brošuri

brošuri
UNIVERSITY OF ZAGREB
FACULTY OF ELECTRICAL ENGINEERING AND COMPUTING
2016, ZAGREB • CROATIA
ABOUT
UNIVERSITY OF ZAGREB - UNIZG
Website:
www.unizg.hr
The University of Zagreb - UNIZG (1669) is the oldest and biggest
university in South-Eastern Europe. As a comprehensive public Central
European university, University of Zagreb offers education and research
and in all scientific fields (arts, biomedicine, biotechnology, engineering,
humanities, natural sciences, and social sciences) and a broad spectrum
of courses at all study levels, from undergraduate to postgraduate. With
29 Faculties, 3 Art Academies and the University Centre for Croatian
Studies it is the flagship educational institution in the country, a place
where more than 7900 teachers and 72480 students develop
knowledge and acquire skills.
The University excels not only in teaching, but also in research,
contributing with over 50 percent to the annual research output in
Croatia and 80 percent of scientific productivity of all Croatian
universities. The central strategic issue of the future development of the
University of Zagreb is for it to be a research oriented institution with
teaching of high quality. Accordingly, the focus will be on master and
doctoral programs, encompassing all fields of science and art, boosting
transdisciplinarity and interdisciplinarity as well as translational research,
nurturing the culture of innovation and transfer of knowledge.
FACULTY OF ELECTRICAL ENGINEERING AND COMPUTING - FER
Website:
www.fer.unizg.hr
The Faculty of Electrical Engineering and Computing - FER is part
of the University of Zagreb - UNIZG. With 130 professors, 220 graduate
teaching and research assistants, 4900 students enrolled in various
programs, and operating in facilities of more than 35000 m2, FER is the
largest technical high education institution and the leading educational
and R&D institution in the fields of electrical and computer engineering
and computer science in Croatia. It is the highest-quality member of the
University of Zagreb, with a large and modern infrastructure devoted to
research-based education. FER is organised in 12 Departments which
represent the focal points of education and R&D. Currently FER
participates in more than 20 projects financed by the EU through various
grant schemes (FP7, H2020, IPA, COST, …).
DEPARTMENT OF CONTROL AND COMPUTER ENGINEERING
The Department of Control and Computer Engineering was
founded in 1954 at the University of Zagreb, College of Engineering. The
first head of the department was distinguished and renowned prof.
Vladimir Muljević (1913-2007) who is also regarded as the Department
founder. Since then, the Department has been the place of study and
research for numerous undergraduate and doctoral students,
researchers, industrial partners, and academics, growing to be one of the
largest department at today’s Faculty of Electrical Engineering and
Computing. It has also been recognized worldwide as the partner to
renowned and most prestigious education and research institutions
worldwide.
At present, the Department consists of 14 professors and 40 researchers.
[email protected]
Robotics research at UNIZG-FER is conducted within three laboratories:
Laboratory for Robotics and Intelligent Control Systems - LARICS
(larics.rasip.fer.hr), Laboratory for Autonomous Systems and
Mobile Robots - LAMOR (lamor.fer.hr) and Laboratory for
Underwater Systems and Technologies - LABUST (labust.fer.hr).
These laboratories are founders of Centre of Research Excellence for
Advanced Cooperative Systems - ACROSS (across.fer.hr).
These groups are currently active in more than 20 scientific international
and national projects with the topic of robotics in different area.They are
also tightly collaborating with companies from all around the world.
Special attention is devoted to knowledge transfer to students at the
undergraduate, graduate and PhD level. Starting with elementary
robotics, all the way to advanced control, navigation, and estimation,
robotics students at UNIZG-FER have the opportunity to adopt state of
the art robotics knowledge and apply it on a large number of robotic
platforms that are available in the laboratories.
RESEARCH ROBOTICS
LABORATORIES AND CENTRE
LABORATORY FOR ROBOTICS AND INTELLIGENT CONTROL
SYSTEMS - LARICS
Website:
larics.rasip.fer.hr
Contact:
Prof. Zdenko KovaËić,
Head of LARICS
[email protected]
Prof. Stjepan Bogdan
[email protected]
In the last 15 years, the Laboratory for Robotics and Intelligent Control
Systems - LARICS research group has been involved in research on
integrated robotics and process control. LARICS researchers (2 professors, 3
post‐docs, 8 PhD, over 15 MS and over 20 BS students) have mainly
participated in research devoted to the unmanned aerial systems, intelligent
control systems, service robotics, control of multi‐agent systems, robot
formations, planning, scheduling and decision making in autonomous
systems, and application of new technologies in industrial control systems.
