SwRI Announces Collaboration with OSRF to Advance Industrial Robotics

Reposted from SwRI's news release page.

Southwest Research Institute® (SwRI®) announced today it has entered a cooperative agreement with Open Source Robotics Foundation (OSRF) to strengthen collaborations in manufacturing automation, industrial robotics, machine perception and machine vision. The agreement calls for sharing research information between the two organizations to help collectively solve robot software research problems; the mutual exchange of free-of-charge software licenses; and organizing conferences, seminars and symposia to ensure continued development in open-source software for robotics.

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ROS-I Training Class Photos

Spring training classes for ROS-Industrial gave participants an opportunity to learn new skills through hands-on training. The March class, “What Can I Do with ROS-I?”, was a one-day high-level overview and experience with RViz, MoveIt!, PCL, and ROS-Industrial. The “ROS-Industrial Basic Developers’ Training Class,” held May 19-20, took developers through foundational robot manipulation and perception ROS-I/C++ coding skills leading to a collision-free pick-and-place capstone project. Included in the two classes, we had participants from ABB, Bell Helicopter, Boeing, CAT, Cessna, Cox Machine, Empire Robotics, ESCO, EWI, Ford, GA Tech, GE, IDEXX, John Deere, OmniCo AGV, OSRF, Rensselaer CATS, SER, Siemens, Tempo Automation, UTARI, UT Austin NRG, Wolf Robotics, Yaskawa Motoman. Check out pictures from the classes below.

On March 5, we had a number of demonstrations and presentations, and would like to thank:

  • Mr. Chris Pennington of Olympus Controls for the UR5 robot used in the Camera-to-Robot Calibration demo
  • Mr. Jack Thompson of UT NRG for the Multiscale Teleoperation demo
  • Dr. Jake Huckaby of GA Tech Cognitive Robotics Lab for the presentations about: 
    • A Skill Abstraction Framework in Robot Manufacturing Tasks
    • OmniMapper: A Modular Multimodal Mapping Framework
  • Mr. Patrick Dingle of Empire Robotics for the VERSABALL demo
  • Ms. Katherine Scott for her blog post about the class: Industrial Grade Awesome!
March: Showing the demonstration collision-free pick and place system during a lab breakout session.

March: Showing the demonstration collision-free pick and place system during a lab breakout session.

March: A group working on 3D perception exercises, acquiring data from a Kinect, fitting and segmenting the ground plane vs an object on the ground.

March: A group working on 3D perception exercises, acquiring data from a Kinect, fitting and segmenting the ground plane vs an object on the ground.

March: A group working on manipulation exercises.

March: A group working on manipulation exercises.

March: Jack Thompson of UT Austin showing a gesture-based teleoperation HMI.

March: Jack Thompson of UT Austin showing a gesture-based teleoperation HMI.

March: Brian Gerkey from OSRF trying out the VersaBall from Empire Robotics.

March: Brian Gerkey from OSRF trying out the VersaBall from Empire Robotics.

March: We didn't get a formal group photo in March, but here you can see most of the group enjoying dinner on the San Antonio River Walk. We ended up having two class day options in March, as we exceeded the capacity of the one-day class.

March: We didn't get a formal group photo in March, but here you can see most of the group enjoying dinner on the San Antonio River Walk. We ended up having two class day options in March, as we exceeded the capacity of the one-day class.

May: Class participants working on the capstone collision-free pick-and-place demonstration in the lab.

May: Class participants working on the capstone collision-free pick-and-place demonstration in the lab.

May: Video of the capstone project.

May: Ubiquitous Group Photo from the May 2014 Training Class

May: Ubiquitous Group Photo from the May 2014 Training Class

ROS Job Opening: UT Austin Nuclear & Applied Robotics Group

The Nuclear & Applied Robotics Group (robotics.me.utexas.edu) at the University of Texas at Austin is looking for one outstanding candidate to fill a postdoctoral position in the area of mobile manipulation. The appointment is for one year and renewable yearly by mutual agreement. The candidate must have completed their degree within the last three years and be a US citizen. The start date for the position is ideally September 1, 2014.


The successful candidate will have a PhD with an emphasis on robotics within mechanical engineering, electrical engineering, computer science or a related field. The candidate must be prepared to complete a security background check to work in nuclear and/or government facilities.

