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Austrade - Autonomous Systems
Elliot Duff – Research Director
CSIRO - Snapshot
62%of our people hold university
degrees
2000 doctorates
500 masters
CSIRO undertakes $~500M
of externall...
Our track record: top inventions
4. EXTENDED
WEAR CONTACTS
2. POLYMER
BANKNOTES
3. RELENZA
FLU TREATMENT
1. FAST WLAN
Wire...
China Australia Alliance for
New Energy Vehicle
Innovation
Global connections: impact partnerships
80+
countries
Future
Foresights
Mega-Trends
Challenges
Opportunities
Agility
Disruptive
technology
We are in the world’s Top
10 institutions for
2 research fields.
We are the only Aussie R&D
organisation in the world’s
To...
World-class science and
technology
CSIRO - the roles we play
Trusted advisor
to government
Leveraging Australia’s
Innovati...
What we do
8 |
Our Mission
We deliver innovative solutions for industry,
society and the environment through great
science...
How we do it
9 |
What differentiates CSIRO?
10 |
We provide
scientific
responses to
major national
and global
challenges
We take a
collabor...
The Boeing example
22 year partnership
Grown from research supplier through research collaborator to strategic research
pa...
Digital Productivity Flagship
Motivation
Productivity isn’t everything, but in the long run it is almost everything
Paul Krugman, 1991
Professor Princet...
Threat posed by Australia’s declining productivity
Productivity is the prime determinant in the long run of a nation’s
sta...
Designing for Data
Generation & Capture
Data Generation,
Communications
& Capture
Integration of
Data & Modelling
Implemen...
Creating Impact through Partnerships
DIGITAL PRODUCTIVITY FLAGSHIP
Autonomous Systems Program
Vision: A world in which humans and autonomous systems are
able to seamlessly, reliably and safely collaborate.
Autonomous...
Robot navigation
Dynamic, difficult environments
Remote Collaboration
Robots, vision and broadband
Pervasive Computing
Platform technology
Zebedee
Mobile and handheld 3D mapping
Revolutionizes the way 3D mapping can be achieved by cutting
acquisition time from ...
CSIRO Collaboration Platform
Real-time interaction and collaboration between people,
information and instruments
Commercia...
Sense-T Architecture
Sensor Networks and Spatial Data Management for Sense-T R&D
Provide Sensor Network Data Management
in...
Metadata and Interoperability
Cognitive Computing
Facilitate discovery and reuse of sensor data through metadata
managemen...
Metadata and Interoperability
Cognitive Computing
Semantic analytics of graph data to better understand complex
processes ...
Pervasive Computing Team
Sensor Systems
Realizing pervasive computing through small, inexpensive,
networked sensing device...
Engineering Team
Robotics Group
Designs and delivers the underpinning electrical, electronic,
mechanical and computer syst...
AUTONOMOUS SYSTEMS PROGRAM
Robotics Group
From Perception to Action, From Near to Far, From Large to Small
Robots going to places and doing tasks that are dangerous...
Ground, Aerial and Aquatic Robots
Planning and control algorithms for mobile robots, including
ground, aerial, surface and...
Robotics Domains
Real-timePerception
Human
Interaction
Industrial
•Welding Arms
•Conveyors
Military
•Drones
•Inspection
Re...
Convergingtrendsleadingto
UbiquitousRobotics
Field
Robotics
Dependability
Robustness
Military/mining
Sensing
in dynamic
un...
Significant Developments - Software
1. ROS – open source Robot Operating Systems
2. OpenCV – Open Source Computer Vision L...
Significant Developments - Hardware
1. Range Sensors (LIDAR & Structured Light)
2. Embedded Processing and Communications
Significant Developments - Challenges
1. DARPA – Grand Challenge
2. DARPA – Robotics Challenge
Unmanned Autonomous
Robotic Definitions
Autonomy is a Spectrum
Mixed-RealityTele-Robotic
Robot
Tele-Operation
Machine
Autonomy
Shared
Autonomy
Autonomy
Manual
Use...
Automation Does Not Mean Autonomy
Digging
Swing
Dump
Walk
Maintenance
Integration
Autonomous
Manual
DigAssist
DigToPlan
System of Systems (SoS) A person can be part of
an Autonomous System of Systems
Potential Solutions to Autonomous Systems
Autonomous Aquatic Vehicles
AUTONOMOUS SYSTEMS PROGRAM
Starbug - AUV
Stereo cameras
Batteries
Payload section
Main thrusters
Flat thrusters
Specifications
Mass: 26 kg+
Length: 1...
Starbug: Autonomous Underwater Surveys
Dunbabin, M., Usher K. and Corke, P. (2005). Visual motion estimation for an autono...
Automated marine pest population monitoring
Smith, D., and Dunbabin, M. (2007). Automated counting of the Northern Pacific...
Autonomous Aerial Vehicle
AUTONOMOUS SYSTEMS PROGRAM
Autonomous Systems Program | Not for Distribution: for Internal CSIRO/Chevron discussions only
Autonomous Flight – No human intervention
(Resilient Queensland)
2 year, AUD 7M joint project with QUT, BR&TA, Insitu Pacific and the
QLD state government
CSIRO led...
Low-Altitude Autonomous Survey
Unmanned Aerial System (UAS)
Autonomous (pilotless) unmanned helicopter
Enables high spatia...
Autonomous Ground Vehicle
AUTONOMOUS SYSTEMS PROGRAM
Seeker Field Survey Rover
Science payload includes:
• Downwelling and upwelling
hyperspectral point imagers
• Hyperspectra...
Autonomous Survey: Lidar 3D with RGB Overlay
Mining Automation
Dragline Swing Automation Shovel Automation Excavator Traffic Management
LHD Automation (Caterpillar) Lo...
Mobile Mapping
AUTONOMOUS SYSTEMS PROGRAM
LIDAR - Primary Sensor for Field Robotics
Dragline Terrain Mapping Haul Truck Scanning Explosive Loading
Excavator Bucket ...
Large Scale Mobile Mapping
Motion correction with
accurate & precise sensors
Manual
Survey
LIDAR
DTM
Mobile
Mapping
Real-t...
