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IEEE International Conference on Computational Intelligence for Measurement Systems and Applications (CIMSA)

作者： Robert Schmitt Hanqing Zheng Xiongfei Zhao Niels Konig Raphael Rocha Coelho Laboratory of Machine Tools and Production Engineering Rwth Aachen University Aachen Germany Fraunhofer Institute of Production Systems and Design Technology (IPK) Aachen Germany

Within this paper the application of an ant colony optimization (ACO) algorithm to inspection planning is presented. Since inspection planning is a time consuming task, optimizing these activities plays a major role in the quality inspection field. In this paper the extraction procedures of local inspection path planning (LIPP) and measurement device selection (MDS) to travelling salesman problem (TSP) and subset problem are presented respectively. An ACO algorithm based on Max-Min Ant System (MMAS) is presented for solving the problems. Experiment on industrial workpiece shows the applicability of ACO to inspection planning.

关键词： Ant colony optimization Inspection Path planning Production planning technology planning Continuous production Production systems Joining processes Cost function Artificial intelligence

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Investigating user requirements and usability of immersive three-dimensional sketching for early conceptual design - Results from expert discussions and user studies

Investigating user requirements and usability of immersive t...

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Eurographics Workshop on Sketch-Based Interfaces and Modeling 2008, SBIM 2008

作者： Israel, J.H. Zöllner, Chr. Mateescu, M. Korkot, R. Bittersmann, G. Fischer, P.T. Neumann, J. Stark, R. Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany

ISBN: (纸本)9783905674071

As immersive 3-d user interfaces reach broader acceptance, their use as sketching media is attracting both commercial and academic research. So far little is known about user requirements and cognitive aspects of immersive 3-d sketching. Also its integration into the workflow of virtual product development is far from being solved. In this paper we present results from two focus group expert discussions and a comparative user study on immersive 3-d sketching which we conducted among professional furniture designers. The results of the focus groups show a strong interest in using the three-dimensional space as a medium for conceptual design. Users expect it to provide new means for the sketching process, namely spatiality, one-to-one proportions, associations, and formability. Eight groups of functions required for 3-d sketching were generated during the discussions. The results from the user study show that both the sketching process and the resulting sketches differ in the 2-d and 3-d condition, namely in terms of the perceived fluency of sketch creation, of the perceived appropriateness for the task, of the perceived stimulation by the medium, movement speed, sketch sizes, details, functional aspects, and usage time. We argue that both 2-d and 3-d sketching are relevant for early conceptual design. As progress towards 3-d sketching, new tangible interactive tools are needed which account for the user's perceptual and cognitive abilities. © The Eurographics Association 2008.

关键词： Conceptual design

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Identification and correction of flying pixels in range camera data 08

Identification and correction of flying pixels in range came...

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Proceedings of the 24th Spring Conference on Computer Graphics

作者： Alexander Sabov Jörg Krüger Fraunhofer Institute for Production Systems and Design Technology (IPK)

ISBN: (纸本)9781605589572

This paper focuses on errors which are possible to occur in the depth measurements of range cameras. Range cameras can capture 3D information of a scene by sending out infrared light and then measuring the reflections. Wrong measurements occur at the edges of objects where the depth level changes. A depth value between the foreground and background level is measured which creates a so-called "flying pixel" when displaying the 3D *** this paper different methods for the identification of flying pixels are presented and compared. The advantages and drawbacks of each method are discussed. Then a simple method for the correction of flying pixel errors is presented and its limitations are shown. The final method for correction is presented which is based on segmenting the pixel matrix into horizontal and vertical scanlines. After segmentation, linear segments can be identified to which the pixels can be mapped. The paper concludes with the evaluation of the presented methods to show their effectiveness.

关键词： PMD range camera flying pixels segmentation range data flying surfels

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Incident light related distance error study and calibration of the PMD-range imaging camera

Incident light related distance error study and calibration ...

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Jochen Radmer Pol Moser Fuste Henning Schmidt Jorg Kruger Institute for Machine Tools and Factory Management Technical University Berlin Berlin Germany Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

For various applications, such as object recognition or tracking and especially when the object is partly occluded or articulated, 3D information is crucial for the robustness of the application. A recently developed sensor to acquire distance information is based on the Photo Mixer Device (PMD)for which a distance error based on different causes can be observed. This article presents an improved distance calibration approach for PMD-based distance sensoring which handles objects with different Lambertian reflectance properties. Within this scope the relation of the sources of distance errors were investigated. Where applicable they were isolated for relational studies with the actuating variables, i.e. integration time, amplitude and measured distance, as these are the only parameters available for the calibration. The calibration results of the proposed method excel the results of all other known methods. In particular with objects with unknown reflectance properties a significant reduction of the error is achieved.

关键词： Calibration Cameras Reflectivity Image sensors Robustness Humans Sensor systems Optical modulation Infrared sensors Machine tools

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Modular hybrid robots with biologically inspired actuators and joint stiffness control

Modular hybrid robots with biologically inspired actuators a...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： D. Surdilovic J. Radojicic M. Schulze M. Dembek Department Automation and Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany Engineering Society for Automation and Computer Technology GmbH Berlin Germany

The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the internal module (i.e. robot joint) stiffness is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.