Particular emphasis has been given to collaboration with industry, which
resulted in many successful implementations of novel control algorithms and
human‐machine‐interfaces in industrial plants. LARICS members successfully
completed the following selected industrial projects in collaboration with
national and international companies: Interactive simulator of the Ziegler
fire-fighting vehicle control system; Control of a robot for hydrodynamic
processing of concrete and metal surfaces; Control of the RCP manipulator
for ultrasonic inspection of main pump welds in the VVER-1200 nuclear
power plant; Advanced Control of Industrial Plants - Cold Rolling Mill Control
(TLM Sibenik). Curently, the laboratory is involved in research on advanced
evolutionary learning based methods for optimal characterisation of
non-linear after treatment technologies funded by Ford Motor Company
through the Ford Global University Research Program (URP).
Recently, together with partners, the Laboratory successfully brought to a
close one EU FP7 project (Estimation and Control for Safe Wireless High
Mobility Cooperative Industrial Systems - EC-SAFEMOBIL) and a project
financed through the Air Force Office of Scientific Research
(Human-in-the-loop Control of Multi-agent Aerial Systems Under
Intermittent Communication). Currently LARICS researchers are involved in
two EU FP7 projects: European Robotics Challenge (EOLO: Wind generator
remote inspection system) - EuRoC and Animal and robot Societies
Self-organise and Integrate by Social Interaction (bees and fish) ASSISI_bf. The Laboratory is a partner on one Horizon 2020 project
(Submarine Cultures Perform Long-Term Robotic Exploration of
Unconventional Environmental Niches - subCULTron) and is currently
coordinating a NATO Science for Peace project (Unmanned system for
maritime security and environmental monitoring - MORUS). LARICS
participates in several national projects financed by the government and
industrial partners like for instance Autism Diagnostic Observation with
Robot Evaluator - ADORE, and two projects with scientists from the USA and
PR China.
LABORATORY FOR AUTONOMOUS SYSTEMS AND MOBILE
ROBOTICS - LAMOR
Website:
lamor.fer.hr
Contact:
Prof. Ivan Petrović,
Head of LAMOR
[email protected]
The Laboratory for Autonomous Systems and Mobile Robotics LAMOR has a long tradition in research of advanced control strategies
and estimation techniques for a variety of applications with a strong
emphasis on autonomous navigation of ground and aerial robots in
unknown and dynamic environments. Our methodology relies on a
strong coupling between theoretical research, algorithm development,
experimental evaluations, and a healthy dose of serendipity. It is directed
by Prof. Ivan Petrović of the UNIZG-FER and currently consists of 3
postdoctoral fellows and 5 doctoral students. LAMOR's research activity
is organized around three major axes: Motion Planning and Control
(MPAC), Simultaneous Localization and Mapping (SLAM), and Detection
and Tracking of Moving Objects (DATMO). The Laboratory is equipped
with state-of-the-art ground and aerial robotic platforms, advanced
perception sensors, and a motion capture covered arena.
LAMOR coordinated the major national robotic research program
Intelligent robotic systems and autonomous vehicles (2007-2014),
which involved 5 major robotic research groups in Croatia. LAMOR also
has a long tradition of collaboration with research centres in the EU and
worldwide. Prof. Petrović coordinated the EU project ACROSS - Centre
of Research Excellence for Cooperative Robotic Systems
(across.fer.unizg.hr), which involved 14 research groups from the
University of Zagreb and 16 research institutions from 10 European
countries. Furthermore, Prof. Petrović also coordinated the European
Regional Development Fund project Advanced technologies in power
systems and rail vehicles in partnership with the Končar Electrical
Engineering Institute Inc. Currently, the group is involved in three
projects: EOLO - Wind generator remote inspection system (Challenge
competition 3 within FP7 project EuRoC), SafeLog - Safe human-robot
interaction in logistic applications for highly flexible warehouses (H2020
RIA project) and cloudSLAM - Cooperative cloud based simultaneous
localization and mapping in dynamic environments (Unity Through
Knowledge Fund project).
LAMOR successfully organized two robotic conferences: the 4th
European
Conference
on
Mobile
Robots
ECMR’09
(www.ecmr09.fer.hr) and the 10th IFAC Symposium on Robot Control SYOROCO 2012 (www.syroco2012.org). Prof. Petrović is the
Editor-In-Chief of the journal Automatika - Journal for Control,
Measurement, Electronics, Computing and Communications.
LABORATORY FOR UNDERWATER SYSTEMS AND
TECHNOLOGIES - LABUST
Website:
labust.fer.hr
Contact:
Prof. Zoran Vukić,
Head of LABUST
[email protected]
Asst. Prof. Nikola
Mišković
[email protected]
The Laboratory for Underwater Systems and Technologies LABUST is a 10 member research group that serves as the focal point
for applied research and development activities in unmanned marine
systems and technology for end-users. We aim to create new
knowledge, educate students, provide advice for end-users, innovate
and implement solutions for our customers. We contribute to
innovation in sustainable exploitation of ocean resources. LABUST sets
itself apart from others in its values and mission to inspire and seek
challenging tasks.
Our vision is to advance in a multidisciplinary engineering research that
innovates, applies and teaches world class attainments in autonomous
marine systems, sensor processing, and underwater acoustics for marine
science, maritime archaeology, maritime security, the offshore energy
sector, and other applications.
