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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： H. Friedrich H. Hofmann R. Dillmann Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems & Robotics IPR University of Karlsruhe Karlsruhe Germany

Within the last years the programming by demonstration (PbD) programming methodology gained more and more attention in robotics. However, a high quality way of human-robot interaction is crucial for a successful application of the PbD methodology in robotics. Hypotheses derived from the programming system, and control knowledge included in a generated robot program has to be checked back with and to be verified by the user in order to avoid potentially harmful errors that lead to faulty code. This paper describes a method for user-robot interaction that is based on 3D-icons and supports and facilitates the programming process in a robot programming by demonstration system significantly.

关键词： Robot programming Service robots Robot sensing systems control systems Sensor systems Humans Robustness real time systems Intellectual property Electronic mail

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A system for facial reconstruction using distraction and symmetry considerations

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International Congress Series 2001年第C期1230卷 62-67页

作者： Burgert, O. Salb, T. Gockel, T. Dillmann, R. Hassfeld, S. Brief, J. Krempien, R. Walz, S. Mühling, J. Institute of Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Gebaude 07.21 Kaiserstr. 12 Germany Department of Oral and Maxillofacial Surgery University of Heidelberg D-69120 Heidelberg Germany Department of Radiology University of Heidelberg D-69120 Heidelberg Germany

The goal of the system presented in this paper is to support several facial surgeries that are aiming to transform an unsymmetrical face to a symmetric one. There are two main techniques to achieve this goal: distraction of the lower jaw and adding or removing tissue or bone at certain facial regions. Both planning tasks are done based on segmented CT or MRI data. The distraction of the lower jaw is simulated by cutting the jaw, moving it in 3D along a distraction axis and choosing a distractor for this procedure after determining, which is the best result. Furthermore, we are working on consideration of soft tissue movement so the patient can see what he or she will look like after the surgery. For supporting implants in craniofacial surgery, we are proposing a tool based on symmetry considerations. Nowadays, if implants have to be fitted to the patient's bone, they are handmade while the surgery is running. This is quite time consuming and it would be helpful to shorten this procedure by producing the implants preoperatively. Our system allows to determine regions where implants should be set and proposes an initial contour for the implants. © 2001 Elsevier Science B.V.

关键词： Distraction Face Symmetry

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Dynamic simulation of the jaw and chewing muscles for maxillofacial surgery

Dynamic simulation of the jaw and chewing muscles for maxill...

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IEEE Nonrigid and Articulated Motion Workshop

作者： T. Weingartner S. Hassfeld R. Dillmann Institute for Real-Time Computer Systems & Robotics Department for Computer Science University of Karlsruhe Karlsruhe Germany Medical Department Clinic for Oral and Maxillofacial Surgery University of Heidelberg Heidelberg Germany Department of Computer Science Institute for Real-Time Computer Systems& Robotics University of Karlsruhe Karlsruhe Germany

The need for simulation in medical environments increases with the complexity and risks of operations. Exact geometric planning is one of the main problems a surgeon has to deal with. The goal of the authors' research is the development of a graphical simulation of the human mastication system. Therefore, they are developing an integrated model of the jaw by parameterizing the bones (maxilla and mandible) and modeling the motion capabilities as well as the mastication muscles. The main focus of the paper is the introduction of a kinematic model of the temporomandibular joint and modeling of the mastication muscles. The kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. By modifying the axes or the geometrical model of the mandible, a surgeon can get a first impression of the post-operative result of, for example, a repositioning. Through integration of the muscles and muscle forces, one can even obtain a dynamic simulation of the whole mastication system.

关键词： Muscles Surgery Surges Computational modeling Medical simulation Kinematics Joints Tomography Pain real time systems

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Process automation using adaptive fuzzy control 2

Process automation using adaptive fuzzy control

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2nd New Zealand International Two-Stream Conference on Artificial Neural Networks and Expert systems, ANNES 1995

作者： Hammerschmidt, O. Doersam, T. Inst. for Microcomput. and Autom. Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany Institute for Real-Time Computer Systems and Robotics Karlsruhe Univ. Kaiserstr. 12 Karlsruhe0-76128 Germany

ISBN: (纸本)0818671742

In process automation the control of plants with uncertainty or unknown parameters normally requires either a costly identification phase or an intensive fine-tuning of the controller. An easy adaptive fuzzy control is proposed which allows automatic controller tuning during operation with respect to desired closed loop behaviour. This adaptive control was added to the fuzzy kernel of an existing process automation system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE.

关键词： controllers

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Actuation in microsystems: problem field overview and practical example of the piezoelectric robot for handling of microobjects

Actuation in microsystems: problem field overview and practi...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： B. Magnussen S. Fatikow U. Rembold Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Redl-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Microsystems, and in particular microrobots, require the development of new advanced actuators with very small dimensions, simple mechanical construction and high reliability. This paper presents an overview on the problem field of the microactuation and various kinds of actuation principles referring to the use of microrobots. To provide a microrobot with both the transportation and micromanipulation capabilities, various designs of piezoelectric actuators can be used. The piezoelectric robot for handling of microobjects (PROHAM) is proposed. The robot is equipped with three piezoelectrically driven legs, whereby it can move at a speed of several mm/sec. A manipulation tool, e.g. needle, pipette, gripper or glue applicator, can be mounted onto the robot's platform. The tool is driven by piezoelectric effect as well, and movements with an accuracy of 10 nm are possible. This allows the manipulation of very small objects under a microscope. The PROHAM can be used e.g. for the manipulation of biological cells, microassembly or testing of silicon chips.

