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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： H. Schmidt S. Hesse R. Bernhardt Department of Neurological Rehabilitation University Hospital Charité Berlin Germany Department of Automation & Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

The work presents a newly developed safety concept for application of robotic walking simulators based on the principle of programmable footplates in gait rehabilitation. Unlike robotic hand devices or exoskeleton robots for gait training on treadmills, which can be built relatively lightweight and require only small drives which can hardly do harm to the patient, a programmable footplate walking simulator with permanent foot fixture essentially needs to have powerful drives in order to carry and move the full body weight of the patient. The developed safety concept comprises several redundant algorithms and devices in the real-time robot control software, electrical emergency stop circuitry and machine mechanics. The mechanical core is a machine design offering maximum passive security by covering all moving parts (i.e. robot drives and linkages) and a newly developed foot safety release binding, which is mounted on each footplate. The release binding allows a safe release from the footplate in all directions in any degree of freedom in the sagittal plane. It is combined with an ankle goniometer which is equipped with adjustable emergency stop limit switches, thus ensuring that the allowed ankle range-of-motion is not exceeded.

关键词： Railway safety Robots Legged locomotion Rehabilitation robotics Foot Software safety Exoskeletons Circuit simulation Fixtures Electrical safety

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Upper and lower extremity robotic devices to promote motor recovery after stroke -recent developments

Upper and lower extremity robotic devices to promote motor r...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： H. Schmidt S. Hesse C. Werner A. Bardeleben Department of Neurological Rehabilitation University Hospital Charité Berlin Germany Department of Automation & Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

Successful motor rehabilitation of stroke, TBI and SCI subjects requires an intensive and task-specific therapy approach. Budget constrains limit a hand-to-hand therapy approach, so that intelligent machines may offer a solution to further promote motor recovery and to better understand motor control. This new field of automated or robot-assisted motor rehabilitation has emerged since the nineties. The article presents clinically viable devices for the upper and lower extremity rehabilitation, which have been developed by our group. The Bi-Manu-Track, enables the bilateral practice of a forearm and wrist movement, and is currently tested. For gait rehabilitation after stroke, the electromechanical gait trainer GT I has proven effective as compared to treadmill training with body weight support (BWS). The latest development is the HapticWalker, a robotic walking simulator for gait training, which allows the training of arbitrary daily life foot trajectories. The foot trajectories can be individually adjusted to each patient, in addition the machine will offer a sophisticated patient-machine-interaction. A prototype of the machine has been designed and built succesfully and is being evaluated at present. Technical possibilities are one aspect, but multi-centre trials and the consideration of unsubstantiated fears among therapists of being replaced by the machines will decide on the successful implementation of this most promising field to the benefit of patients.

关键词： Extremities Rehabilitation robotics Medical treatment Legged locomotion Foot Intelligent robots Machine intelligence Motor drives Robotics and automation Wrist

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A New Quenching Process and Tower to Improve the Recovery of Acrylonitrile

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Chinese Journal of Chemical Engineering 2004年第3期12卷 401-407页

作者：甘永胜顾军民方永成 Shanghai Research Institute of Petrochemical Technology Shanghai 201208 China Shanghai Research Institute of Petrochemical Technology Shanghai 201208 Chinauenching process and design of the quenching tower in acrylonitrile production in China were studied in order to decrease the polymerization loss of acrylonitrile in the quenching tower. Based on the research of acrylonitrile polymerization in the quenching tower a new quenching process was proposed to avoid the disadvantages of the original process. Two kinds of internals were installed to improve the performance of the quenching tower. Through a series of air-flow and real-flow model experiments the new quenching process and new design were showed to be successful in enhancing the mass and heat transfer in the vapor-liquid system and decreasing the loss of acrylonitrile. Industrial application showed satisfactory results of decrease of the acrylonitrile loss in the quenching tower by about 4.5% and increase of the acrylonitrile recovery of the whole plant by more than 4%.

