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Section: Partnerships and Cooperations
European Initiatives
FP7 & H2020 Projects
FP7 Space RemoveDEBRIS
Participants : Eric Marchand, François Chaumette.
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Partners: Surrey Satellite Technology (United Kingdom), Airbus (Toulouse, France and Bremen, Germany), Isis (Delft, The Netherlands), CSEM (Neuchâtel, Switzerland), Stellenbosch University (South Africa).
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Abstract: The goal of this project is to validate model-based tracking algorithms on images acquired during an actual space debris removal mission [22], [47].
H2020 ICT Comanoid
Participants : Giovanni Claudio, Souriya Trinh, Fabien Spindler, François Chaumette.
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Title: Multi-contact Collaborative Humanoids in Aircraft Manufacturing
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Partners: Airbus Group (France), DLR (Germany), Università Degli Studi di Roma La Sapienza (Italy), CNRS (I3S)
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Comanoid investigates the deployment of robotic solutions in well-identified Airbus airliner assembly operations that are laborious or tedious for human workers and for which access is impossible for wheeled or rail-ported robotic platforms. As a solution to these constraints a humanoid robot is proposed to achieve the described tasks in real-use cases provided by Airbus Group. At a first glance, a humanoid robotic solution appears extremely risky, since the operations to be conducted are in highly constrained aircraft cavities with non-uniform (cargo) structures. Furthermore, these tight spaces are to be shared with human workers. Recent developments, however, in multi-contact planning and control suggest that this is a much more plausible solution than current alternatives such as a manipulator mounted on multi-legged base. Indeed, if humanoid robots can efficiently exploit their surroundings in order to support themselves during motion and manipulation, they can ensure balance and stability, move in non-gaited (acyclic) ways through narrow passages, and also increase operational forces by creating closed-kinematic chains. Bipedal robots are well suited to narrow environments specifically because they are able to perform manipulation using only small support areas. Moreover, the stability benefits of multi-legged robots that have larger support areas are largely lost when the manipulator must be brought close, or even beyond, the support borders. COMANOID aims at assessing clearly how far the state-of-the-art stands from such novel technologies. In particular the project focuses on implementing a real-world humanoid robotics solution using the best of research and innovation. The main challenge are to integrate current scientific and technological advances including multi-contact planning and control; advanced visual-haptic servoing; perception and localization; human-robot safety, and the operational efficiency of cobotics solutions in airliner manufacturing.
H2020 ICT Romans
Participants : Firas Abi Farraj, Fabien Spindler, François Chaumette, Claudio Pacchierotti, Paolo Robuffo Giordano.
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Title: Robotic Manipulation for Nuclear Sort and Segregation
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The RoMaNS (Robotic Manipulation for Nuclear Sort and Segregation) project will advance the state of the art in mixed autonomy for tele-manipulation, to solve a challenging and safety-critical “sort and segregate” industrial problem, driven by urgent market and societal needs. Cleaning up the past half century of nuclear waste, in the UK alone (mostly at the Sellafield site), represents the largest environmental remediation project in the whole of Europe. Most EU countries face related challenges. Nuclear waste must be “sorted and segregated”, so that low-level waste is placed in low-level storage containers, rather than occupying extremely expensive and resource intensive high-level storage containers and facilities. Many older nuclear sites (>60 years in UK) contain large numbers of legacy storage containers, some of which have contents of mixed contamination levels, and sometimes unknown contents. Several million of these legacy waste containers must now be cut open, investigated, and their contents sorted. This can only be done remotely using robots, because of the high levels of radioactive material. Current state-of-the-art practice in the industry, consists of simple tele-operation (e.g. by joystick or teach-pendant). Such an approach is not viable in the long-term, because it is prohibitively slow for processing the vast quantity of material required. The project aims at: 1) Develop novel hardware and software solutions for advanced bi-lateral master-slave tele-operation. 2) Develop advanced autonomy methods for highly adaptive automatic grasping and manipulation actions. 3) Combine autonomy and tele-operation methods using state-of-the-art understanding of mixed initiative planning, variable autonomy and shared control approaches. 4) Deliver a TRL 6 demonstration in an industrial plant-representative environment at the UK National Nuclear Lab Workington test facility.
Collaborations in European Programs, Except FP7 & H2020
Interreg Adapt
Participants : Nicolas Le Borgne, Marie Babel.
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Project title: Assistive Devices for empowering disAbled People through robotic Technologies
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Other partners: INSA Rennes - IRISA, LGCGM, IETR (France), Université de Picardie Jules Verne - MIS (France), Pôle Saint Hélier (France), CHU Rouen (France), Réseau Breizh PC (France), Ergovie (France), Pôle TES (France), University College of London - Aspire CREATE (UK), University of Kent (UK), East Kent Hospitals Univ NHS Found. Trust (UK), Health and Europe Centre (UK), Plymouth Hospitals NHS Trust (UK), Canterbury Christ Church University (UK), Kent Surrey Sussex Academic Health Science Network (UK), Cornwall Mobility Center (UK).
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Abstract: This project aims to develop innovative assistive technologies in order to support the autonomy and to enhance the mobility of power wheelchair users with severe physical/cognitive disabilities. In particular, the objective is to design and evaluate a power wheelchair simulator as well as to design a multi-layer driving assistance system.
Collaborations with European Partners
ANR Opmops
Participants : Florian Berton, Julien Pettré.
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Project title: Organized Pedestrian Movement in Public Spaces: Preparation and Crisis Management of Urban Parades and Demonstration Marches with High Conflict Potential
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Coordinator: Université de Haute Alsace (for France), Technische Universität Kaiserslautern (for Germany)
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Other partners: Gendarmerie Nationale, Hochschule München, ONHYS S.A.S, Polizei Rheinland-Pfalz, Universität Koblenz-Landau, VdS GmbH
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Abstract: This project is about parades of highly controversial groups or of political demonstration marches are considered as a major threat to urban security. Due to the movement of the urban parades and demonstration marches (in the following abbreviated by UPM) through large parts of cities and the resulting space and time dynamics, it is particularly difficult for forces of civil security (abbreviated in the following by FCS) to guarantee safety at these types of urban events without endangering one of the most important indicators of a free society. In this proposal, partners representing the FCS (police and industry) will cooperate with researchers from academic institutions to develop a decision support tool which can help them both in the preparation phase and crisis management situations of UPMs. Specific technical issues which the French-German consortium will have to tackle include the following: Optimization methods to plan UPM routes, transportation to and from the UPM, location and personnel planning of FCS, control of UPMs using stationary and moving cameras, and simulation methods, including their visualization, with specific emphasis on social behavior.
iProcess
Participants : Agniva Sengupta, Fabien Spindler, Eric Marchand, Alexandre Krupa, François Chaumette.
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Project title: Innovative and Flexible Food Processing Technology in Norway
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Other partners: Nofima, Univ. of Stavanger, NMBU, NTNU (Norway), DTU (Denmark), KU Leuven (Belgium), and about 10 Norwegian companies.
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Abstract: This project is granted by the Norwegian Government. Its main objective is to develop novel concepts and methods for flexible and sustainable food processing in Norway. In the scope of this project, the Lagadic group is involved for visual tracking and visual servoing of generic and potentially deformable objects (see Section 7.1.2). Prof. Ekrem Misimi from Sintef spent a 4-month visit from May 2017 and a 1-week visit in November 2017. François Chaumette and Alexandre Krupa spent a short period at Sintef in Trondheim in February and June 2017 respectively.