EuRoC ― The Challenge Initiative for European Robotics Bruno Siciliano Università di Napoli Federico II [email protected]

Info Day • Brussels • 7 October 2014

THE TEAM Bruno Siciliano • Luigi Villani • Vincenzo Lippiello • Alberto Finzi Silvia Rossi • Franco Cutugno • Fanny Ficuciello • Fabio Ruggiero Agostino De Santis • Rafik Mebarki • Antoine Petit • Jun Nishiyama Francesca Cordella • Mariacarla Staffa • Antonio Origlia Daniela D'Auria • Luigi Pelliccia • Salvatore Iengo • Giuseppe Loianno Luca Buonocore • Jonathan Cacace • Diana Serra • Mahdi Momeni Valeria Federico • Jonathan van der Meer FUNDING 8.3 M€

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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 Info Day • Brussels • 7 October 2014

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The Project

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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 Info Day • Brussels • 7 October 2014

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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)

Shop Floor Logistics and Manipulation (SFLM)

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Plant Servicing and Inspection (PSI)

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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 Info Day • Brussels • 7 October 2014

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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 mono + PMDNano

● Hardware ● ● ● ● ●

Omnidirectional base (omniRob) Navigation included Compliant robot (LBR5 iiwa) Sensor pole: depth images from stereo TCP camera (depth and images)

mast with pan-tilt-unit + stereo camera + ToF camera

8 ToF cameras for 3d SLAM

● 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)

4 computers - 1 Server - 1 GPU-enabled

● Location ● DLR (near Munich)

FPGA Board (SGM)

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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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Challenge 3 (PSI) 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”

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Plant Servicing & Inspection ● Current practice: manual servicing and inspection ● Laborious  long down times, high costs ● Dangerous  risk of accidents ● Failure prone  risk of unreliable data

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Plant Servicing & Inspection ● Capabilities and strategies for aerial robotics technology ● Micro UAVs able to fly in confined spaces or to reach remote locations ● Integrated intelligent control to ensure reliable and precise inspection ● Autonomous navigation allows repeatable and safe operation

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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 & VIsensor, 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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The Roles ● Challengers ● 103 submissions received ● C1: 30 teams ● C2: 39 teams ● C3: 34 teams

● Technology developers ● Open for C1 ● 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 Info Day • Brussels • 7 October 2014

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The Call Application ● 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

● System integrators (only C1) ● Provide a short description of the company ● Provide a short description of the expertise on developing and integrating robotic systems

● 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 Info Day • Brussels • 7 October 2014

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Use Case Application Name Organisation

E-mail

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Challenge # Use Case name: ??? Provide a short description of the company (size and location, offered products, addressed sectors and markets). Provide a short overview of the current process of the use case, e.g., process technology and involved resources. 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, e.g., in terms of cost reduction, market penetration, product quality, etc.

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Challenge ??? Use Case name: ??? ● Contact Person Information : Name

Click here to enter text.

Company

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Department

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Website

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E-Mail

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Street Name

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House Number

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City

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ZIP Code

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Technology Application Name Organisation

E-mail

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Challenge # Technology name: ??? Provide a short description of the company/organization (size and location, offered products and services, addressed sectors and markets). Provide a short overview of the highlights and features of the provided technology as well as of the potential application fields. Provide a short description of the motivation for participating.

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Challenge ??? Technology name: ??? ● Contact Person Information : Name

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Company

Click here to enter text.

Department

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Website

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E-Mail

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Expertise Application Name Organisation

E-mail

Info Day • Brussels • 7 October 2014

Challenge # Provide a short description of the company (size and location, offered products and services, addressed sectors and markets). Provide a short description of your motivation for participating. Provide a short description of the expertise on developing and integrating robotic systems. List references if available. Max. 2 slides for entire section

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Challenge # ● Contact Person Information : Name

Click here to enter text.

Company

Click here to enter text.

Department

Click here to enter text.

Website

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E-Mail

Click here to enter text.

Phone Number

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Street Name

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House Number

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City

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ZIP Code

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Country

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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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Challengers register

Simulation Contest

End Users Technology Developers System Integrators submit * Use Case * Technology * Expertise descriptions

3 x 15 Simulation Stage Winners

pick Use Case to solve

pick Technologies needed to implement Use Case

pick System Integrator

Elicitation Use Cases

Use Cases Technologies Expertise

Info Day • Brussels • 7 October 2014

Technologies System Integrators

form consortium / prepare proposal

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 Info Day • Brussels • 7 October 2014

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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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Next Info Day Friday 24 October 2014 10h–16h MUNICON CONFERENCE CENTER (directly next to the airport) Terminalstraße Mitte 18 85356 Munich Germany Sign up @ http://www.euroc-project.eu/index.php?id=eurocinfoday2

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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 Info Day • Brussels • 7 October 2014

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Info Day • Brussels • 7 October 2014