Mapping of Roads
Mapping of Industrial Compound
2D/3D Simultaneous Localisation and Mapping
(SLAM)
Spinning LiDAR on movin...
LIDAR: Primary Sensor for Robotics
 High-end hardware
 Heavy, expensive
 Non-intuitive
 Days/week of processing time
 Mobile, handheld
 Affordable hard...
Zebedee Lidar SLAM Mapping
World Forum - Hague
Jenolan Caves
Zebedee created map
World’s oldest recorded cave system (340 million years old)
Jenolan Caves
Orient Cave
Structure Mapping: Questacon - Canberra
Opéra Théâtre de Clermont-Ferrand, France
Pisa - Piazza del Duomo
Bottom to top and around the bell tower in 20 mins
Pisa - Piazza del Duomo
Bottom to top and around the bell tower in 20 mins
Leaning Tower of Pisa & Virtual Reality
Colourized range
Photogrammetry
10mm
10m
Infrared
Semantic Annotation
Extending 3D Maps
3D + RGB
Peel Island
Flying Zebedee: bentwing
Historical Site: Peel Island Lazaret
From 3D Data to Photos and Video
All data is cross-linked during capture
You click on a 3D point in the point cloud and yo...
From Photos and Video to 3D Data
All data is cross-linked during capture
You click on point in a photo and you are present...
Semantic Annotation
Comparing Data Collected at Different Times
Automatic change detection
The system automatically highlights areas in the
po...
Heatwave
AUTONOMOUS SYSTEMS PROGRAM
HeatWave: Hand-held 3D Thermography Device
Multimodal Representation: 3D+RGB+thermal
3D Thermal Model3D Colour Model
3D Change Detection After and Before
operations
Thermal Discrepancy 3D model
(before/after)
Thermal discrepancy 3D model
(before/after)
DIGITAL PRODUCTIVITY FLAGSHIP
Tele-Maintenance
How – Capabilities in Field Robotics
Dragline Shovel LHD HMC
Rock Breaker Explosive Loading Cleanup Agriculture
Helicopter...
How – Capabilities in Remote Collaboration
Gesture Tracking Vehicle Tracking People Tracking Face Tracking
Security and Tr...
Assembly and Remote Assistance
Assisted Human Worker
Autonomous Navigation
Lightweight Robot
Assistant
Remote Instruction ...
Remote Maintenance
Remote Expert
Virtual Collaboration Space
Local Resource
ReMoTe is hands-free, wearable, and is operati...
Guardian Mentor Remote
http://www.youtube.com/watch?v=iv4-AGp_Okw
http://www.csiro.au/Organisation-Structure/Divisions/Com...
Robust, Secure, Dependable Systems
R.G. Dromey30
R1 BUTTON
[Pushed]
R1 POWER-TUBE
[Energized]
R1 USER
??Button-Push??
1 OV...
BATMON
AUTONOMOUS SYSTEMS PROGRAM
Distributed Sensing Systems
Building Sustainable Systems of Distributed Sensors
Pervasive sensing for effective management...
Continental-Scale Tracking: Flying Foxes
Autonomous Systems Program | Not for Distribution: for Internal CSIRO/Chevron dis...
AUTONOMOUS SYSTEMS PROGRAM
DIGITAL PRODUCTIVITY FLAGSHIP
Guardian
Problem 1: The Mixed Traffic Problem
• 20 years ago automation
was driven by safety
• Lead to the automation of
specialize...
Solution 1: Global Situational Awareness
1. Technology that allows humans and robots
to interact safety and productively
2...
Problem 2: Interoperability
• 10 years ago, investment was driven by
labor force availability and productivity
• We were a...
Unified User Interface
3DCMM
Communications Infrastructure
Digital Model
Exploration
MinePlanning
Drilling
Excavation
Blas...
Guardian
Guardian
Situational
Awareness
Global
Interoperability
People being
part of solution
Industry 4.0Industrial
Inter...
Guardian Video
Guardian Angel
• Monitors environment
• Tracks people and assets
• Make work safer for humans
Guardian Mentor
• Worker aug...
A system that provide increased safety
to the human workers without
intervention.
The system automatically monitors,
where...
• Increase product quality, by
facilitating design tasks and increasing
ability to identify errors at early stages
of manu...
• Increase productivity, by combining
human’s flexibility and reasoning with
machine’s strength and precision
• Increase f...
• Increase worker’s safety, by placing
them under safe conditions while
performing on dangerous and
challenging environmen...
Autonomous Safety Zones
1. Create 3D Model
2. Monitor environment
3. Track people and robots
4. Measure risk
5. Detects ha...
MANUFACTURING
Changing Robotic Paradigms
Automation
In Manufacturing
Rigid
Bulky
Expensive
Unsafe
Lightweight
Assistive Systems
Flexible...
Lightweight
Assistive
Systems
Multi-Sensorial
Augmented Reality
Human/Robot Collaboration
Augmented Human Worker
Robot/Rob...
• New Workflows
• New Business Models
• New Enterprises
• Cost Avoidance
Strategies
• New Processes
• New Materials
• New ...
Robots and Humans, not Robots instead of Humans
Robotic co-workers
Work with humans
• Increase productivity by combining
h...
Situational Awareness and Immersive Safety
Operation in mixed traffic:
humans,
autonomous vehicles, human-
operated vehicl...
Lightweight Robot Co-Workers
Increasing the Productivity, Safety and Skills of Human Workers
Augment and help human worker...
Robot-Enabled Remote Assistance
Robotic Co-Worker
Operations in a dynamic industrial environment
Seamless Connections / Exchange between
Workshop (Tactical) & The Control R...
CSIRO Business Model
Digital Productivity
Engagement
FMF
MII
CRC
MIX
SME
LAMS
National Innovation Networks
Australia’s Innovation System
Australia’s innovation system
CSIRO's Business Model
How we operate
• Scientific experts in relevant fields
• Research centres and facilities
• Equipment
We look at company &
...
CSIRO works with clients on R&D projects across three horizons
Horizon 1
Horizon 2
Horizon 3
Improving core products and
s...
