Integrated Project Course Integrated Project Course Implementation and Integration of Research Results (HT2012) Instructors: Federico Pecora, Franziska Klügl School of Science and Technology Örebro University <name>.<surname>@oru.se F. Pecora, F. Klügl – Integrated Project Course, HT2012 1 / 34
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Integrated Project Course
Integrated Project Course
Implementation and Integrationof Research Results
(HT2012)
Instructors: Federico Pecora, Franziska KlüglSchool of Science and TechnologyÖrebro University<name>.<surname>@oru.se
F. Pecora, F. Klügl – Integrated Project Course, HT2012 1 / 34
F. Pecora, F. Klügl – Integrated Project Course, HT2012 16 / 34
Integrated Project Course
Objective of IPW 2012
Sub-Task 1: Robot Platform
Set up and operate the Scitos A6 Transporter in AASSC/C++ programminguse of MIRA API for navigation/localization/mapping techniquesdevelopment of waiter robot behaviors
F. Pecora, F. Klügl – Integrated Project Course, HT2012 17 / 34
Integrated Project Course
Objective of IPW 2012
Sub-Task 2: MAS-Based Goal Allocation
Develop agent-based architecture for goal allocationC/C++/Java/. . . programminguse of agent-based coordination techniquesdevelopment of communications infrastructure
F. Pecora, F. Klügl – Integrated Project Course, HT2012 18 / 34
Integrated Project Course
Objective of IPW 2012
Sub-Task 3: Human-Robot Interface
Develop gesture-based interface for signalling desireC/C++ programminguse of Kinect and/or Xtion 3D sensors with MIRA or ROS APIsdevelopment of gesture-based language
F. Pecora, F. Klügl – Integrated Project Course, HT2012 19 / 34
Integrated Project Course
Implementation and Evaluation
Outline
1 Introduction and Course Objectives
2 Selected Previous Results (2008–2011)
3 Objective of IPW 2012
4 Implementation and Evaluation
5 Appendix: Lab Rules
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Integrated Project Course
Implementation and Evaluation
Implementation
Each task constitutes a small project
The final result is an integrated system and a demonstration
All sub-tasks strongly oriented towards implementation andprogramming
M1
(week 44)
[1 week] [4 weeks]
(week 39) (week 40)
M2
(week 46)
M0 M3
(week 50)
[2 weeks][4 weeks]
Developmentprototype
Roughsystem
Finalsystem
Ing
red
ien
ts
Human−Robot Interface
Goal Allocation
Robot Platform
F. Pecora, F. Klügl – Integrated Project Course, HT2012 21 / 34
Integrated Project Course
Implementation and Evaluation
Workplan Proposal
M0 — Ingredients: getting to know the components of the system inisolation, understanding what works and what doesn’t
Basic setup decided (e.g., which rooms/corridors to map, whereto place the kinects, etc.)
Robot behaviors can be called programmatically, mapping done
Kinect works in ROS, human pose can be seen
MAS-based task allocation algorithm implemented
F. Pecora, F. Klügl – Integrated Project Course, HT2012 22 / 34
Integrated Project Course
Implementation and Evaluation
Workplan Proposal
M1 — Rough System: a working system incorporating all componentswhere significant simplifications have been made
The robot can navigate to all end positions
Simple gesture-based language established and implemented
MAS-based allocation can post goals to robot
F. Pecora, F. Klügl – Integrated Project Course, HT2012 23 / 34
Integrated Project Course
Implementation and Evaluation
Workplan Proposal
M2 — Development Prototype: a complete prototype showing thesuccessful integration of components
No need to manually trigger the various elements of the system
MAS-based allocation leads to robot motion
HRI works robustly with different people
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Integrated Project Course
Implementation and Evaluation
Workplan Proposal
M3 — Final System: a full system which can be easily demonstratedand repeated
The system can handle contingencies (e.g., navigation fails andhas to be re-attempted)
Success rate of scenario is acceptable (≥ 70%)
Product is packaged into a “one click” demo
Simple user manual allows an external person to operate thedemo
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Integrated Project Course
Implementation and Evaluation
Deliverables
Milestone M0 (w40):Deliverable 1 (report): Detailed implementation plan
Deliverable 4c (report): Three papers (before Xmas)
Deliverable 4d (report): User’s Manual
F. Pecora, F. Klügl – Integrated Project Course, HT2012 26 / 34
Integrated Project Course
Implementation and Evaluation
Evaluation (I)
Evaluation will depend onthe quality / adherence to specification of the final productyour ability to acquire the appropriate competencesyour ability to organize your work on your ownyour ability to work with others (students and supervisors)
Evaluation is individualeven though you are working tightly with other students
Evaluation is on-going
Group work is necessary, but credit must always be givenwhere due!
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Integrated Project Course
Implementation and Evaluation
Evaluation (II)
Output 1 of the project is an integrated running demoto be shown at the end of the year to the AASS staff∼ 50 people, some of whom will be asked to compete forkannelbullar
The demo will not be run by you!you will have the opportunity to explain
Output 2 of the project is a video illustrating the systemshould be suitable for the MRLabSweden Youtube channelshould showcase team work, integration, fun, robustness of result
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Integrated Project Course
Implementation and Evaluation
Other Involved People
The IPW is about integrating state-of-the-art technology
expertise is spread across two labs:
Cognitive Robot Systems, Mobile Robotics and Olfaction
no one knows every aspect of the project
all aspects of the project are covered by someone
IPW is also an exercise in finding the right person to ask. . .