Workshop Robotics & Autonomy Test Facility Thilo Kaupisch DFKI Bremen & Universitt Bremen Robotics Innovation Center Director: Prof. Dr. Frank Kirchner 2 Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, Overview DFKI Introduction DFKI Existing Test Facilities Rover Test Track Space Exploration Hall Underwater Testbed Virtual Reality Testbed DFKI Future Test Facilities Underwater Testbed II (2013) Space Exploration Hall II (2014) Future Needs 3 DFKI INTRODUCTION Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 4 DFKI GmbH in Kaiserslautern, Saarbrcken, Bremen and Berlin Kaiserslautern Site DFKI GmbH Trippstadter Strae 122 D Kaiserslautern Tel.: Fax.: Saarbrcken Site DFKI GmbH Campus D3 2 Stuhlsatzenhausweg 3 D Saarbrcken Tel.: Fax.: Project Office Berlin DFKI GmbH Alt-Moabit 91c D Berlin Tel.: Fax.: Bremen Site DFKI GmbH Robert-Hooke-Strae 5 D Bremen Tel.: Fax.: Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 5 DFKI RIC - Fields Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 6 DFKI RIC - Facilities Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 7 EXISTING TEST FACILITIES DFKI Robotics Innovation Center Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 8 Rover Test Track 500 m 15 obstacle types Wooden Staircase Concrete Tube Rock Hill Cattle Bridge Rock Canyon Grass Dunes Large Rock Field Small Rock Field Random Stepping Field Gap Tester Log Pile Gravel Field Railroad Tracks Climbing Fence Pond Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 9 Rover Test Track Video Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, :49 min 10 Space Exploration Hall Width:12m Length:24m Height:10m Area: 288m SpiderBot Artificial Crater Long Range Motion Simulation System VICON Tracking System Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 11 Test Environment Near realistic substitute of a crater environment based upon analysis of lunar craters Crater with slopes of 25-45 Ramp with variable slope of 0-45 Flexible positioning of rock segments (fixed mounting or free distribution) Basalt Split as mechanical simulant for regolith (on ramp) Collimated light incident of light by theatre spotlights High intensity High colour temperature High-Speed Motion Tracking System Environment provides capability of controllable and reproducible experiments Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 12 Test Environment Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 13 Space Exploration Hall Video Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, :55 min 14 Underwater Testbed Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 15 Underwater Testbed Black tank max capacity: 20 m size (l x w x d): 3,4m x 2,6m x 2,2m material:PE (black) observability: through 2 small observation windows speciality: optical simulation of underwater environments without external light Gantry Crane location:around tank I axes:3 (x, y, z) max. speed per axis:5 m/s max. acceleration per axis: 10 m/s2 max. torque:X/Y: 74Nm, Z: 57Nm repeat accuracy:+/- 0.2mm max. load: 1500N speciality:controlled movement of objects in tank I in order to simulate vehicle movement etc. Glass-tank max capacity:40 m size (l x w x d):5m x 4m x 2,2m material:glas and steel observability:full observability from outside the tank because of 3 glas walls Hoisting Gear: type:slewing crane max. lifting weight:250kg actuation:electrical (lift), manual (slew) Additional commodities control station hydraulic power unit (210bar, 20l/min) turbidity control in tank I Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 16 Underwater Testbed Video Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, :15 min 17 Virtual Reality Testbed technical specifications projection surface: 15,4 m beamer:10 x Sanyo PLC-ET10L with 1400 x 1050 Pixel resolution 2D:ca. 7,3 MegaPixel resolution 3D:ca. 14,6 MegaPixel casing: 2 x APC NetShelter SX computer: 14 x RenderClients and Master; CPU: Core i7 930; GPU: nVidia GTX 480; 1 x Server; 1 x File-Backup network: 2 x Cisco Gigabit Ethernet Switch; (LWL between the Switches) input devices: data glove: CyberTouch; InterSense Tracking: hand/headtracker and wall; 3D-mouse; GamePad Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 18 FUTURE TEST FACILITIES DFKI Robotics Innovation Center Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 19 Future Test Facilities Video Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, :23 min 20 FUTURE NEEDS Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, 21 Future Needs Access to classic test facilities Radiation Vacuum Launch loads Thermal Access to robotics specific facilities Fine dust endurance test Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories Harwell, Thank you! DFKI Bremen & Universitt Bremen Robotics Innovation Center Director: Prof. Dr. Frank Kirchner 23 Applications are welcome! Were currently looking for motivated researchers