WORKSHOP at IROS 2014

 

Telerobotics for Real-Life Applications: Opportunities, Challenges, and New Developments

Full-day workshop on September 18, 2014 at IROS 2014, Chicago, Illinois

 

      

ABSTRACT

As one of the oldest subjects in robotics, telerobotics has enjoyed theoretical advances and impacts in many practical applications.  Even so, it is deemed that telerobotics has not fully realized the promises envisioned when first engineered about 70 years ago. 
It is yet well-known that telerobotics is desired, if not imperative, for many real-life applications, particularly those that occur in uncertain, unknown or dynamic environments, for which pure autonomous approaches typically fail.  Some of such applications include: space/underwater teleoperation; remote infrastructure maintenance/repair; minimally invasive tele-surgery; remote operation in nuclear/chemical plants; remote search and rescue operation after disaster, to name just few.
However, how to engineer a complex telerobotic system, which is truly useful in practice, yet, easy to operate even by novice human users at the same time, has still been posed as a formidable challenge for the telerobotics community.
In this workshop, we attempt to provide a forum to discuss what telerobotics can provide for some real-life applications, what are theoretical/practical challenges to achieve that, and what are emerging developments to address that challenges.  

 

CONTENT

The main components of the workshop are: 1) talks by expert field engineers from industry or research institutes,or academians with equivalent real-world telerobotics applications, on their experience and perspective gained while working on real complex telerobotics systems for real-life applications, which will also define the main themes of discussion in the workshop, 2) talks by the authors of contributed papers and extended abstracts, who will present novel theoretical developments, particularly non-conventional in, yet, possessing a great promise for, the teleoperation, selected from the submitted posters; and 3) break-out discussion session according to the four real-life application domains (i.e., space operation, surgical robotics, nuclear plant operation, offshore gas/oil plant) to identify scenarios, challenges and required technical developments, related to telerobotics for each of them.  

 

SCHEDULE 
9/18/2014, 09:00‐18:20 at Salon 6

Time
Item
08:30 - 09:00
Registration and Welcome
  Telerobotics for Space
09:00 - 09:30
Jordi Artigas‐Esclusa, DLR, Germany “Telerobotics in Space Operation” [Link]
09:30 - 10:00
Eric Martin, Canadian Space Agency, Canada “Telerobotics for Lunar Exploration” [Link]
10:00 - 10:30
Coffee Break
10:30 - 11:15
Contributed Paper Session I [Link]
  A Testbed for Evaluating Virtual‐Fixture‐Assisted Teleoperation for On‐Orbit Manipulation of Satellite Thermal Blanket Insulation, 
S. Vozar, S. L´eonard, L. Whitcomb & P. Kazanzides, Johns Hopkins University, USA
Analysis and Experimental Validation of Motion‐Power Based Motion Reproduction System,
E. Fujii & S. Katsura, Keio University, Japan
Touchless Telerobotic Surgery–A Comparative Study, T. Zhou, M. E. Cabrera & J. P. Wachs, Purdue University, USA
  Telerobotics for Surgery
11:15 - 11:45
Simon DiMaio, Intuitive Surgical, USA “Telerobotics for Robotic Surgery” [Link]
11:45 - 12:15
Julian Klodmann, DLR, Germany “MiroSurge ‐ Telemanipulation in MIS” [Link]
12:15 - 14:00
Lunch
14:00 - 15:00
Contributed Paper Session II [Link]
  Multimodal Passivity based Teleoperation of Multiple Slaves,
C. Secchi, L. Sabattini & C. Fantuzzi, University of Modena and Reggio Emilia, Italy
Spatial Interface for User‐Centered Robotic Teleoperation and Demonstration on a High Precision Task, 
J. Thompson & M. Pryor, University of Texas at Austin, USA
Semi‐Autonomous Multi‐Modal ROV Teleoperation System, C Ha1, S. Park1, J. Her1, Y. Lee1, I. Jang1,
G. R. Cho2, H‐I. Son2 & D. Lee11Seoul National University, 2Samsung Heavy Industries, Korea
A Reactive Shared Autonomy Method for Assisted Mobile Robot Teleoperation based on Bayesian Approach,
M. Gao, G. Heppner, T. Schamm & J. M. Zöllner, FZI Forschungszentrum Informatik, Germany
15:00 - 15:30
Coffee Break
 
Telerobotics for Offshore/Nuclear Plants and for Search/Rescue
15:30 - 16:00
Jee‐Hwan Ryu, KoreaTech, Korea “A Multi‐User/Multi‐Robot Cooperative/Collaborative Approach
 for a Korean Industry‐Driven Telerobotics Project for Offshore Plants” [Link]
16:00 - 16:30
Robin Murphy, CRASAR, Texas A&M University, USA “Telerobotics in Robot‐Assisted Search & Rescue” [Link]
16:30 - 17:00
Philippe Garrec: CEA, LIST, Interactive Robotics Laboratory, France
“Telerobotics in the French Nuclear industry and its Impact on the Development of Cobotics” [Link]
17:00 - 17:45
Break‐Out Group Discussion
17:45 - 18:15
Share the Outcome of Group Discussions
18:15 - 18:20
Concluding Remarks and Adjourn

Download program schedule

IMPORTANT DATES

Submission deadline: 8/18/2014
2-page extended abstract or 3~8 page papers in IEEE IROS format.
Submit to djlee@snu.ac.kr or to one of organizers.

Notification of acceptance: 8/25/2014

Submission of camera-ready version: 9/1/2014

Workshop date: 9/18/2014 (Thursday)

 

ORGANIZERS

Dongjun Lee (Contact Person), Dept. of Mechanical & Aerospace Eng., Seoul National University, 301 Engineering Bldg., #1517, Gwanak-ro 599, Gwanak-gu, Seoul, 151-744, Republic of Korea
(phone) +82-2-880-1724  (email) djlee@snu.ac.kr  (URL) http://inrol.snu.ac.kr

Jordi Artigas Esclusa, Robotics and Mechatronics Center, German Aerospace Center (DLR), Oberpfaffenhofen, 82234 Weßling, Germany  
(phone) 08153 28-3243  (email) Jordi.Artigas@dlr.de  (URL) www.robotic.dlr.de/Jordi.Artigas

Shahin Sirouspour, Dept. of Electrical & Computer Eng., McMaster University, Hamilton ON L8S-4K1, Canada
(phone) 905-525-9140 ext.26238  (email) sirouspour@ece.mcmaster.ca  (URL) http://www.ece.mcmaster.ca/~sirouspour

Seiichiro Katsura, Dept. of System Design Engineering, Keio University, 3-14-1 Hiyoshi, Kohoku, Yokohama, 223-8522, Japan   
(phone) +81-45-566-1724  (email) 
katsura@sd.keio.ac.jp  (URL) http://www.katsura.sd.keio.ac.jp/

 

WEBMASTER

Donghun Lee, Dept. of Mechanical & Aerospace Eng., Seoul National University, 301 Engineering Bldg., #211, Gwanak-ro 599, Gwanak-gu, Seoul, 151-744, Republic of Korea
(phone) +82-2-880-1690  (email) penspinner@snu.ac.kr  (URL) http://inrol.snu.ac.kr

Francis Byonghwa Choi, Dept. of Mechanical & Aerospace Eng., Seoul National University, 301 Engineering Bldg., #211, Gwanak-ro 599, Gwanak-gu, Seoul, 151-744, Republic of Korea
(phone) +82-2-880-1690  (email) fbchoi@snu.ac.kr  (URL) http://inrol.snu.ac.kr

 

This workshop is organized by the Telerobotics TC of IEEE RAS.