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Efficient Monitoring of process Plants by Telepresence and Attention Guidance

Efficient Monitoring of Process Plants by Telepresence and A...

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ROBOTIK 2012;7th German Conference on robotics

作者： Christian Connette Georg Arbeiter Felix Messmer Martin Haegele Alexander Verl Simon Notheis Michael Mende Bjoern Hein Heinz Woern Fraunhofer Institute for Manufactuiring Engineering and Automation (IPA) Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT)

While nowadays inspection and maintenance is mainly performed manually, the deployment of mobile robot systems could reduce the necessary resources for these tasks in the future. Within this paper major hindrances and possible remedies for the deployment of teleoperated mobile robots in industrial environments are discussed. Specifically, concepts for the seamless integration of mobile robots into industrial infrastructures, for intuitive feedback and commanding of such robots as well as advanced user-interfaces are elaborated. It is discussed in how far this multi-modal approach promises to significantly improve the usability of teleoperated robots for industrial applications.

关键词： Mobile robots Robot kinematics Robot sensing systems process control Inspection Service robots

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OP sense — A robotic research platform for telemanipulated and automatic computer assisted surgery

OP sense — A robotic research platform for telemanipulated ...

引用

International Workshop on Advanced Motion control (AMC)

作者： Holger Mönnich Heinz Wörn Daniel Stein KUKA Laboratories GmbH Augsburg Germany Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

OP:Sense is a research platform developed for applications in roboter assisted surgery. The system can be used for automatic positioning tasks, like CO 2 laser cutting or conventional bone cutting techniques or highly accurate positioning, like needle placement in biopsie. Due to the flexibility of the used lightweight robots the system can also be used for minimal invasive surgery. Also new combinations of MIRS techniques and automatic positioning becomes possible, a semi-autonomous usage of the surgical robotic system. In this paper the focus is to describe the control system developed for OP:sense that enables to use the system in a wide area of surgical applications.

关键词： Robot kinematics Jacobian matrices Surgery Accuracy Convergence Kinematics

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Development of the Ground control Station for a quadrotor unmanned aerial vehicle based on Java programming

Development of the Ground Control Station for a quadrotor un...

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31st Chinese control Conference, CCC 2012

作者： Yang, Liu Bin, Xian Fu, Wang Shibo, Liu Xun, Gu Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous System Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563811

The four-rotor unmanned aerial vehicle (UAV), known as quadrotor UAV, has been a hot area for the research of unmanned aerial vehicles. Ground control Station (GCS), as an essential part of quadrotor UAV system, plays a very important role in applications of quadrotor UAV. Most ordinary GCS are stand alone ones, and lack extending abilities. Considering this defect and the real requirements of monitoring and control of UAV, this paper provides a new GCS based on VC++ and Java programming techniques. The major novelty of this GCS is of the Web access to real-time flight data. Plus, the proposed GCS posses the standard functions, such as data receiving in real time, storing the data and displaying the data. Experiment results are provided to show that the GCS operates well, with good human-machine interaction and extending abilities. © 2012 Chinese Assoc of Automati.

关键词： Unmanned aerial vehicles (UAV)

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Research on the ground control system of quadrotor unmanned aerial vehicles

Research on the ground control system of quadrotor unmanned ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Tingting Zhao Bin Xian Yungao Yang Fang Guo Guoping Huang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.

关键词： Google Earth Sockets Unmanned aerial vehicles XML HTML Automation

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Workflow Analysis and Surgical Phase Recognition in Minimally Invasive Surgery

Workflow Analysis and Surgical Phase Recognition in Minimall...

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IEEE International Conference on robotics and Biomimetics

作者： Oliver Weede Frank Dittrich Heinz W?rn Brian Jensen Alois Knoll Dirk Wilhelm Michael Kranzfelder Armin Schneider Hubertus Feussner Institute for Process Control and Robotics Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Robotics and Embedded Systems Minimally invasive Interdisciplinary Therapeutical Intervention (MITI) Technical University München (TUM) München Germany

ISBN: (数字)9781467321273

ISBN: (纸本)9781467321259

In this paper, a new approach is described to recognize the phases of a single-port sigma resection intraoperatively, based on the position signal of the surgical instruments, the endoscopic video and an audio signal, signaling coagulations. Approaches for detecting the coagulation sounds, as well as the instruments visible in the endoscopic video using a bag of words model are detailed. The intervention phases are regarded as classes of a naive Bayes classifier. Features that differentiate intervention phases are examined. The naive Bayes classifier is extended by a dynamic feature, which includes the order of the intervention phases and their duration. First results show that in 93.2% the recognized phases are classified as true positive.