Quenching process and design of the quenching tower in acrylonitrile production in China were studied in order to decrease the polymerization loss of acrylonitrile in the quenching tower. Based on the research of acrylonitrile polymerization in the quenching tower, a new quenching process was proposed to avoid the disadvantages of the original process. Two kinds of internals were installed to improve the performance of the quenching tower. Through a series of air-flow and real-flow model experiments, the new quenching process and new design were showed to be successful in enhancing the mass and heat transfer in the vapor-liquid system and decreasing the loss of *** application showed satisfactory results of decrease of the acrylonitrile loss in the quenching tower by about 4.5% and increase of the acrylonitrile recovery of the whole plant by more than 4%.

关键词： acrylonitrile quenching recovery of acrylonitrile quenching process

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Knowledge management : : concepts and best practices / 2nd ed.

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2003年

作者： Mertins Kai Heisig Peter Vorbeck Jens.

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Digital Product Development in a Distributed Virtual Environment

Digital Product Development in a Distributed Virtual Environ...

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Fourth International Conference on Virtual Reality and Its Applications in Industry

作者： Weiqun Cao Hendrik Gaertner Stefan Conrad Ernst Kruijff Dirk Langenberg Ralph Schultz Fraunhofer Institute for Media Communication Schloss Birlinghoven D-53754 Sankt Augustin Germany Fraunhofer Institute for Production System and Design Technology Pascalstr. Berlin Germany Fraunhofer Institute for Media Communication Schloss Birlinghoven D-53754 Sankt Augustin Germany Fraunhofer Institute for Media Communication Schloss Birlinghoven D-53754 Sankt Augustin Germany Fraunhofer Institute for Production System and Design Technology Pascalstr. Berlin Germany Fraunhofer Institute for Production System and Design Technology Pascalstr. Berlin Germany

Virtual Reality leads Digital Product Development technology to a more effective and convenient way by presenting the product model in an immersive real 3D environment. Distributed VR even gives the possibility for partners to discuss the design of the product independent of their locations. This paper introduces the ongoing work with a Digital Product Development system with Virtually Cooperating Teams Using Optical Networks-ProVit, which aims at building up immersive telepresence systems for design review running over high-bandwidth networks. Video and audio streams are integrated in the virtual environment to support teleconference aspects of the distributed design review sessions. A network management system has been developed for the supervision, maintenance and processing of distributed setups, and network security.

关键词： Virtual Reality, Distribution, Telepresence, Digital Product Development, Network Management system, Distributed streaming

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Ink texture analysis for writer identification

Ink texture analysis for writer identification

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International Workshop on Frontiers in Handwriting Recognition

作者： K. Franke O. Bunnemeyer T. Sy Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

This paper presents an approach for ink type recognition. Ink type classes will be derived from the physical properties of ink. Ink specific trace morphologies are considered as textures. From these discriminant texture features of the co-occurrence matrix will be derived. The proposed method for automated ink type recognition was tested using 62 different kinds of pens and refills. The achieved recognition result of 99.7% for 600 dpi and 98.4% for 300 dpi handwritings further promotes the study of trace morphologies in particular for application in forensic writer identification.

关键词： Ink Writing Forensics Handwriting recognition Morphology Image processing Humans production systems Automatic testing Forgery

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Robotic walking simulator for neurological gait rehabilitation

Robotic walking simulator for neurological gait rehabilitati...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： H. Schmidt D. Sorowka S. Hesse R. Bernhardt Department of Neurological Rehabilitation University of Berlin Berlin Germany Department of Neurological Rehabilitation Free University of Berlin Berlin Germany Department of Automation & Robotics Fraunhofer Institute for Production Systems and Design Technology (IPK) Berlin Germany

The restoration of walking capability is a key goal after stroke, traumatic brain injury and spinal cord injury. Conventional training methods, e.g. treadmill training, require great physical effort from the therapists to assist the patient. A robotic training machine would be desirable in order to improve the training and to relieve the therapists. In addition to the general robot kinematics design issues, the designer of such a machine has to take into account several considerations specific to patient treatment In a rehabilitation clinic. Such a robotic walking simulator for neurological rehabilitation has been designed by our group and a prototype is currently being built. It will enable the therapist to let the machine move the patients feet on programmable foot trajectories (e.g. walking on plane floor, stepping stairs up and down, walking on rough surfaces, disturbances during walking). Therefore the patients feet will be fixed on two separate footplates mounted on the robot endeffectors. The highly dynamic robotic system can be used as a universal walking simulator, not only for rehabilitation purposes, i.e. as a haptic foot device for a variety of virtual ground conditions.

