Icma aug 9th 2011 shin ichi yuta professor university of tsukuba
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Tsukuba Challenge: An Open Experiment of One Kilometer Autonomous Navigation by Many Mobile Robots in Usual Living Environment in Tsukuba City. ICMA ( Aug 9th, 2011) Shin’ichi YUTA Professor, University of Tsukuba.

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ICMA ( Aug 9th, 2011) Shin’ichi YUTA Professor, University of Tsukuba

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Tsukuba Challenge:An Open Experiment of One Kilometer Autonomous Navigation by Many Mobile Robots in Usual Living Environment in Tsukuba City

ICMA (Aug 9th, 2011)

Shin’ichi YUTA

Professor, University of Tsukuba


Tsukuba Challenge-- Real world Robot Challenge in Tsukuba City

  • Purpose:

    • Stimulation in the Real World Robot Technology

    • Getting a Proper Understanding by Usual People on the “State of the Arts” in Robot Technology

  • Organized and Operated by

    • New Technology Foundation (NTF), and

    • Tsukuba City (Local Government)


Movies Clips from Tsukuba Challenge 2010

  • Science News by JST:Trial Days

  • Science News by JST:Final

  • TV News by FNN

Tsukuba Challenge2010 JST実験走行

Tsukuba Challenge2010JST本走行

TsukubaChallenge2010-FNN


Challenge of Integrated Robotic Systems in Concrete Real World

  • Mission Oriented Approach for Robust Robotic System Technologies

    • Importance of Experience in Real World

  • DARPA operation

    • Grand Challenge 2003-2005

    • URBAN Challenge 2007

  • Various Robot Contests

    • RoboCup

    • Micro Mouse


Mission of Tsukuba Challengefor Robots

  • Autonomous run of 1km on the street for pedestrians

  • Environment should be as they are (no artificial change)

    • No special treatment for the surface of the street

    • No postponed in case of rain

    • There may be pedestrians or bicycles


Route of Tsukuba Challenge2010

Total Distance:1120m

  • Course:Tsukuba City

  • Pedestrian Street next to Tsukuba Central Park+

  • Tsukuba Central Park+ Side Walk of Bus Street +

  • Tsukuba Center Plaza

  • Start: Tsukuba Expo Center, Entrance Square

  • Goal: Tsukuba Science Information Center ( Inside of a Building)


Tsukuba Challenge

  • Real World Robot Challenge (RWRC)

    • Not a “Competition” No Order

    • Define a Common Mission

      and Share the Place of Real World Experiment

    • Disclose Technical Information and Share Experiences

  • No Prize!

  • http://www.ntf.or.jp/challenge/


Real World Robot Challenge (RWRC)

  • Balanced Design and Implementation of Hardware and Software for Real Problems

  • Real World:

    • Physically

    • Socially

  • No Excuse can be Made when Failure

  • Bridge between Advanced Technologies and Practical Applications


Tsukuba Challenge - Mission Compatibility with Society

For the Robots Work with the People Living in the Same Environment, Robot Should

  • Never Harm People

  • Never Give a Feeling of Frightened or Discomfort

  • Never Give a Damage on Any Object in Environment

  • Not Disturb People nor be Obstructive for the Working Object in Environment


Tsukuba Challenge - Mission Autonomy of the Robot

For Autonomy, Robot Should

  • Have all Functions as Energy Source or Information Processing in the Body,

    ie. Self-Contained

  • Be Prepared all Necessary Hardware, Software and Environment Information

    to Complete the Mission


Tsukuba Challenge - MissionEnvironment

  • Environment should be, as they are

    • No special treatment for the surface of the street

    • No postponed even in case of rain

    • There may be pedestrians and bicycles

  • Environment depends on the Weather

    • Surface Condition of the Roads Depends on the Weather of the Previous Days,

    • Water pool or Fallen Leaves May Remain on the Road

  • Environment may also Depend on Social Conditions

  • Any Objects Originally Existing in the Environment May be Used as a Guide for Navigation, But not Artificial Change can be Made or added on the Environment.


Technologies for Completing the Task

  • Wide Range of Possibilities / Strategy

  • Total Design / Element Selection

    • Imagination to the Possible Situation

    • Interface with People

  • Test and Design / Development Cycle


Technologies (Hardware)

  • Vehicle Mechanism

    • Wheel / Track

    • Suspension

    • PWS / Steering

  • Battery / Power Management

  • Motors / Drivers

  • Sensors

    • Odometry

    • IMS / Gyro / Accelometor

    • GPS

    • Vision Camera / Lidar (Sokuiki Sensor)

      • Single / Multiple / Scanning

    • Magnetic

    • Ultrasound / Audio


Technologies (Control)

  • Control Strategy

    • Detail Position Estimation / Road Following

    • Teaching Playback / Motion Design

  • Map

    • Measured / Self-made

    • Google / Provided by Local Government

  • Positioning

    • GPS

    • Land Marks

      • Selection

  • Motion Control

    • Collision Avoidance / Safety


Technologies (Development Environment)

  • Hardware / Software

    • Monitoring / Record

      • Online / Offline

      • Wired / Wireless

    • Simulation

      • Sensing / Decision / Motion

    • Tools

  • Operator Interface


Passing Over Other Robots

  • One of the most difficult action:

  • Being passed safely is more difficult


Preparations and Operation by Organizer Side

  • Concept and Rules

  • Environment

    • To Use Public Street

  • Operation

    • Registration

    • Safety Management

    • Management of the Days of Trials and Final

    • Publicities


Permission for Using Public Street is Required

  • Route is a Public Pedestrian Street (not for Motor Driven Vehicle)

  • This Street is governed by Tsukuba City, but, Special Permission is Necessary from the Police Office (!).

