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How to install Python and PyCharm

This tutorial explains how to install the basic Python environment for the Lecture Maschine Learning. This course requires a Python version >= 3.8 and PyCharm as IDE. In case you are using another operating system you can find some links at the end of this wiki post.

Download and Installation of Python

To program with Python you need a current Python version, which can be downloaded from the following website: Python. Basically every version after 3.8 can be used, quite new versions can still have bugs now and then, furthermore some packages are not yet transferred to the newest version, therefore 3.9 is recommended.

After the download, the program must now be installed. It is important that Python is added to the PATH, otherwise this step must be done manually. This is accomplished by selecting the “Add Python 3.9 to PATH” checkbox. Now Python is installed and the IDE “PyCharm” can be downloaded. 

Installation of PyCharm

To install PyCharm visit the jetbrains website and follow the instructions. We recommend the Professional version, to get the license for it you need to create an account on Jetbrains and log in to the program after the installation. 

Links




Fotios (Fotis) Lygerakis, M.Sc.

Ph.D. Student at the Montanuniversität Leoben


Short bio: Mr. Fotios Lygerakis started at CPS in March 2022. 

He received his Master degree in Electrical and Computer Engineering from Technical University of Crete in Greece in 2019. Thereafter, he worked as teaching assistant at the University of Texas at Arlington, USA till December 2021.

 

Research Interests

  • Deep Learning
  • Unsupervised Visual Representations
  • Reinforcement Learning
  • Robot Learning

Contact & Quick Links












M.Sc. Fotios Lygerakis
Doctoral Student supervised by Univ.-Prof. Dr. Elmar Rueckert since March 2022.
Montanuniversität Leoben
Franz-Josef-Straße 18, 
8700 Leoben, Austria 

Phone:  +43 3842 402 – 1901 (Sekretariat CPS)
Email:   fotios.lygerakis@unileoben.ac.at 
Web Work: CPS-Page
Chat: WEBEX

Publications

Sorry, no publications matched your criteria.

Meeting Notes




NextCloud Setup

This guide describes how to connect to our nextcloud apps.

Nextcloud Clients

MAC OS iCal Calendar App

  • Go to Settings/Internet Accouns
  • Select ‘Other’ and ‘CalDAV’
  • Select ‘Advanced’ as installation option.
  • Enter your user name and password
  • Use the following server address: cloud.cps.unileoben.ac.at
  • Use the path: /remote.php/dav/principals/users/YourNCUserName/
  • Use the Port: 443

 




WEBEX Setup @ MUL

This guide describes how to setup webex using our univeristy accounts.

WEBEX Clients

Connection Settings

Use the following connection settings:

  • use your university email, e.g., firstname.lastname@unileoben.ac.at
  • The server link is: https://unileoben.webex.com
  • When you connect for the first time, you need to enter your p-number and MUOnline password!
  • Your personal room will be: https://unileoben.webex.com/meet/firstname.lastname



Mrs. Regina Schelch

Secretrary

Short bio: Mrs. Regina Schelch joined the CPS team in February 2022. 

Research Interests

  • Cyber-Physical-Systems 
  • Modern Technologies 
  • Learning Machines and Robotics

Contact

Mrs. Regina Schelch
Sekretariat des Lehrstuhls für Cyber-Physical-Systems
Montanuniversität Leoben
Franz-Josef-Straße 18, 
8700 Leoben, Austria 

Phone:  +43 3842 402 – 1901
Email:   regina.schelch@unileoben.ac.at 
Web:  https://cps.unileoben.ac.at




140.186 Seminar Masterarbeit Montanmaschinenbau (3SH SE, WS21/22, SS 22)

You are interested in working with modern robots or want to understand how such machines ‘learn’?

If so, this bachelor seminar will enable you to dig into the fascinating world of robot learning. You will implement and apply modern machine learning algorithms in Python, Matlab or C++/ROS. 

