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IEEE Swarm Intelligence Symposium, SIS

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

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.

关键词： Robot kinematics Organisms Mobile robots Robot sensing systems Topology Shape

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Haptic object recognition using statistical point cloud features

Haptic object recognition using statistical point cloud feat...

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International Conference on Advanced robotics (ICAR)

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

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.

关键词： Vectors Haptic interfaces Histograms Shape Tactile sensors

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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 Swarm Intelligence Symposium, SIS

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

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.

关键词： Collision avoidance Mathematical model Numerical models Adaptation models Robot sensing systems Equations

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Fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system *

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IFAC Proceedings Volumes 2011年第1期44卷 9425-9433页

作者： Beck Mark Schwung Andreas Muenchhof Marco Isermann Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

Abstract This paper presents fault detection, fault diagnosis, the fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system. The fault detection is based on parity equations and is load independent. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used at the testbed is based on fuzzy-logic. In order to tolerate a faulty hydraulic proportional valve, a duplex-valve-system built up with standard proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axes and decides on the reconfiguration of the control-loop. An Internal Model control (IMC)-tracking control structure for bumpless transfer between controllers is presented. Experimental results show the industrial applicability of the approach.

关键词： Fault Detection Fault Diagnosis Fault Tolerance Electro-hydraulic Servo Axes Duplex-valve-system Active Fault-Tolerant control Reconfiguration Bumpless-Transfer

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An intelligent and autonomous endoscopic guidance system for minimally invasive surgery

An intelligent and autonomous endoscopic guidance system for...

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IEEE International Conference on robotics and Automation (ICRA)

作者： O. Weede H. Mönnich B. Müller H. Wörn Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany Department of General Visceral and Transplantation Surgery Heidelberg University Hospital Germany

The endoscopic guidance system for minimally invasive surgery presented here autonomously aligns the laparoscopic camera with the end-effectors of the surgeon's instruments. It collects information on the movements of the instruments from former interventions and can therefore predict them for autonomous guidance of the endoscopic camera. Knowledge is extracted by trajectory clustering, maximum likelihood classification and a Markov model to predict states. Alternative movements in an ongoing intervention are modeled. A first prototype of a robotic platform for minimally invasive surgery is described, which has two instrument arms, an autonomous robotic camera assistant and two haptic devices to control the instrument arms. The approach of long-term prediction and optimal camera positioning was tested in a phantom experiment with a hit rate of over 89% for predicting the movement of the end-effectors. Including this prediction for computing the camera position, leads to 29.2% less movements and to an improved visibility of the instruments.

关键词： Cameras Instruments Trajectory Robot vision systems Surgery Robot kinematics

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A Distance and Diversity Measure for Improving the Evolutionary process of Modular Robot Organisms

A Distance and Diversity Measure for Improving the Evolution...

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IEEE International Conference on robotics and Biomimetics

作者： Lutz Winkler Heinz Worn Adrian Friebel Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT Research Group for Multicellular Systems Biology Interdisciplinary Centre for Bioinformatics (IZBI) University of Leipzig

ISBN: (纸本)9781457721366

In this paper, we present a novel diversity measure for a population of modular robot organisms. Evaluating this diversity we will get a prospect of the fitness of future generations of organisms in an evolutionary process. The degree of the diversity in a population is a measure for the adaptability to the environment. If the diversity is too low, it is necessary to change evolutionary parameters such as mutation probabilities or to start a new evolutionary run in order to get better adapted organisms. The novel measure helps to improve and speed-up the evolutionary process, which is mandatory as the evolution of robot organisms, specially the coevolution of controller and topology of organisms is a very tedious process. In four different experiments using the Robot3D simulator and the Symbricator modular robots, we will show the usefulness of this diversity measure. The goal of the first two experiments will be the evaluation of two different selection strategies: fitness proportionate and rank selection. In the last two experiments we will explore the differences between a restrained evolution, where the type of agent, which controls an element in an organism is predetermined by its parent element, and a free evolution.

关键词： Organism Modular robots Evolutionary health evolution evolution evolution Elements

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Energy-Efficient Scheduling Algorithms for Periodic Power Management for Real-Time Event Streams

Energy-Efficient Scheduling Algorithms for Periodic Power Ma...

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IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)

作者： Kai Huang Jian-Jia Chen Lothar Thiele fortiss GmbH Munich Germany Institute for Process Control and Robotics Karlsruhe Institute of Technology Germany ETH Zurich Computer Engineering and Networks Laboratory Switzerland

As modern VLSI technology is scaling to the deep sub-micron domain, embedded systems face a power-efficiency problem, i.e., static power consumption caused by the leakage current. This paper explores how to use dynamic power management to reduce static power consumption while guaranteeing hard real-time properties. To tackle event arrivals with non-deterministic patterns, the arrival curve model is adopted to describe event arrivals in the interval domain. To reduce runtime overhead, periodic power management is investigated, which turns on and off a system with a fixed period. To reduce the timing complexity of computing such a periodic scheme, two algorithms, which are based on a linear-segmented representation of the arrival curve model, are proposed to trade the complexity with accuracy for energy reduction. We also present simulation results to demonstrate the effectiveness of our algorithms.

