GLOBAL WATCH MISSION REPORT

Mechatronics in Russia: the story so far NOVEMBER 2006

Global Watch Missions DTI Global Watch Missions have enabled small groups of UK experts to visit leading overseas technology organisations to learn vital lessons about innovation and its implementation, of benefit to entire industries and individual organisations. By stimulating debate and informing industrial thinking and action, missions have offered unique opportunities for fast-tracking technology transfer, sharing deployment know-how, explaining new industry infrastructures and policies, and developing relationships and collaborations. Disclaimer This report represents the findings of a mission organised by De Montfort University with the support of DTI. Views expressed reflect a consensus reached by the members of the mission team and do not necessarily reflect those of the organisations to which the mission members belong, De Montfort University, Pera or DTI. Comments attributed to organisations visited during this mission were those expressed by personnel interviewed and should not be taken as those of the organisation as a whole. Whilst every effort has been made to ensure that the information provided in this report is accurate and up to date, DTI accepts no responsibility whatsoever in relation to this information. DTI shall not be liable for any loss of profits or contracts or any direct, indirect, special or consequential loss or damages whether in contract, tort or otherwise, arising out of or in connection with your use of this information. This disclaimer shall apply to the maximum extent permissible by law.

Mechatronics in Russia: the story so far REPORT OF A DTI GLOBAL WATCH MISSION NOVEMBER 2006

1

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

CONTENTS

EXECUTIVE SUMMARY

3

5

1 1.1 1.2 1.3 1.4 1.5

INTRODUCTION Background Specific objectives Benefits to the UK The mission The report

4 4 4 4 5 5

5.1 5.2

2

BACKGROUND: RUSSIAN SCIENCE AND TECHNOLOGY Introduction Structure of Russian R&D of robotics and mechatronics Higher education sector State Academy of Sciences State Research Centers Large Russian state companies Small private companies Framework for collaboration

6

2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 3 3.1 3.2 3.3 3.4 3.5 3.6 4 4.1 4.2 4.3 4.4 4.5 4.6 4.7

2

6 6 6 7 7 8 8 9

MECHATRONICS: ROBOTICS TECHNOLOGY Introduction Overview Industrial robotics and manipulators Wheeled and tracked robots Climbing and walking robots Flying and swimming robots

11

MECHATRONICS – DEFENCE AND AEROSPACE SECTORS Introduction Overview Application to homeland security Microsensors Unmanned aerial vehicles Night vision Vibration modelling and aerodynamic testing

20

11 11 12 15 17 19

20 20 21 24 25 25 26

5.3 5.4

6

MECHATRONICS – INDUSTRIAL 27 APPLICATIONS Introduction 27 Applications where uniqueness or 27 advanced performance is claimed Development projects which may 28 lead to uniqueness Technologies which appear to be 29 fully developed and which may offer cost or capability advantage compared to those available in the UK market CONCLUSIONS

32

APPENDICES A Mission team details B Host organisation details C Itinerary D One-day workshop E Scientific practice workshop F List of exhibits G Glossary H Acknowledgments

34 34 38 42 43 44 45 47 49

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

EXECUTIVE SUMMARY

Russia’s traditional strengths in aerospace, defence and specialist machinery are increasingly exploiting mechatronics design approaches, combining mechanical devices with electronics and software control systems. A recent DTI Global Watch Mission to Moscow and St Petersburg explored some of the latest developments. Mechatronics is used extensively in robotics, aircraft and other systems that require intelligent mechanical elements. The mission, co-ordinated by the Mechatronics Research Centre at De Montfort University (DMU), focused on aerospace and defence and specialist technologies related to industries such as oil and gas. In Moscow the team attended a specially organised workshop at the Moscow State Technological University ‘Stankin’ (MSTU ‘Stankin’) where research organisations and companies presented their mechatronics programmes and capabilities. Many were developing devices for inspection of oil and gas pipelines, medical uses and manufacturing. Research & Manufacturing Corporation TARIS, a progressive small company that makes robotic systems for sewer, water main and pipeline inspection, oil well visual inspection and other applications was also visited. At Bauman Moscow State Technical University (Bauman MSTU), which has a long history of collaboration with DMU, researchers are developing robots for emergency applications such as bomb disposal, nuclear incidents etc. They are also working on micro gyroscopes and accelerometers for autonomous devices eg unmanned aerial vehicles (UAVs). The Technical University, Moscow State Institute of Radiotechnics Electronics and Automatics,

was visited and some innovative techniques for education in mechatronics and robotics were seen as well as innovative work on autonomous control systems for mobile robots. The State Academy of Sciences (SAS) Institute for Problems in Mechanics, Laboratory of Robotics and Mechatronics is working with other institutes to develop ‘gecko’ robots that use nano-fibres to provide ‘stickiness’ to walk on walls and ceilings. New types of movement are being explored to enable them to operate in awkward spaces. In St Petersburg the team visited the Russian State Scientific Center for Robotics and Technical Cybernetics, which developed robotics systems for the Russian space programme. The centre is working with St Petersburg State Polytechnic University (SPbSPU) to educate a new generation of robotics and mechatronics engineers. Projects include UAVs and robotic snakes made of modular elements that can simulate a real snake’s movements. A second workshop at SPbSPU involved several universities and research institutes. Interesting applications included large mechatronic figures (or animatronics) and automated stage sets for theatres, including the Marynsky Theatre, home of the Kirov Ballet. The mission presented an excellent opportunity for the delegation to assess mechatronics technologies in Russian research institutes and universities across a range of applications and to identify leading edge technologies that could find future applications in UK industry. It was not possible to assess mechatronics in large aerospace and defence companies as access was not achieved despite assistance from the Russian Ministry of Industry and Energy. 3

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

1

INTRODUCTION

1.1

Background

The Global Watch Service aims to monitor overseas science and technology developments in specialist domains with a view to enhancing the UK’s capability and competitiveness through co-operation and partnership. Russia has long been recognised as having a world-class research capability in science and technology. Political and economic developments since the 1990s mean much of this knowledge base is now potentially accessible to UK organisations. This mission to Russia aimed to review the state of the art in mechatronics and explore a range of science and technology issues related to the development of mechatronics technologies, and where appropriate look to establish collaborative links. Areas of interest included novel aerospace and defence technologies, specialised machinery technologies and robotics which aligned well with several of the declared Russian science and technology innovation priority areas, namely; aviation and space technologies; novel weapons, military; and specialised machinery and production technologies. 1.2

Specific objectives

• Actively seek opportunities to establish collaborative links with the Russian organisations. Other more general objectives included to: • Share the lessons learnt and explore a range of technological and business issues pertinent to mechatronics applications in the proposed sectors. • Identify any regulations and policy aspects governing the development of mechatronics in Russia and their influence on collaboration between the two countries. • Disseminate the mission findings and to improve the flow and quality of information to the UK’s industrial and academic communities. 1.3

Benefits to the UK

As the UK suffers from increased shortages of scientists and engineers, and in order to maintain the excellence of our science base, we must now seek greater levels of international collaboration. Russia remains an area of very considerable potential that could be better exploited through enhanced access to their technology market place.

The mission was established to: • Study the mechatronics technologies, skills and capabilities underpinning the Russia science and technology base in the proposed sectors. • Gain a better insight into the current state of the art and future developments of these mechatronics technologies. • Identify suitable mechatronics technologies for potential transfer to the UK, or for cross-fertilisation between sectors. 4

The mission will benefit UK industry by offering opportunities to access a range of high quality intellectual property in key commercial domains for our economy. The findings and knowledge gained from the mission will help identify sources of technology that will complement and enhance the UK’s activities in these areas, as well as fostering potential collaborative research and development between organisations from both countries.

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

In terms of market potential, Russia has the third highest predicted economic growth after China and India, which presents considerable opportunities for UK organisations to supply established and new products and services to them. 1.4

The mission

The mission took place from 13-17 November 2006 and the delegation visited eight organisations in Moscow and two in St Petersburg. The intensive programme was organised as a series of visits and included two workshops presenting the opportunity for the mission team to meet with additional representatives of organisations that could not feature in the visit programme because of time restrictions. The mission team also had the opportunity to meet a number of other Russian organisations in a reception hosted at the British Embassy. The aim was to provide the delegation with an opportunity to meet as many of the key stakeholders in the Russian mechatronics community as possible in the limited time available.

The mission team comprised: • • • • • • •

Bob Chesterfield, MBDA UK Jim Thomson, Doosan Babcock Pete Loftus, Rolls-Royce Geoff Pegman, RURobots Philip Moore, DMU Seng Chong, DMU Juan Matthews, DTI Global Watch Service

1.5

The report

This report has been structured by categorising the information based on different application areas of mechatronics. A specialist technology section focuses on robotics technology, as this topic was a strong theme in many of the visits undertaken. The origin of the information supplied is indicated wherever possible.

Exhibit 1.1 The mission members in Moscow. L to R: Seng Chong, Ekaterina Yudina (interpreter), Bob Chesterfield, Geoff Pegman, Pete Loftus, Philip Moore, Jim Thomson, Juan Matthews

5

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

2

BACKGROUND: RUSSIAN SCIENCE AND TECHNOLOGY

2.1

Introduction

education, research, development, design and manufacture are structured. This structure was well developed in the Soviet Union as part of the centrally planned economy. In many industrial sectors this has been disrupted by the disastrous privatisations in the Yeltsin era. Not all industry was privatised, however, and strategic industries related to defence and aerospace remain publicly owned. Much of Russia’s key natural resource industries also have a large public component and the recent purchase of Yukos production has moved a major portion of the oil industry back into public ownership. This means that for mechatronics and robotics the links between academic and publicly funded research with industry remain intact.

