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检索条件"机构=Institute for Process Control Robotics"

共 416 条记录，以下是121-130 订阅

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Ground control system development and path planning design for unamnned aerial vehicles

Ground control system development and path planning design f...

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Chinese control Conference (CCC)

作者： Shibo Liu Bin Xian Tingting Zhao Yao Zhang Xu Zhang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China Tianjin University Tianjin Tianjin CN

A ground control system (GCS) for unmanned aerial vehicles (UAV) is developed in this paper. Different tasks, which include real time communication between GCS and UAVs, data processing and storing, localization, path planning and so on, can be accomplished in the proposed GCS. To address the issue of path planning problem for UAVs, a new path planning algorithm based on potential function is proposed to drive the UAV to its destination in this paper. Time-varying gain adjusting method is used to enable the UAV obstacle avoidance ability under the constraints for the translation velocity. Lyapunov based analysis is used to prove the stability of the proposed algorithm. Numerical simulation results are included to demonstrate the performance of the proposed path planning design.

关键词： Path planning IEEE 802.11 Standards Global Positioning System Electronic mail Algorithm design and analysis MATLAB

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Multi kinect people detection for intuitive and safe human robot cooperation in the operating room

Multi kinect people detection for intuitive and safe human r...

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International Conference on Advanced robotics (ICAR)

作者： Tim Beyl Philip Nicolai Jörg Raczkowsky Heinz Wörn Mirko D. Comparetti Elena De Momi Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Karlsruher Institut fur Technologie Karlsruhe Baden-WÃ¼rttemberg DE Department of Electronics Information and Bioengineering Neuro Engineering and medicAl Robotics Laboratory Milan Italy Politecnico di Milano Milano Lombardia IT

Microsoft Kinect cameras are widely used in robotics. The cameras can be mounted either to the robot itself (in case of mobile robotics) or can be placed where they have a good view on robots and/or humans. The use of cameras in the surgical operating room adds additional complexity in placing the cameras and adds the necessity of coping with a highly uncontrolled environment with occlusions and unknown objects. In this paper we present an approach that accurately detects humans using multiple Kinect cameras. Experiments were performed to show that our approach is robust to interference, noise and occlusions. It provides a good detection and identification rate of the user which is crucial for safe human robot cooperation.

关键词： Cameras Robot vision systems Collision avoidance Noise Surgery Accuracy

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Extraction of solids of revolution from point cloud scenes for grasp planning tasks 7

Extraction of solids of revolution from point cloud scenes f...

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7th German Conference on robotics, ROBOTIK 2012

作者： Escaida, Stefannavarro Klock, Tobias Braun, Daniel Wörn, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany

This paper presents a method for constructing high fidelity geometrical models of objects in a point cloud scene with the goal of grasp planning and evaluation. We consider objects whose volume can be modeled as a solid of revolution which is extracted from the scene in a sample consensus framework. The approach also provides a natural strategy for segmenting object features such has cup-handles that are an exception to this shape assumption. © 7th German Conference on robotics, ROBOTIK 2012

关键词： Robot programming

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Knowledge-based system for port placement and robot setup optimization in minimally invasive surgery

Knowledge-based system for port placement and robot setup op...

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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Weede, Oliver Mehrwald, Markus Wörn, Heinz Karlsruhe Institute of Technology Institute for Process Control and Robotics Germany

ISBN: (纸本)9783902823113

A new knowledge-based planning system is presented, that optimizes the positions of ports for the instruments and the endoscopic camera in manual and robot assisted laparoscopic surgery. For robot assisted interventions, the initial robot configuration of the da Vinci® Surgical System is included in the optimization. Modeling of the patient, the intervention and the telemanipulator are described. The patient model is including the pneumoperitoneum. The intervention model is inferred from recorded trajectories of the surgical instruments. The optimization is performed with the Seed Throwing Optimization metaheuristic. Criteria for optimization are reachability of target areas, collision avoidance and dexterity as well as ergonomic factors. These criteria are modeled as fuzzy sets. The optimized port positions are projected on the patient's abdomen with a new laser-based projection system. The error of the laser-based projection was measured. The advantages and disadvantages of the system are discussed and compared to an existing augmented reality system. First results show that the computed configuration leads to maximum access in the operation field in the narrow pelvis, maximum separation of the telemanipulator's arms and allows an ergonomic completion of the intervention. © 2012 IFAC.

关键词： Multiobjective optimization

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Stabilization of moved objects for tele-operated robots

Stabilization of moved objects for tele-operated robots

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2012 IEEE International Conference on Cyber Technology in Automation, control, and Intelligent Systems, CYBER 2012

作者： August, Wilhelm Woern, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781467314213

In this paper a tele-operated robot system is presented for transporting and stabilizing a ball rolling on a tray. A ball on a tray is a very sensitive system. Therefore it can be used to make lateral forces visible. In our experimental setup a round tray of 25 cm in diameter is attached to the end effector of an industrial robot manipulator. A small ball is placed on the tray. The position of the rolling ball is observed by an USB camera which is attached to the end effector of the robot above the tray, moving with the end effector. The result of the presented research is a controllable transport of the tray as a tele-operated system in all three dimensions. Lateral forces are smoothed by convenient adaption of the orientation and movement of the end effector. The mathematical model of the controller is based on Lagrangian mechanics. The input of the controller is the current position of the ball on the tray observed by the camera and the current configuration of the kinematic chain of the robot manipulator. The idea behind this experiment is to use a small sphere as a sensor to minimize lateral forces while transporting sensitive goods. © 2012 IEEE.

