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International Conference on Advanced robotics (ICAR)

作者： Justus Drögemüller Carlos X. Garcia Elena Gambaro Michael Suppa Jochen Steil Máximo A. Roa Technical University of Braunschweig Institute of Robotics and Process Control Technical University of Munich (TUM) Chair of Robotics Artificial Intelligence and Real-time Systems Roboception GmbH German Aerospace Center (DLR)

ISBN: (纸本)9781665436854

This paper proposes a novel approach to automatically generate labeled training data for predicting parallel-jaw grasps from stereo-matched depth images. We generate realistic depth images using Semi-Global Matching to compute disparity maps from synthetic data, which allows producing images that mimic the typical artifacts from real stereo matching in our data, thus reducing the gap from simulation to real execution. Our pipeline automatically generates grasp annotations for single or multiple objects on the synthetically rendered scenes, avoiding any manual image pre-processing steps such as inpainting or denoising. The labeled data is then used to train a CNN-model that predicts parallel-jaw grasps, even in scenarios with large amount of unknown depth values. We further show that scene properties such as the presence of obstacles (a bin, for instance) can be added to our pipeline, and the training process results in grasp prediction success rates of up to 90%.

关键词： Training Annotations Computational modeling Pipelines Noise reduction Training data Manuals

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Understanding and controlling filamentous growth of fungal cell factories: novel tools and opportunities for targeted morphology engineering

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Fungal Biology and Biotechnology 2021年第1期8卷 8页

作者： Meyer, Vera Cairns, Timothy Barthel, Lars King, Rudibert Kunz, Philipp Schmideder, Stefan Müller, Henri Briesen, Heiko Dinius, Anna Krull, Rainer Chair of Applied and Molecular Microbiology Institute of Biotechnology Technische Universität Berlin Straße des 17. Juni 135 Berlin 10623 Germany Chair of Measurement and Control Institute of Chemical and Process Engineering Technische Universität Berlin Straße des 17. Juni 135 Berlin 10623 Germany Chair of Process Systems Engineering School of Life Sciences Technical University of Munich Gregor- Mendel-Str. 4 Freising 85354 Germany Institute of Biochemical Engineering Technische Universität Braunschweig Rebenring 56 Brunswick 38106 Germany Center of Pharmaceutical Engineering Technische Universität Braunschweig Franz-Liszt-Str. 35a Brunswick 38106 Germany

Filamentous fungal cell factories are efficient producers of platform chemicals, proteins, enzymes and natural products. Stirred-tank bioreactors up to a scale of several hundred m³ are commonly used for their cultivation. Fungal hyphae self-assemble into various cellular macromorphologies ranging from dispersed mycelia, loose clumps, to compact pellets. Development of these macromorphologies is so far unpredictable but strongly impacts productivities of fungal bioprocesses. Depending on the strain and the desired product, the morphological forms vary, but no strain- or product-related correlations currently exist to improve process understanding of fungal production systems. However, novel genomic, genetic, metabolic, imaging and modelling tools have recently been established that will provide fundamental new insights into filamentous fungal growth and how it is balanced with product formation. In this primer, these tools will be highlighted and their revolutionary impact on rational morphology engineering and bioprocess control will be discussed. © 2021, The Author(s).

关键词： Aspergillus niger Co-expression network Filamentous fungi Hypothetical proteins Macromorphology Micromorphology Modelling Pellet Polar growth Rheology X-ray micro-computed tomography

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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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From social interaction to ethical AI: A developmental roadmap 8

From social interaction to ethical AI: A developmental roadm...