Our three main business models
MISSION
DIRECTED
SCIENTIFIC
RESEARCH
TRANSLATION
(SERVICES)
ACCESS TO
NATIONAL
FACILITIES
C...
CSIRO | Craig Roy | Page 128
Engaging with the best organisations along the path from
research to adoption and impact
RESE...
Investment in research with partners
Nature of research project
Applied Research or
Services
• Application of existing
kno...
Exploitation Strategy
How is the technology going to get to market?
 Research the market
 Understand the value chain for...
Industry roadmaps and landscaping
Overall
industry
drivers
Value
chain
CSIRO
portfolio
Market
value
Aus (farm gate) dairy ...
Industry Engagement
IIC Testbed for Mobile Autonomy
Elliot Duff, PhD
Research Director
Autonomous Systems Program
t +61 7 3327 4632
AUTONOMOUS SYSTEMS PROGRAM | DPAS | CSIRO
...
Autonomous Systems Program
Autonomous Systems Program
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Autonomous Systems Program

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Autonomous Systems Program

  1. 1. Austrade - Autonomous Systems Elliot Duff – Research Director
  2. 2. CSIRO - Snapshot 62%of our people hold university degrees 2000 doctorates 500 masters CSIRO undertakes $~500M of externally funded R&D each year Top 1% of global research institutions in 14 of 22 research fields Top 0.1%in 4 research fields Highest number of citations per scientist in Australia Darwin Alice Springs Bakers Hill Atherton Townsville 2 sites Rockhampton Toowoomba Gatton Myall ValeNarrabri Mopra Parkes Griffith Belmont Geelong Hobart Sandy Bay Werribee Wodonga Newcastle Armidale 2 sites Perth 3 sites Adelaide 2 sites Brisbane 6 sites Sydney 5 sites Canberra 7 sites People = 5000+ Locations = 57 Budget = $1B+ Murchison Cairns Melbourne 6 sites Infra = $3.5bn Patents = 3000+ Partners = 1300+
  3. 3. Our track record: top inventions 4. EXTENDED WEAR CONTACTS 2. POLYMER BANKNOTES 3. RELENZA FLU TREATMENT 1. FAST WLAN Wireless Local Area Network 5. AEROGARD 6. TOTAL WELLBEING DIET 7. RAFT POLYMERISATION 8. BARLEYMAX 9. SELF TWISTING YARN 10. SOFTLY WASHING LIQUID
  4. 4. China Australia Alliance for New Energy Vehicle Innovation Global connections: impact partnerships 80+ countries
  5. 5. Future Foresights Mega-Trends Challenges Opportunities Agility Disruptive technology
  6. 6. We are in the world’s Top 10 institutions for 2 research fields. We are the only Aussie R&D organisation in the world’s Top 10. We have 14 research fields in the top 1% of global research organisations. CSIRO global positioning 0 5 10 15 20 25 30 35 40 45 1 2 3 4 5 6 7 8 9 10 11 12 13 NO.OFINSTITUTIONS NO. OF FIELDS IN TOP 10 GLOBALLY CSIRO CNRS Cornell Georgia Inst Tech INRA NASA Nat U Singapore NCI NIAID Princeton U Toronto USEPA USGS U Illinois U Tokyo USDA Wageningen U Columbia UC San Diego U Michigan U Wisconsin Yale U Penns UCSF Johns Hopkins UCLA MIT U Washington Chinese Acad Sci UC Berkeley Harvar d Max Planck Standford CSIC U Carolina UC Davis Oxford Based on total citations. Source: Thomson-Reuters/ISI Essential Science Indicators
  7. 7. World-class science and technology CSIRO - the roles we play Trusted advisor to government Leveraging Australia’s Innovation System Innovation supporting the creation of new businesses Helping existing companies transition to the future 1 2 3 4 5
  8. 8. What we do 8 | Our Mission We deliver innovative solutions for industry, society and the environment through great science. Our Vision Our science is used to make a profound and positive impact for the future of Australia and humanity. Image industry Image environment
  9. 9. How we do it 9 |
  10. 10. What differentiates CSIRO? 10 | We provide scientific responses to major national and global challenges We take a collaborative approach to scientific research and delivery Our research Flagships promote radical innovation to reshape industries Large scale Mission directedMultidisciplinary
  11. 11. The Boeing example 22 year partnership Grown from research supplier through research collaborator to strategic research partner. Longevity of partnership means senior management from both partners have previously been involved in Alliance projects. Tiered Governance I. Relationship Management by a joint high level Steering Committee. II. Account Management by CSIRO Senior Technical Advisor within Boeing. III. Project Management reps from each organisation on each project. Award winning partnership 10 May 2011 – CSIRO awarded Boeing Supplier of the Year & Leader’s Choice Award for Academia, 2010. One of 16 awards selected from 17500 global suppliers. 12 October 2011 – Topcoat Reactivation team consisting of CSIRO and Boeing team members received a CSIRO Research Achievement Medal (innovative, commercially viable technology for aircraft coatings now on ~1000 aircraft).
  12. 12. Digital Productivity Flagship
  13. 13. Motivation Productivity isn’t everything, but in the long run it is almost everything Paul Krugman, 1991 Professor Princeton University, Nobel Prize in Economics 2008 The digital economy is the global network of economic and social activities that are enabled by platforms such as the internet, mobile and sensor networks. Australia's Digital Economy: Future Directions.
  14. 14. Threat posed by Australia’s declining productivity Productivity is the prime determinant in the long run of a nation’s standard of living, for it is the root cause of per capita national income Michael Porter, 1991, The Competitive Advantage of Nations According to the Grattan Institute report Australia’s Productivity Challenge, Australia’s economic prospects beyond the end of the current ‘resources boom’ will deteriorate significantly (as they did in the 1970s and 1980s) if the decline in our productivity growth performance is not reversed.