We are currently coordinating the FP7 project CADDY - Cognitive
Autonomous Diving Buddy and Horizon 2020 project EXCELLABUST Excelling LABUST in marine robotics; and are partner in FP7
EUROFLEETS2 - New operational steps towards an alliance of European
research fleets, ECHO-DG URready4OS - Autonomous underwater
vehicles ready for Oil Spill, Horizon 2020 subCULTron - Submarine
Cultures Perform Long-Term Robotic Exploration of Unconventional
Environmental Niches, NATO Science for Peace project MORUS Unmanned system for maritime security and environmental monitoring,
three ONRG projects: DINARO - Diver navigation using range-only
measurements from an autonomous surface vehicle; SeaJumper Bio-inspired Synchronous Jumping Marine Sensor Networks; SPATEL Spatial Auditory Human-Machine Interface for UxV Teleoperation. In the
last 5 years the group has also participated in 3 national projects related
to marine robotics. We have experience in developing guidance and
control software for industry (VideoRay, USA; LD TravOcean, France).
LABUST is a light member of the HYCON2 network of excellence. We
have organized 7 annual field trainings Breaking the Surface - BtS with
the purpose of conducting multidisciplinary research within marine
biology, archaeology and security.
CENTRE OF RESEARCH EXCELLENCE FOR DATA SCIENCE AND
COOPERATIVE SYSTEMS
Website:
across-datascience.hr
Contact:
Prof. Ivan Petrović,
Centre Co-director
[email protected]
The Centre of Research Excellence for Data Science and
Cooperative Systems is the first national centre of research excellence in
the area of technical sciences. It is a successor of the Centre of Research
Excellence for Advanced Cooperative Systems - ACROSS which was an
interdepartmental project at UNIZG-FER (across.fer.hr, see ACROSS
description on page 17). Its establishment and operation was funded by
the European FP-7 Capacities Research Potential program [285939,
FP7-REGPOT-2011-1]. The Centre gathers 13 renowned partners
including 11 higher education institutions from Zagreb, Split, Rijeka,
Osijek and Dubrovnik, Ruđer Bošković Institute and the company Ericsson
Nikola Tesla. The Centre’s mission is to become a leading party in new
technology research and development in the fields of data science and
cooperative systems. The Centre will advance Croatian science and
reinforce its inclusion in the European Research Area, i.e. foster
participation in the EU and world research programmes and, additionally,
act as a focal point of collaboration between the academia and the
business and public sector. This will lead to a strong enhancement of the
quality of life and economic growth of Croatia. The Centre consists of the
Data Science (DS) and the Advanced Cooperative Systems (ACROSS)
research units.
The DS research unit, headed by Prof. Sven Lončarić, studies the problem
of extracting knowledge from data, including so called “big data”. It is
further divided into four Strategic Research Domains: i) multimodal data
processing and information control, ii) machine learning and deep data
analysis, iii) heterogeneous computing and advanced cloud services, and
iv) multidisciplinary data intensive applications. Applications of data
science are manifold and include particle and astroparticle physics,
biological sciences and healthcare, business analytics and finance,
complex networks and society, and analysis of data traffic.
The ACROSS research unit, headed by Prof. Ivan Petrović focuses on the
following four Strategic Research Domains: i) autonomous and
cooperative robotics systems, ii) cognitive computer vision systems, iii)
ubiquitous sensors and networked human-oriented services and iv)
advanced control and estimation strategies for cyber-physical systems.
Fundamental methodological research within each Strategic Research
Domain will be transferred to applications areas while establishing the
compatibility of research between the domains. Applications of
cooperative systems are truly numerous, and in the Centre we will focus
on healthcare systems, security and protection, environment, advanced
cities and factories of the future.
WORKSHOPS
ACROSS WORKSHOP
Contact:
Prof. Ivan Petrović
[email protected]
The 1st ACROSS Workshop on Cooperative Systems - WoCS 2014,
was held on September 10-12, 2014 in the Grand Hotel Park,
Dubrovnik, Croatia. The workshop was organized by the Centre of
Research Excellence for Advanced Cooperative systems - ACROSS of the
UNIZG-FER, which was funded by the European Commission under
FP7-REGPOT-2011-1 ACROSS project (grant No. 285939). The general
Chair of the workshop was Prof. Ivan Petrović. The workshop will
continue to be held annually under the auspices of the Centre of
Research Excellence for Data Science and Cooperative Systems.
BREAKING THE SURFACE - INTERNATIONAL INTERDISCIPLINARY FIELD
WORKSHOP OF MARINE ROBOTICS AND APPLICATIONS
2016
BREAKING
THE SURFACE
Website:
bts.fer.hr
Facebook:
www.facebook.com/
BtSCroatia
Contact:
Asst. Prof. Nikola
Mišković,
Programme Chair
[email protected]
Breaking the Surface - BtS workshop is organized by LABUST
laboratory for the 8th year in a row. BtS serves as a meeting place of
experts and students of marine control engineering and signal
processing and the marine robotics application areas in various types of
ocean science. This is the world’s first successful, multi-year field training
program that combines academic topics in marine robotics and robotics
application areas and hands-on working experience in the sea, doing
remote sensing and sampling for various ocean sciences. It is also
unique in that strong emphasis is put on the participation of principal
investigators and established research group leaders from across the
globe, catering not only to the EU or USA research communities.
