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Ultra-flat, ultra-flexible, cost-effective robotic pods for handling legacy in logistics

Deliverables

TRL5 prototypes for robustness and dependability

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 ropod

TRL5 prototype and documentation of motion planner for ropod moving in time-varying environment

TRL5 prototype of compliant motion controller

TRL5 prototype and documentation of compliant motion controller for a single ropod

TRL6 prototypes of motor controllers and motion planners

TRL6 prototypes, documentation (ready for certification) and test reports of motor controllers and motion planners

TRL5 prototype of motion planner for flock of ropods

TRL5 prototype and documentation of motion planner for flock of ropods moving in time-varying environment

TRL6 prototypes system components for robustness and dependability

TRL6 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 collaboration

TRL5 validated prototype and documentation for human-robot collaboration and shared task execution.

TRL6 prototypes of safe human-robot interaction

TRL6 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 assignment

TRL4 prototype and documentation for operation interface for task assignment and ropod deployment

Specification of test procedures and protocols

Specification of test procedures and protocols for evaluation of system components and their aggregation

Study on technological impact

Study on technological impact of use of service robots in hospital and care environments

Summit on Robot Safety

First International Summit on Robot Safety organized

Project presentation

Standard project presentation

Presentation at logistic fairs

First presentation at logistic fair organized

Image video

ROPOD Image video

PR material

Final website (content and design), project leaflet

FMEA documentation

FMEA documentation reflecting the state of the system development at the respective development mile stones

Overall concept for robustness and dependability

Overall 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

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Publications

A Dependency Detection Method for Sensor-based Fault Detection

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

Exploiting linearity in dynamics solvers for the design of composable robotic manipulation architectures

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
DOI: 10.1109/iros40897.2019.8968500

Semantic mapping extension for OpenStreetMap applied to indoor robot navigation

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
DOI: 10.1109/icra.2019.8793641

Data-Driven Robot Fault Detection and Diagnosis Using Generative Models: A Modified SFDD Algorithm

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

Deploying Robots in Everyday Environments: Towards Dependable and Practical Robotic Systems

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

A Workbench for Quantitative Comparison of Databases in Multi-Robot Applications

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
DOI: 10.1109/iros.2018.8594241

Practical Robot Deployment: Towards an Increased Dependability of Robotic Systems

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

Reusable Specification of State Machines for Rapid Robot Functionality Prototyping

Author(s): Alex Mitrevski, Paul G. Plöger
Published in: RoboCup 2019: Robot World Cup XXIII, Issue 11531, 2019, Page(s) 408-417
DOI: 10.1007/978-3-030-35699-6_32

Tell Your Robot What to Do: Evaluation of Natural Language Models for Robot Command Processing

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
DOI: 10.1007/978-3-030-35699-6_20

Comparison of multi-robot task allocation algorithms

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
DOI: 10.18418/978-3-96043-075-9

Comparative Analysis of Techniques for Spatio-Temporal World Modeling

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
DOI: 10.18418/978-3-96043-076-6