1 / 39

Rescue Robot Project

Rescue Robot Project. Project overview. Modular components to be re-used in future years Tasks and Team Robot graphical user interface ( Zwivhuya Tshitovha ) Robot control interface ( Jaco Colyn ) Robot visual system (Jonathan Dowling)

teige
Download Presentation

Rescue Robot Project

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Rescue Robot Project

  2. Project overview • Modular components to be re-used in future years • Tasks and Team • Robot graphical user interface (ZwivhuyaTshitovha) • Robot control interface (JacoColyn) • Robot visual system (Jonathan Dowling) • 8 Masters students working in the Robotics and Agents lab

  3. Importance of Research • Reduce risk for rescue workers • Map generation • Rescue tasks • Detection and localisation of victims • Detection of hazardous materials • Disasters that have used robots: • Japan nuclear disaster • Three Mile Island nuclear disaster • World Trade Centre terrorist attack

  4. Rescue robots in disasters • Usage in Japan nuclear disaster • And in the World Trade Centre

  5. Rescue robots in disasters • World trade centre (continued)

  6. The UCT Rescue Robot

  7. Research Questions • How can an effective system be built to automatically detect simulated disaster zone objects? • human victims • hazmat signs • rolling E’s • Using the normal IR cameras available on the robot and • Applying existing computer vision techniques to extract the features

  8. Research Questions • How can a usable and efficient GUI be built by hiding information and preventing sensory overload?

  9. Research Questions • How can an intuitive robot control system be created by mapping the robots functions onto a human interface device?

  10. RoboCup Rescue Robot overview • RoboCup – an international organisation based in Sweden • Urban search and rescue tests

  11. Tests and Competitions • Simulate human subjects and disaster environments • Robot vision tests • Rolling E’s • Hazmat signs • Victim detection • Remote operation of robot through competition arena to carry out tasks such as retrieving an object

  12. Rolling E’s

  13. Hazardous Materials (Hazmat)

  14. Victim detection

  15. Deliverables • Client for software engineering project: Stephen Marais from Robotics and Agents Lab • The deliverables required for this project are: • A visual system for the robot to be able to pass the “rolling E’s” test • Hazardous material signs detection • Human victim detection • Easy to use interface for controlling the robot via a human interface device • Intelligent graphical user interface that highlights only important information to the operator

  16. Goals and challenges: Robot Control InterfaceGraphical User Interface

  17. Fundamental Robot Control Goals • Driving the robot • Controlling the robotic arm • Adjusting the robots tracks

  18. Prevent Operator Mistakes • No direct line of sight to the robot • Robot is “on its own” • Has to return by itself • Prevent • Falling over • Driving out of range

  19. Robot Control Challenges • Efficient control • Single Teleoperator • Reduce fatigue • Interpret and perform commands in real time • Reduce input delay “lag” • Efficient mapping of commands to the control interface Micire, M., Mccann, E., Desai, M., Tsui, K.M., Norton, A., and Yanco, H.A. Hand and Finger Registration for Multi-Touch Joysticks on Software-Based Operator Control Units. (2011), 88-93.

  20. Graphical User Interface challenges • Designing a “clean” Graphical User Interface (GUI) • Reducing sensory overload – which leads to fatigue • Relay locations of important objects that cannot be directly seen • Only seen through the control interface and GUI • Interface must provide situational awareness

  21. Robot Control Interface RC & GUI • Iterative and Incremental software engineering. • Human Computer Interaction (HCI) • Human Robot Interaction (HRI) • Use case scenarios taken from Urban Rescue Scenarios

  22. Goals and challenges: Robot Vision(RV)

  23. Fundamental RV goals • Detect Human body parts (primarily limbs) • Detect and identify Hazmat signs • Detect the “rolling-E”

  24. Robot vision system • Input stream of video • The general procedure • Transform the image’s data into a simpler representation • Apply a machine learning algorithm onto the transformed data to detect features.

  25. Testing

  26. Testing • Robot control interface and GUI • User centred design approach. • Qualitative and Quantitative results • Feedback can be generated from • Test subjects • Asked to complete specific tasks using the interface. • Performance measurements and quantitative results from simulation testing. • Hazmat signs • Human body parts • Rolling “E”

  27. Testing • Requirements • RoboCup Rescue Competition (RRC) • Urban Search and Rescue • Initial testing on each sub-system • Final testing on the system as a whole • Based on expected challenges in the RRC

  28. Ethical, Professional and Legal Issues • Demonstrate its capabilities on dummies • No external users because robot quite expensive • Ethical clearance

  29. Related Work • Robot vision • Mikolajczyket al [1] • Robot control and Interface • Richer et al [2] • Adams [3]

  30. Related Work cont... • Team Description Papers 2003 • Team RoBrno [4]

  31. Resources • Hardware • 19 inch wide screen • Robot • Human interface device • Software • OpenCV • Bosch SDK • ROS

  32. Risks • Accessing the robot • Robot hardware damage • Missing project milestones

  33. Anticipated Outcomes • System used for a rescue robot that is developed by the Robotics and Agents Research Laboratory. • Key success factors • Robot vision -- Accurate detection in smallest time • Robot interface and control -- Usable and efficient given by measure of time and effort

  34. Timeline

  35. Timeline

  36. Timeline

  37. Timeline

  38. References • [1] Mikolajczyk, K,Schmid, C & Zisserman ,A 2004, „Human detection based on a probabilistic assembly of robust part detectors‟ . European Conference on Computer Vision, Oxford, United Kingdom. • [2] Adams, JA 2002,‟Critical Considerations for Human-Robot Interface Developmen‟, Proceedings of 2002 AAAI Fall Symposium, 2002 - aaai.org, Rochester Institute of Technology Rochester, New York. • [3] Richer, J & Drury, JL 2006 „A Video Game-Based Framework for Analyzing Human-Robot Interaction ‟, Characterizing Interface Design in Real-Time Interactive Multimedia Applications. MITRE Corporation, United states of America • [4] Uschin, K, Inteam, S, Sae-eaw,N, Trakultongchai, A, Klairith, P, Jitviriya, W & Jenkittiyon , P,‟ RoboCup Rescue 2009 - Robot League Team iRAP_Pro (Thailand)‟,King Mongkut‟s University of Technology North Bangkok (KMUTNB) , Bangkok Thailand.

  39. Questions ?

More Related