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arXiv 2019年

作者： Pretto, Alberto Aravecchia, Stéphanie Burgard, Wolfram Chebrolu, Nived Dornhege, Christian Falck, Tillmann Fleckenstein, Freya Fontenla, Alessandra Imperoli, Marco Khanna, Raghav Liebisch, Frank Lottes, Philipp Milioto, Andres Nardi, Daniele Nardi, Sandro Pfeifer, Johannes Popović, Marija Potena, Ciro Pradalier, Cédric Rothacker-Feder, Elisa Sa, Inkyu Schaefer, Alexander Siegwart, Roland Stachniss, Cyrill Walter, Achim Winterhalter, Wera Wu, Xiaolong Nieto, Juan Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Research Lab 2958 Georgia Tech-CNRS Metz France Department of Computer Science University of Freiburg Germany Toyota Research Institute Los Altos United States Photogrammetry & Robotics Lab University of Bonn Germany Robert Bosch GmbH Corporate Research Renningen Germany Osimo Italy Autonomous Systems Lab. Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Environmental Systems Science Institute of Agricultural Sciences ETH Zurich Zürich Switzerland IT+Robotics Srl Padova Italy Smart Robotics Lab. Department of Computing Imperial College London London United Kingdom CSIRO Data61 Australia

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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Application of contract-based verification techniques for hybrid automata to surgical robotic systems

Application of contract-based verification techniques for hy...

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European control Conference (ECC)

作者： Luzie Schreiter Davide Bresolin Marta Capiluppi Joerg Raczkowsky Paolo Fiorini Heinz Woern Institute of Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Department of Computer Science and Engineering University of Bologna Bologna Italy Department of Computer Science University of Verona Verona Italy

ISBN: (纸本)9781479947287

Surgical robotic systems have to deliver a high quality of safety, since they deal with human lives. Their safety specifications must ensure the absence of risks for the patient and the operating room staff. To respect the modular nature of a surgical system, we propose a contract based verification approach for safety. We introduce a case study based on a typical surgical robotic operation scenario and model its components by using hybrid automata. We exploit the theory of parallel composition of contracts to verify properties on each component and prove that the property of the overall system can be obtained by composition.

关键词： Contracts Automata Safety Robot kinematics Manipulators Target tracking

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Interactive simulation of teeth cleaning

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International Congress Series 2001年第C期1230卷 682-688页

作者： Gockel, T. Salb, T. Weyrich, T. Burgert, O. Dillmann, R. Department for Computer Science Institute for Process Control Robotics Universität Karlsruhe (TH) 76128 Karlsruhe Germany

In this paper, an interactive simulation system for teeth cleaning is presented. This simulation system offers assistance for optimizing design and manufacturing of new toothbrushes. Data acquisition and pre-processing techniques for the model generation are shown, an editor for modelling of the elastic behaviour of the toothbrush parts is presented and the mathematical method for modelling of flexible parts of the toothbrush is explained. After the introduction of the PHANToM haptoid and the explanation of a new approach to collision detection, first results of the project are shown. © 2001, Elsevier science B.V. All rights reserved.

关键词： Interactive simulation system Teeth cleaning Toothbrush

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Flexible Mobile Microrobots for Various Remote-controlled Micro-Manipulating Tasks

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IFAC Proceedings Volumes 2001年第9期34卷 327-331页

作者： Jörg Seyfried Ferdinand Schmoeckel Axel Bürkle Heinz Wörn Institute for Process Control and Robotics (IPR) Computer Science Department Universität Karlsruhe (TH) Kaiserstrasse 12 D-76128 Karlsruhe Germany

The handling of objects smaller than 1 mm is a great challenge for the robotics research community. Applications are the handling of biological cells, teleoperation under vacuum conditions (e.g. inside a scanning electron microscope - SEM) or the manufacture of prototypes of microsystems. In this paper, some aspects of the control of small mobile microrobots by teleoperation are addressed. The employed 6D-mouse proves satisfactory as an intuitive user interface. A distributed control and planning architecture is presented as well as a closed-loop control approach basing on a sensor system that mainly consists of a standard SEM.

关键词： Microsystems Assembly robots Telemanipulation Biotechnology Microscopes

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A volume-based process model for computer-assisted surgery

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International Congress Series 2001年第C期1230卷 8-13页

作者： Däuber, S. Krempien, R. Schorr, O. Brief, J. Hassfeld, S. Wörn, H. Department of Computer Science University of Karlsruhe (TH) Institute for Process Control and Robotics 76128 Karlsruhe Kaiserstraße 12 Germany Department of Clinical Radiology University of Heidelberg Hedelberg Germany Department of Oral and Maxillofacial Surgery University of Heidelberg Hedelberg Germany

computer systems, which assists surgical procedures, are more and more leaving the status of being mere prototypes [1-4]. It is increasingly necessary for the surgeons and developers to ensure the quality, accuracy and security of their systems. Standards may help to achieve these objects. In this work, we present a standard which deals with the inaccuracies emerging in the particular steps of a CAS procedure. It is based on the definition of radiotherapy procedures as provided by the International Commission on Radiation Units and Measurements (ICRU) [5]. © 2001 Elsevier science B.V.

关键词： Accuracy computer-assisted surgery Standardization

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Automated generated collision-free time optimized robot movements in industrial environments based on rounding

Automated generated collision-free time optimized robot move...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： B. Hein M. Salonia H. Worn Computer Science Department Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)078037004X

This paper presents a new approach to optimized notion planning for industrial robot arms with six degrees of freedom in an online given 3D environment. The method is based on the A*-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The collision-free result path is then optimized in execution time using rounding, a common command of every standard robot controller in the industry.

