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Setting up a surveillance system in the civil domain with cooperating UAVs and UGVs

IFAC Proceedings Volumes 2012年第28期45卷 19-24页

作者： Robin Heß Michael Fritscher Markus Krauß Klaus Schilling Department of Computer Science VII: Robotics and Telematics University of Würzburg 97074 Germany Zentrum für Telematik e.V. 97218 Gerbrunn Germany

This work gives an overview of the project SiNafaR, safe navigation for autonomous robot systems, which aims at identifying requirements, legal aspects in Germany, and finding technological solutions for heterogeneous multi robotic systems in the civil sector. Based on a security services scenario a surveillance system consisting of UAVs and UGVs is proposed. Main technological gaps, such as assessable localization, reliable communication and consistent HMI are identified and solutions are presented.

关键词： Applications of Multivehicle Systems Cooperative Perception, Interaction, and Communication

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Link analysis for Networked Control Systems over mobile and wireless communication networks in telehealth

Link analysis for Networked Control Systems over mobile and ...

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1st IFAC Conference on Embedded Systems, Computational Intelligence and telematics in Control, CESCIT 2012

作者： Görs, Matthias Schäfer, Markus Albert, Michael Marx, Roland Schilling, Klaus Zentrum für Telematik E.V. Allesgrundweg 12 97218 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Würzburg Würzburg Germany

ISBN: (纸本)9783902661975

Networked Control Systems (NCS), especially Wireless Networked Control Systems (WNCS) over mobile networks became more important in research. Using modern mobile devices and new Wide Area Communication Networks to realize remote patient monitoring systems as well as remote patient control systems brings new challenges for todays research. Considering the many possibilities and advantages modern mobile devices offer we have a look of the behavior of these devices in the above mentioned context. The results of this paper show that using wireless and mobile communication networks for NCS's imposes higher round trip times, more jitter and higher packet loss. This leads to challenging circumstances for NCS's and a need for adaptions in the design of a WNCS. © 2012 IFAC.

关键词： Networked control systems

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Link Analysis for Networked Control Systems over Mobile and Wireless Communication Networks in Telehealth

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IFAC Proceedings Volumes 2012年第4期45卷 1-6页

作者： Matthias Görs Markus Schäfer Michael Albert Roland Marx Klaus Schilling Zentrum für Telematik e. V. Allesgrundweg 12 97218 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Würzburg Würzburg Germany

关键词： telematics Telecontrol Communication Control systems Telehealth

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Intersatellite links and relative navigation: Pre-conditions for formation flights with pico- and nanosatellites

Intersatellite links and relative navigation: Pre-conditions...

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作者： Marszalek, Michael Kurz, Oliver Drentschew, Maximilian Schmidt, Marco Schilling, Klaus ZfT - Zentrum für Telematik E.V. Gerbrunn Germany Fraunhofer Institute for Integrated Circuits IIS Nürnberg Germany Department of Computer Science VII - Robotics and Telematics University Würzburg Germany Germany

ISBN: (纸本)9783902661937

A group of satellites can be classified as a constellation, formation or cluster. Multiple coordinated satellites are described as a formation, if a closed-loop control is adjusted, thus providing a coordinated motion control on basis of their relative positions to preserve the topology (Schilling [2009]). This technology enables various application scenarios, for example, interferometry or in-orbit servicing and it is subject to multiple technological requirements related to formation ying, limited resources or scientific payloads. In the framework of the feasibility study NaKoFo, this paper discusses the potential benefits, drawbacks and problems associated with intersatellite links and relative navigation with pico- and nanosatellites. The requirements of an intersatellite link are analyzed based on frequency, modulation, antenna, power and network protocol. A short overview of adequate communication systems for pico- and nanosatellites is also presented. Technologies for relative position determination are presented and discussed regarding their applicability in small satellite systems as well as their requirements on an intersatellite link. © 2011 IFAC.

关键词： Picosatellites

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Results of a requirements study for mobile ad-hoc networks of small satellites

Results of a requirements study for mobile ad-hoc networks o...

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62nd International Astronautical Congress 2011, IAC 2011

作者： Drentschew, Maximilian Marszalek, Michael Zeiger, Florian Sauer, Markus Schmidt, Marco Schilling, Klaus Zentrum für Telematik e. V Allesgrundweg 12 97218 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Würzburg Würzburg Germany

ISBN: (纸本)9781618398055

When swarm or formation missions with a high number of satellites are realized, a vital aspect of the inter-satellite communication will be self-organization. This feature supports tolerance towards failures of single satellites and graceful degradation, reduces the problems of multiple channel access and introduces robustness towards altering relative positions within the multi-satellite system causing network topology changes. A very interesting approach in this scope is the research field of Mobile Ad-hoc Networks (MANETs). They provide autonomous reconfguration of communication links and are therefore a good candidate for robust intersatellite communications. The generality of MANETs enable for designing a multi-satellite system of heterogeneous satellites able to communicate with each other. The multi-hop property of a MANET can decrease the satellites' energy consumption and their interferences on the communication channels, depending on the network's topology. Another positive side-effect is that they allow load balancing of the data traffic for the network nodes. But while MANETs are successfully employed for research on terrestrial applications, none has been established in space yet, nor have any space borne experiments been performed. This paper contributes with a first step by providing a requirements analysis of MANETs particularly realized with small satellites, excerpting the results of a feasibility study addressing communications and navigation technologies for small-satellite formations (NaKoFo). Feasible trade-offs with respect to the restrictions imposed by very small satellites are essential to allow operational MANETs in space. When designing a multi-satellite system, taking the requirements from this study into account will allow creating a flexible, robust, and scalable communication network for swarms or formations of satellites.

