Category archive - Advanced Robotics Dept.

IIT and UdG work with new capabilities to perform a robust valve Turning

From the 28th of November to the 5th of December, researchers from Istituto Italiano di Tecnologia (IIT) came to the University of Girona (UdG) to do different tests to develop a successful valve turning.

NTUA, IIT and UdG  working at the CIRS facilities.

NTUA, IIT and UdG working at the CIRS facilities.

During this short period of time the two teams have worked together in two different tasks: First, the integration and testing of the new end-effector. Second, testing the Reactive Fuzzy Decision Maker (RFDM) to evaluate the safety of the valve turning.

New end-effector designed to improve the quality of the grasping and equipped with a camera in hand and a Force Torque sensor.

New end-effector designed for the valve turning.

The new end-effector has been designed in three different parts: First the shape of the passive gripper to grasp the valve handle, second a camera installed inside the center of the end-effector to see the manipulated elementa and third a Force/Torque sensor to evaluate the quality of the grasping and the torque needed to turn the valve.

Valve turning scenario  with the perturbation system installed

Valve turning scenario with the perturbation system installed

An external thruster has been install in the valve turning scenario in order to add perturbations during the manipulation task. The perturbations effect the valve turning and thus allow to detect the parameters to evaluate the safety. Furthermore, the communication between the RFDM and the Learning by Demonstration reproductor has been tested.

Pandora @Oceans’13 San Diego, California

Great success of the Pandora project in San Diego, California, USA for the Oceans’13 conference, 23-26 September 2013, the biggest conference in oceanic engineering.

  • Pandora Special Sessions: The Pandora team presented seven papers, grouped into two dedicated sessions. The room was always full, with many questions showing interest from the different researchers attending the conference.
  • Speakers’ Breakfast: PANDORA Table for AUV Autonomy sessions!

  • Tali Hurtòs wins the Poster Competition: with a work focused on novel blending techniques for sonar mosaicing, in the framework of the Pandora project, Tali wins the 1st prize of the student poster competition. Congratulations !!!
  • The winning poster

The conference was very well attended with two exhibition halls, and several parallel technical tracks, and in-water demos at the harbour, being a unique possibility to showcase the Pandora project and its results.
Alongside the hard work, some time for an Hawaiian-style dinner at USS Midway was well deserved for the Pandora team:

Pandora team at USS Midway for Conference Gala Dinner (Hawaiian style)

Collaboration Between UdG and IIT

Istituti Italiano di TecnologiaIstituti Italiano di Tecnologia

Arnau Carrera, a PhD student at the University of Girona (UdG), completed a 3 month stay at the Istituto Italiano di Tecnologia (IIT) from March to June 2012. During this visit Arnau worked with Petar Kormushev, Reza Ahmadzadeh, Matteo Leonetti and other members of the Advanced Robotics group at IIT. The aim of this visit was to begin collaboration between UdG and IIT and start to share expertise between the two groups.

Experimental Enviroment

At the end of this three month visit, we obtained a first approach to the valve turning problem performed with an aerial robotic arm. Several different techniques to resolve the problem with the desired robustness have been used, the most important technique being Imitation Learning which is used to teach the task to the robot.

The results can be seen in the video and in the Article in the AIMSA-2012 Workshop