This paper describes the development of a system for simultaneous planning and execution of surgical operations in the cranio-maxillo-facial area. Simultaneous planning and execution is the process of taking an implic...
This paper describes the development of a system for simultaneous planning and execution of surgical operations in the cranio-maxillo-facial area. Simultaneous planning and execution is the process of taking an implicit task description, planning a sequence of explicit execution commands (e.g. for robots) and monitoring their execution. As the execution planning process is run completely on-line, during the execution of the assembly task, the planning process is highly reactive, based on sensor information about the robot's present environment. In order to meet the problem that medical data are usually complex and need time-consuming preprocessing, an appropriate architecture for evaluating sensor data has been developed. In this paper, a detailed presentation of the phases of execution planning and sensor data evaluation is given. As an example, the execution of a LeFort I osteotomy is presented.
The subject of our paper is the integration of action planning and configuration in the area of planning flexible assembly systems. The configuration task here is concerned with determining the components of the assem...
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The subject of our paper is the integration of action planning and configuration in the area of planning flexible assembly systems. The configuration task here is concerned with determining the components of the assembly system together with their interrelations. Constructing the course of actions to be performed by the assembly system makes up the action planning task . These two tasks are highly connected by various forms of interrelations. Our principal goal is combining action planning anjd configuration methods in a knowledge-based integrated planning system . Such an integrated system offers the ability of systematically treating these interrelations, thereby achieving a higher quality of the overall planning result. In order to deal with the complexity of assembly system planning we distinguish between planning guidance and plan analysis . The planning guidance uses explicit meta-knowledge about decomposing and sequencing the planning steps. The plan analysis observes the compliance of the system design with the overall requirements and constraints of the planning task.
The institute for realtime computer systems and robotics of the University of Karlsruhe is currently developing the autonomous mobile assembly robot KAMRO. The system consists of a mobile platform with an omnidirectio...
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The architecture and functions of an autonomous mobile assembly system are described. For the operation of such a system, knowledge-based planning, execution, and supervision modules are necessary which are supported ...
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The architecture and functions of an autonomous mobile assembly system are described. For the operation of such a system, knowledge-based planning, execution, and supervision modules are necessary which are supported by a multisensor system. The individual functions of such a vehicle are explained with the help of an autonomous mobile assembly robot. The vehicle contains a navigator, a docking module, and an assembly planner. Navigation is done with the help of a road map under the direction of the navigator. The docking maneuver is controlled by sensors and the docking supervisor. The assembly of the two robot arms is prepared by the planner and controlled by a hierarchy of sensors. The robot actions are planned and controlled by several expert systems.< >
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