euroc webinar - 21st of july 2014
DESCRIPTION
EuRoC aims at sharpening the focus of European manufacturing through a number of application experiments, while adopting an innovative approach which ensures comparative performance evaluation.TRANSCRIPT
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The Motivation
● Challenges drive innovation as they share the strive for questioning the status quo
● Robotics competitions have demonstrated their potential for fostering research and development, as well as supporting the transfer between academia and industry
EuRoC project ● Question the status quo of technology transfer ● Benchmark on existing shared resources ● Showcase potential of robotics challenges
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The Objectives
1. Successfully run three challenges
● Involving whole manufacturing supply chains within production,
logistics and servicing while favouring technology transfer from
academia to industry
2. Empower robotics platforms and benchmark infrastructures ● Sharing existing resources available at three top European
platforms
3. Ensure sustainability and adaptability to end users ● Developing experiments in labs under realistic conditions and
taking them down to the real field
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The Concept
● Three industry-relevant Challenges
● Open call framework
● Three stages of increasing complexity (incl. application experiments)
● Benchmarking and performance evaluation on shared resources
Reconfigurable Interactive Manufacturing Cell (RIMC)
Plant Servicing and Inspection (PSI)
Shop Floor Logistics and Manipulation (SFLM)
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EuRoC Challenges and SRA
● Challenges matched to application scenarios and industry sectors of the “Strategic Research Agenda for Robotics in Europe” (SRA)
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Challenge 1 (RIMC)
Reconfigurable Interactive Manufacturing Cell
● Motivation
● Develop innovative manufacturing solutions that benefit the European industry
● Push the state of the art in manufacturing technologies
● RTD issues
● Adaptive perception and cognition skills in presence of complex workcell layouts and dynamic environments, illumination changes and tolerances
● Robust assembly skills in presence of part tolerances, flexible parts
● Safe and productive human–robot interaction in presence of ambiguous situations, tight workplaces
● Methods to control robustly multi-role and multi-arm cooperative robotic systems in an industrially relevant setting
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C1 Platform
● Hardware
● Automation – robots (UR5, UR10, Kuka LWR, Kuka KR16, Schunk LWA 4P), light curtains, suction and fingered grippers, 2D and 3D cameras, IO modules, S7 safe PLC, force torque sensors, diverse assembly and processing tools
● Mechanics – fixtures, tables, clamps, etc.
● General infrastructure – computers, network
● Further components from the teams can be integrated if needed
● Software
● ROS compatible interface of most supplied components
● Proprietary interfaces (however not supported)
● Safe and productive human–robot interaction in presence of ambiguous situations, tight workplaces
● Location
● IPA lab or ARENA2036 site (both in Stuttgart)
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C1 Support
● Challenge Host (Fraunhofer IPA)
● Hardware setup (mounting, dismounting, tools etc.)
● Software integration of the platform components
● Mechanical and electrical workshop and 3D printers can be accessed in case that some mechanical/electronic parts/adapters are needed
● Technology Developers & System Integrators (Open)
● Challenge platform introduction day in Stuttgart where the platform components, their functionalities and how to integrate and use them are explained in detail
● Contacts
● Martin Hägele, Fraunhofer IPA, [email protected]
● Bernd Winkler, Fraunhofer IPA, [email protected]
● Ramez Awad, Fraunhofer IPA, [email protected]
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Challenge 2 (SFLM)
Shop Floor Logistics and Manipulation
● Motivation
● Addresses the SRA2009 scenarios Logistics and Robotic Co-Workers
● Mobile manipulators as suggested solution
● Utilisation as logistic carriers and dexterous manipulators
● RTD issues
● Bring torque controlled robots to advanced industrial applications
● Enable robots to operate autonomously in unstructured environments
● Establish safe and effective human–robot collaboration schemes
● Develop new applications and markets
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C2 Platform
● Hardware
● Omnidirectional base (omniRob)
● Navigation included
● Compliant robot (LBR5 iiwa)
● Sensor pole: depth images from stereo
● TCP camera (depth and images)
● Software
● KUKA Sunrise (Java-based) for manipulator and base programming
● Sunrise connectivity for motion programming
● Framework for base and advanced functionalities (e.g. motion planning)
● Location
● DLR (near Munich)
4 computers - 1 Server - 1 GPU-enabled
FPGA Board (SGM)
8 ToF cameras for 3d SLAM
mono + PMDNano
mast with pan-tilt-unit + stereo camera + ToF camera
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C2 Support
