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

共 416 条记录，以下是81-90 订阅

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A formal grammar for topology description of modular robot organisms

A formal grammar for topology description of modular robot o...

引用

29th International Conference on Computers and Their Applications, CATA 2014

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

ISBN: (纸本)9781632665133

In this paper we will present a formal grammar for the topology description of modular robot organisms. This grammar is a set of production rules for the Robot Formation Language, which is also used to describe the formation of robot swarms. We will show that this formal language is general enough to describe every possible structure of any modular robot organism. Moreover, we will present several scenarios where the RFL is in use to underline its usability in different domains of applications, such as for evolving robot organisms, learning gaits of such organism, planning reconfiguration of an organism and manual control of an organism.

关键词： Topology

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Hovering control of a Nano Quadrotor Unmanned Aerial Vehicle Using Optical Flow 33

Hovering Control of a Nano Quadrotor Unmanned Aerial Vehicle...

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第三十三届中国控制会议

作者： XIAN Bin LIU Yang ZHANG Xu CAO Meihui Wang Fu The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781479947249

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle(UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Nano Quadrotor UAV,Optical Flow,Autonomous control

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Motion comparison method combining segmented multi-Joint line graphs with the SIFT matching technique

Motion comparison method combining segmented multi-Joint lin...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Ren, Hong Lin Meng, Qing Hao Chen, Chang Wei Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

In this paper, an effective motion comparison method based on segmented multi-joint line graphs combined with the SIFT feature matching method is proposed. Firstly, the multi-joint 3D motion data are captured using the Kinect. Secondly, 3D motion data are normalized and distortion data are removed. Therefore, a 2D line graph can be obtained. Next, SIFT features of the 2D motion line graph are extracted. Finally, the line graphs are divided into several regions and then the comparison results can be calculated based on SIFT matching ratios between the tutor's local line graph and the trainee's local line graph. The experimental results show that the proposed method not only can easily deal with the several challenge problems in motion analysis, e.g., the problem of different rhythm of motions, the problem of a large amount of data, but also can provide detailed error correction cues. © (2014) Trans Tech Publications, Switzerland.

关键词： Motion analysis

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Recurrence characteristics analysis of near-Surface wind speed signal with different sampling frequencies

Recurrence characteristics analysis of near-Surface wind spe...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Wu, Zhan Xie Meng, Qing Hao Li, Jing Hai Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

The wind is the main factor to influence the propagation of gas in the atmosphere. Therefore, the wind signal obtained by anemometer will provide us valuable clues for searching gas leakage sources. In this paper, the Recurrence Plot (RP) and Recurrence Quantification Analysis (RQA) are applied to analyze the influence of recurrence characteristics of the wind speed time series under the condition of the same place, the same time period and with the sampling frequency of 1hz, 2hz, 4.2hz, 5hz, 8.3hz, 12.5hz and 16.7hz respectively. Research results show that when the sampling frequency is higher than 5hz, the trends of recurrence nature of different groups are basically unchanged. However, when the sampling frequency is set below 5hz, the original trend of recurrence nature is destroyed, because the recurrence characteristic curves obtained using different sampling frequencies appear cross or overlapping phenomena. The above results indicate that the anemometer will not be able to fully capture the detailed information in wind field when its sampling frequency is lower than 5hz. The recurrence characteristics analysis of the wind speed signals provides an important basis for the optimal selection of anemometer. © (2014) Trans Tech Publications, Switzerland.

关键词： Time series

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Biomechanical analysis of typical upper limb movements based on Kinect-LifeMOD

Biomechanical analysis of typical upper limb movements based...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Chen, Chang Wei Meng, Qing Hao Ren, Hong Lin Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

In traditional biomechanical analysis of upper limb, the high-precision motion data and lifelike human models are needed. It is obvious that those processes are costly and time-consuming. In this paper, a novel and simple combination method based on Kinect-LifeMOD is proposed. Firstly, the Microsoft Kinect (a latest depth sensor) is used to build a cheap and precise motion capture platform. Real-time and reliable key-node rotation data of human skeletons can be acquired by this motion capture system. Next, rotation data is converted into position data as the input of the LifeMOD software which can establish mathematical model of upper limb and execute biomechanical analysis automatically. The experimental results show that the proposed method could achieve the satisfactory performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Biomechanics

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Using ORMOCER®s as casting material for a 3D shape sensor based on Fiber Bragg gratings

Using ORMOCER®s as casting material for a 3D shape sensor b...

