The SMOOTH-robot is a mobile robot that—due to its modularity—combines a relatively low price with the possibility to be used for a large variety of tasks in a wide range of domains. In this article, we demonstrate the potential of the SMOOTH-robot through three use cases, two of which were performed in elderly care homes. The robot is designed so that it can either make itself ready or be quickly changed by staff to perform different tasks. We carefully considered important design parameters such as the appearance, intended and unintended interactions with users, and the technical complexity, in order to achieve high acceptability and a sufficient degree of utilization of the robot. Three demonstrated use cases indicate that such a robot could contribute to an improved work environment, having the potential to free resources of care staff which could be allocated to actual care-giving tasks. Moreover, the SMOOTH-robot can be used in many other domains, as we will also exemplify in this article.

In this concept paper the notion of the configurations and configurability is interpreted in the context of robotic and automation systems. A review is given on related methods and techniques, and how configurations relate to system and software life cycles. The modeling principles for configuration based design are outlined and a proposal is made for the design process based on systems and software product line principles, including a completely new way to reuse system model data by storing them as semantic descriptions in SW delivery packages, to be queried by system designers. A tentative design example is presented.

Traditionally, small batch production has not been automated - it has been too resource demanding compared to the expected benefit. However, this is set to change with the new developments in easily trainable robotic co-worker systems, capable of being adapted to new tasks through intuitive user interaction. The main concern addressed in this paper is the creation of an architecture, which facilitates flexible robotic systems, and enables hardware-independent system configuration, while providing users of the system with the possibility to instruct and modify process descriptions for industrial tasks. We present the DTI Robot CoWorker architecture, which is a generic robotic architecture, which provides a system-independent execution framework for adaptive and interactive robotic applications. Our approach has proven viable as we have successfully automated a complicated integration task (among many others), which have previously been turned down by several robotics and automation integrators as the integration efforts, and associated risks, were deemed too extensive.

In this paper we give an introduction to robotic systems design using a value-based approach founded in Decision-Based Design, and motivate a broader systems view able to encompass the full socio-technical context. We present the multi-criteria decision method PAPRIKA as a candidate for handling decision and technology assessment elements in design, and through four cases we illustrate the versatility of the method and discuss its viability as a general purpose method for more general technology assessment in robotics.

To support the design process of autonomous robotic systems, this paper presents the decision support design framework for autonomous robotic systems developed and tested as part of the recently completed ARTEMIS-JU project R3- COP. The framework provides flexible and easy-to-use design decision support using the multi-criteria decision making method Potentially all pairwise rankings of all possible alternatives (PAPRIKA) as technical backbone.

Special features of autonomous robots - sensing and perception, deci-sion making and reasoning, robust and safe behavior - lead to many common and well known concepts and technologies to be considered in the design. Require-ments often common to an application domain should lead a system designer to appropriate available technologies for autonomy. We report experiences using a knowledge base (KB) decision support system to support the design work for se-lecting solutions (technologies) for autonomous robotic systems. We concretize the use of a KB and decision making tool using well known user's problem, part identification, for which suitable sensor technology is to be found.

The ARTEMIS project R3-COP (Resilient Reasoning Robotic Co-operating Systems) aims at providing European industry with leading-edge innovation that will enable the production of advanced robust and safe cognitive, reasoning autonomous and co-operative robotic systems at reduced cost.This is achieved by cross-sector reusability of building blocks, collected in a knowledge base, within a generic framework and platform with domain-specific instantiations. The R3-COP Framework is targeting at becoming basis for a European RTP (Reference Technology Platform) for robust autonomous systems by embodying methodologies, methods, and tools for safety-critical hard-real-time system development and verification supported by European tool vendors. To enable this, interoperability issues have to be resolved at several levels, including meta-models, models, tool interfaces and component descriptions. The link is established by the knowledge base described in more detail in this paper to allow composition of robotic applications from building blocks, guiding design & development as well as validation & verification (supporting certification in the end). The concept of the knowledge base could be re-used in the planned ARTEMIS Common Reference Technology Platform for critical systems engineering.

R3-COP (Resilient Reasoning Robotic Co-operating Systems) aims at providing European industry with new leading-edge innovation that will enable the production of advanced robust and safe cognitive, reasoning autonomous and co-operative robotic systems at reduced cost. The major objective is to achieve cross-sector reusability of building blocks, collected in a knowledge base, by developing and implementing a generic framework and platform with domainspecific instantiation, and use of a multi-purpose computing platform. The R3-COP Framework is targeting at a European RTP for robust autonomous systems embodying methodologies, methods, and tools for safety-critical hard-real-time system development and verification supported by European tool vendors. To enable this, interoperability issues have to be resolved at several levels, including meta-models, models, tool interfaces and component descriptions. The link is established by the knowledge base described in more detail in this short paper to allow composing of robotic applications from building blocks, and guiding design & development as well as validation & verification (supporting certification in the end). Co-operation with other projects of the ARTEMIS High-Rel cluster is envisaged, especially CESAR, MBAT and SafeCer (design, testing, certification), which is facilitated by partners very strongly involved in several of these projects. The concept of the knowledge base could be re-used contributing to the CRTP (Common Reference Technology Platform).

