Robotteknologien lige nu state of the art. Lars Dalgaard, robotkonsulent, ph.d.,

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2 Robotteknologien lige nu state of the art Lars Dalgaard, robotkonsulent, ph.d.,

3 Teknologisk Institut har eksisteret siden 1906 I over 100 år har vi sikret, at den nyeste viden og teknologi er blevet omsat til reel værdi for erhvervslivet.

4 Selvejende, almennyttigt non-profit institut Over innovative medarbejdere, state-of-the-art udstyr og faciliteter, samt et stærk netværk i hele verden.

5 Danmark sta r overfor store udfordringer Teknologisk Institut er en del af løsningen! Vores mission er at sikre, at ny viden og teknologi hurtigt omsættes til værdi for danske virksomheder i form af nye eller forbedrede produkter, materialer, processer, metoder og organisationsformer.

6 Stavanger Stockholm Hirtshals Göteborg Aarhus Tåstrup Sønder Stenderup Roskilde Odense Warszawa Atlanta

7 Organisation Repræsentantskab Bestyrelse Teknologisk Institut Byggeri og anlæg DMRI Energi og Erhvervsudvikling Klima Life Science Materialer Produktion Økonomi Direktør Mette Glavind Direktør Lars Hinrichsen Direktør David Tveit Direktør Jane Wickmann Direktør Bo Frølund Direktør Mikkel Agerbæk Direktør Anne-Lise H. Lejre Koncernøkonomidir. Jørgen K. Pedersen DMRI Beton Bæredygtigt Byggeri Indeklima og Bygningsundersøgelser Murværk Svømmebadsteknologi Tekstil Træ og Miljø DMRI Hygiejne og Forædling Målesystemer Råvarekvalitet Slagteriteknologi DMRI Automobilteknik Energieffektivisering og Ventilation Installation og Kalibrering Rørcentret Sekrariater og Kvalitet Biomasse og Bioraffinering Analyse og erhvervsfremme Arbejdsliv Idé & Vækst Uddannelse DMRI DTI Oil & Gas Kemi- og bioteknik Kemisk og Mikrobiologisk Laboratorium DMRI Emballage og transport Køle- og Varmepumpeteknik Fødevareteknologi Materialeprøvning Plastteknologi Produktudvikling Tribologi DMRI Måling og Kvalitet Nano og Microteknologi DMRI Robotteknologi Datterselskaber Transport og Elektriske systemer DTI Robotics US, Inc. FIRMA 2000 Sp. z o. o. Danfysik A/S DMRI Technological Institute AB Sweden Dancert A/S Teknologisk Innovation A/S

8 Resultatkontraktaktiviteter 13 % Danske kunder 38 % Omsætning mio. 24 % Forsknings- og udviklingsaktiviteter 25 % Internationale kunder

9 DTI s Centre for Robot Technology Located in Odense FT equivalent = 60 Focus areas: Industrial and production technologies Service and health care technologies Turnover 7 mil EUR 50 % R&D

10 DTI s Centre for Robot Technology Technologies and expertises Robotic manipulators Grippers and grasp planning Mobile platforms Sensors (e.g. cameras, lasers, ultra sound, thermographical) Human robot interaction and social robots Shared/assisted autonomy 30+ technical R&D projects in 2013 including FP7 and Artemis

11 STRA-DI Genefke-Scale A way to innovate and do strategic automation

12 Genefke-Scale Need for new development Complexity

13 Genefke-Scale Five categories Need for new development Complexity

14 Genefke-Scale Category 1; simple standard solutions Some characteristics Off-the-shelf solutions No process Singular robots No external axes Many references

15 Genefke-Scale Category 2; adapted standard solutions Some characteristics Off-the-shelf with adaptation to the specific task Process robots When multiple robots then no overlapping work zones No or few external axes Some references

16 Genefke-Scale Category 3; specialized solutions Some characteristics Solutions that first require new knowledge through practical pre-projects that aims at creating break through demonstration of critical elements Process is part of the solution Simple sensor input Multiple robots with overlapping work zone Cooperating robots, standard controller External axes No identical references but partial ones might exist in other solutions

17 Genefke-Scale Category 4; innovation Some characteristics Solutions being so complex that integrators need to team up with specialise centres to be able to run pre-project development Typically funded by EC or other agency Complicated process is integrated Simultaneous inputs from several sensors in semi-structured environments Cooperating robots, off-line programmed External axes No identical references but partial ones might exist in other solutions

18 Genefke-Scale Category 5; research Some characteristics Basic knowledge acquisition / technology development with long term industry interest Solutions are unlike ones seen before Cooperating robots, real-time programmed Mobile robots in open environments New types of sensors / sensor fusion No references

19 Genefke-Scale Flere dimensioner, vurdering af gab/udfordringer/muligheder Flere dimensioner Gul er projektets kompleksitet 12. Procesudstyr 1. Anlæg Projekt org. 11. Sensorsystemer 10. Brugerflade Drift org. 4. Kendskab til Processen 9. Software 5. Materialernes egnethed 8. Hardware 7. Procesprogrammeri ng 6. Emnets egnethed