  15. 15. Designing for Data Generation & Capture Data Generation, Communications & Capture Integration of Data & Modelling Implementation Monitoring & evaluation Storage, Discovery, Communications, Access Decision Making Under Uncertainty Gaining Insights & Understanding Information & Decision Making Value Chain
  16. 16. Creating Impact through Partnerships
  17. 17. DIGITAL PRODUCTIVITY FLAGSHIP Autonomous Systems Program
  18. 18. Vision: A world in which humans and autonomous systems are able to seamlessly, reliably and safely collaborate. Autonomous Systems Program 45 40 15
  19. 19. Robot navigation Dynamic, difficult environments
  20. 20. Remote Collaboration Robots, vision and broadband
  21. 21. Pervasive Computing Platform technology
  22. 22. Zebedee Mobile and handheld 3D mapping Revolutionizes the way 3D mapping can be achieved by cutting acquisition time from hours and days to minutes Uses a technique from robotics known as Simultaneous Localisation and Mapping (SLAM) and a simple spring mechanism Fort Lytton (Brisbane)
  23. 23. CSIRO Collaboration Platform Real-time interaction and collaboration between people, information and instruments Commercialised in Aug 2013 with an Australian SME – Corporate Initiatives Installed and in use around 9 sites around Australia, including CSIRO sites, Queensland DAFF and Federal Dept of Agriculture
  24. 24. Sense-T Architecture Sensor Networks and Spatial Data Management for Sense-T R&D Provide Sensor Network Data Management infrastructure for Sense-T R&D Program Strategic Sensor Network Architecture Development. Mobile Sensing Middleware
  25. 25. Metadata and Interoperability Cognitive Computing Facilitate discovery and reuse of sensor data through metadata management and community-based data curation Uses Semantic Web technologies and workflow systems to annotate data and automate spatial-temporal modeling Team ‘hero image’ here
  26. 26. Metadata and Interoperability Cognitive Computing Semantic analytics of graph data to better understand complex processes and systems Used to analyze workflow provenance traces to discover patterns and compare similarities among various process interactions
  27. 27. Pervasive Computing Team Sensor Systems Realizing pervasive computing through small, inexpensive, networked sensing devices embedded in our environments Our capabilities span development and deployment of distributed systems, information processing, and machine learning Real-time Sensing Control Comfort Sense PC Application Advanced( HVAC(( Control( Savings,( Efficiency( Thermal( Comfort( HVAC(Zone( Occupancy( Temperature, PIR, Light, Appliances User Behavior Personal Climate Dome CS Surveys Processing
  28. 28. Engineering Team Robotics Group Designs and delivers the underpinning electrical, electronic, mechanical and computer systems Multi-skilled engineers who can design and create almost anything!
  29. 29. AUTONOMOUS SYSTEMS PROGRAM Robotics Group
  30. 30. From Perception to Action, From Near to Far, From Large to Small Robots going to places and doing tasks that are dangerous, challenging, exhausting or boring for humans Robots augmenting the capabilities and productivity of humans Humans and robots working collaboratively and safely
  31. 31. Ground, Aerial and Aquatic Robots Planning and control algorithms for mobile robots, including ground, aerial, surface and underwater. Experience spans from low-level control to high-level planning and decision making for increased robot autonomy.
  32. 32. Robotics Domains Real-timePerception Human Interaction Industrial •Welding Arms •Conveyors Military •Drones •Inspection Resources •Mining / Agriculture / Oil & Gas •Haulage Infrastructure •Transport •Logistics / Warehousing Service •Medical •Household Outdoor (Field Robotics) Real-time Perception of Dynamic Unstructured Environments Indoor (Agile Robotics) Real-time Perception of Dynamic Unstructured Environments
  33. 33. Convergingtrendsleadingto UbiquitousRobotics Field Robotics Dependability Robustness Military/mining Sensing in dynamic unstructured environments Collective intelligence Cloud Services Big data Internetofthings Cheap sensor, processors and actuation Consumer Devices Immersive interfaces Gaming AdditiveManufacturing Mobile Devices Ubiquitous connectivity Locationbasedservice Intuitive interfaces Mobile Tele-presence Lightweight Robotics Mirror Worlding Social Networking HMI (Human-machine interfaces) ICT (Information and communication technologies) Perception Robotics Ubiquitous Robots
  34. 34. Significant Developments - Software 1. ROS – open source Robot Operating Systems 2. OpenCV – Open Source Computer Vision Libary 3. PLC – Open Source Point Cloud Library
  35. 35. Significant Developments - Hardware 1. Range Sensors (LIDAR & Structured Light) 2. Embedded Processing and Communications
  36. 36. Significant Developments - Challenges 1. DARPA – Grand Challenge 2. DARPA – Robotics Challenge
  37. 37. Unmanned Autonomous Robotic Definitions
  38. 38. Autonomy is a Spectrum Mixed-RealityTele-Robotic Robot Tele-Operation Machine Autonomy Shared Autonomy Autonomy Manual User Interface Intelligent Behavior Extent of Knowledge Communications Latency Global LocalReactive Proactive Augmented Reality Augmented Virtuality Supervisory Assistive Real Virtual
  39. 39. Automation Does Not Mean Autonomy Digging Swing Dump Walk Maintenance Integration Autonomous Manual DigAssist DigToPlan
  40. 40. System of Systems (SoS) A person can be part of an Autonomous System of Systems
  41. 41. Potential Solutions to Autonomous Systems
  42. 42. Autonomous Aquatic Vehicles AUTONOMOUS SYSTEMS PROGRAM
  43. 43. Starbug - AUV Stereo cameras Batteries Payload section Main thrusters Flat thrusters Specifications Mass: 26 kg+ Length: 1.2 m+ Endurance: 3 – 5 hours 19 – 36 hours Range 4 – 7 km 35 – 55 km Max depth: 100 m
  44. 44. Starbug: Autonomous Underwater Surveys Dunbabin, M., Usher K. and Corke, P. (2005). Visual motion estimation for an autonomous underwater reef monitoring robot. In The 5th International Conference on Field & Service Robotics (FSR) 2005, Port Douglas Australia. pp.57-68.