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Joint 8th IEEE International Conference on Development and Learning and Epigenetic robotics, ICDL-EpiRob 2018

作者： Rolf, Matthias Crook, Nigel Steil, Jochen School of Engineering Computing and Maths Oxford Brookes University United Kingdom Institute for Robotics and Process Control Technische Universität Braunschweig Germany

ISBN: (纸本)9781538661109

AI and robot ethics have recently gained a lot of attention because adaptive machines are increasingly involved in ethically sensitive scenarios and cause incidents of public outcry. Much of the debate has been focused on achieving highest moral standards in handling ethical dilemmas on which not even humans can agree, which indicates that the wrong questions are being asked. We suggest to address this ethics debate strictly through the lens of what behavior seems socially acceptable, rather than idealistically ethical. Learning such behavior puts the debate into the very heart of developmental robotics. This paper poses a roadmap of computational and experimental questions to address the development of socially acceptable machines. We emphasize the need for social reward mechanisms and learning architectures that integrate these while reaching beyond limitations of plain reinforcement-learning agents. We suggest to use the metaphor of 'needs' to bridge rewards and higher level abstractions such as goals for both communication and action generation in a social context. We then suggest a series of experimental questions and possible platforms and paradigms to guide future research in the area. © 2018 IEEE.

关键词： Reinforcement learning

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Skill memories for parameterized dynamic action primitives on the pneumatically driven humanoid robot child affetto 8

Skill memories for parameterized dynamic action primitives o...

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Joint 8th IEEE International Conference on Development and Learning and Epigenetic robotics, ICDL-EpiRob 2018

作者： Queiber, Jeffrey Frederic Hammer, Barbara Ishihara, Hisashi Asada, Minoru Steil, Jochen Jakob Bielefeld University Bielefeld33615 Germany Graduate School of Engineering Osaka University Suita Osaka565-0871 Japan Institute for Robotics and Process Control Technische Universität Braunschweig Braunschweig38106 Germany

ISBN: (纸本)9781538661109

In this work, we propose an extension of parameterized skills to achieve generalization of forward control signals for action primitives that result in an enhanced control quality of complex robotic systems. We argue to shift the complexity of learning the full dynamics of the robot to a lower dimensional task related learning problem. Due to generalization over task variability, online learning for complex robots as well as complex scenarios becomes feasible. We perform an experimental evaluation of the generalization capabilities of the proposed online learning system through simulation of a compliant 2DOF arm. Scalability to a complex robotic system is demonstrated on the pneumatically driven humanoid robot Affetto including 6DOF. © 2018 IEEE.

关键词： Anthropomorphic robots

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Flights are ten a sail - Re-use and commonality in the design and system engineering of small spacecraft solar sail missions with modular hardware for responsive and adaptive exploration 70

Flights are ten a sail - Re-use and commonality in the desig...

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70th International Astronautical Congress, IAC 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Boden, Ralf Ceriotti, Matteo Chand, Suditi Cordero, Federico Dachwald, Bernd Dumont, Etienne Grimm, Christian D. Heiligers, Jeannette Hercík, David Hérique, Alain Ho, Tra-Mi Jahnke, Rico Kofman, Wlodek Lange, Caroline Lichtenheldt, Roy McInnes, Colin Meß, Jan-Gerd Mikschl, Tobias Mikulz, Eugen Montenegro, Sergio Moore, Iain Pelivan, Ivanka Peloni, Alessandro Plettemeier, Dirk Quantius, Dominik Reershemius, Siebo Renger, Thomas Riemann, Johannes Rogez, Yves Ruffer, Michael Sasaki, Kaname Schmitz, Nicole Seboldt, Wolfgang Seefeldt, Patric Spietz, Peter Spröwitz, Tom Sznajder, Maciej Tóth, Norbert Vergaaij, Merel Viavattene, Giulia Wejmo, Elisabet Wiedemann, Carsten Wolff, Friederike Ziach, Christian DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany Consultants to DLR Institute of Space Systems University of Glasgow GlasgowG12 8QQ United Kingdom Telespazio-VEGA Darmstadt Germany Faculty of Aerospace Engineering FH Aachen University of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Germany Université Grenoble Alpes CS 40700 Grenoble Cédex 938058 France DLR German Aerospace Center Robotics and Mechatronics Center Weßling82234 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany Fraunhofer Heinrich Hertz Institute Berlin Germany Dresden University of Technology RF Engineering Dresden Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR German Aerospace Center Institute of System Dynamics and Control Wessling82234 Germany Space Research Centre PAS Warsaw Poland TU Delft Delft Netherlands Institute of Space Systems Technische Universität Braunschweig Hermann-Blenk-Str. 23 Braunschweig38108 Germany

