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PROJECT OVERVIEW & RESULTS
10/02/2014
Brussels, Belgium
Geert De Cubber, Royal Military Academy
PROBLEM STATEMENT
• Disasters disrupt our society• Disasters are very difficult to manage
Source: Wikimedia Commons
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
CURRENT SAR WORKFLOW
Disaster
Search & Rescue
Humanitarian Assistance
Relief
Recovery
Rebuilding
Continued Humanitarian
Assistance
• Disaster Phases
Source: B-FAST
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
CURRENT SAR WORKFLOW
• Search & Rescue actions:• Labour-intensive• Slow
Source: B-FAST
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS - CONSORTIUM
• Integrated Components for Assisted Rescue and Unmanned Search operations
• Participants:• 24 partners• 10 countries• 2 end-users:
• B-FAST• Portuguese Navy
• 3 large industrials• NATO / CMRE
• Total Budget: 17.5 M€Source: Wikimedia Commons
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS - CONSORTIUM
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 1: VICTIM DETECTION SENSOR
• Objective 1: Development of a light sensor capable of detecting human beings
• WP210• Based on QCD technology• Minimal levels of weight (500 g),
dimensions (12x12x6 cm) and total power consumption (5 W) are being targeted
• Image and video processing algorithms for detecting human survivors will be developed and combined to obtain sufficient detection performance
• UNINE, TUV, IZM, EPFL, ETHZ, RMA, UKL
Source: RMA
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 1: VICTIM DETECTION SENSOR
• Modular system consisting of analog/digital PCB’s and housing – ready for field testing
Source: UNINE
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 1: VICTIM DETECTION SENSOR
• Field studies evaluating real-life scenarios with both MWIR and LWIR cameras
Source: UNINE
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 2: UAS FOR SAR
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
• Objective 2: Development of cooperative Unmanned Aerial System (UAS) tools for unmanned SAR
• WP220• Used for:
• Mapping of topography and scenario• Target observation• People search outdoors and indoors• Kit delivery• Communication relay
• Multi-Scale Approach
• ETHZ, ASCAMM, SBX, JTH
ICARUS – OBJECTIVE 2: UAS FOR SAR
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
• Fixed-wing solar airplane for endurance-operations
Source: ETHZ
ICARUS – OBJECTIVE 2: UAS FOR SAR
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
Design Goals:• Prolonged endurance (24h continuous
flight – virtually endless flight)• Rapid deployment and easy hand launch• Increased robustness• Easier manufacturing techniques
Implementation• Design of the aerodynamics and manufacturing of
several prototypes• Integration of Solar Panels and validation of
efficiency• Integration of identical flight control and
navigation units• Currently improving the motor/propeller
configuration for further improvement
Source: ETHZ
ICARUS – OBJECTIVE 2: UAS FOR SAR
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
• Quadrotor for low-altitude operations
Source: ASCAMM
ICARUS – OBJECTIVE 2: UAS FOR SAR
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
• Gyropendulum for harsh-weather operations
• Full 3D Carbon Cage Exoskeleton
Source: JTH
ICARUS – OBJECTIVE 2: UAS FOR SAR
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
• Small quadrotor for indoor operations
Source: ETHZ , SBX
ICARUS – OBJECTIVE 2: UAS FOR SAR
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
• Small quadrotor for indoor operations
ICARUS – OBJECTIVE 3: UGVS FOR SAR
• Objective 3: Development of cooperative Unmanned Ground Vehicle (UGV) tools for unmanned SAR
• WP230• Development of a large UGV which
can be used as a mobile base• Development of a small UGV which is
able to enter in collapsed buildings to search for human victims
• UKL, META, RMA, SPACE, BFAST
Source: META, UKL
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 3: UGVS FOR SAR
• Tele-operated control of SUGV implemented• Simulation environment for LUGV and SUGV setup
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 3: UGVS FOR SAR
• 3D Processing for terrain analysis and situational awareness
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 3: UGVS FOR SAR
• First test of controlling large robotic arm on excavator using small haptic interface
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
Robotic Excavator Haptic Control Device
ICARUS – OBJECTIVE 4: UMS FOR SAR
• Objective 4: Development of cooperative Unmanned Surface Vehicle (USV) tools for unmanned SAR
• WP240• Used for:
• Sensing and perception for target detection and tracking.
• Mission planning and control for operations with single or multiple vehicles.
• Capsule deployment system (life-rafts).
• INESC, CMRE, CAL, CINAV Source: INESC, CAL
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 4: UMS FOR SAR
• Objective 4: Development of cooperative Unmanned Surface Vehicle (USV) tools for unmanned SAR
• WP240• Used for:
• Sensing and perception for target detection and tracking.
• Mission planning and control for operations with single or multiple vehicles.
• Capsule deployment system (life-rafts).
