Center for Advanced Field Robotics

Center for Advanced Field Robotics

Center for Advanced Field Robotics aims to bring together organizations engaged in research and development in the field of advanced robotics and autonomous systems in the Czech Republic.

The aggregation of various independent bodies under one roof opens new possibilities and synergies for solving demanding robotic problems leading towards real-world applications in civil, security, industrial, and military sectors. Besides, the center acts as a vehicle for practical realization of promising ideas and solutions from the academic community through a close collaboration with industrial partners and potential end-users.

Last but not least, the Center allows to specify and implement joint projects in the research and/or application fields on the basis of other agreements between the members of the Center.

Next

Projects

Project Kerberos

Automated laser-based undercarriage vehicle inspection system was developed jointly by Czech Technical University in Prague (CTU) and VOP CZ, s.p company. The Kerberos system provides recovery of a full 3D relief of a passing-over vehicle by laser range-finders. Its capability incorporates automated comparison of the reconstructed undercarriage model to previous scans of the vehicle from a database and identifies any additional objects. The cooperation of the CTU’s Intelligent and Mobile Robotics Lab with the industrial partner VOP CZ, s.p. allowed a smooth, fast and very efficient transfer of the state-of the-art methods into the security/inspection application domain product. The vehicle inspection scanner has currently been installed at several safeguarded facilities in Czech Republic.


More at:
       mikunda.p@vop.cz
       preucil@labe.felk.cvut.cz
home Previous Next

Projects

Project Kyklop

Automated camera-based undercarriage vehicle inspection system was developed jointly by Czech Technical University in Prague (CTU) and VOP CZ, s.p company. The Kyklop system provides 2D color image of a passing-over vehicle's undercarriage. It allows visual inspection of the vehicle without necessity to stop the car and manually inspect the undercarriage making use of mirror. The resolution of the resulting image is in the scale of 1 mm/pixel. The cooperation of the CTU’s Intelligent and Mobile Robotics Lab with the industrial partner VOP CZ, s.p. allowed a smooth, fast and very efficient transfer of the state-of the-art methods into the security/inspection application domain product.
More at:
       mikunda.p@vop.cz
       preucil@labe.felk.cvut.cz

home Previous Next

Projects

Project HERCULES

The robot was designed and realized by the department of Robotics, Technical University of Ostrava. One of the primary requirements was as low manufacture complexity as possible (to cut both the manufacture time and costs). Simplicity of the construction brought also other benefits, especially almost zero mechanical looseness and thus it is possible to perform very accurate and fine movements.

The manipulator is currently equipped with a simple two-jaw gripper with adjustable gripping force (7 levels in each direction), subsystem for measuring gases and a stereo-vision camera head located on the last link of the arm. It is possible to control the robot remotely from an operator’s station containing all the necessary electronics and a notebook with touch screen. All robot functions are integrated into one user-friendly application and can be controlled using a wireless gamepad. Important information is displayed directly over the camera image, additional functions and data are shown on the right-hand panel. The operator can also use 3D glasses for stereovision.

home Previous Next

Projects

Project TCX-G1

TCX-G1 is a project focused on a small autonomous combat vehicle as a support system for small units. Main aim of the project is to insert the soldier in a risky environment and increase effectiveness in particular tasks which could be in contemporary state automated. The UGV is in a state of experimental system and is designed as a component of a Future Soldier System with full connectivity in a broad tactical wireless net. The TCX-G1 contains following features:

  • Reconnaissance vehicle with combat ability
  • Stereo-optical camera system
  • Automatic support for target tracking and acquisition
  • Contemporary weapon system-CZ805, bore 5,56/7,62
  • Remote-control from command station up to 10Km
  • Head tracked weapon guidance possibility
  • Multimode control and operation
  • Tactical path optimization
  • Real time wireless data communication
  • V21 system compatibility and interoperability
  • Integration into digital battlefield system
  • Development platform is based on Yamaha YFM450 gear
home Previous Next

Projects

Virtual Operator Station

A new system for mobile robot teleoperation utilizes the Oculus Rift HMD. The operator wearing the HMD is put to a virtual space (“room”) and can freely look around by head movements. This virtual room contains several computer generated objects, primarily a big rectangular virtual screen plane providing 3D image from the robot stereovision cameras. A 3D model of the mobile robot with the arm at the real actual position is rendered in front and slightly down to help operator with manipulation task. A 3D model of the mobile robot with the arm at the real actual position is rendered in front and slightly down to help operator with manipulation task. Two additional virtual screens placed on left and right sides display pictures from a secondary (rear) camera and from a thermo vision camera. Additional necessary information about the robot, as operating modes, sensor data etc., are displayed below the additional screens. Visual representations of information (icons, symbols, images) are preferred. The control elements are displayed so, that they are in the operator’s sight most of the time.