20 Genefke-Scale Flere dimensioner, vurdering af gab/udfordringer/muligheder Flere dimensioner Gul er projektets kompleksitet Grøn er intern know-how 12. Procesudstyr 1. Anlæg Projekt org. 11. Sensorsystemer 10. Brugerflade Drift org. 4. Kendskab til Processen 9. Software 5. Materialernes egnethed 8. Hardware 7. Procesprogrammeri ng 6. Emnets egnethed

21 Genefke-Scale Flere dimensioner, vurdering af gab/udfordringer/muligheder Flere dimensioner Gul er projektets kompleksitet Grøn er intern know-how Blå er ekstern know-how 12. Procesudstyr 1. Anlæg Projekt org. 11. Sensorsystemer 10. Brugerflade Drift org. 4. Kendskab til Processen 9. Software 5. Materialernes egnethed 8. Hardware 7. Procesprogrammeri ng 6. Emnets egnethed

22 Genefke-Scale Flere dimensioner, vurdering af gab/udfordringer/muligheder Flere dimensioner Gul er projektets kompleksitet Grøn er intern know-how Blå er ekstern know-how 12. Procesudstyr 1. Anlæg Projekt org. 11. Sensorsystemer 10. Brugerflade Gul er kompetence-gab Gul er risiko men også mulighed for læring og udvikling af nye kompetencer. Her kan virksomheder distancere og differentiere sig fra konkurrenterne. 9. Software Riskostyring: gult gab bør ikke være større end 1 og helst kun ½! 8. Hardware Procesprogrammeri ng 3. Drift org. 4. Kendskab til Processen 5. Materialernes egnethed 6. Emnets egnethed

23 Genefke-Scale Flere dimensioner, vurdering af gab/udfordringer/muligheder

24 DTI Robot Technology Genefke-Scale Strategisk focus på kategori 2½ - 3 er en absolut nødvendighed! Tænker du: Jeg vil ikke risikere så meget, jeg holder mig til kategori 1-2 Så vær klar over: denne viden/teknologi er global, du går I andres fodspor, du kan ikke komme foran, din produktion bliver aldrig konkurrencedygtig Logisk konklusion: Strategisk fokus på kat. 2½ - 3 Løsninger over Kategori 2½ kan ikke outsources uden videnoverførsel På Teknologisk Institut arbejder vi med robotteknologi indenfor Kategori 2½ - 4 dvs. Forskning, Udvikling, og Innovation

25 Projects - selected examples

26 DTI Robot Technology Industrial Robot Association ApS Cat. 3½. Development of two-armed paper handling robots, grippers and sensors Idea 2-arms robot to load printing machines Fast, robust custom made robot body Specialised grippers / paper separator Sensors to detect location and stacking World news intro to graphics industry Paper-specific motion plan and control Project Customer funded (Graphic Robotics) 12 months of development First prototype delivered 3-week full-scale demo at DRUPA, world s largest graphics industry fair Next is sales (10+), and customization to specific paper formats

27 DTI Robot Technology ODICO ApS Cat. 3. Unique polystyrene moulds for the concrete industry built with advanced planer robots Idea Large 160 kg ABB robot system Heated planer tool Advanced robot motion Unique moulds and concrete structures, e.g. stairs Project Customer funded 6 months of development First prototype running Several unique planer tools developed 0-Series manufacturing of moulds TV2Fyn interview with ODICO owner at DTI Robot Technology

28 DTI Robot Technology Bin-Picker Robots Cat. 3½. Pick of chaotically ordered large cylindrical solid objects Idea Bin-Picker, world s first off-the-shelf Larger (1-10 kg) cylindrical objects Slippery, shiny, blank surfaces Machine load with precision Speed/cycle requirements (6-12 sec.) Challenge with robustness of gripper Project Scape Technologies product owner Special-vision developed, tested Generic gripper systems - done Software for engineering is on its way Establish references through tests HTF partners film

29 Hybrid gripper Idea Gripper configuration from object-cad Easy and cheap to manufacture Grasp a family of objects Fast and robust in operations Industry, food, service/health

30 DTI Robot Technology AGV Robots for Hospital Logistics Cat. 3½. Blood samples, food, medicine, surgical tools, garbage, depot materials Idea TUC AGV (Autonomously Guided Vehicle) robot for hospital logistics No infrastructure changes required Automated power recharging Handling of a range of containers possible Customized containers for food etc. Safety for navigation and goods access Project SHS/RSD funding Technical application development of load/unload units and IT systems Setup of logistics routes and logics Tests, measurements and documentation Focus on blood sample logistics first Focus on scaling second

31 Flexible Mobile Logistics Robots Cat. 3-4: Green houses, hospitals, warehouses, libraries, homes, DTI Robot Technology

