Deliverables
TRL5 prototypes of system components for robustness and dependability validated in lab: • Prototype of black box validated on KUKA youBot in lab and transferred to ROPOD platform • Rule-based diagnosis system and infrastructure and tools for remote access and visualization validated in lab environment
TRL5 prototype of motion planner for ropodTRL5 prototype and documentation of motion planner for ropod moving in time-varying environment
TRL5 prototype of compliant motion controllerTRL5 prototype and documentation of compliant motion controller for a single ropod
TRL6 prototypes of motor controllers and motion plannersTRL6 prototypes, documentation (ready for certification) and test reports of motor controllers and motion planners
TRL5 prototype of motion planner for flock of ropodsTRL5 prototype and documentation of motion planner for flock of ropods moving in time-varying environment
TRL6 prototypes system components for robustness and dependabilityTRL6 Prototypes system components for robustness and dependability validates/demonstrated in target environment: • Block box concept generalized and validated in non ROPOD robot • Diagnosis system demonstrate in 24/7 operation: • Error recovery and fail-safe mechanisms validated in operational environment
TRL5 validated prototype for human-robot collaborationTRL5 validated prototype and documentation for human-robot collaboration and shared task execution.
TRL6 prototypes of safe human-robot interactionTRL6 prototypes, documentation and test reports of all safe human-robot inter-action and shared task execution technology developed in this work package
TRL4 prototype for operation interface for task assignmentTRL4 prototype and documentation for operation interface for task assignment and ropod deployment
Specification of test procedures and protocols for evaluation of system components and their aggregation
Study on technological impactStudy on technological impact of use of service robots in hospital and care environments
First International Summit on Robot Safety organized
Project presentationStandard project presentation
Presentation at logistic fairsFirst presentation at logistic fair organized
Image videoROPOD Image video
PR materialFinal website (content and design), project leaflet
FMEA documentation reflecting the state of the system development at the respective development mile stones
Overall concept for robustness and dependabilityOverall concept for robustness and dependability including • Concept for a “black box for robots” (hard- and software) • Empirical data set with failure classification • Concept of rule-based diagnosis system based on FMEA methodology
Publications
Author(s):
Pooja Bhat, Santosh Thoduka, Paul G. Plöger
Published in:
30th International Workshop on Principles of Diagnosis DX'19, Issue 2019, 2019, Page(s) 7
Publisher:
dx-workshop.org
Author(s):
Sven Schneider, Herman Bruyninckx
Published in:
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3-8 Nov. 2019, Macau, China, Issue 2020, 2020, Page(s) 7439-7446, ISBN 978-1-7281-4004-9
Publisher:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI:
10.1109/iros40897.2019.8968500
Author(s):
Lakshadeep Naik, Sebastian Blumenthal, Nico Huebel, Herman Bruyninckx, Erwin Prassler
Published in:
2019 International Conference on Robotics and Automation (ICRA), Issue 1, 2019, Page(s) 3839-3845, ISBN 978-1-5386-6027-0
Publisher:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/icra.2019.8793641
Author(s):
Alex Mitrevski, Paul G. Plöger
Published in:
30th International Workshop on Principles of Diagnosis DX'19, November 11-13, 2019, Klagenfurt, Austria, Issue 2019, 2019, Page(s) 8
Publisher:
dx-workshop.org
Author(s):
A. Mitrevski, S. Thoduka, A. Ortega Sáinz, M. Schöbel, P. Nagel, P. G. Plöger, and E. Prassler
Published in:
Proc. of the 29th International Workshop on Principles of Diagnosis (DX), 2018
Publisher:
IFAC / Conference Organizers
Author(s):
Rubanraj Ravichandran, Erwin Prassler, Nico Huebel, Sebastian Blumenthal
Published in:
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 3744-3750, ISBN 978-1-5386-8094-0
Publisher:
IEEE
DOI:
10.1109/iros.2018.8594241
Author(s):
A. Mitrevski, S. Thoduka, A. Ortega Sáinz, M. Schöbel, P. Nagel, P. G. Plöger, and E. Prassler
Published in:
Proc. 29th Int. Scientific and Technological Conference in Extreme Robotics,, 2018
Publisher:
RTC
Author(s):
Huebel, Nico; Blumenthal, Sebastian; Naik, Lakshadeep; Bruyninckx, Herman
Published in:
State of the Map 2018, July 28-30 2018, Milan, Italy, Issue 2-2018, 2018, Page(s) 1
Publisher:
State of the Map 2018
DOI:
10.13140/rg.2.2.16279.83361
Author(s):
Alex Mitrevski, Paul G. Plöger
Published in:
RoboCup 2019: Robot World Cup XXIII, Issue 11531, 2019, Page(s) 408-417, ISBN 978-3-030-35698-9
Publisher:
Springer International Publishing
DOI:
10.1007/978-3-030-35699-6_32
Author(s):
Kramer E.R., Sáinz A.O., Mitrevski A., Plöger P.G
Published in:
RoboCup 2019: Robot World Cup XXIII, Issue 11531, 2019, Page(s) 255-267, ISBN 978-3-030-35698-9
Publisher:
Springer International Publishing
DOI:
10.1007/978-3-030-35699-6_20
Author(s):
Enríquez Gómez, Ángela Patricia
Published in:
Technical Report / Hochschule Bonn-Rhein-Sieg University of Applied Sciences, Department of Computer Science, Issue 02-2019, 2019, Page(s) 241, ISBN 978-3-96043-075-9
Publisher:
Hochschule Bonn-Rhein-Sieg University of Applied Sciences
DOI:
10.18418/978-3-96043-075-9
Author(s):
Massey, Ethan Oswald
Published in:
Technical Report / Hochschule Bonn-Rhein-Sieg University of Applied Sciences, Department of Computer Science, ISSN: 1869-5272, Issue 03-2019, 2019, Page(s) 117, ISBN 978-3-96043-076-6
Publisher:
Hochschule Bonn-Rhein-Sieg University of Applied Sciences, Department of Computer Science
DOI:
10.18418/978-3-96043-076-6
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