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Applying Double Skin Facade with ETFE Membrane Assembly for Energy Saving and Acoustic Protection for the Building of the czech institute of informatics,robotics and cybernetics in Prague

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Journal of Civil Engineering and Architecture 2019年第3期13卷 178-185页

作者： Petr Franta Architects&Assoc. Ltd.PragueCzech Republic Czech Institute of Informatics Robotics and Cybernetics-Czech Technical UniversityPragueCzech Republic

Multidisciplinary, integrated planning approach by architects, engineers, scientists and manufacturers to reduce energy consumption of buildings. The CIIRC Complex, located on the main campus of czech Technical University in Prague consists of two buildings, newly constructed building and adaptive reuse of existing building. CIIRC—czech institute of informatics, robotics and cybernetics is a contemporary teaching facility of new generation and use for scientific research teams. New building has ten above-ground floors, on the bottom 4 floors of laboratories, scientist modules, classrooms, above are offices, meeting rooms, teaching and research modules for professors and students. Offices of the rector are on the last two floors of the building. On the top floor is congress type auditorium, in the basement is fully automatic car park. Double skin pneumatic cushions facade. In the project are introduced series of architectural and technical features and innovations. Probably the most visible is the double skin facade facing south-transparent double layer membrane ETFE (Ethylen-TetraFluorEthylen) cushions with triple glazed modular system assembly. Acting as solar collector, recuperating of hot air on the top floors, saving up to 30% of an energy consumption.

关键词： Double skin façade as solar collector ETFE membrane cushions as outer skin air-recuperation from façade(top floors).

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Comparative Evaluation of 3D Reconstruction Methods for Object Pose Estimation

Comparative Evaluation of 3D Reconstruction Methods for Obje...

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2025 IEEE/CVF Winter Conference on Applications of Computer Vision, WACV 2025

作者： Burde, Varun Benbihi, Assia Burget, Pavel Sattler, Torsten Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic

ISBN: (纸本)9798331510831

Current generalizable object pose estimators, i.e., approaches that do not need to be trained per object, rely on accurate 3D models. Predominantly, CAD models are used, which can be hard to obtain in practice. At the same time, it is often possible to acquire images of an object. Naturally, this leads to the question of whether 3D models reconstructed from images are sufficient to facilitate accurate object pose estimation. We aim to answer this question by proposing a novel benchmark for measuring the impact of 3D reconstruction quality on pose estimation accuracy. Our benchmark provides calibrated images suitable for reconstruction and registered with the test images of the YCB-V dataset for pose evaluation under the BOP benchmark format. Detailed experiments with multiple state-of-the-art 3D reconstruction and object pose estimation approaches show that the geometry produced by modern reconstruction methods is often sufficient for accurate pose estimation. Our experiments lead to interesting observations: (1) Standard metrics for measuring 3D reconstruction quality are not necessarily indicative of pose estimation accuracy, which shows the need for dedicated benchmarks such as ours. (2) Classical, non-learning-based approaches can perform on par with modern learning-based reconstruction techniques and can even offer a better reconstruction time-pose accuracy tradeoff. (3) There is still a sizable gap between performance with reconstructed and with CAD models. To foster research on closing this gap, the benchmark is made available at https://***/VarunBurde/reconstruction-pose-benchmark. © 2025 IEEE.

关键词： 3d reconstruction 6d object pose estimation bop

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Development of an electro-pneumatic calf muscle actuator to estimate peripheral venous oxygen saturation using photoplethysmography 46

Development of an electro-pneumatic calf muscle actuator to ...

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46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2024

作者： Badiola, Idoia Noppeney, Stefan Blazek, Vladimir Leonhardt, Steffen Lueken, Markus Aachen Germany Czech Technical University The Czech Institute of Informatics Robotics and Cybernetics Prague Czech Republic

ISBN: (纸本)9798350371499

In pulse oximetry, arterial blood pulsations are used to estimate peripheral arterial oxygen saturation (SpO2) using photoplethysmography (PPG). On the contrary, peripheral venous oxygen saturation (SvO2) assessment remains challenging due to the absence of rhythmic blood volume fluctuations in the venous system. This paper introduces an electro-pneumatic system emulating the Venous Muscle Pump Test (VMPT) to induce venous blood pulsations. The system achieves 0-120 mmHg pressure pulsations on the calf at 0.5 Hz, facilitating SvO2 estimation through a toe-attached PPG sensor. A proof-of-concept study on two subjects reveals PPG curves and venous blood volume variations comparable to conventional VMPT. The system outperforms in acquiring arterial pulsations, enabling simultaneous SpO2 estimation and the possibility of local oxygen consumption estimation. Estimated Ratio-of-Modulation and SvO2 values (84-89 %) align with classical VMPT, with lower mean deviation (3-15 % vs. 10-18 %). While promising, further studies with larger sample sizes, varied pressure parameters, and reference SvO2 values are essential for validating the system's efficacy. Future tests will further explore the system's potential to detect venous valve leakage. © 2024 IEEE.

