Department for Automation, Biocybernetics and Robotics





Seznam napovedanih predavanj / List of planned seminars

(povzetki so pod seznamom / abstracts under the list)

Archive:
2015/2016
2014/2015

2013 / 2014
2012/2013
sezona 2011/2012
sezona 2010/2011

Ni napovedanih predavanj. No planned seminars.
Pretekla predavanja / Past seminars - 2015/2016
05.02.2016: Igor Kovač in prof. Niko Herakovič
Vitka proizvodnja z nadgradnjo / LEAN Production and Beyond
Povedano preprosto, pomeni LEAN odstranjevanje nepotrebnega, hkrati pa povečanje vrednosti strank in delničarjev. Namen kratke predstavitve je predstaviti udeležencem razumevanje Lean filozofije in strategije preko tega, iz teoretičnega in predvsem iz praktičnega vidika. Vodilni moto predavanja je, da dobijo udeleženci osnovno vedenje, kaj prinaša podjetju organizacija proizvodnje v skladu z LEAN glede povečanja učinkovitosti, dodane vrednosti in dobičkonosnosti, kakovosti izdelkov, znižanja stroškov, zmanjšanja časov (QCL), najboljše varnosti, visoke morale itd. Predavanje obravnava osnovne koncepte, orodja in tehnike, ki so bistvena za sprejetje LEAN filozofije, in še preko tega.

To put it simply, LEAN means removing waste while increasing customer and shareholders value. This short 30 minutes course aims to give participants an understanding of Lean philosophy and of the strategy beyond Lean, from theoretical and primarily from practical point of view. The leading Motto of the course is that the participants get the basic idea what the organization of the production in accordance to Lean brings to company regarding the increase of its efficiency, added value and profitability, the quality of products, lowest costs, shortest product and project lead time (QCL), best safety, high morale etc. The course addresses the basics of the concepts, tools and techniques which are essential to adopt the Lean philosophy and beyond.

01.02.2016: Bojan Nemec
Predstavitev raziskovalnega projekta "Učenje in avtonomna adaptacija dvoročnih montažnih in servisnih nalog" / Presentation of the research project "Learning and autonomous adaptation of dual arm assembly and service tasks"
V predavanju bom predstavil vsebino in cilje triletnega temeljnega raziskovalnega projekta "Učenje in avtonomna adaptacija dvoročnih montažnih in servisnih nalog". Projekt financira ARRS, vodja projekta pa je prof. dr. Aleš Ude. Projekt izvajamo skupaj z Laboratorijem za robotiko na Fakulteti za elektrotehniko (prof. dr. Marko Munih). Glavno raziskovalno področje, ki ga obravnava omenjeni projekt, je posnemanje človeka z robotom pri opravljanju vsakdanjih nalog. Ker človek veliko nalog izvaja dvoročno, so objekti raziskovanja dvoročni robotski sistemi. Glavni poudarek bo na avtonomni adaptaciji nalog, ki jih naučimo z demonstracijo. Projekt je razdeljen na tri delovne sklope: - metode za učenje dvoročnih nalog s posnemanjem, - algoritmi za izvajanje in prilagajanje dvoročnih nalog, - implementacija in eksperimentalna evalvacija metod na praktičnih primerih. Na predavanju bom okvirno opisal odprte probleme in predvidene rešitve za uspešno realizacijo projekta.

In this talk I will present the content and objectives of the three-year basic research project "Learning and autonomous adaptation of dual arm assembly and service tasks." The project is funded by the ARRS, the project leader is prof. dr. Ales Ude. The project will be carried out in collaboration with the Laboratory of Robotics at Faculty of Electrical Engineering (prof. dr. Marko Munih) Main research topic of the project is the knowledge transfer from humans to the robot in performing everyday tasks. As many human tasks require bi-manual operation, we will focus to bi-manual robot systems. The main emphasis will be on autonomous adaptation of tasks to be learned from the demonstration. The project is divided into three work packages: - methods for learning by demonstration of dual-arm manipulation tasks - algorithms for execution and adaptation of dual-arm manipulation tasks - implementation and practical evaluation of the developed methods and algorithms

