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RoMaNS

Robotic Manipulation for Nuclear Sort and Segregation

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

RoMaNS project word cloud

Explore the words cloud of the RoMaNS project. It provides you a very rough idea of what is the project "RoMaNS" about.

resource alone slow environment romans teach nuclear national remotely safety consists demonstration shared storage master unknown planning older waste autonomy radioactive sites joystick sometimes pendant urgent million societal tele segregation containers segregate actions lab prohibitively vast uk industrial sort segregated bi expensive slave environmental legacy critical site gt cleaning hardware robots extremely lateral operation workington adaptive contents countries mostly industry facility contamination facilities plant remediation contain half software sellafield trl robotic levels sorted market mixed century automatic manipulation occupying cut solutions material representative intensive combine quantity placed grasping

Project "RoMaNS" data sheet

The following table provides information about the project.

Coordinator	THE UNIVERSITY OF BIRMINGHAM Organization address address: Edgbaston city: BIRMINGHAM postcode: B15 2TT website: www.bham.ac.uk contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.
Coordinator Country	United Kingdom [UK]
Total cost	6˙377˙521 €
EC max contribution	6˙377˙521 € (100%)
Programme	1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces)
Code Call	H2020-ICT-2014-1
Funding Scheme	RIA
Starting year	2015
Duration (year-month-day)	from 2015-05-01 to 2018-10-31

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	THE UNIVERSITY OF BIRMINGHAM THE UNIVERSITY OF BIRMINGHAM Organization address address: Edgbaston city: BIRMINGHAM postcode: B15 2TT website: www.bham.ac.uk contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	UK (BIRMINGHAM)	coordinator	1˙624˙130.00
2	NATIONAL NUCLEAR LABORATORY LIMITED NATIONAL NUCLEAR LABORATORY LIMITED Organization address address: CHADWICK HOUSE WARRINGTON ROAD city: WARRINGTON postcode: WA3 6AE website: http://www.nnl.co.uk contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	UK (WARRINGTON)	participant	1˙459˙010.00
3	TECHNISCHE UNIVERSITAT DARMSTADT TECHNISCHE UNIVERSITAT DARMSTADT Organization address address: KAROLINENPLATZ 5 city: DARMSTADT postcode: 64289 website: www.tu-darmstadt.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (DARMSTADT)	participant	1˙423˙720.00
4	COMMISSARIAT A L ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES COMMISSARIAT A L ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES Organization address address: RUE LEBLANC 25 city: PARIS 15 postcode: 75015 website: www.cea.fr contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	FR (PARIS 15)	participant	1˙065˙561.00
5	CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS Organization address address: RUE MICHEL ANGE 3 city: PARIS postcode: 75794 website: www.cnrs.fr contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	FR (PARIS)	participant	805˙100.00

Map

Project objective

The RoMaNS (Robotic Manipulation for Nuclear Sort and Segregation) project will advance the state of the art in mixed autonomy for tele-manipulation, to solve a challenging and safety-critical “sort and segregate” industrial problem, driven by urgent market and societal needs.

Cleaning up the past half century of nuclear waste, in the UK alone (mostly at the Sellafield site), represents the largest environmental remediation project in the whole of Europe. Most EU countries face related challenges. Nuclear waste must be “sorted and segregated”, so that low-level waste is placed in low-level storage containers, rather than occupying extremely expensive and resource intensive high-level storage containers and facilities. Many older nuclear sites (>60 years in UK) contain large numbers of legacy storage containers, some of which have contents of mixed contamination levels, and sometimes unknown contents.

Several million of these legacy waste containers must now be cut open, investigated, and their contents sorted. This can only be done remotely using robots, because of the high levels of radioactive material. Current state-of-the-art practice in the industry, consists of simple tele-operation (e.g. by joystick or teach-pendant). Such an approach is not viable in the long-term, because it is prohibitively slow for processing the vast quantity of material required.

The project will: 1) Develop novel hardware and software solutions for advanced bi-lateral master-slave tele-operation. 2) Develop advanced autonomy methods for highly adaptive automatic grasping and manipulation actions. 3) Combine autonomy and tele-operation methods using state-of-the-art understanding of mixed initiative planning, variable autonomy and shared control approaches. 4) Deliver a TRL 6 demonstration in an industrial plant-representative environment at the UK National Nuclear Lab Workington test facility.