Russian science and technology is structured quite differently to that in the UK. This structure has a strong base of institutional research and an emerging university sector. These structures actually stem from before the Soviet Union when the SAS created research institutes separately from the universities. During Soviet times a new set of applied research institutes was formed by Ministries and State Committees to support state industry. Now, 15 years after the collapse of the Soviet Union, this large and under-funded structure is undergoing a period of rationalisation. 2.2

Structure of Russian R&D of robotics and mechatronics

2.3 The diagram below gives some examples relevant to robotic and mechatronics of how

Education

Saint Petersburg State Polytechnical University

Russia’s higher education sector remains

Bauman Moscow State Technical University

Basic research

SAS Institute of Control Sciences

SAS Institute of Machine Studies

Applied research

Central Research Institute for Machine Building

National Research Institute for Aviation

Design bureau

Small companies End users (often state owned)

Design Bureau of Special Machine Building

Granit-7 Corp

Space Energia Khrunichev Progress

Sukhoi Design Bureau

State Production Center Geophysika Aviation Tupolev IIyshin MiG

Higher education sector

Moscow Institute of Radiotechnology, Electronics and Automation

Institute of High Technologies and Experimental Machine-Building Kurchatov Center

Russian State Scientific Center for Robotics and Technical Cybernetics

Central Design Bureau for Machine Building Research & Manufacturing Corporation TARIS

Nuclear Mayak Rosatomstrol Rosenergoatom

6

SAS Mechanical Engineering Research Institute Central Scientific and Research Institute ‘Elektropribor’ Almaz Central Marine Design Bureau

Servotechnica Ltd

Natural resources Gazprom Rosneft Norilsk Nickel

Exhibit 2.1 Structure of Russian R&D of robotics and mechatronics (examples)

Moscow State Technological University ‘Stankin’

Siberia Mechatronics Ltd Manufacturing Avtovaz Titan Ural Tool Plant

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

strong and about 50% of Russian young people go to just over 1,000 Russian higher education institutions. The number of science and engineering graduates per year is currently about 350,000 and most of these will have completed six year specialist’s or master’s degrees. Russian higher education is very broad and the mathematical training is excellent. Post-graduate work is currently buoyant and growing at about 10% a year, with about 7,500 students per year completing science and engineering PhD level qualifications. The best of these come from the 200 or so state universities and state technical universities. The mission visited three of the six highest ranked technical universities in Russia – Bauman MSTU that is strongly linked with aerospace, MSTU ‘Stankin’ which historically is linked with machining (stankom in Russian means machine tool) and SPbSPU. The fourth university visited, Moscow State Institute of Radiotechnics Electronics and Automatics (MIREA), is more vocationally oriented. Traditionally universities in Russia have not been majorly concerned with research, and postgraduate studies were carried out in collaboration with research institutes and industry. This has now changed and a vibrant university research sector has grown over the last 15 years mainly as a way of increasing income and the necessity of providing postgraduate projects when access to industry has become more difficult. The mission team was pleased to find, at least in the mechatronics area, university and industry collaboration remains important, furthermore the team saw evidence of independent university research that has also helped create new industry. 2.4

activity in several engineering and control system institutes and the mission saw some of the best examples in the three SAS institutes visited. The three institutes were very different in their outlook and conditions but all were involved in quite applied work in terms of production of prototype and even production equipment and software. In September 2004 the Russian Ministry of Education of Science issued a concept paper recommending a complete restructuring of Russian science. At the moment there are over 5,000 organisations involved in research and 1,800 of these receive some public budgetary support. The proposal was to double public research expenditure (from the current value of about £7 billion per year) but to concentrate this on a limited number of institutes and to increase standards and average salaries. Many scientists have to moonlight by working in private companies in order to survive and the Russian Government would like to have professional researchers, who would concentrate on generating the knowledge base required to expand the economy. There was a strong reaction to these proposals from the SAS and it has taken two years for the situation to be resolved. On 6 December 2006 a new law was passed to transfer control of the SAS to government. Approximately 200 institutes will receive funding for basic research and the rest with either work on a customer-contractor relationship with industry; will be privatised and have to compete for research; merge; or close. New agencies (reporting to the Ministry of Education and Science) for science and innovation, and basic research will manage the changes. University research structures will be formalised and some academic research institutes may be transferred to universities.

State Academy of Sciences 2.5

Basic research is carried out mainly by the 464 institutes of the State Academy of Sciences (SAS). By its nature mechatronics is an applied subject but there is still major

State Research Centers

In addition to SAS institutes there are 58 State Research Centers that are funded separately as centres of excellence. For 7

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

mechatronics and robotics there are three that stand out – the Russian State Scientific Center for Robotics and Technical Cybernetics (RTC) in St Petersburg, which the mission visited, the Kurchatov Research Center, which has a special Institute for High Technologies and Special Machine Building that has advanced robotics capabilities, and the Central Research Center ‘Elektropribor,’ that designs advanced electronic instrumentation for navigation and control of missiles, space vehicles, aircraft and ships. Moving towards development of systems directly for industry there are specialist research institutes and design bureaux funded by the ministries (or more correctly agencies for particular industries like RosCosmos for space, RosAtom for nuclear power and RosProm for defence and other industry). Getting access to these organisations, like the National Research Institute for Aviation, the Central Research Institute for Machine Building and the Design Bureau for Special Machine Building of RosCosmos and the Central Design Bureau for Machine Building of RosAtom, proved difficult so an assessment of their scientific potential was not possible. 2.6

Large Russian state companies

The large Russian state companies like aircraft companies, space launcher and space craft constructors and weapons system manufacturers are large vertically integrated groups with a lot of their own R&D, design and experimental testing capabilities. They still also rely on technology input from universities, R&D institutes and design bureaux and also source technology from outside Russia. However, when they were approached through the Russian Ministry of Industry and Energy they were found not to be interested in direct cooperation on knowledge transfer and so it was difficult to asses their capabilities in the

robotics and mechatronics area. This situation has been found in other technology areas. There is, however, no doubt about the success of the Russian aerospace and defence industries. RosCosmos has set up a Center for Transfer of Technology and this is mainly directed at using IP and skills from Russia’s space industry in other industrial sectors. The nuclear sector is a special case as there is a range of non-proliferation programmes to help with the safe control of nuclear materials, the decommissioning of weapons and submarines, and the diversification of nuclear scientists into other industries. DTI is very active in this area as part of the G8 Global Partnership for reduction of weapons of mass destruction.1 Through one of these programmes, the DTI Closed Nuclear Cities Partnership,2 some skills in the area of mechatronics at a Russian nuclear weapons design and manufacturing site have already be used in a project with a UK company for a healthcare application. The Russian Government is now reviewing the status of the state companies. It is expected that over the next three years many of them will be partly or wholly privatised – not by issuing share vouchers to staff, as was done disastrously by Yeltsin, but by floating on the Russian and foreign stock markets. Some smaller companies may be sold. We hope this will mean that technology co-operation will become easier. 2.7

Small private companies

Most encouragingly the mission found a number of small private companies, spun out from universities and research institutes that were active in mechatronics and robotics. A driving force for this is the growth of the oil and gas industry over the past seven years and the demand for equipment for inspection and

1

www.dti.gov.uk/energy/environment/soviet-nuclear-legacy/programme-portfolio/page13298.html

2

www.cncp.ru

8

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

repair of pipelines. Private companies are now also involved in nuclear, security, entertainment and medical applications of mechatronic systems. Most of these companies were created either during perestroika at the end of the Soviet period or soon after the collapse of the Soviet Union. During these periods a large number of companies was created after relaxation of the constraints on private enterprise. The ones that have survived have done so after a series of economic crises – the last one being in 1998 when the Rouble devalued. The companies were also created with little access to investment capital and have grown largely using revenue. 2.8

Framework for collaboration

Russia has participated in the European Framework Programmes (FP) since FP5. Russian allocations for FP5 and FP6 were not fully subscribed, probably due to difficulties in identifying partners. Collaboration websites have not yet been developed for FP7 but you can use the partner search facilities created for FP5 and FP6 by the Russian Center for Science Research and Statistics.3 National contact points have been established for some key EU programmes areas. The reduction in funding for science in the early 1990s led to concerns that scientists with military skills would emigrate to countries where their knowledge would be a threat to security. In response the EU and the USA set up a number of programmes to support research. The most important of these are the International Association for Cooperation between Scientists of the Newly Independent States (INTAS)4 and the 3

www.fp5.csrs.ru, www.fp6.csrs.ru

4

www.intas.be

5

www.istc.ru

6

www.britemb.msk.ru

7

Russian Site www.brin-net.ru, English site www.brin.org.uk

International Science and Technology Center (ISTC).5 INTAS provides research grants for collaborations with European countries and can also assist with involvement in EU FPs. ISTC has substantially funded research but also allows companies in donor states to carry out very cost-effective research in Russia through its partner programme. Limited assistance in contacting Russian R&D organisations can be obtained through the Science Section of the British Embassy in Moscow.6 Local support in Russia can also be obtained from Innovation and Technology Centers that have been established in most regions where there is a significant science base. As Russia is such a large country and has such a diverse science activity the Foreign & Commonwealth Office (FCO) Global Opportunity Fund recently decided to support the formation of a British-Russian Innovation Network,7 which links to the Russian Technology Transfer Network8 that connects to a large number of innovation structures in Russia. These networks can help find partners and make contact with local innovation infrastructure in Russian regions. The Knowledge Transfer Networks (KTN)9 will in future have a remit to review overseas technology and make appropriate links. For other DTI programmes to support innovation and knowledge transfer see the DTI innovation webpages.10 Assistance in entering the Russian market can be obtained from UK Trade & Investment (UKTI),11 that has local staff in the Embassy in Moscow and in the Consulates General in St Petersburg and Ekaterinburg, who can find business partners and carry out market surveys. New services

8

www.rttn.ru

9

http://ktn.globalwatchonline.com/epicentric_portal/site/KTN/menuitem.f981218737f76ebc0a255921eb3e8a0c/

10 www.dti.gov.uk/innovation/index.html 11 www.uktradeinvest.gov.uk

9

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

are soon to be announced by UKTI for specific assistance to companies working in technology areas for the high growth markets that include Russia.

10

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

3

MECHATRONICS: ROBOTICS TECHNOLOGY

3.1

Introduction

Most of the mission visits undertaken in Moscow and St Petersburg featured examples of robotics technology. This is unsurprising as robotics is a prime example of mechatronics in a relatively easily accessible form and, in the case of educational institutions, with much appeal to students. Nevertheless it was understood by the mission team that what was viewed was merely a selection of the available technology and by no means a comprehensive overview. It was also the case that the length of time available for each visit did not permit an indepth review of the technologies. However this latter point was offset somewhat by the useful presentations and follow-up material received at most venues. Many of the application drivers for robotics are familiar to those in the UK. These include defence, security, medical and healthcare, industrial automation and nuclear clean-up. Less significant application drivers that were still in evidence included industrial inspection (including utilities), food manufacture, underwater robots and space robots, although the latter was probably underrepresented in what was shown versus the known position of Russia in this area. Perhaps surprisingly, there was little evidence of robot assistants within the home, particularly assistance for the elderly, being an application driver despite this being a growing area of interest within Europe and most of the rest of the world. Those few applications aimed at the home setting seemed mainly to come under the classification of edutainment (educational entertainment) devices.