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Intelligent Sensors, Sensor Networks and Information processing Conference (ISSNIP)

作者： Christoph Ledermann Hendrikje Pauer Heinz Woern Mona Seyfried Gerhard Domann Herbert Wolter Institute of Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

In robot assisted minimally invasive surgery, flexible instruments are a highly interesting research topic, as they promise more flexibility and new possibilities for surgical interventions. Shape sensors are needed in order to retrieve information about the geometry and especially the tip position of the instrument. Those shape sensors are usually based on Fiber Bragg Gratings. In contrast to other research groups, which e.g. use nitinol wires as a core for their fibers, we follow the approach of casting the fibers in soft materials. For our latest prototype, a special ORMOCER® material has been used, which is an inorganic-organic hybridpolymer with adjustable properties. The fabrication of the sensor is described in detail. The reproducibility of the wavelength measurements has been validated for several shapes, proving the reasonableness of our approach.

关键词： Shape Gratings Standards Wavelength measurement Casting Instruments Bragg gratings

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International Conference on Computer Vision Theory and Applications (VISAPP)

作者： Manuel Frei Simon Winkelbach Institute for Robotics and Process Control TU Braunschweig Braunschweig Germany

ISBN: (纸本)9781479976867

In the last 20 years many approaches for the registration and localization of surfaces were developed. Most of them generate solutions by minimizing point distances or maximizing contact areas between surface points. Other algorithms try to detect corresponding points on the two surfaces by searching for points with same features and align them. However, aligning and localizing self-similar surfaces or surfaces having large regions with approximately constant curvature is still a complex problem.

关键词： Three-dimensional displays Surface treatment Surface cracks Surface reconstruction Runtime Iterative closest point algorithm Robustness

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Optical coherence tomography as highly accurate optical tracking system

Optical coherence tomography as highly accurate optical trac...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yaokun Zhang Heinz Wörn Institute for Anthropomatics and Robotics (IAR)-Intelligent Process Control and Robotics (IPR) Karlsruhe Institute of Technology Germany

ISBN: (纸本)9781479957378

Optical coherence tomography (OCT) guided laser cochleostomy enables the ablation accuracy on tens of micrometer scale and therefore also requires a high patient tracking accuracy on the same order of magnitude, which however exceeds the ability of the conventional optical or electromagnetic tracking systems. We have developed a novel approach of using OCT itself as a highly accurate optical tracking system by ablating tiny artificial landmarks surrounding the cochleostomy on the target bone surface and locating them in the online acquired 3D OCT Volumes. The mechanism enables a direct tracking of the target area with respect to the laser optics while the conventional systems rely on indirect tracking of the markers or sensors attached to the regions of interest. The new approach has achieved an overall tracking accuracy of 22.8±14.9μm (mean absolute error) and 27.2μm (root mean square), which is one order of magnitude higher than the conventional tracking system-based setups.

关键词： Target tracking Accuracy Laser ablation Adaptive optics Three-dimensional displays

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Evaluation of a method for intuitive telemanipulation based on view-dependent mapping and inhibition of movements

Evaluation of a method for intuitive telemanipulation based ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Simon Notheis Björn Hein Heinz Wörn Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

In this paper we present a novel approach for intuitive telemanipulation in Cartesian space and discuss the results of a user study evaluating different aspects of our approach. The proposed method inhibits certain degrees of freedom based on the current viewpoint. Together with automatic mapping of the input device to corresponding motion axes, our approach provides a very intuitive method for controlling the telemanipulation system while reducing the mental workload of the operator and therefore the amount of erroneous commands. Similar principles apply for controlling the viewpoint of real or virtual cameras to facilitate manipulation or navigation tasks.

关键词： Cameras Manipulators Robot vision systems Robot kinematics Service robots

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An OWL Ontology for Local Situation Awareness based on Object Hierarchy Propagation

An OWL Ontology for Local Situation Awareness based on Objec...

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ISR/Robotik 2014;41st International Symposium on robotics

作者： Frank Dittrich Heinz Woern Karlsruher Institute of Technology (KIT) Institute for Process Control and Robotics (IPR) Karlsruher Institute of Technology (KIT)

In our paper we present a generic modeling and inference scheme for spatially resolved reasoning about situations, activities and states of distributed objects in a 3D scene, using an ontology based on the Web Ontology Language. As a basis for classification and local object related inference, assertions about the object and assigned activities are used. In addition, our approach exploits context driven object hierarchy knowledge, where local and object dependent situational information is used for inference on higher object hierarchy levels. This propagation scheme enriches and augments the local deductive reasoning and allows for the injection of asserted activity knowledge for only a subset of the scene objects, while local reasoning can still be performed on higher levels under contextual assumptions. For the motivation and illustration of the applicability and usefulness of our approach, we apply it to human-robot interaction and collaboration scenarios in the industrial domain. A synthetic representation of a shared workspace serves thereby as the basis for the modeling of local object contexts for situational reasoning.

关键词： Web ontology languages Ontology Social Hierarchy Local Reasoning Human machine interaction knowledge representation languages

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