A successful candidate will have completed a dissertation that is topical to mobile manipulation and also must have extensive experience using ROS. U.T. Austin has recently acquired a mobile manipulation system consisting of a Husky mobile platform with two UR5 manipulators. More detail is available on our web site.

The candidate will be expected to take a leadership role in developing new capabilities for the platform relevant to our sponsor as well as coordinate and mentor graduate/undergraduate research associates contributing to the project. Key areas of interest are task planning, navigation, manipulation in the presence of the uncertainty, and sensor (vision, IMU, radiation, etc.) data fusion for visualization and decision making. The candidate will also be expected to help maintain and coordinate collaboratively developed software packages. Candidates will have the opportunity to propose and pursue new and novel avenues for advancing the autonomy or manipulation capabilities for this system.

To apply, email a single file containing your CV and a one page summary of your research interests to mpryor@utexas.edu. Please keep the file below 2MB and use the subject line LANL Postdoc Application: Last name, First name. Applications received by June 15, 2014 will receive full consideration and applications will continue to be accepted until the position is filled. For more information, visit robotics.me.utexas.edu.

Why Robots Don’t Kill Jobs

A guest post by Robert Atkinson, President, Information Technology and Innovation Foundation

With U.S. job growth still anemic, some have latched on to a compelling explanation: “the robots are taking our jobs.” According to this line of thinking, high productivity driven by increasingly powerful IT-enabled machines is the cause of U.S. labor market problems, and accelerating technological change will only make the problem worse.

These arguments are not new. Over the last century whenever unemployment has risen some have always blamed machines.  But what’s different today is how widespread this “neo-Luddite” view has become and how well-received it is.  Now it’s not just the tin-foil hat crowd that is warning that robots kill jobs; many elites now make the claim.  In perhaps the most widely cited tract making this case, MIT professors Erik Byrnsolfson and Andrew McAfee state in Race against the Machine that “it may seem paradoxical that faster progress can hurt wages and jobs for millions of people, but we argue that’s what’s been happening.”  In a New York Times op-ed entitled “Sympathy for Luddites,” Paul Krugman warns that “a much darker picture of the effects of technology on labor is emerging. In this picture, highly educated workers are as likely as less educated workers to find themselves displaced and devalued.”  Even 60 Minutes has jumped on the bandwagon, claiming in a program entitled “Are Robots Hurting Job Growth?” that “technology…is putting new categories of jobs in the sites [sic] of automation—the 60 percent of the workforce that makes its living gathering and analyzing information.”

Indeed, this is what is most troubling. In the past, neo-Luddite anti-progress views were episodic, emerging occasionally when joblessness spiked but then receding, and they were going against the grain of the uniquely American faith in the desirability and inevitability of progress. Today that faith is waning, which points to the real threat that anti-robotism presents: the view that machines are a problem and not the solution saps the American spirit of its relentless and aggressive support for innovation and progress.

As we show in our ITIF report, “Are Robots Taking Our Jobs, or Making Them?” there’s only one flaw in this Luddite, anti-machine narrative: it is completely wrong and not supported by data, scholarly evidence or logic. These neo-Luddites make a fallacious correlation between today’s high unemployment and the cool technology they see around them (e.g., smart phones, airport kiosks, IBM’s Watson on Jeopardy). They believe that when technology allows more work to be done with fewer workers, those jobs are gone and the workers are added to the unemployment rolls.

But this is what economists call the “Lump of Labor” fallacy, the idea that there is a limited amount of work to be done and if a job is eliminated, it’s gone for good. But this is a false reading of the process of technological change because it doesn’t include second order effects whereby the savings from increased productivity are recycled into the economy in the form of higher wages, higher profits, or reduced prices to create new demand that in turn creates other jobs.

Certainly U.S. history bears out the notion that productivity growth goes hand-in-hand with growth in employment.  Indeed, America’s most productive years have been followed by our years of lowest unemployment. This correlation is shown in the 2011 McKinsey Global Institute report, “Growth and Renewal in the United States: Retooling America’s Economic Engine” which looked at annual employment and productivity change from 1929 to 2009 and found that increases in productivity are correlated with increases in subsequent employment growth.

It’s also borne out by virtually all scholarly research looking at the relationship between productivity and job growth.  Some few studies find that employment decreases in the short run in response to a productivity shock, but that jobs grow in the medium to long term.  Most studies find no negative effect on employment, and some have found a positive relationship, with increases in productivity leading to more jobs. An OECD study sums it all up: “historically, the income-generating effects of new technologies have proved more powerful than the labor-displacing effects: technological progress has been accompanied not only by higher output and productivity, but also by higher overall employment.

