SmokeBot Consortium Partners

The AASS Mobile Robotics and Olfaction Lab is coordinated by Prof. Achim J. Lilienthal. The focus is generally on perception systems for mobile robots that operate in unconstrained, dynamic environments. The approaches developed address real-world needs and are typically characterized by fusion of different sensor modalities. Where possible, research results are timely integrated in industrial demonstrators.

Role in SmokeBot: The researchers involved in SmokeBot from ORU have substantial expertise and track record in Mobile Robot Olfaction, autonomous robot navigation and Rich 3D perception. As coordinator of the project ORU will be involved in the management and dissemination work packages. Based on the expertise of the researchers, ORU will also have at least a small involvement in all other work packages. With its key expertise in Mobile Robot Olfaction ORU will substantially contribute to WP2 and WP5, and will bring in autonomous navigation experience to WP5. Based upon previous work on rigid and non-rigid scan registration, ORU will also contribute to WP6. ORU will further support work in WP1 (leveraging Mobile Robot Olfaction expertise), WP3 and WP4 (Rich 3D perception).

The Real-Time Systems Group is a part of the Institute for Systems Engineering at the Leibniz University of Hannover and mainly focuses its work on the fields of real-time sensor fusion, information models and mobile service robots. The ability of such systems to navigate in complex and dynamic environments while presenting reliable and robust behavior plays an increasingly important role for real world applications.

Since 1997, the group is lead by Prof. Bernardo Wagner, whose background and research interests are primarily the processing and fusion of sensor raw data under real-time conditions for localization and navigation of mobile autonomous robots.

LUH attaches great importance on the industrial applicability of the developed methods. Accordingly many of the algorithms have proven their abilities in a number of industrial applications.

Role in SmokeBot: LUH's main tasks for the SmokeBot project are centred around its research focus on robust sensor fusion and mobile robotics. LUH will handle aspects of sensor fusion with regard to the low visibility scenario and closely collaborate with the radar sensor development at FHR to efficiently integrate the complementing sensor modalities. Further investigation for environments with restricted vision are based on the application of thermal imaging and following mapping of temperatures onto the merged 3D representation.

LUH will furthermore cover the development of the general information model, which will combine environmental information from all perception modalities, structure, gas and temperature and merge them into a consistent data structure to enable the situation analysis based on all properties set into each others context rather than investigating each source of information separately and without regarding possible interactions.

The situation analysis task will be addressed in close collaboration with the end-user FDDO to benefit from existing human-based methods. Additional to the application of situation analysis and hazard prediction, the developed information structure will build the foundation for implementing a robust and adaptable data transfer between robot and hand-held operator interface. Based on experience in the area of remotely operated vehicles and path planning, LUH will address autonomous behavior for dealing with the loss of connection between operator and robot. The task will include return procedures to the last visited areas with network coverage.

Research of practical utility lies at the heart of all activities pursued by the Fraunhofer-Gesellschaft. Founded in 1949, the research organization undertakes applied research that drives economic development and serves the wider benefit of society. With its clearly defined mission of application-oriented research and its focus on key technologies of relevance to the future, the Fraunhofer-Gesellschaft plays a prominent role in the German and European innovation process.

The Fraunhofer Institute for High Frequency Physics and Radar Techniques (FHR) is the leading radar institute in Germany and the only one solely dedicated to this topic. Its history goes back to 55 years of experience until 2009 within the Research Establishment for Applied Science (FGAN e.V.) which merged with Fraunhofer in 2009. FHR offers high competence at millimetre-wave frequencies, miniature SARs on board of UAVs and experimental systems for ground based radar experiments. The department MHS is expert in millimeter- and sub-millimeter-wave system technology and related signal processing for radar applications and terahertz technology. The department Millimeter-wave radar and High Frequency Sensors (MHS) has been engaged in millimeter-wave and sub-millimeter-wave technology for about 30 years. Investigations on wave propagation and target- / background signatures and radar signal processing for these wavelengths have been conducted during numerous research projects. In 2013 a new science group was launched under the topic of Silicon Germanium (SiGe) MMIC based Radars, which completes the system capabilities of the institute. With this expertise FHR is able to provide complete radar systems including MMIC based signal sources, high frequency components, electronics for back- and frontend and also image formation algorithms.

Role in SmokeBot: FHR's focus is on the development of the new radar camera for low visibility scenarios. This includes hardware design, the accompanying software modules for signal processing and image formation, as well the integration into the RGT-V unit and the Low Visibility Explorer prototype.

