THE EUROPEAN RESEARCH NETWORK ON MOBILE ROBOTICS ...

MOBINET: THE EUROPEAN RESEARCH NETWORK ON MOBILE ROBOTICS TECHNOLOGY IN HEALTH CARE SERVICES

Nikos I. Katevas Head of R&D Dept., ZENON SA - Industrial Automation Kanari 5, Glyka Nera Attikis, 15344 Athens, Greece [email protected]

Abstract: The goal of this paper is to present the MobiNet project: Mobile Robotics Technology for Health Care Services Research Network. The main objective MobiNet is to concentrate the forces of European scientists in the prototype design of an autonomous mobile robot for health care services by incorporation and development of innovative, on the state of the art techniques, as a result of the joint research activities. MobiNet is supported by the European Union (EU) under the TMR programme. Short description of the TMR Programme, as well as selected details on MobiNet project’s objectives, partnership, progress, and potential application fields are following.

The TMR programme

utilisation of human resources through transitional mobility and co-operation. Currently, almost 100 networks are in progress for the period 1994-1998. TMR research networks finance young researchers that are appointed to reinforce the research teams participating in a common project. Community support covers the networking cost associated with the network activities. The benefit for both young researchers appointed and participating teams is considered valuable as the first get training through research in highly qualified teams and the second participates in ambitious research projects and exchanges know-how in pan-European level. The program covers the disciplines: Mathematics and Information Sciences, Physics, Chemistry, Life Sciences, Earth Sciences, Engineering Sciences, and Economic, Social and Human Sciences. MobiNet is included in the frame of Engineering Sciences discipline.

Training and Mobility of Researchers (TMR) Programme of EU aims stimulation of the training and mobility of researchers. In particular its area referred as research network fully supports training through research and - 142 -

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MobiNet Project Overview MobiNet is a research network for the establishment of scientific and technological co-operation, aiming the design of a fully autonomous mobile robot for use in health care services.

The main objective of this research network is to concentrate the forces of European scientists in the prototype design of an autonomous mobile robot for health care services, using and developing innovative, on the state of the art techniques, as a result of the joint research activities. The aim of the proposed research network is to organise and establish an active workgroup of researchers for the mobile robotics technology and health care services, in a formal co-operative status. The outcome of the project is the detailed design of the prototype of an autonomous mobile robot with high maneuverability and manipulability features. This prototype design will be the final deliverable, integrating the accumulated research results of three years. Operational features of the proposed mobile robot include execution of complicated manipulation and transport tasks.

Environment perception is being realised with the onboard installed sensors like vision, ultrasound, infrared etc. The behaviour of the robot is being optimised for indoor health care tasks, interacting with the user by high level commands. All levels of autonomy are being addressed. The network is addressing a wide range of topics beyond the state of the art, like hierarchical task planning, reactive/fuzzy control, intelligence distribution and organisation, real time control of multi joint/wheels robots, path planning and obstacle avoidance methods for structures with complicated kinematics constraints, sensor fusion of multidimensional information, environment perception, robot guidance with visual feedback, representation and modelling techniques, advanced man-machine interface, etc.

The Partnership MobiNet consortium is composed of 12 highly qualified groups, from 9 countries holding complementary expertise. Among them, some of the most respected universities and enterprises.

Zenon SA, (ZENON) in charge of the project management and holding experience in mobile robotics projects, overtakes research efforts focused on innovative path planning and sensor - 143 -

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fusion techniques, FernUniversitat Hagen (FERN UNI) is contributing its long experience in sophisticated omnidirectional mobile robots, National Technical University of Athens (NTUA) participates with two laboratories (IRAL - BEL) providing expertise neural based control systems, virtual environments, telerobotics, task/path planning, Universidad Politecnica de Madrid (UPM) offers know how in reactive control architecture and artificial intelligence techniques, TNO/TPD (TNO), along with Scuola Superiore Santa Anna (SSSA) are involved in robot manipulability issues, based on their background in construction of special purpose manipulators attached to mobile platforms, Lunds University (LUND) is concentrated on advanced simulation and design of robots with high complexity, University of Bremen BIBA (BIBA) is supplying its know how in modern robot oriented telepresence applications and sensing techniques, The University of Reading (UOR) - Cybernetics Department and University of Dublin – Trinity College Dublin (TCD) are performing research in several fields, as vision based robot guidance, learning systems etc. employing highly sophisticated neural networks.

FTB (FTB) and University of Montpellier (UMFM) are linking the technology providers to service robot users’ community, and they are contributing to user interface issues.

MobiNet Project Progress MobiNet has a life of almost two years. Through out this time the participating teams conducted surveys for existing methods for the topics of interest and after defining and dividing the research efforts among the available teams of experts proceeded to the development of innovative solutions. Being a consortium of 12 partners of 9 European states, MobiNet had to face the differences in language, culture and background in the multinational scientific teams. In addition MobiNet includes teams from different disciplines. However, the work for the

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common goal proved to be a pleasure and beneficial for all participants. Indeed some interesting results have been already announced as the outcome of this fruitful co-operation. The floor for those announcements has been given in the MobiNet annual symposiums (two taken place so far) but apart of that some of the join work succeeded to be published outside the network facilities. In MobiNet the notion of WorkGroup has been used to organise the research activities and contribute to the project final deliverable. MobiNet WorkGroups are structured as follows: WorkGroup 1: System Architectural and Control Issues that addresses the architectural and control issues of the overall system that can combine e.g. a mobile robot, a manipulator, a set of sensors and a man-machine interface. Control issues included here should address the global system control problems. Participants are NTUA, UOR, LUND, TCD, ZENON, TNO, and UPM.

