Richard Voyles

Professor of RoboticsSchool of Engineering Technology

Borrowed from Cyrill Stachniss and Hugh Durrant-Whyte

https://www.youtube.com/watch?v=sMZoidCTffU

MINT from iRobot (with NorthStar)

From Smith, Self, and Cheeseman, Autonomous Robot Vehicles, 1990

Error Propagation

From Smith, Self, and Cheeseman, Autonomous Robot Vehicles, 1990

Error Propagation

From Smith, Self, and Cheeseman, Autonomous Robot Vehicles, 1990

Error Propagation

From Smith, Self, and Cheeseman, Autonomous Robot Vehicles, 1990

Error Propagation

MOTHERSHIP Rough Terrain Robot

https://www.youtube.com/watch?v=la7YXx4TzL0

Inside the WIPP storage facility at the transitional dressing area prior to the boundary between "clean" and "unclean" areas.

U.S. DOE WIPP Site

Mock-up of the Exhaust Shaft Inspection by Dexterous Hexrotor at the DOE WIPP SiteDr. Richard Voyles, Collaborative Robotics Lab, Purdue University

• Nuclear waste storage facility in Carlsbad, New Mexico, USA,

• Deep geological repository licensed to permanently dispose of transuranic radioactive waste

• Radioactive waste packed in individual storage containers.

• Energetic incident occurred on Feb. 14, 2014.

• Demos with Dave Cappelleri (ME), Shoushuai Mou (AAE), Howie Choset (CMU)

Mock-up of the Exhaust Shaft Inspection by Dexterous Hexrotor at the DOE WIPP SiteDr. Richard Voyles, Collaborative Robotics Lab, Purdue University

Spatial layout of the U.S. DOE WIPP site indicating surface buildings with four shafts connecting the main work surface 660 meters below

ground. (reprinted from www.wipp.energy.gov)

WIPP: Structure

• Sub-surface storage facility in deep salt deposits approximately 660 meters (2150 feet) below the surface.

• Radioactive waste is packed in individual storage containers and lowered by elevator to "panels“

• An improperly loaded container experienced a chemical reaction and burst, spewing radioactive smoke through a large area of the WIPP

www.energy.gov/EM 10

Radiological Rollback

x

y

Exhaust shaft

Definition of Frames

Earth Frame: Cylindrical coordinates

Body Frame: Cartesian coordinates ( x, y )

• Pilot gives targets coordinates in earth frame

• Transform targets coordinates to Cartesian coordinates in body frame

• UAV always keeps its heading along shaft radius, toward shaft surface

• Simplified fit of LIDAR points to a circle on sample of data points

• Pressure fused with small number of vidual data points for altitude

Phase II – Autonomy Through Visual SLAM

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Mock-up of the Exhaust Shaft Inspection by Dexterous Hexrotor at the DOE WIPP SiteDr. Richard Voyles, Collaborative Robotics Lab, Purdue University

Experiments

• Visits to WIPP• SLAM tests

• Laboratory Tests• Peg-In-Hole force servoing• Visual odometry

• Testing in Grain Silo• Autonomous flight tests

file:///C:/Users/rvolyes/Documents/Grants/DOE%20SLAM/html/DatasetLinks.htmlMock-up of the Exhaust Shaft Inspection by Dexterous Hexrotor at the DOE WIPP SiteDr. Richard Voyles, Collaborative Robotics Lab, Purdue University

Visit to WIPP with Google Tango

Stergios Roumeliotis provided a Google Tango tablet (with RGB-D) for SLAM