3.2

Overview

Despite the high profile, as its most basic a robot is simply a device to deliver a tool or a sensor to a position to carry out a task. The part that makes it a robot is that it either must be reprogrammable or must be capable of adapting to its environment or the task. This very broad description leads to a wide range of machines that can be considered to be robotic and, largely, the full gamut of possibilities were on display during the visits with perhaps the only notable exception being the category of cognitive robots, ie robots with the ability to perceive their environment and plan strategic action autonomously. Whether this is because such research is not a major activity in Russia, or whether these simply were not at the institutes visited or not presented, the team does not know. It may be that as the subject of the mission was mechatronics this may have swayed the hosts towards a presentation of more electromechanical systems. Overall a common theme that came through nearly all of the presentations was a good competence in sound engineering principles leading to the development of robust equipment. The major impression left was that of the very practical nature of many of the systems and demonstrations at the universities and institutes. This was typified by Bauman MSTU which took on the design and assembly of bomb disposal robots for field use by the military. Many of the institutes and universities had gained direct experience in the production of robust robots after Chernobyl, which seems to have had a similar catalytic effect on field robotics capability as Three Mile Island did in the USA. 11

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Although many of the systems did not show particular novelty over and above the systems available in the West, this robustness, combined with the potential for cost-effective supply makes many of the systems of potential interest to UK companies and organisations. Another strong capability which emerged as a common theme was a competence in control engineering and particularly in algebraic control methods. This draws upon a strong tradition within Russian science but also a legacy from previously not being able to access high power computing equipment. This could be of relevance once more as demands for mobile robotics and power efficient equipment may be met with more efficient algorithms allowing lower processing capacity to be used. However, it also appeared that this competency was more evident within the established areas of research than among some of the newer areas which, with the access to more modern computing, seemed to also be moving towards numerical methods. A final general theme of the robotics, although not central to this section, is that several of the robotic platforms were used for deploying novel sensor systems that greatly enhanced the capability of the robot system. For instance two institutes used robots to deploy high performance radiation detectors. One such system was the radiation detector from the Russian State Scientific Center for Robotics and Technical Cybernetics (RTC) which has a 360º, continuous monitoring capability. This then allows a semiautonomous mobile robot to outperform other robots in a task of finding hidden radiation sources. Given the range of robotic systems on display it is useful to sub-categorise them according to their basic platform, ie: • Industrial robotics and manipulators 12

• Wheeled and tracked robots • Climbing and walking robots • Flying and swimming robots 3.3

Industrial robotics and manipulators

In common with the UK, Russia is not a leading producer of industrial robots. Nevertheless, technology R&D in the area of manipulation and industrial robotics seemed to be strong from the evidence shown to the mission team. One of the strong themes in this area was support for education in industrial robotics. In this area MIREA demonstrated two interesting systems. The first was a system of small scale modular industrial robotic (Exhibit 3.1) and associated components that could be assembled by the students in learning about the elements of flexible manufacture. Although simple in design and relatively slow in operation (due mainly to high gearing) it was designed to be relatively inexpensive to manufacture and thus could be made available to many students to carry out experiments. This equipment was also seen on other site visits in both Moscow and St Petersburg and has apparently been sold to some 20 teaching universities and institutes.

Exhibit 3.1 Modular robotics for teaching

Linked to this modular physical system is a web-based system for remote teaching that also features simulation of the robotic modules, remote programming and remote operation. Thus the student can both learn about programming the robot system with

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

online teaching and help pages, and test the resulting code without needing significant access to the lab.

Exhibit 3.3 RTC relocatable manipulator

Although the web instructions were in Russian, the institute offered to translate the pages to English and that these and the modular robotic kit could be made available to UK institutions. With regard to industrial applications MIREA also demonstrated a manipulator arm developed at the institute that had the capability of lifting a payload equivalent to its own mass. However, this was achieved through the use of high gearing and relatively slow speeds, rather than any innovative design approaches. The RTC at St Petersburg showed a general purpose (universal) manipulator (Exhibit 3.2) capable of both automatic and tele-operated control and aimed particularly at hazardous environments. This manipulator was six degrees of freedom (DoF) with a reach of just over 2 m and a mass of 55 kg and featured a distributed control system based on controller area network bus (CANbus). This latter feature would seem to rule out this arm for use in high-radiation nuclear environments but compared to, say, standard security

manipulators it would seem to have much greater dexterity and range of control. RTC also gave details of a relocatable manipulator (Exhibit 3.3), similar in concept to manipulators being developed by NASA and European Space Agency (ESA) for space station maintenance. The manipulator is capable of attaching itself at either end to a special fixture. With a series of these fixtures the manipulator could relocate its position carrying out tasks with the ‘free’ end using end effectors. Another space application manipulator is that of a long reach manipulator for use on an orbital space station (Exhibit 3.4). This work was presented by St Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences (SPIIRAS) that had undertaken work related to the control system for this arm.

Exhibit 3.2 RTC universal manipulator

On the medical front, several presentations were given of both current and proposed 13

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

MSTU ‘Stankin’ is also involved in collaboration with KUKA Roboter that has seen the creation of a Center for Robotics Technology at MSTU ‘Stankin’ featuring several of the latest KUKA industrial robots.

Exhibit 3.4 Orbital space station manipulator

systems, including a neurosurgery robot from SPIIRAS. Moscow State Industrial University showed the use of a modified conventional industrial robot for both massage and rehabilitation. The modifications allowed the use of force control methodology, although the aspects relating to patient safety were not entirely clear. MSTU ‘Stankin’ has been involved with the optimisation of parallel mechanism robots and machine tools including a German hexapod machining system and one novel machining centre featuring a scissor actuation that delivers both high forces and stiffness.

Exhibit 3.5 Robotic massage system

14

As well as the various physical systems there was, as would be expected, much work being undertaken in advanced control methods. Of particular note was one system at MIREA that was a combined hardware and software test bed for the development and evaluation of control schemes for drive systems. The hardware can be configured with differing load characteristics and the software assists with the tuning and derivation of optimum control parameters for a variety of control approaches including proportional-integral-derivative (PID), adaptive, fuzzy and neural controllers. The system also assists the comparison of the various control approaches in order to determine the optimal technique for the load characteristics. Also at MIREA, reference was made to dynamic decoupling of multiple link mechatronic systems (as in serial manipulators) using existing computing hardware (PCs) and which did not require high processing requirements. While this was not demonstrated, the potential here is significant and may warrant further investigation.

Exhibit 3.6 Robotic physiotherapy

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

3.4

Exhibit 3.7 Scissor action parallel mechanism machine

Wheeled and tracked robots

The majority of applications for ground-based mobile robots that were shown to the mission team were for nuclear and security uses. Indeed, the security needed to detect and neutralise threats containing nuclear isotopes meant that many of the requirements for these two applications were very similar. Both RosAtom and RTC had dedicated mobile platforms for the detection and removal of gamma radiation sources. Both systems feature radiation detectors that could both detect the direction of the source and the levels of the energy emissions across a spectrum, allowing remote isotope identification. The RosAtom system features a tracked vehicle with a steerable gamma detector and a manipulator arm for the acquisition and disposal of the detected threat. It is understood that the control mode of the vehicle is teleoperation. The RTC system (the RTC-03) is a wheeled vehicle with the option of either four or six wheels. It carried a fixed gamma detector with a 360º field of view with, it is believed, 24 separate directional detection cells. It also carries a manipulator for dealing with the threat and features tele-operation control but

Exhibit 3.8 The KUKA industrial robots displayed

Exhibit 3.9 RosAtom gamma detection robot

15

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Exhibit 3.11 MRK-27 bomb disposal robot

Exhibit 3.10 RTC gamma detection robot

is believed to also feature a semi-autonomous control mode. In a comparative test this system was able to detect and retrieve an isotope source in an overgrown open area within 12 minutes while a US system failed in the task after taking 90 minutes. A further radiation detection vehicle is also being manufactured at Bauman MSTU. One notable feature of the robots seen at the universities and institutes was the robustness and ruggedness of the systems. While the systems mentioned above were field deployable, perhaps most significant in this area was the work at Bauman MSTU where fully robust bomb disposal robots were designed, assembled and tested. Only the parts manufacture was outsourced to industry. The Technological Design Bureau of Applied Robot Technology has put together at least 11 different robot types since 2000, ranging 16

from 20 kg to 19 tonnes. The main bomb disposal robot is the MRK-27 (Exhibit 3.10). This robot, like several others, has undergone full environmental testing for temperature, humidity and vibration, and carries quality certification. This robot has also undergone testing involving explosive damage assessments and has withstood a blast of 600 g of TNT at 0.5 m and remained functional. As well as the robots, Bauman MSTU also undertakes development of various pieces of ancillary equipment including a hydrodestroyer capable of destroying a mine buried to a depth of 100 mm in soil. On the commercial front the mission team visited TARIS which develops, manufactures and deploys mobile robots for pipeline inspection. As with many of the systems viewed in Russia, these systems were not particularly sophisticated from a control point of view, but were rugged, well built and most likely more cost-effective than comparable system offerings from Europe or the USA. As well as the mobile platforms, TARIS designs and builds the inspection heads, which feature high resolution cameras and high intensity LED illumination. The robots manufactured by TARIS are designed for pipe diameters from 90 mm to 1,800 mm and are in active use in many Russian cities.