关键词： Photoplethysmography

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EdgeGaussians - 3D Edge Mapping via Gaussian Splatting

EdgeGaussians - 3D Edge Mapping via Gaussian Splatting

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2025 IEEE/CVF Winter Conference on Applications of Computer Vision, WACV 2025

作者： Chelani, Kunal Benbihi, Assia Sattler, Torsten Kahl, Fredrik Chalmers University of Technology Sweden Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic

ISBN: (纸本)9798331510831

With their meaningful geometry and omnipresence in the 3D world, edges are extremely useful primitives in computer vision. Methods for 3D edge reconstruction have 1) either focused on reconstructing 3D edges by triangulating tracks of 2D line segments across images or 2) more recently, learning a 3D edge distance field from multi-view images. The triangulation-based methods struggle to repeatedly detect and robustly match line segments resulting in noisy and incomplete reconstructions in many cases. Methods in the latter class rely on sampling edge points from the learnt implicit field, which is limited by the spatial resolution of the voxel grid used for sampling, resulting in imprecise points that require refinement. Further, such methods require a long training that scales poorly with the size of the scene. In this paper, we propose a method that explicitly learns 3D edge points with a 3D Gaussian Splatting representation trained from edge images. The 3D Gaussians are regularized to have their directions of largest variance along the edge they lie on, enabling clustering into separate edges. Backed by efficient training, the proposed method produces results better than or at-par with the current state-of-the-art methods, while being an order of magnitude faster. Code released at https://***/kunalchelani/EdgeGaussians. © 2025 IEEE.

关键词： Triangulation

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Towards a Framework for Intelligent Urban Traffic Routing 36th

Towards a Framework for Intelligent Urban Traffic Routing

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36th International Florida Artificial Intelligence Research Society Conference, FLAIRS-36 2023

作者： Svadlenka, Matyas Chrpa, Lukas Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Czech Republic

Intelligent traffic routing is one of the key techniques that can be used to optimise traffic, especially in urban areas. Deliberative reasoning techniques such as Automated Planning have shown their potential since they can take a global and longer-term perspective on the traffic situations. Such techniques have to be embedded in a urban traffic control framework such that they can generate and assign routes to the vehicles on the fly while considering the current traffic situation in the area. This paper presents an ongoing work on a framework that, in a nutshell, integrates an automated planning component, responsible for intelligent traffic routing, in the well known SUMO simulator in order to evaluate and study its impact in realistic traffic settings. In particular, the framework has to simplify the representation of the road network provided by SUMO, translate it into PDDL, a language for describing planning problems, and then interpret plans and fed them in form of vehicle routes into SUMO. © 2023 by the authors. All rights reserved.

关键词： Urban planning

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FocalPose++: Focal Length and Object Pose Estimation via Render and Compare

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年第2期47卷 755-772页

作者： Cifka, Martin Ponimatkin, Georgy Labbe, Yann Russell, Bryan Aubry, Mathieu Petrik, Vladimir Sivic, Josef Czech Technical University in Prague Faculty of Electrical Engineering Czech Institute of Informatics Robotics and Cybernetics Prague16000 Czech Republic Meta Platforms Reality Labs Zürich8045 Switzerland Adobe Research San FranciscoCA94103 United States École des Ponts LIGM UGE CNRS Marne-la-Vallée77455 France Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Prague16000 Czech Republic

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold. First, we derive a focal length update rule that extends an existing state-of-the-art render-and-compare 6D pose estimator to address the joint estimation task. Second, we investigate several different loss functions for jointly estimating the object pose and focal length. We find that a combination of direct focal length regression with a reprojection loss disentangling the contribution of translation, rotation, and focal length leads to improved results. Third, we explore the effect of different synthetic training data on the performance of our method. Specifically, we investigate different distributions used for sampling object's 6D pose and camera's focal length when rendering the synthetic images, and show that parametric distribution fitted on real training data works the best. We show results on three challenging benchmark datasets that depict known 3D models in uncontrolled settings. We demonstrate that our focal length and 6D pose estimates have lower error than the existing state-of-the-art methods. © 1979-2012 IEEE.

关键词： Digital elevation model

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Bridging the Gap: Digital Twin Integration and Evaluation in Robotic Multi-Axis Additive Manufacturing 22

Bridging the Gap: Digital Twin Integration and Evaluation in...

