Ceilbot
- Previous_Work More details on results from previous semesters.
- How to get credits Course of actions to fulfill requirements for the Ceilbot-project and AS-0.3200 Project Work Course.
We are continuously looking for interested students to work with the Ceilbot!
See Work to be done about current topics and Apply for the project! how to gain credits.
Background
Mobile home service robots are a category of the future intelligent devices that are actively being developed in the Far East, the United States and the EU. The issue is of relevance for many large corporations and a broad number of research institutes. Also Aalto University has been involved in developing futuristic service robot designs.
In this project an innovative solution is presented, in which the robot is transferred to the ceiling from the floor. The movement and availability of energy will be easier. The main challenges in the new design are related to the structures of the light, flexible manipulator and to its 3-dimensional control.
In the project a prototype of ceiling robot, Ceilbot, is designed and implemented. The prototype is planned to be tested in two different environments. The first one could be, for example, the home of a disabled person. The other test environment could be located in an office building, for example at Aalto. The robot will be designed especially for service and maintenance tasks, for example to replace broken ceiling lamps.
The project is carried out under the supervision of the GIM research unit at Department of Automation and Systems Technology. Tasks can also be shared with other departments of Aalto university (mechanical engineering, industrial design, electronics, information technology, architecture). These include rail-wagon or a similar system design and implementation, the manipulator mechanical design and implementation and the software design and implementation as well as development of different kinds of sensory systems.
The project is implemented as part of Aalto digitilalisation and energy technology research program - Multidisciplinary Institute of Digitalisation and Energy (MIDE). In the program significant long-term projects aimed at high-level of knowledge creation, education and the strengthening of the Finnish economy to increase competitiveness are realized.
Preliminary idea for the Ceilbot
Some ceilbots for inspiration.
See a simple animation of a preliminary sketch of Ceilbot..
(2.6M .avi)
(1.6M xvid.avi)
(300k .wmv) 
A Related project for inspiration:
Acroboter-project.org
Acroboter illustrative pictures and movies
Current Satus - Spring 2011
See Previous work for past Ceilbot activities at Aalto that had brought us into the current state of the project.
Rail system
The rail system and its mounting grid were assembled in the premises of Aalto Design Factory.
Continuum manipulator
A working demonstration model has been built.
Energy system
Review on batteries as an energy source has been created.
3D-perception system
Software modules for visual object detection, mapping algorithms, and Kinect application has been created.
2 dof. scanner
Conseptual mechanism design has been presented. Breadboard of electronic control system has been created.
Communications infrastructure
Software modules to establish control through GIMnet infrastructure (http://gim.tkk.fi/GIMnet , http://gim.tkk.fi/MaCI), and to simulate robot actions have been created.
Spring 2012
Two Bachelors Theses on Ceilbot
Two Aalto students performed their Bachelors' research on Ceilbot mechanical structure and actuators, and on state of the art in innovative gripper systems.
One Master's Thesis is ongoing on image-processing supported control of the trunk.
Bachelors Thesis on Ceilbot Grippers.pdf (in Finnish) 
Work to be done
Next phases include extensive design and building of actual hardware. Skills in mechanical design, mechatronics, actuators, sensors and control are needed. Supervision of manufacturing work and hands-on assembly work belong into tasks.
Motorized trolley
The trolley to travel along the rails shall be designed and built. The trolley shall carry an on-board mini-computer (already procured), drive motor, motor controller, necessary sensors and needed mechanical hardware (structure, bearings, rollers, brakes....). Mechanical, electrical and communication interfaces need to be adapted to the subsystems.
Work is extensive and shall reserve at least one complete semester with significant time allocation, -preferably two semesters. The topic would be suitable also for a Master's Thesis. A group-work for a commited team can be also considered. Industrial designers are invited to give aesthetic appearance for the device.
2 dof. scanning system mechanics
Mechanical strcuture for a scanning system shall be designed and procured. The scanner shall have 2 degrees of freedom (1 stepper motor + 1 RC-servo, or 2 stepper motors). It will have a large through-hole to allow a Kinect-sensor to rotate around the manipulator. Mechanical design, manufacturing supervision and hands-on assembly skills are needed.
Extensive work shall reserve at least one complete semester with significant time allocation. Industrial designers are invited to give aesthetic appearance for the device.
Continuum manipulator actuators, work is ongoing
The current RC-servos operating the manipulator do not provide enough torque. New gear-motor alternatives shall be searched for, procured and assembled to the existing hardware. Possible mechanical modifications need to be design and manufacturing supervised. Manual hands-on assembly work shall be performed.
Electrical control system and software shall be updated to work with new actuators. New motor controllers shall be procured. Skills in practical electronics, embedded systems, sensors, motor control and control software are needed.
Extensive work is and shall reserve at least one complete semester with significant time allocation. A group-work for a commited team can be also considered.
Continuum manipulator kinematics and inverse kinematics, , work is ongoing
Innovative methods shall be created to calculate/estimate manipulator kinematics and inverse kinematics. Methods may include as for example analytical approach, table look-out or visual positioning. Task is challenging and can be extend into a large study.
Gripper for the manipulator
Innovative gripper systems for the manipulator shall be studied. Gripper must be of low weight, possibly cable-driven having the actuators located in the base. Gripper could be completely independent from the manipulator and it might have its own absolute and/or relative localization system (for example visual measurement). The gripper could be independently controlled through GIMnet interface.
Apply for the project!
We are looking for students of the Aalto University to carry out project work relating to their own experimental study courses. The intention is that students participate in the project by carrying out any of their own experimental study courses and receive credits and grades from that course. Students must contact the instructor of their own course to see whether the ceiling robot project is suitable for carrying out this course. If necessary, work definition and evaluation of the results is carried out in co-operation with the supervisor of the experimental study course.
Some courses’ teachers have already considered that the project may be suitable for at least part of their courses job practice topics. It is advised that you communicate with those teachers in advance, or suggest a topic to your own teacher.
| Code | Course Name | Contact Teacher |
|---|---|---|
| AS-0.3200 | Automation and Systems Technology Project Work | (Check Web-oodi) |
| S-81.3400 | Special Assignment on Industrial Electronics and Electric Drives | Prof. Seppo Ovaska |
| S-81.3200 | Real-time Systems Design | Prof. Seppo Ovaska |
| S-81.2200 | Real-time Systems Design | Prof. Seppo Ovaska |
| Tu-91.1009 | Marketing Exercises | Erik Pöntiskoski |
| Tu-91.1008 | Introduction to Marketing | Erik Pöntiskoski |
| Rak-43.3150 | Special Assignment in Structural Engineering | Prof. Jari Puttonen |
| - | TAIK Industrial Design | Prof. Turkka Keinonen |
The Ceilbot needs engineering, designing and modeling experts in various fields at different stages of the project, which is why students are encouraged to apply for access to the project. Applications will be accepted throughout the school year, but the seats shall be allocated as a general rule at the beginning of each semester. Positions are filled on the basis of applications with emphasis on compatibility with the earlier studies.
Please express your interest to participate by e-mail to Tomi Ylikorpi (tomi.ylikorpi@aalto.fi)
Page updated 15/5/2012