|08:30 – 08:50||Organizers||Welcome & Workshop Agenda|
|08:50 – 09:30||Andreas Birk||Underwater Bridge Inspection in the Context of Flood Disasters|
|09:30 – 10:00||Cesar Cadena||Long term Human-Robot Teaming for Robot Assisted Disaster Response (TRADR)|
|10:00 – 10:30||Coffee Break|
|10:30 – 11:00||Sven Behnke||Perception and Planning for Autonomous Locomotion and Manipulation in a Disaster-Response Robot|
|11:00 – 11:30||Davide Falanga||Vision-controlled Drones for Disaster Response: Perception, Agile Flight, and Deep, Autonomous Exploration|
|11:30 – 12:00||Nikos Tsagarakis||Actuation Technologies for Robots operating in Unstructured Environments: Application to CENTAURO and WALK-MAN robot|
|12:00 – 13:30||Lunch Break|
|13:30 – 14:00||Yoshihiko Nakamura||Hydraulic Actuators and Humanoid Robot Hydra|
|14:00 – 14:30||Claudio Melchiorri||Unmanned Aerial Vehicles for supporting Search & Rescue Activities in the Alps: the SHERPA experience|
|14:30 – 15:00||Manuel Catalano||Field Experiments in a Post-earthquake Scenario with Walk-Man robot: the application, the experience|
|15:00 – 15:30||Coffee Break|
|15:30 – 16:00||Peter Ogren||A New Teleoperation Interface for Tracked Search and Rescue Robotics|
|16:00 – 16:30||Erik Schaffernicht||Mobile Robots with Novel Environmental Sensors for Inspection of Disaster Sites with Low Visibility – The SmokeBot Project|
|16:30 – 17:00||Satoshi Tadokoro||ImPACT Tough Robotics Challenge Project for Disruptive Innovation|
|17:00 – 17:30||Andrea Del Prete||Robust Optimization-Based Robotics|
|17:30 – 17:40||Organizers||Discussion and Closing Remarks|
Title: Underwater Bridge Inspection in the Context of Flood Disasters
Speaker: Andreas Birk, Jacobs University, DE.
Abstract: Bridges are critical transport infrastructures during floods, but they also have a high risk of being damaged during these disasters due to scourings and jams. The state of the art for bridge inspection is to use visual data gathered above the waterline, which is insufficient for typical flood related damages. But underwater inspections by divers are very risky and provide only anecdotal evidence for the presence or absence of damages. We hence investigate the use of a marine robot for bridge inspection, especially in the context of floods. The robot is equipped with an imaging sonar, for which a spectral registration algorithm is used to generate maps of the site. These maps allow detecting especially scourings and jams as the predominant form of damage caused by floods. This research is carried out in the context of the German-Indian cooperation project “Vulnerability of Transportation Structures, Warning and Evacuation in Case of Major Inland Flooding (FloodEvac)”.
Title: Long term Human-Robot Teaming for Robot Assisted Disaster Response (TRADR)
Speaker: Cesar Cadena, Autonomous Systems Lab, ETH Zurich.
Title: Perception and Planning for Autonomous Locomotion and Manipulation in a Disaster-Response Robot.
Speaker: Sven Behnke, University of Bonn, DE.
Title: Vision-controlled Drones for Disaster Response: Perception, Agile Flight, and Deep, Autonomous Exploration.
Speaker: Davide Falanga, Davide Scaramuzza, University of Zurich, CH.
Abstract: We will present a vision-based quadrotor that can autonomously execute a trajectory, build a dense 3D map of an unknown area in real-time, and present it live to a user during a research-and-rescue mission. We will also address one of the main challenges towards autonomous quadrotor flight in complex environments, which is how to enter collapsed buildings by flying through narrow gaps. We will show that this raises an interesting active-vision problem (i.e, coupled perception and control). Finally, we will show results in the field of deep learning applied to a drone for autonomously recognizing and following forest trails in search of lost people in wilderness areas.
Title: Actuation Technologies for Robots operating in Unstructured Environments: Application to CENTAURO and WALK-MAN robots
Speaker: Nikos Tsagarakis, Istituto Italiano di Tecnologia, IT.
Title: FHydraulic Actuators and Humanoid Robot Hydra
Speaker: Yoshihiko Nakamura, University of Tokyo, JP.
Title: Unmanned Aerial Vehicles for supporting Search & Rescue Activities in the Alps: the SHERPA experience”
Speaker: Claudio Melchiorri, University of Bologna, IT.