Deliverables

List of deliverables.
performance evaluation of the RoMaNS robotic manipulation system	Documents, reports	2020-03-04 15:30:29
Mapping between human and robot hands	Documents, reports	2020-03-04 15:30:29
Real-time visual localisation and control	Documents, reports	2020-03-04 15:30:29
Force cues based on integral error signals	Documents, reports	2020-03-04 15:30:29
Learning Active segmentation from human instructions	Documents, reports	2020-03-04 15:30:29
Adaptive visual tracking for arbitrary objects without training	Documents, reports	2020-03-04 15:30:29
Semi-autonomous learning for trajectory and grasp planning	Documents, reports	2020-03-04 15:30:29
Multi-modal, multi-category object modelling	Documents, reports	2020-03-04 15:30:29
semi-autonomous learning for reactive grasping and disentangling objects	Documents, reports	2020-03-04 15:30:29
Learning with the different types of instructions	Documents, reports	2020-03-04 15:30:26
Project interfaces and data types	Documents, reports	2020-03-04 15:30:26
Project website. Report.	Websites, patent fillings, videos etc.	2020-03-04 15:30:26
measuring expert MSM operator population	Documents, reports	2020-03-04 15:30:26
bench-mark performance measurement on standardised tasks	Documents, reports	2020-03-04 15:30:26

Take a look to the deliverables list in detail: detailed list of RoMaNS deliverables.