BtS 2016 will be held from 2nd until 9th October in Biograd na Moru
(Croatia). In 2016 it will be organized in the scope of Horizon 2020
project EXCELLABUST - Excelling LABUST in marine robotics (GA No
691980) and in partnership with the Norwegian University of Science
and Technology - NTNU. The programme novelities are a tutorial on
startups organized by NTNU and innovation management training by
experts from this field.
The general chair of the workshop is Prof. Zoran Vukić and the
Programme Chair is Asst. Prof. Nikola Mišković.
SCIENTIFIC AND RESEARCH PROJECTS
Currently there are 22 ongoing research projects at the Department of Control and Computer
Engineering, which makes more that 20% of all research projects at UNIZG-FER. The list of
ongoing projects contains four Horizon 2020 projects, seven FP7 projects, one NATO project,
one ERDF project, one Unity Through Knowledge Fund project, two projects by the Croatian
Science Foundation, one COST project, one bilateral projects, and four projects from other
international funding programmes. There are also numerous R&D projects carried out with
industry partners from Croatia and abroad.
Robotics projects leaders at FER are Prof. Stjepan Bogdan, Prof. Zdenko Kovačić, Asst. Prof.
Nikola Mišković, Prof. Ivan Petrović and Prof. Zoran Vukić.
SELECTED ONGOING RESEARCH PROJECTS
ADORE - AUTISM DIAGNOSTIC OBSERVATION WITH
ROBOT EVALUATOR
ADORE
ADORE
Contact:
Prof. Zdenko Kovačić
ADORE is a project funded by Croatian Science Foundation whose main
goal is to help clinicians from the Faculty of Education and Rehabilitation
Sciences to diagnose autism spectrum disorders more quickly and
efficiently by using NAO humanoid robots from Aldebaran Robotics.
Through this project LARICS laboratory is working on developing a new
set of motoric and cognitive skills for NAO humanoid robots. Autism
spectrum disorder (ASD) is a developmental disorder characterized by
impairment in social interaction, verbal and nonverbal communication,
and by repetitive behaviors and interests. The diagnosis, which is usually
given during the preschool period, depends on the education and
experience of human evaluators, which can be susceptible to personal
bias. The goal of the project is the development of a robot-based
diagnostic protocol and testing of its verification in clinical settings. The
robots will be used as ASD co-evaluators to help a human evaluator to
assess a child's behavior objectively. Technically, this means developing
specific robot skills and behaviors to be deployed within the standard
clinical diagnostic procedure of ASD. The robots will have two functions:
observation and quantitative measurement of a child's social responses;
and performance of standardized social presses designed to provoke
child response. This involves actions such as analyses of the audio signal
and differentiation of vocalizations and speech, detection of eye-gaze
direction, performance of different actions and gestures and utilization
of human-robot and robot-robot interaction to attract child attention.
This involves work on cooperation, cognition and human-robot
interaction, focusing on multimodal communication.
ASSISI_BF - ANIMAL AND ROBOT SOCIETIES SELF-ORGANISE AND
INTEGRATE BY SOCIAL INTERACTION (BEES AND FISH)
Website:
assisi-project.eu
Contact:
Prof. Stjepan Bogdan
The main goal of ASSISI_bf project is to establish a robotic society that
is able to develop communication channels to animal societies
(honeybees & fish swarms) on its own.
These robots will adapt by evolutionary algorithms until they have
learned to interact with animals in a desired way. This new technology
is aimed to lay new foundations for the way in which humans can
interfere with animal societies in order to manage the environment.
The researchers expect their work to have impact on agriculture, live
stock management and environmental protection. In parallel, the mixed
societies of animals and robots will represent a novel kind of bio-hybrid
ICT system, as the animals will enrich the capabilities of the machines
and vice versa. The research is conducted by six European institutions
from Austria, Croatia, France, Germany, Portugal and Switzerland.
CADDY - COGNITIVE AUTONOMOUS DIVING BUDDY
CADDY is the first FP7-ICT Cognitive Robotics project coordinated by
UNIZG-FER. It started in January 2014, and together with 7 EU partners
CADDY aims to replace a human buddy diver with an autonomous
underwater vehicle and a new autonomous surface vehicle to improve
monitoring, assistance, and safety of the diver’s mission.
Website:
caddy-fp7.eu
Facebook:
www.facebook.com/
caddyfp7
Contact:
Asst. Prof.