关键词： Service robots robotics and automation Industrial control Orbital robotics Robot control computer industry Defense industry process planning Robot programming computer science

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Remotely controllable mobile microrobots acting as nano positioners and intelligent tweezers in scanning electron microscopes (SEMs)

Remotely controllable mobile microrobots acting as nano posi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Schmoeckel H. Worn Institute for Process Control and Robotics Computer Science Department Universität Karlsruhe Karlsruhe Germany

ISBN: (纸本)0780365763

In the scanning electron microscope, many studies require micromanipulation tools that can be flexibly and comfortably used for the handling and positioning of objects ranging from a few millimeters down to fractions of microns. In the paper, some aspects of the control of small mobile microrobots by teleoperation are addressed facing the special behavior of their piezoelectric actuators and the challenge of handling tasks in ranges of very different orders of magnitude (100 nm-100 mm). In order to give the teleoperated tweezers a kind of low-level "intelligence", a control loop using the SEM as a sensor system is being developed. In different open-loop handling experiments, the employed 6D-mouse proves satisfactory as an intuitive user interface.

关键词： Scanning electron microscopy Electron mobility Piezoelectric actuators Intelligent control Intelligent sensors Intelligent actuators Open loop systems control systems Sensor systems User interfaces

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Three-dimensional digital ultrasound imaging system for surgical navigation

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International Congress Series 2001年第C期1230卷 117-122页

作者： Sakuma, Ichiro Tanaka, Yasuyoshi Takai, Yuichi Kobayashi, Etsuko Dohi, Takeyoshi Schorr, Oliver Hata, Nobuhiko Iseki, Hiroshi Muragaki, Yoshihiro Hori, Tomokatsu Takakura, Kintomo Institute of Environmental Studies Graduate School of Frontier Sciences The University of Tokyo Tokyo 113-8656 7-3-1 Hongo Bunkyo-ku Japan Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe D-76128 Kaiserstrasse 12 Germany Surgical Planning Laboratory Brigham and Women's Hospital Harvard Medical School Boston MA 02115 75 Francis Street United States Department of Neurosurgery Tokyo Women's Medical University Tokyo 162-8666 8-1 Kawada-cho Shinjuku-ku Japan

A new three-dimensional (3D) digital ultrasound imaging system for surgical navigation was developed. The system could obtain 3D data within 12 s and show the data about 40 s. Volume rendering of the 3D data could be possible in a practically short time by introducing the volume rendering graphics accelerator. We applied the system in two clinical cases. The system can also register the obtained image to the other 3D data such as MRI and X-ray CT data by incorporating 3D position tracking system on its ultrasound probe. © 2001 Elsevier science B.V.

关键词： 3D digital ultrasound imaging system Surgical navigation Volume rendering

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Laser measuring system for a flexible microrobot-based micromanipulation station

Laser measuring system for a flexible microrobot-based micro...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Buerkle S. Fatikow Computer Science Department Institute for Process Control and Robotics (IPR Universität Karlsruhe Karlsruhe Germany Computer Science Department Institute for Process Control and Robotics IPR Universität Karlsruhe Karlsruhe Germany

There is an increasing interest in performing assembly of microsystems by flexible microrobots. A microrobot-based microassembly desktop station has been developed at the University of Karlsruhe. In this paper, new implementation results of a computer vision based automatic control system of a mobile microrobot with an integrated flexible manipulator are discussed. The operations of the robot manipulator take place under a microscope equipped with a CCD-camera. A major drawback of this system is its lack of depth information. For this reason, the sensor system has been enhanced by a line laser, using laser triangulation. The set-up of the modified sensor system is described. The measuring principle is based on a method called sheet of light triangulation, a variation of standard triangulation. This approach is described in detail, and its advantages and limitations are discussed.

关键词： Manipulators Sensor systems Robotic assembly Microassembly computer vision Automatic control Mobile computing Robot sensing systems robotics and automation Microscopy

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A pattern catalogue of surgical interventions for computer-supported operation planning

A pattern catalogue of surgical interventions for computer-s...

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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Münchenberg, J. Wörn, H. Brief, J. Hassfeld, S. Mühling, J. Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe 76128 Karlsruhe Germany Clinic for Cranio-Maxillo-Facial-Surgery University of Heidelberg 69120 Heidelberg Germany

ISBN: (纸本)1586030140

In this paper we present a new operation planning system which was evaluated in the clinic for Cranio-Maxillo-Facial-Surgery at the University of Heidelberg. In opposite to commercial systems our goal was, that the system considers the complete surgical intervention and not only a single procedure of it. A second goal was, that the system enables managing of complex operations, independent of which way the intervention will be intraoperatively performed (without technical support, with passive navigation support or active support by robots). Our system supports the surgeon during the preoperative planning as well as during the intraoperative execution phase. Therefore we developed a course model by which the managing of surgical interventions is possible. The focus of this paper is on this course model. At first we introduce instruction graphs and describe the structure of each activity observing its attributes and their context. Additionally, various surgical scopes will be presented which enable the surgeon to select one view among different ones of the individual operation procedures in accordance to medical and technical knowledge as well as in accordance to different degrees of abstraction. At last we demonstrate operation patterns, used as expert knowledge.

关键词： Robots

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