Publications

List of publications.
year	authors and title	journal	last update
2016	Ma, M., Marturi, N., Li, Y., Stolkin, R., Leonardis, A A local-global coupled-layer puppet model for robust online human pose tracking published pages: , ISSN: 1077-3142, DOI:	Computer Vision and Image Understanding	2020-03-04
2018	C Zhao, L Sun, P Purkait, T Duckett, R Stolkin Dense RGB-D semantic mapping with pixel-voxel neural network published pages: , ISSN: 1424-8220, DOI:	Sensors	2020-03-04
2015	Wirth, C.; FÃ¼rnkranz, J.; Neumann G Model-Free Preference-Based Reinforcement Learning published pages: , ISSN: , DOI:	Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15)	2020-03-04
2018	Abi-Farraj , Firas; Pacchierotti , Claudio; Robuffo Giordano , Paolo User evaluation of a haptic-enabled shared-control approach for robotic telemanipulation published pages: , ISSN: , DOI:	IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 4	2020-03-04
2018	N. Marturi, A. Rastegarpanah, C. Takahashi, M. Kopicki, M. Talha, S. Zurek, M. Adjigble, J.A. Kuo, R. Stolkin, Y. Bekiroglu Vision-based framework to estimate robot configuration and kinematic constraints. published pages: , ISSN: 1083-4435, DOI:	IEEE/ASME Transactions on Mechatronics	2020-03-04
2018	Naresh Marturi, Marek Kopicki, Alireza Rastegarpanah, Vijaykumar Rajasekaran, Maxime Adjigble, Rustam Stolkin, AleÅ¡ Leonardis, Yasemin Bekiroglu Dynamic grasp and trajectory planning for moving objects published pages: , ISSN: 0929-5593, DOI: 10.1007/s10514-018-9799-1	Autonomous Robots	2020-03-04
2017	Ghalamzan , Amir ,; Abi-Farraj , Firas; Robuffo Giordano , Paolo; Stolkin , Rustam Human-in-the-loop optimisation: mixed initiative grasping for optimally facilitating post-grasp manipulative actions published pages: , ISSN: , DOI:	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS\'17 6	2020-03-04
2018	Osa, T.; Peters, J.; Neumann, G Hierarchical Reinforcement Learning of Multiple Grasping Strategies with Human Instructions published pages: , ISSN: 1568-5535, DOI:	Advanced Robotics	2020-03-04
2018	Pinsler, R.; Akrour, R.; Osa, T.; Peters, J.; Neumann, G Sample and Feedback Efficient Hierarchical Reinforcement Learning from Human Preferences published pages: , ISSN: , DOI:		2020-03-04
2017	Abi-Farraj , Firas; Osa , Takayuki; Pedemonte , NicolÃ²; Peters , Jan; Neumann , Gerhard; Robuffo Giordano , Paolo A Learning-based Shared Control Architecture for Interactive Task Execution published pages: , ISSN: , DOI:	https://hal.inria.fr/hal-01482137 8	2020-03-04
2018	Osa, T.; Pajarinen, J.; Neumann, G.; Bagnell, J.A.; Abbeel, P.; Peters, J An Algorithmic Perspective on Imitation Learning published pages: , ISSN: 1935-8253, DOI:	Foundations and Trends in Robotics	2020-03-04
2018	M Ma, N Marturi, Y Li, A Leonardis, R Stolkin Region-sequence based six-stream CNN features for general and fine-grained human action recognition in videos published pages: , ISSN: 0031-3203, DOI:	Pattern Recognition	2020-03-04
2018	F. Abi-Farraj, B. Henze, C. Ott, P. Robuffo Giordano, and M. Roa Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks published pages: , ISSN: 2377-3766, DOI:	IEEE Robotics and Automation Letters	2020-03-04
2018	J Xiao, R Stolkin, Y Gao, A Leonardis Robust Fusion of Color and Depth Data for RGB-D Target Tracking Using Adaptive Range-Invariant Depth Models and Spatio-Temporal Consistency Constraints published pages: , ISSN: 2168-2275, DOI:	IEEE Transactions on Cybernetics	2020-03-04
2017	Abdulsamad, H.; Arenz, O.; Peters, J.; Neumann, G State-Regularized Policy Search for Linearized Dynamical Systems published pages: , ISSN: , DOI:	International Conference on Automated Planning and Scheduling (ICAPS)	2020-03-04
2018	F. Abi-Farraj, C. Pacchierotti, O. Arenz, G. Neumann, and P. Robuffo Giordano A Haptic Shared-Control Architecture for Guided Robotic Grasping in Unknown Environments published pages: , ISSN: 1939-1412, DOI:	IEEE Transactions on Haptics	2020-03-04
2018	C Zhao, L Sun, P Purkait, T Duckett, R Stolkin Learning monocular visual odometry with dense 3D mapping from dense 3D flow published pages: , ISSN: , DOI:	IEEE Int. Conf. Intelligent Robots and Systems (IROS)	2020-03-04
2017	Mavrakis, Nikos; E., Amir M. Ghalamzan; Stolkin, Rustam Safe Robotic Grasping: Minimum Impact-Force Grasp Selection published pages: , ISSN: , DOI:	10	2020-03-04
