The National Robotics Engineering Center (NREC) is an operating unit within the

Robotics Institute The Robotics Institute (RI) is a division of the School of Computer Science at Carnegie Mellon University in Pittsburgh, Pennsylvania, United States. A June 2014 article in ''Robotics Business Review'' magazine calls it "the world's best robo ...

(RI) of

Carnegie Mellon University Carnegie Mellon University (CMU) is a private research university in Pittsburgh, Pennsylvania. One of its predecessors was established in 1900 by Andrew Carnegie as the Carnegie Technical Schools; it became the Carnegie Institute of Technology ...

. NREC works closely with government and industry clients to apply robotic technologies to real-world processes and products, including

unmanned vehicle An uncrewed vehicle or unmanned vehicle is a vehicle without a person on board. Uncrewed vehicles can either be under telerobotic control—remote controlled or remote guided vehicles—or they can be autonomously controlled—autonomous vehicl ...

and platform design,

autonomy In developmental psychology and moral, political, and bioethical philosophy, autonomy, from , ''autonomos'', from αὐτο- ''auto-'' "self" and νόμος ''nomos'', "law", hence when combined understood to mean "one who gives oneself one's ...

, sensing and image processing,

machine learning Machine learning (ML) is a field of inquiry devoted to understanding and building methods that 'learn', that is, methods that leverage data to improve performance on some set of tasks. It is seen as a part of artificial intelligence. Machine ...

, manipulation, and

human–robot interaction Human–robot interaction is the study of interactions between humans and robots. It is often referred as HRI by researchers. Human–robot interaction is a multidisciplinary field with contributions from human–computer interaction, artificial i ...

. NREC also works on Computer Science and Science, Technology, Engineering, and Mathematics (CS-STEM) educational outreach through it
Robotics Academy
which provides robotics curricula and software for K-12 and college-level students.

NREC Research Objectives and Approach

NREC applies robotics technologies to build functional prototype systems from concept to commercialization. A typical NREC project includes a rapid proof-of-concept demonstration followed by an in-depth development and testing phase that produces a robust prototype with intellectual property for licensing and commercialization. Throughout this process, NREC applies best practices for software development, system integration and field testing. Sponsors and partners include industrial companies, technology startups, and federal agencies such as

DARPA The Defense Advanced Research Projects Agency (DARPA) is a research and development agency of the United States Department of Defense responsible for the development of emerging technologies for use by the military. Originally known as the Adv ...

, the Department of Transportation,

NASA The National Aeronautics and Space Administration (NASA ) is an independent agency of the US federal government responsible for the civil space program, aeronautics research, and space research. NASA was established in 1958, succeeding t ...

, the

Air Force Research Laboratory The Air Force Research Laboratory (AFRL) is a scientific research organization operated by the United States Air Force Materiel Command dedicated to leading the discovery, development, and integration of aerospace warfighting technologies, pl ...

, and the

U.S. Army Corps of Engineers , colors = , anniversaries = 16 June (Organization Day) , battles = , battles_label = Wars , website = , commander1 = ...

. NREC's research model is based on: * Creative design and engineering on all levels and across all disciplines * Rapid prototyping using in-house fabrication capabilities * Collaboration with sponsors to commercialize technology

NREC History

In 1994 the

Carnegie Mellon Carnegie may refer to: People * Carnegie (surname), including a list of people with the name * Clan Carnegie, a lowland Scottish clan Institutions Named for Andrew Carnegie *Carnegie Building (Troy, New York), on the campus of Rensselaer Polyt ...

Field Robotics Center scientists realized that the mobile robotics field was mature enough for commercial application in agriculture, construction, mining, utilities, and other markets. Consequently, the National Robotics Engineering Consortium (NREC) was chartered with a mission to develop and transition robotic technology to industry and federal agencies. Original funding for the center included $2.5 million seed funding from

. In 1996, the organization moved to its current facility in Pittsburgh’s Lawrenceville neighborhood and was renamed the National Robotics Engineering Center. The NREC is housed in a renovated, 100,000-square-foot foundry building on a reclaimed industrial brownfield site. CHIMP cuts triangle at 2013 DRC Trials

