Joint CoTeSys / CREATE Workshop. 5 October Program:

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1 Joint CoTeSys / CREATE Workshop Location: IAS Institute of Advanced Study, Technische Universität München, Garching 5 October 2012 CoTeSys (Cognition for Technical Systems) and CREATE (Center of Robotics for Extreme and Uncertain Environments at Tohoku University) are proud to organize a common workshop on the scientific and technical challenges of robotics in the next decades: Program: 9.00 Welcome by Martin Buss (Coordinator CoTeSys) and Kazuya Yoshida (Director CREATE) 9.10 Kazuya Yoshida, Director CREATE, Space Robotics Lab., Graduate School of Engineering: CREATE - a New Research Initiative in Japan 9.20 Kazuya Yoshida, Director CREATE, Space Robotics Lab., Graduate School of Engineering: Recent Achievements of the Space Robotics Lab Abstract: In this talk, recent achievements in space and field robotics, conducted by Prof. Kazuya Yoshida and his colleagues, are introduced. The topics include HAYABUSA (Japan s asteroid sample-return probe), robotic manipulators mounted on International Space Station, RISING/RISING-2 (university-based 50 kg microsatellites for science mission) and QUINCE (a mobile robot successfully used in the Fukushima Daiichi nuclear plant.) 9.40 Roberto Lampariello, Robotics and Mechatronics Center, DLR, Oberpfaffenhofen Robot technologies for active debris removal Abstract: Active debris removal in Earth orbit is becoming more and more of a recognized necessity among the Space Agencies worldwide. The Robotics and Mechatronics Center has a long history of activities in the field of orbital robotics and is currently engaged in different R&D programs for developing technologies for active debris removal, as well as for the long term goal of satellite servicing. This talk gives an overview of these activities, with emphasis on the work on the semi-autonomous grasping of tumbling debris Koichiro Deguchi, Image Analysis Lab., Graduate School of Information Sciences: Expanding the Possibility of Image Media by Computer Vision Abstract: We are developing next-generation image media based on computer vision techniques, which leads us to elucidate the human visual functions including 3-dimensional perception and motion sensation. In this talk, we show some examples of new type displays by combining a projector and vision theory to expand the possibility of the image media. The topics include our developments of 3D reconstruction with highly accurate and easy camera calibration, Structure form motion by multi-camera system, Calibration of multi-projector systems, Mobile projector calibration, Ultra-high-speed visual tracking, and Gaze-reactive display Coffee Break

2 10.50 Keiji Nagatani, Space Robotics Lab., Graduate School of Engineering: Retrofit of Quince: Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants Abstract: On March 11, 2011, a massive earthquake and accompanying tsunami hit the Fukushima Daiichi Nuclear Power Plants, and it resulted in meltdown accidents. In response to this crisis, it was decided that the mobile rescue robot, "Quince", be used to carry out surveillance missions of the plants. In this talk, I will present the requirements for the missions and how we fulfilled them, and report the results of the missions MinJun Kim, Department of Mechanical Engineering & Mechanics/ School of Biomedical Engineering, Science & Health System, Dexel University/USA: Microbiorobotics: Biologically Inspired Microscale Robotic Systems Abstract: Bacterial chemotaxis is the most widely studied to understand the cell s response to a stress environment. It s controlled by more than 40 genes in over 14 operons that produce proteins for the structural components of the flagella, the flagellar motor, transmembrane receptors, and signal transduction. The signal transduction pathway of Escherichia coli are closely related and provide a model for signal transduction in other species. Inspired of bacteria, more importantly, we can develop a new class of robotics. Recently, as the field of engineered microscale robotics matures, a need for control of miniaturized systems has emerged. One approach is utilization of a live organism as an actuator. First, we will discuss the practical integration of bacterial flagellar motors to actuate microrobots for engineering works in microfluidic environments Eijiro Takeuchi, Human-Robot Informatics Lab., Graduate School of Information Sciences: How to use lidar sensors for outdoor localization Abstract: Sometimes, sensors output wrong information and this information bring on fatal error of localization. This presentation introduces two robust localization methods for outdoor environments. The first one is free-space measurement model for laser scanner. The method localizes the position with few map information and many unknown objects. The second one is GNSS multi-path mitigation method using 3D Maps. Multi-path is one of major causes of estimation error of GNSS and it is difficult to detect only GNSS signal. The method detects multipath error with 3D map Panel Discussion No. 1: "Cognitive Technologies - Future Perspectives", Moderator: Martin Buss, CoTeSys Coordinator Lunch Yoshihiko Nakamura, Department of Mechano-Informatics, University of Tokyo Actuator Challenge for Force Sensitive Robots Abstract: Actuators, gears and transmission have been the fundamental engineering problems of robots for many years. Humanoid robots and human-robot interaction despatatively require the innovation of the fundamentals. In our laboratory at the University of Tokyo, we have been developing the hydrostatic-transmission for force sensitive robotic systems. This talk will cover the development of the technology up to the most recent results Kazunori Ohno, Human-Robot Informatics Lab., Graduate School of Information Sciences: Recognition of 3-D point cloud data for rescue robots and intelligent vehicles Abstract: Recognition of 3-D point cloud data is one of important research topics for rescue robot and intelligent vehicle. We have studied a classification method of 3-D point cloud data measured by laser scanners on the basis of Eigen vectors. We analyzed the characteristics of raw 2