ZENON, FERNUNI, NTUA, UPM, and TCD.

WorkGroup 3: Manipulator which focuses on topics related to the manipulator design and control. Issues addressed may include: manipulator design studies, manipulator’s path planning and control methods (exclusively for manipulators), etc. Participants are TNO, SSSA, NTUA, LUND, and BIBA

WorkGroup 2: Mobile Robot which focuses on topics related to the mobile robot design and control. Issues addressed may include: path planning methods using conventional fuzzy logic or neural network techniques, reactive motion control, mobile robot control methods (exclusively for WorkGroup 4: Environment mobile robots), issues regarding Learning that addresses topics related mobile robot kinematics configuration, to methods of the robot environment robot design etc. Participants are - 145 ICORR ’99: International Conference on Rehabilitation Robotics, Stanford, CA

perception. Issues addressed may include: sensors’ fusion and integration, robot localisation issues, sensors’ configuration and placement etc. Participants are UPM, TCD, ZENON and SSSA.

The project book is expected to finish in the year 2000 and will include all research results and scientific findings for the topics addressed.

Potential Applications TMR networks are open to all fields of the exact, natural, economics and management sciences, as well as to those social and human sciences that contribute to the objectives of the Fourth Framework Programme. Among them, we can consider the development of scientific and technological excellence in Europe with the aim of responding to the needs WorkGroup 5: Man-Machine of industry, and improving the quality Interfacing that addresses all topics of life in the Member States. In the related to man-machine interfacing. case of MobiNet, and in the area of the Issues addressed may include: user so-called Health Care services there is interface design and construction, a strong demand for automation of ergonomics and social studies etc.). several health care tasks, such as Participants are FTB, UMFM, BIBA, transportation and manipulation of NTUA, UOR, and TCD materials, drugs, meals, files etc; and this on a 24h basis and in dynamically The MobiNet consortium is working changing environments. The potential on a project book to be titled becomes even larger if we additionally “Advanced Mobile Robots in Health consider advanced applications in Care Services”. rehabilitation fields. And the market The proposed structure is as follows: volume explodes if we finally take into account the use of service robots in Part 1 – System Architecture & daily tasks of everybody. The MobiNet Control Network is consequently addressing a Part 2 – Mobile Robots broad range of applications in Health Part 3 – Manipulators Care Services including those under Part 4 – Environment Learning the label “Service Robots”. The Part 5 – Man-Machine Interfacing Network partners are at the same time Part 6 – Special Issues strongly linked to the interested industry and in close contact with the - 146 ICORR ’99: International Conference on Rehabilitation Robotics, Stanford, CA

user groups, in order to integrate their feedback in the project’s activities.

Training Aspects Training of young scientists represents one of the central objectives of the network. Training courses have been selected and organised offering vertical knowledge in all the disciplines addressed e.g.: Neuro-fuzzy path planning methods, Hybrid Path Planning, Autonomous Navigation, Distributed control systems, Sensor based control of mobile robots with visual feedback, Human-machine interfaces, Docking mobile robots, Modular interface architectures etc. In addition, to this extensive programme, three MobiNet Symposia were scheduled, including tutorials and giving the opportunity to the researchers to exchange experience. Two of these symposia have already been celebrated in Athens (May 1997) and Edinburgh (July 1998). It is of major importance that young researchers will practice co-operating with experienced researchers and also they will prove their knowledge actively contributing in all join research activities.

Project Profile

1. Dr. Nikos KATEVAS ZENON SA - Industrial Automation Kanari 5, Glyka Nera, 15344 Athens, Greece tel: +30 1 6041582 fax: + 30 1 6041051 e-mail: [email protected] Other Participants 2. H. Hoyer - FernUniversitat Hagen (DE) 3. S. Tzafestas, D. Koutsouris – National Technical University of Athens (GR) 4. F. Matia - Universidad Politecnica de Madrid (ES) 5. C. Buhler - FTB (DE) 6. G. Lacey - University of Dublin (IE) 7. M. Kroemker - BIBA, Bremen University (DE) 8. W. Harwin - University of Reading (GB) 9. G. Bolmsjo - Lunds University (SE) 10.P.Rabischong - University of Montpellier (FR) 11.P. Dario – Scuola Superiore S’ Anna (IT) 12.K. van Woerden - TNO / TPD (NL) Start Date 1 October 1996 Duration 48 Months

Contact reference ERBFMRXCT960070 Project Co-ordinator - 147 ICORR ’99: International Conference on Rehabilitation Robotics, Stanford, CA

Acknowledgements We want to acknowledge the funding of the European Community through the MOBINET project FMRX CT960070 (Training and Mobility of Researchers programme).

References [1] Research Training Networks (19951996): Practical Information and Programs. EUR-17654, European Communities (1997). [2] S. G. Tzafestas, D.G.Koutsouris and N.I.Katevas, Proc. of the 1st MobiNet Symposium,Athens (Greece), 15-16 May 1997. [3] N.I.Katevas, Proc. of the 2nd MobiNet Symposium, Edinburgh (Scotland) UK, 23 July 1998.

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