Even many of those who acknowledge that new jobs will be created worry that this time is different and that there will not be enough of them to replace the lost ones, even in the long run. They warn that a time will come, sooner than we think, when even new “jobs” will be better done by machines, and unemployment will skyrocket. How do we know that humans will always be better at some work—or more importantly, enough work—than machines? One reason is that our economy is complex, with a broad range of industries and occupations, some amenable at a particular time to automation, most others that are not (think physical therapy, business consulting, landscape gardening). Another is that technological change doesn’t happen overnight—and current productivity increases are actually trending down. But the main reason is that human wants are close to infinite—we need look no further than the fact that most people would love to win the Powerball lottery.  With the average U.S. household income around $50,000 a year, most Americans would have no problem spending all the money they make if their incomes increased by a factor of 5 or even 10.  And as long as that is true, those wants will require labor to fill them.

It is time to consign neo-Ludditism and its particular refrain that technology costs jobs once and for all to the dustbin of history. Robots, automation, machines, productivity: these are key enablers of human progress and absolutely no threat to overall employment. As such, economic policy should at every possible opportunity not give in to neo-Luddite exhortations, but instead put the “pedal to the metal” for higher productivity and more “robots.”

2nd ROS-Industrial Community Forum

The 2nd ROS-Industrial Community Forum webinar was held on April 28, hosted by Alexander Bubeck of Fraunhofer IPA. The featured topic of the forum was the new ROS/ROS-I interface to Comau robot controllers. That topic was covered in two presentations, first by Fabrizio Romanelli of Comau, and then also by Elisa Tosello from the University of Padua, Intelligent Autonomous Systems Lab. 

Five-minute "Lightning Talks" were also given on various topics:

  • Industrial Calibration (Chris Lewis, SwRI)
  • A ROS Control overview and what it means for ROS-I (Adolfo Rodriguez Tsouroukdissian, PAL Robotics)
  • Overview of the European Robotics Challenge, (Ramez Awad, Faunhofer IPA)
  • Updates of recent developments on the BRIDE MDE toolchain, (Alexander Bubeck, Fraunhofer IPA)

ROS-Industrial Community Forums are open to the broad ROS-Industrial community and foster the dissemination of information about new ROS-Industrial capabilities and best practices. If you are interested in presenting at the next Forum, please contact us.

ROS-Industrial Consortium Americas Celebrates 20 Members!

It is our pleasure to announce that the ROS-Industrial Consortium Americas is officially 20 members strong!

Logos for the 20 official members of the Consortium, April 2014

Logos for the 20 official members of the Consortium, April 2014

Our brief history: The ROS-Industrial Open Source project began as the collaborative endeavor of Yaskawa Motoman Robotics, Southwest Research Institute, and Willow Garage to support the use of ROS for industrial automation. The software repository, originally hosted on Google Code, and now on GitHub, was founded by Shaun Edwards (SwRI) in January 2012. Led by SwRI, the ROS-Industrial Consortium Americas launched in March 2013. As you might have guessed from the name, there is also a ROS-I Consortium Europe, led by Fraunhofer IPA in Stutgart, Germany. The Consortium exists to support the ROS-Industrial community by providing training, technical support, and setting the roadmap for ROS-I.

The Consortium also fosters new open-source code creation to meet specific near term needs of members through Focused Technical Projects. Currently, three such projects are underway:

  • Robotic Blending, Milestone 1, championed by Spirit AeroSystems
  • CMM-Accelerated Robotic Routing, championed by Cessna Aircraft Company (Textron)
  • Minimum Cycle-Time Path Planning, championed by Idexx Laboratories

At the annual meeting last month, four new Focused Technical Projects were announced, and are available to join:

  • Heavy Helper
  • Multipass Robotic Welding
  • Robotic CNC Machining for Soft Materials (i.e., AL and CF)
  • Robotic Machine Tending

We are grateful to our members for their support and enthusiasm! If you are interested in learning more about the latest Focused Technical Projects, or about the Consortium in general, please contact us.