关键词： Biological control systems Pneumatic actuators Control systems Service robots Muscles Rubber Bellows Biological systems Jacobian matrices Force control

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Enterprise Interoperability II 2007

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丛书名： Proceedings of the I-ESA Conferences

2007年

作者： Ricardo Jardim-Gonçalves Jörg Müller Kai Mertins Martin Zelm

ISBN: (数字)9781846288586

ISBN: (纸本)9781846288579

Interoperability: the ability of a system or a product to work with other systems or products without special effort from the user is a key issue in manufacturing and industrial enterprise generally. It is fundamental to the production of goods and services quickly and at low cost at the same time as maintaining levels of quality and customisation. Interoperability is achieved if internal and external collaborators can interact on at least three levels: data, applications and business enterprise (through the architecture of an enterprise model and making allowance for the semantics of both partners). Not only a problem of software and IT technologies, it implies support for communication and transactions between different organisations that must be based on shared business references. Today, a new and important consideration must be taken into account economic business evaluation and the definition of dissemination policy. Composed of over 90 papers, Enterprise Interoperability II ranges from academic research through case studies to industrial and administrative experience of interoperability. The international nature of the authorship continues to broaden. Many of the papers have examples and illustrations calculated to deepen understanding and generate new ideas. The I-ESA07 conference from which this book is drawn was sponsored by the European Union via the INTEROP network of excellence and the ATHENA integrated project (in the frame of the 6th IST Framework Research Program). It is also supported by the International Federation for Information Processing, the International Federation of Automatic Control and various national associations. A concise reference to the state of the art in software interoperability, Enterprise Interoperability II will be of great value to engineers and computer scientists working in manufacturing and other process industries and to software engineers and electronic and manufacturing engineers working in the academic environment.

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Robust Control of Interaction with Haptic Interfaces

Robust Control of Interaction with Haptic Interfaces

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Dragoljub Surdilovic Jelena Radojicic Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany

The primary concern in haptic systems is to achieve stable interaction under any operating conditions and for all simulated virtual environments, without unwanted oscillations that degrade virtual surface rendering. This paper represents a novel approach for controlling interaction with a haptic interface based on robust control design framework established for the control synthesis of interaction between an impedance-controlled robot and a passive environment. Initial experiments results have demonstrated advantages, high performance in interaction with a very stiff environment and reliability of the new algorithms.

关键词： Robust control Haptic interfaces Humans Impedance Control system synthesis Displays Virtual environment Control systems Robots Interactive systems

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FLEXIBLE ASSEMBLY SYSTEMS THROUGH WORKPLACE-SHARING AND TIME-SHARING HUMAN-MACHINE COOPERATION – PISA

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IFAC Proceedings Volumes 2007年第3期40卷 247-251页

作者： Rolf Bernhardt Dragoljub Surdilovic Volker Katschinski Klaus Schröer Fraunhofer Institute for Production Systems and Design Technology (IPK) Berlin Germany Volkswagen AG Wolfsburg Germany

PISA is a European Integrated Project (IP). It aims to develop intelligent assist systems (IAS) that support the human worker instead of replacing him. Thus, flexibility should not be achieved through fully automated assembly systems but should instead permit a better integration of human workers. PISA was launched in September 2006 and is planned for a duration of four years. PISA involves 18 partners from seven European countries, four large companies, seven SME and seven research institutes/universities. This paper presents an overview of the project, its structure, objectives and content of work.

关键词： Assembly robotics collaborative robots human-centered design reusability

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STRING-MAN: Wire-robot technology for safe, flexible and human-friendly gait rehabilitation

STRING-MAN: Wire-robot technology for safe, flexible and hum...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Dragoljub Surdilovic Jinyu Zhang Rolf Bernhardt Fraunhofer Institute for Production Systems Design Technology IPK-Berlin Berlin Germany

The paper presents a novel concept of lightweight and inherently safe robotic systems for assisting the locomotion recovery therapy and training. This concept, referred to as STRING-MAN, is established on string-puppet idea and utilizes modular wire robot components and advanced artificial muscles drives. An overview of the system's fundamental components, such as mechanical structure, patient-machine interface, sensory systems, control algorithms, etc., is given in the paper. The results of initial experiments clearly demonstrate the benefits and potential of new concept. Finally further development of STRING-MAN idea towards practical and inherently safe robotic rehabilitation assistants has also been presented.

关键词： Rehabilitation robotics Robot sensing systems Medical treatment Muscles Service robots Robotics and automation Wire Safety Human robot interaction Prototypes

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Flexible Assembly Systems through Workplace-Sharing and Time-Sharing Human-Machine Cooperation (PISA)

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IFAC Proceedings Volumes 2007年第1期40卷 85-89页

作者： Dr. Rolf Bernhardt Dr. Dragoljub Surdilovic Volker Katschinski Dr. Klaus Schröer Fraunhofer Institute for Production Systems and Design Technology (IPK) Pascalstraße 8-9 D-10587 Berlin Germany Volkswagen AG PP-F2 Planung-Karosseriebau Brieffach 1619/4 D-38436 Wolfsburg Germany

PISA is a European Integrated Project (IP) in the research area “next generation of flexible assembly technology and processes”. The general aim of the project is to develop intelligent assist systems (IAS) in order to support the human worker instead of replacing him. Thus, flexibility should not be reached through fully automated assembly systems but should instead support the better integration of human workers. This paper gives a report on the project, launched in September 2006.

关键词： Human-machine cooperation human-centered automation reusability reconfigurability assembly systems cooperating robots

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