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IFAC Proceedings Volumes 2004年第5期37卷 43-48页

作者： Rolf Bernhardt Alexander Sabov Cornelius Willnow Fraunhofer Institute Production Systems and Design Technology (IPK) Pascalstr. 8-9 10 587 Berlin Germany

Computer based models have become an indispensable means for the planning, optimisation and operation of industrial manufacturing systems. The usability and significance of the models strongly depends on their accuracy, availability and functional extent. Today, suitable models for components of automation systems are available only for some types of components. Functionality for simulation purposes is often limited and integration costs are often still considerable. These problems were widely solved for industrial robots in the 'Realistic Robot Simulation' (RRS) projects. There, world-wide standards for Virtual Robot Controllers (VRCs) were created. Now, this success should be transferred to other components of automation systems like programmable logic controllers (PLCs), human-machine interface (HMI) systems, bus systems and effector sensor systems.

关键词： Automation Concurrent engineering Industrial robots Industrial control systems Interfaces Modelling Robotics Simulation Simulators Virtual Reality

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Ink-deposition model: the relation of writing and ink deposition processes

Ink-deposition model: the relation of writing and ink deposi...

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International Workshop on Frontiers in Handwriting Recognition

作者： K. Franke S. Rose Department of Pattern Recognition Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

The paper describes our studies on the influence of physical and biomechanical processes on the ink trace and aims at providing a solid foundation for enhanced signature analysis procedures. By means of a writing robot, simulated human handwriting movements are considered to study the relation between writing process characteristics and ink deposit on paper. Since the robot is able to take up different writing instruments like pencil, ballpoint or fine line pen, the type of inking pen was also varied in the experiments. The results of analyzing these artificial ink traces contribute to a better understanding of the underlying interaction processes and allow for the formulation of a so-called ink-deposition model (IDM). Particularly, we present IDMs that analytically describe the relation of applied pen tip force and relative ink intensity distribution for solid, viscous and fluid ink types. These IDMs might be employed in computer-based analysis of ink trace line quality to recognize skilled forgeries.

关键词： Writing Ink Robots Instruments Forensics Solids Humans production systems Pattern recognition Forgery

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Safety concept for robotic gait trainers

Safety concept for robotic gait trainers

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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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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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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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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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Approaches for commissioning time reduction

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INDUSTRIAL ROBOT 1997年第1期24卷 62-&页

作者： Bernhardt, R Director for Robotics Research at Fraunhofer‐Institute Production Systems and Design Technology IPK‐Berlin Berlin Germany. Tel: +49 3039006 156. Fax: +49 30 391 1037

States that manufacturing lines cannot be used for production during commissioning and that it is therefore always the goal to reduce the necessary efforts to a maximum extent. Starts with a description of the state-of-the-art in this field based on the situation in the automotive industry. Additionally lists RTD fields to overcome these problems. Goes on to present methods and software tools aiming at a tremendous decrease in efforts required today.

关键词： simulation simultaneous engineering system design

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A neural network that uses evolutionary learning

A neural network that uses evolutionary learning

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IEEE International Conference on Evolutionary Computation

作者： M. Koppen M. Teunis B. Nickolay Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

This paper proposes a new neural architecture (Nessy) which uses evolutionary optimization for learning. The architecture, the outline of its evolutionary algorithm and the learning laws are given. Nessy is based on several modifications of the multilayer backpropagation neural network. The neurons represent genes of evolutionary optimization, referred to as solutions. Weights represent probabilities and are used for selection. The training value of the output layer is set to zero, the theoretical limit of every cost-oriented optimization, and the crossover operator is replaced by a transduction operator. Mutation is used as usual. Nessy algorithm can be characterized as an individual evolutionary algorithm, but as a neural network too. It was designed for image processing applications. A short example is presented, where the discriminative feature of two images is successfully detected by the proposed evolutionary neural network.

关键词： Neural networks Evolutionary computation Multi-layer neural network Fuzzy neural networks Backpropagation Image processing Probability Neurons Genetic mutations Process design

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