  45. 45. Automated marine pest population monitoring Smith, D., and Dunbabin, M. (2007). Automated counting of the Northern Pacific Sea Star in the Derwent using shape recognition. In Proc. Digital Image Computing Techniques & Applications (DICTA07), pp. 500-507, Adelaide Clement, R., Dunbabin, M., and Wyeth, G. (2005). Toward robost image detection of Crown-of- Thorns Starfish for autonomous population monitoring. In Proc. Australiasian Conference on Robotics & Automation (ACRA), Sydney. • Algorithms for automated classification of • Northern Pacific Sea Star (Asterias amurenis) • Crown-of-thorns Starfish (Acanthaster planci)
  46. 46. Autonomous Aerial Vehicle AUTONOMOUS SYSTEMS PROGRAM
  47. 47. Autonomous Systems Program | Not for Distribution: for Internal CSIRO/Chevron discussions only
  48. 48. Autonomous Flight – No human intervention
  49. 49. (Resilient Queensland) 2 year, AUD 7M joint project with QUT, BR&TA, Insitu Pacific and the QLD state government CSIRO led the Biosecurity Stream – Autonomous rotorcraft surveys for Miconia weed eradication – Replace manned helicopter flights to identify miconia growing in rainforest environments. – Develop a TRL 6 solution
  50. 50. Low-Altitude Autonomous Survey Unmanned Aerial System (UAS) Autonomous (pilotless) unmanned helicopter Enables high spatial resolution mapping and safe low-altitude surveys in difficult terrain beyond visual range Miconia causing landslides in Tahiti (Photo: Peter Thomas)
  51. 51. Autonomous Ground Vehicle AUTONOMOUS SYSTEMS PROGRAM
  52. 52. Seeker Field Survey Rover Science payload includes: • Downwelling and upwelling hyperspectral point imagers • Hyperspectral line imager • Scanning lidar • RGB imager • Environmental sensors
  53. 53. Autonomous Survey: Lidar 3D with RGB Overlay
  54. 54. Mining Automation Dragline Swing Automation Shovel Automation Excavator Traffic Management LHD Automation (Caterpillar) Longwall Automation (CESRE)Explosive Loading (ORICA)
  55. 55. Mobile Mapping AUTONOMOUS SYSTEMS PROGRAM
  56. 56. LIDAR - Primary Sensor for Field Robotics Dragline Terrain Mapping Haul Truck Scanning Explosive Loading Excavator Bucket Tracking Truck and Shovel Mapping Airborne Mapping
  57. 57. Large Scale Mobile Mapping Motion correction with accurate & precise sensors Manual Survey LIDAR DTM Mobile Mapping Real-time SLAM with CPU-GPU Speeds Real-time DTM Robotic Perception Conventional Approach Our Approach
  58. 58. Mapping of Roads Mapping of Industrial Compound 2D/3D Simultaneous Localisation and Mapping (SLAM) Spinning LiDAR on moving vehicle After Scan Matching After Place Recognition Together: Globally Consistent Trajectory and Map Localization Mapping Moving Object Tracking Change Detection Data Association Robust Optimization
  59. 59. LIDAR: Primary Sensor for Robotics
  60. 60.  High-end hardware  Heavy, expensive  Non-intuitive  Days/week of processing time  Mobile, handheld  Affordable hardware  Intuitive  Realtime software processing Reducing Barrier to Entry: Mobile Mapping  Traditional solutions:  CSIRO solution:
  61. 61. Zebedee Lidar SLAM Mapping
  62. 62. World Forum - Hague
  63. 63. Jenolan Caves Zebedee created map World’s oldest recorded cave system (340 million years old)
  64. 64. Jenolan Caves Orient Cave
  65. 65. Structure Mapping: Questacon - Canberra
  66. 66. Opéra Théâtre de Clermont-Ferrand, France
  67. 67. Pisa - Piazza del Duomo Bottom to top and around the bell tower in 20 mins
  68. 68. Pisa - Piazza del Duomo Bottom to top and around the bell tower in 20 mins
  69. 69. Leaning Tower of Pisa & Virtual Reality
  70. 70. Colourized range Photogrammetry 10mm 10m Infrared Semantic Annotation Extending 3D Maps
  71. 71. 3D + RGB Peel Island
  72. 72. Flying Zebedee: bentwing
  73. 73. Historical Site: Peel Island Lazaret
  74. 74. From 3D Data to Photos and Video All data is cross-linked during capture You click on a 3D point in the point cloud and you are presented with a list of video frames that show that point.
  75. 75. From Photos and Video to 3D Data All data is cross-linked during capture You click on point in a photo and you are presented with that location in 3D in the point cloud.
  76. 76. Semantic Annotation
  77. 77. Comparing Data Collected at Different Times Automatic change detection The system automatically highlights areas in the point cloud where changes are detected.
  78. 78. Heatwave AUTONOMOUS SYSTEMS PROGRAM
  79. 79. HeatWave: Hand-held 3D Thermography Device
  80. 80. Multimodal Representation: 3D+RGB+thermal 3D Thermal Model3D Colour Model
  81. 81. 3D Change Detection After and Before operations
  82. 82. Thermal Discrepancy 3D model (before/after)
  83. 83. Thermal discrepancy 3D model (before/after)
  84. 84. DIGITAL PRODUCTIVITY FLAGSHIP Tele-Maintenance
  85. 85. How – Capabilities in Field Robotics Dragline Shovel LHD HMC Rock Breaker Explosive Loading Cleanup Agriculture Helicopter Submarine Ground Boat Haulage Manipulation Navigation
  86. 86. How – Capabilities in Remote Collaboration Gesture Tracking Vehicle Tracking People Tracking Face Tracking Security and Trust High Bandwidth Comms Quality of Service Haptics Augmented Reality Augmented Virtuality Panoramic Display Collaborative Environments Situational Awareness Communications Human Machine Interface
  87. 87. Assembly and Remote Assistance Assisted Human Worker Autonomous Navigation Lightweight Robot Assistant Remote Instruction + Augmented Reality Remote Expert
  88. 88. Remote Maintenance Remote Expert Virtual Collaboration Space Local Resource ReMoTe is hands-free, wearable, and is operational in various environmental conditions and designed so operators can operate it without any training or prior skill.
