Bruno Siciliano, Martin Hägele, Rainer Bischoff, Christoph Huerzeler and Reinhard Lafrenz | Innovative robotics experiments in manufacturing

Fostering Digital Industrial Innovation in Europe

BERLIN 17th & 18th of June 2014

INNOVATIVE ROBOTICS

EXPERIMENTS IN MANUFACTURING

Moderator: Bruno Siciliano, University of Naples Federico II (IT)

• Martin Hägele, Fraunhofer IPA (DE), EuRoC

• Rainer Bischoff, KUKA Laboratories GmbH (DE), EuRoC

• Christoph Huerzeler, Alstom Inspection Robotics (CH), EuRoC

• Reinhard Lafrenz, TU Munich (DE), ECHORD++

EuRoC ― The Robotics Challenge

Initiative for European Manufacturing

Bruno Siciliano, University of Naples Federico II (IT)

• EuRoC in a Nutshell

• The Timeline

• Match Making

• The Challenge Chart

• The Project Lures

• The Call Information

• Follow Us

EuRoC in a Nutshell

I4MS: FOSTERING DIGITAL INDUSTRIAL INNOVATION IN EUROPE

Reconfigurable Interactive

Manufacturing Cell Shop Floor Logistics

and Manipulation

Plant Inspection

and Servicing

● Three industry-relevant Challenges

● Open call framework

● Three stages of increasing complexity (incl. application experiments)

● Benchmarking and performance evaluation on shared resources

The European manufacturing industry needs competitive solutions to

keep global leadership in products and services

EuRoC in a Nutshell


EuRoC Video

The Timeline


● Launch: 1 April 2014

● Three challenges articulated in three stages

● QUALIFYING

● REALISTIC LABS

● FIELD TESTS

● Duration: 48 months

Match Making


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 Challenge Chart


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

The Call Information


Call for Challengers

● Publication: 1 April 2014

● Deadline: 30 June 2014

Call for End Users, Technology Developers & System Integrators

● Publication: 1 April 2014

● Deadline: 15 November 2014

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

EuRoC Challenge 1

Reconfigurable Interactive Manufacturing Cell

Martin Hägele, Fraunhofer IPA (DE)

• Motivation & RTD Issues

• Platform

• Support

• Contact

Motivation & RTD Issues


● 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

Platform


● Hardware

● Automation – robots (UR5, 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

● 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)

● Location

● IPA lab or ARENA2036 site (both in Stuttgart)

SDA20D

(Yaskawa)

Support


● Platform 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 SDA20D

(Yaskawa)

Contact


● Bernd Winkler, Fraunhofer IPA


● Ramez Awad, Fraunhofer IPA


EuRoC Challenge 2

Shop Floor Logistics and Manipulation

Rainer Bischoff, KUKA Laboratories GmbH (DE)


• Platform

• Support

• Contact



● 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 industrial maturity

● Enable robots to operate autonomously in unstructured environments

● Establish safe and effective human–robot collaboration schemes

● Develop new applications and markets

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)

SDA20D

(Yaskawa)

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

Support


● Challenge host (DLR + KUKA Laboratories GmbH)

● Management and support of the mobile manipulator base /

arena installation

● Provision and support of the existing technologies on the

system and best practices

● Technology Developer (KUKA Roboter GmbH)

● 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 GmbH)

● System integrator in field-test stage

● Support to the end-user enrollement

● Experience gain with mobile manipulation and end-user sales

scenario scouting

SDA20D

(Yaskawa)

Contact


● Christoph Borst, DLR


● Daniel Braun, KUKA Labs


EuRoC Challenge 3

Plant Inspection and Servicing

Christoph Huerzeler, Alstom Inspection Robotics (CH)


• Platform

• Support

• Contact



● 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

● Robust perception in challenging environments

● Multi-sensor fusion

● Path / task planning

● Interaction with operator

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)

SDA20D

(Yaskawa)

Support


SDA20D

(Yaskawa)

● 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 Developer (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

Contact


● Markus Achtelik, ETH Zurich


● Daniel Gurdan, Ascending Technologies


● Ekkehard Zwicker, Alstom Inspection Robotics


The ECHORD++ project

Reinhard Lafrenz, Technical University of Munich (DE)

• Introduction

• ECHORD++ in a Nutshell

• Experiments

• Robotics Innovation Facilities

• Contact

Introduction


● Motivation

● Based on experience in previous ECHORD project

● Experiments + 2 additional instruments

● Clear focus on impact

● SMEs as one of the main target groups

● Scenarios

● Cognitive Tools and Workers for Cognitive Factories

● General Purpose Robotic Co-workers

● Cognitive Logistics Robots for Industry

● Medical Robotics

● Agricultural and Food Robotics

ECHORD++ in a Nutshell


Experiments

● Small-scale subprojects

● Typically 2-3 partners

● 2 open calls

● 300k€ funding

● 18 months duration

Robotics Innovation Facilities (RIFs)

● 3 physical infrastructures

● Bristol, UK

● Peccioli/Pisa, IT

● Paris, FR

● Open access to HW and

support

● Light touch applications

Pre-Commercial Procure-ment Pilots (PCP Pilots)

● Prototypical installations

at public bodies in 2 areas

● Healthcare

● Smart Cities

● Demand-driven

development by R&D

consortia

Experiments


● Call 1 (deadline was April 14, 2014)

● 137 eligible proposals received, 348 partners in total

● Emphasis on impact-oriented cooperation between industry and research

● SME participation in call 1

● 109 SMEs = 32% of the applicants

● 40 “new” SMEs, i.e. not yet involved

in EU projects

● Next call mid-2015

● Please follow us on www.echord.eu

Robotics Innovation Facilities


● Three physical lab infrastructures

● RIF @ Bristol Robotics Laboratory, Bristol, UK:

● Manufacturing, Assisted Living, Medical engineering, Food and

Agriculture, Edutainment, General robotics, automation, sensors

and actuators

● RIF@ Scuola Superiore Sant’Anna, Pecioli (near Pisa), Italy:

● Robotic worker, Logistics robots, Robot co-worker in domestic

environments, Edutainment, agricultural robotics

● RIF@CEA (Commissariat à l'énergie atomique et aux énergies

alternatives), Paris, France:

● Teleoperated surgical robots, multi-modal sensing of the

operation site, cognitive interface between the surgeon and the

robot system, smart instruments for minimally invasive surgery,

Telemedicine, Rehabilitation robotics

RIFs


● New concept to allow for access to research infrastructure and expertise

● Three physical infrastructures providing infrastructure and services

● Stay duration up to 6 weeks, re-application after a successful stay possbile

● No application deadlines

● No need to become a formal partner of ECHORD++ (no amendment request)

● Evaluation panel every 2 months

● Intended user groups

● SMEs and start-ups

● Students

● New user groups

● E++ Experiments

● Workshop Attendees

Contact us


● Email enqueries


● Website

● http://www.echord.eu

● LinkedIn group

● www.linkedin.com/groups/ECHORD-European-Clearing-House-Open-6528015

INNOVATIVE ROBOTICS

EXPERIMENTS IN MANUFACTURING

OPEN DISCUSSION

• How can companies and end users be attracted in order to

jointly speed up the innovation processes?

• How to further lower the entrance barriers and boost the interest

by SMEs?

• Which mechanisms can be used for effective knowledge and

technology transfer from research to industry?

• What are the success indicators / metrics for novel instruments?

• Which application areas are most promising?

THANK YOU FOR YOUR ATTENTION