Nikola Mišković,
Project Coordinator
The resulting system plays a threefold role similar to those that a human
buddy diver should have:
• the buddy “observer” that continuously monitors the diver;
• the buddy “slave” that is the diver's “extended hand” during
underwater operations performing tasks such as “do a mosaic of that
area”, “take a photo of that” or “illuminate that”; and
• the buddy “guide” that leads the diver through the underwater
environment
dive guide
dive observer
dive slave
The coordinator of this 3-year research project is Asst. Prof. Nikola
Mišković and the project is executed by LABUST research staff.
cloudSLAM - COOPERATIVE CLOUD BASED SIMULTANEOUS
LOCALIZATION AND MAPPING IN DYNAMIC ENVIRONMENTS
Website:
cloudslam.fer.hr
Contact:
Prof. Ivan Petrović
cloudSLAM is a Unity Through Knowledge Fund project coordinated by
Prof. Ivan Petrović with partner principal investigator Prof. Dana Kulic
from the University of Waterloo, Canada.
One of the main prerequisites for autonomous robot operation in
unknown environments populated by humans or other robots is to
perform simultaneous localization and mapping (SLAM) so that the
robot can infer its position and relate it to other objects of interest. The
main focus of the cloudSLAM project is to develop algorithms for
solving the SLAM problem so that robots can operate reliably even in
highly dynamic environments. This will be achieved through a
mathematical framework accurately describing the non-Euclidean
geometry of objects moving in space and through robot cooperation via
a cloud based service.
The methodology of the proposed project will be grounded in a novel
estimation approach based on the recently developed Kalman filter on
Lie groups. We will estimate the state of the robot and the tracked
objects in six degrees of freedom by representing the state with the
special Euclidean group (SE3) and performing filtering directly on the
introduced group. Finally, all information will be shared by multiple
agents through a common cloud-based service, thus enabling robots
which have just started operating to immediately exploit the experience
of veteran team members.
COORDINATION CONTROL OF MULTI-AGENT SYSTEMS
Contact:
Prof. Stjepan Bogdan
Recent years have witnessed an increasing interest in decentralized
control of multi-agent systems (MASs). Decentralized control is
characterized by local interactions among agents where each agent
exchanges information only with its neighbors. Based on these local
interactions, a desired collective behavior of MASs is achieved. Examples
are formation control, flocking, consensus control, etc. When compared
with centralized control, decentralized control avoids a single point of
failure which in turn increases the robustness of MASs, allows for
inexpensive and simple agents, and lowers the implementation cost. In
addition, decentralized control scales better as the number of agents
increases and is sometimes an intrinsic property of MASs. For instance, in
industrial applications, we are facing coordination and cooperation of a
number of small, inexpensive autonomous systems which replace
complex large-scale integration devices. In natural exploration, disaster
prevention and handling (firefighting, earthquake, mine clearance etc.)
as well as in the service sector (healthcare of senior citizens), autonomous
robots, as parts of distributed networks, can help in many ways, and
even replace a human in complicated, dangerous and repetitive tasks.
Funding agency: Joint grant - PR China and Republic of Croatia.
DINARO - DIVER NAVIGATION USING RANGE-ONLY
MEASUREMENTS FROM AN AUTONOMOUS SURFACE VEHICLE
Contact:
Asst. Prof.
Nikola Mišković,
Project Coordinator
Divers operate in an extremely unfriendly environment where human
activities depend on technical systems. The goal of this project was to
improve the current methodology of tracking and navigating divers
during their underwater activities. We exploited range measurements
from a single autonomous surface vehicle manoeuvring in such a way to
increase the quality of diver position measurement and the observability
of the measurement system.
EUROC - EUROPEAN ROBOTICS CHALLENGE (EOLO: WIND GENERATOR
REMOTE INSPECTION SYSTEM)
Website:
euroc-project.eu
Contact:
Prof. Ivan Petrović
Prof. Stjepan Bogdan
The European manufacturing industry needs competitive solutions to
keep global leadership in products and services. Exploiting synergies
across application experts, technology suppliers, system integrators and
service providers will speed up the process of bringing innovative
technologies from research labs to industrial end-users. As an enabler in
this context, the EuRoC initiative proposes to launch three
industry-relevant challenges. It aims at sharpening the focus of
European manufacturing through a number of application experiments,
while adopting an innovative approach which ensures comparative
performance evaluation. Each challenge is launched via an open call and
is structured in 3 stages.
The FER team participates in Challenge 3 which aims at targeting the
open problems in existing MAV solutions (especially in multicopters) to
enable their deployment in real life scenarios. MAVs are naturally
unstable platforms exhibiting great agility and they thus require a
trained pilot to operate them, while being restricted to line‐of‐sight
range. The scenario is the demonstration of high‐level teleoperation of
a single MAV for an inspection task. The goal is to enable an inspection
expert untrained in piloting MAVs (e.g. trained boiler inspector) to
tele‐operate a MAV as an aid to his/her mission, while being able to
focus on the inspection task at hand.
