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TRACEABLE ROBOTIC HANDLING OF STERILE MEDICAL PRODUCTS

Deliverables

Verification and validation plan 1

D14Verification and validation plan

ROS middle-ware mock-up, demonstrating UR arms control using ROS simulated environment

D61 ROS middleware mockup demonstrating UR arms control using ROS simulated environment

Impact dashboard 1

twice a yearD71 Impact dashboard monthly concise single page summary PUBLIC

Skill-based framework description

D31 Skillbased framework description Description of the modelling of robotic skills developed in the extension of classical models

Knowledge management checklist

D85 Knowledge management checklist and asset register ongoing

Traceability framework for laboratory automation:

D41 Traceability framework for laboratory automation fully functional first version including first verification examples in one of the modalities

Construction of mechanical framework to mount robotics arms within a laboratory hood.

D63 Construction of mechanical framework to mount robotics arms within a laboratory hood Integration of setup using new components with the robotic arm Includes acceptance testing of ROS middleware to ensure services provide full control of robotic arm along with integrated components

Impact dashboard 3

Twice a year

Regulatory engagement plan

D75 Regulatory engagement plan M12

Technical specifications as recommendations for the design of the multi-fingered gripper

D21 Technical specifications as recommendations for the design of the multifingered gripper

Communication plan

D72 Communication plan and materials

Framework: Definition of the conceptual and reasoning framework and semantic models

D51 Framework Definition of the conceptual and reasoning framework and semantic models Fundamental simulation aspects are available in the TST

Impact dashboard 2

Twice a year

Initial tactile, visual and functional task verification

D42 Initial tactile visual and functional task verification description evaluation and open source software

Initial setup using 2 x Robotic arms with prototypes or similar functional components attached, using ROS middle-ware mock-up

D62 Initial setup using 2 x Robotic arms with prototypes or similar functional components attached using ROS middleware mockup The integration will not be mounted within a framework at this point and will not be within a sterile environment

Project Handbook, communications infrastructure

D81 Project Handbook communications infrastructure

Software models (final)

D53 Software models Final Final definition of the software interfaces and software creating the Audit Trail Related to Milestone 3

Use case Specification 1

D11Use case Specification

Software models (basis)

D52 Software models Basis Software interfaces for first demonstrator defined and required simulation aspects are available Related to Milestone 2

Dissemination plan

D73 Dissemination plan and activities outwardfacing website

System Architecture

D12System Architecture

Data Management Plan 2

Data Management Plan update

Data Management Plan 1

D82 Data Management Plan

Data Management Plan 3

Data Management Plan update

Publications

Measuring the Sim2Real Gap in 3D Object Classification for Different 3D Data Representation

Author(s): J. Weibel, R. Rohrböck, M. Vincze
Published in: Lecture Notes in Computer Science: 13th International Conference on Computer Vision Systems, 2021
Publisher: Springer
DOI: 10.1007/978-3-030-87156-7_9

"NaivPhys4RP - towards Human-Like Robot Perception ""Physical Reasoning Based on Embodied Probabilistic Simulation"""

Author(s): F. K. Kenfack, M. Neumann, P. Mania, T. Tan, F. A. Siddiky, R. Weller, G. Zachmann, M. Beetz
Published in: 2022
Publisher: IEEE
DOI: 10.1109/humanoids53995.2022.10000153

An open and flexible robot perception framework for mobile manipulation tasks

Author(s): P. Mania, S. Stelter, G. Kazhoyan, M. Beetz
Published in: 2024
Publisher: IEEE

Perception through Cognitive Emulation - A Second Iteration of NaivPhys4RP for Learningless and Safe Object Recognition and Pose Estimation of (Transparent) Objects from Poor Sensor Data

Author(s): F. K. Kenfack, M. Neumann, P. Mania, M. Beetz
Published in: 2024
Publisher: IEEE

Analysis of 3D shape representations in presence of corrupted data

Author(s): R. Rohrböck, J. Weibel, M. Vincze
Published in: "Austrian Robotics Workshop ""ARW""", 2021
Publisher: "Austrian Robotics Workshop ""ARW"""

SporeAgent: Reinforced Scene-level Plausibility for Object Pose Refinement

Author(s): Dominik Bauer, Timothy Patten, Markus Vincze
Published in: IEEE/CVF Winter Conference on Applications of Computer Vision, WACV, 2022
Publisher: https://openaccess.thecvf.com
DOI: 10.48550/arxiv.2201.00239

PyraPose: Feature Pyramids for Fast and Accurate Object Pose Estimation under Domain Shift

Author(s): S. Thalhammer, M. Leitner, T. Patten, M. Vincze
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9562108

Enabling Classification of Heavily-occluded Objects through Class-agnostic Image Manipulation

Author(s): B. Gallauner, S. Thalhammer, M. Vincze
Published in: OAGM Workshop 2021 Computer Vision and Pattern Analysis Across Domains, 2021
Publisher: Verlag der Technischen Universität Graz

Object Placement in an Unknown Environment as Part of a Pick-and-Place Pipeline

Author(s): C. Eder, T. Patten, J. Weibel, M. Vincze
Published in: 2021
Publisher: Austrian Robotics Workshop

ReAgent: Point Cloud Registration using Imitation and Reinforcement Learning

Author(s): [1] D. Bauer, T. Patten, M. Vincze
Published in: IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021
Publisher: CVPR
DOI: 10.1109/cvpr46437.2021.01435

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