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European control Conference (ECC)

作者： Luzie Schreiter Davide Bresolin Marta Capiluppi Joerg Raczkowsky Paolo Fiorini Heinz Woern Institute of Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Department of Computer Science and Engineering University of Bologna Bologna Italy Department of Computer Science University of Verona Verona Italy

ISBN: (纸本)9781479947287

Surgical robotic systems have to deliver a high quality of safety, since they deal with human lives. Their safety specifications must ensure the absence of risks for the patient and the operating room staff. To respect the modular nature of a surgical system, we propose a contract based verification approach for safety. We introduce a case study based on a typical surgical robotic operation scenario and model its components by using hybrid automata. We exploit the theory of parallel composition of contracts to verify properties on each component and prove that the property of the overall system can be obtained by composition.

关键词： Contracts Automata Safety Robot kinematics Manipulators Target tracking

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

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Tactile sensor on a magnetic basis using novel 3D Hall sensor - First prototypes and results

Tactile sensor on a magnetic basis using novel 3D Hall senso...

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17th IEEE International Conference on Intelligent Engineering Systems, INES 2013

作者： Ledermann, Christoph Wirges, Sascha Oertel, David Mende, Michael Woern, Heinz Institute of Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781479908288

In this paper, a new operating principle for a tactile sensor for medical diagnostics is proposed based on the measurement of three-dimensional magnetic fields. A permanent magnet and the newly developed 3D-Hall sensor AS54xx of the Fraunhofer institute for Integrated Circuits (IIS) in Erlangen, Germany, are embedded in one silicone pad. An external force changes the position of the magnet in relation to the AS54xx, thus changing the measured magnetic field in three dimensions. In contrast to conventional tactile sensors, one sensor cell provides three dimensional information about external forces, thus making it potentially possible to detect tumors by palpation with only this one sensor cell. Three prototypes of the tactile sensor with different silicones and permanent magnets have been fabricated, and the feasibility of the operating principle has been proven for axial forces with laboratory experiments. Hysteresis effects of the tactile sensor have turned out to be negligible. © 2013 IEEE.

关键词： Silicones

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Movement Analysis for Surgical Skill Assessment and Measurement of Ergonomic Conditions

Movement Analysis for Surgical Skill Assessment and Measurem...

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International Conference on Artificial Intelligence, Modelling and Simulation (AIMS)

作者： O. Weede F. Möhrle H. Wörn M. Falkinger H. Feussner Polytechnic of Namibia Windhoek Namibia University of Kaiserslautem Kaiserslautem Germany KIT Institute for Process Control and Robotics Karlsruhe Germany MITI research group Technical University Munich Munich Germany

A measurement for ergonomic conditions is derived from motion analysis of surgical instruments. Several features for surgical skill assessment are examined and an overall grading system for surgical skill assessment and evaluation of ergonomic conditions based on the movement of the instruments' tool tips is presented. The grading system is applied to different ergonomic conditions provided by different types of displays, including three 3D displays. The features examined for skill evaluation include a movement alphabet derived from recorded trajectories by the k-Means algorithm. The system is trained with expert knowledge about the expertise of surgeons. The findings show that surgeons working under better ergonomic conditions perform less movements during an intervention. The time in which they move the instruments to complete the intervention is less. There is less depth oscillation with the tool-tips. The variety of different types of movements is less. The path length of the tool tips is shorter. There are less unnecessary movements. Results of a qualitative study show that measurements for skill evaluation can be applied for measuring ergonomic conditions.

关键词： Ergonomics Instruments Surgery Trajectory Three-dimensional displays Oscillators Tracking

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Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture

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High Technology Letters 2013年第1期19卷 12-17页

作者：于振中 Yan Jihong Hui Jing Zhao Jie Ma Yonghu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master *** communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH *** the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the *** results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.

关键词： bilateral teleoperation three-channel wave variable wave domain prediction time-delay

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Tactile Sensor on a Magnetic Basis using novel 3D Hall sensor First prototypes and results

Tactile Sensor on a Magnetic Basis using novel 3D Hall senso...

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IEEE International Conference on Intelligent Engineering Systems

作者： Christoph Ledermann Sascha Wirges David Oertel Michael Mende Heinz Woern Institute of Process Control and Robotics Karlsruhe Institute of Technology

ISBN: (纸本)9781479908271

关键词： tactile sensors operating principles magnetic field AXIAL FORCE MAGNETS Hall effect transducers Three Dimensions Permanent magnets Palpation Silicones PROTOTYPE

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Automated Planning as a New Approach for the Self-Reconfiguration of Mobile Modular Robots

Automated Planning as a New Approach for the Self-Reconfigur...

