Telerobotics Summer School 2010

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Introduction

Telerobotics is one of the most intriguing fields of robotics. It allows to break down the barriers of scale and distance, enabling human beings to manipulate objects situated in remote locations and/or to interact with micro/nano-scale environments, otherwise inaccessible. Research in telerobotics has been very active in the last decades and huge theoretical and technological results have been obtained. For space applications, there are now systems that allow users to remotely perform maintenance operations on the International Space Station. In Minimally Invasive Robotic surgery, teleoperation systems allow surgeons to operate in previously unreachable areas. In industrial applications, engineers can remotely drive mobile robots for the maintenance of parts of machineries located in places too dangerous for humans or for inspecting some parts of the plants.

Despite of these significant results, there are still many challenges that need to be addressed for reaching the ultimate goal of telerobotics: telepresence. The best teleoperation system should be designed and controlled in such a way that the user feels as being directly interacting with the environment s/he is manipulating, despite of the scale differences, of the distance and of the presence of the robots.

To achieve telepresence, several issues have to be addressed. For example, the very nature of the human interaction has to be further explored, new devices allowing multimodal interaction have to be developed, new control strategies for coupling in the best way possible the action and the perception are required and new ways for fusing the streams of information arriving to the user have to be sought.

The Summer School is addressed to PhD students, post-docs and researchers involved in the area or interested in the new challenges of Telerobotics.

The school is split into two parts. In the first part, it will provide a background on the state of the art in telerobotics and it will allow to get insights into the main issues related to teleoperation directly from recognized experts in the field. In the second part of the school, three workshops on specific topics will be offered so that each participant can choose the seminar to attend depending on the topic s/he is more interested in.

The summerschool will be organized by the Collaborative Research Center “High-fidelity Telepresence and Teleaction” located in Munich and the RAS Technical Committee on Telerobotics. The school is generously sponsored by the Collaborative Research Center “High-fidelity Telepresence and Teleaction” and the EU project Beaming.
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Call for Participation - closed

The international summerschool on Telerobotics will be held from July 26 - 29 2010 in Munich, Germany. The program of the summerschool consists of lectures from experts in the field of Telerobotics, hands-on work in one of three focus groups and one day of excursion.

The lecturers are introduced here. The schedule and further activities that will take place during the week can be found here.

PhD students and postdocs are encouraged to apply. Attendance is limited to 30 students only.

The participation in the school is free of charge. It should be noted that students may only participate if they attend the entire week.

In order to be considered for participation, students are required to submit a one page application (in pdf) containing the following information by May 30, 2010:

  • Name and contact details
  • Photo
  • Short description of relevant current research project(s)
  • Motivation for participation
  • First and second preferred focus group (The assignment to the preferred groups can, however, not be guaranteed.)

A template for application is available at: Media:ApplicationTemplate.doc. Applications for participation must be sent to Angelika Peer by electronic mail (Angelika.Peer@tum.de) no later than May 30, 2010. Notification of acceptance will be provided the week after.

Further information may be obtained by contacting:

Angelika Peer
Institute of Automatic Control Engineering (LSR)
Technische Universitaet Muenchen
Theresienstrasse 90
D-80333 Munich, Germany
phone +49-89-289-23412
mailto: Angelika.Peer@tum.de

Lecturers

Speakers of the Collaborative Research Centre "High-Fidelity Telepresence and Teleaction"




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Invited speakers:

Schedule

Monday, July 26th
09:00 - 10:00 Introduction M. Ferre / N. Chopra / A. Peer / C. Secchi
10:00 - 10:30 High-Fidelity Telepresence and Teleaction in the SFB453 M. Buss
Break
11:00 - 12:00 Control Challenges in Telerobotics K. Hashtrudi-Zaad
Lunch
14:00 – 15:00 Variable Scaling Teleoperation System Y. Yokokohji
15:00 – 16:00 Model-Mediated Teleoperation: Moving beyond direct force feedback G. Niemeyer
Break
16:30 – 17:30 Stereoscopic video interfaces for depth perception M. Ferre
Tuesday, July 27th
09:00 - 10:00 Haptic Data Transmission E. Steinbach / S. Hirche
10:00 - 11:00 Telepresence: Towards the extended human hand in space U. Walter / C. Preusche
Break
11:30 - 12:30 Cooperative Teleoperation System C. Melchiorri
Lunch
14:00 – 15:00 Robotic Surgery: A telerobotic perspective on the design of next generation systems M. C. Cavusoglu
15:00 – 16:00 Design Criteria and Evaluation of Telepresence and Teleaction Systems B. Färber
Break
16:30 – 17:30 Industrial applications of telepresence and teleaction technology M. Zaeh
17:30 – 18:30 Splitting up into groups
Wednesday, July 28th
Excursion to Brainlab and German Aerospace Center
Dinner in Bavarian Restaurant
Thursday and Friday, July 29th, 30th
Work in focus groups:
  • Control Group (Organization with the Institute of Automatic Control Engineering of the Technische Universität München)