15.01.2016: Urša Ciuha
Vedenjska termoregulacija: vpliv termalnih in netermalnih dejavnikov / Behavioural temperature regulation: the effect and non-thermal factors
Vzdrževanje telesne temperature v ozkem območju je omogočeno preko avtonomnih in vedenjskih odzivov, ki vzdržujejo ravnovesje med proizvedeno in porabljeno energijo. Zaznavanje toplotnega (ne)udobja s strani toplotnih receptorjev primarno izzove vedenjske odzive, ki so rezultat kortikalne integracije informacij na zunanje okoljske dejavnike. Ravno vedenjski odzivi so tisti, ki predstavljajo prvo obrambo pri zagotavljanju normalne telesne temperature. Vključujejo prilagoditev oblačil, spreminjanje lokacije glede na temperaturo, regulacijo temperature v prostoru, odpiranje oken, spreminjanje telesne drže za spodbujanje ali preprečevanje izgube toplote, itd. Toplotno udobje je subjektivna ocena zaznane temperature, ki se razlikuje med posamezniki, izpostavljenimi istim okoljskim dejavnikom. Odvisna je tako od termalnih, kot tudi številnih netermanih dejavnikov. Študije, ki proučujejo toplotno udobje, običajno temeljijo na subjektivnih lestvicah. Pri naših študijah pa smo uporabili nov, objektiven pristop, ki je vključeval uporabo termoregulacijskega oblačila. Poznavanje območij toplotnega udobja različnih skupin nam omogoča oblikovanje primernih toplotnih okolij, lahko pa so nam v pomoč tudi pri razvoju toplotnih manikinov in oblikovanju različnih oblačilnih sistemov.

Regulation of body temperature within narrow limits is achieved by autonomic and behavioural responses, which maintain balance between produced and dissipated heat. Behavioural responses are primarily initiated by the perception of thermal (dis)comfort, which is the result of cortical integration of thermal afferent information from the skin thermoreceptors, responding to the surrounding environmental conditions. Behavioural responses are the first line of defence against displacements in body temperature (Schlader et al., 2010; Schlader, 2014), and include readjustments of clothing, moving to a cooler or warmer environment, regulating the heating within homes, opening windows, and changing posture to reduce or to encourage the heat loss, etc. Thermal comfort, which is defined as a subjective evaluation of perceived temperature, differs among individuals exposed to the same ambient conditions. It depends not only on thermal factors, but is also affected by a number of nonthermal factors. The studies evaluating thermal comfort of different groups and in different conditions have usually been conducted using visual analogue scales. In our studies, a novel more objective approach was used, including a water perfused suit. By determining the thermal comfort zone for different groups of individuals, appropriate thermal environments can be designed. The knowledge can also be used for development of thermal manikins and design of different clothing systems.

18.12.2015: Matjaž Omladič
/ Deep reinforcement learning in robotics


Friday's seminar will present the work in progress on robot control by joining efforts of existent group in the department with the newly come mathematicians. We concentrate on applying neural networks to the usual methods of reinforcement learning trying to get a better result. Most of applications of neural networks so far are limited to vision problems and various tries to use it in controlling robots did not turn our to be particularly successful. A new approach in neural networks, given also a new name - deep learning (possibly to forget about the less successful applications of the method), may deserve another try since a number of successful applications has been reported in various fields. This Summer we started by applying one of the deep learning methods developed as an optimization method. We developed a combination of these techniques with reinforcement learning by viewing it as an optimization problem. Later we found an even better method of deep learning for our purposes, namely the method of autoencoders. These were first developed for reproduction of images and aimed at reducing the number of starting nodes (visible units - possibly representing certain features) to a much smaller number of nodes (hidden features) but than going back to the starting number of nodes in order to reproduce the starting image with a smaller number of hidden features. This method was applied to a simulator and gives interesting results. We believe it deserves to be tested via a more realistic experiment and may lead to a publishable paper. Some work was done by a master student at Faculty of Mathematics, Physics and Mechanics, Blaž Sobočan, who will also present some of the tests using the Python libraries. I am sorry not to translate this to Slovene since I am not yet familiar with the usual translations of technical terms.

11.12.2015: Rok Vuga
Pridobivanje elementarnih gibov pri učenju s posnemanjem / Motor primitive acquisition in learning by demonstration
Seminar bo vseboval pregled mojega dela skozi zadnja 4 leta, saj bo del priprave na zagovor doktorata, ki ga imam prihodnji teden. Predstavil bom 1. probabilistične semantične modele, s katerimi modeliramo manipulacijske naloge, 2. spremenjeno verzijo DMPjev, pri kateri posebej zapišemo obliko in hitrostni profil trajektorije, 3., učenje ravnotežja pri humanoidnem robotu, in 4., nov algoritem robotskega učenja, ki temelji na usmerjenem raziskovanju.