home Previous Next

Projects

Self-reconfigurable modular robotic system

Self-reconfigurable robotic systems are devices able to adapt their shape and kinematic structure for a newly defined condition in which they are located, or for newly created tasks, which has been defined. The basic element of these systems is a module. Shape, possibilities and autonomy of the overall system is defined by these modules. Module is able to split itself to sub-modules able work independently, is able to detect own failures, overloading. The cube is base shape of module shape. This shape has advantages like the symmetry in 3D and possible six connection surfaces-places. Module has four base axis of rotation in the cube volume diagonal. Module with four axes of rotation will still have six connection surfaces. Rotation axis divide module into fourteen sub-modules. To achieve more movement possibilities from module is one sub-module added to module core. Sub-module of core has eight male sides of connection mechanisms and four degrees of freedom. Such distribution of active parts will be sufficient to ensure the rotation around the axis and connection to neighboring sub-modules. Sub-module of rotation acts as a passive module with no degrees of freedom and with four connection places. Three of the connection places are active male connectors and one is a female connector. Sub-module of connection has four degrees of freedom and five connection places. Four of them are female passive connectors. In same place where the four sub-modules connection mechanisms are, is placed a DOF. Connection between modules is provided via a genderless connector. Male-female connection mechanism is used between sub-modules and a genderless connection mechanism between modules. The connection mechanism between sub-modules can be connected with rotation by 120° and between modules by 90°. Module has overall 32 connection mechanisms and same number of DOF. Module is able to change its own structure from “cube” shape to “snake” like or 4-legged shape.

home Previous Next

Projects

Omnidirectional robotic mobile platform ODIN

Design and realization of the chassis with omnidirectional wheels for testing purposes. Preliminary research deals with relatives wheeled chassis, analysis, control and applications of omnidirectional wheels. The design of test variant chassis was based on drawings and calculations performed best variant, which were tested features omnidirectional wheel drive modes and their energy demands. Knowledge and ideas to improve the test chassis are used in another chassis concepts. Innovation consisted in the design of suitable covers, integration of modular manipulator Schunk and concept of sensors and cameras subsystem. Research continues on the development of cameras subsystem, especially the creation of stereovision system with using 3D glasses – Oculus Rift Kit 2. Next development is in the simplification of used applications for manipulator and drives - unified application. Lastly, it is the incorporation of sensors Hokuyo 2D scanners and Microsoft Kinect for Windows to main unified application during drive mode or standing mode to detect obstacles.

home Previous Next

Message

image
  • Creates an environment for association and collaboration of leading research and development organizations with industrial partners.
  • Forms critical mass of R& D an manufacturing capabilities of advanced robotic technologies.
  • Responds to current trends in the field of applied cybernetics and concentrates the research, development, material and human resources onto design and implementation of advanced solutions.
  • Supports implementation, validation and verification of complex experiments/scenarios and to offer/seek applications of robotics in civil, security, industrial and defense tasks.
  • Transfers promising ideas and solutions from research laboratories and academia into practice through close collaboration with industry and potential users of these technologies.
  • Acts as a contact and consultancy services point for participants/customers from industry, research and development.
  • Enables implementation of joint research as well as application driven projects on the basis of mutual agreements between the CAFR partners and agreements with third parties.
home Previous Next

About Members

IMR

Czech Technical University in Prague, Intelligent and Mobile Robotics group aims to develop a highly robust cognitive robotic system. In particular, its research is focused on sensor data processing, world model building, self-navigation, planning and multiple robot coordination.

http://imr.felk.cvut.cz
contact: preucil@labe.felk.cvut.cz
VUT

Brno University of Technology, Centre for Applied Cybernetics is engaged in research of mobile robotics, telepresence and autonomous navigation. It has long term experience with development of heavy-duty robotic platforms.

http://www.vutbr.cz
contact: zalud@feec.vutbr.cz

Technical University of Ostrava, Department of Robotics is focusing on the industrial robotics, service robotics, robototechnics and on application of robots in non-machinery branches.

http://www.robot.vsb.cz
contact: petr.novak@vsb.cz
UNOB

The conducted robotic research at the University of Defense, Department of Combat Support Management is aimed at development of autonomous vehicles for deployment in inhospitable outdoor environments.

http://www.unob.cz
contact: jan.mazal@unob.cz
VOP

VOP CZ, s.p. has strong position of an integrator and supplier of modern defence equipment and systems and engineering production for civilian purposes on market of welded components and assemblies.

http://www.vop.cz
contact: mikunda.p@vop.cz
home Previous Next

Contact

Mailing Address

CAFR
Dukelská 102
742 42, Šenov u Nového Jičína
Email: info[ at ]cafr[ dot ]cz