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Hazard Analysis of Collaborative Automation Systems: A Two-layer Approach based on Supervisory control and Simulation

Hazard Analysis of Collaborative Automation Systems: A Two-l...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tom P. Huck Yuvaraj Selvaraj Constantin Cronrath Christoph Ledermann Martin Fabian Bengt Lennartson Torsten Kröger Intelligent Process Automation and Robotics Lab Institute of Anthropomatics and Robotics (IAR-IPR) Karlsruhe Institute of Technology India Department of Electrical Engineering Division of Systems and Control Chalmers University of Technology Gothenburg Sweden

Safety critical systems are typically subjected to hazard analysis before commissioning to identify and analyse potentially hazardous system states that may arise during operation. Currently, hazard analysis is mainly based on human reasoning, past experiences, and simple tools such as checklists and spreadsheets. Increasing system complexity makes such approaches decreasingly suitable. Furthermore, testing-based hazard analysis is often not suitable due to high costs or dangers of physical faults. A remedy for this are model-based hazard analysis methods, which either rely on formal models or on simulation models, each with their own benefits and drawbacks. This paper proposes a two-layer approach that combines the benefits of exhaustive analysis using formal methods with detailed analysis using simulation. Unsafe behaviours that lead to unsafe states are first synthesised from a formal model of the system using Supervisory control Theory. The result is then input to the simulation where detailed analyses using domain-specific risk metrics are performed. Though the presented approach is generally applicable, this paper demonstrates the benefits of the approach on an industrial human-robot collaboration system.

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Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array

Teleoperation with Tactile Feedback based on a Capacitive Pr...

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IEEE Instrumentation and Measurement Technology Conference

作者： Hosam Alagi Stefan Escaida Navarro Jan Hergenhan Selma Musić Björn Hein Institute for Anthropomatics and Robotics - Intelligent Process Control and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology Defrost at Inria Lille-Nord Europe IAR-IPR Chair of Information-oriented Control Technical University of Munich Munich Germany

ISBN: (数字)9781728144603

ISBN: (纸本)9781728144610

In this paper, we show our novel teleoperation system that mediates proximity perception at the slave system as tactile information to the user. We have equipped a robot's end-effector with a capacitive proximity sensor array. Based on the proximity information, tactile feedback is generated for the user via a tactile display. Thus, the user can feel some of an object's features through his fingers, without the need for establishing contact between the slave system and the object. In our setting, the proximity sensing-based feedback complements the visual feedback provided by a workspace camera and a robot tool camera. Both the sensor array and the tactile display, have a spatial resolution of 4×4. To evaluate the impact, we conducted a user study covering scenarios with visual occlusion and distortion in pre-touch and pre-manipulation phases. The study revealed an improvement in the accuracy of positioning of the end-effector when the visual and the tactile feedback were both provided to the user. The study also showed high acceptance of the new modality by the users.

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3D contour following for a cylindrical end-effector using capacitive proximity sensors

3D contour following for a cylindrical end-effector using ca...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Stefan Escaida Navarro Stefan Koch Bjórn Hein Institute for Anthropomatics and Robotics - Intelligent Process Control and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology

ISBN: (纸本)9781509037636

In this paper we've equipped a cylindrical end-effector with an array of capacitive sensors in order to implement 3D contour following. During the task, using proximity servoing, the sensors are aligned parallel to the surface and kept at a target distance. In addition, due to the spatial resolution, it's possible to estimate the surface's curvature in two dimensions along the rows and columns of the array. We show how a compound movement can be derived from both curvatures that pre-aligns the end-effector in each step, yielding a predictive component for the control scheme. We evaluate our approach with different geometries and show that the curvature information produces smooth contour following paths. We show that the system can handle speeds up to 150mms -1 .

关键词： Robot sensing systems Calibration Capacitive sensors Sensor systems Aluminum

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Towards a generic BRDF/BTF measurement system: Improving visual realism in robot simulators using robots

Towards a generic BRDF/BTF measurement system: Improving vis...