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

as the basis for providing control to small ground, flying (both fixed wing and helicopter) and underwater robots. The control board along with a common set of tools allows the rapid development of intelligent control systems for a wide range of applications. Also of note were various operator consoles featuring in-house developed virtual reality displays, which were particularly prevalent on hazardous environment robots. 3.5

Exhibit 3.12 TARIS pipeline robots

The pipeline robots are of a sealed construction and the smaller vehicles are articulated to facilitate entry through existing entry-ways with 90º bends. As well as inspection, some of the robots can be fitted with cutting and drilling equipment to undertake modifications inside the pipe. Many other mobile robots were shown and/or demonstrated to the mission team ranging from toy systems to large construction vehicles. Work on the control of mobile robots was also in evidence with several universities have variation of simultaneous localisation and mapping (SLAM). Of particular note was a general purpose control board developed by MIREA which was used

Exhibit 3.13 Generic mobile vehicle control board

Climbing and walking robots

Although less common than the mobile robots, several universities were involved with climbing and walking robots. Of particular note in this area was the work undertake at the SAS Institute for Problems in Mechanics (IPM). The work here had involved developing several wall climbing robots that had been demonstrated both in the lab and in practical applications. One particular robot was a relocatable manipulator, of similar concept to the RTC device. However, this robot did not need fixed attachment points and used vacuum grippers for attachment, allowing it to walk along floors and climb walls (Exhibit 3.14). This ability to affix one base and then move its entire body to fix the other base gives this robot some unique walking characteristics. Another notable system at IPM was a pipe crawling robot for very small diameter pipes. These devices are pneumatically actuated pipe crawlers for pipes with an internal diameter of around 1 cm. The actuation segments are quite short (again typically around 1 cm) and by linking several of these with flexible connections it is possible to get the robot to traverse pipes with quite a tight radius of curvature. Both unidirectional and bidirectional versions of these small pipe crawlers had been manufactured. These would seem the good basis for a pipework inspection robot in systems such as boiler pipes. 17

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Exhibit 3.16 Small pipe robots

Exhibit 3.14 IPM climbing robots

Exhibit 3.17 RTC snake robot

A different kind of crawling is involved with the snake robots developed at RTC. This is a 16-joint, articulated robot with no fixed base. Movement is achieved through the coordinated motion of all joints. As well as the

development of the physical system, work has been undertaken on the kinematics and dynamics of ‘limbless’ motion and from there the development of control schemes to produce the various schemes of locomotion

Exhibit 3.15 IPM relocatable manipulator

Exhibit 3.18 ARNE 02 humanoid robot

18

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

that are realisable with such a robot, eg concertina propulsion and sidewinding. Other notable walking systems include the project ARNE humanoid robot from SPIIRAS. This is a 23 DoF humanoid that weighs around 60 kg and is 1.23 m tall. Finally in this section, it is worth noting that robotics is making a contribution to the performing arts in Russia. SPbSPU has developed a number of very large ‘robots’ for stage productions that, although controlled with external wires, have a robotic kinematic structure. These include two 5.2 m high metal robots for the play ‘BOLT’. 3.6

control systems, rather than physical systems and much of this appears to have been demonstrated primarily in simulation. Of particular note here is the work MIREA has undertaken with the SAS Oceanology Institute in equipping the small GNOM teleoperated underwater vehicles with a control system to allow semi-autonomous operation. These Russian-built vehicles are approximately 30 cm long and would be suitable for small entry inspection tasks, particularly when upgraded for semiautonomous operation.

Flying and swimming robots

Although several references were made to flying and swimming robots, no systems were demonstrated to the mission team. Much of the work in this area by the institutions visited involved development of

Exhibit 3.20 GNOM Micro

Exhibit 3.19 Performance robots for the play ‘BOLT’

19

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

4

MECHATRONICS – DEFENCE AND AEROSPACE SECTORS

4.1

Introduction

The initial promise of the visits planned for the mission that included visits to aircraft manufacturers and centres of design and machine building unfortunately could not be met. Therefore, it was not possible to assess the extent of the adoption of mechatronics in these mainstream areas of the Russian defence and aerospace sectors. However, the visits to the institutes did offer an insight into developments past and present in defence and aerospace related areas. Much of the defence technology presented was at the macro end of the scale in the form mainly of semi-autonomous wheeled and tracked robots developed for Russia’s RosAtom, Ministry for Emergency Situations and their security services. There was technology presented in the micro region in the form of silicon structure microsensors, ie inertial device gyros, accelerometers, pressure transducers etc, which can ultimately be configured into systems. An example is Inertial Navigation Systems (INS) marketed by such companies as Gyrooptica Ltd. Much of the technology presented directly related to aerospace was in the form of unmanned vehicle control and navigation systems. Some of the enabling technologies were also presented which include microsensors, runway inspection systems, night vision systems, space vehicle vibration modelling and sensors for aerodynamic testing etc. Research in the areas of non-wheeled/tracked robotics was in evidence at several institutes visited. At a research level, work associated with ‘limbless movement’, replication of snake locomotion, was being pursued which 20

seemed to parallel work being done elsewhere in the world judging by the presentations given. At the R&D level, work was evident with climbing robots. Much of the technology shown seemed to be mature and was based on the use of a vacuum to provide the grip to climb. There was, however, one exception with an approach that replicated the action of the soles of the feet and underside of the toes of the gecko using micro-fibres to grip the surface. R&D into air vehicle control was also apparent. One example of research into autonomous navigation was shown which was based upon multiple sensors and a ‘learning’ capability that was aimed at establishing a capability to fly challenging missions through valleys and mountain passes. The same system was also aimed at being able to make autonomous take-offs and landings. An example of development that was declared as relevant to autonomous flight was a system to measure the ‘cohesiveness coefficient’ of runways to determine braking limits along their length. This information would be transmitted to an incoming air vehicle as part of the data to establish the landing profile to be met. 4.2

Overview

Since there were no visits to mainstream defence and aerospace sector organisations in Russia, it is not possible to review the depth of use or penetration into companies and centres that form these sectors. The only significant encounter with the mainstream was with Khrunichev Space Research and Production Center and the Salyut Production Plant, although an engineer from Energia attended the seminar at MSTU ‘Stankin’.

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Khrunichev Space Research and Production Center constructed the Proton rocket that is Russia’s major lift launch vehicle. It was quickly established that mechatronics was not a subject or a technology that featured in its needs for production. This lack of use of mechatronics was further reinforced by Energia Russia’s other major constructor of rockets that also said it currently did not employ mechatronics systems. On the basis that no definitive comment can be made on the use of mechatronics by the defence and aerospace sectors per se, the review now considers the subject from several points that are broadly related. 4.3

Application to homeland security

The research institutes that the mission visited most involved in this field are:

Exhibit 4.1 Machines developed for operations at the Chernobyl site

Exhibit 4.1 shows the machines developed by Bauman MSTU for operations at the Chernobyl site; Models Mobil Ch-XV and Mobil CH-XV-2, 1986 and 1987 respectively. Under different circumstances the Bauman MSTU machine shown in Exhibit 4.2 was used in 1997 to assist at an accident at VNIIEF, Sarov. Another example of a machine that has been

• Bauman MSTU • Russian State Scientific Center of Robotics and Technical Cybernetics, St Petersburg The R&D presented was predominantly related to wheeled and tracked robots ranging in weight from 20 kg to 24 tonnes. The bulk of this work undertaken by these research institutes has been for Russian Federation Government – Ministry of Defence, Federal Security Service (FSB), Ministry for Emergency Situations, Interior Ministry and RosAtom. From the material presented, the origin for much of the development was the disaster at Chernobyl for which machines were rapidly developed from existing models. The major activity in this development was hardening against the radioactive environment which was reported as being undertaken with the Russian Federal Nuclear Center (VNIIEF) at Sarov.

Exhibit 4.2 Machine used during 1997 accident at the Russian Federal Nuclear Center

directly used in homeland security is the machine shown in Exhibit 4.3 developed by RTC. The role of the machine was to search for and recover a source of radiation that had been buried in woodland in Grozny, Chechen Republic in July 2000. Exhibit 4.4 shows this operation in progress.

21

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Exhibit 4.3 Mobile Robotic Complex RTC-03 Razvedchik (Prospector)

Exhibit 4.4 Operation of the RTC-03 robot

Since 2000 the machine has been evolved to the standard shown in Exhibit 4.5.

additional item communicates back from the ‘tool’ to the main onboard communication system by means of WiFi as it was described and the information is then relayed back to the operator by means of the main UHF link.

The ionising source detector is configured such that it searches in 12 segments of 30° in azimuth and of the order of 90° in elevation providing the primary detection, ultimately handing over to the other ‘vision’ systems to pinpoint the object for retrieval and to control the tool deployed for recovery. The ‘wireless’ communication is provided by two discrete links; one for the command and control, and the other for the sensor data. Command communication is based on a UHF link (430 MHz). An innovative idea is in the communication from items that may be deployed as part of the ‘tool set’. Here the

Exhibit 4.5 Upgraded version of the RTC robot

22

In other applications machines of this type are deployed in minesweeping and demining roles and dealing with improvised explosive devices. The MRK-47 machine from Bauman MSTU is shown in these roles in Exhibit 4.6 using a combination of ground penetrating radar and a ‘shaped charge’ demining tool that initiates burning of the explosive rather than detonating it. The systems are proofed against explosive damage. Typical tests involve investigating

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

A development pursued by Bauman MSTU is system agility, requiring the development of a wide range of configurations. The MRK-26 shown in Exhibit 4.7 was specifically designed for RosAtom to enter nuclear power stations with high, wide building thresholds.

Exhibit 4.6 The MRK-47 machine from Bauman MSTU

blast/overpressure/fragment damage. The mission team was shown the results of a test against 600 g of TNT. Survival is against 5 g fragments at 800 m/s. Another application mentioned by RTC was the potential role of robots in casualty evacuation. The fact that the ‘vision system’ elements can provide accurate location and ranging and that the ‘grippers’ used are pressure sensitive means that the machine has the potential to recover casualties from hostile environments or locations.

The MRK-27VU shown in Exhibit 4.8 was designed with geometry changing axels to accommodate the specific problems of entering and operating in buildings. A large number of these machines has been supplied to FSB, Ministry for Emergency Situations, Interior Ministry and RosAtom. Another area worthy of note is that of system power. Most machines, especially small ones, tend to be powered down a cable carrying DC which necessarily limits the range of operation and risks snagging of cables over the difficult terrains they have been designed to operate in. Later and larger machines from RTC and Bauman MSTU carry batteries as their power source. The typical duration of these machines is of the order of three to four hours. The batteries are standard lead-acid vehicle starting batteries, described by customers as simple and easily replaceable. When asked about alternate sources of power the only trend commented upon was the investigation of use of small internal combustion engine diesel generator sets.