关键词： Mobile ad hoc networks

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Tele-medicine techniques for remote support of patients in dialysis and COPD

Tele-medicine techniques for remote support of patients in d...

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International Conference on Instrumentation, Communication, Information Technology and Biomedical Engineering 2011, ICICI-BME 2011

作者： Görs, Matthias Marx, Roland Albert, Michael Schafer, Markus Schilling, Klaus Zentrum für Telematik e.V. Allesgrundweg12 97218 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Würzburg Würzburg Germany

ISBN: (纸本)9781457711657

The progress of telematics (=Telecommunication + Automation + Informatics) methods promisesin tele-medicine applications increasing quality of treatment at reduced costs. At the two example cases of COPD (Chronic Obstructive Pulmonary Disease) and of Dialysis a related sensor equipment to characterize the health status, as well as equipment for continuous and safe data transmission are presented. Data processing at a tele-service center has to filter information,such that only the critical cases are confronted to the doctors. Challenges, system architecture and first experiences of this tele-medicine approach for remote monitoring of patients are reported. © 2011 IEEE.

关键词： Dialysis

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Intersatellite Links and Relative Navigation: Pre-conditions for Formation Flights with Pico- and Nanosatellites

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IFAC Proceedings Volumes 2011年第1期44卷 3027-3032页

作者： Michael Marszalek Oliver Kurz Maximilian Drentschew Marco Schmidt Klaus Schilling ZfT – Zentrum für Telematik e.V. Gerbrunn Germany Fraunhofer Institute for Integrated Circuits IIS Nürnberg Germany Chair of Computer Science VII – Robotics and Telematics University Würzburg Germany

Abstract A group of satellites can be classified as a constellation, formation or cluster. Multiple coordinated satellites are described as a formation, if a closed-loop control is adjusted, thus providing a coordinated motion control on basis of their relative positions to preserve the topology (Schilling [2009]). This technology enables various application scenarios, for example, interferometry or in-orbit servicing and it is subject to multiple technological requirements related to formation flying, limited resources or scientific payloads. In the framework of the feasibility study NaKoFo, this paper discusses the potential benefits, drawbacks and problems associated with intersatellite links and relative navigation with pico- and nanosatellites. The requirements of an intersatellite link are analyzed based on frequency, modulation, antenna, power and network protocol. A short overview of adequate communication systems for pico- and nanosatellites is also presented. Technologies for relative position determination are presented and discussed regarding their applicability in small satellite systems as well as their requirements on an intersatellite link.

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Tele-medicine techniques for remote support of patients in dialysis and COPD

Tele-medicine techniques for remote support of patients in d...

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International Conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering (ICICI-BME)

作者： Matthias Görs Roland Marx Michael Albert Markus Schäfer Klaus Schilling Zentrum für Telematik e.V Gerbrunn Germany Department of Computer Science-Robotics and Telematics University of Würzburg Wurzburg Germany

关键词： Diseases Biomedical monitoring Monitoring Blood Data communication Wide area networks

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On challenges of robot assisted radiotherapy for lung tumors

On challenges of robot assisted radiotherapy for lung tumors

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Ma, Lei Herrmann, Christian Schilling, Klaus School of Electrical Engineering Southwest Jiaotong University Chengdu 610031 China University of Würzburg Department of Computer Science VII: Robotics and Telematics D-97074 Würzburg Germany

ISBN: (纸本)9781424493173

This paper is concerned with recent development in robot assisted radiotherapy for lung tumors. The paper first analyzes technical challenges regarding tumor position determination and prediction, by invasive and non-invasive methods, correlation models of the tumor motion and the respiratory signals, as well as modeling and control of the robot manipulator. Several currently available solutions and concepts are then briefly introduced. Emphasis is placed on the ATTS (adaptive tumor tracking system) system developed at the University of Würzburg. Within the ATTS, information of the tumor motion is used to control a robotic treatment couch HexaPOD, which moves in six degrees of freedom and maintains the tumor in a certain fixed spatial position. With this new technology it is possible to avoid gating during the radiotherapy as well as active breathing control, such that duration and cost of the therapy as well as trauma of the patient can be reduced. The tumor position is obtained by data fusion from two sensing system. Correlation methods for data fusion were extensively investigated and a prediction model for tumor motion is found that can forecast the tumor position for up to one respiratory period. Modeling of the HexaPOD treatment couch is addressed. The most suitable model is found to be a low-order linear dynamic equation together with a saturation component. Three different control methods and comparative test results are then presented to show feasibility of the proposed model and control schemes. © 2010 IEEE.

关键词： Radiotherapy

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On challenges of robot assisted radiotherapy for lung tumors

On challenges of robot assisted radiotherapy for lung tumors

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IEEE International Conference on robotics and Biomimetics

作者： Lei Ma Christian Herrmann Klaus Schilling School of Electrical Engineering Southwest Jiaotong University Chengdu China Department of Computer Science VII: Robotics and Telematics University of Würzburg Wurzburg Germany

关键词： Tumors Robots Adaptation model Predictive models Tracking Cameras Data models

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