A Universal Pendant Could Elucidate the Interface to Industrial Robot Manipulators

A guest post by Dr. Mitch Pryor, UT Austin Nuclear and Applied Robotics Group

The ROS-Industrial Consortium Americas held its 2014 members meeting at SwRI in San Antonio, Texas on March 6th. One of the primary activities of the Consortium is to establish the technical vision and requirements for ROS-Industrial. This is done through a series of requirements gathering and analysis activities known as roadmapping. This blog provides a useful forum for sharing ideas on the proposed ROS-I roadmap and gives members a chance to succinctly present thoughts on particular topics and receive feedback from all stake holders via constructive comments. The roadmap development approach presented by Clay Flannigan (and Steve Jobs) starts with the end-user’s needs (i.e. applications). Once identified, as many were at the ROS-I spring meeting, the roadmap then pinpoints the technical gaps and puts forward an implementation plan to develop the envisioned technologies.

I want to start a discussion on what “commands” hardware must reliably execute to follow the desired trajectories and/or apply proscribed forces for a given application.  In the traditional paradigm, such commands are communicated via a teach pendant or offline programming

A teach pendant is a handheld controller that provides the primary conduit for moving the robot and recording the position locations. Traditionally, it is used to sequentially teach the EEF locations associated with a given task. This instruction method is insufficient for ROS-I to extend the advanced (i.e. advancing the autonomy or flexibility of a system) capabilities of ROS to new industrial applications. Offline programming offers more flexibility but there is no standard language or set of capabilities offered among hardware vendors. What is needed is a universal Application Program Interface (or universal API) with as much of the functionality as possible accessible via a Universal Pendant.

Traditional Dedicated Industrial Robot Teach Pendant. Source: SwRI 2011

Traditional Dedicated Industrial Robot Teach Pendant. Source: SwRI 2011

Mobile HMI: Notional Universal (i.e. interoperable) Pendant. Source link.

Mobile HMI: Notional Universal (i.e. interoperable) Pendant. Source link.

The notion of a universal pendant is not new. Toyota developed an internal unified teach pendant in 2000. Its development did more than reduce the training time for Toyota operators, it helped Toyota define the underlying capabilities that robotic vendors must provide. The Toyota unified pendant currently does not provide access to all of the capabilities envisioned by ROS-I members. If the ROS-I Consortium was to develop a similar, but more advanced device, it would help clarify and illustrate many of the API capabilities that are needed by industry.  Its development would help clarify API ambiguities and hopefully reduce the barrier to entry to much of the API functionality in an industrial setting.

What would such a teach pendant look like? What core functionality should it have? As developers, the second question is more important to answer. It certainly must provide access to the internal state of the robot (i.e. tool location, current position, current motor currents, operational status, etc.) It should be possible to modify individual joint positions as well as command joint velocities. Many advanced technologies would require access to joint torques and/or joint currents. Another useful feature would be to directly prompt a given robotic system for its mass, inertial and/or compliance parameters that are necessary in many advanced control algorithms. Remote systems should provide battery life information which is necessary to plan extended tasks. Another interesting option would be access to any internal, extensible wiring harness . One could even envision a universal messaging service for commanding hardware via existing proprietary languages. As the ROS-I Consortium develops new capabilities, such a service may become obsolete, but the universal API should not negate existing system capabilities.

Once the API is defined, it may not be possible to expose all functionality in a traditional pendant. Innovative ideas may be necessary if the full API is to be exposed. Even then certain functionality may still require writing code. The definition and scope of such an API is not trivial.  All parties (end-users, integrators, vendors, researchers, etc.) need to assist in its creation. Once developed, hardware vendors must have the right to only partially implement the proposed functionality. But our goal must be to develop an API that enables all the technologies proposed in the roadmap and make as much of the API as possible accessible to traditional (i.e. no command line!) end-users. A universal pendant would help address this and provide a mechanism for precisely illustrating and resolving ambiguities in the proposed API.

Intermodalics Uses ROS-I for Palletizing Application

Intermodalics is currently developing a depalletizing application for a client. The goal is to move an average of 2,000 crates per hour from standard pallets to a conveyor belt. Additional challenges include: more than 10 different crate types can occur in varying colors, the crates are not necessarily empty and they are randomly stacked.

The application consists of a UR10 robot from Universal Robots, a 3D camera, an Intermodalics Intelligent Controller (IIC) and an active pallet lift. The software for the application running on the IIC extensively uses ROS and the OROCOS toolchain. OROCOS is a software framework for realtime, distributed robot and machine control which is seamlessly integrated with ROS and has both Industrial and Academic users worldwide.