In this seminar I will talk about my work towards my Phd, the defense of which will be next week. I will present the following: 1. my work on probabilistic semantic models, used to model manipulation actions, 2. a novel version of DMPs which enables a separate encoding of speed profiles, 3. something about learning of balance, and 4., a novel algorithm for reinforcement learning which utilises directed exploration.

27.11.2015: Leon Žlajpah
Vodenje redundantnih robotov v prostoru, odvisnem od naloge / Control of Redundant Robots in Path Space
V predavanju bo predstavljeno vodenje redundantnih robotov v prostoru, ki je vezan na gibanje robota. Najprej bodo podane osnove kinematičnega vodenja redundantnih robotov s poudarkom na regulaciji orientacije vrha robota. V primerih, ko naloga ne zahteva vseh prostostnih stopenj in želimo izkoristiti redundantne stopnje za druge, manj pomembne naloge, je pomembno, kako definiramo prostor, v katerem dela robot oziroma v katerem je realizirano vodenje. Običajno je naloga definirana v t.i. "prostoru naloge", ki je pod-prostor 6-dimenzionalnega kartezičnega prostora. Za nekatere naloge, kjer so proste stopnje odvisne od poteka naloge, pa je uporaba tega "prostora naloge" neprimerna. Zato smo definirali nov prostor, ki smo ga poimenovali "prostor poti" in omogoča, da ustrezno realiziramo vodenje. Na koncu bo predstavljen še nov strežnik za robota KUKA LWR, ki omogoča, da roboti delujejo kot enovit dvoročni sistem.

The lecture is about control of redundant robots. First some basics of kinematic control of redundant robots will be presented, especially the control of end-effector orientation. When the task does not requires all DOF and we want to use the redundant DOF for other tasks with lower priority, it is important how to define the task space where the robot control is defined. Usually, this is the so called "task space" (or "operational space"), which is a subspace of 6-DOF Cartesian space. For some tasks, where the "free" DOFs depend on the task path, this standard "task space" is not suitable. Therefore, we define a new space, denoted as the "path space", which allows adequate control realization. Finally, we will present the new KUKA LWR server which enables the control of both robots as a dual-arms system.

25.11.2015: Tadej Petrič
/ Autonomous Learning of Internal Dynamic Models


I will address the problem of accurate trajectory tracking while ensuring compliant robotic behavior without the use of experts and dynamical models. The proposed approach uses programming by demonstration to learn new task-related compliant movements composed of 1) position and 2) torque trajectories. The movements are encoded as a Compliant Movement Primitives, i.e., the position trajectory in the form of a dynamic movement primitive (DMP) and the torque trajectory as a linear combination of radial basis functions. By using the proposed control framework, the robot successfully accomplishes new tasks while being compliant and thus safer for humans sharing its workspace.

13.11.2015: Igor Mekjavić
/ Increasing the thermal resilience of European workers in the context of global warming (HEAT SHIELD)


