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ROBOTICS AT UHCL

ROBOTICS AT UHCL. Thomas L. Harman Engineering Department Chair Director Center for Robotics Software. BRIEF HISTORY NASA AND SMALL BUSINESS. NASA SUPPORT FOR PH.D RESEARCH 1970s MINICOMPUTERS IN BUILDING 49 – LOCKHEED FIRST ROBOT WAS HEATHKIT HERO FOR DOCKING. EARLY DAYS AT UHCL.

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ROBOTICS AT UHCL

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  1. ROBOTICS AT UHCL Thomas L. Harman Engineering Department Chair Director Center for Robotics Software

  2. BRIEF HISTORY NASA AND SMALL BUSINESS • NASA SUPPORT FOR PH.D RESEARCH 1970s • MINICOMPUTERS IN BUILDING 49 – LOCKHEED • FIRST ROBOT WAS HEATHKIT HERO FOR DOCKING

  3. EARLY DAYS AT UHCL Eshed 1 Arm 5 DOF

  4. Brief History of robotics • Robots make autos, weld, spray paint • Need safety cages • Difficult to program • Very expensive

  5. ROBOTIC NEEDS FOR SMALL BUSINESSES • FLEXIBLE AUTOMATION FOR DIVERSE RANGE OF PRODUCTS • CONVENIENT PROGRAMMING OR TRAINING FOR ROBOTS • AND FOR EMPLOYEES • REASONABLE COST OF ROBOTICS AND GOOD ROI • SAFETY OF WORKERS NEAR THE ROBOT

  6. Collaborative Robots are the answer!

  7. Collaborative Robots are the answer! SAWYER BAXTER

  8. What has helped small businesses to produce technical products? • Powerful inexpensive microcomputers • Widely available standardized software for computers • Modern algorithms for processing data • Accurate and inexpensive sensors for vision • Long-lasting batteries for portable devices and mobile robots • Open-source software for research and manufacturing • Development of robotic software at universities and other organizations • Robot Operating System for example!

  9. UHCL Wishes to Contribute

  10. Industry Center for Robotics Software NASA JSC Academia – UHCL CRS Other Federal Govt State and Local Govt Thomas L. Harman, Ph.D. Director Carol Fairchild, Co-Director 281 283-3825 crs@uhcl.edu

  11. Advancing Robotics in the Houston Region Dr. Robert O. Ambrose NASA JSC Engineering June 7, 2017

  12. Ingredients: One of the biggest robotics groups in the US NASA JSC

  13. Ingredients: Strong Universities U of H Rice UHCL TMC UTMB

  14. Ingredients: Massive Industry Exxon Daikin Houston is home to 23 Fortune 500 companies Most industrial jobs in USA Port of Houston ranks as first or second in USA 3 Airports, 14 major tracks lines, central location Most diverse city in America (LA Times, 5/9/2017) Inexpensive labor, homes and energy Port

  15. Ingredients: A Demographic Tidal Wave Demographics is Inevitability Houston is a young city Houston is an Engineering city Houston is exporting students/talent FIRST Robotics

  16. Will Houston import robots for our industries and new adventures? Or will we build them ourselves?

  17. MISSION STATEMENT The Center for Robotics Software was conceived during consultation with key members of the NASA and local community. The main purpose is to leverage the technical infrastructure that exists between NASA, academia, and industry to identify and solve challenging automation and robotics problems. The emphasis is on ROS applications.

  18. WHY A ROBOT OPERATING SYSTEM -ROS ? • IDEAL FOR EDUCATION, RESEARCH, AND APPLICATIONS • ROS software has revolutionized development of robotics software and applications around the world. Developed at Stanford and released about 10 years ago. Many robots are ROS compatible. • ROS is composed of software packages for robot control, vision, and navigation. No need to write software if a package is available. • ROS is Open Source. Use is not restricted. • ROS packages can be modified to fit specific applications.

