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The Pransky interview: Dr William "Red" Whittaker, robotics Pioneer, Professor, Entrepreneur

INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 2016年第4期43卷 349-353页

作者： Pransky, Joanne Emerald Kenwood California USA

Purpose - The following paper details a "Q&A interview" conducted by Joanne Pransky, Associate Editor of Industrial Robot Journal, to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful business leader, regarding the commercialization and challenges of bringing technological inventions to the market while overseeing a company. The paper aims to discuss these issues. Design/methodology/approach - The interviewee is Dr William "Red" Whittaker, Fredkin Research Professor of robotics, robotics Institute, Carnegie Mellon University (CMU);CEO of Astrobotic Technology;and President of Workhorse Technologies. Dr Whittaker provides answers to questions regarding the pioneering experiences of some of his technological wonders in land, sea, air, underwater, underground and space. Findings - As a child, Dr Whittaker built things and made them work and dreamed about space and robots. He has since then turned his dreams, and those of the world, into realities. Dr Whittaker's formal education includes a BS degree in civil engineering from Princeton and MS and PhD degrees in civil engineering from CMU. In response to designing a robot to cleanup radioactive material at the Three Mile Island nuclear plant, Dr Whittaker established the field robotics Center (FRC) in 1983. He is also the founder of the National robotics Engineering Center, an operating unit within CMU's robotics Institute (RI), the world's largest robotics research and development organization. Dr Whittaker has developed more than 60 robots, breaking new ground in autonomous vehicles, field robotics, space exploration, mining and agriculture. Dr Whittaker's research addresses computer architectures for robots, modeling and planning for non-repetitive tasks, complex problems of objective sensing in random and dynamic environments and integration of complete robot systems. His current focus is Astrobotic Technology, a CMU spin-off firm that is d

关键词： Aerospace Inspection Mobile robots Teleoperation Autonomous robots field robotics

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The Pransky interview: Tony (Harvey) Koselka, Co-founder and Chief Operating Officer, Vision robotics Corporation

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF robotics RESEARCH AND APPLICATION 2020年第2期47卷 147-151页

作者： Pransky, Joanne Sankyo Robot Sonoma Cty CA USA

Purpose The following paper is a "Q&A interview" conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a robotic industry engineer-turned-innovator regarding the challenges of bringing technological discoveries to fruition. The paper aims to discuss these issues. Design/methodology/approach The interviewee is Tony Koselka, Co-founder and Chief Operating Officer, Vision robotics Corporation (VRC). In this interview, Koselka shares how he first got started in the robotics field along with his experiences in running his start-up. Findings Koselka earned a bachelor's and a master's degree in mechanical engineering from MIT. Prior to his work at VRC, he successfully co-founded and sold his first start-up, CyberGear. VRC was formed in 1999 with the goal to develop autonomous robotic solutions that focused on vision-based mapping. With strategic partners, the team began work on consumer applications that enabled the company to create a uniquely robust and cost-effective approach to robotics. It entered the agricultural market in 2004 with a feasibility study for harvesting oranges. While waiting for picking-hand technology to catch up with the machine vision, the initial concept transformed into a deployable crop-load estimation system for tree fruit. In 2011, VRC was approached by lettuce growers to develop a lettuce thinner. In a few months, the company built its lettuce thinner, which was released in 2012 and since then has collectively thinned hundreds of thousands of acres. Originality/value Koselka is an award-winning design engineer who holds 21 US patents. He has managed the design of all the mechanical systems of his start-up, VRC, including those on the lettuce thinner and the grapevine pruner, which enable robots to intelligently and accurately perform myriad tasks, including pruning, weeding and thinning.

关键词： Agriculture robotics Mobile robots Robot vision Service robots field robotics

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The Pransky interview: Mel Torrie, Founder, CEO and President of Autonomous Solutions, Inc

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INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 2018年第1期45卷 7-10页

作者： Pransky, Joanne Torrie, Mel Sankyo Robot Fremont CA USA Robot Ind Assoc Ann Arbor MI USA Motoman Miamisburg OH USA Staubli Pfaffikon Switzerland KUKA Robot Augsburg Germany STRobotics Cambridge England DreamWorks Universal City CA USA Warner Bros Burbank CA USA Autonomous Solut Inc Petersboro UT 84325 USA

Purpose -The following paper is a "Q&A interview" conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful innovator and leader, regarding the challenges of bringing technological discoveries to fruition. This paper aims to discuss these issues. Design/methodology/approach -The interviewee is Mel Torrie, CEO and President of Autonomous Solutions, Inc.(ASI). ASI manufactures an OEM/ vendor independent software and hardware solution retrofitted to existing equipment to create a wide variety of fully autonomous vehicles spanning agriculture, mining, automotive, industrial cleaning, security and government/military applications. In this interview, Torrie shares how he first got started in the robotics field along with his experiences in running his ground-breaking startup. Findings -In 1999, Torrie received a Master's Degree in Electrical Engineering at Utah State University (USU) where he worked on two National Aeronautics and Space Administration (NASA) space shuttle payloads. After his work at USU, he managed robotics development programs for John Deere, the US Department of Defense and the US Department of Energy. He founded ASI, a spin-off of the Center of Self Organizing and Intelligent Systems (CSOIS) at USU, in 2000. Originality/value -Torrie was a pioneer and visionary who bootstrapped ASI from the beginning. Under Torrie's leadership, ASI raised over $ 85m in a unique business model where there is no equity but only strategic partners. These foremost companies are given exclusive rights to their vertical market and jointly own their industry's driverless vehicle's intellectual property (IP) with ASI. The vehicles are developed and tested at ASI's 100-acre proving ground facility in Utah. To date, ASI's more than 100 employees and their business partners have automated 75 different vehicle types and ASI continues to creat