NREC Timeline

Project Case Studies

DARPA Robotics Challenge

CHIMP is a human-sized robot that, when standing, is 5-foot-2-inches tall and weighs about 400 pounds. Tartan Rescue Team engineers designed CHIMP to work in dangerous, degraded environments that were built for people, not robots. CHIMP operates semi-autonomously and can plan and carry out high-level instructions given by its operator. Its near-human form, strength, precision, and dexterity enable it to perform complex, human-level tasks. CHIMP is not a dynamically balanced walking robot. Instead, it is designed to move on stable, tank-like treads incorporated into its four limbs. When it needs to operate power tools, turn valves, or otherwise use its arms, CHIMP can stand and roll on its leg treads. The robot’s long front arms (almost 5 feet) give it an ape-like appearance. CHIMP ranked third in the DARPA Robotics Challenge Trials in December, 2013. Scoring 18 out of a possible 32 points during the two-day trials, the team demonstrated the system's ability to perform such tasks as removing debris, opening doors, cutting a hole in a wall, and closing a series of valves. The system was selected as one of nine eligible for DARPA funding to prepare for the DARPA Robotics Challenge Finals in 2015.

Urban Challenge

Carnegie Mellon University's Tartan Racing Team and General Motors built an autonomous SUV that won first place in the 2007 DARPA Urban Challenge. The Urban Challenge race was held on November 3, 2007 at the Victorville training facility in California. Eleven teams competed against each other to finish a 60-mile city course in less than six hours. Their vehicles had to execute simulated missions in a mock urban area while obeying traffic laws, safely merging into moving traffic, navigating traffic circles, negotiating busy intersections, and avoiding other vehicles – all without human intervention.

Automation and Machine Learning for Agriculture

: ''Vehicle Safeguarding'' : Being able to detect obstacles and terrain hazards significantly increases the safety of both manned and unmanned agricultural vehicles. The project uses machine learning techniques to build a robust obstacle detection system that can be easily adapted to different environments and operating conditions. NREC integrated its add-on perception packages onto a team of three computer-controlled tractors developed by

John Deere Deere & Company, doing business as John Deere (), is an American corporation that manufactures agricultural machinery, heavy equipment, forestry machinery, diesel engines, drivetrains (axles, transmissions, gearboxes) used in heavy equipment, ...

. These autonomous tractors were used in harvesting operations in a peat bog. The robotic peat harvesting team was tested for a full season, completing over 100 harvesting missions in a working peat bog. Their behavior imitated manual peat harvesting operations while maintaining a safe operating environment. : : ''Strawberry Plant Sorter'' : Building upon expertise in vision, mechanisms, and manipulation, NREC built an automated strawberry plant sorter that streamlines the harvesting process, improves efficiency, and ensures consistent plant quality. The machine vision system is trained to sort strawberry plants using samples harvested by a human, sorting plants of different varieties and levels of maturity while operating under realistic conditions, where rain and frost change plants' appearance and roots may contain mud and debris
Lassen Canyon Nursery
and other growers, representing approximately 85% of California's strawberry plant nursery market, supported this project and plan to use the technology in their operations. : : ''Orchard Spraying'' : NREC developed a retrofit kit that allows a tractor to operate without a driver. Its software accurately estimated the vehicle’s location and enabled it to autonomously follow a predetermined path. The autonomous tractor sprayed water while following a seven-kilometer-long-path through an orange orchard without any human intervention. To achieve the path teach/playback capability, NREC developed a positioning system that uses an

extended Kalman filter In estimation theory, the extended Kalman filter (EKF) is the nonlinear version of the Kalman filter which linearizes about an estimate of the current mean and covariance. In the case of well defined transition models, the EKF has been considered t ...

for fusing the odometry, the GPS information and the IMU measurements. The path following system is based on the Pure Pursuit algorithm.

Defense Robotics for Convoy Safety

NREC and

Oshkosh Defense Oshkosh Corporation, formerly Oshkosh Truck, is an American industrial company that designs and builds specialty trucks, military vehicles, truck bodies, airport fire apparatus, and access equipment. The corporation also owns Pierce Manufact ...

are developing autonomous unmanned ground vehicle technologies for logistics tactical wheeled vehicles used by the US Marine Corps. ''CARGO Unmanned Ground Vehicles'' (CARGO UGVs or CUGVs) are designed for autonomous use in convoys that combine manned and unmanned vehicles. An operator in another vehicle supervises one or more unmanned vehicles, which drive autonomously in convoy formation day and night, in all weather, and when dust and smoke limit visibility. Technologies developed under this project are part of Oshkosh Defense’s TerraMax™ UGV kit, which supports unmanned convoy operations.Unmanned Ground Vehicle
Oshkosh Defense official web site