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IEEE International Conference on Emerging Technologies and Innovative Business Practices for the Transformation of Societies (EmergiTech)

作者： Andreas Bihlmaier Fabian Stein Heinz Wörn Intelligent Process Control and Robotics Lab (IPR) Institute for Anthropomatics and Robotics (IAR) Karlsruhe Germany

It is well understood that the Bidirectional Reflectance Distribution Function (BRDF) and the Bidirectional Texture Function (BTF) are the most adequate description of real world surface appearances. However, their use is still marginal in robotics simulators, even though real-time simulation of visual sensors is common nowadays. For visual realism two aspects of the simulated objects are important: geometric and surface properties. Assuming a sufficiently accurate geometric model is available, through CAD modeling or a 3D scan, its surface or reflectance properties have to be defined. This paper describes a generic measurement system to acquire a BRDF/BTF as basis for an analytic reflectance model that can be used for simulation of visual sensors in real-time robotics simulators. We designed the system and its architecture under the constraints that it is easy to setup, does not permanently need storage space and only requires components that are already available in most robotic labs, while providing sufficiently accurate results. Our goal is to lower the entry barrier for roboticists to the extent that they can benefit in practice from the progress in BRDF/BTF research.

关键词： Service robots Real-time systems Cameras Solid modeling Robot vision systems Rendering (computer graphics)

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A versatile and modular capacitive tactile proximity sensor

A versatile and modular capacitive tactile proximity sensor

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Hosam Alagi Stefan Escaida Navarro Michael Mende Björn Hein Institute for Anthropomatics and Robotics - Intelligent Process Control and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology

In this work we discuss the design and realization of a novel capacitive tactile proximity sensor (CTPS) with applications in robotics and consumer-electronics. The current concept is an advancement with respect to a previous design developed at our lab. Experience in the development of applications based on the old sensor, such as manipulation and safe HRI, helped determining the requirements. The new sensor is capable of operating in a self- and mutual-capacitive proximity mode and in a mutual-capacitive tactile mode. The issue of having a trade-off between spatial resolution and sensing range in proximity mode due to the capacitive measurement principle is addressed. A circuit is designed to dynamically select or join electrodes involved in the proximity measurements, a technique which at the same time allows the implementation of the spatial resolution in the tactile mode. Also, all signal processing is done on board of the prototype sensor module, thus complete modularity is achieved.

关键词： Robot sensing systems Electrodes Current measurement Capacitance Voltage measurement Wires

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A data-driven large-scale optimization approach for task-specific physics realism in real-time robotics simulation

A data-driven large-scale optimization approach for task-spe...

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IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)

作者： Andreas Bihlmaier Kai Kohlhoff Institute for Anthropomatics and Robotics (IAR) — Intelligent Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Google Inc. Mountain View CA USA

ISBN: (纸本)9781509046171

Physics-based simulation of robots requires models of the simulated robots and their environment. For a realistic simulation behavior, these models must be accurate. Their physical properties such as geometric and kinematic values, as well as dynamic parameters such as mass, inertia matrix and friction, must be modelled. Unfortunately, this problem is hard for at least two reasons. First, physics engines designed for simulation of rigid bodies in real-time cannot accurately describe many common real world phenomena, e.g. (drive) friction and grasping. Second, the prime candidate solution to the model parameter problem, classical parameter identification algorithms, although well-studied and efficient, often necessitate a significant manual engineering effort and may not be applicable due to application constraints. Thus, we present a data-driven general purpose tool, which allows to optimize model parameters for (task-specific) realistic simulation behavior. Our approach directly uses the simulator and the model under optimization to improve model parameters. The optimization process is highly distributed and uses a hybrid optimization approach based on metaheuristics and the Ceres non-linear least squares solver. The user only has to provide a configuration file that specifies which model parameter to optimize together with realism criteria and a set of reference recordings from the real robot system.

