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IEEE-IAB Regional Report –FinlandState of Commercialization in Service and
Field Robots
Prof. Reijo TuokkoTampere University of Technology
Robotics and Automation Laboratory
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Contents
IntroductionRegional activities
Finnish Industry
Status in Field and Service Robotics in FinlandShort history
Industrial products and achievements
Research and education
Future aspects
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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IAB Regional Committee in Finland 2005-2006
Board members of the Robotics Society in Finland (www.roboyhd.fi): Mikko Veikkolainen, Chair of the Board, Kemppi Oy, mikko.veikkolainen@kemppi.com, Co-Chair of the IAB Regional Committee Jyrki Latokartano, Vice-Chair of the Board, Tampere Univ. of Technology, jyrki.latokartano@tut.fiTommi Laaksonen, Motoman Robotics Finland Oy, tommi.laaksonen@motoman.fiPekka Orpana, Meconet Oy, pekka.orpana@meconet.netReijo Pettinen, Lappeenranta Univ. of Techn., reijo.penttinen@lut.fiJari Savolainen, Helsinki Polytechnic, jari.savolainen@stadia.fiPetteri Souru, Teräspeikko Oy, petteri.souru@peikko.comJuhani Lempiäinen (financial manager), Deltatron Oy, juhani.lempiainen@deltatron.fiVesa-Matti Honkanen (secretary), Centria Research and Development, vesa-matti.honkanen@cop.fiReijo Tuokko (foreign affairs), Tampere University of Technology, reijo.tuokko@tut.fi, Co-Chair of the IAB Regional Committee
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Regional ActivitiesThe 400 individual members of the Robotics Society in Finland are informed using the website (www.roboyhd.fi) and Newsletter of the society. The local activities of the society include organisation of seminars, workshops and industrial visits, collecting and maintaining statistics in robotics, and initiation of different studies and research projects. A few national training events have been organised and a technical tour to Germany was organised in September 2005. The members of the society have been informed about the IEEE/IAB and IFR activities and events, incl. e.g. the IFR/ISR events 2005 (Tokyo) and 2006 (Munich).
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Regional ActivitiesThe society coordinates one current project called ‘Industrial robot meets customer’. As part of this project a coffee service robot application has been built and demonstrated in different public events. This robot is capable of making distinctive and high quality coffee. The operations are completely automated and easy to use by both customers and employees. The earlier application of a bartender robot has been developed further and rented with success for companies and organisations for entertaining purposes.
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRIAL ROBOT MEETS THE CUSTOMERfrom 1st Bartender towards real service robots
Vision:Untrained, common people receive help from robots in everyday situations
Challenges:Attitude: robots are something almost like science fiction --> robots are machines as well as other machinesEase of operation (user interface, control strategies): from programming the robot to telling the robot what it should do (“make me a gin-tonic”, “get the mail”, …). Untrained humans vs educated operators.Safety: humans and robots working simultaneously in the same working area.Sensors & reliability (detecting faulty operations and recovering from them)Industrial design: Should not look threatening. Should look reliable and should fit in the environment
Regional Activities
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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DrinkrobotGood experiences fromBartender
Regional Activities
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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A Cafe Robot –Coffee Service RobotCapable to make distinctive and high quality coffee. The operations are completely automated and easy to use by both customers and employees.”The robot makes coffee (espresso and espresso-based coffee-drinks such as coffee latte)Ready in April 2005Uses Stäubli RX60L robot armExtra focus in the industrial design
Regional Activities
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Student projects at TUT
BartenderBartender
ChessChess robotrobot
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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ChessRobot.nethttp://chessrobot.net
An on-line remotely contrallablechess robot
•On-line since 1st of April 2003•More than 250 games•First and only victory (so far)
on 29th of October 2003
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Student Club Roboteam at TUT participated in Eurobotsince 2002
2002 Flying billiard 2004 Coconut Rugby2003 Heads or Tails
www.eurobot.org
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Roboteam’s Eurobot 2004 project
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Field and Service robotsRobots and intelligent machines for other than factory environmentRobots replace people in tasks which are monotonous or which do not any more fulfill the minimum requirements for human workRobots operate in an environment unfriendly for humansRobots offer help or entertainment services to people in their normal living environment: homes, offices, public places, etcRobots have to move to tasks -> robots must be mobile Tasks are often in an environment which is not well structured, not a priori known in details and may be changing with time. High autonomy is needed. Similar scenarios are typical also for biological species.