Sensabot

Sensabot is a rugged robot designed to safely carry out on-site inspections in hazardous environments, isolated facilities, and other places that are difficult or dangerous for personnel to access. Benefits include reduced risk and improved efficiency of operation. The system features a mobile robotic base with a sensor boom tipped with inspection sensors. It can operate in extreme temperatures and explosive and toxic atmospheres. A human operator remotely operates the robot, and uses its sensors to inspect pipes, fittings, and valves. Sensabot is designed to meet IECEx Zone 1 standards for explosive environments and ANSI safety standards for guided industrial vehicles.Sensabot: A Safe and Cost-Effective Inspection Solution
Journal of Petroleum Technology, October 2012

Advanced Robotic Laser Coating Removal System (ARLCRS)

The

(AFRL),

Concurrent Technologies Corporation Concurrent means happening at the same time. Concurrency, concurrent, or concurrence may refer to: Law * Concurrence, in jurisprudence, the need to prove both ''actus reus'' and ''mens rea'' * Concurring opinion (also called a "concurrence"), a ...

(CTC), and NREC are developing an environmentally friendly system to remove coatings from U.S. Air Force aircraft through funding from Air Force Materiel Command (AFMC). The Advanced Robotic Laser Coating Removal System (ARLCRS) uses a powerful laser stripping tool and state-of-the-art mobile robots to automatically remove paint and coatings from aircraft. The complete system is scalable for use from fighters to cargo and tanker aircraft. ARLCRS will reduce hazardous waste, air emissions, maintenance costs, and processing time. CTC is developing the laser coatings removal and particle capture systems. NREC is developing the mobile robots, sensors, and autonomy system.

Operator Assistance for Underground Coal Mining

NREC has worked with coal mining industry partners to develop operator assistance technology for longwall mining. This includes a complete navigation system for a continuous mining machine, laser rangefinder-based perception for

robot localization Robot localization denotes the robot's ability to establish its own position and orientation within the frame of reference. Path planning is effectively an extension of localisation, in that it requires the determination of the robot's current pos ...

, planning for cluttered spaces, and integration and simulation tools. This system was successfully demonstrated in a working mine in West Virginia. Related research and objectives include automated mine surveying, haulage and multiple-machine interaction.

ARMOR 1: Mat Sinking System

ARMOR 1 is an automated robotic system for the U.S. Army Corps of Engineers to perform

revetment A revetment in stream restoration, river engineering or coastal engineering is a facing of impact-resistant material (such as stone, concrete, sandbags, or wooden piles) applied to a bank or wall in order to absorb the energy of incoming water ...

operations along the

Mississippi River The Mississippi River is the second-longest river and chief river of the second-largest drainage system in North America, second only to the Hudson Bay drainage system. From its traditional source of Lake Itasca in northern Minnesota, it f ...

. Once deployed, ARMOR 1 will replace the old Mat Sinking Unit, originally built in 1948. The goal is to increase the speed of revetment operations and improve the safety and working conditions of the employees who perform this vital work. When completed, ARMOR 1 will include six, independent robotic cranes. These cranes will pick up the large concrete squares from the supply barge and place them on the "mat deck" of ARMOR 1's manufacturing barge. There, the individual squares will be tied together into one 140 ft wide (and up to 900 ft long) flexible "mat" by an automated tie system. The completed mat will be launched from the barge and will be submerged along the banks of the Mississippi River, while more mats are continuously being assembled on the deck.

Commitment to Education

The Carnegie Mellon Robotics Academy (CMRA) is an educational outreach of Carnegie Mellon University, and part of the university's world-renowned Robotics Institute. In 2000, CMRA's administrative staff and development team became housed at NREC's facilities. The Robotics Academy is committed to using the motivational effects of robotics to excite students about science and technology. Carnegie Mellon Robotics Academy Mission: * To develop a mathematically competent and technologically literate workforce * To influence children to become interested in robotics and related technologies as an area of study and future employment * To grow future entrepreneurs and employees for the region and nation * To enhance the economic development of these technologies regionally and nationally * To develop standards-driven curriculum for middle and high school teachers * To catch kids having fun experimenting with science and technology Th
Computer Science STEM Network (CS2N)
is a collaborative research project between Carnegie Mellon University, including the Robotics Academy, and the Defense Advanced Research Projects Agency (DARPA) designed to increase the number of students pursuing advanced Computer Science and Science, Technology, Engineering, and Mathematics (CS-STEM) degrees.

References

External links

Official NREC website
{{authority control Software engineering organizations Carnegie Mellon University Computer science institutes in the United States Robotics in the United States Lawrenceville (Pittsburgh) Research institutes in Pennsylvania Organizations based in Pittsburgh de:Software Engineering Institute es:Software Engineering Institute kk:Бағдарламалық Жасақтама Инжинирингі Институты pl:Software Engineering Institute pt:Software Engineering Institute