/W scores a 3677 while on 3D Marks 2006, the system scored a measly 547 (yikes!). The 3677 PC Marks score is comparable to other systems with comparable processing capabilities. The 547 3D Mark is certainly nothing to write home about so don’t expect to be gaming with this system - at least not high end 3D gaming that is.

One thing I do want to stress is - benchmarks only tell a part of the overall story. Ultimately, the true value of a computer system is in how useful the system is to you and how productive you are with the system. If it meets your intended needs and helps you be more productive, then it’s a good system for you. Faster systems doesn’t necessarily translate to better productivity - unless your productivity is gated by the system performance.

With that said, the VGN-NR385E/W meets my needs perfectly. This system is a great notebook - offering just enough performance for everyday needs such as reading/writing email, working with Office documents, surfing the web, listening to music, watching a DVD or HD video, writing blog postings, or performing straightforward multimedia operations. If you’re looking for a gaming platform, then look elsewhere (might we interest you in say an Alienware system or a VoodooPC box?). However, if you’re on a tight budget, then definitely give this system a look over.

Finally, on the battery front, the VGN-NR385E/W was an OK performer. I was able to get around 2.5 to 3 hours of usage off of the battery when I was strictly surfing the web and blogging on the notebook - not great but not bad.

Summary

The Sony VAIO VGN-NR385E/W successfully strikes a delicate balance between style, performance, and value. The system comes with a wealth of performance minded features such as an Intel Core 2 duo processor, 2GB of RAM, a bright 15.4 inch display, and 200GB of storage space. It also has a sexy white chassis design which will certainly draw some looks in the crowd. Of course, there are some things we’d love to see Sony fix - such as the keyboard, weight, and discrete graphics - but these are minor issues when you look at the overall package. With average selling prices for the VGN-NR285E/W ranging from $650 dollars to $800 dollars, you’ll quickly realize how tremendous a value the system really is.

Pros:

* 1.8 GHz Intel Core 2 Duo processor
* Lots of storage space
* Large bright display
* Sexy design
* Inexpensive




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