The exploration of small solar system bodies started with fast fly-bys of opportunity on the sidelines of missions to the planets. The tiny new worlds seen turned out to be so intriguing and different from all else (and each other) that dedicated sample-return and in-situ analysis missions were developed and launched. Through these, highly efficient low-thrust propulsion expanded from commercial use into mainstream and flagship science missions, there in combination with gravity assists propulsion. In parallel, the growth of small spacecraft solutions accelerated in numbers as well as individual spacecraft capabilities. The on-going missions OSIRIS-REX (NASA) or HAYABUSA2 (JAXA) with its landers MINERVA-II and MASCOT, and the upcoming NEASCOUT mission are examples of this synergy of trends. The continuation of these and other related devlopments towards a propellant-less and highly efficient class of spacecraft for solar system exploration emerges in the form of small spacecraft solar sails designed for carefree handling and equipped with carried landers and application modules. These address the needs of all asteroid user communities - planetary science, planetary defence, and in-situ resource utilization - as well as other fields of solar system science and applications such as space weather warning and solar observations. Already the DLR-ESTEC GOSSAMER Roadmap for Solar Sailing initiated studies of missions uniquely feasible with solar sails such as Displaced L1 (DL1) space weather advance warning and monitoring and Solar Polar Orbiter (SPO) delivery, which demonstrate the capabilities of near-term solar sails to reach any kind of orbit in the inner solar system. This enables Multiple Near-Earth Asteroid (NEA) rendezvous missions (MNR), from Earth-coorbital to extremely inclined and even retrograde target orbits. For these mission types using separable payloads, design concepts can be derived from the separable Boom Sail Deployment Units characteristic of DLR GOS

关键词： Solar sails

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Solar Sails for Planetary Defense High-Energy Missions

Solar Sails for Planetary Defense High-Energy Missions

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2019 IEEE Aerospace Conference, AERO 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Borchers, Kai Dumont, Etienne Grimm, Christian D. Ho, Tra-Mi Jahnke, Rico Koch, Aaron D. Lange, Caroline Maiwald, Volker Mess, Jan-Gerd Mikulz, Eugen Quantius, Dominik Reershemius, Siebo Renger, Thomas Sasaki, Kaname Seefeldt, Patric Spietz, Peter Sprowitz, Tom Sznajder, MacIej Tóth, Norbert Ceriotti, Matteo McInnes, Colin Peloni, Alessandro Dachwald, Bernd Lichtenheldt, Roy Wolff, Friederike Boden, Ralf Riemann, Johannes Seboldt, Wolfgang Wejmo, Elisabet Ziach, Christian Cordero, Federico Biele, Jens Krause, Christian Herčik, David Koncz, Alexander Pelivan, Ivanka Schmitz, Nicole Mikschl, Tobias Montenegro, Sergio Ruffer, Michael Tardivel, Simon DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Strasse 7 Bremen28359 Germany University of Glasgow GlasgowG12 8QQ United Kingdom Faculty of Aerospace Engineering FH Aachen Univ. of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany DLR German Aerospace Center Robotics and Mechatronics Center Institute of System Dynamics and Control Münchener Str. 20 Oberpfaffenhofen Weßling82234 Germany DLR Institute of Space Systems Germany Telespazio-VEGA Darmstadt Germany DLR German Aerospace Center Space Operations and Astronaut Training - MUSC Cologne51147 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Braunschweig Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany CNES Future Missions Flight Dynamics 18 avenue E. Belin Toulouse Cedex 931401 France