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Workshop on Robot Motion and control

作者： Andreas Bihlmaier Lutz Winkler Heinz Worn Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT

ISBN: (纸本)9781467355094

We present a new approach to the solution of the self-reconfiguration problem for mobile modular robots (MMRs). The solution describes self-reconfiguration as a planning problem that can be tackled by an automated planner. In addition to the usage of the advanced domain-independent search heuristics within the planner, we introduce domain-specific heuristics into the domain description on a higher conceptual level. An explicit optimality measure is part of the given domain description. The planner can cope with difficult self-reconfigurations, e.g. involving building helper organisms. The abstract symbolic plan is executed by a behavior based robot controller, where each robot is seen as an agent that has access to local information only. The position which a robot takes in the final configuration is determined by swarm mechanisms during runtime. A coordination instance broadly monitors the self-reconfiguration. The feasibility and advantages of this approach compared to previous work on self-reconfiguration of MMRs is shown by planning and executing self-reconfiguration in simulation for several organism families with different reconfiguration complexities.

关键词： Modular robots Reconfiguration Robot robot controller Automation Mobile Heuristics Planning

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Simulation tool for 3D shape sensors based on Fiber Bragg gratings and optimization of measurement points

Simulation tool for 3D shape sensors based on Fiber Bragg gr...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Christoph Ledermann Hendrikje Pauer Oliver Weede Heinz Woern Karlsruhe Institute of Technology Institute for Process Control and Robotics Germany

3D shape sensing using Fiber Bragg gratings has attracted the interest of several research groups in recent years, but so far no possibility has been presented to optimize the sensing system by simulation. Almost always, the gratings (the points of strain measurement) are distributed equidistantly, and the reconstruction algorithm has not been verified by simulation. In this paper we present our simulation tool that works on a mathematical basis and includes two parts: the first part describes how to determine the strains of Fiber Bragg gratings mounted along a given shape. The second part describes our algorithm to reconstruct the shape from this strain data using theory of differential geometry. This reconstruction algorithm is evaluated within the simulation environment and can be adapted to different system behaviors like circular bending of the instrument, cubic bending or bending according to the Euler beam theory. Furthermore, the gratings can be optimized with respect to their position and designated Bragg wavelength. To demonstrate the effectiveness of the simulation tool, an optimization has been conducted for the grating positions along a shape with two independent bendable segments. For each configuration of the shape, the reconstruction results using the optimized grating positions were significantly better than when using equidistantly distributed gratings.

关键词： Gratings Shape Sensors Bragg gratings Strain Vectors Graphical user interfaces

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Modularized Software for Multi-Modular Self-Reconfigurable robotics

Modularized Software for Multi-Modular Self-Reconfigurable R...

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Workshop on Robot Motion and control

作者： Rene Matthias Andreas Bihlmaier Heinz Worn Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT

ISBN: (纸本)9781467355094

After having described our Hardware- and Software-Architecture and the corresponding Interface-Design in previous publications ([1],[2],[3]) we put these elements together in the paper at hand. The use of well-known, but previously considered too heavy-weighted standards, like PO-SIX, Ethernet and SOAP, is completely new in the field of Multi-Modular Self-Reconfigurable Robots (MSR). We show the feasibility, usability and the advantages of this approach by incorporating these standards into our implementation. Systematic modularization on all levels from hardware through Linux processes to the user interface results in a robotic system that is robust, flexible and scalable. These properties are achieved by our deliberate decisions about the specific implementation, interaction and their consequences for every single part of the system. We recommend this integrated architecture as a template for future MSR platforms. The experimental results shown, confirm our claims about the properties of the overall system design.

关键词： Modularity Computer hardware Soaps robotics jigs(templates) computer software

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Methods for Safe Human-Robot-Interaction Using Capacitive Tactile Proximity Sensors

Methods for Safe Human-Robot-Interaction Using Capacitive Ta...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Stefan Escaida Navarro Maximiliano Marufo Yitao Ding Stephan Puls Dirk Goger Bjorn Hein Heinz Worn Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany.

ISBN: (纸本)9781467363563

In this paper we base upon capacitive tactile proximity sensor modules developed in a previous work to demonstrate applications for safe human-robot-interaction. Arranged as a matrix, the modules can be used to model events in the near proximity of the robot surface, closing the near field perception gap in robotics. The central application investigated here is object tracking. Several results are shown: the tracking of two human hands as well as the handling of occlusions and the prediction of collision for object trajectories. These results are important for novel pretouch- and touch-based human-robot interaction strategies and for assessing and implementing safety capabilities with these sensor systems.

关键词： previous work demonstrate applications near proximity Proximity sensors Sensor systems capacitance Touch Safes Collisions

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