关键词： Navigation Mobile robots Autonomous robots field robotics Collision avoidance Hazardous

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Simultaneous surface scanning and stability analysis of wheeled mobile robots using a new spatial sensitive shield sensor

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robotics AND AUTONOMOUS SYSTEMS 2017年 98卷 1-14页

作者： Mardani, Arman Ebrahimi, Saeed Yazd Univ Dept Mech Engn Yazd Iran

To achieve a complete sense of a typical mobile robot moving on the rough and unknown surfaces, a new sensitive shield attached to the robotic wheel is developed with the principle of the total resistance of a circuit. Contact point detection using the new sensitive shield empowers the wheeled-robots to scan the surface, to find the spatial stability measure and to control itself in the absence of camera and laser. The resistive circuit, whereby the sensor is developed, includes a conductive wire, a resistive wire, an impulse voltage source and an additional resistor. All these elements are assembled as an exterior sensitive shield attached to the outside of the wheel. The main advantage of the resistive shield is to determine the exact locations of the spatial contact point on the thick wheel only by means of an input data. Using the data detected from the sensitive shield, the control process can produce the accurate rotational velocities of the wheels required for pursuing a desired path. Furthermore, the results of the new sensor enhance the accuracy of the spatial stability measure. The results of this research imply how the accurate contact point detection aided by the new sensor yields a reliable approach for surface scanning and stability measure calculation. (C) 2017 Elsevier B.V. All rights reserved.

关键词： field robotics Wheel-surface contact Resistive shield Tactile sensors

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Automatic three-dimensional mapping for tree diameter measurements in inventory operations

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JOURNAL OF field robotics 2020年第8期37卷 1328-1346页

作者： Tremblay, Jean-Francois Beland, Martin Gagnon, Richard Pomerleau, Francois Giguere, Philippe McGill Univ Sch Comp Sci Montreal PQ H3A 0E9 Canada Univ Laval Dept Geomat Sci Quebec City PQ Canada Ctr Rech Ind Quebec Quebec City PQ Canada Univ Laval Northern Robot Lab Quebec City PQ Canada

Forestry is a major industry in many parts of the world, yet this potential domain of application area has been overlooked by the robotics community. For instance, forest inventory, a cornerstone of efficient and sustainable forestry, is still traditionally performed manually by qualified professionals. The lack of automation in this particular task, consisting chiefly of measuring tree attributes, limits its speed, and, therefore, the area that can be economically covered. To this effect, we propose to use recent advancements in three-dimensional mapping approaches in forests to automatically measure tree diameters from mobile robot observations. While previous studies showed the potential for such technology, they lacked a rigorous analysis of diameter estimation methods in challenging and large-scale forest environments. Here, we validated multiple diameter estimation methods, including two novel ones, in a new publicly-available dataset which includes four different forest sites, 11 trajectories, totaling 1458 tree observations, and 14,000 m(2). From our extensive validation, we concluded that our mapping method is usable in the context of automated forest inventory, with our best diameter estimation method yielding a root mean square error of 3.45 cm for our whole dataset and 2.04 cm in ideal conditions consisting of mature forest with well-spaced trees. Furthermore, we release this dataset to the public (), to spur further research in robotic forest inventories. Finally, stemming from this large-scale experiment, we provide recommendations for future deployments of mobile robots in a forestry context.

关键词： cylinder fitting field robotics forestry ICP lidar mapping registration

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DARLOS: a lightweight dual-arm robotic live-line operation system for autonomous high-voltage distribution grid maintenance

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF robotics RESEARCH AND APPLICATION 2024年第3期51卷 446-454页

作者： Wang, Zhiqiang State Grid Changchun Elect Power Supply Co Changchun Peoples R China

PurposeThis paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance ***/methodology/approachA ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction;a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously;a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and *** overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human ***/valueThe resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.

关键词： field robotics Grid Maintenance robot

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A Passive Compliance Obstacle-Crossing Robot for Power Line Inspection and Maintenance

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IEEE robotics AND AUTOMATION LETTERS 2023年第5期8卷 2772-2779页

作者： Chen, Minghao Cao, Yinghua Tian, Yunong Li, En Liang, Zize Tan, Min Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Engn Lab Ind Vis & Intelligent Equipment Technol Beijing 100190 Peoples R China

In scenarios of the overhead power line system, manual methods are inefficient and unsafe. Meanwhile, the majority of cantilevered robots have poor efficiency when crossing obstacles. This letter proposes a novel power line inspection and maintenance robot to solve these problems. The robot employs a passive compliance obstacle-crossing principle, which could rapidly cross obstacles with the cooperation of gas springs and climbing wheels. Under high payload, the robot could take 5-15 seconds without any complex strategies to roll over obstacles. A variable configuration platform is also designed, which has a multiple line mode and a single line mode. It makes the robot suitable for different kinds of overhead power lines. Meanwhile, the related adaptability analyses are presented. Manipulators are also installed to help the robot perform specific maintenance tasks. The results of lab experiments and field tests reveal that the robot could stably and rapidly cross obstacles, such as suspension clamps, vibration dampers, and spacers, and could perform three kinds of maintenance tasks on the line.