  • Permitted as a Robot Experiment on the Public Road after Negotiations

  • Several Strict Conditions Given for the Safety of Citizens


Conditions - for Using Public Road

  • Road can be Used Only at Appointed Days

    • Setting about 10 Official Trial Days

  • Put Signs of “Robot Experiment” for Citizen

  • Prepare Staffs in Charge of Controlling Traffic of Pedestrians and Bicycle

  • Assign a Person in Charge of Safety Management for Each Participating Team


Instructions for the RobotFor Safety and Compatibility with Society

  • Robot size less than 75cm (W), 120cm (L),150cm(H)

  • Robot weight less than 100kg

  • Maximum speed 4km/h

  • Emergency stop switch

  • Accompanying operator for emergency when the robot moves by power

  • Robot should be Designed in accordance with environmental and ecological attention


Tsukuba Challenge 2010

  • Date: Nov.18(Thu.)-19(Fri.), 2010

  • Place: Tsukuba City

  • Route: 1km+ in

    • Pedestrian Street,

    • Side walk of Street,

    • Promenade in Citizen’s Park

    • Tsukuba Center Plaza

  • Start: Tsukuba Expo Center Entrance Square

  • Goal: Tsukuba Science Information Center

    ( Inside of a Building)


Route of Tsukuba Challenge2010

Total Distance:1120m

  • Course:Tsukuba City

  • Pedestrian Street next to Tsukuba Central Park+

  • Tsukuba Central Park+ Side Walk of Bus Street +

  • Tsukuba Center Plaza

  • Start: Tsukuba Expo Center, Entrance Square

  • Goal: Tsukuba Science Information Center ( Inside of a Building)


Time Schedule of Tsukuba Challenge2010

  • Registration for Participation: June 30th

  • Kick-off Meeting :  July 24th

  • Open Experiments(8days = Sat. or Sunday):

    July 24th, Sept. 4th, Sept. 26th, Oct. 15th,

    Nov. 6th, Nov. 14th, Nov. 16th, and Nov. 17th

  • Rally - Trial: Nov. 18th (Thu.)

  • Rally – Final: Nov. 19th (Fri.)


Tsukuba Challenge2010 Registrants (Number of Participated Team)

  • Registration 68

      (incl. 59 Teams Cont. from TC2009)

  • Participation of Rally     64

  • Teams Passing Trial    31(+1)

  • Succesfully Completed Mission 7


Participants in Tsukuba Challenge 2009

  • University 48

  • Research Labs. 4

  • Companies 2

  • Joint of Uni. & Company 6

  • Club or Circle 7

  • Personal 5

    (Total 72)


Participants in Open Experiment Day (2010)

First 7/2433

Second 9/433

Third 9/2631

Fourth10/1547

Fifth 11/645

Sixth 11/1443

Seventh 11/1655

Eighth 11/1766

Total Participants:353


Open Experiments for Development and Test (8days)


Record of Tsukuba Challenge2010 Rally ー Trial Run and Final Run

  • Trial Run240m Section(Nov.18)

    • 64 Robots Participated

    • 25 Robots Passed in First Trial

    • 6 Robots Passed in Second Trial

  • Only the Robots Passed the Trial Section Qualified to Start Final

  • Final Run1.1km(Nov.19)

    • 32 Robots Started

    • 7 Robots Completed


Tsukuba Challenge 2010

Teams and their Robots Completed the mission


Movies Clips from Tsukuba Challenge 2010

  • Science News by JST:Trial Days

  • Science News by JST:Final

  • TV News by FNN

Tsukuba Challenge2010 JST実験走行

Tsukuba Challenge2010JST本走行

TsukubaChallenge2010-FNN


Records of Tsukuba Challenge 2007-2009

First (2007)

  • Registrant 33teams

  • Participants in Elimination Trial(100m)

    27teams

  • Qualified 11teams

  • Run Completed 3teams

    Second (2008)

  • Registrant50teams

  • Participants in Elimination Trial(100m)

    47teams

  • Qualified 22teams

  • Run Completed 1teams

    Third (2009)

  • Registrant72teams

  • Participants in Elimination Trial(100m)

    66teams

  • Qualified 34teams

  • Run Completed 5teams


For Good and Effective Use of Results and Experience

  • Publicity

    • Make Many People and Media have Interests

    • However, it is not a Event to Show

  • Request Disclosure of Information

    • Promotion of Special Articles in Journal/Magazine

    • Have Symposium and OS in Conference

  • Encourage to make it Open in Source Level


For Sharing Information

  • Organized Sessions in SICE-SI2007, SI2008, and SI2009

  • Special Symposium for Tsukuba Challenge

    (January, Tokyo)

  • HP

    http://www.robomedia.org/

    challenge/


Lessons and Impression from the View Point of Organizer

  • Many Participants and Robots

  • Many Audience without Effort in Publicity

  • Weather (not Controllable)

  • Real Time Broadcast in WEB

  • Attitude of Passers-by and Audience

    (at Test Run Day and Final)

  • Big Support by Local Community

  • Structure for Keep Safety


(Short Range) Goal of Tsukuba Challenge

  • Realize a Mobile Robot Capable to Move in Any Place of Pedestrian’s Street in Tsukuba City

  • Utilization of these Technologies in Real Problem of the Society

  • As the Result, Get Understanding of the Meaning of Robots

  • And then: Make it Easy to Test the Robots Motion and Interaction with People in the Public Space

  • The FinalTsukuba Challenge (in the Current way)

    will be held in Nov. 2011


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