● Challenge Host (DLR + KUKA Labs)
● Management and support of mobile manipulator base/arena installation
● Provision and support of the existing technologies on the system and best practices
● Technology Developers (KUKA Labs + KUKA Roboter)
● Development and construction of the mobile manipulator
● Support of the platform hardware
● Field evaluation and use case scouting for mobile manipulators
● System Integrator (KUKA Systems)
● System integrator in field-test stage
● Support to the end-user enrolment
● Experience gained with mobile manipulation and end-user sales scenario scouting
● Contacts
● Rainer Bischoff, KUKA Labs, [email protected]
● Daniel Braun, KUKA Labs, [email protected]
● Christoph Borst, [email protected]
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Plant Servicing and Inspection
● Motivation
● Inspection & Surveillance is a hot industrial issue
● High altitude/dangerous environments
● (Semi-)autonomous operation to assist inspection experts without piloting skills
● RTD issues
● No/restricted GPS, indoor & outdoor operation
● Real 3D tasks, no 2.5 D assumptions (e.g. true omni-directional obstacle detection)
● Robust perception in challenging environments (e.g. dark, dusty, cluttered)
● Multi-sensor fusion, e.g. what to do if a sensor fails
● Path/task planning
● Interaction with operator, non-expert “pilots”
Challenge 3 (PSI)
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C3 Platform
● Hardware
● Revised and enhanced version of the sFly hex-rotor helicopter
AscTec Firefly
● Optimized for size and weight (safety & flight time)
● Sufficient payload capability for on-board computers & VI-sensor,
challenger/end-user payloads
● Novel flight control / autopilot hardware AscTec Trinity
● Visual-Inertial SLAM sensor
● Software
● Versatile interface options
● Fast on-board computing for user control loops, sensing algorithms, etc.
● Reliable flight control, always available as fall-back solution
● Location
● ETH (Zurich)
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C3 Support
● Challenge Host (Autonomous Systems Lab & Institute for Dynamic Systems and Control @ ETH Zurich)
● Help with software integration, building blocks for MAV operation/navigation
● Onsite support for Realistic Labs stage
● Simulation environment throughout the challenge
● Technology Developers (Ascending Technologies)
● General MAV platform support
● Help with electrical/mechanical integration of on-board sensors and electronics
● MAV/Autopilot interfaces
● System Integrator (Alstom Inspection Robotics)
● Advice & support for the proposed industrial use cases
● Supporting the relationship to the end users
● Practical support for onsite demonstrations
● Contacts
● Markus Achtelik, ETH Zurich, [email protected]
● Ekkehard Zwicker, Alstom Inspection Robotics, [email protected]
● Christoph Hürzeler, Alstom Power, [email protected]
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● Challengers
● 103 submissions received
● C1: 30 teams
● C2: 39 teams
● C3: 34 teams
● Technology developers
● Open for C1 (C2 and C3)
● KUKA Labs + KUKA Roboter for C2
● Ascending Technologies for C3
● System integrators
● Open for C1
● KUKA Systems for C2
● Alstom Inspection Robotics for C3
● End users
The Roles
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Challengers
● Team profiles can be found at http://www.euroc-project.eu/index.php?id=participants
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End Users
● Definition:
● Manufacturing companies, either SMEs or large Enterprises, looking for robotic solutions for their production environment.
● Why participate?
● Analysis of submitted use cases by 3 world-leading applied research institutions:
● If commercial solution already exists inform end-user of solution and provide contacts
● If no commercial solution exists help with formulation of use case
● Access to state of the art equipment and knowledge
● Great networking opportunity with research
● Transfer/sharing of risk
● Call:
● http://www.euroc-project.eu/index.php?id=callforendusers
● Use Case Submission:
● http://www.euroc-project.eu/index.php?id=register_enduser
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Technology Developers
● Definition:
● Companies or research organizations developing innovative technologies (e.g. new vision system, cloud-based control software, etc.) and looking for an application of their technology in the industrial robotics domain.
● Why participate?
● Analysis of submitted technologies by 3 world-leading applied research institutions and support regarding the identification of potential applications
● Opportunity to acquire funding for development of those applications
● Showcasing of technology at trade fairs and other dissemination event
● Great networking opportunity with end-users, research and industry
● Call:
● http://www.euroc-project.eu/index.php?id=callfortechnologydevelopers
● Technology Submission:
● http://www.euroc-project.eu/index.php?id=register_technology_developer
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System Integrators
● Definition:
● Companies that specialize in bringing together robotic components/subsystems, developing and commissioning whole robotic systems.
