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作者： Kaiser, Benedikt Heidemann, Gunther Institute for Process Control and Robotics Building 40 University of Karlsruhe 28 Kaiserstr. 12 D-76128 Karlsruhe Germany Intelligent Systems Group Stuttgart University Universitätsstr. 38 D-70569 Stuttgart Germany

ISBN: (纸本)9781424421756

Interest point detection is an established method to select relevent image regions. Such techniques use features like corners or edges, which are known to indicate regions likely to hold patterns of interest. Selection of such regions increases processing efficiency. For the recognition of motion, however, such context-free methods are still very rare. Though there are numerous methods to find space-time volumes of motion in image sequences, most aim at finding just motion as a such, not volumes which are more promising for analysis than others. Therefore Laptev and Lindeberg (2005) generalized the Harris detector to the spatio-temporal domain. But the problem remains to evaluate what kind of motion is captured by a detector. For example, the detector of Laptev and Lindeberg should capture "corners" - like the original 2D-version of Harris and Stephens (1988) - but what does that mean for motion? Therefore we present an approach to visualize events which were selected by a spatio-temporal interest point detector. Since the analysis of single examples is not fruitful, we use clustering to analyze large quantities of space-time volumes selected by a detector. The resulting cluster centers are prototypical events, representing the types of events the detector responds to. Thus a qualitative yet statistically exhaustive analysis of detector properties is possible. © 2008 IEEE.

关键词： Edge detection

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Qualitative analysis of spatio-temporal event detectors

Qualitative analysis of spatio-temporal event detectors

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International Conference on Pattern Recognition

作者： Benedikt Kaiser Gunther Heidemann Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany Intelligent Systems Group University of Stuttgart Stuttgart Germany

Interest point detection is an established method to select relevent image regions. Such techniques use features like corners or edges, which are known to indicate regions likely to hold patterns of interest. Selection of such regions increases processing efficiency. For the recognition of motion, however, such context-free methods are still very rare. Though there are numerous methods to find space-time volumes of motion in image sequences, most aim at finding just motion as a such, not volumes which are more promising for analysis than others. Therefore Laptev and Lindeberg (2005) generalized the Harris detector to the spatio-temporal domain. But the problem remains to evaluate what kind of motion is captured by a detector. For example, the detector of Laptev and Lindeberg should capture ¿corners¿ - like the original 2D-version of Harris and Stephens (1988) - but what does that mean for motion? Therefore we present an approach to visualize events which were selected by a spatio-temporal interest point detector. Since the analysis of single examples is not fruitful, we use clustering to analyze large quantities of space-time volumes selected by a detector. The resulting cluster centers are prototypical events, representing the types of events the detector responds to. Thus a qualitative yet statistically exhaustive analysis of detector properties is possible.

关键词： Event detection Detectors Motion analysis Motion detection Image edge detection Image sequences Image analysis Image motion analysis Image sequence analysis Visualization

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Methods for end-effector coupling in robot assisted interventions

Methods for end-effector coupling in robot assisted interven...

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2008 IEEE International Conference on robotics and Automation (ICRA 2008), vol.8

作者： Jessica Burgner Yaokun Zhang Joerg Raczkowsky Heinz Woern Georg Eggers Joachim Muehling Institute for Process Control and Robotics Universitaet Karlsruhe Germany Department of Oral and Cranio-Maxillofacial Surgery University Hospital of Heidelberg Germany

Robot assisted interventions often require coupling and decoupling of the robot to/from a specific tool. By using manual gripper changing systems these operations are facilitated, but the robot has to approach to and move away from the coupling position. Industrial applications are mostly based on movements which are teached-in, since the working environment is perfectly described (i.e. working cell). Especially in robot assisted surgery we are facing non fixed tools to which the robot has to be coupled (e.g. a holding device attached to a mobilised bone) and restricted working areas with special safety requirements. In this paper we present an automatic end-effector registration method and a semiautomatic coupling procedure exemplarily for robot assisted orthognathic surgery. By using means of an optical localisation system and force-/torque sensing, the coupling procedure is controlled by a multi-sensor data fusion approach. The developed methods can be adapted to any robot assisted intervention.

关键词： Service robots robotics and automation Mobile robots Surgery Robot sensing systems Optical sensors Manuals Grippers Bones Safety devices

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Examinating Task Distribution by an Artificial Hormone System Based Middleware

Examinating Task Distribution by an Artificial Hormone Syste...

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： Alexander von Renteln Uwe Brinkschulte Michael Weiss Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-W????rttemberg DE Institute for Process Control Robotics University of Karlsruhe Germany

ISBN: (纸本)9780769531328

This article represents our concept of an artificial hormone system for realizing a completely decentralized self-organizing task allocation using self-X properties. We present new evaluation results from our latest research: we introduce a tool to easily create test files and even whole test series, and show several test series that illustrate interesting behaviors of hormone interaction with different levels of hormones.