32 Flexible robots for assembly Robot Co-Worker

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34 Flexible robots for assembly Robot Co-Worker SMErobotics (FP7-ICT) Fraunhofer IPA, DTI, ULund, TUM, DLR KUKA, Comau, Reis, Güdel, GPS Budget 12.2 million ( ) PRACE (FP7-FoF-NMP) Bosch, DTI, Fraunhofer IPA, ULund, Magellium, ABB Budget 3.4 million ( ) CARMEN (FI-DSF) University of Southern Denmark, University of Aalborg, DTI, Vola, KVM Conheat, Skan, Brunata Budget 3.1 million ( ) LIAA (FP7-FoF-NMP) Fraunhofer IPA, DTI, Technalia, Universal Robots, Visual Components, Opel, et. al. Budget 10.7 million ( ) Industrial PhD: Rasmus H. Andersen (SDU) Skilled Robotics Industrial PhD: Thomas Sølund (DTU) Flexible vision for robotics

35 Flexible robots for assembly Robot Co-Worker PRACE (FP7), håndtering & simpel montage SMErobotics (FP7), simple processer (svejs, montage, ) Resultatkontrakt, udvikling & afprøvning af Robot Co-workers CARMEN, modulære robot-systemer LIAA (FP7), menneske & system (robot) samarbejde MADE (SPIR) (Horizon 2020) (Horizon 2020)

36 R3-COP Cat. 4-5, Resilient Reasoning Robotic Co-operating Systems Idea Project Reduce the cost of system design from 2005 levels by 15% by 2013 Achieve 15% reduction in development cycles Manage a complexity increase of 25% with 10% less effort by 2013 Safe and robust co-operating robotic systems Reference architectures Design Methodology and V&V Fault-tolerant high-performance processing platforms Innovative system components for robust perception, reasoning and control

37 Monitoring of farrowing Monitoring using a low-cost camera Tablet PC for interaction with the farmer

38 Cleaning of pigsties

39 UnikaBeton (UniqueConcrete) Cat. 3, Manufacturing of unique concrete structures Idea Project Milling robots make 3D moulds Self-compacting concrete Installed robot-concrete-lab makes 0-serie, test elements, one-of-a-kind Architects design beautiful buildings based on industrialised manufacturing Develop cells on concrete-factories

40 UnikaBeton (UniqueConcrete) Cat. 3, Manufacturing of unique concrete structures Unique concrete structures Convex, concave shapes Patterns, text, logo

41 TailorCrete Cat. 4, Loading armour materials into unique concrete structures Idea Robot-milling of moulds Self-compacting concrete Extension to UniqueConcrete Flexible armouring methods Loading of armour with robots Project (FP7-NMP) DTI concrete, robot systems SDU, GiboTech robot expertise Others are building specialists Concrete-robot is developed Tests with armour-loading ready Next is the exploitation

42 DTI Robot Technology IRFO Advanced Food Handling Cat. 4. Robots at school learning about elasticity and surface characteristics Idea Modelling deformation properties Robots trained by model calibration Use of laser and Time-of-Flight Predict and plan grasp in packaging Packing food nicely for retailers Competitiveness by pack-quality mix Project (EU, INTERREG IV-A) Intelligent Robots for Handling of Flexible Objects (IRFO) Demonstrator cell developed Tests with artificial objects completed Companies take part in the tests Exploitation through integrators Continuation in new large R&D project

43 QUAD-AV Ambient Awareness for Autonomous Agricultural Vehicles ICT AGRI, ERA-NET EU project: Danish Technological Institute University of Salento, Fraunhofer Cemagref, CLAAS Agrocom Positive obstacles Negative obstacles Objectives Security system by fusion of sensors: stereo vision, LIDAR, RADAR, and thermal vision Recognise obstacles like people, trees, animals, ditches(grøfter) and well-tops(brønddæksler) Moving obstacles / Live animals / People Difficult Terrain DTI: fusion of stereo vision and thermal vision Real time High Dynamic Range stereo cameras Registration of stereo data og thermal data Integration and coordination of other partners sensors Termografi Hand in grass in shadow is easy to see in contrary to the hand in the sun HDR Realtime HDR Normal (same camera)

44 DTI Robot Technology James at your service Cat. 3½. Low-cost, natural-interactive personal service robot butler Idea Assistance to disabled people or people who like to have a robot-butler Intuitive commanding, voice, Tablet, etc. Slim motion-space, height-rotate tray for beds, tables, etc. For hospitals, nursing homes, domestic Project (ButlerBot) SDU, Maersk Institute TriVision Universal Robots AAU, Architecture and Design DTI Robot Technology

45 DTI Robot Technology NAO Educational Robotics in primary, secondary and high school Idea Status: 21 NAO s in Denmark Interactive humanoid robot Easy visual programming interface (Choregraphe Python C++) Used in STEM-teaching, Problem-based learning (PBL), language learning and special needs education etc. Projects Persuasive Educational & Entertainment Robotisc (PEERs) PhD project with Aalborg University KRAM NAO Copenhagen: Facilitating interest in health education with robots FremTek: Testing NAO in ~20 different educational institutions

46 Tak! Lars Dalgaard, robotkonsulent, ph.d.,