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Aquila v.1.2a with full user manual released
Aquila

Aquila is an open-source project that was inspired by the recent advancements in supercomputing making use of GPU enabled devices such as the NVidia Fermi cards resulting in a dramatic performance increase, which is nowadays a crucial aspect of any software running complex tasks. Most Aquila's features are implemented for both the standard CPU as well as massively parallel GPU processors.Aquila is an open-source project that was inspired by the recent advancements in supercomputing making use of GPU enabled devices such as the NVidia Fermi cards resulting in a dramatic performance increase, which is nowadays a crucial aspect of any software running complex tasks. Most Aquila's features are implemented for both the standard CPU as well as massively parallel GPU processors.

The current version features these modules, most of which can run on iCub robot as well as the iCubSimulator.

 

• Terminal - monitors the system and provides the following interfaces:

Face Expressions - both low and hi-level interfaces
Zero Force Control - manages zero-force-control and its parameters
Connection Mode Monitor - visualises current connection mode of all joints
Application Launcher - launches external application

• Sequence Recorder - lets you record any sequence and save it in either XML file or in TXT file format, structure of which can be fully customised from the interface. This module also provides a way to: convert TXT back to XML file, set recording time and display countdown timer, move any joint to a position, record particular joints only, set and load home position from a file, replay previously recorded sequences, calculate force-torque sensors equilibrium at a home position and switch to compliance mode once the equilibrium was disrupted so that it is possible to move to robot’s limbs (starting from a specific position) while recording.

• ESN Kinematics - trains echo state networks and controls the robot.

• Modi Experiment - runs attention system, speech module and provides a way to demonstrate the modi experiment.

• U-Shaped Curves in Development - trains and visualises multiple self-organising maps that are connected by Hebian weights. This biologically inspired model provides one explanation of why children are better at recognising phonemes when they are 8months old then their performance gets worse before it improves again later.

• Multiple Time Scales Recurrent Neural Network - trains complex continuous time recurrent neural networks interlinked with self-organising maps using the backpropagation through time algorithm. This module has few sub-modules that let you run the training, visualise the progress and save the results (plot image, plot data and neural network file) and also load this data and run in on the iCub or its simulator while working together with a speech recognition software (Julius).

• Self Organising Maps - trains, saves, loads and visualises self organising maps while providing a simple way to change various parameters such as the number of iterations, learning rate, number of units, scaling method, inputs to be mapped in 3D space etc.

• CUDA - display information about the CUDA-capable devices on your system.The current version features these modules, most of which can run on iCub robot as well as the iCubSimulator.

 

Click here to download the manual that also contains installation instructions.  

Last Updated on Sunday, 31 October 2010 13:19