关键词： Biochemistry Middleware Automated highways Sections Real time systems Chemical processes Automatic testing Distributed computing process control Robots

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Robotic cadaver testing of a new total ankle prosthesis model (GERMAN ANKLE SYSTEM)

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Journal of Foot and Ankle Research 2008年第S1期1卷 O10-O10页

作者： Martinus Richter Stefan Zech Ralf Westphal Yvonne Klimesch Thomas Gosling Department for Trauma Orthopaedic and Foot Surgery Coburg Medical Center Germany Institute for Robotics and Process Control Technical University Braunschweig Germany Trauma Department Hannover Medical School Hannover Germany

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Spatial Macroscopic Models of a Bio-Inspired Robotic Swarm Algorithm

Spatial Macroscopic Models of a Bio-Inspired Robotic Swarm A...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 1043-1569

作者： Heiko Hamann Heinz Worn Karl Crailsheim Thomas Schmickl Institute for Process Control and Robotics Universitat Karlsruhe (TH) 76131 Karlsruhe Germany

ISBN: (纸本)9781424420575

We present a comparative study of two spatially resolved macroscopic models of an autonomous robotic swarm. In previous experiments, the collective behavior of 15 autonomous swarm robots, driven by a simple bio-inspired control algorithm, was investigated: In two different environmental conditions, the ability of the robots to aggregate below a light source was tested. Distinct approaches to predict the dynamics of the spatial distribution were made by two different modeling approaches: One model was constructed in a compartmental manner (ODEs). In parallel, a space-continuous model (PDEs) was constructed. Both models show a high degree of similarity concerning the modeling of concrete environmental factors (light), but due to their different basic approaches, show also significant differences in their implementation. However, the predictions of both models compare well to the observed behavior of the robotic swarm, thus both models can be used to develop further extensions of the algorithm as well as different experimental setups without the need to run extensive real robotic preliminary experiments.

关键词： Robots Collision avoidance Mathematical model Predictive models Robot sensing systems Numerical models Aggregates

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Sensors, medical image and signal processing. Findings from the section on sensor, signal and imaging informatics.

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Yearbook of medical informatics 2007年第1期16卷 70-73页

作者： Westphal, R. Technical University of Braunschweig Institute for Robotics and Process Control Braunschweig Germany

To summarize current excellent research in the field of sensor, signal and imaging informatics. Synopsis of the articles selected for the IMIA Yearbook 2007. The selection process for this yearbook section "Sensor, signal and imaging informatics" results in five excellent articles, representing research in four different nations. Papers from the fields of brain machine interfaces, sound surveillance in telemonitoring, soft tissue modeling, and body sensors have been selected. The selection for this yearbook section can only reflect a small portion of the worldwide copious work in the field of sensors, signal and image processing with applications in medical informatics. However, the selected papers demonstrate, how advances in this field may positively affect future patient care.

关键词： Medical informatics International Medical Informatics Association yearbook sensors signal and imaging informatics

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Real-Time Systems: Editorial

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Real-Time Systems 2007年第1-2期36卷 1-2页

作者： Brinkschulte, Uwe Lee, Sunggu Institute for Process Control and Robotics University of Karlsruhe 76128 Karlsruhe Germany EE Dept. POSTECH San 31 Hyoja Dong Pohang 790-784 Korea Republic of

Springer Science+Business Media has published a special issue on the topic regarding object and component-oriented software design and development. Six important and relevant contributions in this issue have been written by established experts. Three of the articles focuses on garbage collection for automatic memory management, where two of the articles combine and relate garbage collection to utility accrual scheduling, a new approach for handling overloaded real-time systems as well as systems with soft real-time constraints. The third paper investigates schedulable garbage collection in virtual software execution systems. One contribution in this special issue focuses on such a middleware model and describes efficient techniques to adapt this model to standard Linux systems. Another article in the issue investigates the benefits of an integrated architecture as an electronic infrastructure for future car generations.

关键词： Real time systems

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Using Multi-Agent Principles for Implementing an Organic Real-Time Middleware

Using Multi-Agent Principles for Implementing an Organic Rea...

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： Manuel Nickschas Uwe Brinkschulte Institute for Process Control and Robotics University of Karlsruhe Germany

This article describes the architecture of an organic, real-time capable, service-based middleware. We show how middleware services can be treated as intelligent agents, and how we can use a multi-agent coordination mechanism for implementing the organic management, in particular self-configuration and self-optimization, in a decentralized and efficient way

关键词： Middleware Job design Runtime process control Robot kinematics Intelligent agent Resource management Operating systems Explosions Heart beat

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Multi Sensor Fusion in Robot Assembly Using Particle Filters

Multi Sensor Fusion in Robot Assembly Using Particle Filters

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IEEE International Conference on robotics and Automation (ICRA)

作者： U. Thomas S. Molkenstruck R. Iser F. M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

In this paper, we present a new method for sensor fusion in robot assembly. In our approach, model information can be derived automatically from CAD-data. We introduce force torque maps, which are either computed automatically exploiting modern graphical processors or are measured by scanning forces and torques during contact motions. Subsequently, force torque maps are applied as model information during execution of real assembly tasks. Also, computer vision is included by comparing relative poses of features in virtual images with their real relative poses given from measured images. For fusion of these two (or more) different sensors we suggest to use particle filters. Experiments with variations of peg in hole tasks in a real work cell demonstrate our new approach to be very useful for the whole process chain from planning to execution.

关键词： Robotic assembly Sensor fusion Robot sensing systems Particle filters robotics and automation Force measurement Force sensors Torque measurement Computer vision process planning

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