EUROFLEETS2 - NEW OPERATIONAL STEPS TOWARDS AN ALLIANCE
OF EUROPEAN RESEARCH FLEETS
Website:
eurofleets2.eu
Contact:
Prof. Zoran Vukić
EUROFLEETS2 is about developing a new pan-European distributed
infrastructure with common strategic vision and coordinated access to
Research Vessels and marine equipment, leading to more interoperable
and cost effective European research fleets.
Our work package aims to develop key technologies and innovative
functions for underwater systems such as new Hybrid ROVs (Hybrid
Remotely Operated Vehicle). FER is involved in research and
development of optical 3D based mapping in strong relief and control
strategies for AUVs, ROVs and HROVs: dynamic positioning, target
tracking and terrain following. This 4-years FP7 project started in 2013
and is coordinated by Institut Francais de Recherrche pour L'exploitation
de la Mer (IFREMER). At UNIZG-FER, project is led by LABUST and by
Prof. Zoran Vukić.
MORUS - UNMANNED SYSTEM FOR MARITIME SECURITY AND
ENVIRONMENTAL MONITORING
Website:
morus.fer.hr
Contact:
Prof. Stjepan Bogdan,
Project Coordinator
The main goal of NATO Science for Peace project MORUS is to design
and develop a fully operational complex robotic system prototype
comprised of an Unmanned Aerial Vehicle (UAV) and Unmanned
Underwater Vehicle (UUV) capable of autonomous and cooperative
mission execution related to environmental, border and port security.
The proposed research thrives within internationally competitive field
with the main objective to design and develop autonomous aerial and
marine robotic system, capable of collective engagement in missions
taking place in dynamic and nondeterministic environments. The design
will focus mainly on payload enhancement and UAV autonomy which is
mandatory for UUV transport.
Besides that, a docking system and cooperative control algorithms will
be developed enabling autonomous deployment, re-deployment and
data exchange at the open sea. The operating environment of the
proposed prototype is unknown, uncertain and remote, i.e. far from a
human operator. Therefore, a whole set of novel cooperative control
algorithms, combined with an augmented human machine interface,
will be designed and implemented in order to ensure safety and
recoverability of the described system. The project is executed by two
research groups, LARCIS and LABUST, coordinated by Prof. Stjepan
Bogdan.
SAFELOG - SAFE HUMAN-ROBOT INTERACTION IN LOGISTIC
APPLICATIONS FOR HIGHLY FLEXIBLE WAREHOUSES
SafeLog is a Horizon 2020 ICT project coordinated by Prof. Björn Hein
from the Karlsruhe Institute of Technology with UNIZG-FER being one of
six partners (Principal Investigator: Prof. Ivan Petrović).
The European market for e-commerce is growing rapidly, with more
than 16% just in the year 2014. With the internationalization of
distribution chains, the key for success lies within efficient logistics. In
such facilities, goods for the end-user or products in the B2B sector are
stored, commissioned and shipped. To manage the supply chains, many new warehouses have
been erected and more will follow. With the growing markets, the need for larger warehouses
and their automation increases. To advance the position of the European trade sector, technical
restrictions on the size of warehouses should be avoided and a new automation paradigm should
be implemented to ensure their efficient operation. Therfore, European robotics and automation
companies should be able to provide appropriate solutions, making scalable systems and scalable
software mandatory. Current automation solutions based on strict separation of humans and
robots cannot provide such efficient operation of large warehouses. SafeLog aims to overcome
this issue by enabling much more efficient warehouse concepts joining human and robot
workforce. Given that, the overall objective of SafeLog is the conception and implementation of
a large-scale flexible warehouse system which enables safe and efficient collaboration of humans
and robots in the same area and at the same time. On the way to reach this objective SafeLog
will develop, integrate and test: (1) a holistic and certifiable safety concept based on the safety
vest, which allows the collaboration of robots and humans in a flexible warehouse system, (2)
planning and scheduling algorithms for a heterogeneous fleet manager, which allow the adhoc
reactive planning and scheduling for human and robot workforce in a flexible warehouse system,
and (3) augmented reality based interaction strategies to support workers in a robotized
warehouse system with information about their current task and environment.
Contact:
Prof. Ivan Petrović,
Principal Investigator
SEAJUMPER - BIO-INSPIRED SYNCHRONOUS JUMPING MARINE
SENSOR NETWORKS
Contact:
Asst. Prof.
Nikola Mišković
SeaJumper is a joint effort with Imperial College London, with the main
goal to develop novel distributed, low-energy, marine sensors inspired
by jumping aquatic animals such as the flying squid. The system will be
capable of transmitting obtained underwater data by executing the
sinking, rising and jumping cycle. The envisioned system will exploit
jumping properties to enable autonomous recovery on-board a
small-scale autonomous surface marine platform. This project will
kick-start the SeaJumper development and will focus on delivering the
key scientific contributions in advanced mobility across the air-water
interface and robust sensor communication. Future developments will
combine these concepts and integrate the SeaJumpers with
Autonomous Surface Vehicles (ASV) for fully automated sensing and
recovery of sensor nodes in marine environments.