● Why participate?
● Great networking opportunity with technology developers and end users
● Opportunity to acquire funding for development of new products and services
● Showcasing of new products at trade fairs and other dissemination event
● Access to state of the art equipment and knowledge
● Transfer /sharing of development risk
● Call:
● http://www.euroc-project.eu/index.php?id=callforsystemintegrators
● Registration:
● http://www.euroc-project.eu/index.php?id=register_system_integrator
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● Technology developers
● Provide a short description of the company
● Provide a short overview of the highlights and features of the provided technology as well as of the potential application fields
● Template can be found here.
● System integrators (only C1)
● Provide a short description of the company
● Provide a short description of the expertise on developing and integrating robotic systems
● Template can be found here.
● End-users
● Provide a short overview of the current process of the use case: What is the motivation for a robotic solution? What are the obstacles which have prevented the use of current robotics technology?
● Provide a short description of the expected impact.
● Template can be found here.
The Call Application
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The Timeline
● Launch: 1 April 2014
● Three challenges articulated in three stages
● QUALIFYING
● REALISTIC LABS
● FIELD TESTS
● Duration: 48 months
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Stage I
Stage I ‒ QUALIFYING [4 Mo] PART A: Call for Challengers (and End Users)
● 1 page pitch: team description and challenge objectives
● Submit to simulation test (up to 30 teams per Challenge)
● Scoring according to objective metrics
The best 3 × 15 are selected PART B: Advance to Stage II (Realistic Labs)
● Match-making event: Challengers team up with end users, technology developers and system integrators
● Each team submits 15-page proposal
● Evaluation by Challenge Advisors and independent experts
The best 3 × 5 are selected
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Stage II
Stage II ‒ REALISTIC LABS [15 Mo] PART A: Benchmarking + freestyle [10 Mo]
● Teams will receive funding to prepare Round A
● Mid-term evaluation at Automatica 2016
● Challenge Advisory Board and team of independent experts decide admission to Round B
PART B: Showcase [5 Mo]
● Teams will receive funding to prepare Round B
● End-user driven task aimed at showcasing customizability under realistic conditions
● Challenger teams will be ranked according to objective metrics by Advisory Board and independent experts
The best 3 × 2 are selected
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Stage III
Stage III ‒ FIELD TESTS [9 Mo] Pilot experiments
● Teams will receive funding to prepare field tests
● 3 x 2 teams will do experiments under real conditions at end-user site (demonstrated at public event)
● Finalists will be undergo final evaluation by a Board of Judges
1 EuRoC winner is selected
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pick System
Integrator
Simulation Contest
Elicitation
Use Cases Technologies
Expertise
Challengers 3 x 15 Simulation
Stage Winners
submit * Use Case * Technology * Expertise descriptions
pick Use Case to solve
pick Technologies needed to
implement Use Case
form
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End Users Technology Developers System Integrators
register
Use Cases
Technologies
System Integrators
The Match Making
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The Challenge Chart
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The Project Lures
1. Cumulative sum of € 7 M grant money available to the Challengers
● 30 Teams will receive up to € 5 K each in the first stage
● 9 Teams will receive up to € 375 K each in the two stages
● 6 Teams will receive up to € 585 K each in the three stages
2. Added value of the challenge experiments
● Benchmark new algorithms on three first-class European hosting platforms
● End users, technology developers and system integrators on board from start
● Open access to platforms
● Full support from local hosts and end users
● Test algorithms at end-user site in the final stage
● Financial support available to cover personnel and travel/lodge costs
3. Formation of Challenger teams
● Gain business experience
● Great networking opportunities
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The Call Information
Call for Challengers
● Publication: 1 April 2014
● Closed: 30 June 2014
Call for End Users, Technology Developers & System Integrators
● Publication: 1 April 2014
● Deadline: 15 November 2014
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Follow Us
● Email queries ● [email protected]
● Website ● http://www.euroc-project.eu
● Video ● https://www.youtube.com/watch?v=iJDjJ02lYjw
● Press release ● http://www.euroc-project.eu/fileadmin/articles/EuRoC_PR_2014-04-01.pdf
● Seeker spotlight ● http://www.innocentive.com/blog/2014/03/31/seeker-spotlight-euroc/
● Facebook page ● https://www.facebook.com/eurocproject
● Twitter page ● https://twitter.com/EuRoCproject
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