  89. 89. Guardian Mentor Remote http://www.youtube.com/watch?v=iv4-AGp_Okw http://www.csiro.au/Organisation-Structure/Divisions/Computational-Informatics/ReMoTe.aspx
  90. 90. Robust, Secure, Dependable Systems R.G. Dromey30 R1 BUTTON [Pushed] R1 POWER-TUBE [Energized] R1 USER ??Button-Push?? 1 OVEN [Cooking] 1 OVEN [Idle] R2 BUTTON [Pushed] R2 + USER ??Button-Push?? R1 OVEN [Cooking] R2 + OVEN ^ [Cooking] R2 OVEN [Extra-Minute] R5 + USER ??Door-Opened?? R5 @ DOOR [Open] R5 OVEN [Cooking-Stopped ] R5 + POWER-TUBE [Off] R6 + USER ??Door-Closed?? R6 DOOR [Closed] R6 LIGHT [Off] R6 + OVEN [Idle] R7 LIGHT [Off] R7 POWER-TUBE [Off] R7 BEEPER [Sounded] R7 OVEN ?? Timed-Out ?? R7 OVEN [Cooking-Finished R8 - USER ??Door-Opened?? R8 - DOOR [Open] R8 - BUTTON [Disabled] R8 - OVEN ^ [Open] R3 C+ BUTTON [Enabled ] R3 C BUTTON [Disabled ] R4 C LIGHT [ On ] R8 - LIGHT [ On ] R6 + OVEN [ Open ] Fig. 14. Microwave Oven DBT with oven component behaviour highlighted Specification, analysis, simulation and testing for assuring system dependability
  91. 91. BATMON AUTONOMOUS SYSTEMS PROGRAM
  92. 92. Distributed Sensing Systems Building Sustainable Systems of Distributed Sensors Pervasive sensing for effective management of natural and built environments A decade of leading sensor network research
  93. 93. Continental-Scale Tracking: Flying Foxes Autonomous Systems Program | Not for Distribution: for Internal CSIRO/Chevron discussions only Roos ng Camp Foraging Area 1 km • Flying Foxes are vectors for the Hendra virus • We developed collars (< 30g) to track flying foxes
  94. 94. AUTONOMOUS SYSTEMS PROGRAM DIGITAL PRODUCTIVITY FLAGSHIP Guardian
  95. 95. Problem 1: The Mixed Traffic Problem • 20 years ago automation was driven by safety • Lead to the automation of specialized vehicles • Equal performance of a human driver • Forced to isolate the machines • This impacted the existing workflow (Maintenance, exploration) Increase Safety Change in Workflow Loss in Productivity
  96. 96. Solution 1: Global Situational Awareness 1. Technology that allows humans and robots to interact safety and productively 2. To do this we need to provide fail-safe people detection 3. No such technology exists 4. Put intelligence into the environment rather than the machine 5. Detect absence rather than presence 6. Autonomous safety.
  97. 97. Problem 2: Interoperability • 10 years ago, investment was driven by labor force availability and productivity • We were able to automate a rock-breaker, but it does not exceed the performance of the human operator • Productivity gains can only be realized if we integrate the upstream and downstream processes Fleet Management Rock Breaker Processing
  98. 98. Unified User Interface 3DCMM Communications Infrastructure Digital Model Exploration MinePlanning Drilling Excavation Blasting Haulage RockBreaking Processing Train ShipLoading Process Surveying Analysis Infrastructure Maintenance LogisticsSupport Framework of Standards Remote Operations Solution 2: Digital Model Vendors
  99. 99. Guardian Guardian Situational Awareness Global Interoperability People being part of solution Industry 4.0Industrial Internet IoT
  100. 100. Guardian Video
  101. 101. Guardian Angel • Monitors environment • Tracks people and assets • Make work safer for humans Guardian Mentor • Worker augmentation • Provides skills and training • Make work easier for human Guardian Helper • Provides physical assistance • Robotic co-workers • Works with humans Guardian Worker • Provides remote assistance • Tele-operated robotics • Work for humans Guardian Implementation Augmentation • Collaboration • Interface • Observatory Assistive • Navigation • Manipulation • Cooperation Awareness • Monitoring • Modeling • Management Social Science Human Factors Informatics Communications Sensors Robotics Engineering Investment Innovation Impact Worker Centric: Increase productivity, safety and adaptability of future workforce through virtual and assistive automation technologies High Performance Workplace • Low-cost, from purchasing price and installation costs, to reprogramming and maintenance costs • Easy to use, without the need of technical expertise to deploy, operate and reconfigure the systems • Support mass customisation, ideal for small runs of multiple types of products
  102. 102. A system that provide increased safety to the human workers without intervention. The system automatically monitors, where people are and what they are doing. From this it is able to estimate risk and alert people and machines. Layers of safety to provide increased reliability LAMS: Guardian Angel Guardian Angel •Monitors environment •Tracks people and assets •Make work safer for humans Monitoring • Localization (WASP,SLAM) • Tracking (People Tracking HMC) • Mapping (SLAM) Modeling • Body/Facial Gestures • Scenario Simulation • Risk Assessment (Nexus) Management • Data Standards (OGC) • Communications • Fail-safety
  103. 103. • Increase product quality, by facilitating design tasks and increasing ability to identify errors at early stages of manufacturing processe • Increase labour productivity, by augmenting human worker’s capabilities, regardless of their age or physical conditions • Maintaining a high-skilled workforce, by improving training capacity and maximising the amount of data on their hands LAMS: Guardian Mentor Lightweight Assistive Manufacturing Solutions | NMW 2013 Guardian Mentor •Worker augmentation •Provides skills and training •Make work easier for human Collaboration • High speed communications • Tracking (People Tracking HMC) • Mapping (SLAM) Interface • Augmented Reality (Remote) • Augmented Virtuality • Projected Reality Observatory • Repository (OGC)
  104. 104. • Increase productivity, by combining human’s flexibility and reasoning with machine’s strength and precision • Increase flexibility and responsiveness, making manufacturers more responsive against changes in demand • Provide smart and safe automation, enjoying the benefits of automation without making any changes in processes or infrastructure LAMS: Guardian Helper Lightweight Assistive Manufacturing Solutions | NMW 2013 Guardian Helper •Provides physical assistance •Robotic co-workers •Works with humans Navigation • Global (Museum) Manipulation Cooperation