  19. ROS VERSIONS • Current ROS Used in Universities and Industry • Hundreds of robots use ROS – mobile, aerial, submersible, and manufacturing robots. Self Driving automobiles (BMW) and trucks ? • ROS-I Industrial ROS is being developed for use in manufacturing industries. • ROS-M Military is being developed for secure military robotic systems. • ROS 2.0 Redesign incorporating new technologies

  20. Center for Robotics Software CRS • Our Textbook Published in 2016 • Being Updated this Summer • ROS Basics, Simulation, and Real Robots • Mobile Robots, Baxter, Flying Robots • ROS connections with External Devices • ROS applications in MATLAB

  21. ROBOTICS COURSES AT UHCL • At UHCL College of Science and Engineering, we are teaching several courses in robotics that include the use of ROS. • An undergraduate course Introduction to Roboticshas been developed based on ROS. The Senior Projects course encourages robotics projects. Students participate in robotic competitions (Swarmathon, IEEE). • The graduate courses include: • Robotics – Introduction to the design and control of robots • Robotics Applications and Software – ROS course • Mobile Robots • Robotic Vision – OpenCV • Capstone or Master’s Thesis Robotics Projects • Other Courses – Digital Control, Digital Signal Processing

  22. FROM BRAIN TO BAXTER MOVE Darn It!

  23. NASA JSC Robots Using ROS • Robonaut 2 • Using ROS/Orocosarchitecture to handle real-time control and “crowd-source” autonomy and human interfaces • ROS used for non-safety critical components • Human supervisory interface • Sensory processing • Communication between supervisory control applications • Motion planning – MoveIt! • Gazebo simulation UHCL Center for Robotic Software

  24. NASA JSC Robots Using ROS • Valkyrie • Originally designed with ROS-based control architecture, currently ROS API into higher level commanding • Human supervisory interface • Gazebo simulation Dr. Kimberly Hambuchen UHCL Center for Robotic Software

  25. Benefits for Research Institutions The Valkyrie robot can support multipleresearch objectives. Mobility Manipulation Perception Less downtime for your programs hardware More opportunities for proposals leveragingthe Valkyrie robot UHCL can play a role in ROS development Court Edmondson

  26. KENNEDY SPACE CENTER SWARMATHON

  27. SCOPE of CRS • Commercialization of Space Technology • Educated Workforce Industry • Attract Top Students • Train Students for Robotic Careers • Conduct Research • Advanced Robotics for Space • Leverage Academic Resources • Strengthen Local Robotics Community NASA JSC Academia – UHCL, UH, Rice CRS Other Federal Govt State and Local Govt • Solutions to Hard Problems • Capabilities to Deploy • High Tech Jobs • Grow the Local Economy

  28. OTHER PERSONEL AND ASSOCIATES: Faculty Members: Dr. James Dabney, Dr. Michael Findler, Dr. Luong Nguyen, Dr. Lu, Dr. Unwala, Dr. Wu, Dr.Sakogluand Others. Students are also actively engaged in research in the robotics lab.

  29. Inputs and Outputs Of CRS • Grants from the State of Texas (e.g.Texas Emerging Technology Fund) • Grants for other agencies or initiatives (e.g. DARPA, DoE, NSF, NIH) • Investments from Industry (e.g. Shell Oil, Chevron) • Students • Visiting Professors • NASA Technology • NASA Experts CENTER FOR ROBOTICS SOFTWARE • Publications • Conferences • Graduates • Solutions • Technologies • Capabilities • Intellectual Property • Products • JOBS Leadership Facility and Laboratories Technology Infrastructure

  30. Proposed Oyster Sorting system

  31. SUMMARY • For the Center, the focus is on using ROS for robotic software projects. This software has revolutionized development of robotics software and applications around the world. • For example, NASA JSC is using ROS for future development of the Robonaut humanoid robot that is in current use on the International Space Station.

  32. UHCL AND CRS SERVICES • SEMINARS • Offer ROS workshops and seminars in the UHCL CRS lab • or at other facility training labs to develop and provide • targeted ROS software training for local companies • COLLORABRATION WITH GRANTS • HELP SOLVE TECHNICAL PROBLEMS • Work with NASA, academia, and industry to identify • and solve challenging automation and robotics problems

  33. Thanks from Baxter’s Lab

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