The Control Group offers a two-day workshop which focuses on classical as well as more advanced control approaches adopted for Telepresence and Teleaction systems with and without time delay. On the morning of the first day control algorithms for bilateral teleoperation systems will be reviewed theoretically. This includes classical bilateral controllers, port-Hamiltonian approaches, as well as approaches derived from the synchronization of multi-agent systems. In the afternoon, participants will work in the laboratory and implement different types of controllers using Matlab/Simulink Real-Time Workshop and test them on real teleoperation setups. The second day will focus on advanced control architectures covering environment-, operator- and task-adapted controllers, shared control, and robot assisted control architectures for single and multi-user scenarios. For this workshop basic knowledge in control theory is an absolute prerequisite.

Schedule: Media:FocusGroup_Control.pdf

  • Design and Implementation Group (Organization with the German Aerospace Center)

The Implementation Group offers a two-day workshop, which focus on the design and implementation of a multimodal Telepresence and Teleaction system. A TPTA system is an example for a complex mechatronic system. The design and setup of such a system requires an integrated multidisciplinary approach that needs to be performed before the background of the specific application. The first day concentrates on elements that are common to all applications. This includes human factors, IT infrastructure and communication, mechatronic systems for haptic, visual and auditory modalities and the development toolchain. On the second day the workshop concentrates on two specific application domains: Minimally Invasive Telerobotic Surgery and On-Orbit Servicing.

Tentative schedule: Media:FocusGroup_ImplementationTPTA_v6.pdf

  • Evaluation Group (Organization with the Human Factors Institute of the University of Armed Forces)

The Evaluation Group offers a two-day interactive workshop which focuses on the experimental evaluation of user-related aspects of Telepresence and Teleaction Systems, such as the effects of a particular technology on user task performance, perceived quality of feedback, or the user’s sense of presence. On the first day of this workshop, basics of experimental design and user testing procedures will be discussed and demonstrated. This day concludes with a short experiment, which the participants are invited to design and subsequently execute, taking on the roles of experimenter and/or testing subject. The second day focuses on the analysis of acquired testing data. Here, an overview of basic statistics concepts and the most frequently used procedures is given and participants are instructed in the use of a statistical software package (SPSS). For this workshop, no prior knowledge of experimental methodology or statistics is assumed, and it is open to interested researchers and professionals of all backgrounds.