Abstract: The goal of the talk is to present the research activity carried out within the European Project SHERPA (www.sherpa-project.eu) dealing with the development of robotic systems for Search & Rescue in unfriendly environments with a particular emphasis on S&R operations on the Alps. The talk will start by presenting the different ground and aerial technologies developed in the project under the supervision of the end user CAI (Club Alpino Italiano), which is the organisation taking care of S&R on the Alps in Italy. Human-in-the-loop and control methodologies developed in SHERPA will be also discussed. In the second part the talk will show the experimental activity carried out with CAI. The use of drones for quick localisation of persons buried by avalanches will be in particular presented by showing the experimental activity supported by the end-user in real scenarios.
Title: Field Experiments in a Post-earthquake Scenario with Walk-Man robot: the application, the experience.
Speaker: Manuel Catalano, Istituto Italiano di Tecnologia, IT.
Abstract: Nowadays human intervention is the only effective course of action after a natural or artificial disaster. This is true both for the relief operations where search–and– rescue of survivors is the priority, and for subsequent activities such as the ones devoted to building assessment. In these contexts the use of robotic systems would be beneficial to drastically reduce operators’ risk exposure. The readiness level of the robots still prevents their effective exploitation in relief operations, that are highly critical and characterized by severe time constraints. On the contrary current robotic technologies can be profitably applied in procedures like building assessment after an earthquake.
The presented work will show hardware and software characteristics of the developed robotic platform (derived from the Walk-Man humanoid robot), and results obtained with field testing in the real earthquake scenario of Amatrice, Italy. Finally considerations on the experience and feedback provided by civil engineers and architects that engaged in the activities will be reported and discussed.
Title: A New Teleoperation Interface for Tracked Search and Rescue Robotics
Speaker: Petter Ogren, KTH, Sweden.
Abstract: It is well known that situation awareness as well as network connectivity presents significant problems in search and rescue robot teleoperation. In this presentation we will describe how Free Look Control (FLC), an interface created in the computer game community, can be used for teleoperating tracked search and rescue robots. We also show how FLC improves situation awareness and enables an extension that improves the ability to operate in areas with poor network connectivity.
Title: Mobile Robots with Novel Environmental Sensors for Inspection of Disaster Sites with Low Visibility – The SmokeBot Project
Speaker: Erik Schaffernicht, Örebro University, SE.
Abstract: In this presentation I will discuss perception and cognitive challenges for disaster response robots at sites with low visibility and describe the H2020 project “SmokeBot”, which addresses these challenges. SmokeBot is driven by application needs for robots that operate in domains with restricted visibility. Existing sensor technology and the related cognitive approaches cannot cope with such demanding conditions. Thus, SmokeBot develops novel hardware and software components, which facilitate robot systems to perform under harsh conditions of smoke, dust or fog. In addition to traditional sensors such as LIDAR and cameras, which are affected by smoke or dust, novel sensors such as 3D radar camera, a stereo thermal camera, and high-bandwidth gas sensors are being developed and integrated on a prototype of a robot to support fire brigades in search and rescue missions, e.g. in post-disaster management operations in response to tunnel fires. I will present a selection of results obtained in SmokeBot and discuss what remains to be done in order to match the requirements for actual fire fighting missions.
Title: ImPACT Tough Robotics Challenge Project for Disruptive Innovation
Speaker: Satoshi Tadokoro, University of Tohoku University, JP.
Abstract: ImPACT-TRC focuses on research into robust robot technologies for accessibility, sensing & recognition, recovery, and environmental compatibility. Five types of robots, i.e. UAVs, construction robots, serpentine robots, legged robots and cyber rescue canine, are being developed with advanced visual, auditorial & haptic sensing, robust actuators, mechanisms & control, human interface, and robust wireless communication. A field evaluation meetings is held periodically for the milestones of R&D. It shows the applicable technologies to the users and industry to promote disruptive innovation in disaster response, recovery and preparedness as well as new field robot business.
Title: Robust Optimization-Based Robotics
Speaker: Andrea del Prete, LAAS-CNRS, FR.
Abstract: Nowadays legged robots are capable of performing locomotion and manipulation in semi-structured environments, but with a low level of reliability, which makes their application in disaster-recovery scenarios difficult, if not impossible. However, if we look at the results that researchers in robotics and animation have been able to achieve in simulation, we can see that simulated robots/avatars can easily and reliably perform dynamic movements such as human-like walking, running, jumping, kicking. What is preventing real robots from showing similar performance?