2018	M. Selvaggio, P. Robuffo Giordano, F. Ficuciello, and B. Siciliano Passive Task-Prioritized Shared-Control with Haptic Guidance published pages: , ISSN: 2377-3766, DOI:	Robotics and Automation Letters	2020-03-04
2017	Takayuki Osa, Amir M. Ghalamzan Esfahani, Rustam Stolkin, Rudolf Lioutikov, Jan Peters, and Gerhard Neumann Guiding Trajectory Optimization by Demonstrated Distributions published pages: 819, ISSN: 2377-3766, DOI:	IEEE ROBOTICS AND AUTOMATION LETTERS 2, 2, April 2017	2020-03-04
2018	Marco Aggravi, Florent Pause, Paolo Robuffo Giordano, Claudio Pacchierotti Design and Evaluation of a Wearable Haptic Device for Skin Stretch, Pressure, and Vibrotactile Stimuli published pages: 2166-2173, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2810887	IEEE Robotics and Automation Letters 3/3	2020-03-04
2018	Marco Ewerton, David Rother, Jakob Weimar, Gerrit Kollegger, Josef Wiemeyer, Jan Peters, Guilherme Maeda Assisting Movement Training and Execution With Visual and Haptic Feedback published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2018.00024	Frontiers in Neurorobotics 12	2020-03-04
2018	Arenz, O.; Zhong, M.; Neumann, G Efficient Gradient-Free Variational Inference using Policy Search published pages: , ISSN: , DOI:	35th International Conference on Machine Learning	2020-03-04
2018	M Adjigble, N Marturi, V Ortenzi, V Rajasekaran, P Corke, R Stolkin Model-free and learning-free grasping by Local Contact Moment matching published pages: , ISSN: , DOI:		2020-03-04
2017	J Xiao, R Stolkin, A Leonardis Dynamic multi-level appearance models and adaptive clustered decision trees for single target tracking published pages: , ISSN: 0031-3203, DOI:	Pattern Recognition	2020-03-04
2017	E, Amir M Ghalamzan; Mavrakis, Nikos; Stolkin, Rustam Grasp that optimises objectives along post-grasp trajectories published pages: , ISSN: , DOI:	5	2020-03-04
2018	Sun, Li; Zhao, Cheng; Stolkin, Rustam Weakly-supervised DCNN for RGB-D Object Recognition in Real-World Applications Which Lack Large-scale Annotated Training Data published pages: 3099, ISSN: 1530-437X, DOI:	IEEE Sensors 16	2020-03-04
2016	C. Daniel, Neumann, G., Kroemer, O. and Peters, J Hierarchical Relative Entropy Policy Search published pages: , ISSN: 1532-4435, DOI:	Journal of Machine Learning	2020-03-04
2016	Arenz, O.; Neumann, G Iterative Cost Learning from Different Types of Human Feedback published pages: , ISSN: , DOI:	IROS 2016 Workshop on Human-Robot Collaboration	2020-03-04
2017	Abi-Farraj , Firas; Henze , Bernd; Werner , Alexander; Panzirsch , Michael; Ott , Christian; Roa , MÃ¡ximo , Humanoid Teleoperation using Task-Relevant Haptic Feedback published pages: , ISSN: , DOI:	IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS\'18, Oct 2018, Madrid, Spain. 2018 1	2020-03-04
2017	Sun, Li; Aragon-Camarasa, Gerardo; Rogers, Simon; Stolkin, Rustam; Siebert, J. Paul Single-Shot Clothing Category Recognition in Free-Configurations with Application to Autonomous Clothes Sorting published pages: , ISSN: , DOI:	12	2020-03-04
2017	Wirth, C.; Akrour, R.; FÃ¼rnkranz, J.; Neumann G A Survey of Preference-Based Reinforcement Learning Methods published pages: , ISSN: 1532-4435, DOI:	Journal of Machine Learning Research (JMLR)	2020-03-04
2018	Hoelscher, J.; Koert, D.; Peters, J.; Pajarinen, J. Utilizing Human Feedback in POMDP Execution and Specification published pages: , ISSN: , DOI:		2020-03-04
2018	Selvaggio , Mario; Abi-Farraj , Firas; Pacchierotti , Claudio; Robuffo Giordano , Paolo; Siciliano , Bruno Haptic-based shared-control methods for a dual-arm system published pages: , ISSN: 2377-3766, DOI:	IEEE Robotics and Automation Letters, IEEE 2018, 3 (4), pp.4249-4256 1	2020-03-04
2017	V Ortenzi, R Stolkin, J Kuo, M Mistry Hybrid motion/force control: a review published pages: , ISSN: 0169-1864, DOI:	Advanced Robotics	2020-03-04
2018	Gebhardt, G.H.W.; Daun, K.; Schnaubelt, M.; Neumann, G Learning Robust Policies for Object Manipulation with Robot Swarms published pages: , ISSN: , DOI:	IEEE International Conference on Robotics and Automation	2020-03-04
2017	G. Kalliatakis, G. Stamatiadis, S. Ehsan, A. Leonardis, J. Gall, A. Sticlaru and K. McDonald-Maier Evaluating Deep Convolutional Neural Networks for Material Classification\' published pages: , ISSN: , DOI:	VISAPP	2020-03-04
2015	J. Xiao, R. Stolkin and A. Leonardis Single Target Tracking Using Adaptive Clustered Decision Trees and Dynamic Multi-Level Appearance Models published pages: , ISSN: , DOI:	CVPR	2020-03-04
