CHAMP: a Bespoke Integrated System for Mobile Manipulation
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This document summarizes the ConteCnHtsAMP mobile manipulation system developed by researchers at the CSIR in South Africa. The system integrates a Powerbot AGV mobile base with a Barrett WAM 7 degree of freedom manipulator and Barrett hand. It was developed to research applications in healthcare, search and rescue, and assisted living. The system integration involved individually operating the mobile base and manipulator, establishing network communication between them, and integrating their hardware and software control. The resulting CHAMP system has a 1 meter reach, 6 km/h speed, can lift 2kg with its gripper, and operates for 2-3 hours on battery power. Future work will focus on autonomous operation, machine learning, and
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The Internet of Things vision introduces the capability of connecting smart sensor/actuators to locally available networks in order to allow the interaction with the real world. The two visions are, thus, perfectly integrated and ideally suited to perform the task of collecting simple information from the surrounding environment. Using smart distributed sensors and implementing data fusing and mining algorithms the final user is enabled to access real time data, and, undertake appropriate actuation strategies, via Internet, anytime and everywhere worldwide. This paper describes a successful application of the above concept in a challenging environmental monitoring context, concerning the remote management of a vineyard. The application is a successful result of the 6th FW European Integrated Project GoodFood. The paper reports a real case study concerning the deployment of four pilot sites in four different vineyards located in Italy, Chianti region, and in France. The deployed systems, in one case operating for more than two years, exhibit unprecedented stand-alone and undiscontinued operation capability, with millions collected
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The document discusses Midwinter celebrations at an Antarctic research station. It describes the preparations for and activities of Midwinter Day, including a pull-up competition won by S'celo. It also discusses the station's power sources, with three diesel generators each capable of 150kW and keeping the base comfortable during the winter. The weather on Midwinter's Day was mild but the month saw winds up to 218kph and temperatures down to -31.7C, demonstrating the extreme Antarctic conditions.
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The use of Nauplii and metanauplii artemia in aquaculture (brine shrimp).pptx
Although Artemia has been known to man for centuries, its use as a food for the culture of larval organisms apparently began only in the 1930s, when several investigators found that it made an excellent food for newly hatched fish larvae (Litvinenko et al., 2023). As aquaculture developed in the 1960s and ‘70s, the use of Artemia also became more widespread, due both to its convenience and to its nutritional value for larval organisms (Arenas-Pardo et al., 2024). The fact that Artemia dormant cysts can be stored for long periods in cans, and then used as an off-the-shelf food requiring only 24 h of incubation makes them the most convenient, least labor-intensive, live food available for aquaculture (Sorgeloos & Roubach, 2021). The nutritional value of Artemia, especially for marine organisms, is not constant, but varies both geographically and temporally. During the last decade, however, both the causes of Artemia nutritional variability and methods to improve poorquality Artemia have been identified (Loufi et al., 2024).
Brine shrimp (Artemia spp.) are used in marine aquaculture worldwide. Annually, more than 2,000 metric tons of dry cysts are used for cultivation of fish, crustacean, and shellfish larva. Brine shrimp are important to aquaculture because newly hatched brine shrimp nauplii (larvae) provide a food source for many fish fry (Mozanzadeh et al., 2021). Culture and harvesting of brine shrimp eggs represents another aspect of the aquaculture industry. Nauplii and metanauplii of Artemia, commonly known as brine shrimp, play a crucial role in aquaculture due to their nutritional value and suitability as live feed for many aquatic species, particularly in larval stages (Sorgeloos & Roubach, 2021).
ESR spectroscopy in liquid food and beverages.pptx
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Equivariant neural networks and representation theory
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Abstract: Equivariant neural networks are neural networks that incorporate symmetries. The nonlinear activation functions in these networks result in interesting nonlinear equivariant maps between simple representations, and motivate the key player of this talk: piecewise linear representation theory.
Disclaimer: No one is perfect, so please mind that there might be mistakes and typos.
dtubbenhauer@gmail.com
Corrected slides: dtubbenhauer.com/talks.html
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collided with the MW proto-disc 8–11 Gyr ago, and the Virgo Radial Merger (VRM), where the progenitor collided with the
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The use of Nauplii and metanauplii artemia in aquaculture (brine shrimp).pptx
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3D Hybrid PIC simulation of the plasma expansion (ISSS-14)
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The debris of the ‘last major merger’ is dynamically young
CHAMP: a Bespoke Integrated System for Mobile Manipulation
- 1. ConteCnHtsAMP: a Bespoke Integrated System for Mobile Manipulation Beatrice van Eden, Benjamin Rosman, Daniel Withey, Terence Ratshidaho, Mogomotsi Keaikitse, Ditebogo Masha, Ashley Kleinhans, and Ahmed Shaik Mobile Intelligent Autonomous Systems (MIAS) Modelling and Digital Science (MDS) Council for Scientific and Industrial Research (CSIR) South Africa RobMech/PRASA/Aflat conference - 28 November 2014
- 2. Content • Introduction • Examples of mobile manipulators • System integration • Hardware integration • Software integration • Conclusion 2
- 3. Introduction • Why Mobile Manipulators? 3 – Healthcare and rehabilitation – Search and rescue – Assistant living • Why integration? – Decrease in hardware and sensor cost – Commercially available systems – Customised – Capability in system integration • What were our requirements? – Available resources – Research in robotics – Increased flexibility Shakey – Stanford Research Institute. (1966 – 1972)
- 4. Examples of Mobile Manipulators 1. Complete off-the-shelf mobile manipulators 2. Custom build systems – not commercially available 3. Bespoke platforms assembled from other robots 4
- 5. Examples of Mobile Manipulators 1. Complete off-the-shelf mobile manipulators 5 PR2 – Willow Garage UBR1 – Unbounded Robotics KUKA youBot Care-O-Bot – Fraunhofer IPA
- 6. Examples of Mobile Manipulators 2. Custom build systems – not commercially available WENDY – Waseda University (TWENDY-ONE) Ubot-5 – UMass Amherst 6 ARMAR-III – Karlsruhe Institute of Technology Robonaut - NASA Golem Krang – Georgia Institute of Technology Rollin’ Justin - DLR
- 7. Examples of Mobile Manipulators 3. Bespoke platforms assembled from other robots. 7 UMAN – Umass TUM-Rosie – Technische Universitat Munchen HERB – Carnegie Mellon University
- 8. CHAMP • CSIR Hybrid Autonomous Mobile Manipulator Platform 8
- 9. System Integration • High level overview 9 Powerbot AGV – Adept MobileRobots 100kg payload 6km/h Lead-acid batteries – 2,112 watt-hours at 24VDC power 0.9m x 0.66m x 0.48m 24 Sonar transceivers – range sensing Pressure sensor bumpers Driven by open-system Advanced Robot Control and Operation Software (ARCOS). Client software – Advanced Robotic Interface for Application (ARIA). Barrett WAM 7DoF Light weight, cable driven No torque – 27W DC required 45W required with torque applied 800W maximum possible draw 2kg payload Barrett hand – 3 fingers
- 10. System Integration 10 • Three steps – Individual operation – Network communication – Hardware and software integration
- 11. Hardware Integration • Hardware integration 11
- 12. CHAMP • System overview CHAMP 12 1m reach 6km/h Gripper that can lift 2kg 2-3 hours operation time
- 13. Software Integration • Software integration 13
- 14. Show and Tell • Current research platform in operation 14
- 15. Conclusion • Future work 15 – Autonomous operation – Machine learning – Active vision
- 16. Thank you Beatrice van Eden (bveden@csir.co.za)