• INESC, CMRE, CAL, CINAV Source: INESC, CAL
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 4: UMS FOR SAR
• ROAZ USV
• Operation in real scenario• Waypoint navigation• Station keeping
• Deployment of UCAP from carrier USV
• Release of live raft• Detection of victims on surface
Source: INESC
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 4: UMS FOR SAR
• Unmanned Rescue Capsule
• Robotic hull carries uninflated raft• Life raft is inflated when deployed
from the hull• Inflated life raft remains loosely
coupled to the hull• The hull can be adapted to stay
tightly coupled to life raft
Source: INESC
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 4: UMS FOR SAR
• U-Ranger high-speed rescue vehicle• Detection of victims on surface• U-Ranger/CMRE integration validation
• U-Ranger controlled by IvP-Helm• Automatic obstacle avoidance
behavior
Source: CAL
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 4: UMS FOR SAR
• U-Ranger high-speed rescue vehicle• behavior
Source: CAL
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 5: ROBOT COLLABORATION
• Objective 5: Heterogeneous robot collaboration between Unmanned SAR devices
• WP250• Robot Interoperability• Coordination between
multiple UXV• Heterogeneous operations
UAS + UGV in a SAR context• Heterogeneous operations
UAS + USV in a SAR context
• ASCAMM, RMA, SPACE, IMM, INESC, ETHZ, UKL, CAL, CINAV, BFAST
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 5: ROBOT COLLABORATION
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 5: ROBOT COLLABORATION
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
WP2X0 Unmanned PlatformWP2X0 Unmanned Platform
WP2X0 Unmanned Platform
UXV Hardware
Actuators Sensors
Framework (ROS, FINROC, etc)
ICARUS Communication framework (WP310)
Transport Layer Manager
WP3X0 System (RC2, mobile, MPCS)
C2I Functionality
C2I Framework
ICARUS ICD
Handles low level comms (routing, etc)
ICARUS ICD
ICARUS MSGs
WP2X0
WP250
WP310
WP250
WP320
Source: ASCAMM
ICARUS – OBJECTIVE 6: COMMUNICATION
• Objective 6: Development of a self-organisingcognitive wireless communication network, ensuring network interoperability• WP310• Focus:
• Mobile and wireless ad-hoc communications in combined land-air-sea environments.
• Self-coordination and optimisation of spectrum resources by using cross-layer cognitive radio techniques
• Self-managed network able to adapt to varying and extreme conditions by using power-efficient, failure-resilient protocols.
• Flexible security scheme. • Harmonised management and control overlay, able to encompass
several data-link technologies (WLAN, GSM).
• ISYS, RMA, QUOBIS
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 6: COMMUNICATION
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 6: COMMUNICATION
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 6: COMMUNICATION
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
RF and throughput simulations VHF-UHF field tests
• Preliminary tests
ICARUS – OBJECTIVE 7: C2I
• Objective 7: Integration of Unmanned Search And Rescue tools in the C4I systems of the Human Search And Rescue forces• WP320• 3 objectives:
• Collection of data/information from the robots, operators, human teams deployed, …
• Collation and merging of data from different sources, including allowing for differing reliability of sources and integration with GIS and GDACS information;
• Monitoring and control interfaces that can provide high level command capabilities to appropriate users
• SPACE, ATOS, ASCAMM, ISYS, INESC, IMM, E-GIS, UKL
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 7: C2I
• Multi-sensor data fusion for C2I
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
Map fusion
Feature Extraction
3D reconstruction
ICARUS – OBJECTIVE 7: C2I
• Development of an interface for control of the robotic manipulator (see WP230) using an exoskeleton that includes haptic feedback
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
Rugged laptop for running RC2 located at OSOCC
Force-feedback exoskeleton for tele-operating robotic arms
Arm control and force feedback
ICARUS – OBJECTIVE 7: C2I
• Command and control interfaces
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
OSM Base Map
Sector creation
Layer Selector
Camera Views
Robot Task Planner
Health and platform data
ICARUS – OBJECTIVE 7: C2I
• Command and control interfaces validated in real scenarios
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 7: C2I
• Command and control interfaces validated in real scenarios
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 8: TRAINING & SUPPORT
• Objective 8: Development of a training and support system of the developed Unmanned Search And Rescue for the Human Search And Rescue teams
• WP330• Development of PC-type trainers-
simulators for training operators of SAR robots
• Development of an e-learning methodology training tool with virtual robots use of semantic information in a human-machine-interface
• IMM, ISYS, INESC, ESRISource: IMM
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 8: TRAINING & SUPPORT
• Design of methodology of training for human operators
• Design of the architecture of training tools for multi robot missions
• Improvement of 6DSLAM for data fusion module to provide realistic scenarios
• Design of a networkemulator for software testing
• Design of Support System using GPU virtualization for parallel computing
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
ICARUS – OBJECTIVE 8: TRAINING & SUPPORT
• The competency certification process (approach)• Analyze situations and scenarios of training/certification. • The competences profiles of the target group must be
defined, as well as those that must be used to obtain the correct outcomes of each mission/scenario.
Source: IMM
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
DEMONSTRATIONS - LAND
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
DEMONSTRATIONS - LAND
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
DEMONSTRATIONS - LAND
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
Team 1: Blocks: LUGV + AROT• Outdoor aerial assessment• Outdoor victim search• Outdoor Collaborative
navigation• Route clearing• Entry breaching• Medical assessment• Rescue kit delivery• Shoring• …
DEMONSTRATIONS - LAND
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
Team 2: School: SUGV + SROT• Indoor aerial assessment• Indoor victim search• Indoor Collaborative navigation• Navigation in low and no
communication bandwidth areas
• Structural Assessment• …
DEMONSTRATIONS - LAND
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
Team 1 + Team 2: CBRN danger• Indoor + Outdoor assessment• Indoor victim search• Indoor hazard search• Indoor Collaborative navigation• Navigation in low and no
communication bandwidth areas• Structural Assessment• Entry breaching• Medical assessment• …
DEMONSTRATIONS - WATER
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
DEMONSTRATIONS - WATER
ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE
10/02/2014
PROJECT OVERVIEW & RESULTS
Brussels, Belgium
Geert De Cubber, Royal Military Academy