关键词： Industrial robots

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Combining shape sensor and haptic sensors for highly flexible single port system using Fiber Bragg sensor technology

Combining shape sensor and haptic sensors for highly flexibl...

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2012 8th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2012

作者： Ledermann, Christoph Hergenhan, Jan Weede, Oliver Woern, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781467323475

Single port surgery is a promising approach to further optimize the benefits of robot assisted minimally invasive surgery. Advantages include further minimization of trauma and reduction of scars, but it also increases the need for flexible, high-end instruments and miniaturized sensors. This paper describes a new concept of a miniaturized sensor system which combines a kinesthetic sensor, a tactile sensor and a position sensor. Latter is realized as a shape sensor. The combination of the sensors is possible because they are all based on Fiber Bragg Grating technology. A concept for each sensor is also presented. They are improved compared to current research and adapted to our needs. The miniaturized sensor system is integrated into an innovative, highly flexible single port system. © 2012 IEEE.

关键词： Fiber Bragg gratings

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Robustness, scalability and flexibility: Key-features in modular self-reconfigurable mobile robotics

Robustness, scalability and flexibility: Key-features in mod...

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2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2012

作者： Matthias, Rene Bihlmaier, Andreas Worn, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT 76131 Karlsruhe Germany

ISBN: (纸本)9781467325110

In this paper we address some of the most important aspects in modular self-reconfigurable mobile robotics. Related work indicates that it is not sufficient to just have a flexible, scalable and robust platform but that it is necessary to preserve these capabilities in higher levels of organization to benefit from them. Hence we analyze the way in which similar platforms and the according software are implemented. Then we describe the way our own platform is implemented within the SYMBRION and REPLICATOR projects. Afterwards we show how we manage to preserve the robustness and flexibility for use by other researchers in higher levels of organization. To conclude we provide some measurements that show the general adequacy of our platform architecture to cope with the challenges posed by multi-modular self-reconfigurable robotics. © 2012 IEEE.

关键词： robotics

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The Wanda robot and its development system for swarm algorithms

The Wanda robot and its development system for swarm algorit...

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6th International Symposium on Autonomous Minirobots for Research and Edutainment, AMiRE 2011

作者： Kettler, Alexander Szymanski, Marc Wörn, Heinz Institute for Process Control and Robotics Engler-Bunte-Ring 8 D-76131 Karlsruhe Germany

ISBN: (纸本)9783642274817

We introduce a new development system for swarm algorithms to be used in research and education, composed of a swarm of Wanda miniature robots, a beamer assisted arena for robot experiments and a new framework for the accurate simulation of robotic swarms. TheWanda robot is easy manufacturable and was especially designed to be used as a swarm robot. It is accurately implemented in the new simulation framework which provides powerful methods for the efficient and exact simulation of sensor data for all kinds of vision based sensors, such as rgbsensors, camera sensors, infrared communication and ranging sensors by utilizing graphics hardware. Utilizing the behavior based controller language MDL2Ε which is implemented on the real robot and in the simulation, the complete system aims to allow for a quick and easy development, testing and demonstration of swarm algorithms.

关键词： Robots

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Planning sensor feedback for assembly skills by using sensor state space graphs

Planning sensor feedback for assembly skills by using sensor...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Thomas, U. Wahl, F.M. Institute of Robotics and Mechatronics DLR Muenchner Strasse 20 82234 Wessling Germany Institute for Robotics and Process Control Technical University of Braunschweig Germany

ISBN: (纸本)9783642335143

In this paper, it is shown how robust execution of assembly skills can be planned by using sensor state space graphs. The here proposed method is evaluated by some assembly skills in which force feedback is applied. Assembly skills are implemented by manipulation primitive nets which constitute an interface between planning and execution of robotic systems. The sensor state space graph is introduced, which is an extension of the contact formation graph in a more general way, when various sensors might be used simultaneously for assembly execution. It is shown, how contact formation graphs can be generated by simulation of rigid body motions. The known contact formation graphs are enhanced by the definition of contact types between higher order surfaces. Additionally, a more general view is given by introducing sensor state space graphs. It is shown how contact formation graphs can be mapped to manipulation primitive nets, which allow the robust execution of assembly skills, despite the appearance of uncertainties. The approach is demonstrated successfully on some assembly tasks. Here the task of plugging a power socket on a top hat rail is illustrated due to its complex sequence. The shown assembly task is characterized by small fitting tolerances, where the application of force feedback is indispensable. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Feedback

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Haptic object recognition for multi-fingered robot hands

Haptic object recognition for multi-fingered robot hands

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2012 IEEE Haptics Symposium, HAPTICS 2012

作者： Navarro, Stefan Escaida Gorges, Nicolas Wörn, Heinz Schill, Julian Asfour, Tamim Dillmann, Rüdiger Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany Humanoids and Intelligence Systems Lab. Karlsruhe Institute of Technology Germany

ISBN: (纸本)9781467308090

In this paper, we present an approach for haptic object recognition and its evaluation on multi-fingered robot hands. The recognition approach is based on extracting key features of tactile and kinesthetic data from multiple palpations using a clustering algorithm. A multi-sensory object representation is built by fusion of tactile and kinesthetic features. We evaluated our approach on three robot hands and compared the recognition performance using object sets consisting of daily household objects. Experimental results using the five-fingered hand of the humanoid robot ARMAR, the three-fingered Schunk Dexterous Hand 2 and a parallel Gripper are performed. The results show that the proposed approach generalizes to different robot hands. Keywords: Object Recognition, Bag of Keypoints, Robot Hands, Tactile Sensing. © 2012 IEEE.

关键词： Object recognition

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