3 laser data, and found good features for recognizing line objects and water steam. I will present 3-D scan method, analysis of raw laser data, classification using machine learning techniques, and its applications Masashi Konyo, Human-Robot Informatics Lab., Graduate School of Information Sciences: Haptics Everywhere: Generating Haptic Feedbacks with Motion-Oriented Skin Vibrations Abstract: Haptic feedback in human-machine cooperation contributes to let us know our circumstances intuitively and rapidly. We have been concerned with haptics from the aspect of cutaneous sensations. We found several phenomena that vibrotactile stimuli generate force-like sensations, such as friction, inertia, and viscosity sensations. A cue to realize them is to generate skin vibrations in association with body movements. I will present the concept of the tactile stimulations and several applications for mobile information devices and a motion support system Rüdiger Dillmann, Institute for Anthropomatics, Humanoids and Intelligence Systems Lab, Karlsruhe Institute of Technology (KIT): KIT Focus Anthropomatics and Robotics Abstract: The KIT Focus Anthropomatics and Robotics studies the interaction between man and machines, with the major objective of highly usable and accepted anthropomatic systems to improve the quality of human life. Prerequisite for this is a thorough understanding of anatomy, motor skills, perception, information processing, as well as behavior and intelligence of the human being. The KIT-Focus brings together interdisciplinary competences from basic research and application oriented research and aims at bootstrapping innovation and technology transfer between KIT and partners from research institutions and industry at national and international level Coffee Break Dongheui Lee, Dynamic Human-robot Interaction, TUM Learning-based physical human robot interaction Abstract: In this talk, research activities of physical human robot interaction in Dynamic Human Robot Interaction lab at TUM will be presented. In this context of autonomous robotic learning, unsupervised incremental learning techniques for segmentation and clustering are applied to enhance human-robot cooperation tasks over time with the special focus on prediction of human partner s behavior. The learned skills can be further improved by kinesthetic coaching, which leads to eliminating kinematic mapping errors and learning synchronized whole body motions Kazuhiro Kosuge, Systems Robotics Lab., Graduate School of Engineering: Car Transportation by Multiple Mobile Robots icart Abstract: icart (Intelligent Cooperative Autonomous Robot Transporters) is a robot system, which maneuvers a car in a narrow space instead of its driver. Coordination of multiple mobile robots for handling a vehicle is a challenging task for multiple mobile robots. Real applications bring us a lot of new issues, which we need to solve. Through the development of icart, we will discuss issues relating to robotics as systems integration Panel Discussion No. 2: Robotics in Extreme Environments Future Perspectives Moderator: Martin Buss, CoTeSys Coordinator End of Workshop Banquet Dinner (for speakers and guests upon invitation) 3