ISBN: (纸本)9781538668542

20 years after the successful ground deployment test of a (20 m)2 solar sail at DLR Cologne, and in the light of the upcoming U.S. NEAscout mission, we provide an overview of the progress made since in our mission and hardware design studies as well as the hardware built in the course of our solar sail technology development. We outline the most likely and most efficient routes to develop solar sails for useful missions in science and applications, based on our developed 'now-term' and near-term hardware as well as the many practical and managerial lessons learned from the DLR-ESTEC Gossamer Roadmap. Mission types directly applicable to planetary defense include single and Multiple NEA Rendezvous ((M)NR) for precursor, monitoring and follow-up scenarios as well as sail-propelled head-on retrograde kinetic impactors (RKI) for mitigation. Other mission types such as the Displaced L1 (DL1) space weather advance warning and monitoring or Solar Polar Orbiter (SPO) types demonstrate the capability of near-term solar sails to achieve asteroid rendezvous in any kind of orbit, from Earth-coorbital to extremely inclined and even retrograde orbits. Some of these mission types such as SPO, (M)NR and RKI include separable payloads. For one-way access to the asteroid surface, nanolanders like MASCOT are an ideal match for solar sails in micro-spacecraft format, i.e. in launch configurations compatible with ESPA and ASAP secondary payload platforms. Larger landers similar to the JAXA-DLR study of a Jupiter Trojan asteroid lander for the OKEANOS mission can shuttle from the sail to the asteroids visited and enable multiple NEA sample-return missions. The high impact velocities and re-try capability achieved by the RKI mission type on a final orbit identical to the target asteroid's but retrograde to its motion enables small spacecraft size impactors to carry sufficient kinetic energy for deflection. © 2019 IEEE.

关键词： Solar sails

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From social interaction to ethical AI: a developmental roadmap

From social interaction to ethical AI: a developmental roadm...

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IEEE International Conference on Development and Learning, ICDL

作者： Matthias Rolf Nigel Crook Jochen Steil School of Engineering Computing and Maths at Oxford Brookes University UK Institute for Robotics and Process Control at Technische Universität Braunschweig Germany

ISBN: (纸本)9781538661116

AI and robot ethics have recently gained a lot of attention because adaptive machines are increasingly involved in ethically sensitive scenarios and cause incidents of public outcry. Much of the debate has been focused on achieving highest moral standards in handling ethical dilemmas on which not even humans can agree, which indicates that the wrong questions are being asked. We suggest to address this ethics debate strictly through the lens of what behavior seems socially acceptable, rather than idealistically ethical. Learning such behavior puts the debate into the very heart of developmental robotics. This paper poses a roadmap of computational and experimental questions to address the development of socially acceptable machines. We emphasize the need for social reward mechanisms and learning architectures that integrate these while reaching beyond limitations of plain reinforcement-learning agents. We suggest to use the metaphor of “needs” to bridge rewards and higher level abstractions such as goals for both communication and action generation in a social context. We then suggest a series of experimental questions and possible platforms and paradigms to guide future research in the area.

关键词： Ethics Artificial intelligence Robot sensing systems Decision making Face Standards

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Modeling and control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

Modeling and Control of Multi-Arm and Multi-Leg Robots: Comp...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Niels Dehio Joshua Smith Dennis Leroy Wigand Guiyang Xin Hsiu-Chin Lin Jochen J. Steil Michael Mistry Research Institute for Robotics and Process Control (IRP) Technical University Braunschweig Germany School of Informatics University of Edinburgh United Kingdom Faculty of Technology Bielefeld University Germany School of Mechanical and Electrical Engineering Central South University China

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Inverse Dynamics control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.

关键词： Grasping Dynamics Task analysis Jacobian matrices Manipulator dynamics

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Imitation learning for a continuum trunk robot 25

Imitation learning for a continuum trunk robot

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25th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2017

作者： Malekzadeh, Milad S. Queiber, J.F. Steil, J.J. Institute for Robotics and Process Control Technische Universitat Braunschweig Muehlenpfordtstr. 23 BraunschweigD-38106 Germany Research Institute of Cognition and Robotics Bielefeld University Universitatsstr. 25 Bielefeld33615 Germany

ISBN: (纸本)9782875870391

The paper applies learning from demonstration (LfD) for high-level trajectory planning and movement control of the Bionic Handling Assistant (BHA) robot. For such soft continuum robot with mechanical elasticity and complex dynamics it is difficult to use kinesthetic teaching to collect demonstration data. We propose to use an active compliant controller to this aim and record both position and orientation of the BHA's end-effector. Subsequently, this data is then encoded with a state-of-the-art task-parameterized probabilistic Gaussian mixture model and its performance and generalization is experimentally evaluated. © ESANN 2017 - Proceedings, 25th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning. All rights reserved.

关键词： Robot programming

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