1. Workshop Robotics & Autonomy Test Facility Thilo Kaupisch [thilo.kaupisch@dfki.de] DFKI Bremen & Universität Bremen Robotics Innovation Center Director: Prof. Dr. Frank Kirchner www.dfki.de/robotics robotics@dfki.de

2. 2 Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012 Overview DFKI Introduction DFKI Existing Test Facilities  Rover Test Track  Space Exploration Hall  Underwater Testbed  Virtual Reality Testbed DFKI Future Test Facilities  Underwater Testbed II (2013)  Space Exploration Hall II (2014) Future Needs

3. 3 DFKI INTRODUCTION Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

4. 4 DFKI GmbH in Kaiserslautern, Saarbrücken, Bremen and Berlin Kaiserslautern Site DFKI GmbH Trippstadter Straße 122 D-67663 Kaiserslautern Tel.: 0631 20575 0 Fax.: 0631 20575 503 email: info@dfki.de www.dfki.de Saarbrücken Site DFKI GmbH Campus D3 2 Stuhlsatzenhausweg 3 D-66123 Saarbrücken Tel.: 0681 302 5252 Fax.: 0681 302 5341 email: info@dfki.de www.dfki.de Project Office Berlin DFKI GmbH Alt-Moabit 91c D-10559 Berlin Tel.: 030 3949 1800 Fax.: 030 3949 1810 email: info@dfki.de www.dfki.de Bremen Site DFKI GmbH Robert-Hooke-Straße 5 D-28359 Bremen Tel.: 0421 218 64100 Fax.: 0421 218 64150 email: info@dfki.de www.dfki.de Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

5. 5 DFKI RIC - Fields Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

6. 6 DFKI RIC - Facilities Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

7. 7 EXISTING TEST FACILITIES DFKI – Robotics Innovation Center Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

8. 8 Rover Test Track 500 m² 15 obstacle types  Wooden Staircase  Concrete Tube  Rock Hill  Cattle Bridge  Rock Canyon  Grass Dunes  Large Rock Field  Small Rock Field  Random Stepping Field  Gap Tester  Log Pile  Gravel Field  Railroad Tracks  Climbing Fence  Pond Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

9. 9 Rover Test Track Video Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012 1:49 min

10. 10 Space Exploration Hall Width:12m Length:24m Height:10m Area: 288m² SpiderBot Artificial Crater Long Range Motion Simulation System VICON Tracking System Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

11. 11 Test Environment Near realistic substitute of a crater environment based upon analysis of lunar craters  Crater with slopes of 25°-45°  Ramp with variable slope of 0-45°  Flexible positioning of rock segments (fixed mounting or free distribution)  Basalt Split as mechanical simulant for regolith (on ramp)  Collimated light incident of light by theatre spotlights ► High intensity ► High colour temperature  High-Speed Motion Tracking System Environment provides capability of controllable and reproducible experiments Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

12. 12 Test Environment Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

13. 13 Space Exploration Hall Video Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012 1:55 min

14. 14 Underwater Testbed Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

15. 15 Underwater Testbed Black tank max capacity: 20 m³ size (l x w x d): 3,4m x 2,6m x 2,2m material:PE (black) observability: through 2 small observation windows speciality: optical simulation of underwater environments without external light Gantry Crane location:around tank I axes:3 (x, y, z) max. speed per axis:5 m/s max. acceleration per axis: 10 m/s2 max. torque:X/Y: 74Nm, Z: 57Nm repeat accuracy:+/- 0.2mm max. load: 1500N speciality:controlled movement of objects in tank I in order to simulate vehicle movement etc. Glass-tank max capacity:40 m³ size (l x w x d):5m x 4m x 2,2m material:glas and steel observability:full observability from outside the tank because of 3 glas walls Hoisting Gear: type:slewing crane max. lifting weight:250kg actuation:electrical (lift), manual (slew) Additional commodities control station hydraulic power unit (210bar, 20l/min) turbidity control in tank I Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

16. 16 Underwater Testbed Video Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012 0:15 min

17. 17 Virtual Reality Testbed technical specifications projection surface: 15,4 m² beamer:10 x Sanyo PLC-ET10L with 1400 x 1050 Pixel resolution 2D:ca. 7,3 MegaPixel resolution 3D:ca. 14,6 MegaPixel casing: 2 x APC NetShelter SX computer: 14 x RenderClients and Master; CPU: Core i7 930; GPU: nVidia GTX 480; 1 x Server; 1 x File-Backup network: 2 x Cisco Gigabit Ethernet Switch; (LWL between the Switches) input devices:  data glove: CyberTouch; InterSense Tracking: hand/headtracker and wall; 3D-mouse; GamePad Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

18. 18 FUTURE TEST FACILITIES DFKI – Robotics Innovation Center Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

19. 19 Future Test Facilities Video Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012 1:23 min

20. 20 FUTURE NEEDS Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

21. 21 Future Needs Access to „classic“ test facilities  Radiation  Vacuum  Launch loads  Thermal Access to robotics specific facilities  Fine dust endurance test  … Robotics & Autonomy Test Facility Workshop Rutherford Appleton Laborytories – Harwell, 28.02.2012

22. Thank you! DFKI Bremen & Universität Bremen Robotics Innovation Center Director: Prof. Dr. Frank Kirchner www.dfki.de/robotics robotics@dfki.de

23. 23 Applications are welcome! We‘re currently looking for motivated researchers www.dfki.de/robotics