Warwick University is one of the UK's leading research universities. The School of Engineering is a top ten UK General Engineering department. There are approximately 130 academic and teaching staff, 300 research staff, and 1,200 postgraduates following taught programmes or undertaking research. The School has well-founded laboratories with strengths in sensors, power electronics and communications. The Microsensors & Bioelectronics Laboratory (MBL) (formerly Sensors Research Laboratory) was established in 1987 by Professor Gardner. MBL focuses upon leading edge research in the fields of CMOS based environmental sensors and MEMS devices, and has extensive research facilities.

Role in SmokeBot: UWAR will develop

• novel low-power, low-cost SOI CMOS platforms for different gas-sensitive nanomaterials and transduction principles suitable for mobile platforms;
• novel multi-sensor architectures and principles employing advanced signal processing and pattern analysis techniques;
• system level modeling of instrumentation and analyte prediction.

UWAR has expertise in the design, fabrication and characterization of smart low-power low-cost chemical sensors employing nanomaterials. In particular, the use of SOI CMOS technology to fabricate different types of gas micro-sensors (e.g. resistive, calorimetric, FET, optical) and integrated analogue/digital circuitry.

UWAR has considerable experience in the design of smarts sensors, based on either multi-sensor arrays or thermally-modulated discrete sensors, that employ advanced signal processing and pattern recognition algorithms. These techniques can be employed to compensate for sensor deficiencies, such as baseline drift, temperature/humidity dependence, and cross-sensitivities. These are required when developing sensors for application in mobile vehicles and platforms.

UWAR has new technology for VOC (volatile organic compound) detection based upon high-frequency surface acoustic wave (SAW) resonators and is developing flexural bulk acoustic (FBAR) resonators for integration with CMOS circuitry to create high-sensitivity, low-power VOC detectors. Finally, UWAR has experience in the application of chemical sensors on mobile robots and the issues associated with source localization based upon insect olfaction.

taurob is an innovative manufacturer of mobile robots for civil applications. The company is specialized in producing tele-operated and highly rugged (IP67) robots for difficult environments. taurob is focused on the needs of civil applications (fire-fighters, civil protection units, etc.). The acceptance for robots in civil applications is greatly driven by the cost for robotic systems and / or their cost saving potential.

Role in SmokeBot: TAUR will be responsible for

• thermal robustness of platforms;
• hardware and sensor integration;
• extensive testing with end users.

taurob has distinct experience in building ruggedized, waterproof and highly mobile robots for civil first responders. A lot of experience has been drawn in providing an intuitive user interface in order to reduce the stress level and workload of the human operator. taurob's robots guarantee ease-of-use paired with intelligent assistance functions.

Also, taurob is an expert in integrating different sensors and measurement devices into its robots in order to respond to broad spectrum of missions. taurob's robots can be delivered in an ATEX certified version, thus allowing for missions in explosive atmospheres.

The Fire Department of Dortmund (FDDO) is the largest fire department in its local area and the sixth largest in Germany. It is responsible for the fire fighting, rescue and emergency management in the city of Dortmund, which has an area of 281 square kilometres with about 590.000 citizens. Furthermore FDDO is involved into the supralocal support concept of the Federal Land North Rhine Westphalia as also the national wide CBRN incident response concept.

750 professionals (incl. administration and management) run 9 fire and rescue stations, one of them at the Airport Dortmund. About 1000 volunteers organised in 19 fire brigades support the professionals in their daily work and in incidents with particular requirements. FDDO maintains an own education and training department (ABZ) for fire fighting, rescue and paramedical services. Amongst others a fire house and a hall for different trainings scenarios was build.

In 2006 the Institute of Fire Service and Rescue Technology (IFR) was founded as a department for research into more efficient but practicable technology and methods. FDDO and IFR combine the practical work of fire fighters with the scientific research. A close contact with other German and European fire departments and related organisations ensures knowledge transfer and an understanding of new technology and methods. Furthermore editorial contributions in trade journals, participation in conferences and exhibitions fill the gap to other fire departments.

Role in SmokeBot: FDDO will be responsible for

• testing the system under real conditions; and
• giving feedback about the user experience for the operators.

The contribution of FDDO to SmokeBot will be based on the wide spectrum of their experience, knowledge and applied technology. FDDO provides the available resources and instruments for analysis, exercises and evaluations for the development and continuous improvement process.