Exhibit 4.7 MRK-26 designed for RosAtom to enter nuclear power stations

23

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Exhibit 4.8 MRK-27VU with geometry changing axels for entering and operating in buildings

Exhibit 4.9 Inertial microsensors for development of compact inertial navigation systems

4.4

From the limited detail supplied, the only device which appeared to have novel capability was a very high sensitivity, low frequency response angular accelerometer presented by Bauman MSTU, with the work undertaken by its Gyro and Navigation System Department. Images (see Exhibit 4.10) were shown of elements produced.

Microsensors

A number of references were made to the development of silicon micro-machined sensors, which could be applicable for inertial navigation, air data or aerodynamics research applications. While not directly identified during the visit as being defence sector related, it is reasonable to make the connection between the material shown and its general application in some areas of defence.

Prof Konovalov inferred that low-cost small

It was not clear if the material presented was world-class or world-leading. Indeed, a simple internet search shows many organisations pursuing micro-electro-mechanical systems (MEMS) – microsensors, smart matter/dust etc. Both SPbSPU and Bauman MSTU presented work in the field of microsensors. SPbSPU presented a variety of work on microsensors and had applied this to aerodynamic probe manufacture. It presented inertial microsensors in terms of collaboration with Gyrooptica to develop compact (assumed as such though no dimensions were given) inertial navigation systems (INS) as shown in Exhibit 4.9. Exhibit 4.10 Elements produced by Bauman MSTU Gyro and Navigation System Department

24

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

navigation systems based on microtechnology, ie gyros and accelerometers developed by his department, may be suitable for use in aircraft, helicopters and even for a man-pack based system. Such technology requires further enquiry. The Bauman MSTU’s inertial sensors appeared to be state-of-the-art. It has deployed extremely high sensitivity, low frequency (0.2 seconds of arc at sub Hz frequencies) accelerometers in the monitoring of the response of buildings to surrounding construction work and traffic flows. They have also used similar technology to conduct gravitational surveys from aircraft replacing two-year land-based surveys with a two-hour survey, and to map the gravitational influence of the passage of the moon on the physical geography of the region. Resolutions of the order of a few milli-G were mentioned. 4.5

A rich area for mechatronics that was not revealed in any depth was that associated with unmanned vehicles – air, land and sea (underwater). There was a one-off (in passing) reference to hardware used in their development; this was at SPbSPU in the context of ‘air velocity probes’ for micro airvehicles. See Exhibit 4.12.

Exhibit 4.12 ‘Air velocity probes’ for micro air-vehicles

Unmanned aerial vehicles

UAVs were mentioned on a number of the visits. The presentation material given to the team by the Russian State Scientific Center of Robotic and Technical Cybernetics seemed most extensive in terms of the scope of work on navigation, control and remote sensing by UAVs. The team also saw significant space systems activity, including development of a gamma ray proximity sensor for spacecraft docking and vehicle soft landing as well as spacecraft operational, navigation, and control systems. Exhibit 4.11 shows the only UAV project described briefly during the visit and consisted of the development of camerabased surveillance systems for UAVs. Exhibit 4.11 Camera-based surveillance systems for UAVs

MIREA also described some student projects on the demonstration of UAV control systems using PC-based simulators. MIREA’s Department of Control Problems clearly had significant work in the area of intelligent onboard control systems, listing UAV, underwater vehicles and wheeled robots as platform areas. However, the interfacing of the intelligent system output to the array of control devices that these platforms must feature was not mentioned. 4.6

Night vision

Bauman MSTU described night vision systems based on composite infrared and image intensified visible images. The high gain, low noise image intensifier tubes were designed in house. The team has been working with a western luxury car maker to develop the systems for automotive use and showed helmets with the technology built incorporated in place of a visor.

25

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

4.7

Vibration modelling and aerodynamic testing

The SAS Institute of Control Sciences described space vehicle vibration modelling. This needs to account for the situation where there is (literally) no ground reference. SPbSPU mentioned that it had developed sensors for aerodynamic testing. This included a range of in-house sensor designs based on MEMS (primarily pressure and accelerometer) devices and probes fabricated for wind tunnel use.

Exhibit 4.13 Night vision systems based on composite infrared and image intensified visible images

26

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

5

MECHATRONICS – INDUSTRIAL APPLICATIONS

5.1

Introduction

The prime purpose of the mission was to assess and benchmark Russian mechatronics technology against the state of the art in the UK. The team was introduced to examples of both applications and developments of mechatronics relevant to the industrial sectors (primarily on power and process), in addition to the two main sectors of defence and aerospace. This section of the report highlights applications and developments in the power and process sector in Russia which may be relevant to UK industry. These are: • Applications where ‘uniqueness’ or ‘advanced performance’ is claimed. • Development projects which may lead to uniqueness. • Technologies which appear to be fully developed and which may offer cost or capability advantage compared to those available in the UK market. Several caveats are necessary: • It is beyond the scope or competence of the mission team to fully judge claims made for uniqueness or advanced performance of Russian technology. It has therefore been necessary to take claims at face value. • The number of Russian organisations visited was necessarily small compared to the size of the Russian scientific and technological community, so that the examples given cannot be claimed to be the leading examples of a particular technology.

• Time did not permit discussion of ownership of intellectual property, so that there may be limitations on potential for exploitation by UK organisations. The organisations visited by the mission team were generally university, academic and research institutes involved in the development of mechatronic and related technologies. While several of the institutes were involved in projects indirectly relevant to power generation (particularly nuclear), none were institutes with the remit to specifically serve the power sector in Russia. 5.2

Applications where uniqueness or advanced performance is claimed

5.2.1

Condition assessment of structures

The Russian Federation has suffered recent failures of building and bridge structures – for example, in February 2006 the roof of Moscow’s Baumansky Market collapsed under the weight of a heavy snowfall killing more than 50 people. Failures of this type have driven development work at Bauman MSTU aimed at achieving maximum advanced warning of impending structural failure. Ultrahigh sensitivity miniature accelerometers and inclinometers have been developed which can be used as to collect information on abnormal deflections and vibrations of structural components. Achievable sensitivities down to 0.1 arc second are claimed allowing risk conditions to be identified without the need for additional test loadings to be applied to the structure under investigation. Wireless technology is used to transmit the data to a central processing facility, allowing remote monitoring of structures. 27

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

The same devices may be relevant to monitoring condition of structural components in the power and process industries – temperatures up to 150ºC. 5.3

Development projects which may lead to uniqueness

The SAS Institute for Problems in Mechanics has a varied programme of work concentrating on the construction and control of mobile robots. It has developed a wide range of prototype robots aimed at delivering cleaning, painting, inspection, welding, cutting and decontamination operations:

Exhibit 5.2 Wall climbing robots Exhibit 5.3 Tube climbing robots

• Designs of robot aimed at crossing surfaces ‘ground-wall’ and ‘wall-ceiling’ – both leg-locomotion and multi-links types. • Wall climbing robots of the leg-locomotion, multi-links and sliding-sealing types from lightweight devices up to manipulators for heavy-duty operations such as fire fighting. • Tube climbing robots which use asymmetric vibrations to propel small devices inside tubes. The above appear to be close to end use and would seem to have application in power and process industries. Some of the designs are novel and appear to offer capability advantages over conventional approaches.

Exhibit 5.1 Robot design of leg-locomotion and multilinks types

28

Possibly further from application, the SAS Institute for Problems in Mechanics is also developing in collaboration with the SAS Institute of Ultrapure Materials and Microelectronics in Chernogolovka the application of gecko-style materials for gripping surfaces. Other activities are directed at space research problems such as the behaviour of fluids in microgravity (including crystallisation), gas dynamics and heat transfer, behaviour of interplanetary gases and plasmas, combustion in rockets etc.

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

5.4

5.4.1

Technologies which appear to be fully developed and which may offer cost or capability advantage compared to those available in the UK market Robots for radiation survey and decontamination

The Institute of Assembly Technology (NIKIMT) is one of the leading institutes supporting nuclear power generation in Russia. It has developed a family of wheeled and tracked vehicles for the following applications: • The ‘Gamma Locator 3’ robot can measure radiation levels at a grid of points overlaid on a TV image of the area under investigation. At each grid point the activity associated with isotopes of Am241, Cs137 and Co60 can be individually assessed. • The Mark 27 robot provides a platform for deployment of a range of tools allowing ‘pick and place’, machining and high

pressure cleaning (decontamination) operations to be performed in a nuclear environment. RTC has also developed a robot, the RTC-03, whose main purpose is to locate and image sources of gamma radiation. The robot carries a detector for remotely locating the position of gamma radiation sources. This appears to be novel and is claimed to provide improved resolution over conventional imaging systems. The robot gripper has an additional gamma sight, allowing precise location of a gamma source. While its primary aim is to detect, locate and retrieve gamma sources in difficult environments (such as those following detonation of a dirty bomb), its flexibility and capability may make it suitable as a platform for remote survey and characterisation prior to decommissioning of nuclear plant, or for remote deployment of inspection devices on operating nuclear plant.

Nuclear radiation source detecting • Azimuth • Distance • Source activity

Exact location ranging

Exhibit 5.4 RTC-03 robot for radiation survey and decontamination

29

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Exhibit 5.5 Multiple radiation sources recognition with the gamma visor

5.4.2

Devices for internal inspection and remediation of piping

TARIS was the only fully ‘commercial’ organisation visited as part of the mission. Founded in 1992 as a spin-out company from Bauman MSTU, TARIS supplies equipment primarily to the Russian water utilities, oil, gas and nuclear industries. It has external accreditation to ISO 9001 and experience of obtaining CE marking for its equipment; a combination which is relatively uncommon for Russian organisations. Its product range includes robotic systems, comprising self-propelled pipe crawlers, TV cameras and lighting, data recording and control equipment for internal visual

inspection and remediation of piping. Remediation includes cutting and grinding operations to remove obstructions and to prepare internal surfaces, prior to pipe sealing using an internal sleeving technique, applicable to pipe of diameter 200 mm to 900 mm and capable of withstanding 16 bar pressure. Modular designs with interchangeable wheel sets allow a relatively wide range of pipe diameters and applications to be covered by a small number of basic devices. A floating module is available for partially filled pipelines from 400 mm to 1,500 mm diameter.

