Jari Saarinen

Personal navigation system

This paper presents a human dead-reckoning system for beaconless indoor positioning. The system is based on traditional dead-reckoning sensors like compass, gyro, and accelerometers. Due to the difficult kinematics of a human, there are no ready solutions for the odometry. This problem is solved by using a self-made stride length measurement unit and laser odometry. All the sensors are integrated to a complete system including sensor fusion. The functionality of the integrated system is verified with tests in an office environment. Finally the test results are analyzed.

Rescue personnel localization system

Despite of rapid development in search and rescue robotics, the role of the human being is still very important both in the mission control and in the rescue field. However, robots can support humans in various ways. Combining humans and robots into a telematic system opens new possibilities in the rescue area. This paper explains a possible solution to add humans into a telematic system including robots and telematic mission management. The main requirement for the human cooperation with a rescue telematic system is the accurate localization of the human being. The localization system is based on traditional robotic dead-reckoning sensors like compass, gyro, and accelerometers. Due to the difficult kinematics of a human, there are neither ready nor fully functional solutions for the odometry. This problem is solved by using a self-made stride length measurement unit and laser odometry. The functionality of the integrated system is verified with tests in the European union IST-project called PeLoTe.

Methods for Personal Localisation and Mapping

Abstract This paper presents methods for beaconless localisation of a human being in indoor conditions. The base of the localisation is so-called human dead reckoning, which is implemented with inertial sensors and a self-made stride length measurement sensor. The focus of the paper is to study the possibility of using a laser range finder for human localisation and mapping. The paper discusses the differences between the traditional robot localisation and human localisation problems. Methods for scan matching, mapping and localisation using a priori map are presented.

Laser based personal navigation system

This paper presents a human localization system for beaconless indoor positioning. The system is based on traditional dead-reckoning sensors including a compass, a gyro, and accelerometers. Due to the difficult kinematics of a human, there are no ready solutions for the dead reckoning. This problem is solved by using a self-made stride length measurement unit and laser scan matching. The dead reckoning always has unbounded error and thus a map based localization algorithm is needed. The map is based on CAD-model and the localization is done using Monte Carlo localization. As a result the human being is localized indoors with bounded error. The system is used for incorporating the human into telematic system of cooperating robotic and human entities. The functionality of the integrated system is verified with tests in the European Union 1ST-project called PeLoTe.

Micro Robots for Scientific Applications 2 – Development of a Robotic Sampling System

Abstract This paper describes design, manufacturing and testing of a small scaled robotic drilling and sampling system called RoSA. This project was launched by ESTEC in order to study the feasibility of a drilling rover in exobiological exploration on planets, especially Mars. RoSA is a tracked, tethered vehicle, which can drive in harsh off-road conditions. The payload of the rover is a drill with dimensions of 110×110×350mm. Despite of its size drill can drill down to 2 meters and sample totally 10 samples during one sample trip. The mission consists of three sample trips up to 15 meters away from the lander. After one trip the 10 samples are brought back to the lander.

Multientity Rescue System

Abstract This paper presents methods for a cooperative rescue operation in partially or totally unknown areas with human and robotic explorers. Cooperation is based on a common presence i.e. a common understanding of the environment for both humans and robots. The common presence is generated by continuous mapping data supplied by robotic and human entities. Mapping data is pre-processed and transmitted to the mission controller/operator, who finally filters the data to a common presence, which is transmitted continuously back to both entities. The studied methods are human navigation without artificial beacons, human and robotic SLAM, cooperative localization and cooperative map/model building for common presence. Methods are developed, tested and integrated in a European Community research project called Pe LoTe.

Unified Representation of Decoupled Dynamic Models for Pendulum-Driven Ball-Shaped Robots

Dynamic models describing the ball-robot motion form the basis for developments in ball-robot mechanics and motion control systems. For this paper, we have conducted a literature review of decoupled forwardmotion models for pendulum-driven ball-shaped robots. The existing models in the literature apply several different conventions in system definition and parameter notation. Even if describing the same mechanical system, the diversity in conventions leads into dynamic models with different forms. As a result, it is difficult to compare, reproduce and apply the models available in the literature. Based on the literature review, we reformulate all common variations of decoupled dynamic forward-motion models using a unified notation and formulation. We have verified all reformulated models through simulations, and present the simulation results for a selected model. In addition, we demonstrate the different system behavior resulting from different ways to apply the pendulum reaction torque, a variation that can be found in the literature. For anyone working with the ball-robots, the unified compilation of the reformulated dynamic models provides an easy access to the models, as well as to the related work.

CREATING COMMON PRESENCE FOR A MULTIENTITY RESCUE TEAM

Abstract The paper presents a multientity rescue/mapping team consisting of both human and robotic members that are in remotely connected to a coordinator. Both entities explore a common area and provide both verbal description (human) and accurate mapping data (both) from their local environment. This information is fused with a possible apriori map resulting an environmental model called common presence. Common presence is updated continuously with new information and it includes the latest available information from whole area where the entities are or have been. Both entities will get continuous updates of the common presence in the form they best understand. With this information entities can improve their navigation and feeling of presence and exchange environment dependent information. The system and all the developed sub-systems are described and the test results of the integrated system are evaluated.

The Power Oar – Mechatronic Rowing Assistant

Abstract This paper represents an innovative rowing assistant - called Power Oar (Pat. pending). Power Oar is a rowing booster, which allows a rower to row with normal movements but with less power. The system is related to power steering and power-assisted bicycle. In Power Oar the regular oarlock is replaced with a combination of an electric motor and a gear. The torque (current) of the motor is controlled by the rowing force of the human rower. The technical development and performance tests of the prototype are described and finally a market research is reviewed shortly.

GIM, TOWARDS THE FUTURE WORKSITE

Abstract Future Worksite is a concept for robotic work machines working together in a common worksite. Newly founded GIM-Institute studies the subsystems and technologies in the area of field and service robotics. Research results are demonstrated and tested with real machines in the GIM-worksite, which is equipped with several robotic work machines, supporting infrastructure and remote operation station 180km away from the worksite. This paper describes how the infrastructure and communication/control architecture is constructed and the first test results of the long distance teleoperation tests.