Source: A.Halme
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Finnish Industry and R&D
Export
Trade in HiTech
R & D
Technology Industries 46 % of turnover (42 billionEUR)60 % of exports46 % of personnel (200 000)80 % of research and development
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Customers / End users
Glassindustry
Marineindustry
Processindustry
Forestindustry
Mining and construction
Logistics
ResearchEducation
TVS
VTT
TUT
TPU
TVAEC
UTA
Mobile work
machines
Components
Subcontractedparts
Machinery and systems for processand manufacturing
industry
AutomationControl
software
Electronics
Processautomation
Engineering,logisticsand otherbusiness services
Subsuppliers Main suppliers
Mechanical engineering and automation cluster
Field Robotics
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Mechanical Engineering and Automation
Mobile workingmachines formsa specific industrialcluster and centreof expertise(several marketleaders in the field)
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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John Deere
•Kalmar Industries over 50% container handling machinery•Sandvik-Tamrock 35% mining and construction machinery•Metso Automation over 15% automation for process industry
(paper industry)
•Metso Minerals 15% mobile rock crushers•Kvaerner Pulping 10–50 % boilers •PCE-engineering 15 % hollow core slab machinery•Tamglass over 70% safety glass machinery (architectural and
automotive)
•Timberjack 30% forest machinery•Bronto Skylift over 60% fire and rescue platforms•Fastems 70% multilevel FMS•Ata Gears 50% spiral bevel gears for marine applications•Gardner Denver 30 % marine compressors•Avant Tecno 40% mini loaders (max. one ton)
World Market Leaders in Tampere Region
Global MarketShare
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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oTeleoperation &Mobile Robotics
MORTTI 1 MORTTI 1 Mobile robotMobile robot
19941994--9696
Too early stage to be applied in industry
History
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Model-based Teleoperation in Mining
First First demos demos at TUTat TUT
In 1994In 1994
Too early stage to be applied in industry
History
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Test set with four operatorsNo benefit found for pure driving missionsBucket loading was considerably easier with stereo vision and servo head compared to mono vision and mounted cameras One operator suffered severe symptoms of simulator sickness Control Station
Workmachines
High Band Bus
Control Panel Control Station Separate Monitor Head Mounted Displayand Head Tracker
Workmachine Workmachine WorkmachineWorkmachine
Workmachine WorkmachineWorkmachines
Control stationControl stationControl panel HMD and
head trackerAdditional monitor
High bandbus
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TELEOPERATION AND TELE-EXISTENCE on a Heavy Construction Machine 1999
History
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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TELEOPERATION IN UNDERGROUND MINING1999
The Wireless Underground Communications System (WUCS) providesa reliable real time digital data link between mining machines and control centers The system consists of Mobile terminals installed in the
machines, Base Stations located in the production areas and Control Stations inthe Control Centers providing the user interfaces for remotecontrol equipment, color video and data transfer.
Electrobit Ltd., Finland
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History
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Digital Communication in Mining since 1999
Digital communication in teleoperationin mining offers
• reliability • safety • security • easy to integrate • wide radio coverage • easy to install, no tuning is required
Digital video offers• high image quality• no interference, noise or ghosting• high resolution
History
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: Sandvik-Tamrock
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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AutoMINETMCourtesy: R.Pulli
…“EL TENIENTE, THE WORLDS LARGEST UNDERGROUND MINE, GOES WITH SANDVIK TAMROCKS AUTOMINE SYSTEM” (2003)…” Sandvik Tamrock AutoMine System for Pipaand for Diablo” (2003)
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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SYSTEM OVERVIEW
One operator - several machinesAutomous navigationAutonomous dumpingAutonomous traffic controlMachine teleoperation capabilityAudio/Video connection betweenmachine and control roomAutonomous equipment conditionand production monitoringActive production area isolationInterfaces to external systems
Courtesy: R.Pulli
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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PROCESS CONTROL