关键词： Cognitive medical technology workflow analysis high-level task recognition trajectory segmentation object recognition sound recognition

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Data acquisition and processing of the onboard sensor system of a quadrotor unmanned aerial vehicle

Data acquisition and processing of the onboard sensor system...

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World Congress on Intelligent control and Automation (WCICA)

作者： Fang Guo Bin Xian Haotao Li Guoping Huang Tingting Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.

关键词： Linux Global Positioning System Data acquisition process control Attitude control Servers Automation

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Robot3D — A simulator for mobile modular self-reconfigurable robots

Robot3D — A simulator for mobile modular self-reconfigurabl...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Lutz Winkler Vojtěch Vonásek Heinz Wörn Libor Přeučil Institute for Process Control and Robotics (IPR) Karlsruhe Institute for Technology (KIT) Germany CTU in Prague Faculty of Electrical Engineering Dept. of Cybernetics CTU in Prague Dept. of Cybernetics

A heterogeneous, mobile, self-reconfigurable and modular robot platform is being developed in the projects SYMBRION and REPLICATOR. The locomotion of the robots as well as forming of the robot organisms will be controlled using evolutionary and bio-inspired techniques. As the robots are not available at the beginning of the projects and experiments are time consuming and carry risks of damaging the robots, the evolutionary algorithms will be run using a simulation. The simulation has to provide realistic movements of a swarm of robots, simulating the docking procedure between the robots as well as simulating organism motion. High requirements are imposed on such a simulator. We developed the Robot3D simulator, which dynamically simulates a swarm of mobile robots as well as robot organisms. In this paper we will give an overview of the simulation framework, we will show first results of performance tests and we will present applications for which Robot3D has already been used.

关键词： Organisms Robot sensing systems Robot kinematics Mobile robots Collision avoidance

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Haptic object recognition using statistical point cloud features

Haptic object recognition using statistical point cloud feat...

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IEEE 15th International Conference on Advanced robotics: New Boundaries for robotics, ICAR 2011

作者： Gorges, Nicolas Navarro, Stefan Escaida Worn, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781457711589

This work presents a point cloud approach for haptic object recognition with an anthropomorphic robot hand. It introduces several statistical point cloud features to provide robust descriptions of objects. It addresses the domain specific problems of sparsely populated and distorted point clouds that result from the direct interaction with the object. Also the contact normals registered during exploration - a natural byproduct - are taken into account for computing some of these features. © 2011 IEEE.

关键词： Anthropomorphic robots

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The robot formation language a formal description of formations for collective robots

The robot formation language a formal description of formati...

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IEEE Symposium on Swarm Intelligence

作者： Winkler, Lutz Kettler, Alexander Szymanski, Marc Wörn, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781612840529

In this paper we will present the Robot Formation Language (RFL), a topology description language for the formation of multi robot systems, such as robot swarms or self-reconfigurable modular robot platforms. The RFL supports homogeneous as well as heterogeneous multi robot platforms. This is important especially for modular robots (we also call them robot organisms), as there can also be robots included which have a different kinematic behaviour. Additionally, it supports tools, such as active wheels, grippers or structural elements, which enhance the capabilities of a modular robot platform. As we focus on creating organisms out of a robot swarm (i.e. the swarm robots have capabilities to connect to each other to build a modular robot organism), it is important to have a common language, which describes the swarm as well as the organism. Using the RFL, we will define a distance between two formations and describe how the calculation for this purpose can be distributed among the members of the collective. RFL cannot only be used to describe the formation of a multi robot system, but it can also be used to retrieve the kinematic chain of an organism or as a genome to evolve different organism shapes for example. It is also useful for the swarm robots to identify their position in the swarm. © 2011 IEEE.

关键词： Modular robots

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A framework for Boltzmann-type models of robotic swarms

A framework for Boltzmann-type models of robotic swarms

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IEEE Symposium on Swarm Intelligence

作者： Kettler, Alexander Wörn, Heinz Institute for Process Control and Robotics Karlsruhe Institute of Technology 76131 Karlsruhe Germany

ISBN: (纸本)9781612840529

We introduce a new model framework to describe the temporal evolution of the macroscopic location probability of a robotic swarm in two dimensions based on the Boltzmann equation from statistical physics. The framework features a strong connection between the microscopic behavior of the robots and the macroscopic effects of this behavior. It is distinguished from other existing models by the inclusion of the robots velocities into the model. Therefore it is able to correctly describe the behavior of the robots even in regions with low robot densities or high ratios of deterministic movement of the robots. The model is validated against results from simulations of two simple test-scenarios. A short introduction to the numerics used to evaluate the model is given. © 2011 IEEE.

关键词： Boltzmann equation

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