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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Liedke, Jens Wörn, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT 76131 Karlsruhe Germany

ISBN: (纸本)9781457721373

Within this paper, CoBoLD - short for Cone Bolt Locking Device - a bonding mechanism for modular self-reconfigurable autonomous mobile robots is presented. The docking unit is used to physically connect modular robots and/or toolboxes in order to form complex structures and robotic organisms. CoBoLD is specially designed to combine essential features like genderlessness, symmetry, high stiffness, integrated force sensors and electrical contacts, while still using a simple and low cost, easy to manufacture setup. Next to a detailed description of CoBoLDs assembly, first trails and their results are shown in this paper. CoBoLD is used at several different robotic platforms and toolboxes within the EU founded projects SYMBRION and REPLICATOR. © 2011 IEEE.

关键词： Mobile robots

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Utilizing the full potential of a new flexible platform in modular self-reconfigurable mobile robotics

Utilizing the full potential of a new flexible platform in m...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

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

ISBN: (纸本)9781457721373

In this paper we show the challenges arising from the existence of multi mordular robotics. The hardware developed within the SYMBRION and REPLICATOR projects aims at the creation of a new platform being capable of acting as single robots, as a swarm of those or even of docking to each other and thereby creating a larger organism. This organism will be able to take advantage of the combined capabilities of the single robots. This includes the energy sources as well as computing power and sensors. The electronics design implemented in the projects allows to employ arbitrary topologies of the data bus without having to take care of the role each robot will fill within an organism. From the software point of view this provides an enormous flexibility, but also raises new challenges. Being flexible in terms of topology means not being aware of the actual topology implicitly. Therefore new mechanisms are needed to provide the high-level controllers with the necessary information. In this paper we will discuss some of these newly introduced capabilities as well as the according new challenges resulting out of them. We start by pointing out the hardware design principles. This includes the main-CPU which is a Blackfin DSP running μClinux as its operating system. Afterwards the most important consequences for the consecutive software are discussed. © 2011 IEEE.

关键词： Topology

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GAL@Home

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Zeitschrift für Gerontologie und Geriatrie 2012年第8期45卷 716-721页

作者： M. Gietzelt J. Spehr Y. Ehmen S. Wegel F. Feldwieser M. Meis M. Marschollek K.-H. Wolf E. Steinhagen-Thiessen M. Gövercin Peter L. Reichertz Institute for Medical Informatics University of Braunschweig - Institute of Technology and Hannover Medical School Braunschweig Germany Institute for Robotics and Process Control University of Braunschweig - Institute of Technology Braunschweig Germany Geriatric Research Group Department of Geriatric Medicine Charité - Universitätsmedizin Berlin Berlin Germany Department Market and Effects Research Hearing Centre Oldenburg GmbH Oldenburg Germany Peter L. Reichertz Institute for Medical Informatics University of Braunschweig - Institute of Technology and Hannover Medical School Hannover Germany

A considerable proportion of falls occur within the domestic environment. Sensor-based identification of falls in seniors’ homes could help them to remain autonomous and self-sufficient in their own homes. The objective of this study was to evaluate fall detection systems within the home environment using optical and accelerometric sensor systems. Portable triaxial accelerometers and optical sensors were used to detect falls in subjects with known problems of mobility and a recent fall history. Three subjects were investigated with the system. Overall nine falls occurred during the study period. Four falls were recorded by the accelerometric system and one fall by the optical system. Subjects with increased risk of falling as measured with mobility and fall risk assessments tend to fall more frequently. The study shows that there is a considerably large difference between fall-detector evaluation studies in domestic environments and in laboratory trials.

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Dependence of ablation depth on angle of incidence for hard tissue ablation using pulsed CO2 laser

Dependence of ablation depth on angle of incidence for hard ...

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European Conference on Biomedical Optics, ECBO 2011

作者： Zhang, Yaokun Burgner, Jessica Raczkowsky, Jörg Wörn, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany Mechanical Engineering Department Vanderbilt University United States

ISBN: (纸本)9780819486837

While using a laser to process hard tissue, it is difficult to guarantee, that the laser beam is always perpendicular to the tissue surface. Therefore, it is necessary to know the dependence of ablation depth on angle of incidence for preoperative planning. Considering the propagation of the ablation front, an Addition Model is developed in this work. It indicates that the shape of a crater ablated by a single pulse with non-zero angle of incidence can be regarded as the sum of the original tissue surface and a symmetric profile, which is corresponding to the shape of a crater ablated by perpendicularly incident beam. Meanwhile, the ablation depth at a point P is defined as the distance from P to the original tissue surface along the optical axis of the incident beam. In the context of this definition, the dependence is experimentally studied. The results of the experiments were unexpected: the ablation depth is independent of angle of incidence up to ca. 55°. Possible reasons for these results are discussed. © 2011 SPIE-OSA.

关键词： Laser ablation

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A distance and diversity measure for improving the evolutionary process of modular robot organisms

A distance and diversity measure for improving the evolution...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Winkler, Lutz Wörn, Heinz Friebel, Adrian Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT 76131 Karlsruhe Germany University of Leipzig 04107 Leipzig Germany

ISBN: (纸本)9781457721373

In this paper, we present a novel diversity measure for a population of modular robot organisms. Evaluating this diversity we will get a prospect of the fitness of future generations of organisms in an evolutionary process. The degree of the diversity in a population is a measure for the adaptability to the environment. If the diversity is too low, it is necessary to change evolutionary parameters such as mutation probabilities or to start a new evolutionary run in order to get better adapted organisms. The novel measure helps to improve and speed-up the evolutionary process, which is mandatory as the evolution of robot organisms, specially the coevolution of controller and topology of organisms is a very tedious process. In four different experiments using the Robot3D simulator and the Symbricator modular robots, we will show the usefulness of this diversity measure. The goal of the first two experiments will be the evaluation of two different selection strategies: fitness proportionate and rank selection. In the last two experiments we will explore the differences between a restrained evolution, where the type of agent, which controls an element in an organism is predetermined by its parent element, and a free evolution. © 2011 IEEE.