Your learning or control algorithm will be evaluated in cyber-physical-systems. Find out which theses are currently supervised and offered

 

Links and Resources

Location & Time

Learning objectives / qualifications

  • Students will work on controlling, modeling and simulating Cyber-Physical-Systems and autonomously learning systems.
  • Students understand and can apply advanced model learning and reinforcement  techniques to real world problems.
  • Students learn how to write scientific reports.

Literature

  • The Probabilistic Machine Learning book by Univ.-Prof. Dr. Elmar Rueckert. 
  • Bishop 2006. Pattern Recognition and Machine Learning, Springer. 
  • Barber 2007. Bayesian Reasoning and Machine Learning, Cambridge University Press
  • Murray, Li and Sastry 1994. A mathematical introduction to robotic manipulation, CRC Press. 
  • B. Siciliano, L. Sciavicco 2009. Robotics: Modelling,Planning and Control, Springer.
  • Kevin M. Lynch and Frank C. Park 2017. MODERN ROBOTICS, MECHANICS, PLANNING, AND CONTROL, Cambridge University Press.



140.185 Seminar Bachelorarbeit Montanmaschinenbau (8SH SE, WS21/22, SS 22)

You are interested in working with modern robots or want to understand how such machines ‘learn’?

If so, this bachelor seminar will enable you to dig into the fascinating world of robot learning. You will implement and apply modern machine learning algorithms in Python, Matlab or C++/ROS. 

Your learning or control algorithm will be evaluated in cyber-physical-systems. Find out which theses are currently supervised and offered

Links and Resources

Location & Time

Learning objectives / qualifications

  • Students will work on controlling, modeling and simulating Cyber-Physical-Systems and autonomously learning systems.
  • Students understand and can apply advanced model learning and reinforcement  techniques to real world problems.
  • Students learn how to write scientific reports.

Literature

  • The Probabilistic Machine Learning book by Univ.-Prof. Dr. Elmar Rueckert. 
  • Bishop 2006. Pattern Recognition and Machine Learning, Springer. 
  • Barber 2007. Bayesian Reasoning and Machine Learning, Cambridge University Press
  • Murray, Li and Sastry 1994. A mathematical introduction to robotic manipulation, CRC Press. 
  • B. Siciliano, L. Sciavicco 2009. Robotics: Modelling,Planning and Control, Springer.
  • Kevin M. Lynch and Frank C. Park 2017. MODERN ROBOTICS, MECHANICS, PLANNING, AND CONTROL, Cambridge University Press.



B.Sc. Thesis: Fritze Clemens on Mobile Robot Teleoperation in ROS for Basic SLAM Application

Supervisor: Linus Nwankwo, M.Sc.;
Univ.-Prof. Dr Elmar Rückert
Start date: 10th January 2022

Theoretical difficulty: mid
Practical difficulty: mid

Abstract

Nowadays, robots used for survey of indoor and outdoor environments are either teleoperated in fully autonomous mode where the robot makes a decision by itself and have complete control of its actions; semi-autonomous mode where the robot’s decisions and actions are both manually (by a human) and autonomously (by the robot) controlled; and in full manual mode where the robot actions and decisions are manually controlled by humans. In full manual mode, the robot can be operated using a teach pendant, computer keyboard, joystick, mobile device, etc.

Although the Robot Operating System (ROS) has provided roboticists with easy and efficient tools to teleoperate or command robots with both hardware and software compatibility on the ROS framework, however, there is a need to provide an alternative approach to encourage a non-robotic expert to interact with a robot. The human hand-gesture approach does not only enables the robot users to teleoperate the robot by demonstration but also enhances user-friendly interaction between robots and humans.

In the context of this thesis, the application of human hand gestures is proposed to teleoperate our mobile robot using embedded computers and inertial measurement sensors. First, we will teleoperate the robot on the ROS platform and then via hand gestures, leveraging on the framework developed by [1] and [2].