For finding the crates’ position and orientation, Intermodalics developed a crate localizer that builds upon the PCL library as well as on a set of in-house developed point-cloud processing algorithms. The ROS visualization tool RViz proved absolutely invaluable during the realization of this product locator.

The use of the ROS-Industrial package for the UR robot allows both the motions and the application state machine to be simulated. This significantly facilitates the implementation of the whole application.

The integration of the UR controller and the IIC does not affect the inherent safety feature of the UR robot which makes the robot stop if it encounters excessive forces. If such a stop occurs, the application can be easily restarted by a simple human operator intervention.

Blog post provided by Bert Willaert of Intermodalics.

EWI: RIC Americas Member of the Week

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EWI is a leading developer in North America of innovative technology solutions that enhance manufacturing competitiveness. Since 1984, EWI has provided engineering support, R&D, strategic services, and training to leaders in the aerospace, automotive, consumer products, electronics, medical, energy and chemical, government, and heavy manufacturing industries. As a member-based organization, EWI provides applied research, manufacturing support, and strategic services to more than 1,200 member company locations worldwide.

EWI recently announced that it will open and operate an advanced manufacturing institute in Buffalo, NY. This state-of-the-art facility will support the growth of New York’s manufacturing sector. EWI President and CEO Henry Cialone said, “This is a proven model EWI has seen work in a number of the centers and consortia which it operates as hubs for the advancement of specific technologies and industries. The institute will be designed to improve public/private collaboration, strengthen Western New York manufacturing supply chains, and make its manufacturers more competitive on a global scale.”

The advanced manufacturing institute will have world-class technical capabilities in areas including: flexible automation and controls, advanced materials, additive processes, and advanced fabrication. To help enable flexible automation, EWI is looking to utilize the Robot Operating System within many industrial robotic applications. EWI is excited to be part of the ROS-Industrial Consortium and will collaborate with members and to create vital software tools for agile manufacturing.

Yaskawa America - Motoman Robotics Division: RIC Member of the Week

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What began as a collaboration between SwRI, Willow Garage, and Yaskawa America--Motoman Robotics, grew into ROS-Industrial (ROS-I). The first industrial manipulator to run an industrial robot client was a Motoman SIA 20D with DX100 controller, which would become the architecture for the driver layer in the ROS-I socket interface for manipulation. Since that first demonstration, Yaskawa has continued to support ROS-Industrial in a number of ways:

  • Assisted in development of new Moto Plus modules for both the DX100 and FS100 controllers to enable both smooth and full speed manipulation via a socket interface: http://wiki.ros.org/motoman.
  •  Joined the ROS-Industrial Consortium and presented “Why Industrial Robot OEMs Should Care about ROS” at our first Consortium meeting and at ROSCon 2013.

  • Supported a hardware demonstration of ROS-Industrial for a deburring application at ROSCon 2013.

This early involvement and support for ROS-I has made Motoman hardware hardware easy to integrate, and has led to a number of demonstrations using their hardware:

Teaser: Recently, Yaskawa has teamed with RIC EU leader Fraunhofer IPA to create a standard ROS-I interface for dual arm robots, based on guidance from a ROS-I Enhancement Proposal posted by SwRI. We will provide updates as they become available.

ROS IN DER INDUSTRIELLEN ANWENDUNG

Fraunhofer IPA to host ROS-I Seminar in Germany

The open-source “Robot Operating System” (ROS) offers highly-developed robotics software components, which can be used in flexible industrial applications. In this praxis-oriented seminar you will get in touch with the basic functionalities of the ROS framework and the ROS-Industrial initiative. Participants will get an impression about the power of the system and learn how to use it in their own application.

Dynamic environments with a variety of different work pieces create a demand for highly flexible automation solutions supported by sensors and intelligent software components. A cost efficient, reusable and powerful solution is the open-source framework ROS. It offers a huge amount of intelligent algorithms, methods and integrated libraries. An advantage is that software as well as hardware components can easily be exchanged due to a network based communication layer and standardized interfaces. One example for standardization is the simple message protocol which interfaces multiple industrial robot controllers and offers a common interface on the ROS level. Another focus of ROS-Industrial is to enhance software quality through a model-driven-engineering approach and automated testing. This allows for time efficient and cost effective software development and lowers the overall development costs.

