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RoMaNS
Robotic Manipulation for Nuclear Sort and Segregation
Total Cost €
0EC-Contrib. €
0Partnership
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0RoMaNS 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.
contamination
remediation
sites
legacy
nuclear
segregation
vast
placed
consists
intensive
slow
trl
occupying
gt
urgent
master
material
tele
bi
resource
autonomy
storage
automatic
environmental
environment
older
cut
million
workington
representative
lateral
sorted
romans
solutions
radioactive
lab
demonstration
site
adaptive
mostly
unknown
countries
critical
manipulation
shared
safety
industry
pendant
plant
remotely
joystick
quantity
half
waste
facility
sometimes
contents
sellafield
prohibitively
facilities
industrial
robotic
societal
century
actions
mixed
sort
expensive
levels
combine
uk
market
segregated
alone
planning
hardware
operation
cleaning
containers
segregate
grasping
contain
teach
extremely
software
robots
national
slave
Project "RoMaNS" data sheet
The following table provides information about the project.
| Coordinator |
THE UNIVERSITY OF BIRMINGHAM
Organization address contact info |
| 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.
| # | ||||
|---|---|---|---|---|
| 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
| 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 |
|---|---|---|---|
| 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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