Friday’s seminar will introduce a project that was approved for funding within the framework of the European Commission’s Horizon 2020 initiative. In his inaugural speech in the EU Parliament, Dr. Andriukaitis, Commissioner-designate for Health and Food Safety, said that “I believe we need "a new boost for Health in Europe" if we are to improve people's health and boost Jobs and Growth…I can summarize my priorities in three words – promotion, protection, prevention. My key priority will be to both deliver real benefits to citizens and support key sectors of the EU economy.” This statement is an excellent summary of the HEAT-SHIELD project that aims to increase the thermal resilience of European workers in the context of global warming. An intersectoral problem: It is beyond any doubt that climate change is the biggest global health threat of the 21st century with enormous consequences for humanity. Rising temperatures have been observed in Europe considerably more than in other areas and have become a growing challenge for our community. Problems are already experienced by millions of Europeans during the summertime and aggravated during heat waves, particularly in occupational settings. In addition to the well-known effects of heat exposure, a number of studies have confirmed a 2% productivity loss for each degree centigrade above 25°C. Whether human-induced or naturally-occurring, the impeding effects of climate change require immediate adaptation actions. Even if countries adopt the EU proposal for global emissions to stop rising by 2025 and then to be reduced to <50% of 1990 levels by 2050, global warming and its associated threat to public health will continue for many decades. In addition, our history clearly shows that climate change causes significant economic downturn and large-scale human crises. Thus, it is crucial to develop strategies to mitigate the health and societal effects of climate change. Developing effective solutions to promote health and prevent disease of European workers in the context of global warming requires the creation of new knowledge in climatology, simulation techniques, as well as environmental and occupational physiology. Stakeholders such as policy makers, the private sector, and civil society organisations may lack the technical capabilities or the facilities to conduct R&D activities at the level of excellence required for such development. Conversely, European research institutes have the capacity to conduct the necessary R&D to develop these solutions, but lack the expertise and the capacity to transform these solutions into policies and assess their health, economic and social benefits as well as their impact on reducing inequalities. Overall Objective: In the context of global warming, the HEAT-SHIELD project will create a sustainable inter-sector framework to promote health and well-being, and prevent heat-induced illnesses of European workers without jeopardising quality and productivity. Innovation Outcomes: The proposed project will produce a series of state-of-the-art innovation outcomes including: (i) implementation of appropriate technical and biophysical solutions to counter the heat-induced risk to workers’ health; (ii) development of a weather-based warning system that automatically feeds from public climate data to create an online open access service anticipating and warning for events that may pose a threat to workers’ health; (iii) dissemination of heat and adaptation strategies among relevant stakeholders; (iv) scenario-specific policies aimed at maintaining workers’ health, well-being and productivity despite deleterious increases in environmental temperatures; (v) assessment of formulated policy effects for their health, economic and social benefits and their impact on reducing inequalities. Existing Solutions: This project is the first to address the thermal resilience of European workers in the context of global warming using a multidisciplinary approach and involving relevant stakeholders such as policy makers, research institutions, industry, and civil society organisations. Project Viability: Our consortium is composed of five policy making organisations, eight research institutions, three industrial entities, and four civil society organisations. The HEAT-SHIELD partners are complementary entities with adequate technical and management abilities for the successful implementation of the project. The policy making organisations have previously formulated policies related to the health effects of ambient heat. The research organisations are experts in climatology, simulation, as well as environmental and occupational physiology, while the industrial entities and the civil society organisations are all active in environment-sensitive industries/issues.

23.10.2015: Zrinka Potočanac
/ Quick adjustments of ongoing gait


While we walk around, busy with our daily routines, we rarely consider how complex our gait needs to be in order to handle all the irregularities of our environment. We walk on uneven curbs, avoid puddles of water, pets, running children etc., almost without thinking about it. Even if we lose balance and trip over something, we are often able to recover. This ability deteriorates with aging, when falls become a prominent problem, but one should keep in mind that, if we were unable to adjust our ongoing steps when faced with sudden changes in our environment, falls would occur at any age. Although adjusting step trajectories is crucial for our ability to navigate the environment, it is not known under which circumstances or how this can be accomplished. Hence, my talk will focus on the ability to adjust leg movements during ongoing gait. More specifically, I will give an outline of my PhD research, which focused on adjustments of unperturbed gait in order to follow shifting stepping targets or avoid obstacles (in healthy young and older adults) and adjustments of perturbed gait to modify default tripping recovery responses (in young adults).

16.10.2015: Miha Dežman
Naprava za direktno fotolitografijo na osnovi sistema digitalnih mikro-zrcal / A device for direct write lithography based on a system of digital micro-mirror
Na seminarju bom predstavil svoje magistrsko delo, ki sem ga opravil na Strojni fakulteti na UL, in sicer razvoj naprave za direktno fotolitografijo. Fotolitografija je uveljavljen postopek izdelave mikro-sistemov. Ključen korak pri tem postopku je projekcija svetlobnega vzorca na obdelovanec, ki je prekrit s svetlobno občutljivo snovjo – fotorezistom. Osvetljeni fotorezist se kemično spremeni in ga zato lahko enostavno odstranimo. Na ta način lahko izdelamo strukture v mikrometrski ali nanometrski skali. Predstavil bom razvoj prototipne naprava za proces osvetljevanja v postopku fotolitografije, kjer smo razvili mehanski podsklop in projicirno optiko ter pozicionirni podsistem. Namensko izdelani krmilnik skupaj s programsko opremo omogoča dinamično spreminjanje projiciranega svetlobnega vzorca, programsko korekcijo nehomogenosti svetlobe, korekcijo geometrijskih distorzij ter avtomatično fokusiranje projicirane slike na površino fotorezista neodvisno od njegove debeline. Na koncu bom na hitro predstavil še primer dela strojnika v industriji na primeru svojega dela v podjetju Dolinox, kjer izdelujejo kuhinjsko opremo iz nerjavečega jekla.

