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RoMaNS

Robotic Manipulation for Nuclear Sort and Segregation

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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 UK (BIRMINGHAM) coordinator 1˙624˙130.00
2    NATIONAL NUCLEAR LABORATORY LIMITED UK (WARRINGTON) participant 1˙459˙010.00
3    TECHNISCHE UNIVERSITAT DARMSTADT DE (DARMSTADT) participant 1˙423˙720.00
4    COMMISSARIAT A L ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES FR (PARIS 15) participant 1˙065˙561.00
5    CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS 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

year authors and title journal last update
List of publications.
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.; Fürnkranz, 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, Aleš 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 , Nicolò; 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 , Máximo ,
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.; Fürnkranz, 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, Nicolò
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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