  105. 105. • Increase worker’s safety, by placing them under safe conditions while performing on dangerous and challenging environments • Expand workforce’s field of action, enabling humans to execute tasks in remote places without the need of physical presence • Facilitate micro-fabrication, by extending human capacity to work in small-scale environments LAMS: Guardian Worker Lightweight Assistive Manufacturing Solutions | NMW 2013 Guardian Worker •Provides remote assistance •Tele-operated robotics •Work for humans Navigation • Reactive (MineGem) • Absolute (HMC) Manipulation • Hydraulic Arm (rock-breaker/ORICA) Autonomy • Helicopter • Submarine
  106. 106. Autonomous Safety Zones 1. Create 3D Model 2. Monitor environment 3. Track people and robots 4. Measure risk 5. Detects hazards 6. Alerts participant 7. Creates Safety Zone 8. Alerts bystanders 9. Monitors task 10. Alerts help if required. Person starts to change tyre! Vehicle wants to move Bystander walks into factory Guardian Angel •Monitors environment •Tracks people and assets •Make work safer for humans
  107. 107. MANUFACTURING
  108. 108. Changing Robotic Paradigms Automation In Manufacturing Rigid Bulky Expensive Unsafe Lightweight Assistive Systems Flexible Lightweight Affordable Human-centered Easy-to-use
  109. 109. Lightweight Assistive Systems Multi-Sensorial Augmented Reality Human/Robot Collaboration Augmented Human Worker Robot/Robot Collaboration Worker Safety: Always Aware Tele-supervision
  110. 110. • New Workflows • New Business Models • New Enterprises • Cost Avoidance Strategies • New Processes • New Materials • New Production • Cost Reduction Strategies •Mass Customization •Maximize Flexibility •Focus on scope/value •Mass Production •Minimize Waste •Focus on scale/ efficiency Lean Agile Information Driven XXXX Value Capture and Creation Advanced XXXX Value Capture What is DPAS Imperative? Great expectations VirtuallyHere Morefromless DPAS BDC Emerging Plan
  111. 111. Robots and Humans, not Robots instead of Humans Robotic co-workers Work with humans • Increase productivity by combining human flexibility, dexterity and reasoning with robotic strength and precision • Increase flexibility and responsiveness, making manufacturers more responsive to changes in demand • Provide smart and context-relevant automation without major changes in processes or infrastructure • Increase product quality by facilitating design tasks and increasing the ability to identify errors at early stages of manufacturing processes • Increase labour productivity by augmenting the capabilities of human workers, regardless of their age or physical conditions • Maintain a high-skilled workforce by improving remote training capacity and maximising the worker’s access to relevant information • Increase worker safety by keeping humans in safe conditions while they supervise robotic systems operating in dangerous and challenging environments • Expand the worker’s field of action, enabling humans to execute tasks in remote places without the need for physical presence • Facilitate micro-fabrication by extending the worker’s ability to work in small-scale environments • Low-cost solutions, from purchasing price and installation costs, to reprogramming and maintenance costs • Easy to use, without the need of technical expertise to deploy, operate and reconfigure the systems •Supporting mass customisation, ideal for small runs of multiple types of products Worker augmentation systems Make work easier for humans Telesupervised robotics Work for humans
  112. 112. Situational Awareness and Immersive Safety Operation in mixed traffic: humans, autonomous vehicles, human- operated vehicles Situational awareness
  113. 113. Lightweight Robot Co-Workers Increasing the Productivity, Safety and Skills of Human Workers Augment and help human workers, instead of replacing them by robots Increased worker retention and satisfaction Increase worker productivity, safety, retention and satisfaction New market opportunities for Australian technology companies Situational awarenessRemote expert helping human worker
  114. 114. Robot-Enabled Remote Assistance
  115. 115. Robotic Co-Worker
  116. 116. Operations in a dynamic industrial environment Seamless Connections / Exchange between Workshop (Tactical) & The Control Room (Executive)
  117. 117. CSIRO Business Model Digital Productivity
  118. 118. Engagement FMF MII CRC MIX SME LAMS National Innovation Networks
  119. 119. Australia’s Innovation System Australia’s innovation system CSIRO's Business Model
  120. 120. How we operate • Scientific experts in relevant fields • Research centres and facilities • Equipment We look at company & industry challenges: CSIRO contributes: We create solutions and inventions • Productivity • Safety • Competitiveness We find partners to help undertake the research: • Government • Universities • Research institutes • Industry companies Minerals Down Under We work with industry companies to help them apply, and realise results CSIRO's Business Model
  121. 121. CSIRO works with clients on R&D projects across three horizons Horizon 1 Horizon 2 Horizon 3 Improving core products and services Application of new and disruptive technologies Developing new and disruptive technologies and applications Time • Deliverable focus • Existing knowledge • Consulting & technical services • Licensing • New knowledge to solve known problem • Proven application ready for product / service dev effort • Prototype / applications focus • New knowledge / exploration • Options focused • New to world science or applications Commercial readiness Collaborative researchTechnical consulting, licensing CSIRO's Business Model
  122. 122. Our three main business models MISSION DIRECTED SCIENTIFIC RESEARCH TRANSLATION (SERVICES) ACCESS TO NATIONAL FACILITIES CSIRO's Business Model
  123. 123. CSIRO | Craig Roy | Page 128 Engaging with the best organisations along the path from research to adoption and impact RESEARCH FUNDERS E.g. Government, ARC RESEARCH COLLABORATORS E.g. Universities, CRCs, major multinational corporations, companies DELIVERY PARTNERS E.g. Major multinational corporations, Australian companies, SMEs END USERS E.g. Industry, Govt, Consumers BASIC RESEARCH APPLIED RESEARCH EXPERIMENTAL DEVELOPMENT ADOPTION Publicly funded research projects are the foundation business model in which capability and intellectual property are developed We take a collaborative approach to research and connect with the right capability in the innovation system Where we are not best placed to implement the outcomes of our research, we work with the best existing players in the market to see it adopted In some cases we also work directly with end users to ensure lasting impact is achieved in line with our objectives CSIRO's Business Model128 |
