The Robots are Coming - Engineers Australia...IEAus September 2009 Slide 1 The Robots are Coming !...
Transcript of The Robots are Coming - Engineers Australia...IEAus September 2009 Slide 1 The Robots are Coming !...
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Slide 1IEAus September 2009
The Robots are Coming !
Hugh Durrant-WhyteARC Federation Fellow, Research Director
ARC Centre of Excellence for Autonomous Systems (CAS)The University of Sydney, Australia
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Slide 2IEAus September 2009
Robots in Australia
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Slide 3IEAus September 2009
CAS/ACFR
• Research capabilities• Over 200 researchers, $15m/year of support• World-leading research in sensing, data fusion,
navigation, machine learning, cooperative control and human-robot interaction
• World’s best equipped laboratories and field test facilities for robotics research
• Fundamental and applied research, through to commercial outcomes
• Strong Government and Industry Support• ARC Centre of Excellence• Rio Tinto Centre for Mine Automation• BAE Systems Centre for Intelligent Mobile Systems• DSTO Centre for Autonomous Systems• US Army, Navy and Air Force projects
• Strong international engagement
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Slide 4IEAus September 2009
Perception:SensorsRepresentationsData Fusion
Systems:ModellingDesignHRI
Control:ModellingPlanningCooperation
Learning:RecognitionDecision MakingMulti-Agent
ACFR SupportedUAV, UGV, AUV Demonstrators
Fire Fighting
Construction Defence
Mining
Cargo Handling
Health Care
Intelligent Buildings
Ecology Management
Entertainment
Agriculture
Search and Rescue Education
CAS Research and Development R
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Slide 5IEAus September 2009
Research: Perception
• Focus on unstructured outdoor environments
• Research in:• Mixed sensors, mm-radar• Rich Representations• Probabilistic Models• SLAM, DDF
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Slide 6IEAus September 2009
Research: Control
• Focus on understanding platforms and cooperation
• Research in:• Platform models• Uncertainty management• Planning methods• Cooperative Control
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Slide 7IEAus September 2009
Research: Learning
• Focus on perception and decision making
• Research in:• Scene understanding• Multi-agent systems• Human-robot interaction
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Slide 8IEAus September 2009
Research: Systems
• Focus on modelling and design of robust systems
• Research in:• Formal methods• Middleware (ORCA)• Large-scale systems
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Slide 9IEAus September 2009
Working with Industry
• Three Case studies• Cargo Handling: First success in field robotics• Defence: Pushing the boundaries• Mining: The current grand challenge
• Key Lessons• From research to industry/exploitation• How to achieve national benefits• Driving future research
• A future robotics industry in Australia
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Slide 10IEAus September 2009
• The simplest possible field robotics problem:• A structured environment• Well defined task• Well defined pay-off
• Some key research challenges:• Control a large, fast platform• Guarantee performance• Ensure safety
Automated Container Handling
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Slide 11IEAus September 2009
The FRAIT Project
• My first attempt at field robotics, 1990-1993.
• Technically advanced vehicle system:• Radar navigation• High-speed control• Safety systems
• Weak exploitation plan:• Small start-up company• Technically focussed• Shoe-string budget
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Slide 12IEAus September 2009
Not thinking things through…
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Slide 13IEAus September 2009
The Australian Waterfront
• Lang Corp. 1995 purchase of Australian National Terminals
• University involved in quay-crane and operation R&D
• Investment in new straddle operations in 1997
• A decision to look at the automation option
End-user understands drive to automate
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Slide 14IEAus September 2009
Enhanced Straddle Carrier (ESC)
• Technical Development:• Lessons and new research
integrated into design• Work on navigation and
systems engineering• Development of team at
Sydney Uni. and at Patrick • Commercial Development:
• Total support from Directors• Long-term and consistent
investment by end-user• Flexible plan for development
and exploitation
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Slide 15IEAus September 2009
Operational System
• In operation since 2004• Four automated berths
including 30 AutoStrad systems
• Operation located in Brisbane but run from Sydney
• A new start-up company producing and supporting automation systems
• Significant value for end-user: • 50% personnel reduction• 40% fuel reductions• 70% maintenance reduction• Improved planning and
availability
IEEE International Robotics Award 2007
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Slide 16IEAus September 2009
How to Exploit ?