Office
Control Room
Machines
Prodcution Area
Courtesy: R.Pulli
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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SYSTEM BENEFITSHIGHER FLEET UTILIZATION
INCREASED PRODUCTION CAPACITY
REDUCED MAINTENANCE & LABOUR REQUIREMENTSLOWER OPERATING COSTS
REAL TIME PRODUCTION SUPERVISION & CONTROL“MEASURE - CONTROL - OPTIMIZE”
OPTIMIZED TRAMMING SPEEDSSMOOTH EQUIPMENT OPERATION
INTEGRATION WITH ONSITE SYSTEMSIMPROVED CONTROL OF MINING PROCESS
INCREASED SAFETY
IMPROVED WORKING CONDITIONS
Courtesy: R.Pulli
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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SYSTEM CHARACTERISTICS
MACHINE SPEED- Same as in manual operation- Tested 40,1 km/h (Toro 50 truck)- Adjusts automatically according to
road condition
POSITIONING ACCURACY< 10 km/h : +/- 5 cm< 40 km/h : +/- 30 cm
PRODUCTION AREA ISOLATION-Area Access Control for machines
and personnel- Flexible machine entrance and exit
(transit lock)
CONTROL ROOM- Underground or surface- One or several operator stations
NAVIGATION TECHNOLOGY (InfraFREE)
- No artficial landmarksFast production area establishment
AUTOMATIC SYSTEM MONITORING- Condition monitoring- Continuous system diagnostics- Event logging
Courtesy: R.Pulli
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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SYSTEM ARCHITECTURECourtesy: R.Pulli
CO
NTR
OL
RO
OM
PRO
DU
CTI
ON
AR
EA
BACKBONE COMMUNICATIONBACKBONE COMMUNICATION
InfraFREE TCS
ACCESS CONTROLSYSTEM
ACCESS CONTROLSYSTEM
MISSION CONTROLSYSTEM
MISSION CONTROLSYSTEM
OPERATORSTATION X NOPERATOR
STATION X N
InfraFREE TCS
APAP
MINELAN COMMUNICATIONMINELAN COMMUNICATION
APAP
ACS GATESACS GATES
LHD: 4 cameras (3+1)
Truck: 3 cameras (2+1)
ACS=Access Control System
MCS=Mission Control System
TCS=Toro Control System
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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oOPERATOR
STATIONCourtesy: R.Pulli
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Navigation systemCourtesy: R.Pulli
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: Plustech Oy
A Timberjack subsidiary and a part of John Deere's
Construction and Forestry Division
Walking forestmachine
Harvester Simulator
Forwarder
Harvester
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: Plustech 1991 First Test Platform
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: Plustech 1995 Concept Forest Machine Phase I
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: Plustech 2000 Concept Forest Machine PhaseII
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: Plustech
Received Awards and prizesTop Technologies of the Year 1999The hp Aachen Award 1998The European Information Technology Prize 1997The European Better Environment Awards for Industry1996
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: Kalmar
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: KalmarAutomated Stacking Cranes in operation since 1989Fully automated terminal in Brisbane (in operation since 2002)Smartrail®,automaticsteering and container position verification (for RTG cranes)Smartpath®, container positioning system (for RTG and SC) both as original feature and retrofitRemote Maintenance Interface
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: KalmarNew container terminal at Brisbane, AustraliaInvestment $80 million
$40 million on infrastructure and another $40 million on equipment, including 14 automated straddle container carriers
The semi-automated terminal, the first of its kind in the world, would handle 500,000 TEUs (20-foot equivalent units) a year, with an ultimate capacity of 800,000 TEUs. The terminal has been fully operational since March 2005.
Brisbane by night - the first fully automated straddle carrier port in the world
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Growth of seaborne trade and containersationSource: OneStone: Container Terminal Focus 2007
Global Container Terminals
Each year, the equivalent of 200 million 20ft containers are handled in the ports of the world.
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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INDUSTRY: Avant Tecno
Research: IHAWireless Teleoperation
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Whyskies LtdA small Finnish technology companyKnowledge and expertice in Computer Science, Computer Engineering, Electrical Engineering, Information Technology and Mechanical EngineeringServes industrial, medical, and defence sectors with their needs in information technology by providing computers, networks and systems to harsh and sensitive environments Special knowledge from UVS (Unmanned Vehicle Systems) technology and built a working off-road prototypes to proof the concept. Emerging technology.
