TRIDENT: A Framework for Autonomous Underwater Intervention

TRIDENT is a STREP project recently approved by the European Commission whose proposal was submitted to the ICT call 4 of the 7th Framework Program. The project proposes a new methodology for multipurpose underwater intervention tasks. To that end, a cooperative team formed with an Autonomous Surface Craft and an Intervention Autonomous Underwater Vehicle will be used. The proposed methodology splits the mission in two stages mainly devoted to survey and intervention tasks, respectively. The project brings together research skills specific to the marine environments in navigation and mapping for underwater robotics, multi-sensory perception, intelligent control architectures, vehiclemanipulator systems and dexterous manipulation. TRIDENT is a three years project and its start is planned by first months of 2010.This work is partially supported by the European Commission through FP7-ICT2009-248497 projec

From teleoperation to the cognitive human-robot interface

Robots are slowly moving from factories to mines, construction sites, public places and homes. This new type of robot or robotized working machine – field and service robots (FSR) – should be capable of performing different kinds of tasks in unstructured changing environments, not only among humans but through continuous interaction with humans. The main requirements for an FSR are mobility, advanced perception capabilities, high "intelligence" and easy interaction with humans. Although mobility and perception capabilities are no longer bottlenecks, they can nevertheless still be greatly improved. The main bottlenecks are intelligence and the human - robot interface (HRI). Despite huge efforts in "artificial intelligence" research, the robots and computers are still very "stupid" and there are no major advancements on the horizon. This emphasizes the importance of the HRI. In the subtasks, where high-level cognition or intelligence is needed, the robot has to ask for help from the operator. In addition to task commands and supervision, the HRI has to provide the possibility of exchanging information about the task and environment through continuous dialogue and even methods for direct teleoperation. The thesis describes the development from teleoperation to service robot interfaces and analyses the usability aspects of both teleoperation/telepresence systems and robot interfaces based on high-level cognitive interaction. The analogue in the development of teleoperation interfaces and HRIs is also pointed out. The teleoperation and telepresence interfaces are studied on the basis of a set of experiments in which the different enhancement-level telepresence systems were tested in different tasks of a driving type. The study is concluded by comparing the usability aspects and the feeling of presence in a telepresence system. HRIs are studied with an experimental service robot WorkPartner. Different kinds of direct teleoperation, dialogue and spatial information interfaces are presented and tested. The concepts of cognitive interface and common presence are presented. Finally, the usability aspects of a human service robot interface are discussed and evaluated.reviewe

Overview of Key Technologies for Water-based Automatic Security Marking Platform

Water-based automatic security marking platform composed of multifunctional underwater robots and unmanned surface vessel has become the development trend and focus for exploring complex and dangerous waters,and its related technologies have flourished and gradually developed from single control to multi-platform collaborative direction in complex and dangerous waters to reduce casualties. This paper composes and analyzes the key technologies of the water-based automatic security marking platform based on the cable underwater robot and the unmanned surface vessel, describes the research and application status of the key technologies of the water-based automatic security marking platform from the aspects of the unmanned surface vessel, underwater robot and underwater multisensor information fusion, and outlooks the research direction and focus of the water automatic security inspection and marking platform

Configuration of skilled tasks for execution in multipurpose and collaborative service robots

Several highly versatile mobile robots have been introduced during the last ten years. Some of these robots are working among people in exhibitions and other public places, such as museums and shopping centers. Unlike industrial robots, which are typically found only in manufacturing environments, service robots can be found in a variety of places, ranging from homes to offices, and from hospitals to restaurants. Developing mobile robots working co-operatively with humans raises not only interaction problems but problems in getting tasks accomplished. In an unstructured and dynamic environment this is not readily achievable because of the high degree of complexity of perception and motion of the robots. Such tasks require high-level perception and locomotion systems, not to mention control systems for all levels of task control. The lowest levels are controlling the motors and sensors of the robots and the highest are sophisticated task planners for complex and useful tasks. Human-friendly communication can be seen as an important factor in getting robots into our homes. In this work a new task configuration concept is proposed for multipurpose service robots. The concept gives guidelines for a software architecture and task managing system. Task configuration process presents a new method which makes it easier to configure a new task for a robot. The idea is the same as when a person tells another how a task should be performed. Novel method for executing tasks with service robots is also presented. Interpretive execution, keeping the focus on only one micro task at a time, makes it possible to modify plans during their execution. Multimodal interaction is important feature to provide collaboration between humans and robots. Multimodal interaction reduces the workload of the user by administering task configuration and execution. A novel solution for using multimodal human-robot interaction (HRI) as a part of the task description is presented. This thesis is a case study reporting the results when developing a task managing (from configuring to execution) platform for multipurpose service robots and studying its performance and use with several test cases. The platform that was developed has been implemented with the WorkPartner multipurpose service robot. The structure and operation of the platform have proved to be useful and several tasks have been carried out successfully