2016	V. Ortenzi, N. Marturi, R. Stolkin, J. Kuo, M. Mistry Vision-guided state estimation and control of robotic manipulators which lack proprioceptive sensors published pages: , ISSN: , DOI:	IROS	2020-03-04
2016	T. Osa, Peters, J. and Neumann, G. Experiments with Hierarchical Reinforcement Learning of Multiple Grasping Policies published pages: , ISSN: , DOI:	International Symposium on Experimental Robotics (ISER)	2020-03-04
2016	V. Ortenzi, H. Lin, M. Azad, R. Stolkin, Kuo Jeffrey, M. Mistry Kinematics-Based Estimation of Contact Constraints Using Only Proprioception published pages: , ISSN: , DOI:	IEEE Humanoids	2020-03-04
2016	A. M.Ghalamzan E., N. Mavrakis, M. Kopicki, A. Leonardis, R. Stolkin Task-relevant grasp selection: a joint solution to planning grasps and manipulative motion trajectories published pages: , ISSN: , DOI:	IROS	2020-03-04
2015	V. Ortenzi, R. Stolkin, J. Kuo, M. Mistry Projected Inverse Dynamics Control and Optimal Control for Robots in Contact with the Environment: A Comparison published pages: , ISSN: , DOI:	IROS	2020-03-04
2016	Robuffo Giordano, Paolo; Abi-Farraj, Firas; Pedemonte, NicolÃ² A Visual-Based Shared Control Architecture for Remote Telemanipulation published pages: , ISSN: , DOI:	IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS\'16, Oct 2016, Daejeon, South Korea 1	2020-03-04
2016	N. Mavrakis, A. Ghalamzan, L. Baronti, R. Stolkin, M. Castellani Analysis of the inertia and dynamics of grasped objects, for choosing optimal grasps to enable torque-efficient post-grasp manipulations published pages: , ISSN: , DOI:	IEEE Humanoids	2020-03-04
2016	H. Basevi, A. Leonardis. Towards Categorization and Pose Estimation of Sets of Occluded Objects in Cluttered Scenes from Depth Data and Generic Object Models Using Joint Parsing published pages: , ISSN: , DOI:	ECCV Workshop on 6DOF Pose Estimation	2020-03-04
2016	M. Talha, C. Takahashi, A. Ghalamzan, J. Kuo, W. Ingamells, R. Stolkin Towards robotic decommissioning of legacy nuclear plant: results of human-factors experiments with tele-robotic manipulation, and a discussion of challenges and approaches for decommissioning published pages: , ISSN: , DOI:	IEEE International Symposium on Safety, Security and Rescue Robotics	2020-03-04
2016	O. Arenz, Abdulsamad, H. and Neumann, G. Optimal Control and Inverse Optimal Control by Distribution Matching published pages: , ISSN: , DOI:	IROS	2020-03-04
2017	Gebhardt, G. H. W, Kupcsik, A. and Neumann, G. The Kernel Kalman Rule - Efficient Nonparametric Inference with Recursive Least Squares published pages: , ISSN: , DOI:	National Conference on Artificial Intelligence (AAAI)	2020-03-04
2017	A. Rastegarpanah, R. Stolkin Autonomous vision-guided bi-manual grasping and manipulation published pages: , ISSN: , DOI:	IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)	2020-03-04
2016	Abi-Farraj, F., Pedemonte N., and Robuffo Giordano, P. A Visual-Based Shared Control Architecture for Remote Telemanipulation published pages: , ISSN: , DOI:	IEEE Int. Conf. on Intelligent Robots and Systems (IROS)	2020-03-04
2016	Xiao J, Stolkin R, Oussalah M, Leonardis A. Continuously Adaptive Data Fusion and Model Relearning for Particle Filter Tracking With Multiple Features published pages: , ISSN: 1530-437X, DOI:	IEEE Sensors	2020-03-04
2015	A. Abdolmaleki, Lau, N., Reis, L. & Neumann, G. Regularized Covariance Estimation for Weighted Maximum Likelihood Policy Search Methods published pages: , ISSN: , DOI:	IEEE Humanoids	2020-03-04
2016	J. Xiao, L. Qiao, R. Stolkin and A. Leonardis Distractor-supported single target tracking in extremely cluttered scenes published pages: , ISSN: , DOI:	ECCV	2020-03-04
2016	N. Marturi, A. Rastegarpanah, C. Takahashi, M. Kopicki, M. Talha, S. Zurek, M. Adjigble, J.A. Kuo, R. Stolkin, Y. Bekiroglu Towards advanced robotic manipulation for nuclear decommissioning: a pilot study on tele-operation and autonomy published pages: , ISSN: , DOI:	IEEE Robotics and Automation for Humanitarian Applications (RAHA)	2020-03-04
2015	Marturi, N., Ortenzi, V., Xiao, J., Adjigble, M., Stolkin, R. and Leonardis, A. A real-time tracking and optimised gaze control for a redundant humanoid robot head published pages: , ISSN: , DOI:	IEEE-RAS Int. Conf. Humanoid Robots (Humanoids)	2020-03-04

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