Helsinki University of TechnologyProf. Aarne Halme
Automation Technology LabIntelligent Machines and Special Robotics Institute
(IMSRI)http://www.automation.hut.fi/IMSRI/
Mechatronic design Machine sensing and applications
Locomotion systems and control of motion Navigation systems
Remote control and operations support Multi-robot systems
Microsystems New innovative applications
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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WorkPartner’s retired giant grandfather MECANT
1100 kg, driven by a 38 kW 2-cylinder ultra-light aeroplane engine with air coolingLeg mechanism is a 2-dimensional pantograph with vertical rotation axis having 3 d.o.fs and driven by hydraulic system
Control remotely by the joysticks via radio link
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Teleoperation, autonomous vehicles and walking technology
Mobile robotics test-bead constructed from a standard ATVFull scale loader machine instrumented for teleoperation and autonomous operations
Six leg heavy walking machine technology (cooperation with Plustech) 1988-1995
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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WorkPartner -Interactive Human-Like Service Robot for Outdoor Applications
WorkPartner is a mobile service robot, which works interactively with peopleWorkPartner can help people in different everyday tasks in outdoor environmentThe ‘worker’ is a human-like two-handed manipulatorThe hybrid locomotion system allows motion with legs and/or wheels at the same time All tasks are learned and executed in close cooperation with the human operator
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Key features of the WorkPartnerMobility: legs or wheels or both simultaneously Perception System: Passive vision fused with different ranging radarsNavigation: Fully automatic in local mapping of the unknown environmentLearning capability: The robot learns to perform skilled tasks when working interactively with the human operatorAdaptive motion control system: Hybrid locomotion system which provides rough terrain negotiating capability and wide speed range at the same timeManipulation capability: The two arm manipulator is able to do human-like tasks like manipulation and/or using different tools
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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WorkPartner -Interactive Human-Like Service Robot for Outdoor Applications
Play:
SNOW
Play:
BOX
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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P3 and WorkPartner
Weight 210 kg 230 kg Max vel. < 1m/s 2…3m/sWork weight 5 kgf/hand 5 kgf/handPayload ? 60 kgOperation time 15 min 4-5 hour (2 liter petrol)
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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HUT home robot Rollo
Rollo can move autonomously, itcan be controlled by BlueToothphone, TV remote controller etc.
Rollo cancommunicatemessages
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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ESA Rosa2-project rover
Small size drilling rig for exploring traces of life in MarsSamples are taken from ground and stones by drilling down to 2 mSamples are transported to the lander for further analysisThe robot is teleoperated from EarthCooperative project by HUT, Space Systems Finland and VTT
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Remotely Operated Tanker Inspection Robot
EU-project ROTIS, coordinated by Tecnomare in Italy, developed a prototype robot system for tanker ship inspection based on a smart ROV concept.HUT developed intelligent sensor based teatherdeployment and management unit.
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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VTT Industrial SystemsResearch since early 90’s
Autonomous wheelchairRobotics for helpingseverely disabledAutonomous straddlecarriersAutonomous miningAutomation for forestmachinesResearch for the Finnish Army
Contact: Dr. Hannu Lehtinen
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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University of Oulu Competences in robotics
Control architectures Human-robot interfaceLearning systemsRobot vision & Situation recognition
Related research projects (since 1998)Intelligent Moving Aids for the ElderlyGenie of the Net - An Environment for Ubiquitous ServantsRObots SErving huMANs (ROSEMAN)Minirobot for research and education (link to ROSEMAN)Machine vision for sensing and undrstanding human actions
Contact: Prof. Juha Röning
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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ITER (International Thermonuclear Experimental Reactor) ITER starts 2013
• in France or Japan
• size 8 x existing reactors
• replacement of divertor and refurbishment 4 times / ITER lifetime(Due to the erosion of the plasma facing components and possible need for improving the design of critical items)
• diverotr consists of 54 cassets (each12 tons)
• Replacement through 3 RH portsusing CMM (Casset MultifunctionalMover), CTM (Casset Toroidal Mover) and MAM (Maestro Manipulator Arm)
• MAM: 7 joints, different tools/end-effectors
Research at IHA since 1994: Divertor maintenance systems
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Water-hydraulic manipulator MaestroDevelopment of waterhydraulic actuators and valves (needed in ITER)
Research: IHA
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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New Joint Research Centres and InitiativesRemote Operation Virtual Reality Centre (ROViR)a joint venture between VTT Industrial Systems and TUT IHA (TampereUniversity of Technology, Institute of Hydraulics and Automation). the EFDA (European Fusion Development Agreement) has decided to locate its new Remote Handling (RH) facility, the Divertor Test Platform (DTP 2), in Tampere
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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New Joint Research Centres and InitiativesGIM - GenericIntelligent MachineJoint initiative of HUT/ATL (Prof. Halme) and TUT/IHA (Prof. Vilenius) for developingintelligent and modular workmachines and service and field robots of the futureSupporting industry forum FIMA -Forum for IntelligentMachines
TUT/IHA, HUT
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Future mobile field robots?Plustech Oy
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Future -Mining
•New sources
•Fully new processes
••RemoteRemote
••AutonomousAutonomous
Space: Moon,...
Ocean
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Case: KalmarFuture Business
AutomationServicesComponentsTurn-key deliveries
IAB workshop on the State of R&D and Commercialization in Service Robots, Dec 12, 2005, Augsburg, Germany
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Tampere in summer
Tampere Dec 1, 2004
??
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