Exhibit 5.7 A floating module

Exhibit 5.6 Devices for internal inspection and remediation of piping

30

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

‘Well tractor’ devices are supplied for welllogging along horizontal sections of oil and gas wells and travel up to 4.5 km. 5.4.3

Devices for nuclear plant remote operations

TARIS has developed flexible links-type manipulators for CCTV inspection of difficult to access areas inside nuclear power plants. Although designed for specific inspections within the Russian RBMK 1,000 reactor, its ‘Scheme’ manipulator would seem suitable for wider application. It can also supply radiation tolerant video cameras that can survive doses greater than 1 MGy. Also within the nuclear arena, TARIS has developed systems for cutting and extracting nuclear steam generator tubing.

Exhibit 5.8 ‘Well tractor’ devices for well-logging

Overall, TARIS has a product range and capability for design, prototyping and manufacture which appears broadly equivalent to those of EU companies operating in the same markets. With this background and with its recognised quality accreditation and experience of serving international markets TARIS would seem a potentially good partner for co-operation aimed at commercial business in the EU or Russian markets.

Exhibit 5.9 Flexible links-type manipulators for CCTV inspection of difficult to access areas

31

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

6

CONCLUSIONS

The mission provided the delegation with an excellent opportunity to see at first hand Russian capabilities in mechatronics in a range of sectors through a cross section of visits to research institutes, universities and commercial organisations. While there was no particularly earth shattering technology in evidence during these visits and many projects reflect similar work in North America and Europe, there are a great many very competent engineers and scientists keen to work with the West. In some instances the team saw original work and examples of new ways of approaching problems. Cost structures in the research institutes were not clear but it is possible that these organisations could offer a very cost-effective resource for technology acquisition. There are various routes available to assist collaboration with Russian partners and these include exploiting existing relationships and networks, using UK agencies such as the ITSC for brokerage services and in some cases exploiting existing academic partnerships were links to Russia already exist (eg RollsRoyce has potential access to Russian partners through its ‘university technology centres’). In robotics, the Chernobyl accident has clearly been a significant driver for the development of hostile environment inspection and repair robots, and most of these developments are now commercially available in prototype form. There were some concerns about the need to qualify the products to western standards and about the supportability but if the price is right, these issues could be overcome. There was a lot of interest in working with western companies to offer support in, eg sensing and data processing technology, but from what the team was shown, it was not clear that 32

there was any technology to offer, in advance of that available in the West. The aerospace industry has also been a major customer for mechatronics expertise. Glimpses of this were seen in the visit to RTC in St Petersburg but the mission was not able to visit major aerospace companies. The exception was Khrunichev Space Research and Production, which apparently has little experience in mechatronics in control systems or manufacture. This visit was tightly controlled and ultimately not very informative. Other visits were requested under the auspices of the UK-Russia High Technology Working Group chaired jointly by DTI and the Russian Ministry of Industry and Energy. The Russian Ministry agreed to help facilitate visits to aerospace organisations but unfortunately was unable to secure appointments for the mission team in the timeframe available. The growing oil and gas industry in Russia is also an important customer. Here the emphasis is on providing cost-effective solutions from existing technology rather than driving original research. Other applications in healthcare, domestic and infrastructure areas are still at an early stage. A wide range of management styles were in evidence across the organisations visited, some being in line with current western practice, some being very hierarchical command and control styles. This reflects the long journey taken by Russian organisations in going from a Soviet to a market-orientated environment. In SAS institutes and universities the degree of change has largely been controlled by the local management and hence is variable, in private companies

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

western styles are driven by the need to make a profit. The team’s impression was that the engineers met in general were very strong analytically and were able to apply this theoretical foundation, reflecting the strength and rigour of the Russian education base. There was also evidence that previous limited access to computing facilities for much of their careers had stimulated very competent software engineering capabilities, however the next generation seem to operate in similar ways to their western counterparts as advanced computing facilities become more widely available. If technical links are established with any of these organisations, secondments of UK engineers into their laboratories could provide very valuable development from contact with these senior engineers and would be strongly welcomed by the institutes. Similarly secondments to the UK would provide mutual benefits from the broadly based education of Russian Engineers and the need to learn western practice. Although many of the systems did not show particular novelty over and above those available in the West, their robustness, combined with the potential for cost-effective supply makes many of them of potential interest to UK companies and organisations.

33

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Appendix A MISSION TEAM DETAILS

Prof Philip Moore (Mission Leader) Professor of Mechatronics Head of Research & Commercial Development Faculty of Computing Sciences & Engineering De Montfort University Leicester LE1 9BH T: +44 (0)116 257 7053 F: +44 (0)116 257 7099 [email protected] www.dmu.ac.uk Dr Seng Chong Academic Fellow and Mission Co-ordinator Mechatronics Research Centre Faculty of Computing Sciences & Engineering Queens Building De Montfort University Leicester LE1 9BH T: +44 (0)116 207 8011 F: +44 (0)116 207 8822 [email protected] www.mrg.dmu.ac.uk De Montfort University (DMU) in Leicester was the co-ordinator for the mission. DMU origins date back more than 100 years, being known as Leicester Polytechnic until 1992. The university is now one of the larger institutions in the UK academic community with faculties in Computing Science & Engineering; Health & Life Sciences; Art & Design; Business and Law; and Humanities. The university was the highest performing of 34

the modern universities in the 2001 Research Assessment Exercise. Research at DMU reflects its roots and national and international expertise, and forms a key element in its mission. It underpins the intellectual strength of the institution and plays an essential role in informing the quality of its total academic provision. The university has well established international links; those with Russia being particularly strong in the last 15 years or so. The Mechatronics Research Centre (MRC) is one of the larger and most successful research units within DMU; aiming to conduct high quality fundamental and applied research within the integrated disciplines of mechanical, computing/software and electronic engineering that is innovative and relevant to the needs of UK and European industry. The MRC has sought and established an international reputation for its research work in the general domain of computer controlled machines and machine systems, systems engineering and integration, and is one of the UK’s premier centres for mechatronics systems research operating at a national and international level. The MRC has a sustained track record of research sponsorship over the last 12 years from a broad range of agencies including the Engineering and Physical Sciences Research Council, DTI, European Union (FP), British Technology Group, TCS/KTP, DERA/QinetiQ, The Royal Society, the East Midlands Development Agency and industry. Partner organisations in recent years have included: Volvo; EDF Energy, Ford; Indesit/ Hotpoint; Sony; Motorola; Severn Trent Water; Mars; Commonwealth SIRO IN FULL (CSIRO) and many others too numerous to mention.

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Bob Chesterfield Group Leader – Novel Systems MBDA UK Ltd Bristol BS34 7QW UK T: +44 (0)117 9316558 F: +44 (0)117 9316354 M: +44 (0)7764 323753 [email protected] www.mbda.co.uk MBDA is one of the world’s largest defence companies. Jointly owned by BAE SYSTEMS and EADS (37.5% each) and Finmeccanica (25%), the company's products include an extensive portfolio of air-to-air, air-to-ground, ground-to-air, anti-ship, anti-tank, submarinelaunched, ship-launched and cruise missile systems. Countermeasure systems include missile-intercepting missiles, RF decoys, infrared flares, infrared missile detectors, and missile-warning systems. Taken together, MBDA has some 45 different operational systems in use today. MBDA was formed by the merger of Matra BAe Dynamics, EADSAerospatiale Matra Missiles and Alenia Marconi Systems. Bob Chesterfield has spent the greater part of his career in the field of radio frequency engineering, with the last 15 years specifically related to high power microwaves (HPM) systems including the associated radiating structures, power systems and system control. This has required the need to understand the practicalities and possibilities of the systems engineering associated with the technologies of HPM.

Jim Thomson Director of Technology Business Doosan Babcock Energy Limited (Formerly Mitsui Babcock) Porterfield Road Renfrew PA4 8DJ UK T: +44 (0)141 885 3908 [email protected] www.doosanbabcock.com Doosan Babcock is a leading engineering contractor and project integrator for the nuclear and thermal power industries. It has been at the heart of the UK nuclear industry for more than 50 years. During that time it has designed, manufactured, installed and commissioned a wide range of nuclear equipment and plant for both the power generation and defence markets. Doosan Babcock is the largest supplier of operational support for the nuclear power generation sector in the UK. At any given time it has up to 1,000 securities cleared, and where required, suitably qualified, experienced and radiologically classified staff working on large scale UK-based projects. In addition, it has more than 25 years’ experience of performing high technology remote non destructive testing and visual inspections on nuclear power plant in the UK and many countries overseas. With this background it is interested in developments in robotics and visualisation technology.

35

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Peter Loftus Head of Measurement Capability Rolls-Royce plc PO Box 31 SIN A-57 Victory Road Derby DE24 8BJ UK T: +44 (0)1332 247424 F: +44 (0)1332 247928 M: +44(0)7973486012 [email protected] www.rolls-royce.com Rolls-Royce, the world-leading provider of power systems and services for use on land, at sea and in the air, operates in four global markets – civil aerospace, defence aerospace, marine and energy. It is investing in core technology, capability and infrastructure that can be applied across these sectors to take a competitive range of products to market. The company has established strong positions within programmes that will shape the power-systems market for many years to come. The success of its products is demonstrated by the company’s rapid and substantial gains in market share. The company now has a total of 54,000 gas turbines in service worldwide and they generate a demand for high-value services throughout their operational lives. The company seeks to add value for its customers with aftermarket services that will enhance the performance and reliability of its products. Services revenue has grown by 11% per year compound over the past 10 years. 36

Rolls-Royce has a broad customer base comprising 600 airlines, 4,000 corporate and utility aircraft and helicopter operators, 160 armed forces and more than 2,000 marine customers, including 70 navies. The company has energy customers in 120 countries. The company is a technology leader, employing around 37,000 people in offices, manufacturing and service facilities in 50 countries. Annual sales total £6.6 billion, of which 54% is services revenue. The firm and announced order book is nearly £25 billion, which, together with demand for services, provides visibility of future levels of activity. Pete has pursued a career in measurement technology over more than 25 years at RollsRoyce supporting to varying degrees almost all of the major civil and military engine development programmes.