关键词： Robots Wheels Mobile robots Maintenance engineering Inspection Clamps Task analysis Power line inspection robot mechanical design telerobotics field robotics maintenance tasks

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Automatic Identification of Large Fragments in a Pile of Broken Rock Using a Time-of-Flight Camera

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2014年第3期11卷 935-942页

作者： McKinnon, Christopher Marshall, Joshua A. Univ Toronto Inst Aerosp Studies Toronto ON M5S 2E4 Canada Queens Univ Min Syst Lab Kingston ON K7L 3N6 Canada

This paper presents a solution to part of the problem of making robotic or semi-robotic digging equipment less dependant on human supervision. A method is described for identifying rocks of a certain size that may affect digging efficiency or require special handling. The process involves three main steps. First, by using range and intensity data from a time-of-flight (TOF) camera, a feature descriptor is used to rank points and separate regions surrounding high scoring points. This allows a wide range of rocks to be recognized because features can represent a whole or just part of a rock. Second, these points are filtered to extract only points thought to belong to the large object. Finally, a check is carried out to verify that the resultant point cloud actually represents a rock. Results are presented from field testing on piles of fragmented rock. Note to Practitioners-This paper presents an algorithm to identify large boulders in a pile of broken rock as a step towards an autonomous mining dig planner. In mining, piles of broken rock can contain large fragments that may need to be specially handled. To assess rock piles for excavation, we make use of a TOF camera that does not rely on external lighting to generate a point cloud of the rock pile. We then segment large boulders from its surface by using a novel feature descriptor and distinguish between real and false boulder candidates. Preliminary field experiments show promising results with the algorithm performing nearly as well as human test subjects.

关键词： field robotics mining and construction automation object identification point cloud data processing

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ISEP/INESC TEC Aerial robotics Team for Search and Rescue Operations at the euRathlon 2015

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2019年第3-4期93卷 447-460页

作者： Sousa, P. Ferreira, A. Moreira, M. Santos, T. Martins, A. Dias, A. Almeida, J. Silva, E. INESC Technol & Sci Porto Portugal Porto Polytech Inst ISEP Sch Engn Porto Portugal

This paper presents the results from search and rescue missions performed with the aerial robot OTUS in the the context of the ISEP/INESC TEC aerial robotics team participation on the euRathlon 2015 robotics competition. The multi-domain (land, sea and air) search and rescue scenario is described and technical solution adopted is presented with emphasis on the perception system. The calibration of the image based system is addressed. Results from the operational missions performed are also discussed. The aerial autonomous vehicle was able to successfully perform multiple tasks from the aerial reconnaissance and 3D mapping to the identification of leaking pipes, obstructed passages and missing workers. The system was validated a realistic operational scenario and won the Grand Challenge in cooperation with land and marine robotics partner teams. This challenge was the first time that a real time collaborative team of aerial, land and marine robots was deployed successfully in a search and rescue mission.

关键词： field robotics Robotic competitions Search and rescue operations Aerial robotics

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Transforming multiple visual surveys of a natural environment into time-lapses

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2020年第1期39卷 100-126页

作者： Griffith, Shane Dellaert, Frank Pradalier, Cedric Georgia Inst Technol Coll Comp Atlanta GA 30332 USA GeorgiaTech Lorraine 2 Rue Marconi F-57070 Metz France

This article presents a new framework to help transform visual surveys of a natural environment into time-lapses. As data association across year-long variation in appearance continues to represent a formidable challenge, we present success with a map-centric approach, which builds on 3D vision for visual data association. We use a foundation of map point priors and geometric constraints within a dense correspondence image alignment optimization to align images and acquire loop closures between surveys. This framework produces many loop closures between sessions. Outlier loop closures are filtered in the frontend and in the backend to improve robustness. From the result map, the Reprojection Flow algorithm is applied to create time-lapses. The evaluation of our framework on the Symphony Lake Dataset, which has considerable variation in appearance, led to year-long time-lapses of many different scenes. In comparison with another approach based on using iterative closest point (ICP) plus a homography, our framework produced more and better-quality alignments. With many scenes of the 1.3 km environment consistently aligning well in random image pairs, we next produced 100 time-lapses across 37 surveys captured in a year. Approximately one-third had at least 20 (out of usually 33) well-aligned images, which spanned all four seasons. With promising results, we evaluated the pose error of misaligned image pairs and found that improving map consistency could lead to even better results.

关键词： visual survey data association dense correspondence visual SLAM time-lapse field robotics

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