关键词： Modular robots

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Fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system

Fault-tolerant control of an electro-hydraulic servo axes wi...

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作者： Beck, Mark Schwung, Andreas Muenchhof, Marco Isermann, Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

ISBN: (纸本)9783902661937

This paper presents fault detection, fault diagnosis, the fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system. The fault detection is based on parity equations and is load independent. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used at the testbed is based on fuzzy-logic. In order to tolerate a faulty hydraulic proportional valve, a duplex-valve-system built up with standard proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axes and decides on the reconfiguration of the control-loop. An Internal Model control (IMC)-tracking control structure for bumpless transfer between controllers is presented. Experimental results show the industrial applicability of the approach. © 2011 IFAC.

关键词： Fault detection

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A supervision system for the intuitive usage of a telemanipulated surgical robotic setup

A supervision system for the intuitive usage of a telemanipu...

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IEEE International Conference on robotics and Biomimetics

作者： Holger Mönnich Philip Nicolai Tim Beyl Jörg Raczkowsky Heinz Wörn Medical Robotics group of the Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany Medical Robotics group of the Institute for Process Karlsruhe Institute of Technology Karlsruhe Germany Medical Robotics group of the Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

This paper introduces the OP:Sense system that is able to track objects and humans and. To reach this goal a complete surgical robotic system is built up that can be used for telemanipulation as well as for autonomous tasks, e.g. cutting or needle-insertion. Two KUKA lightweight robots that feature seven DOF and allow variable stiffness and damping due to an integrated impedance controller are used as actuators. The system includes two haptic input devices for providing haptic feedback in telemanipulation mode as well as including virtual fixtures to guide the surgeon even during telemanipulation mode. The supervision system consists of a marker-based optical tracking system, Photonic Mixer Device cameras (PMD) and rgb-d cameras (Microsoft Kinect). A simulation environment is constantly updated with the model of the environment, the model of the robots and tracked objects, the occupied space as well as tracked models of humans.

关键词： Cameras Robot vision systems Surgery Haptic interfaces Humans Collision avoidance

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CoBoLD - A Bonding Mechanism for Modular Self-Reconfigurable Mobile Robots

CoBoLD - A Bonding Mechanism for Modular Self-Reconfigurable...

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IEEE International Conference on robotics and Biomimetics

作者： Jens Liedke Heinz Worn Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT

ISBN: (纸本)9781457721366

关键词： Modular Robots Docking Unit Bonding Mechanism Self-Reconfiguration

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Dynamic counters and the efficient and effective online power management of embedded real-time systems 11

Dynamic counters and the efficient and effective online powe...

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Embedded Systems Week 2011, ESWEEK 2011 - 9th IEEE/ACM International Conference on Hardware/Software-Codesign and System Synthesis, CODES+ISSS'11

作者： Lampka, Kai Huang, Kai Chen, Jian-Jia Computer Engineering and Networks Laboratory ETH Zurich Switzerland Fortiss GmbH Guerickestr. 25 80805 Munich Germany Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany

ISBN: (纸本)9781450307154

Energy consumption has become an important issue for modern embedded systems. This is because, one does not only like to deploy high-performance systems and provide guaranteed services, but also request system deployments to last as long as possible. With online dynamic power management (DPM), one adaptively changes the system's power mode, i. e., schedules when to turn on and off on-the-fly, to achieve energy savings. This paper introduces dynamic counters and discusses their usage in the context of (online) DPM in a setting where systems have to fulfill hard real-time requirements. The proposed scheme enables one to conservatively bound the future workload and thereby to safely schedule on- and off-periods of devices. Simulation results indicate that the proposed technique is more efficient and more effective with respect to energy savings, compared to previous work. Copyright 2011 ACM.

关键词： Real time systems

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The Robot Formation Language — A formal description of formations for collective robots

The Robot Formation Language — A formal description of form...

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IEEE Swarm Intelligence Symposium, SIS

作者： Lutz Winkler Alexander Kettler Marc Szymanski Heinz Wörn Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

In this paper we will present the Robot Formation Language (RFL), a topology description language for the formation of multi robot systems, such as robot swarms or self-reconfigurable modular robot platforms. The RFL supports homogeneous as well as heterogeneous multi robot platforms. This is important especially for modular robots (we also call them robot organisms), as there can also be robots included which have a different kinematic behaviour. Additionally, it supports tools, such as active wheels, grippers or structural elements, which enhance the capabilities of a modular robot platform. As we focus on creating organisms out of a robot swarm (i.e. the swarm robots have capabilities to connect to each other to build a modular robot organism), it is important to have a common language, which describes the swarm as well as the organism. Using the RFL, we will define a distance between two formations and describe how the calculation for this purpose can be distributed among the members of the collective. RFL cannot only be used to describe the formation of a multi robot system, but it can also be used to retrieve the kinematic chain of an organism or as a genome to evolve different organism shapes for example. It is also useful for the swarm robots to identify their position in the swarm.

关键词： Robot kinematics Organisms Mobile robots Robot sensing systems Topology Shape

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