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Geoff Pegman Managing Director RURobots PO Box 248 Manchester M28 1WF UK T: +44 (0)161 799 3898 F: +44 (0)161 703 3745 [email protected] www.rurobots.co.uk RURobots is a small high technology company specialising in the production of prototype equipment and solutions based on advanced automation and robotics technology. It works primarily in the nuclear, defence (bomb disposal) and construction industries, although it also provides consultancy on food product handling to the food industry. Geoff Pegman is the Chair of the UK Institute of Engineering & Technology Professional Network on Robotics and Mechatronics and the Honorary Treasurer of the British Automation & Robotics Association. He is also Vice President of the intergovernmental International Advanced Robotics Programme and Executive Committee member of the European Robotics Technology Platform.

Dr Juan Matthews International Technology Promoter, Advanced Materials, Process and Energy Technologies – Russia and Ukraine DTI Global Watch Service Pera Pera Innovation Park Melton Mowbray Leicestershire LE13 OPB UK T: +44 (0)1235 206569 M: +44 (0)7932 603873 F: +44 (0)1235 533422 [email protected] www.globalwatchservice.com Juan Matthews is one of 23 International Technology Promoters (ITPs) aiding UK companies find and access technology from overseas through regional and sector knowledge. He is the first ITP for Russia and was appointed in October 2001 to work with UK industry to help establish commercial partnerships with Russian R&D organisations and science-based companies. Juan works closely with the Science Section of the British Embassy in Moscow and with the British Council’s activities to support innovation development in Russia and Ukraine. He has a background in materials science and previously worked on materials modelling at Harwell before becoming involved in international business development for AEA Technology. He is a Fellow of the Institute of Physics and an Honorary Fellow of the Department of Physics and Astronomy of University College London. He joined the ITP programme after working for two years on Tacis programmes in Russia. 37

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Appendix B HOST ORGANISATION DETAILS

Moscow State Institute of Radiotechnics, Electronics and Automatics (Technical University) Prof Valery Lokhin 78, Vernadsky Ave, Moscow, 119454, Russia T: +7 (495) 434 9232 F: +7 (495) 434 9282 [email protected] www.mirea.ru The institute is a technical university that both trains specialists in this area and also undertakes systems development work. The team was shown quite innovative work on neural control systems for intelligent control of satellites, UAVs, autonomous underwater vehicles and nanomachines. SAS Institute for Problems in Mechanics Prof Felix Chernousko 101-1, prosp Vernadskogo, Moscow, 119526, Russia T: +7 (495) 434 0207 F: +7 (499) 739 9531 [email protected] www.ipmnet.ru The institute covers a wide range of activities on solid and fluid dynamics. The work concentrates on the construction and control of mobile robots. It has developed snake-like robots and robots that can climb walls and ceilings. One method it has developed is the use of asymmetric vibrations to drive small robots in tubes and on vertical surfaces or ceilings. It is also developing the application of gecko-style materials for gripping surfaces with the SAS Institute of Ultrapure Materials and Microelectronics in Chernogolovka. Other activities are directed at space research 38

problems such as the behaviour of fluids in microgravity (including crystallisation), gas dynamics and heat transfer, behaviour of interplanetary gases and plasmas, combustion in rockets etc. SAS Mechanical Engineering Research Institute Prof Yuri Baranov 4, M Khatitonjevsky per, Moscow, 101990, Russia T: +7 (495) 623 4237 F: +7 (499) 624 9863 [email protected] The team met a large group of department heads from the institute but the meeting was not well focused and the team did not get as much out of it as with the other two visits. The institute is large (750 staff) and is involved in a wide range of projects in the nuclear, aerospace, marine and power engineering sectors. Moscow State Technological University ‘Stankin’ (MSTU ‘Stankin’) Prof Jury V Poduraev Dr Ivan L Ermolov Vadkovsky per 3A, Moscow, 127994, Russia T: +7 (499) 972 9401 F. +7 (499) 972 9541 [email protected] [email protected] www.stankin.ru The Department of Robotics and Mechatronics of MSTU ‘Stankin’ has the following areas of interest: industrial robotics, mobile robotics, mechatronics, complex

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

mechatronic systems, sensor and data fusion. Its department is supplied with modern types of industrial and educational equipment including four mobile robots and mobile platforms, seven industrial robots and 10 various mechatronics drives. The department has steady links with national industry as well as foreign companies in Russia. In 2006 the department started a joint Technological Center with KUKA Roboter which has been also affiliated by the companies Sick AG and Schunk AG. This centre keeps state of the art industrial equipment related to industrial robotics. The department has participated in a number of national and international R&D projects including FP6 and joint Russian-British programmes as well as some other bilateral R&D co-operation programmes. As a potential form of co-operation it suggests collaboration in education, joint research projects and some engineering projects.

Research & Manufacturing Corporation TARIS Victor Ulyanko 7/1, Plehanova Street, Moscow, 111141, Russia T: +7 (495) 672 1855, 368 1418 F: +7 (495) 672 1792 [email protected] www.taris.ru TARIS was established in 1992 based on the Special Robotics Laboratory under the supervision of Dr Valery Shvedov of Moscow State Technical University named after Nikolay Bauman. A number of its hazardous environment mobile robotic systems were engaged in the radioactive spillage clean-up after the disaster at the Chernobyl nuclear power station.

Now, TARIS is focusing on the robotic systems development and manufacturing for nuclear power industry, municipal utilities, and the oil and gas sector. One of the key activities is the CCTV survey and local repair equipment manufacturing for the pipeline and well industry. TARIS is a leading CCTV inspection and local repair robotic systems manufacturer for the pipeline industry in Russia. From 1998-2004 TARIS designed and manufactured over 100 robotic systems that are still in service around Russia. Its research laboratory team including highly qualified experts and its manufacturing facilities allow the introduction of new technologies and the effective performance of the most complicated industrial projects.

Russian State Scientific Center for Robotics and Technical Cybernetics (RTC) Boris Spassky 21, Tikhoretsky prospect, St Petersburg, 194064, Russia T: +7 (812) 552 1325 F: +7 (812) 552 5129 [email protected] www.rtc.ru The RTC is one of the largest research centres in Russia. The main directions of RTC activity are technical cybernetics, robotics, photon equipment, special instrument-making laser technologies and intelligent control technologies in real time through the use of telecommunications systems (telenetics). The institute has production lines, research and experimental test beds. Among the institute’s development projects are altimeters for soft landing systems; life-support systems for space crafts; mobile robotic systems; earthand air-based systems for radiation monitoring; network communicators; and 39

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

laser equipment for marking, cutting and welding.

Institute of Control Sciences SAS (ICS)

The institute also works on space robotics systems for the Russian space programme and provided such systems for the Soviet and post-Soviet space programmes. Projects include UAVs for locative radioactive contamination and robotic snakes made of modular elements that can simulate a real snake’s movements. There was also software for optical recognition and analysis, for example systems for tracking objects and identifying changes on video views. At the beginning of October 2007 there will be aconference on mechatronics and robotics in St Petersburg.

Prof Dr Ing I B Yadykin 65, Profsoyuznaya str, Moscow, 117997, Russia T: +7 (495) 334 9020 F: +7 (495) 420 2016 [email protected] www.ipu.rssi.ru The Institute of Control Sciences a large institute with a wide range of activities and particular strengths in the software side of control and automation. The team was shown examples of work relating to space robotics, control systems for gas turbines and analysis of gas turbine vibration.

St Petersburg State Polytechnic University (SPbSPU) Prof Vadim Korablev 29 Polytechnicheskaya st, St. Petersburg, 195251, Russia T/F: +7 (812) 297 2088 [email protected] www.spbstu.ru A second workshop at SPbSPU involved several universities and research institutes. Interesting applications included large mechatronic figures (or animatronics) and automated stage sets for theatres, including the Marynsky Theatre, home of the Kirov Ballet. The university is working with the Russian State Scientific Center for Robotics and Technical Cybernetics to educate a new generation of robotics and mechatronics engineers.

40

Khrunichev Space Research and Production Center Valentin Polovtsev 18, Novozavodskaya st, Moscow, 121087, Russia T: +7 (095) 145 9435 F: +7 (095) 795 0932 [email protected] www.khrunichev.ru The Khrunichev State Research and Production Space Center was created by an RF presidential decree of 7 June 1993 on the base of the largest producers of aerospace and rocket technology: the Khrunichev Machine-building Plant and the Salyut Design Bureau. It is one of the world’s largest aerospace corporations leading the international market for space services. Khrunichev makes the Proton rocket, which is the heaviest satellite launcher in Russia.

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Bauman Moscow State Technical University (Bauman MSTU) Prof Alexander Chernikov 5, 2nd Baumanskaya str, Moscow, 105005, Russia T: +7 (095) 263 6560 F: +7 (095) 263 6245 [email protected] www.bmstu.ru At Bauman MSTU, which has a long history of collaboration with DMU, researchers are developing robots for emergency applications such as bomb disposal, nuclear incidents etc. They are also working on micro gyroscopes and accelerometers for autonomous devices eg UAVs. The university’s science and engineering majors often have an opportunity for students and graduates to participate in research projects that are conducted by seven research institutes combining their resources with intellectual activity from educational faculties to form seven Research-Educational Complexes: • • • • • • •

Materials and technology Radioelectronics and laser technology Informatics and control systems Special machinery Robotics and complex automation Power engineering Fundamental sciences

41

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Appendix C ITINERARY

Date

Time

Event

Monday 13 Nov Moscow

10:00 – 12:00

Visit to Moscow Institute of Radio Technology, Electronics and Automation (Technical University)

13:15 – 15:00

Visit to SAS Institute for Problems in Mechanics

15:30 – 17:00

Visit to SAS Mechanical Engineering Research Institute

18:00 – 19:30

Reception at the British Embassy

Tuesday 14 Nov Moscow

09:00 – 14:00

Workshop and tour at the Moscow State Technological University ‘Stankin’

14:15 – 16:15

Visit to Research & Manufacturing Corporation TARIS

Wednesday 15 Nov St Petersburg

09:30 – 12:00

Visit to Russian State Research Center for Robotics and Technical Cybernetics

13:15 – 17:30

Scientific practice workshop at the St Petersburg State Polytechnic University (MEMS Center)