In robotics research, ROS is already a well-established standard. The next step is to bring this power to industrial applications. For this purpose, the ROS-Industrial initiative was founded. This seminar will get participants in touch with the theoretical basics of ROS and teach how to practically use it for their own industrial application.

Ros in der Industriellen Anwendung seminar will be held March 6 at Fraunhofer IPA Campus, Nobelstrasse 12, 70569 Stuttgart, Germany, in parallel to the ROS-Industrial event at SwRI. International participants can register by email at anmeldung@stuttgarter-produktionsakademie.de referring to eventTS_RIT_140306".

UTARI: RIC Americas Member of the Week

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The University of Texas at Arlington Research Institute (UTARI) specializes in developing advanced, affordable technology to help humanity in the performance of dirty, dull, dangerous, or difficult tasks in the home, workplace, and community. Led by Lt. General Rick Lynch (U.S. Army, Ret.), UTARI’s focus on assistive technology is concentrated in the areas of Advanced Manufacturing, Biomedical Technologies, and Robotics.

UTARI researchers work to provide smarter, safer autonomous robotics to aid those with disabilities, such as the elderly or wounded warriors; enable high-efficiency, low-cost production and reduce waste and downtime in manufacturing; and promote wound prevention and healing, medical training, and faster, more accurate diagnostics through biomedical technology research and development.

UTARI is currently making extensive use of ROS across a wide variety of robotic platforms. In UTARI’s Living Laboratory, for example, they are currently using ROS on the PR2 platform in order to develop capabilities that assist people with and without disabilities in a typical home setting. In the Unmanned Systems Lab, they are currently using ROS on a variety of mobile ground and aerial platforms.   In UTARI’s Assistive Robotics Lab, they are using ROS in systems such as the Kuka Youbot and Rethink Robotic’s Baxter robot. 

UTARI was a participant in last year’s SwRI ROS-Industrial training and recently joined the ROS-I consortium. The University of Texas at Arlington Research Institute looks forward to its participation in the ROS-Industrial project.

Read more at www.uta.edu/utari.

ROS Usage Survey Posted by OSRF

ROS-Industrial builds on ROS, extending it to factory automation applications. The ROS core and web site are maintained by the Open Source Robotics Foundation (OSRF), which also organizes the annual ROSCon event. OSRF support is a critical to the growth of the ROS community.

You have an opportunity to help OSRF and the ROS community: OSRF has created a blog post requesting that we fill out a ROS Usage Survey for them. Please take a few moments to respond to the survey. Thanks!

UT Austin NRG: RIC Americas Member of the Week

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The Nuclear Robotics Group (NRG), an interdisciplinary research group associated with the Nuclear Engineering Teaching Laboratory (NETL), is headed by Dr. Mitch Pryor at the University of Texas at Austin. NRG uses industrial automation hardware to conduct graduate-level research targeting the energy sector. Because of NRG's experience with a variety of C++ based middleware for its research in the past, it made sense to begin using and contributing to ROS-Industrial over the past year as a Consortium member.

The ROS-Industrial team at SwRI enjoyed working with NRG researcher Dr. Brian O’Neil who spent summer 2012 developing a 3D object classifier that was used for the ROS-I Automate Demo. O’Neil’s work demonstrated how quickly academic research can transition to practical use on real industrial hardware. In a period of a few months, his idea was in practice on a heterogeneous dual manipulator system that demonstrated many of the core capabilities of ROS-Industrial.

NRG has recently released a Multiscale Teleoperation Demo video (below) that shows a natural user interface used to control an industrial robot. In the video, Ph.D. candidate Jack Thompson uses hand and arm motions to set waypoints for a simulated Motoman manipulator. A PrimeSense RGB-D sensor observes Thompson’s motions, and then his ROS/PCL-based software nodes interpret the motions and convert them to tool poses. What is unique: Thompson has a separate input control that scales the system’s sensitivity to his hand/arm motions. If he wants the robot to execute a small/delicate motion or a large macro-motion he is able to do so by scaling the sensitivity accordingly, making control of the system much more efficient. Up next, Thompson will being working with NRG’s Motoman SIA5 robots.

We look forward to more exciting accomplishments and collaborations with NRG.