In this seminar I will present my Master thesis work, which I completed at the Faculty of Mechanical Engineering in UL, more specifically a device for direct photolithography. Photolithography is an established process in the production of micro-systems. The key step in this process is the projection of a light pattern on a sample that is coated with a light sensitive material called photoresist. The illuminated photoresist is chemically changed and can therefore easily be removed. This way, we can create structures in the photoresist in the micrometer and nanometer scale. I will present the development of the prototype device for the process of illumination in the process of photolithography, where we developed the mechanical system, the projection optics and a positioning subsystem. Custom developed device controller and software enable the use of a dynamically changing light pattern, can correct projection image inhomogeneity and geometric distortion, and can also automatically focus the projected image onto the photoresist's surface, regardless of its thickness. Finally, I will briefly present the work of a mechanical engineer in industry on the basis of my work in the company Dolinox, where they manufacture kitchen equipment made from stainless steel.

16.10.2015: Timotej Gašpar
Vodenje robota PA-10 preko UDP-ARCNET strežnika / Control of PA-10 robot with UDP-ARCNET server
Za doseganje kvalitetnega vodenja robotov je potrebna visoka vzorčna frekvenca in delovanje v realnem času. Namensko razvit strežnik deluje kot posrednik med UDP klientom ter ARCNET krmilnikom servo motorjev robota PA-10. Strežnik deluje v realnem času in z vzorčno frekvenco 500 Hz. Strežnik omogoča krmiljenje robota preko hitrostnega ali navornega internega regulatorja, kar omogoča implementirajo različne strategije vodenja. Komunikacija s strežnikom preko UDP komunikacijskega protokola omogoča uporabnikom razvijanje visokonivojskih krmilnikov na poljubnih platformah. S programskim paketom Matlab Simulink smo razvili programe za UDP klienta za demonstracijo različnih načinov vodenja robota.

To achieve good control of a robot, high sampling frequencies and real-time execution are required. The purposely built server acts as middleware between a UDP client and the ARCNET robot controller of the servomotors of the PA-10 robot. The server works in real time with a sample frequency of 500 Hz. It allows the control the robot through the internal speed or torque regulator, which gives the users freedom to implement various control strategies. UDP communication with the server allows users to develop high level control strategies on various platforms. With the Matlab Simulink software we developed programs for the UDP client to demonstrate different control strategies.

24.09.2015: Jan Babič
/ Spinal Exoskeletal Robot for Low Back Pain Prevention and Vocational Reintegration


In this talk I will present our new robotic project SPEXOR that was recently granted under Horizon 2020. The project deals with the design of a novel spinal exoskeleton for low-back pain prevention and treatment. Low-back pain is the leading cause of worker absenteeism after the common cold, accounting for 15% of sick leaves and hundreds of millions of lost work days annually [Walking 2.0, Nature, 2015]. Most of today's robotic assistive devices are in forms of exoskeletons that augment the motion of legs and arms and neglect the role of spinal column in transferring load from the upper body and arms to the legs. In SPEXOR we will fill this gap and design a novel and revolutionary spinal exoskeleton to prevent low-back pain in able bodied workers and to support workers with low-back pain in vocational rehabilitation. The concept to realize the objectives of SPEXOR is driven by several interdisciplinary ideas that push current understanding of low-back pain intervention through several innovative research and technological stages. First, robot-centred requirements for low-back pain prevention are determined and a musculoskeletal stress monitoring system is developed to unobtrusively measure the associated key variables. Then, optimal design parameters and sensorimotor strategies are provided with respect to the robot-centred requirements and their associated key variables. Based on these aspects, a spinal exoskeleton mechanism and its actuation is developed and adaptive control architecture is employed. Such research and development cycle is enclosed by multi-phase end-user evaluation, usability and satisfaction studies. The project builds upon the partner's extensive experience with work ergonomics, modelling and optimization of human movement, design, control and evaluation of exoskeletons. Several beyond-the-state-of-art scientific approaches and technologies will be employed through a colourful mixture of research, industrial, SME and end-user partners of the consortium. Ultimately, the results of SPEXOR will have a significant impact well beyond the current scientific understanding and technological capabilities of assistive robots used in daily life and health care.