关键词： Robots Transportation Piezoelectric actuators Legged locomotion Leg Needles Grippers Applicators Piezoelectric effect Microscopy

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Haptic output in multimodal user interfaces 97

Haptic output in multimodal user interfaces

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Proceedings of the 2nd international conference on Intelligent user interfaces

作者： Stefan Münch Rüdiger Dillmann University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstraβe 12 D-76128 Karlsruhe Germany

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Positioning Fault Detection of a Piezoelectric-Driven Microrobot

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IFAC Proceedings Volumes 1997年第18期30卷 651-656页

作者： F. Dumontier K. Santa S. Fatikow University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany Phone: +49-721-608-4252 Fax: +49-721-606-740

Micromanipulation has become an issue of primary importance in industry and biomedicine, the manual capabilities being restricted to certain tolerances. For example manipulation of biological cells or an assembly of a whole microsystem composed of different microcomponcnts have to be carried out by piezo electrically-driven miciorobots. For this reason, an automated microrobot-based micromanipulation station is developed by an interdisciplinary group at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. The principal sensors of the S3rstem are CCD cameras. One of them, coupled with the microscope, is the local sensor that allows the automation of the manipulation process under the microscope. A second one, the global sensor, supervises the entire system. In this work we present the first step of a method for the detection of faults occurring during the manipulation process. This first stage consists of detecting and processing a position deviation of the microrobot.

关键词： microrobotic sensor system monitoring positioning analysis

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Information Processing in a Flexible Robot-Based Microassembly Station

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IFAC Proceedings Volumes 1998年第15期31卷 253-258页

作者： Heinz Woern Joerg Seyfried Sergej Fatikow Karoly Santa University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 karlsruhe Germany Phone: +49-721-608 3656 Fax: +49-721-606 740

In biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and tested, and now higher-level problems have to be tackled: control systems with adequate computational power, user-interfaces and planning systems for micromanipulation systems have to be implemented and tested. Special attention must be paid to the requirements of micromanipulation, which differs greatly in some aspects from conventional manipulation. This paper discusses the information processing aspects of the control system of a micromanipulation station. The micromanipulation station consists of a microassembly robot working under a light-optical microscope, a CCD camera and an XY-stage. The requirements for the control computer system are high: assembly and execution planning has to be done in order to perform fully-automated microassembly, a vision system is necessary, and the control of the microrobots and the peripherals connected to the system demand high I/O power. The paper also shows a user interface to access the system resources in a user-friendly way and presents a sketch of the planning and the control algorithms

关键词： Robots microsystems assembly systems design

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Generating Manipulation Sequences using Reinforcement Learning and Behavior Trees for Peg-In-Hole Task

Generating Manipulation Sequences using Reinforcement Learni...

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2022 IEEE International Conference on systems, Man, and Cybernetics, SMC 2022

作者： Xu, Jiahua Lin, Yunhan Zhou, Haotian Min, Huasong Wuhan University of Science and Technology College of Computer Science and Technology Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan430065 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Reinforcement Learning (RL), a method of learning skills through trial-and-error, has been successfully used in many robotics applications in recent years. We combine manipulation primitives (MPs), behavior trees (BTs), and reinforcement learning to propose an algorithm for peg-in-hole tasks, which speeds up the convergence of the RL model and enhance the adaptability of the dynamic environment. Manipulation primitives are used as actions for RL, which can reduce the gap between control instruction and robotic actions and speed up the convergence of the RL model. Behavior trees are used as robot behavior control, which makes robots can actively adapt to the changes in the environment. In experiments, RL-BT, from the combination of RL and BT, is designed for the peg-in-hole task in the Gazebo simulation environment by using UR5 as the actuator. The experiments are conducted on a simple peg and a complex multi-hole peg by three aspects, which include convergence speed verification experiment, adaptability of dynamic environment experiment, and algorithm robustness experiment. The experiment result proves that our RL-BT can speed up the convergence and adapt to the changes in the environment. © 2022 IEEE.

关键词： Reinforcement learning

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PL-TD3: A Dynamic Path Planning Algorithm of Mobile Robot

PL-TD3: A Dynamic Path Planning Algorithm of Mobile Robot

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2022 IEEE International Conference on systems, Man, and Cybernetics, SMC 2022

作者： Tan, Yijian Lin, Yunhan Liu, Tong Min, Huasong Wuhan University of Science and Technology College of Computer Science and Technology Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan430065 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

In this paper, Prioritized Experience Replay (PER) strategy and Long Short Term Memory (LSTM) neural network are introduced to the path planning process of mobile robots, which solves the problems of slow convergence and inaccurate perception of dynamic obstacles with the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm. We dubbed this new method as PL-TD3. Firstly, we improve the convergence speed of the algorithm by introducing PER strategy. Secondly, we use LSTM neural network to achieve the improvement of the algorithm for dynamic obstacle perception. In order to verify the method of this paper, we design static environment, dynamic environment and adaptability to dynamic experiments to compare and analyze the methods before and after improvement. The experimental results show that PL-TD3 outperforms TD3 in terms of execution time and execution path length in all environments. © 2022 IEEE.

关键词： Motion planning

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