Fraunhofer IPA: RIC-Americas Member of the Week

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The ROS-Industrial Consortium Europe led by the Robot and Assistive Systems department at Fraunhofer IPA (IPA), which designs robot systems and automation solutions for industrial applications and the services sector, recently has made exciting strides in the robotics industry. Among their impressive feats of engineering are the Care-O-bot 3 and rob@work 3 mobile manipulators. Check out:

IPA was an early ROS adopter, using it with the platforms mentioned above, and for a number of client-funded industrial automation projects. As SwRI sought a European collaborator for ROS-Industrial, IPA was a natural fit, given its leadership both in industrial robotics R&D, and its ROS expertise. IPA has many laudable accomplishments in the ROS community:

  • In May, they hosted ROSCon 2013, which brought together the global ROS community, and was a widely heralded success.
  • They launched an Eclipse toolkit for ROS called BRIDE, which enables model-based design for ROS (signal flowgraph drag-and-drop user interface).
  • They are contributing researchers for the Factory-in-a-Day project, which will create new agile manufacturing capabilities to address high-mix low-volume workflows; these capabilities will be made public through the ROS-Industrial repository.
  • They are leading the Lean Automation (LIAA) project, which will develop human-robot co-working capabilities based on the ROS-Industrial framework.
  • They used ROS in many earlier European research projects. Some of the code has been released through public repositories (e.g. SRS, ACCOMPANY, ect.).

There are also a couple of important upcoming events that will take place at IPA in Stuttgart:

  • March 6, 2014: 2nd ROS-Industrial Training
  • June 26th, 2014: 2nd ROS-Industrial Workshop aligned with European Consortium Kickoff Meeting

For more about the ROS-Industrial Consortium-EU, check out their website.

Canada's NRC: RIC-Americas Member of the Week

Operating from Montreal, the Structures, Materials and Manufacturing Laboratory of the National Research Council of Canada is helping Canadian aerospace companies develop and adopt cost-effective, flexible, reconfigurable approaches for aerospace structure assembly using robotics and automation. Projects are underway to develop low-cost reconfigurable robotized cells for aircraft component assembly and large-scale machining operations using ROS-I as a technology enabler. Virtual manufacturing also is being investigated. Through virtual manufacturing, robot work cell layout can be optimized; technical and financial impact evaluations of multiple automation scenarios can be shortened prior to making a big investment; and automatic trajectory generation/exportation of robot programs is made possible.

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“We recognize the potential of ROS-I for advancing the state-of-the-art in industrial robot applications in aerospace manufacturing, and we want to contribute to defining the upcoming avenues of development.” - J. Michel Lambert, Research Officer

NRC, an early member of the ROS-Industrial Consortium, believes in the value of using innovative technology like ROS-I in applied robotics projects. As they were already using ROS-I in one of their projects, the Consortium allowed them to interact more closely with SwRI and combine their mutual expertise to support their developments and collaborate on new projects.

ROS-Industrial Forum Recap and References

We appreciated the participation from the approximately 70 people who attended the ROS-Industrial Forum web event today, Dec. 5th. We are grateful to the presenters from Alten Mechatronics, Canada's NRC, CAT, TU Delft, Fraunhofer IPA, GA Tech, LANL, SwRI, and Yaskawa Motoman who provided the community with updates on progress and called for additional ROS-Industrial capabilities.

The event was recorded and can be replayed by going to this link. The slides are also available upon request.

Alten Mechatronics Unstructured Box Palletizing with ROS-Industrial

Alten Mechatronics, in collaboration with CSi Palletising systems, developed a demonstrator using an ABB IRB6640 robot to show that a system based on ROS-Industrial can easily cope with unknown products and uncertainties in the environment. Very little setup time was required for the actual hardware.

Two pallets were placed in the workspace of the robot. On one of these pallets three boxes of unknown size were randomly placed. The size, position and orientation of the boxes were determined using a Kinect, the Openni package and the PCL library. Based on this information, a path was calculated by MoveIt! and was then sent to the robot controller using the ABB ROS-Industrial package.

To make offline testing of the connection between the ROS-pc and the ABB motion controller possible, Alten Mechatronics developed a setup in which a ROS-pc was connected to a pc running the official ABB ABB RobotStudio software. This reduced the hardware set up time to less than one day. The current implementation reached a grasping accuracy of approximately 1cm, which indicates the accuracy of the vision system can be improved. This can be done by using more accurate sensors (e.g., laser triangulation, Time of Flight cameras) and more advanced filtering algorithms. For this demonstrator, the existing ABB drivers had to be adapted to allow controlling the gripper using the I/O interface of the IRC5 controller, which indicates a the need for a standardized Robot I/O interface in ROS-Industrial, to make implementation even easier.

