Robust Autonomous Systems. Technical University of Denmark DTU-Building 326 DK-2800 Kgs. Lyngby Denmark aut.elektro.dtu.

Transcription

1 Robust Autonomous Systems Technical University of Denmark DTU-Building 326 DK-2800 Kgs. Lyngby Denmark aut.elektro.dtu.dk Ole Ravn

2 Ole Ravn Civilingeniør, Ph.D. fra DTU Faggruppeleder, Automation and Control, DTU Elektro, DTU Studielinje koordinator for studielinjen Automation and Robot Technology Forsker og underviser bl.a. i udvikling af robotter

3 Feedback Control System Engineering Modular Design Information Processing

4 Core competences Robust Autonomous Systems Feedback & Control Information Processing & Integration Systems Engineering & Modularity

5 Core domains Robust Autonomous Systems Systems and Robots that can Cope Areas/domains Production, Energy & Supply Systems Wind Turbine Intelligent grid/power Process Industry Vehicles, Robotics & Service Systems Robotics Engine Control Rail systems Health & People Care Devices Medico Welfare

6 Research Directions Condition monitoring and decision support for safety critical systems Functional Modelling, AlarmTracker Diagnosis and Prognosis, IntelliSwitch Reconfigurable and self-learning systems Modular Robotics, REMORA Perception and Situation awareness under uncertainty Autonomous Mobile Robots, MBZIRC

7 Advanced Alarm Handling and Decision Support for Safer Offshore Operations Challenge Complexity in plant operation (safety and efficiency) Data overload and alarm flooding Situation awareness during plant upset Require Domain and design knowledge Formal knowledge representation Data analysts IT infrastructure Research areas Artificial intelligence Functional modelling for operator decision support and HMI MFM modelling 30 April

8 Advanced Alarm Handling and Decision Support for Safer Offshore Operations Partners Automation and Control Group DHRTC, DTU-Compute AAU-E (Esbjerg) Eldor Technology ConocoPhillips Project objectives Increase oil production by enhanced water management Decreasing downtime by offering better operation support in the control room Scientific approach Functional Modelling Big Data Analytics

9 Condition monitoring for predictive maintenance of railway infrastructure INTELLISWITCH Project 9 INTELLIS WITCH

10 Diagnosis and prognosis of degradation processes in railway turnouts Vibration data for loaded and unloaded track Identification of lowcomplexity behavioral models Statistical analysis of relevant signals Statistical change detection Infrastructure monitoring INTELLIS WITCH

11 Research Directions Condition monitoring and decision support for safety critical systems Functional Modelling, AlarmTracker Diagnosis and Prognosis, IntelliSwitch Reconfigurable and self-learning systems Modular Robotics, REMORA Perception and Situation awareness under uncertainty Autonomous Mobile Robots, MBZIRC

12 Smart Society and AUT: Modular Robotics for Offshore Maintenance 5.0 Project: REMORA REconfigurable MOdular Robotic system for Aquatic environments Purpose: Inspection of confined man-made underwater structures Design Objectives: Autonomy - minimize effort for deployment, operation and recovery. Flexibility - minimize effort to reconfigure system to new applications. Reliability - minimize risk of mission failure, in case of robot failures. Minimality - minimize complexity, size and cost of individual robots. 30 April

13 Research Directions Condition monitoring and decision support for safety critical systems Functional Modelling, AlarmTracker Diagnosis and Prognosis, IntelliSwitch, SOSPO Reconfigurable and self-learning systems Modular Robotics, Fable, REMORA Perception and Situation awareness under uncertainty Dependable Autonomous Mobile Robots, MBZIRC

14 Mohammed Bin Zayed Robotics Challenge Introduction International robotics competition. 2 million USD prize money. 3 million USD in sponsorships. Held in Abu Dhabi UAE. Created on initiative of the crown prince. Held first in March 2017 Next event November 2019

15 New Approach Using Force Control Finding the box Find and approach a panel in a 60 m x 60 m field Using laser scanners Navigating relative Engaging the panel Taking advantage of predefined working environment Using force/torque sensor to directly feel board Sense environment through direct contact Define workspace with respect to panel Pick correct spanner of six Turn valve 360 degrees 15

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17 Your Innovation Partner AUT

18 Anno 2018 What is Next? An industrial or a societal revolution

19 Smart Society and AUT: Enabling Technologies for Shipping 5.0 Project: Electronic Outlook for Safer Shipping Integrate ARPA radar + e-map + electro-optic sensors +.. with autopilot (AP) & engine control Have smart AP warn if needed Have smart AP taking over if needed Develop collision avoidance Vision: significant accident decrease Graphics taken from MUNIN project 19

20 Center for Collaborative Autonomous Systems

21 Research Identity Feedback Control System Engineering Modular Design Information Processing