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CENTRE FOR AUTONOMOUS SYSTEMS · One of the three nodes of the ARC Centre of Excellence for...
Transcript of CENTRE FOR AUTONOMOUS SYSTEMS · One of the three nodes of the ARC Centre of Excellence for...
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CENTRE FOR AUTONOMOUS SYSTEMS
www.cas.uts.edu.auDr Alen Alempijevic
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� One of the three nodes of the ARC Centre of Excellence for Autonomous Systems – Funded from 2003 – 2010.
� Team: 53 robotics researchers (starting from 1 in 2002)
� 9 Academic staff; 9 Postdocs; 4 Research Engineers
UTS:CAS
� 28 HDRs (10 or 35% are UTS graduates)
� $14M in external research funding since 2003 ($1.7M in 2014)
� Teaching : Mechatronics Undergraduate Program: 300+ students in total
� One of the leading robotics research teams in Australia
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� Reputation: (1) World leader in SLAM: most cited robotics paper since 1996; (2) International leader in infrastructure maintenance robotics; (3) Australian leader in assistive robotics
• Research strengths : sensing, mapping, motion planning, human-robot interaction �Robots in complex, unstructured environments and working with people
UTS:CAS
environments and working with people
• Application of robotics in infrastructure, mining, stevedoring, agriculture and manufacturing
• Track record for delivering industry outcomes
• Entrepreneurial culture
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(1) Robots in unknown and complex environments
• Sensing, mapping, motion planning, exploration and
perception
• Simultaneous localization and mapping (SLAM): “Finding your way in a city without GPS and maps”
CAS: FUNDAMENTAL RESEARCH
“Finding your way in a city without GPS and maps”
(2) Human interactive robotics• “Human models” and control;
• Robotic co-workers
(3) Robot Teams in Dynamic Environments• Coordination and Control
• Simultaneously scheduling and planning
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Autonomous robots for industry automation:• Bridge rehabilitation
• Underground mining
• Water mains condition assessment
• Logistics and transport CAS
Infrastructure Maintenance
Assistive HealthManufacturing
CAS: ENGAGEMENT
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• Logistics and transport
Assistive robots:• Robotic co-worker for manufacturing
• Healthcare and aged care
• Meat and livestock industry
• International competitions: RoboCup search and rescue, Robot@home, Amazon picking challenge, DARPA)
CASMining
Primary & Rural
Industries
Transport & Logistics
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Robotic Systems for Steel Bridge Maintenance• Worker safety and productivity• Autonomous robots operating in complex and dusty 3D environments• Two robots operating in the SHB• SABRE: An Australian start-up
AUTONOMOUS INDUSTRIAL ROBOTS
UTS Robotics Team
• SABRE: An Australian start-up
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Two blasting robot collaboration and collision avoidance
MULTI ROBOT COOPERATION
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Major challenges:• Areas that are difficult to access• Negotiation with rivets• Inverted walking • Positive and negative corners openwork
BIOLOGICALLY INSPIRED AUTONOMOUS CLIMBING ROBOTS
cas.uts.edu.au
• Positive and negative corners openwork truss structures
• Robot design
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• Two prototype climbing robots have been designed and tested in the Sydney Harbour Bridge (SHB);
• A robot is going to be delivered to the SHB by April 2015
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• Coordination of robot teams• Applied in the world’s first fully
automated container terminal;• Potential applications: material
handling in warehouse, airport;
ROBOT TEAMS - LOGISTICS
UTS Robotics Team
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handling in warehouse, airport; manufacturing plant, etc
• Significantly improve the productivity
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• Develop a underwater robot for cleaning and inspection
• Address the research issues and develop enabling methods
UNDERWATER MAINTENANCE
uts.edu.au
enabling methods
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Research Challenges:• Building robots that cooperate with people is harder than
building a fully autonomous robot
• Perception and Navigation in Dynamic Environments
• Human Intention Recognition
•
ASSISTIVE ROBOTICS
UTS Robotics Team
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• Manipulation of Natural Objects
• Safe Physical InteractionApplication Domains:• Robotics for Ageing in Place• Robotics for patient care• Manufacturing: robotic co-worker
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• Assistant-As-Needed paradigm
• Reduce forces while performing manual tasks
• Safety framework
• Intelligent control through the integration of
ASSISTIVE ROBOTICS: CO -WORKER
UTS Robotics Team
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• Intelligent control through the integration of musculoskeletal, task and robot models
• Robot development
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• Safe physical human-robot interaction
• Intuitive interaction;
• User intention recognition
• Situation awareness and
ASSISTIVE ROBOTICS: CO -WORKER
UTS Robotics Team
• Situation awareness and collision avoidance
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EDTAS – TRENDS, BARRIERS, DRIVERSTechnical/Social Trends:
• Collaboration (Multi-Robot; Human-Robot)
• Assistance As Needed (Intent)
• Deep Learning (Demonstration / Interaction)
Barriers:
• Technology: Perception (Sensing)
• Complex Reasoning in Dynamic Environments
• Trust / Legislative
Drivers:
• Aging Population, Labour / Skills Shortage
• Private Venture Capital: SpaceX, Google, Ubercas.uts.edu.au
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AUTONOMY - EVOLUTION
< 5 years:
Complete Logistics Automation
< 20 years:
Driverless Vehicles in Non-Urban Point->Point (under constraints)
Automation of tasks without complex reasoning (Human on Loop)
cas.uts.edu.au
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THANKS !
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