Thursday 16 Nov Moscow

10:00 – 12:00

Visit to SAS Institute of Control Sciences

14:30-16:00

Meeting with the Khrunichev Space Research and Production Center

Friday 17 Nov Moscow

10:00-12:00

Visit to Bauman MSTU

42

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Appendix D ONE-DAY WORKSHOP

Mechatronics: Successful Solutions for our Future 14 November 2006 Moscow, Russia Co-organised by:

MINIPROMENERGO RUSSIA

Ministry for Industry and Energy of the Russian Federation Moscow State University of Technology ‘Stankin’ (Russia) Department of Trade & Industry (UK) De Montfort University (UK) Russian presentations Title

Presenter

Mechatronic projects at the mechatronics and robotics chair

Prof Jury V Poduraev, Vice-Rector and Head Robotics and Mechatronics Department, MSTU ‘Stankin’

Robots for radiation environment

DN Furseev, FGUP NIKIMT ITUZR (RosAtom)

Pneumatic mechatronic systems development at MSTU ‘Stankin’ Mechatronic systems for use in the food industry Servo systems for defence applications Mechatronic approach to the design of medical robots

Prof Iljuchin JV, Cammozzi Pneumatica Prof Sherbina BV, Faculty of BioEquipment, Moscow State University of Applied Biotechnology AT Podkin, ZAO Servotechnika Dr VF Golovin and Dr M Rachlov, Moscow State Industrial University Dr A Razumov, Russian Research Center of Restorative Medicine and Balneology Prof Jury V Poduraev, MSTU ‘Stankin’

43

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Appendix E SCIENTIFIC PRACTICE WORKSHOP

St Petersburg State Polytechnic University

Mechatronics: Applications in Specialised Machinery and Production 15 November 2006 St Petersburg, Russia DTI Global Watch Mission to Moscow and St Petersburg

Russian presentations

44

Title

Presenter

Humanoid robot control

Prof Lev A Stankevich, SPbSPU Computer Science Faculty

Novel electromechanical plant for online testing of runway friction properties Mechatronics and microtechnologies

Prof Victor V Putov, St Petersburg State Electrotechnical University

The principles of limbless movement and a mechatronics device for its realisation Control Systems Institute of St Petersburg Baltic Technical University

Prof Alexander A Ivanov, SPbSPU and Central Research Institute of Robotics and Technical Cybernetics

Mechatronics Department of St Petersburg State University of Informative Technologies, Mechanics and Optics

Prof Vladimir M Musalimov, St Petersburg State University of Information Technologies, Mechanics and Optics

Education programmes and R&D in mechatronics at the Automatic Machine Department

Prof Vladimir A Dyachenko, SPbSPU

Adaptive control and intellectualisation of the mechatronic systems

Prof Adil V Timofeev, St Petersburg Institute of Informatics SAS

Prof Evgeny N Pyatishev, SPbSPU, Laboratory of MEMS, Nano and Micro Systems Techniques

Prof Yury V Zagashvili, Baltic State Technical University

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Appendix F LIST OF EXHIBITS

Exhibit 1.1 2.1 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11 3.12 3.13 3.14 3.15 3.16 3.17 3.18 3.19 3.20 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8

Page 5 6 12 13 13 14 14 14 15 15 15 16 16 17 17 18 18 18 18 18 19 19 21 21 22 22 22 23 23 24

4.9 4.10

24 24

4.11 4.12 4.13

25 25 26

5.1 5.2 5.3

28 28 28

Caption The mission members in Moscow Structure of Russian R&D of robotics and mechatronics (examples) Modular robotics for teaching RTC universal manipulator RTC relocatable manipulator Orbital space station manipulator Robotic massage system Robotic physiotherapy Scissor action parallel mechanism machine The KUKA industrial robots displayed RosAtom gamma detection robot RTC gamma detection robot MRK-27 bomb disposal robot TARIS pipeline robots Generic mobile vehicle control board IPM climbing robots IPM relocatable manipulator Small pipe robots RTC snake robot ARNE 02 humanoid robot Performance robots for the play ‘BOLT’ GNOM Micro Machines developed for operations at the Chernobyl site Machine used during 1997 accident at the Russian Federal Nuclear Center Mobile Robotic Complex RTC-03 Razvedchik (Prospector) Operation of the RTC-03 robot Upgraded version of the RTC robot The MRK-47 machine from Bauman MSTU MRK-26 designed for RosAtom to enter nuclear power stations MRK-27VU with geometry changing axels for entering and operating in buildings Inertial microsensors for development of compact inertial navigation systems Elements produced by Bauman MSTU Gyro and Navigation System Department Camera-based surveillance systems for UAVs ‘Air velocity probes’ for micro air-vehicles Night vision systems based on composite infrared and image intensified visible images Robot design of leg-locomotion and multi-links types Wall climbing robots Tube climbing robots 45

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

5.4 5.5 5.6 5.7 5.8 5.9

46

29 30 30 30 31 31

RTC-03 robot for radiation survey and decontamination Multiple radiation sources recognition with the gamma visor Devices for internal inspection and remediation of piping A floating module ‘Well tractor’ devices for well-logging Flexible links-type manipulators for CCTV inspection of difficult to access areas

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Appendix G GLOSSARY

CANbus CCTV DC DoFs DTI EU ESA FCO FP FSB HPM Hz ICS INS INTAS IPM ISTC KTN LED MEMS mm MGy MHz MoD MIREA MSc MSTU NASA NIKIMT PC PhD PID plc RosAtom R&D RTC SAS SLAM SPbSPU SPIIRAS

controller area network bus closed-circuit television direct current degrees of freedom Department of Trade & Industry (UK) European Union European Space Agency Foreign & Commonwealth Office (UK) Framework Programme Federal Security Service (Rus) high power microwaves Hertz Institute of Control Sciences SAS (Rus) inertial navigation system International Association for Co-operation between Scientists of the Newly Independent States SAS Institute for Problems in Mechanics International Science and Technology Center (Rus) Knowledge Transfer Network light emitting diode micro-electro-mechanical systems millimetre MegaGray – the SI unit of absorbed dose Megahertz Ministry of Defence (UK) Moscow State Institute of Radiotechnics, Electronics and Automatics (Technical University) Master of Science Moscow State Technical University National Aeronautics and Space Administration Institute of Assembly Technology (Rus) personal computer Doctor of Philosophy proportional-integral-derivative Public limited company Federal Agency for Atomic Power (Rus) research and development Russian State Scientific Center for Robotics and Technical Cybernetics State Academy of Sciences (Rus) simultaneous localisation and mapping St Petersburg State Polytechnic University St Petersburg Institute of Informatics and Automation of RAS 47

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

TARIS TNT UAV UHF UKTI VNIIEF Wi-Fi

48

Research & Manufacturing Corporation TARIS trinitrotoluene unmanned aerial vehicle ultra high frequency UK Trade & Investment Russian Federal Nuclear Center Wireless FingerLinx

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

Appendix H ACKNOWLEDGMENTS

The mission team wishes to extend its sincere thanks to the host organisations for their hospitality, openness and support that helped to make this mission such a success.

and travel arrangements went smoothly and assisted on many occasions with expert technical translation.

The Department for the Military-Industrial Complex of the Ministry of Industry and Energy and the Federal Space Agency (RosCosmos) provided assistance in gaining access to several Russian centres and we would like to thank Natalya Mokina of the Ministry for her support of the mission. The mission team is also grateful to Prof Jury Poduraev and Dr Ivan Ermolov the MSTU ‘Stankin’ for introductions and help with visits, and for organising and hosting a workshop. We wish to acknowledge the DTI Global Watch Service for the support and funding of the mission and its dissemination through the seminar. We also wish to acknowledge the support of the IMechE Mechatronics Forum and the IET Robotics and Mechatronics Network for promotion of the mission and dissemination of the findings to their members. We would also like to thank David Vincent and the Science, Environment and Global Partnership Section of the British Embassy in Moscow for hosting a reception at the start of the mission. We also wish to record our thanks to Ekaterina Yudina, the mission's very able interpreter, who accompanied us during the visits in Moscow. Finally we offer particular thanks to Juan Matthews, Robert Dugon and Louisa Quilter of the DTI Global Watch Service and particularly Mikhail Lachinov, Science and Technology Officer at the British Embassy, Moscow, who ensured that all the meetings 49

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

50

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

51

MECHATRONICS IN RUSSIA: THE STORY SO FAR – A MISSION TO RUSSIA

52

Other DTI products that help UK businesses acquire and exploit new technologies Grant for Research and Development – is available through the nine English Regional Development Agencies. The Grant for Research and Development provides funds for individuals and SMEs to research and develop technologically innovative products and processes. The grant is only available in England (the Devolved Administrations have their own initiatives). www.dti.gov.uk/r-d/ The Small Firms Loan Guarantee – is a UKwide, Government-backed scheme that provides guarantees on loans for start-ups and young businesses with viable business propositions. www.dti.gov.uk/sflg/pdfs/sflg_booklet.pdf Knowledge Transfer Partnerships – enable private and public sector research organisations to apply their research knowledge to important business problems. Specific technology transfer projects are managed, over a period of one to three years, in partnership with a university, college or research organisation that has expertise relevant to your business. www.ktponline.org.uk/ Knowledge Transfer Networks – aim to improve the UK’s innovation performance through a single national over-arching network in a specific field of technology or business application. A KTN aims to encourage active participation of all networks currently operating in the field and to establish connections with networks in other fields that have common interest. www.dti.gov.uk/ktn/

Collaborative Research and Development – helps industry and research communities work together on R&D projects in strategically important areas of science, engineering and technology, from which successful new products, processes and services can emerge. www.dti.gov.uk/crd/ Access to Best Business Practice – is available through the Business Link network. This initiative aims to ensure UK business has access to best business practice information for improved performance. www.dti.gov.uk/bestpractice/ Support to Implement Best Business Practice – offers practical, tailored support for small and medium-sized businesses to implement best practice business improvements. www.dti.gov.uk/implementbestpractice/ Finance to Encourage Investment in Selected Areas of England – is designed to support businesses looking at the possibility of investing in a designated Assisted Area but needing financial help to realise their plans, normally in the form of a grant or occasionally a loan. www.dti.gov.uk/regionalinvestment/

Printed in the UK on recycled paper with 75% de-inked post-consumer waste content First published in March 2007 by Pera on behalf of the Department of Trade and Industry © Crown copyright 2007 URN 07/503