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2nd IFAC Symposium on telematics Applications, TA 2010

作者： Sauer, Markus Zeiger, Florian Schilling, Klaus Zentrum für Telematik e. V. Allesgrundweg 12 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Würzburg Am Hubland Würzburg Germany

ISBN: (纸本)9783902661845

Conventional approaches for the implementation of modern user interfaces for teleoperation of mobile robots in ad-hoc networks target to optimize only the communication link. Thus, remaining effects from network behavior in the user interface are still visible to the human operator. Here an approach is presented which aims to minimize also the perception by the human of these effects. This work shows and compares the behavior of three different user interface implementations which are capable for mobile robot teleoperation via ad-hoc networks. As starting point, a user interface is used which is not reacting on the situations of the communication link. Here, all changes in the network topology and network configuration, as well as the effects of the network load are directly visible for the user. The traditional approach uses an intelligent traffic shaping between the mobile robot and the user interface. Thus, short disruptions of the communication link or small delays are avoided. Nevertheless, a longer communication break down is still influencing the teleoperation capabilities of the user. The "predictive interface" which is is presented within the frame of this work also allows for teleoperation of the mobile robot while compensating longer communication losses. Finally, this work discusses constraints and requirements for a successful realization of predictive interfaces for mobile robot teleoperation via ad-hoc networks. © 2010 IFAC.

关键词： Remote control

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Automated environmental monitoring with remote biological sensors for large areas

Automated environmental monitoring with remote biological se...

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2nd IFAC Symposium on telematics Applications, TA 2010

作者： Drentschew, Maximilian Zeiger, Florian Schilling, Klaus Zentrum für Telematik e. V. Allesgrundweg 12 97218 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Würzburg Am Hubland 97074 Würzburg Germany

ISBN: (纸本)9783902661845

Currently, ecological monitoring is an important issue of discussions in science, industry, and politics. This work presents a distributed telematics infrastructure which allows for flexible ecological monitoring of large areas. By interconnecting beehives, a large network of distributed sensors is installed, which allows not only for a detailed long term and near real-time monitoring of the bee behavior in different environments. Also the information which can be deducted from the bees themselves (e.g. about pollution) can be collected this way, which enables monitoring of large areas surrounding the hives. In this work, a system is proposed which provides the telematics infrastructure to realize this method of ecological monitoring. It can also be extended by mobile robots with special sensor equipment to get more detailed and accurate measurements in zones of special interest. Details on requirements, system design, and the implementation are given. © 2010 IFAC.

关键词： telematics

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An augmented reality supported control system for remote operation and monitoring of an industrial work cell

An augmented reality supported control system for remote ope...

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2nd IFAC Symposium on telematics Applications, TA 2010

作者： Sauer, Markus Leutert, Florian Schilling, Klaus Zentrum für Telematik e. V. Allesgrundweg 12 97218 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Würzburg Am Hubland 97074 Würzburg Germany

ISBN: (纸本)9783902661845

Telematic control systems have a lot of potential applications in teleservicing of remote sites: they range from surveillance of regular operations over optimization of existing processes to remote error resolving. In this paper, we describe the general architecture of a telematic control system employed to survey an industrial work cell, and show how Augmented Reality (AR) can support an operator in grasping events and conditions at the remote site more clearly, thus getting a better situational awareness. After describing several specific examples from the AR tool-range, potential uses of the system are presented. © 2010 IFAC.

关键词： telematics

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Automated Environmental Monitoring with Remote Biological Sensors for Large Areas *

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IFAC Proceedings Volumes 2010年第23期43卷 89-94页

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

Currently, ecological monitoring is an important issue of discussions in science, industry, and politics. This work presents a distributed telematics infrastructure which allows for flexible ecological monitoring of large areas. By interconnecting beehives, a large network of distributed sensors is installed, which allows not only for a detailed long term and near realtime monitoring of the bee behavior in different environments. Also the information which can be deducted from the bees themselves (e.g. about pollution) can be collected this way, which enables monitoring of large areas surrounding the hives. In this work, a system is proposed which provides the telematics infrastructure to realize this method of ecological monitoring. It can also be extended by mobile robots with special sensor equipment to get more detailed and accurate measurements in zones of special interest. Details on requirements, system design, and the implementation are given.

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Mixed-Reality User Interface for Mobile Robot Teleoperation in Ad-Hoc Networks

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IFAC Proceedings Volumes 2010年第23期43卷 77-82页

作者： Markus Sauer Florian Zeiger Klaus Schilling Zentrum für Telematik e. V. Allesgrundweg 12 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Würzburg Am Hubland Würzburg Germany

Conventional approaches for the implementation of modern user interfaces for teleoperation of mobile robots in ad-hoc networks target to optimize only the communication link. Thus, remaining effects from network behavior in the user interface are still visible to the human operator. Here an approach is presented which aims to minimize also the perception by the human of these effects. This work shows and compares the behavior of three different user interface implementations which are capable for mobile robot teleoperation via ad-hoc networks. As starting point, a user interface is used which is not reacting on the situations of the communication link. Here, all changes in the network topology and network configuration, as well as the effects of the network load are directly visible for the user. The traditional approach uses an intelligent traffic shaping between the mobile robot and the user interface. Thus, short disruptions of the communication link or small delays are avoided. Nevertheless, a longer communication break down is still influencing the teleoperation capabilities of the user. The “predictive interface„ which is is presented within the frame of this work also allows for teleoperation of the mobile robot while compensating longer communication losses. Finally, this work discusses constraints and requirements for a successful realization of predictive interfaces for mobile robot teleoperation via ad-hoc networks.