关键词： Power demand Real time systems Computational modeling Silicon Approximation algorithms Energy consumption Timing

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Utilizing the Full Potential of a New Flexible Platform in Modular Self-Reconfigurable Mobile robotics

Utilizing the Full Potential of a New Flexible Platform in M...

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IEEE International Conference on robotics and Biomimetics

作者： Rene Matthias Heinz Worn Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT

ISBN: (纸本)9781457721366

In this paper we show the challenges arising from the existence of multi mordular robotics. The hardware developed within the SYMBRION and REPLICATOR projects aims at the creation of a new platform being capable of acting as single robots, as a swarm of those or even of docking to each other and thereby creating a larger organism. This organism will be able to take advantage of the combined capabilities of the single robots. This includes the energy sources as well as computing power and sensors. The electronics design implemented in the projects allows to employ arbitrary topologies of the data bus without having to take care of the role each robot will fill within an organism. From the software point of view this provides an enormous flexibility, but also raises new challenges. Being flexible in terms of topology means not being aware of the actual topology implicitly. Therefore new mechanisms are needed to provide the high-level controllers with the necessary information. In this paper we will discuss some of these newly introduced capabilities as well as the according new challenges resulting out of them. We start by pointing out the hardware design principles. This includes the main-CPU which is a Blackfin DSP running μClinux as its operating system. Afterwards the most important consequences for the consecutive software are discussed.

关键词： data bus Modularity Organism robotics FLEXIBLE Energy sources Robot computational power full potential dike swarms Platform Berthing

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OP:Sense - An Integrated Rapid Development Environment in the context of Robot Assisted Surgery and Operation Room Sensing

OP:Sense - An Integrated Rapid Development Environment in th...

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IEEE International Conference on robotics and Biomimetics

作者： Philip Nicolai Tim Beyl Holger Monnich Jorg Raczkowsky Heinz Worn Medical Robotics group of the Institute for Process Control and Robotics of Karlsruhe Institute of Technology (KIT)

ISBN: (纸本)9781457721366

In this video we show the capabilities of the OP:Sense system. OP:Sense is an integrated rapid application development environment for robot assisted surgery. It mainly aims on MIRS and on open head neurosurgery as OP:Sense is developed for the EU Projects FP7 SAFROS and FP7 ACTIVE that aim on these use-cases. Besides the framework, OP:Sense also integrates applications. Thus it is not only the framework itself but also a system that demonstrates how robots can be used for surgical interventions. Core of the system is the ACE TAO framework [1] [2] that implements realtime CORBA for communication between distributed systems. We built interfaces based on CORBA for use in Matlab and Simulink. Also there are modules for 3D Slicer and applications for the control of devices like robots, or surgical tools. As Matlab is a mighty tool for rapid application development it can be used to develop applications in a faster way compared to using C++ or similar programming languages. We use Matlab for setting up our environment and for tasks and computations that does not need to run in realtime. For Realtime tasks like telemanipulation we use Simulink models.

关键词： MATLAB rapid application development Common object request broker architecture Robot Environments Surgical Instruments Religious Missions Distributed Systems AND operation robot assisted surgery

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An on-board pan-tilt controller for ground target tracking systems

An on-board pan-tilt controller for ground target tracking s...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Zhekui Xin Yongchun Fang Bin Xian Beijing AeroSpace Automatic Control Institute China Institute of Robotics and Information Automatic System Nankai University Tianjin China Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China

For a ground target tracking system using an unmanned helicopter, an on-board pan-tilt controller is proposed to adjust the attitude of the camera, so that to keep the target staying at the center of the image plane when the target is in sight. When the target is temporarily out of view due to various reasons, the designed controller will make the camera quickly re-capture the target by estimating its state and then regulating the orientation of the camera correspondingly. Specifically, a novel state transformation is firstly introduced to make the error system independent of the target image. Subsequently, a nonlinear pan-tilt controller is designed for the transformed error system. Lyapunov techniques are then employed to prove that the target tracking error in the image plane is driven to zero exponentially fast. To facilitate the implementation of the constructed controller, a visual estimator is also utilized to obtain the state information of the target even if it is occasionally out of the view of the camera by introducing an effective nonlinear filter. Simulation results are provided to validate the performance of the presented control system.

关键词： Target tracking Cameras Helicopters Jacobian matrices Visualization Robot vision systems

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