Schedule: Media:FocusGroup_Evaluation_v2.pdf

Participating Students

Alaimo Samantha Max Planck Institute for Biological Cybernetics, Tübingen, Germany
Al Marzooqi Shamma Masdar Institute of Science and Technology, Al Ain, Emirates
Bacocco Rita DEIS University of Bologna, Bologna, Italy
Bera Debjyoti Technische Universiteit Eindhoven, Eindhoven, The Netherlands
Brandi Fernanda Institute for Media Technology, Technische Universität München, Munich, Germany
Chaudhari Rahul Institute for Media Technology, Technische Universität München, Munich, Germany
De Lorenzo Danilo Neuroengineering and Medical Robotics Laboratory, Politecnico di Milano, Milan, Italy
Du Jingjing Robotics Research Group, Politecnico di Torino, Torino, Italy
Feth Daniela Institute of Automatic Control Engineering, Technische Universität München, Munich, Germany
Franchi Antonio Max Planck Institute for Biological Cybernetics, Tübingen, Germany
Galiana Ignacio Universidad Politecnica de Madrid, Madrid, Spain
Haghshenas Seyyed Morteza Warsaw University of Technology, Warsaw, Poland
Hosseini Mohssen Warsaw University of Technology, Warsaw, Poland
Kammerl Julius Institute for Media Technology, Technische Universität München, Munich, Germany
Killpack Marc Healthcare Robotics Lab, Georgia Institute of Technology, Atlanta, USA
Loconsole Claudio PERCRO Lab, Scuola Superiore Sant' Anna, Pontedera, Italy
Masone Carlo Max Planck Institute for Biological Cybernetics, Tübingen, Germany
Muhammad Abubakr Laboratory for Cyber-Physical Networks and Systems , Lahore, Pakistan
Nia Kosari Sina Biorobotics Laboratory, University of Washington, Seattle, USA
Passenberg Carolina Institute of Automatic Control Engineering, Technische Universität München, Munich, Germany
Petroni Gianluigi Scuola Superiore Sant' Anna, Pontedera, Italy
Polat Ilhan Delft Center for Systems and Control, Technische Universiteit Delft, The Netherlands
Priolo Attilio Universita degli studi Roma Tre, Rome, Italy
Quintana Marcel CTAE - Aerospace Research and Technology Centre, Viladecans,Spain
Radi Marwan iwb, Technische Universität München, Munich, Germany
Rajasekaran Vijaykumar Warsaw University of Technology, Warsaw, Poland
Robuffo Giordano Paolo Max Planck Institute for Biological Cybernetics, Tübingen, Germany
Schauss Thomas Institute of Automatic Control Engineering, Technische Universität München, Munich, Germany
Sengul Ali Swiss Federal Institute of Technology, Systems Robotics Laboratory, Lausanne, Switzerland
Smoljkic Gabrijel Robot-Assisted Surgery Group, KU Leuven, Biomechanics and Engineering Department, Heverlee, Belgium
Stefanov Nikolay Institute of Automatic Control Engineering, Technische Universität München, Munich, Germany
Vaccarella Alberto Neuroengineering and Medical Robotics Laboratory, Politecnico di Milano, Milan, Italy
Vittorias Iason Institute of Automatic Control Engineering, Technische Universität München, Munich, Germany
Weber Bernhard Lehrstuhl für Arbeitswissenschaft und Arbeitsgestaltung, University of Magdeburg, Magdeburg, Germany
Westerberg Simon Robotics and Control Lab, Umea University, Sweden
Xu Zhihao Computer Science VII: Robotics and Telematics, Universität Würzburg, Munich, Germany
Zou Heng Allgemeine und Experimentelle Psychologie, Ludwig-Maximilians-Universität, Munich, Germany

Local Information

The Telerobotics Summer School 2010 will be held on the main campus of TU München, in the city center of Munich.

Institutes of TU München, DLR (Deutsches Zentrum für Luft- und Raumfahrt, German Aerospace Center) and Universität der Bundeswehr contribute to the organization of the Summer School.

We will start on Monday, July 26th at TU München, which is located very close to subway station U2 Media:Subway.gif. The room number is 0670. A map indicating the way to this room can be found here: Media:Room0607.gif.

Travel

Munich, the largest city in the south of Germany and capital of Bavaria, can be reached best by plane or train.

  • Plane to Munich Airport: Direct flights to Munich Airport are available from around the world.
  • Munich Airport to central station: Two suburban trains (S1, S8) leave towards Munich central station every 10 min. (duration of drive approx. 45 min, price approx. 9 Euro). Alternatively a taxi to the center of Munich can be taken (price approx. 50-65 Euro).
  • Train to Munich central station: Train connections to Munich central station are available from major cities around Europe. There are also direct train connections from Frankfurt Airport which offers an even larger number of world-wide destinations than Munich Airport (duration approx. 3:30 h, leaves approx. every 30 min).
  • Munich central station to TU München: You can reach the TU München from Munich central station by taking the subway (U2 towards Scheidplatz/Feldmoching) which leaves every 5-10 min. Exit the subway at Theresienstraße. A Map of the subway and suburban trains in Munich can be found here.

Accomodation

In the following there are selected hotels in Munich and near TU München sorted by price range (prices checked 02/2010 and may include reductions for early booking, no guarantee). A more extensive list of hotels in Munich can e.g. be found here.

Very Low Budget
  • Additional low budget accomodations will be available on request at the Campus of the Universität der Bundeswehr. Approximately 30 beds in double bed rooms with WC/shower located in the corridor will be provided. Please write an email to the organizer if you would like to use this offer.
Low Budget
  • Pension Theresia, Luisenstr. 51, Single from 29 Euro, Double from 46 Euro, (0.1 km)
  • Pension Geiger, Steinheilstr. 1, Single 30-45 Euro, Double 60-66 Euro, Three-Bed 90 Euro (0.2 km)
Medium Budget
  • Hotel Lex, Briennerstr. 48, Single 68-75 Euro, Double 90-95 Euro, (0.8 km)
  • Hotel Antares, Amalienstr. 20, Single from 74 Euro, Double from 94 Euro, Three-Bed from 114 Euro, (0.8 km)
High Budget
  • Maritim Hotel, Goethestrasse 7, Single from 118 Euro, Double from 143 Euro, (1.9 km)

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