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teaching:gsoc2017 [2017/02/08 08:11] – [Topic 1: Multi-modal Cluttered Scene Analysis in Knowledge Intensive Scenarios] liscateaching:gsoc2017 [2017/02/08 08:12] – [Topic 2: Realistic Grasping using Unreal Engine] lisca
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 Contact: [[team/andrei_haidu|Andrei Haidu]] Contact: [[team/andrei_haidu|Andrei Haidu]]
  
 +==== Topic 4: Plan Library for Autonomous Robots performing Chemical Experiments ====
  
 +{{  :teaching:gsoc:topic3_chem.png?nolink&200|}}
 +
 +**Main Objective:** of this theme is to develop in [[http://gazebosim.org/|Gazebo]] simulator a set of plan-based control programs which will equip an autonomous mobile robot to perform a set of typical manipulations within a chemistry laboratory. The set of plan-based control programs resulted at the end of the program will be tested on the real PR2 robot from the Institute for Artificial Intelligence of the University of Bremen, Germany.
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 +The successful candidate will use the domain specific language of [[http://cram-system.org/|CRAM]] toolbox and code plan-based control programs which will enable the PR2 robot to perform manipulations like: simple grasping
 +of different containers, screwing and unscrewing the cap of a test tube, pouring a substance from a container into another container, operating a centrifuge, etc.
 +
 +In the first phase of the project the successful candidate will make sure he/she is familiar with the domain specific language of CRAM toolbox and the parameters of the plan-based control programs. This phase will culminate with the student having coded a simple complete and fully runnable plan-based control program. 
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 +In the second phase of the project together with the successful candidate we will decide the set of manipulations which will be implemented in order to enable the robot to perform a simple and complete chemical experiment.
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 +In the last phase of the project, the plan-based control programs developed in the second phase will be put together and the complete chemical experiment will be tested and fixed until it runs successfully.
 +
 +The set of plan-based control programs resulted at the end of the program will represent the execution basis of the future experiments which will be done at IAI in order to figure out how an autonomous robot can reproduce a chemical experiment represented with semantic web tools.
 +
 +**Requirements:** The ideal candidate must be comfortable programming in LISP and familiar with the ROS concepts. The candidate familiar with the Gazebo simulator and CRAM toolbox will have a big plus.
 +
 +**Expected Results** We expect to successfully code a library of plan-based control programs which will enable an autonomous robot to manipulate the typical chemical laboratory equipment and perform a small class of chemical experiments in Gazebo simulator.
 +
 +Contact: [[team/gheorghe_lisca|Gheorghe Lisca]]
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