SPATEL - SPATIAL AUDITORY HUMAN-MACHINE INTERFACE FOR
UXV TELEOPERATION
SPATEL investigates innovative uses of auditory interfaces in remote
control of marine vehicles - both are coordinated by FER.
For teleoperated unmanned vehicles, mishaps tend to occur during the
periods of high workload, in situations where the operator must perform
complex and stressful tasks. In order to address these unique
human-factors problems associated with unmanned vehicles we
use auditory display as a means to reduce visual workload, to enhance situation awareness, and
mitigate the visual and cognitive demands of contemporary marine teleoperations.
LABUST demonstrated that the use of an auditory display that presents spatial auditory cues can be
successfully used for guidance of unmanned vehicles. The system addresses two significant hearing
downsides: the spatial acuity of the visual channel is much better than that of the auditory channel,
and humans use vision on a permanent basis for navigation, we are very well trained for visual, but
not for audio navigation.
The existing LABUST fleet of unmanned vehicles will be used to prove the exploitability of the basic
research results related to the Spatial Auditory Interface and the quality of performance in real life
conditions.
Contact:
Asst. Prof.
Nikola Mišković,
Project Coordinator
SUBCULTRON - SUBMARINE CULTURES PERFORM LONG-TERM ROBOTIC
EXPLORATION OF UNCONVENTIONAL ENVIRONMENTAL NICHES
Website:
subcultron.eu
Contact:
Asst. Prof.
Nikola Mišković
subCULTron is a Horizon FET project that aims to achieve long-term
autonomy in a learning, self-regulating, self-sustaining underwater
society/culture of robots in a high-impact application area: Venice, Italy. It
is the first Croatian Horizon 2020 FET project.
The envisioned heterogeneous system consists of 3 different agent types:
1) on the seabed, artificial mussels are the collective long-term memory
of the system that monitors the natural habitat
2) on the water surface, artificial lily pads interface with the human
society, delivering energy and information influx from ship traffic or
satellite data
3) between those two layers, artificial fish move/monitor/explore the
environment and exchange info with the mussels and lily pads.
aPad
aFish
aMussel
The four year project started in April 2015 and it is executed by two
research groups, LABUST and LARICS, coordinated at UNIZG-FER by
Asst. Prof. Nikola Mišković.
SELECTED FINISHED PROJECTS
ACROSS - CENTRE OF RESEARCH EXCELLENCE FOR
ADVANCED COOPERATIVE SYSTEMS
Website:
across.fer.unizg.hr
Contact:
Prof. Ivan Petrović,
Project Coordinator
ACROSS Research Centre was a European FP-7 Capacities Research
Potential program project [285939, FP7-REGPOT-2011-1]. The project
research activities focused on four major Strategic Research Domains:
Cooperative Cognitive and Robotic Systems, Cooperative Networked
Embedded Systems, Cooperative Renewable Energy Systems, and
Cooperative Control Methods. ACROSS gathered fourteen research
groups from seven UNIZG-FER departments and tightly collaborated
with sixteen leading EU research centres and three Croatian partner
companies. Close to 100 months were spent by ACROSS researchers at
the partnering renowned EU institutions, the project employed 26
experienced researchers during three years, including 4 researchers
returning from abroad after obtaining their PhD degree, and 15
renowned EU experts held seminars at the UNIZG-FER. The members of
the Steering Committee were distinguished scientists in the ACROSS
strategic research domains, senior managers from industry as well as
representatives of public authorities and funding agencies. The project
was coordinated by Prof. Ivan Petrović.
EC-SAFEMOBIL - ESTIMATION AND CONTROL FOR SAFE WIRELESS
HIGH MOBILITY COOPERATIVE INDUSTRIAL SYSTEMS
The European Commission, under the 7th Frame Program, provided
funds to perform the project EC-SAFEMOBIL, recognizing the growing
importance of the UAV market and applications. In the case of
EC-SAFEMOBIL project, these were related to the utilization of
autonomous systems in general and UAVs in particular, in many
Website:
applications that cannot be accomplished with manned systems,
ec-safemobil-project.eu
including disaster management, monitoring and measurement of
events, rescue missions (particularly in stormy conditions) and in general
Contact:
all missions where there are risks for human beings. The awarded
Prof. Zdenko Kovačić
EC-SAFEMOBIL Consortium included the most important organizations
and companies within the European sector and represented an
appropriate mixture of research organizations and key players at an industry level.
FADA-CATEC acted as the project leader and the consortium team included DLR, Astrium, Indra,
SELEX GALILEO, Euroimpianti, University of Seville, University Duisburg-Essen and UNIZG. The
EC-SAFEMOBIL project was devoted to the development of sufficiently accurate motion
estimation and control methods and technologies in order to reach levels of reliability and safety
to facilitate unmanned vehicle deployment in a broad range of applications. It also included the
development of a secure architecture and the middleware to support the implementation. The
EC-SAFEMOBIL project developed world first technology demonstrators in several applications
dealing with the landing of UAVs on mobile platforms in challenging conditions, launching of an
UAV from a manned vehicle, surveillance, and warehousing involving a large number of
autonomous vehicles.