  124. 124. Investment in research with partners Nature of research project Applied Research or Services • Application of existing knowledge Enabling Research • New knowledge generated • Defined application and impact Basic Research • New knowledge generated • Multiple or unknown applications and impact Basic Research • Breakthrough areas of research • Building strategic capabilities Client funds Co-Investment (Client : CSIRO) CSIRO funds Client funds 80 : 20 60 : 40 CSIRO funds CSIRO's Business Model
  125. 125. Exploitation Strategy How is the technology going to get to market?  Research the market  Understand the value chain for the industry How much is it going to cost to get to market? Who is going to provide the $?  Strategic partners vs venture capital (or similar) Iterate the strategy  Regularly review the literature and the market dynamics Developer manufacturer distributor sales consumer CSIRO's Business Model
  126. 126. Industry roadmaps and landscaping Overall industry drivers Value chain CSIRO portfolio Market value Aus (farm gate) dairy value (2009/10)=$3.4bn Aus export value(2009/10)=$4bn Global dairyproductsmarket =$337bn (CAGR 2008-2012 =24%) Aus. Dairy based product manufacturing=$10.1bn (approx) Industry drivers influenci ng R&D by value chain CSIRO Capabilit ies & Assets •Environmentalchallenges (drought, climate change, soildegradation) • Evolving biologicalthreats •Food security •Increasing input prices •Global consolidation • Land and resource shortages •Sustainable production practises •Increasing regulatoryand customer requirements •Increased globalisation and consolidation •Yield, land scarcity, competition for acres • Carbon pricing impact •Cost reduction •Changing population demographics •R&D comp AND acceleration China / India. Underminesvalue capture •Increasing complexity in farm businesses CLI SAF CPI FNS FFF CMIS CPSE/CMSE PHealth Agriculture Sustainability Water shortages Energy Nutrients prices Climate change Biosecurity Commodity price volatility Increasing farming cost structures Greenhouse gas emissions Increasing demand Healthy/functional food Aging population Slowing dairy productivity Animal welfare Sustainable production Regulatory Food safety Product differentiation Waste Milk supply Labour Changing nature of demand Resource inputs Milk production Processing capacity Markets for dairy products (local and export) Consumers Increasing private label /generic branding Retailers dominance in value chain Supermarket discounting No R&D investment/value Environmental x feed x genetics modelling Feed systems and management On-farm systems Disease diagnostics, monitoring and control Genomics/ phenomics Landscape modelling – water & land Vaccine and therapeutic products Systems modelling Product processing Tailored formulations Food safety Testing methodologies Bioactives/ ingredients Materials science Plant design Complex systems modelling Risk assessment analysis Nutrition Sensory Preclinical/clinical substantiation Gut health/fibre characterisation Supply chain modelling Consumer behaviour Genetics/physiolog y DAIRY ROADMAP CEREALS ROADMAP Industry R&D drivers Value chain Market value SEED: Global seed market ~$38bn (2011)(source: Globalindustry analyst) Globalgrain seed (wheat, rice, sorghum, corn)market =$14bn Globalwheat seed market=$250mn, Australia wheat seed market=$20mn CROPS: Global cereal(wheat, coarse grain, rice) cropsmarket ~$417.3 billion (source: Datamonitor) market value reflects consumption at producer prices Aus. Grain growing market ~$12.5billion (source: IBISWorld) Aus export value~$4bn Global cereals&bakery market =$358bn Aus. Grain-based product manufacturing=$12.3bn Recent / future major deals Priority Industry Clients Dow Agrosciences, Sygenta, Limagrain ,Bayer Consultants, Grower co- ops, Grower co-ops AWB,Grain Cor Co-op BulkHandle Lion Nathan (Kirin) Nestle, Wesfarmers/ / Coles Govt / Consumer Groups Priority funders DAFF; GRDC, AusAid, GRDC, GRDC MLA(feed) CSIRO delivery portfolios Key science Focus areas Product manufacturer Germplasm/ Gene discovery Breeder Input/ production systems Grower Storage, transport, Handler, marketer Millers Distributor/ Retailer Consumer (direct/ indirect) CPI SAF FNS / PHF FFF FFF SAF??? Genomics / Phenomics On Farm Systems Health Function BARLEYmax international royalties $9.3M GWD in wheat GRDC / Bayer $7.25M Taste & Aroma – Nestle $2.5M Nortnern Wheat Agronomy GRDC $2M Global Wheat Strategy Bayer - $58M Healthy Grains - $13.5M Coeliac 5 – GRDC $2.5M MAGIC - Bayer $3.5M BARLEYmax license to Popina $11M Overdue phos maint. GRDC $3.2M Nitrogen & Phos responses GRDC $4.7M Heat stress – GRDC $5.4M Fertiliser / soil decision support GRDC $3.5M Northern grain production crop sequencing yield GRDC $2M West / Southern Phosphorus -efficient pasture systems MLA $2.2M Soil Organics GRDC $2.3MCrown Rot suppression $3.4M Starplus – piglet effects (Pork RI) $2.7M Rust disease – 2 Blades & GRDC $7.65M secured prospect Solution Integration Solution Integration Environmentalchallenges (drought, climate change, soildegradation) Evolving biologicalthreats Food security Increasing input prices Demand for higher value end uses for wheat by dev. countries Global consolidation & new geographies(e.g.; Black Sea)Land and resource shortages Sustainable production practises Increasing regulatory & customer requirements Increased globalisation GM cereals Carbon pricing impact Cost reduction pressures Wheat genome sequenced R&D challenge / acceleration China / India. Gradual shift from commodity to product differentiation • To support impact, science and engagement planning and coordination, detailed industry roadmaps and landscapes are beginning to be developed
  127. 127. Industry Engagement
  128. 128. IIC Testbed for Mobile Autonomy
  129. 129. Elliot Duff, PhD Research Director Autonomous Systems Program t +61 7 3327 4632 AUTONOMOUS SYSTEMS PROGRAM | DPAS | CSIRO Thank you

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    Jun. 13, 2018

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