关键词： Legged locomotion Rehabilitation robotics Foot Brain modeling Brain injuries Spinal cord injury Robot kinematics Medical treatment Virtual prototyping Rough surfaces

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A computer-based system to support forensic studies on handwritten documents

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International Journal on Document Analysis and Recognition 2001年第4期3卷 218-231页

作者： Franke, Katrin Köppen, Mario Fraunhofer Institute for Production Systems and Design Technology Department of Pattern Recognition Pascalstrasse 8-9 10587 Berlin Germany

Computer-based forensic handwriting analysis requires sophisticated methods for the pre-processing of digitized paper documents, in order to provide highquality digitized handwriting, which represents the original handwritten product as accurately as possible. Due to the requirement of processing a huge amount of different document types, neither a standardized queue of processing stages, fixed parameter sets nor fixed image operations are qualified for such pre-processing methods. Thus, we present an open layered frameworkthat covers adaptation abilities at the parameter, operator, and algorithm levels. Moreover, an embedded module, which uses genetic programming, might generate specific filters for background removal on-the-fly. The framework is understood as an assistance system for forensic handwriting experts and has been in use by the Bundeskriminalamt, the federal police bureau in Germany, for two years. In the following, the layered frameworkwill be presented, fundamental document-independent filters for textured, homogeneous background removal and for foreground removal will be described, as well as aspects of the implementation. Results of the framework-application will also be given. © 2001 Springer-Verlag Berlin Heidelberg.

关键词： Genetic programming

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Synthesis of impedance control for complex co-operating robot assembly task

Synthesis of impedance control for complex co-operating robo...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： D. Surdilovic F. Grassini M. De Bartolomei IPK Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany Tecnospazio S.p.a. Milan Italy

ISBN: (纸本)0780367367

This paper describes the algorithms for the synthesis of the impedance control in industrial robots at servo and higher motion planning and programming control levels. These algorithms are realized in the SPARCO control system, providing a powerful impedance control framework for executing various contact tasks with industrial robots. For new contact tasks, the SPARCO provides the possibility to adjust the impedance control gain to the specific robot and control task (environment), as well as to combine elemental commands and high-level contact control actions in order to program a new robot application. The paper describes an automatic procedure for the reliable robust impedance control design ensuring both coupled and transition contact stability with an uncertain environment. This procedure synthesizes the impedance controllers of two cooperating industrial robots executing quite complex assembly tasks. The solution of this task at the planning level also is described.

关键词： Impedance Service robots Robotics and automation Automatic control Industrial control Control system synthesis Motion control Robot control Electrical equipment industry Control systems

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Fuzzy image processing by using Dubois and Prade fuzzy norms

Fuzzy image processing by using Dubois and Prade fuzzy norms

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International Conference on Pattern Recognition

作者： K. Franke M. Koppen B. Nickolay Department Pattern Recognition Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

ISBN: (纸本)0769507506

This paper presents new image processing operations based on the Dubois and Prade (1980) proposal of a fuzzy triangular norm. This definition is recalled, and a computational efficient algorithm is derived for its fast computation. This procedure also gives a comprehensive model for reasoning about the qualitative effects of the Dubois and Prade fuzzy norm on data. The presented image processing operations can be considered as fuzzy morphology operations. Due to this fact the application modes for those operations can be judged. Using the Dubois and Prade fuzzy morphology for background removal on bank cheque images is demonstrated as an application.

关键词： Image processing Pattern recognition production systems Proposals Fuzzy systems Computational efficiency Morphology Extraterrestrial measurements Fuzzy sets Resonance

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