By: Berend Kupers, Alten Mechatronics. Contact: rosindustrial(at-sign)alten.nl

October ROS-I Consortium Americas Meeting Recap

The fall meeting of the ROS-Industrial Consortium Americas was held in conjunction with RoboBusiness on Oct. 23, 2013, in Santa Clara, California. Paul Hvass and Shaun Edwards (SwRI) provided updates about the growth of the Consortium, ongoing technical projects, and financial outlook for the Consortium. Next, there was a set of lightning talks by William Woodall (Open Source Robotics Foundation) about the status of ROS, by Sachin Chitta (SRI) about MoveIt!, and by Ulrich Reiser (Fraunhofer IPA) about the formation of the ROS-Industrial Consortium Europe. The group also considered new Focused Technical Projects (FTPs). The group deliberated about a MoveIt! FTP proposed by SRI and a Robotic Deburring FTP championed by Spirit AeroSystems. A significant achievement of the meeting was a broadening of representative end user OEMs to include aerospace, automotive, and heavy industries along with the robot OEMs and researchers. More than 30 attendees came in person or via WebEx from ABB Robotics, BMW, Boeing, Canada’s NRC, CAT, Cessna, Deere and Co., Fraunhofer IPA, HDT, LANL, NIST, OmnicO AGV, OSRF, Robotiq, Spirit AeroSystems, SRI, SwRI, Toyota, UTARI, Vetex, and Yaskawa Motoman Robotics.

ROS-Industrial – MTConnect Integration Program Completes

This work was conducted under Grant Opportunity Number 2012-NIST-MSE-01 for the Intelligent Systems Division of the National Institute of Standards and Technology (NIST) in collaboration with AMT (Association for Manufacturing Technology), Mazak USA, NCDMM (National Center for Defense Manufacturing and Machining), SwRI (Southwest Research Institute), and System Insights.

Program Summary

The ROS-Industrial – MTConnect Integration program, completed this past summer, had a goal to create a bridge between the MTConnect and ROS-Industrial and demonstrate the capability with a robotic machine tending application. Similar to ROS messaging, MTConnect is a standard that describes both the symantic data definition and method of communication between devices in a manufacturing environment. The ROS-Industrial/MTConnect bridge allows devices that use either comms/messaging system to communicate seamlessly. The practical application of the bridge is to create plug-and-play capability between MTConnect devices and any robot that is supported by ROS-Industrial. The final deliverable for the program was a machine tending demonstration with a ROS-Industrial-controlled robot (Fanuc) and a MTConnect-controlled CNC (Mazac CNC Lathe). The MTConnect standard pre-defined the communications and system interactions between the robot and CNC, allowing an integration with significantly less programming than would be required from a traditional implementation. (for more information see the video below).

Importance to ROS-Industrial

While the final demonstration of the program may not be a new application, the real value in this program was to provide a method for ROS-Industrial devices to communicate with other devices (even other ROS-Industrial devices) using an industry standard. With this capability, the vision of a factory floor with intelligent industrial systems all communicating and interacting seamlessly could be realized. This is a capability that is not traditionally supported by ROS. There have been efforts at creating a multi-master system, but these efforts are not appropriate for an industrial application. Such approaches require every system to be ROS-aware which is not practical for all the systems in an industrial environment. Many devices are too simple for the overhead of ROS. Thus MTConnect provides a pragmatic solution for device-to-device communications.

In addition to this important capability, several ancillary capabilities were developed or prototyped as part of this effort.

  • Robot Task Description Format (RTDF) – A standard ROS format for capturing robot moves and way-points in a human-readable format.
  • Standard Control System State Machine and GUI – The vast majority of industrial control systems follow very similar behavioral concepts, including common states such as idle, waiting, in-process, stopped, reset, etc... With the adoption of common states, a similar GUI structure emerges. While these concepts are not new, powerful tools like those available with ROS-I now allow developers to take advantage of them.
industrial_GUI.jpg

The ROS-Industrial - MTConnect Integration Program provided many benefits to the ROS-Industrial program, including new capabilities and a real world demonstration of a robotic machine tending application. We are excited to see how others will build upon these new capabilities for their own applications.