Localization, Navigation and Activity Planning for Wheeled Agricultural Robots – A Survey

Source at:https://fruct.org/publications/volume-32/fruct32/High cost, time intensive work, labor shortages and inefficient strategies have raised the need of employing mobile robotics to fully automate agricultural tasks and fulfil the requirements of precision agriculture. In order to perform an agricultural task, the mobile robot goes through a sequence of sub operations and integration of hardware and software systems. Starting with localization, an agricultural robot uses sensor systems to estimate its current position and orientation in field, employs algorithms to find optimal paths and reach target positions. It then uses techniques and models to perform feature recognition and finally executes the agricultural task through an end effector. This article, compiled through scrutinizing the current literature, is a step-by-step approach of the strategies and ways these sub-operations are performed and integrated together. An analysis has also been done on the limitations in each sub operation, available solutions, and the ongoing research focus

A framework for compliant physical interaction : the grasp meets the task

Although the grasp-task interplay in our daily life is unquestionable, very little research has addressed this problem in robotics. In order to fill the gap between the grasp and the task, we adopt the most successful approaches to grasp and task specification, and extend them with additional elements that allow to define a grasp-task link. We propose a global sensor-based framework for the specification and robust control of physical interaction tasks, where the grasp and the task are jointly considered on the basis of the task frame formalism and the knowledge-based approach to grasping. A physical interaction task planner is also presented, based on the new concept of task-oriented hand pre-shapes. The planner focuses on manipulation of articulated parts in home environments, and is able to specify automatically all the elements of a physical interaction task required by the proposed framework. Finally, several applications are described, showing the versatility of the proposed approach, and its suitability for the fast implementation of robust physical interaction tasks in very different robotic systems

Intelligent Navigation Service Robot Working in a Flexible and Dynamic Environment

Numerous sensor fusion techniques have been reported in the literature for a number of robotics applications. These techniques involved the use of different sensors in different configurations. However, in the case of food driving, the possibility of the implementation has been overlooked. In restaurants and food delivery spots, enhancing the food transfer to the correct table is neatly required, without running into other robots or diners or toppling over. In this project, a particular algorithm module has been proposed and implemented to enhance the robot driving methodology and maximize robot functionality, accuracy, and the food transfer experience. The emphasis has been on enhancing movement accuracy to reach the targeted table from the start to the end. Four major elements have been designed to complete this project, including mechanical, electrical, electronics, and programming. Since the floor condition greatly affecting the wheels and turning angle selection, the movement accuracy was improved during the project. The robot was successfully able to receive the command from the restaurant and go to deliver the food to the customers\u27 tables, considering any obstacles on the way to avoid. The robot has equipped with two trays to mount the food with well-configured voices to welcome and greet the customer. The performance has been evaluated and undertaken using a routine robot movement tests. As part of this study, the designed service wheeled robot required to be with a high-performance real-time processor. As long as the processor was adequate, the experimental results showed a highly effective search robot methodology. Having concluded from the study that a minimum number of sensors are needed if they are placed appropriately and used effectively on a robot\u27s body, as navigation could be performed by using a small set of sensors. The Arduino Due has been used to provide a real-time operating system. It has provided a very successful data processing and transfer throughout any regular operation. Furthermore, an easy-to-use application has been developed to improve the user experience, so that the operator can interact directly with the robot via a special setting screen. It is possible, using this feature, to modify advanced settings such as voice commands or IP address without having to return back to the code