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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Miriam Schleipen Fraunhofer Institute of Information and Data Processing (IITB) Karlsruhe Germany

Control systems monitor and control production plants and manufacturing systems. Before they can be taken into operation, they have to be configured. To automate this process, which is called engineering, a standardized exchange format is required that forms the basis of the work of all those who are involved in the project and that is understood by anyone involved. In addition, the contents to be exchanged have to be transmitted on the basis of a standardized communication mechanism with maximum efficiency. This article will present a standardized communication method capable of fulfilling these requirements. On the basis of an OPC UA framework acting as a communication, synchronization and processing mechanism, the opportunities of the unified architecture and its application in the automated engineering of control systems will be evaluated.

关键词： Servers Monitoring Production Control systems Computer architecture Process control Software

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Feature-Based Probabilistic data Association (FBPDA) for visual multi-target detection and tracking under occlusions and split and merge effects

Feature-Based Probabilistic Data Association (FBPDA) for vis...

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International Conference on Intelligent Transportation

作者： Michael Grinberg Florian Ohr Jurgen Beyerer Fraunhofer Institute of Information and Data Processing (IITB) Karlsruhe Germany

Uncertainties in the sensor data such as measurement noise, false detections caused by clutter, as well as merged, split, incomplete or missed detections due to a sensor malfunction or occlusions (both due to the limited sensor field of view and objects in the scene) make multi-target tracking a very complicated task. Thus one of the big challenges is track management and correct data association between detections and tracks. In this contribution we present an algorithm for visual detection and tracking of multiple extended targets under occlusions and split and merge effects. Unlike most of the state-of-the-art approaches we utilize low-level information integrating it in a unified approach based on a threshold-free probabilistic conception. The introduced scheme makes it possible to utilize information about composition of the measurements gained through tracking of dedicated feature points in the image and resolves data association ambiguities in a soft decision using a globally optimal probabilistic data association approach. Beside existence evolution consideration we also exploit the spatial and temporal relationship between stably tracked points and tracked objects, which along with observability analysis, allows us for reconstruction of compatible measurements and thus correct track update even in cases of splits, merges and partial occlusions of the tracked targets.

关键词： Target tracking Radar tracking Object detection Observability Sensor systems Robustness Clutter Intelligent transportation systems Intelligent sensors Vehicles

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A knowledge-based camera selection approach for object tracking in large sensor networks

A knowledge-based camera selection approach for object track...

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ACM/IEEE International Conference on Distributed Smart Cameras, ICDSC

作者： Eduardo Monari Kristian Kroschel Fraunhofer Institute of Information and Data Processing (IITB) Karlsruhe Germany

In this paper an approach for dynamic sensor selection in large video-based sensor networks for the purpose of multi-camera object tracking is presented. The sensor selection approach is based on computational geometry algorithms and is able to determine task-relevant cameras (camera cluster) by evaluation of geometrical attributes, given the last observed object position, the sensor configurations and the environment model. Hereby, a special goal of this algorithm is to determine the minimum number of sensors needed to relocate an object, even if the object is temporarily out of sight (e.g., by non-overlapping sensor coverage). It will be shown that the algorithm enables self-organizing tracking approaches to perform optimal camera selection in a highly efficient way. In particular, the approach is applicable to very large camera networks and leads to a highly reduced network and processor load for multi-camera tracking.

关键词： Cameras Sensor phenomena and characterization Intelligent sensors Clustering algorithms Object detection Video surveillance Solid modeling Sensor systems Humans Face detection

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Rotating Optical Geometry Sensor for fresh water pipe inspection

Rotating Optical Geometry Sensor for fresh water pipe inspec...

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IEEE SENSORS

作者： Christian W. Frey Fraunhofer Institute of Information and Data Processing (IITB) Karlsruhe Germany

The inspection of sewer or fresh water pipes is usually carried out by a remotely controlled inspection vehicle equipped with a high resolution camera and a lightning system. Beside the subjective classification of pipe defects trough the operator standard CCTV technology is not suitable for detecting geometrical deformations resulting from e.g. structural mechanical weakness of the pipe, corrosion of the cast-iron material or sedimentations. The fraunhofer institute for information and data processing in Karlsruhe, Germany developed a new Rotating Optical Geometry Sensor (ROGS) for fresh water pipe inspection which is capable of measuring the inner pipe geometry very precisely over the whole pipe length. The developed sensor concept has been applied successfully to fresh water and sewer pipes - the results will be presented in detail.

关键词： Optical sensors Geometrical optics Inspection information geometry Lighting control Control systems Marine vehicles Remotely operated vehicles Cameras Lightning

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An Object- and Task-Oriented Architecture for Automated Video Surveillance in Distributed Sensor Networks

An Object- and Task-Oriented Architecture for Automated Vide...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Eduardo Monari Sascha Voth Kristian Kroschel Institute for Information and Data Processing Fraunhofer IITB Karlsruhe Germany

In this paper, an agent-based software architecture for automated wide area video surveillance systems is presented. The proposed concept is designed for detection and tracking of moving objects across multiple camera views. The surveillance system consists of a decentralized collaborative sensor network with object- and task-oriented architecture. At sensor node level, image processing algorithms are applied for event and object detection. In case of detection (e. g. motion) an agent-based multi-sensor processing cluster is created. Each instantiated cluster is responsible for observation of one object in the scene. Object handover is managed autonomously by the dynamic sensor clusters. The dynamic sensor clustering approach allows adding new sensors without resetting the system parameters, which is a big advantage in large sensor networks. Furthermore, by using the agent-based architecture it is possible to create a framework with an adaptive data and processing load. Additionally, upgrade of system capabilities can be done easily updating or adding new processing agents. The proposed concept has been proved on an experimental video surveillance system at the fraunhofer IITB.

关键词： Video surveillance Sensor systems Computer architecture Object detection Software architecture Cameras Collaboration Image sensors Image processing Clustering algorithms

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A Neuro-Fuzzy Based Fault Tolerant Control Concept for Smart Multi-Sensory Robots

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IFAC Proceedings Volumes 2003年第5期36卷 543-548页

作者： Ch. W. Frey H.-B Kuntze K. Giesen Fraunhofer Institute for Information and Data processing IITB Karlsruhe Fraunhoferstraβ 1 D-76131 Karlsruhe Germany

Flexible and safe control of smart multi-sensory robots which have to interact with a complex environment is a tough problem due to the extremely nonlinear and variable system behavior or the conflicting goals within the different process phases. Since conventional robot control concepts can not comply with it the introduction of a hierarchical Neuro-Fuzzy (NF) based fault tolerant control concept is proposed in this paper.

关键词： fault tolerant systems diagnosis fuzzy control neural networks multisensor robot control mode selector

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On the application of a new method for fast and robust position control of industrial robots

On the application of a new method for fast and robust posit...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： H.-B. Kuntze A. Jacubasch U. Hirsch J. Richalet C. Arber Fraunhofer-Institute of Information and Data Processing Karlsruhe Germany ADERSA France

A concept called predictive functional control (PFC) is presented for industrial robot (IR) control. It provides excellent control performance, a high accuracy even for fast trajectories, an outstanding tracking quality for sharp contour deviations, and a very good robustness with respect to parameter variations. It is shown that PFC can be implemented on conventional IR control systems. The performance is demonstrated by several experimental results.< >

关键词： Robust control Position control Industrial control Service robots Hardware Control systems Costs Robustness Uncertainty Manufacturing

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Agent-based web for information fusion in military intelligence, surveillance, and reconnaissance

Agent-based web for information fusion in military intellige...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Sandro Leuchter Dirk Muhlenberg Rainer Schonbein Interoperability and Assistance Systems Fraunhofer Institute for Information and Data Processing Karlsruhe Germany

This paper describes a research prototype of an experimental information management system for the German Federal Armed Forces. The system is realized as an agent-based web for military intelligence, surveillance, and reconnaissance (ISR). Users can access ISR related information, services, and experts through this web. information management is based on a semantic representation of sensor data and other ISR information. The system supports information fusion and offers personalized functionalities. This contribution reports the current state of the system, its software architecture and support functions.

关键词： Intelligent agent Surveillance Reconnaissance Intelligent sensors information management Military computing Software architecture Satellite ground stations Intelligent networks IP networks

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INTEROPERABLE HUMAN PERFORMANCE MODELLING OF DISTRIBUTED COGNITIVE AGENTS

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IFAC Proceedings Volumes 2007年第16期40卷 84-89页

作者： Andreas Lüdtke Sandro Leuchter Leon Urbas OFFIS Institute for Information Technology Oldenburg Germany Fraunhofer Institute for Information and Data Processing (IITB) Karlsruhe Germany Technische Universität Dresden Germany

This paper presents an approach towards distributed human-machine systems based on an open modeling framework. The approach aims to develop a core of new modeling techniques independent of specific engineering domains that allows to analyze different communication channels and cooperation strategies with regard to their effect on the distribution of knowledge and the overall team performance including human errors. The paper presents the framework architecture on a conceptual level derived from a detailed analysis of the communication and cooperation requirements from the perspective of three application scenarios.

关键词： Human-centered design Human-machine interface Distributed simulation Cognitive systems

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A video-based lane keeping assistant

A video-based lane keeping assistant

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IEEE Symposium on Intelligent Vehicle

作者： R. Risack N. Mohler W. Enkelmann Fraunhofer Institute of Transportation and Infrastructure Systems Dresden Germany Fraunhofer Institute of Information and Data Processing (IITB) Karlsruhe Germany

We propose a lane keeping assistance system which warns the driver of unintended lane departures. Based on an existing robust video-based lane detection algorithm we compare different methods to detect lane departure. A number of assumptions on driver behaviour in certain situations have been integrated to distinguish between intended and unintended lane departures. We integrated our lane keeping assistant in an experimental car and performed systematic experiments in real traffic situations.

关键词： Fatigue Roads Wheels Electroencephalography Image sequences Motion measurement Transportation Robustness Vehicle safety Cameras

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