This paper describes the preliminary deployment of ModWall, a morphological boundary concept for pig stable layout based on novel actuated modular wall elements. Each module contains simple wall pieces hinged to a central infrastructural column, which is turn-able round a single axis by means of actuation. This infra-structural column provides electricity and actuation of wall elements and integrates each modular element into an overall ambient interface with integrated sensor systems to act fluently with the changing behaviour of the users. Several problems in pig production today relate directly to the logistics and the life-cycle of pigs: 1) the time consuming and frequent relocation and separation of pigs according to stall cleaning, production flow, driving out of slaughtering pigs and animal welfare, and 2) the need for fixed stalls of varying sizes for easier maintenance and simple accommodation of pig growth. Based on a background in intelligent buildings systems and robotics, we show how ModWall as a system concept can be applied in future stable designs to resolve some of these problems in an intelligent and presumable cost effective way.

The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal is to improve the mental and physical state of the user by playing a physical game with the robot. Ideally, a robot game should be simple to learn but difficult to master, providing an appropriate degree of challenge for players with different skills. In order to achieve that, the robot should be able to adapt to the behavior of the interacting person. This paper presents a simple ball game between a single player and a mobile robot platform. The algorithm has been validated using simulation and real world experiments.

Current service robots have relatively primitive behaviours and limited interaction with the environment. Technological foresights have indicated that the next generation of service robots will demonstrate a high degree of autonomy and reliability, have minimal impact on the environment, and will interact in a flexible way with the user. It is necessary therefore, to determine the functional requirements for a future energy-efficient robotic bioproduction system from the perspective of various stakeholders, together with the development of a high-level framework for designing and prototyping the common functionalities of mobile robots.This study presents technical guidelines for the design of a plant nursing robot. The methodology uses Quality Function Deployment (QFD) functionalities involving the identification of relationships between identified user requirements and the derived design parameters. Extracted important user requirements included: 1) adjustable to row distance and parcel size, 2) profitable, 3) minimize damage to crops, and 4) reliable. Lower ratings were attributed to requirements such as: 1) affection value, prestige, 2) look attractive, 3) out of season operations, and 4) use of renewable energy. Subsequent important derived design parameters included: 1) PreparedForModularTools, 2) ControlableByExtemalModules, 3) SemiAutonomous, and 4) Local-and GlobalPositioningSystem. The least important design parameters included: 1) OpenStandardSoftware, 2) Well-builtAppearance, 3) Wheels-WithInfiniteSteeringRotation, and 4) IntemalSafetySystem.The study demonstrates the feasibility of applying a systematic design technique and procedures for translating the 'consumer's voice' into the design and technical specifications of a robotic too] carrier to be used in bioproduction. (C) 2009 IAgrE. Published by Elsevier Ltd. All rights reserved.

As autonomous robotic systems become inherently more complex it becomes increasingly clear that ad-hoc design methods will fail to deliver predictable and guaranteed performance. This paper mo- tivates the need for a rational system design process and gives the necessary properties and structure such a process must have.

In this paper, we present a prototype system for automated fabrication of fiber composite preforms. During an interdisciplinary development project, we have designed and implemented a robot system that can fabricate one-of-a-kind fiber composite preforms, based on glass- or carbon-fibers with a thermoplastic matrix. By developing a tool that can lay out, and spot-weld fibers to a thermoplastic surface, we have enabled a robot manipulator to build up fiber composite preforms one roving (yam) at a time. By using a hybrid yarn, mixing structural fibers (e.g. graphite or glass), with thermoplastic fibers (e.g. PET), the fibers can be welded to the surface, as well as underlying fiber material, using ultrasonic welding. The resulting preform is later consolidated by heating under vacuum in our process oven. Our prototype demonstrates the technological feasibility of building up a preform one roving at a time, giving total control of the direction of the individual fibers. As the material properties are decided by the layout of the fibers, it thus becomes possible to optimize the properties of fiber composites, beyond the possibilities offered by traditional woven preforms.

We developed a new robotic systems that can change morphology. The system is made of ATRON modules, which are individually simple, attach through physical connections, and perform 3D motions by collective actions. We produced 100 ATRON modules, and performed both simulation and real world experiments. In this paper, we report on the ATRON hardware design and investigations related to the verification of the suitability of the ATRON module design for self-reconfigurable robotics.

As autonomous robotic systems become inherently more complex it becomes increasingly clear that ad-hoc design methods will fail to deliver predictable and guaranteed performance. This paper motivates the need for a rational system design process and gives the necessary properties and structure such a process must have.