This reporting period, we had the opportunity to disseminate our results at the ROBOTIK 2012 conference (in conjunction with AUTOMATICA FAIR in munich). Therefore, we prepared a video of the final scan data based demonstrator and a conference presentation showing the details and experimental results. We attended to conference from 21. to 22. of May. Additionally, we finished the draft version of the multimedia report with the comments from the industrial partner. Regarding the AR-enhanced demonstrator stage, experiments have been conducted with the welding parts whose geometric features need to be detected by a camera in this scenario. Due to mostly little number of surface features on typical welding parts, we had little success with these experiments and thus decided to drop this demonstrator stage. Very unfortunately, we currently have a staff problem at BLACKBIRD, which is relevant to the remaining deliverables. We will try to achieve as much as possible with the remaining man power.

This period, the team was able to integrate and finish the scan-data based prototype.  The accuracy and registration of the two sensors, the KINECT sensor and the laser scanner was very satisfying, as is visible on the video. The only issue that will stay due to the chosen hardware is the inaccuracy of the laser scanner calibration resulting in less accuracy than theoretically possible. Based on these results, the team is working on an automatic and robust edge feature detection into the software, such that the software can make welding seam proposals to the user based on the laser scanner data. This will further increase the ease of use of the user interface.

Both teams are working intensively on the realization of the components for fine-scanning and planning during fine scan. UNIBAY has completed remote RSI control of their robot and can get profiles from the laser scanner, essential prerequisites for fine scanning. Registration and calibration of the laser scanner needs to be done still before real fine scans are possible. BLACKBIRD is working on the path planner for the welding phase with first results available. There have been delays due to hardware and software difficulties.

The COWBOI experiment completed the Coarse Workpiece Model Acquisition step (see Deliverable No. 4) and is currently focusing on the Fine Geometry Acquisition component which involves interfacing with the laser scanner, synchronization with robot movement and interactive user interface design. Work also continues on the automated welding process planner. An integration of all major parts produced so far is planned by the end if this month as is the completion of the automated welding process planner.

Could you upload deliverable 4? (M9)