• Sell automation: $100k per AutoStrad• Sell AutoStrads: $1.2m each• Sell Automated terminals: $300m each• Operate terminals per box move:
$2bn/year
• Vertical integration in a large end-user can make good sense
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Slide 17IEAus September 2009
Lessons Learnt (Part I)
Field robotics requires close cooperationbetween users, suppliers and researchers
Having a small part of something big is better than having a large part of nothing
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Slide 18IEAus September 2009
Autonomous Systems in Defence:Pushing the Boundaries
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Slide 19IEAus September 2009
Defence Robotics in Australia
• Australia has a small, professional defence force
• Minimal indigenous support for autonomy R&D
• A focus on algorithms• Network data fusion• GPS-denied navigation• Autonomy
• Primary research support• BAE Systems (UK, US)• AFOSR, ONR, ARL (US)• DSTO, ADF (Australia)
A vast country with few defence resources: Autonomy is key
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Slide 20IEAus September 2009
BAE Systems Partnership
• A 20-year partnership with BAE• Decentralised Data Fusion (DDF)• Early work on SLAM• Example: OxNav-1991-94
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Slide 21IEAus September 2009
BAE Systems: ANSER Program
• Rapid increase in interest in network-centric systems for land/air/sea
• Multi-million dollar R&D programme fully funded by BAE Systems from 1998-2002, 2003-2006, 2007-
• To develop and deploy a fully decentralised data fusion system on a network of UAVs
• To demonstrate, key network-centric algorithms: Modularity, Scalability, Flexibility and Survivability
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Slide 22IEAus September 2009
ANSER Trials Campaign
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Slide 23IEAus September 2009
Every UAV Project has One…
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Slide 24IEAus September 2009
ANSER Outcomes
• Outputs:• World-first cooperative UAV demonstrations• Demonstration of fully autonomous network-
centric operations• BAE Systems Chairman Gold Award
• Outcomes:• BAE program wins in UK, US and Australia
(Type-45, JSF, MAST, etc)• Establishment of BAE Systems Autonomy
Research Centre at CAS and Global Capability at BAE Systems Australia
• Engagement in international programs: [UK]MOD, [US] ARL, AFRL, ONR
• Future autonomy for Australian civilian and defence applications
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Slide 25IEAus September 2009
Outcomes in Australian Defence I
• Armoured Autonomous SAS Target-Training System
• Multi-platform autonomous localisation, mapping, control
• Indoor and outdoor long-term robust operation
• Group reactive responses• Script-like scenario generation
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Slide 26IEAus September 2009
Sniper Training System
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Slide 27IEAus September 2009
Outcomes in Agriculture and Marine
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Slide 28IEAus September 2009
The Defence/Autonomy Dilemma
• True autonomy is a long way off (for ADF)• Limited to “platforms” and “remote control”• Not yet in current needs and doctrine• R-NIH: Buy existing US or UK equipment
• Defence autonomy does not push the boundaries as far as civilian applications• Not easy to field true autonomy outcomes• Not easy to compute NPV and make case• Information rather than platforms are the need
• The future of autonomy is in civilian applications
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Slide 29IEAus September 2009
Lessons Learnt (Part II)
Industry will support long-range strategic research at world centres of excellence
In robotics, research needs time tosucceed for both technical and cultural reasons
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Slide 30IEAus September 2009
Mining Automation:The Grand Challenge
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Slide 31IEAus September 2009
Mining Automation
• Total mine automation:• A grand challenge for Field Robotics• Brings together all elements of systems,
integrity, perception and more
• Driven by safety, predictability, precision and efficiency
• Dirty, Dull and Dangerous…
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Slide 32IEAus September 2009
The Initial Strategy (1995-00)
• Early work focused on equipment automation
• Benefits to the bottom line were hard to identify
• Lack of automation culture and how to exploit benefits of automation
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Slide 33IEAus September 2009
The Revised Strategy
• Problems:• Mining companies make money,
not technology• Many large players create a
credibility gap• Steps toward automation:
• Develop increments toward the automated mine
• A portfolio of sensing and automation R&D projects
• Build confidence and understanding• Focus: Safety and predictability
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Slide 34IEAus September 2009
Safety is a priority in mining !
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Slide 35IEAus September 2009
Localisation and Mapping
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Slide 36IEAus September 2009
Proximity Tracking
• Network-centric tracking, and collision data fusion:• Mining equipment• Light vehicles• People
• Integrated safety system• Beyond line-of-sight proximity
warning• Local operations control
• Operation in• Bracalba, Grasberg, Brockman
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Slide 37IEAus September 2009
Mining Automation
• Total mine automation:• A grand challenge for Field Robotics• Integrates all elements of systems, integrity,
perception and more
• Key projects• Mine Automation System (MAS)-Architecture• Mine Picture Compilation (MPC)-Data Fusion• Equipment Automation–Trucks, drills, excavators, etc
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Slide 38IEAus September 2009
Mine Automation System (MAS)
• MAS Provides• Standards for Information• Standards for Equipment• Machine-human integrity
monitoring• Client-server structure
• Mine-wide data fusion (MPC)
• Mine equipment coordination and control
• Integrates to Remote Operations Centre (ROC)
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Slide 39IEAus September 2009
Mine-wide Data Fusion
• Build and maintain an integrated mine view• Geometric data • Geophysical data• Equipment disposition
• Real time fusion• All data types• All time scales• All spatial scales
• Both manned and unmanned Systems
• Remote Operations Centre (ROC)
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Slide 40IEAus September 2009
Equipment Automation
• First automated pit• Trucks• Drills• Tracking systems
• In operation 7/2010
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Slide 41IEAus September 2009
Rock Modelling and Recognition
• Characterise geometry/geology of active mining area• Drilling sensors
• Pull down/rotational pressures• Natural gamma, LIBS
• Face sensors• Laser/Radar and Camera• Hyperspectral
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Slide 42IEAus September 2009
MPC-Block Model Gaussian Process
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Slide 43IEAus September 2009
Learning Geology and Hardness
Non-stationary, Multi-task GPs
Drill data
Fusion into MPC/Block Model
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Slide 44IEAus September 2009
Associating Geometry and Geology
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Slide 45IEAus September 2009
Drill Rig in Operation
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Slide 46IEAus September 2009
Lessons Learnt (Part III)
Researchers need to build deep and long-termcommitments to industry and industry outcomes
Industry will support large-scale fundamentalresearch if they can see the business bottom-line
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Slide 47IEAus September 2009
The Future of Field Robotics in Australia
• What have we done in 10 years?• Over $40m in industry research funding• Estimated > $1bn in industry outcomes • including four new companies• Key research underpinning Field Robotics• A great deal of excitement and fun !
• Where are we going in the next 10 years?• 30 current and new industry projects in 2009 • Mining will remain the main challenge• Developing new applications: Precision agriculture,
marine resources, bush fire fighting, …, in Australia• Building an exciting science for field robotics • Continue going to far away exotic places…and
automating them ☺
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Slide 48IEAus September 2009
The Next Ten Years
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Slide 49IEAus September 2009