4 Presenters Short CV s: Koichiro DEGUCHI is Professor of the Graduate School of Information Sciences, Tohoku University. He graduated from the M.S. course of the Faculty of Engineering, University of Tokyo. He worked at Yamagata University and the University of Tokyo. He has been in this position since His research interests include Computer vision, Robot vision, Image measurement, and System theory. Rüdiger DILLMANN received his Ph. D. at the University of Karlsruhe in Since 1987 he has been Professor of the Department of Computer Science and Director of the Research Lab. Humanoids and Intelligence Systems at KIT he became director and president of the Research Center for Information Science (FZI), Karlsruhe. Since 2009 he is spokesman of the Institute of Anthropomatics at the Karlsruhe Institute of Technology and founder of the KIT Focus Anthropomatics and Robotics. MinJun KIM is an associate professor at Drexel University/USA with a joint appointment in the Department of Mechanical Engineering & Mechanics and the School of Biomedical Engineering, Science & Health System. He received his B.S. and M.S. degrees in Mechanical Engineering from Yonsei University in Korea and Texas A&M University, respectively, completed his Ph.D. degree in Engineering at Brown University. Dr. Kim was a postdoctoral research fellow at the Rowland Institute in Harvard University. His research interests are the biological and physical phenomena in the small world including cellular/biomolecular mechanics and engineering in novel nano/microscale architectures to produce new types of nanobiotechology. Masashi KONYO received his PhD degree in engineering from Kobe University in In 2004, he was a postdoctoral fellow at the BioRobotics Laboratory, Keio University. Since 2005, he joined the Graduate School of Information Sciences (GSIS), Tohoku University as Assistant Professor. From 2009, he has been Associate Professor at Human-Robot Informatics Laboratory in GSIS, Tohoku University. His research interests include haptics, new actuators, and rescue robotics. Kazuhiro KOSUGE is a Professor in the Department of Bioengineering and Robotics at Tohoku University, Japan. He received the B.S., M.S., and Ph.D. in control engineering from the Tokyo Institute of Technology, in 1978, 1980, and 1988 respectively. From 1995, he has been at Tohoku University. He is an IEEE Fellow, a JSME Fellow, a SICE Fellow and RSJ Fellow. He is Junior Past President, IEEE Robotics and Automation Society. Roberto LAMPARIELLO received his bachelor s degree in aerospace engineering from Southampton University in 1990, master s degree in aeroplane aerodynamics from Cranfield University in 1991 and a specialization degree in aerospace engineering from the University of Rome La Sapienza in He is since then employed as a researcher with the Robotics and Mechatronics Center of the DLR, where he works in the fields of dynamics and control of free-flying space robots and in robot motion planning. Since 2012 he is lecturer at the Chair for Aerospace Engineering of TUM. Dongheui LEE studied mechanical engineering at Kyung Hee University in Seoul /South Korea, and did her doctorate at the University of Tokyo in From 2001 to 2004, she was a research fellow at Korea Institute of Science and Technology (KIST). She worked as project assistant professor at the University of Tokyo s Department of Mechano-Informatics ( ). Since 2009, Prof. Lee has been junior professor of dynamic human-robot interaction at TUM. She conducts research as part of the CoTeSys cluster of excellence. Her interests encompass machine learning for robots and cognitive robotics, human motion and human-robot-interaction. Keiji NAGATANI received his PhD degree from the University of Tsukuba, Japan in Between 1997 and 1999, he was a postdoctoral fellow at Carnegie Mellon University, Pittsburgh, and between 4

5 1999 and 2005, he was a lecturer at Okayama University, Japan. Currently, he is an associate professor in the graduate school of engineering, Tohoku University, Japan. His research interest is field mobile robotics. Yoshihiko NAKAMURA is a professor at Department of Mechano-Informatics. Humanoid robotics, cognitive robotics, neuro musculoskeletal human modeling, biomedical systems, and their computational algorithms are his current fields of interests. He serves ( ) as President of International Federation for the Promotion of Mechanism and Machine Science (IFToMM). Dr. Nakamura is a TUM Distinguished Affiliated Professor of Technische Universität München. Kazunori OHNO received his PhD degree in engineering from Tsukuba University in In 2004, he was a postdoctoral fellow at the COE project, Kobe University. In 2005, he joined Tohoku University as Assistant Professor. From 2012, he has been Associate Professor at New Industry Creation Hatchery Center (NiCHe), Tohoku University. His research interests include rescue robotics and autonomous car driving. Eijiro TAKEUCHI is an Assistant Professor in the Tadokoro Laboratory, Graduate School of Information Sciences, Tohoku University, Japan. He received his Bachelor, Masters and PhD degrees from the Intelligent Robot Laboratory, University of Tsukuba, Japan. His research interests include Autonomous mobile robots (Localization, Mapping, Planning, Software systems, and Mechanical Design). Kazuya YOSHIDA is a Professor in the Department of Aerospace Engineering at Tohoku University, Japan. He received the B.S., M.S., and Dr. Eng. from Tokyo Institute of Technology, in 1984, 1986, and 1990, respectively. From 1995 on, he has been at Tohoku University. He also serves as a Visiting Lecturer/Faculty of International Space University, Strasbourg, France since 1998 and Director of the Center of Robotics for Extreme and Uncertain Environments (CREATE), Tohoku University, Japan since