WS#14 R3: Mechatronics for Robustness, Resilience, and Reliability of robotic systems

Wesley Roozing (TG on Mechatronics, University of Twente), Navvab Kashiri (TG on Mechatronics, Leonardo),Maritim: room Hamburg/ Bonn

iCal

Questions to be answered

How to quantify R3 (Robustness, Resilience, and Reliability) for mechatronic systems?
How to design R3 benchmarks for mechatronic systems?
Where are the main R3 technology gaps in the mechatronic engineering of robotic systems?

Description

Now that robots are moving beyond traditional applications in industrial settings into applications in human, unstructured, and challenging environments in the field, their design and engineering face more strenuous requirements. Robots need to be Robust, Resilient, and Reliable (R3): Being able to withstand environmental conditions such as dust, moisture, heat, radiation, vibration, impacts, and so on, maintaining long-term reliability potentially even under sub-component failure. Operating in human environments means that these robots also need to be reliably safe in their interactions. Moreover, many of these new robots are mobile, which means that these properties need to be achieved within limited weight and energy consumption to achieve long-term operation.

Achieving these aspects at the hardware and low-level software level is a necessary condition for robots to achieve R3 at the task and cognitive level. While the latter is certainly important as well, this workshop focuses specifically on the mechatronics principles to achieve Robustness, Resilience, and Reliability of robotic systems.

Organisation of the WS

16:00 - 16:05 Introduction by organisers incl. TG Mechatronics update (Wesley Roozing, Navvab Kashiri)
16:05 - 16:15 Mechatronics in inspection and maintenance robotics (Aksel Transeth - SINTEF Digital, Norway)
16:15 - 16:25 The Rover IDEFIX for the MMX space mission. Robotics hardware in deep space and what we can derive for terrestrial developments (Markus Grebenstein - DLR, Germany)
16:25 - 16:35 ANYmal: Overcoming R3 limitations for operational deployments in challenging industrial environments (Benjamin Mottis - Anybotics, Switzerland)
16:35 - 16:45 Mechatronics designs at CERN for inspection, maintenance and repair tasks in harsh conditions (Eloise Matheson, CERN)
16:45 - 17:20 Panel & group discussion
17:20 Closing

Keynote 1: Aksel Transeth (TG on I&M, SINTEF Digital)

Title: Mechatronics in inspection and maintenance robotics
Abstract: In this presentation, we discuss infrastructure categories, use cases and challenges regarding mechatronics in robotics for inspection and maintenance (I&M). Based on the work by the euRobotics I&M topic group, we present three main categories of infrastructure relevant for I&M robotics. We will also present a selection of use cases that highlight the diverse types of robots needed for different scenarios. Examples include crawlers and UAVs for internal tank inspections, and aerial and underwater robots for inspecting and intervening with linear infrastructure in remote locations. We will discuss the primary challenges in mechatronics for these applications, such as ensuring robustness in harsh environments (e.g., offshore splash zones) and keeping costs down while accommodating different use case requirements (e.g., payload and locomotion-related).

Keynote 2: Markus Grebenstein (DLR)

Title: The Rover IDEFIX for the MMX space mission. Robotics hardware in deep space and what we can derive for terrestrial developments.
Abstract: CNES and DLR jointly developed a robotic rover for the JAXA MMX mission to the Martian moon Phobos. Roboticists often think space hardware "is a different story", but the development of the rover clearly highlighted there is a lot of engineering insights from space that are truly valuable for terrestrial robotic hardware. The talk will give a short overview of the mission, the development of IDEFIX and highlight some key insights.

Keynote 3: Benjamin Mottis (Anybotics)

Title: ANYmal: Overcoming R3 limitations for operational deployments in challenging industrial environments

Abstract: The successful deployment of robotic systems like ANYmal in demanding industrial environments requires overcoming significant Robustness, Resilience, and Reliability (R3) challenges. This presentation focuses on the specific R3 gaps that ANYmal addresses, showcasing the innovative solutions ANYbotics is developing to ensure reliable operation in real-world industrial scenarios. Through an analysis of ANYmal's design and capabilities, we will explore how it tackles critical limitations in areas such as mobility, sensing, and autonomy, enabling robust robotic deployments in challenging industrial settings.

Keynote 4: Eloise Matheson (CERN)

Title: Mechatronics designs at CERN for inspection, maintenance and repair tasks in harsh conditions

Abstract: Mechatronics design is a critical part of new robotics systems, especially when these systems must reliably operate in harsh conditions. At CERN, commercial and inhouse robots are regularly used for inspection, maintenance and repair tasks to suit the rather unique set of needs of the accelerator complex and experimental caverns. This talk will detail some of the main robots used at CERN, giving examples of interventions where robustness and resilience were key for the success of the operation.