Tentative Work Plan

To achieve our aim, the following concrete tasks will be focused on:

  • Design and generate the Unified Robot Description Format (URDF) for the mobile robot
  • Simulate the mobile robot within the ROS framework (Gazebo, Rviz)
  • Set up the interfaces and serial connection between ROS and the robot control devices
  • Develop an algorithm to teleoperate the robot in the ROS using hand gesture
  • Use the algorithm to perform Simultaneous Localization and Mapping (SLAM) for indoor applications (simulation only)

References

[1] Nils Rottmann et al,  https://github.com/ROS-Mobile/ROS-Mobile-Android, 2020

[2] Wei Zhang, Hongtai Cheng, Liang Zhao, Lina Hao, Manli Tao and ChaoqunXiang, “A gesture-based Teleoperation System for Compliant Robot Motion“, Appl. Sci. 20199(24), 5290; https://doi.org/10.3390/app9245290

Thesis Document

Gesture Based Mobile Robot Teleoperation for Navigation Application




How To fix the Robot Hand (Overheat Error)

Signs of an Overheat Error

Two signs occur when the overheating error is present:

1) Only the red lamp on top of the robot hand is light up continuously.
2) The ROS Terminal (running the roslaunch rh8d start_rh8d.launch programm) displays “Overheat Error”. In the picture below the error message for servo #38 is displayed.

Needed Resources

  1.  Download the TSBAdvanced Loader binary from github.
  2.  Download the RH8D Fix folder (so far we have only the fixes for Servo #33, #35 and #38, if you need a different one please talk to Prof. Rückert).

How the fix works

  1. Connect the robot hand via the micro USB connector on the side of the hand to a Windows computer.
  2. Plug in the power supply of the robot hand.
  3. Open a Terminal on the Windows computer.
  4. Move to the directory were you unziped the “RH8D Fix.zip” files.
  5. Check the COM connection to the robot hand in the devices manager (i.e. COM4).
  6. Now enter the bridge mode with the terminal command : “tsbloader_adv.exe -port=[the Virtual Serial port number/id you determined in point 1] -seederos=bron” (replace the [the Virtual Serial port number/id you determined in point 1] with i.e. COM4.
  7.  Depending on the servo motor, the corresponding pwd must now be used. Servo #31 = A; Servo #32 = B; … Servo #38 = H.
  8. To reset the faulty temperature sensor of the corresponding servo motor use the following command: “tsbloader_adv.exe -port=[YOUR COMM PORT] -prewait=2000 -pwd=[SERVO-PWD] -eop=ewv -efile=[RESET FILE FOR THE SERVO] -baud=33333”
  9. If there are more than one errors, fix only one at a time!
  10.  After completion use the command: “tsbloader_adv.exe -port=[the Virtual Serial port number/id you determined in point 1] -seederos=broff” to leave the bridge mode.
  11. Afterwards reboot the hand (replug the power supply and disconnect the micro USB cable). After booting all three lamps should light again. Otherwise contact the support of seed robotics via email: support@seedrobotics.com

Sources




Innovative Research Discussion

Meeting on the 9th of December 2021

Location: Chair of CPS

Date & Time: 9th Dec. 2021, 1pm to 1.30pm

Participants: Univ.-Prof. Dr. Elmar Rueckert, Linus Nwankwo, M.Sc.

Agenda

  1. Discussion of the research progress
  2. Discussion of related literature for robot intention communication and human robot interaction

Topic 1: Robot Intention Communication and Human Robot Interaction

  1. Study the given literature to identify the areas of possible improvement
  2. Investigate the integration of LED projector for robot intention communication to humans
  3. Implement a visual signal algorithm to communicate the robot’s intention and direction of motion to humans

Topic 2: Probabilistic SLAM

  1.  Review the  AMCL approach to track the pose of our robot against the map of the environment while mapping.
  2.  Design a SLAM algorithm based on the probabilistic framework and evaluate the performance in terms of loop closure detection, accurate pose estimation and computational cost.

Future Steps

Integrate deep Learning approach with Faster R-CNN model to:

  • detect for example if the person interacting with robot is wearing a face mask
  • classify the face mask worn based on the recommended or not

Next Meeting

Yet to be scheduled