关键词： robotics Teleoperation Human-Machine Interface Networked Systems Mixed Reality

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An Augmented Reality Supported Control System for Remote Operation and Monitoring of an Industrial Work Cell

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IFAC Proceedings Volumes 2010年第23期43卷 83-88页

作者： Markus Sauer Florian Leutert Klaus Schilling Zentrum für Telematik e. V. Allesgrundweg 12 97218 Gerbrunn Department of Computer Science - Robotics and Telematics University of Würzburg Am Hubland 97074 Würzburg Germany

关键词： telematics Teleoperation Robotic Manipulators Augmented Reality Remote control

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On the rendezvous problem for groups of car-like mobile robots

On the rendezvous problem for groups of car-like mobile robo...

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作者： Hess, Martin Schilling, Klaus Computer Science VII: Robotics and Telematics University of Wuerzburg Germany

ISBN: (纸本)9783902661531

This paper deals with the rendezvous for groups of car-like mobile robots. In the main part of this work we solve the rendezvous problem for bounded steering vehicles by applying discontinuous feedback control in combination with a specific switching logic. This logic commands certain vehicles to perform orientation adjusting maneuvers that drive the system out of undesired equilibria. The developed control system is demonstrated in several laboratory hardware experiments. © 2009 IFAC.

关键词： Mobile robots

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On the Rendezvous problem for Groups of Car-like Mobile Robots

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IFAC Proceedings Volumes 2009年第22期42卷 50-55页

作者： Martin Hess Klaus Schilling Computer Science VII: Robotics and Telematics University of Wuerzburg Germany

关键词： Distributed control discontinuous control autonomous mobile robots robot rendezvous

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Robust bilateral teleoperation of a car-like rover with communication delay 10

Robust bilateral teleoperation of a car-like rover with comm...

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2009 10th European Control Conference, ECC 2009

作者： Ma, Lei Xu, Zhihao Schilling, Klaus University of Würzburg Department of Computer Science VII: Robotics and Telematics WürzburgD-97074 Germany Zentrum für Telematik Würzburg Germany

ISBN: (纸本)9783952417393

This paper addresses bilateral teleoperation of a car-like rover with communication delay. The proposed teleoperation scheme enables change of linear velocity and steering angle of the rover by pushing and pulling a haptic joystick. An environmental force determined according to relative distances and speeds between the rover and obstacles is rendered to the human operator. The human operator perceives the environmental force via haptic feedback of the joystick to accomplish obstacle detection and avoidance, such that teleoperation performance is improved. A sliding-mode based impedance control is proposed for the slave robot. Stability of the closed-loop teleoperator is ensured by passivity of the impedance controlled master and slave robots, as well as absolute stability of the communication channel modeled as a 2-port network. The sliding-mode based impedance controller for the rover also ensures robustness in the presence of uncertain, time-variant dynamics of the robot, which are non-negligible for out-door and planetary applications. Preliminary experimental results have shown feasibility of the proposed teleoperation scheme. © 2009 EUCA.

关键词： Slave robots

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Integrating teams of mobile robots in wireless ad-hoc networks

Integrating teams of mobile robots in wireless ad-hoc networ...

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作者： Zeiger, Florian Sauer, Markus Stolz, Lothar Schilling, Klaus Center for Telematics Würzburg Germany Department of Computer Science - Robotics and Telematics University of Würzburg Würzburg Germany

ISBN: (纸本)9783902661531

Modern applications of mobile robot teams or robot teleoperation often demand wireless any-to-any communication in combination with highly dynamical network topologies to accomplish more and more complex tasks. These communication systems should also not rely on any pre-existing infrastructure, have low costs, and should allow for a seamless integration into existing communication networks. The well tested technology IEEE 802.11 wireless LAN offers all these possibilities. Especially the capability of realizing ad-hoc networks offers a high potential for WLAN to be used in the area of networked robots. Mesh networks and mobile ad-hoc networks are able to provide mechanisms for realizing stable communication links for networked robots. This work gives a brief overview on mesh networks and ad-hoc networks and further shows the behavior of different ad-hoc routing protocols (AODV, OLSR, DSR, BATMAN) in typical scenarios for remote operation of mobile robots. Also the differences between the application scenarios of mobile robot teams and in pure telecommunication environments are explained. The presented results are not only based on simulations. The ad-hoc routing protocols are compared in test scenarios with real mobile robot hardware experiments and the analysis is done according to well established methods and valid metrics well known from literature. Hints for the setup and parameter tuning of selected ad-hoc routing protocols are given to enable a better teleoperation of mobile robots and to improve the communication inside teams of mobile robots and humans. Finally a first approach is presented how to increase the system performance also on the application layer. © 2009 IFAC.

关键词： telematics

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