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22nd IEEE International Conference on Industrial informatics, INDIN 2024

作者： Jochman, Tomáš Voltr, Václav Kubáček, Václav Švec, Ondřej Burget, Pavel Hlaváč, Václav Faculty of Electrical Engineering Department of Cybernetics Czech Technical University in Prague Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (纸本)9798331527471

This study aims to integrate and evaluate digital twin technology with robotic multi-axis additive manufacturing to bridge the gap between virtual planning and physical execution, enhancing the precision and efficiency of manufacturing processes. A laser tracker is employed to calibrate the machine workspace and tools and introduce a comprehensive system involving an industrial robot with a filament extruder head and a rotary-tilt positioner. The digital twin not only encapsulates the geometric and operational intricacies of the multi-axis additive manufacturing process but also automates code generation for robotic operations. The application of this methodology is demonstrated through the production of two complex parts, where their dimensional fidelity is assessed to evaluate the precision limits and potential of digital twin technology in multi-axis additive manufacturing. The findings reveal significant advancements in the alignment of virtual models and physical objects, confirming the potential of digital twins to minimize deviations common in traditional manufacturing setups. © 2024 IEEE.

关键词： Industrial robots

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Enhancing Extrusion Precision and Reliability in Robotic Multi-Axis Additive Manufacturing through Digital Twin Integration 24

Enhancing Extrusion Precision and Reliability in Robotic Mul...

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24th International Conference on Control, Automation and Systems, ICCAS 2024

作者： Jochman, Tomáš Voltr, Václav Švec, Ondřej Kubáček, Vaclav Burget, Pavel Hlaváč, Václav Czech Technical University in Prague Faculty of Electrical Engineering Department of Cybernetics Prague Czech Republic Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Prague Czech Republic

ISBN: (纸本)9788993215380

In robotic multi-axis additive manufacturing, achieving high precision and consistency is crucial. This paper presents a comprehensive calibration procedure and optimization strategy for process parameters in a filament-based extruder mounted on an industrial robot. A digital twin of the manufacturing setup is utilized to simulate and validate the process, enabling precise adjustments and automation of code generation for robotic operations. Experimental calibration artifacts are produced and measured to verify the effectiveness of the proposed approach, highlighting the impact of variables such as hot-end temperature, layer height, and tool center point velocity on print quality. A laser tracker is employed to ensure precise measurement of calibration artifacts, enhancing the accuracy of the calibration process. The results highlight the potential for advancements in the precision and reliability of multi-axis additive manufacturing processes through systematic calibration and optimization, enabling the stable production of complex 3D-printed structures and reduced production waste. © 2024 ICROS.

关键词： Extrusion

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Integrating Augmented Reality within Digital Twins for Smart Robotic Manufacturing Systems 29

Integrating Augmented Reality within Digital Twins for Smart...

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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Jochman, Tomáš Voltr, Václav Kubáček, Vaclav Švec, Ondřej Burget, Pavel Hlaváč, Václav Czech Technical University in Prague Faculty of Electrical Engineering Department of Cybernetics Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (纸本)9798350361230

This paper explores the integration of augmented reality into robotic manufacturing systems, emphasizing the enhancement of connectivity, real-time data processing, and interactive visual interfaces. Utilizing Hololens 2 headsets equipped with OPC UA clients, the system establishes a direct interface between operators and the digital and physical components of the manufacturing environment. The architecture employs augmented reality to facilitate sophisticated operational control and visualization, ranging from robotic additive manufacturing to complex tasks like robotic sanding and screwing with integrated camera systems. This integration showcases significant advancements in manufacturing processes, allowing operators to engage interactively with the systems, optimize workflows, and improve overall precision and efficiency in a smart factory setting. © 2024 IEEE.

关键词： Smart manufacturing

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Low Fidelity Digital Twin for Automated Driving Systems: Use Cases and Automatic Generation 8

Low Fidelity Digital Twin for Automated Driving Systems: Use...

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8th International Conference on Intelligent Traffic and Transportation, ICITT 2024 - incorporating the 8th International Conference on Communication and Network Technology, ICCNT 2024

作者： Vlasak, Jiri Klapálek, Jaroslav Kollarčík, Adam Sojka, Michal Hanzálek, Zdeněk Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Prague Czech Republic

ISBN: (纸本)9781643685601

Automated driving systems are an integral part of the automotive industry. Tools such as Robot Operating System and simulators support their development. However, in the end, the developers must test their algorithms on a real vehicle. To better observe the difference between reality and simulation–the reality gap–digital twin technology offers real-time communication between the real vehicle and its model. We present a low fidelity digital twin generator and describe situations where automatic generation is preferable to high fidelity simulation. We validate our approach of generating a virtual environment with a vehicle model by replaying the data recorded from the real vehicle. © 2024 The Authors.

关键词： Robot Operating System

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