关键词： Robot sensing systems Optimization Solid modeling Friction Data models Biological system modeling

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Continuous task-priority rearrangement during motion execution with a mixture of torque controllers

Continuous task-priority rearrangement during motion executi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Niels Dehio René Felix Reinhart Jochen J. Steil Technische Universitat Braunschweig Braunschweig Niedersachsen DE Fraunhofer IEM Research Institution for Mechatronic Systems Design Paderborn Germany Research Institute for Robotics and Process Control (IPR) Technical University Braunschweig Germany

ISBN: (纸本)9781509047192

When controlling highly redundant humanoid robots multiple motion tasks can be accomplished simultaneously by employing several reactive torque-control modules. Flexible task-prioritization for these modules during motion generation is an open research problem. Null-space based approaches for redundant robots implement a strict, hierarchical prioritization and are not suited for changing the priority-order of the underlying control modules. In contrast, the mixture of controller approach superposes torques from several control modules and thereby enables flexible and continuous task-priority rearrangement. Here we show how to react to environmental changes by blending the corresponding priorities during motion execution. Additionally, we investigate the advantage of regularization when learning new mixture coefficients. The proposed framework is demonstrated for the full 11 DOF upper body of the compliant humanoid robot COMAN in simulation.

关键词： Aerospace electronics Robot sensing systems Optimization Humanoid robots Jacobian matrices Trajectory

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Support and imaging tasks using an ultrasound-based navigation procedure for minimally invasive neck surgery: Experiments and analyses

Support and imaging tasks using an ultrasound-based navigati...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Thorsten Brennecke Heinz Woern Intelligent Process Control and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology Germany

Minimally invasive neck surgery is a promising technique which is not commonly adopted. Due to the actual intra-operative bedding of the patient which results in a tissue shift compared to the pre-operative imaging, a suitable navigation procedure is required. The detection of the bedding-caused tissue shift is essential for a safe orientation for the surgeons to establish new endoscopic operation procedures. In this work an ultrasound-based navigation procedure for the head-neck-surgery is proposed. A prototype was implemented, which is using the Plus toolkit and integrated into the OP:Sense robotic setup. Experiments on a custom, flexible neck-model were performed. A robotic ultrasound tomography using the navigation system prototype was integrated into OP:Sense. The setup was used to scan bones in water bathes and human arms and create 3D volumes. The overall achieved accuracy was

关键词： Ultrasonic imaging Navigation Neck Solid modeling Imaging Three-dimensional displays Surgery

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Online motion planning for failure recovery of modular robotic systems

Online motion planning for failure recovery of modular robot...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Vojtěch Vonásek Sergej Neumann David Oertel Heinz Wörn Ceske Vysoke Uceni Technicke v Praze Praha CZ Institute for Process Control and Robotics (IPR) Karlsruhe Germany

ISBN: (纸本)9781479969241

Modular robots are built of many basic robotic modules that can be connected into robots of various shapes. These robots are able to recover from a failure by ejecting and replacing damaged modules. Although this type of failure recovery is usually suggested in literature, it may be precluded due inability of the broken modules to cooperate or if no spare modules are available. In such a case, locomotion of a damaged robot should be adapted to allow the robot to reach a repair station or even to finish its task without the need to exchange the broken modules. In this paper, we investigate how to adapt motions of modular robots with respect to failures using the concept of motion planning with motion primitives. The ability of the proposed system to recover from failures is verified in a simulation and also in a HW experiment.

关键词： Robots Optimization Planning Joints Maintenance engineering Three-dimensional displays Adaptation models

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Failure recovery for modular robot movements without reassembling modules

Failure recovery for modular robot movements without reassem...

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International Workshop on Robot Motion and control (RoMoCo)

作者： Vojtěch Vonásek David Oertel Sergej Neumann Heinz Wörn Dept. of Cybernetics Czech Technical University in Prague Czech Republic Institute for Process Control and Robotics (IPR) Karlsruhe Germany

Modular robots consist of many mechatronic modules that can be connected into various shapes and therefore adapted for a given task or environment. Motion of the robots can be achieved by locomotion generators that control joints connecting the modules. An important advantage of modular robots is their ability to recover from failures by ejecting and replacing damaged modules. This type of failure recovery may be precluded due to inability of the broken modules to cooperate or when no spare modules are available. In such a case, locomotion of a damaged robot should be adapted to allow the robot to reach a repair station or even to finish its task without the need to exchange the broken modules. In this paper, we investigate how to recover from failures using the concept of motion planning with motion primitives and how to adapt the primitives to new situations. The proposed systems allows modular robots to move even if some modules fail. Besides modular robots, the proposed system is suitable also for other robots that can be driven by locomotion generators such as legged or snake-like robots.

关键词： Joints Cost function Planning Legged locomotion Generators Actuators

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