FER-KIET - ADVANCED TECHNOLOGIES IN POWER
PLANTS AND RAIL VEHICLES
Website:
fer-kiet.fer.hr
Contact:
Prof. Ivan Petrović
The project goal is to develop four advanced technologies focusing on
applications in power plants and rail vehicles. Research conducted
within the Advanced Sensors Technologies aims to establish a
knowledge base and develop new sensing technologies with expected
commercial applications in rotational machines monitoring systems. In a
broader sense, research in the area of advanced sensing technologies
constitutes a specific segment in the ICT domain with applications in the
electrical power and transport sectors, as well as other areas such as
environmental protection, health, smart infrastructure, etc. Research
conducted within the Advanced Estimation and Control Algorithms in
Microgrids aims to develop an advanced battery management system
with state-of-charge and state-of-health estimation, and development
of the algorithm for prediction of renewable energy systems availability
using free weather forecast. Research of the Multilevel Converters
Electric Energy Storage Systems element of the project aims to
investigate the possibilities of using multilevel converters for connecting
renewable energy sources to the power grid and to explore the
possibilities of efficient storage of electricity in rolling stock. Research of
the Driver Assistance System aims to develop new technologies in the
area of detection and tracking of vehicles and pedestrians. The project
is coordinated by Prof. Ivan Petrović.
HUMAN-IN-THE-LOOP CONTROL OF MULTI-AGENT AERIAL SYSTEMS
UNDER INTERMITTENT COMMUNICATION
Contact:
Prof. Stjepan Bogdan
The objective of this research is decentralized control of heterogeneous
multi-agent systems in degraded communication environments. We
proposed a novel design of an HMI that allows a human to become a
supervisor, when necessary, instead of a single unit operator. By
deploying dexterous aerial robots as components of multi-agent
systems, we allow the supervisor to interact with its surroundings. We
aim to utilize our aerial platforms in a multi-agent system that has the
ability to perform both reconnaissance missions and missions that
require interaction with its surroundings. Of course, building such a
system raises the need for a completely new HMI, that we have
introduced earlier. Given our heterogeneous testbed and strong history
in modeling and control of autonomous agents, optimal control, robotic
control systems, and nonlinear systems, as well as our published work
on aerial robots and real communication artifacts, the PI was uniquely
positioned to bring these areas together to develop new scientific
results. The funding agency of the project was the Air Force Office of
Scientific Research (AFOSR).
URREADY4OS - AUTONOMOUS UNDERWATER VEHICLES
READY FOR OIL SPILL
Website:
upct.es/urready4os
Contact:
Prof. Zoran Vukić
The URready4OS project is co-financed by the Directorate-General
Humanitarian Aid and Civil Protection of the the European Commission,
and has the general aim to join forces to make available to the European
Civil Protection a fleet of autonomous underwater vehicles (AUVs),
unmanned aerial vehicles (UAVs), and unmanned surface vehicles (USVs)
with operational capability to intervene against oil spills in European
seas using new cooperative multi-vehicle robotic technologies.
This two year project was executed by LABUST.
DEVELOPING CROATIAN UNDERWATER ROBOTICS RESEARCH
POTENTIAL - CURE
Contact:
Prof. Zoran Vukić,
Project Coordinator
CURE significantly improved Croatian research potential in underwater
systems and technologies and enabled intensification of dissemination
of UNIZG-FER-LABUST research results and capabilities that can
accommodate the needs of Croatia and the whole West Balkan region
related to the exploration of underwater systems and technologies.
The CURE project enabled intensified proliferation of underwater
robotics knowledge in Croatia. The transfer of knowledge undertaken
during the duration of the project showed intense activity within the
scope of the project providing both LABUST researchers and a diverse
user community with an opportunity to have deep insight into the
corresponding technology. Besides revealing a huge potential for
underwater robotics, the CURE project also provided a big momentum
for scientific and commercial applications in the region.
The project was coordinated by UNIZG-FER and Prof. Zoran Vukić
(LABUST).
CART - COOPERATIVE AUTONOMOUS ROBOTIC TOWING SYSTEM
website:
cart.posidonia.com
Contact:
Prof. Zoran Vukić
The project CART proposed a new concept for salvage operations of
distressed ships at sea. The CART concept was based on the
development of robotized unmanned marine platforms able to
(semi-)automatically execute the high risk operation of linking the
emergency towing system of distressed ships to towing vessels. This
minimised the risk for human lives and increased the safeguard of the
environment, helping, for instance, to prevent oil pollution at sea,
during salvage operations.
University of Zagreb
Faculty of Electrical
Engineering and Computing
Unska 3
HR-10000 Zagreb
Croatia
[email protected]
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement