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Principle Solution for designing Collaborative Humanoid Soccer Robots

Procedia Engineering 2012年 41卷 1507-1515页

作者： Cheng Yee Low Norheliena Aziz Mustafa Aldemir Martin Mellado Roman Dumitrescu Harald Anacker Centre of Excellence for Humanoid Robots and Bio-Sensing Universiti Teknologi MARA Malaysia Siemens AS Corporate Technology Development Center Istanbul Turkey Instituto de Automática e Informática Industrial Universtat Politècnica de València Spain Project Group Mechatronic Systems Design Fraunhofer Institute for Production Technology Germany

The task of developing a fully collaborative humanoid robotic soccer team is a challenge. On one hand, the hardware of humanoid robots has evolved to allow fast and stable locomotion as well as precise sensing. On the other hand, the software of humanoid robots has evolved to enable highly complex operations such as object recognition and partial intelligence. Nevertheless, the cooperative play of multiple humanoid robots as a soccer team remains as an open research topic in the rapidly advancing research area of multi-robot systems. This work presents a systematic approach based on the specification of a principle solution for designing collaborative humanoid soccer robots as in the RoboCup Standard Platform League. The principle solution is specified using a newly developed specification technique for the conceptual design of mechatronic and self-optimizing systems. The presented approach enables intuitive specification of team strategies and systematic realization of collaborative behaviors of the humanoid soccer robots starting from the conceptual design phase. It facilitates cross domain development effort that requires multidisciplinary collaboration.

关键词： humanoid robotics mechatronics principle solution intelligent technical systems design methodology

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Human-like variable-impedance control for life-cycle testing

Human-like variable-impedance control for life-cycle testing

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20th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2011

作者： Surdilovic, D. Nguyen, T.-M. Radojicic, J. Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin Department Automation and Robotics Pascalstr. 8-9 10587 Berlin Germany

ISBN: (纸本)9781457715716

The paper presents robotic approach to life-cycle testing based on advanced compliance control algorithms. This strategy has been demonstrated as meaningful testing approach considering repeatability and reproducibility. Moreover, developed testing procedures mimic human motion and ensure human-like testing conditions. That is a crucial advantage over simple testing machines or convenient industrial robots, which can not realize comparable system behavior. Application of a variable-impedance control strategy provides a feasible approach in reproducing human behavior and realizing faster life-cycle test execution. © 2011 IEEE.

关键词： Compliance control

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Augmented reality in a serious game for manual assembly processes

Augmented reality in a serious game for manual assembly proc...

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2011 10th IEEE International Symposium on Mixed and Augmented Reality - Arts, Media, and Humanities, ISMAR-AMH 2011

作者： Woll, Robert Damerau, Thomas Wrasse, Kevin Stark, Rainer Fraunhofer Institute for Production Systems and Design Technology Technische Universität Berlin Germany

ISBN: (纸本)9781467300575

This paper presents results from a study in which Augmented Reality (AR) technology has been employed in a serious game for teaching the assembly of a car power generator. Most used car power generators can be remanufactured in order to save material and cost. This is usually done manually and requires a mechanic who knows the different steps of disassembly, cleaning, replacement and re-assembly of the generators components. A serious game has been developed that teaches an apprentice mechanic of which components a car power generator consists and how these components have to be assembled. The game has been implemented as an application for smartphones running the Android operation system. The game employs augmented reality technology in order to let the user interactively experience the spatial arrangement of components and to support the user in validating his learning success. © 2011 IEEE.

关键词： Augmented reality

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Interdisciplinary function-oriented design and verification for the development ofmechatronical products

Interdisciplinary function-oriented design and verification ...

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20th CIRP design Conference, CIRP design 2010

作者： Stark, R. Hayka, H. Figge, A. Woll, R. Fraunhofer Institute for Production Systems and Design Technology 10587 Berlin Germany Industrial Information Technology Technische Universität Berlin 10587 Berlin Germany Department for Virtual Product Creation Fraunhofer Institute for Production Systems and Design Technology 10587 Berlin Germany

ISBN: (纸本)9783642159725

Mechatronical products integrate components that are developed by different fields of engineering and combine them in order to provide new functionalities. The main challenge is the ever increasing complexity and the required degree of interdisciplinarity. The joint research project MIKADO adressed this demand by integrating domain specific development methods and tools into a more systemsengineering- oriented approach. Special emphasis has been placed on the early phases of product development in order to facilitate an early coordination between mechanical, electronical and software engineers and to provide them with easy means for the functional verification of virtual product models. © Springer-Verlag Berlin Heidelberg 2011.

关键词： Product development

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Freight transport system for urban shipment and delivery

Freight transport system for urban shipment and delivery

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IEEE Forum on Integrated and Sustainable Transportation System (FISTS)

作者： Matthias Brüning Werner Schönewolf Systems and Design Technology IPK Fraunhofer Institute for Production Technology Berlin Germany

Many problems with present conventional delivery scenarios in urban areas are caused by use of conventional vehicles. These problems are amongst others limited efficiency, ecological damages, disturbance of moving traffic and pedestrians and difficulties to comply with environmental and traffic regulations, affecting local communities, business people and their customers as well as the logistic companies. Courier, Express & Parcel (CEP) providers are obliged to use conventional cars and vans due to the lack of specialized solutions. Therefore our approach is improvement of urban shipment and delivery based on existing infrastructure by means of an innovative vehicle concept. Core of the developed transport system is a uniaxial transport unit, designed for application both as part of a multiple trailer vehicle and for use as separate hand-guided transportation unit. The concept was developed based on a catalog of requirements for a vehicle for urban shipment and delivery, a result from the EU research project FIDEUS. The developed concept satisfies all formulated demands. A test vehicle of the transport system was built. Current research focuses on controller synthesis and implementation. The next step intended is execution of field tests involving logistic companies to prove the vehicle system's suitability for daily use and to discover potential for improvement.

关键词： Vehicles Companies Logistics Trajectory Manuals Security Propulsion

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New hybrid machine tool with an automated clamping system for drilling micro holes by laser helical drilling and μeDM 11

New hybrid machine tool with an automated clamping system fo...

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11th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2011

作者： Uhlmann, E. Langmack, M. Löwenstein, A. Oberschmidt, D. Institute for Machine Tools and Factory Management Technische Universität Berlin Germany Fraunhofer Institute for Production Systems and Design Technology Germany

ISBN: (纸本)9780955308291

The continuous demand concerning the enhancement of functionality and power of technical and mechanical products, such as sensors, actuators and mechatronical systems leads to a steady miniaturization. Application fields located in the automotive industry, consumer electronics, medical and biological engineering, have shown that the fabrication of micro parts as mass products have been becoming more and more common practice. Therefore, next generation products requiring a new level of precision and efficiency demand the development of novel machining processes, machine tools and peripheral equipment.

关键词： Machine tools

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Development of an active work piece holder for vibration assisted micro milling 11

Development of an active work piece holder for vibration ass...

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11th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2011

作者： Uhlmann, E. Mahr, F. Oberschmidt, D. Institute for Machine Tools and Factory Management Technische Universität Berlin Germany Fraunhofer Institute for Production Systems and Design Technology Germany

ISBN: (纸本)9780955308291

Vibration assistance becomes more and more common practice for different machining processes such as ultra sonic grinding, polishing, milling and electrical discharge machining. By inducing vibrations at the tool and/or the work piece the processes can be optimized in terms of achievable surface roughness, chatter behavior, tool wear and machining time. This article reports of an active work piece holder for vibration assisted micro milling. An attached real time control circle enables systematically influencing the cutting conditions whilst micro milling and reproducible surface structuring.

关键词： Real time control

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Using diamond coated tool-electrodes for drilling micro holes with EDM 11

Using diamond coated tool-electrodes for drilling micro hole...

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11th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2011

作者： Uhlmann, E. Langmack, M. Garn, R. Oberschmidt, D. Fecher, J. Rosiwal, S.M. Singer, R.F. Institute for Machine Tools and Factory Management Technische Universität Berlin Germany Fraunhofer Institute for Production Systems and Design Technology Germany Continental Automotive GmbH Germany University of Erlangen-Nuremberg Erlangen Germany

ISBN: (纸本)9780955308291

Due to its thermal working principle and its independency of the work piece's mechanical properties, Micro Electrical Discharge Machining (μEDM) is predestined for fabricating holes with diameters of below dh = 200 μm at minimum tolerances of ± 1 μm. Besides the use of special pulse generators providing discharge currents of down to ie = 100 mA at discharge durations of te ≥ 40 ns an important process factor is the tool electrodés material which has a great influence on the machining time and result, and the electrodés wear [1, 2, 3]. To assure an efficient process at a high accuracy and a low tool wear, basic properties demanded for electrodes are an excellent electrical and thermal conductivity as well as a high melting temperature, and a high mechanical strength.

关键词： Electric discharges

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Towards the design of cognitive functions in self-optimizing systems exemplified by a hybrid energy storage system

Towards the design of cognitive functions in self-optimizing...

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作者： Dumitrescu, R. Gausemeier, J. Romaus, C. Fraunhofer Institute for Production Technology Project Group Mechatronic Systems Design 33098 Paderborn Germany Heinz Nixdorf Institute University of Paderborn Paderborn Germany Power Electronics and Electrical Drives University of Paderborn Paderborn Germany

Within the last years, mechatronics as a discipline has shaped the development of complex technical systems. Mechatronics consists of the close interaction of mechanics, electronics, control engineering and software engineering in order to achieve a better system behaviour. Due to the advances in deployment of information and communication technologies, the functionality of mechatronic systems will go far beyond the known standards with the intention to increase their robustness, flexibility and reliability. The paradigm that expresses this development is called self-optimization. Self-optimizing systems react autonomously to changing environmental conditions and optimize their behaviour during operation. The design of such systems is an interdisciplinary task. Engineers in the different fields of mechatronics have to work closely with experts from mathematical optimization and artificial intelligence. Furthermore, self-optimizing systems adopt information processing functions, which are known as cognitive functions. Even though more theories of the modelling of cognitive behaviour in technical systems are being developed and published, an applicable support of the system engineers is missing. Already the identification of self-optimization and appropriate cognitive functions area challenge. This contribution presents an approach to design cognitive functions in self-optimizing systems and its example application to a hybrid energy storage system as a subsystem of an innovative railway vehicle. © Authors 2011.

关键词： Optimization

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Augmented reality in a serious game for manual assembly processes

Augmented reality in a serious game for manual assembly proc...

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IEEE International Symposium on Mixed and Augmented Reality - Arts, Media and Humanities, ISMAR-AMH

作者： Robert Woll Thomas Damerau Kevin Wrasse Rainer Stark Fraunhofer Institute for Production Systems and Design Technology Technische Universität Berlin Germany

关键词： Games Assembly Generators Smart phones Augmented reality Software Three dimensional displays

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