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Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns, Computation World:

作者： O. Weede A. Kettler H. Wörn Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology Karlsruhe Germany

A method for optimization of continuous nonlinear functions is introduced. Seed Throwing Optimization is a probabilistic metaheuristic. It has roots in hill climbing and the evolutionary computation like technique harmony search. The relationship to these algorithms is shown in this paper. Our method is tested in a benchmark and compared to other metaheuristics. Seed Throwing Optimization is a randomized gradient ascent with multi initial states and the possibility to explore only paths which have shown to be good. We also developed an efficient method for implementing gradient ascent without using a gradient.

关键词： Optimization methods Convergence Programmable control Adaptive control process control Cognitive robotics Intellectual property Evolutionary computation Benchmark testing Taxonomy

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Tactile sensing for an anthropomorphic robotic hand: Hardware and signal processing

Tactile sensing for an anthropomorphic robotic hand: Hardwar...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dirk Goger Nicolas Gorges Heinz Worn Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

In this paper, a tactile sensing system for an anthropomorphic robot hand is presented. The tactile sensing system is designed as a construction kit making it very versatile. The sensor data preprocessing is embedded into the hand's hardware structure and is fully integrated. The sensor system is able to gather tactile pressure profiles and to measure vibrations in the sensor's cover. Additionally to the introduction of the hardware, the signal processing and the classification of the acquired sensor data will be explained in detail. These algorithms make the tactile sensing system capable to detect contact points, to classify contact patterns and to detect slip conditions during object manipulation and grasping.

关键词： Anthropomorphism Robot sensing systems Hardware Signal processing Sensor systems Vibration measurement Signal processing algorithms Object detection Data preprocessing Pressure measurement

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Intuitive and model-based on-line programming of industrial robots: New input devices

Intuitive and model-based on-line programming of industrial ...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Björn Hein Heinz Wörn Institute for Process Control and Robotics IPR Universität Karlsruhe Germany

This paper focuses on the simplification of the on-line programming process of industrial robots. It presents in detail the input part of a modular on-line programming environment presented as overview in [1]. Main concept of this programming environment is an intuitive way of moving and teaching robots, while supporting the user with assisting algorithms like collision avoidance and automatic path planning. Goal is the combination of different approaches from tele-operation, programming by demonstration, Virtual Reality and off-line programming, and to reuse them in a new fashion on-line on the shop-floor. This paper presents some ideas and concepts, how input devices and strategies for robot programming could look like and how to use them to set up an intuitive manual motion control of the robot.

关键词： Robot programming Service robots robotics and automation Programming environments Education Educational robots Collision avoidance Path planning Virtual reality Motion control

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Incorporating Novel Path Planning Method into Cognitive Vision System for Safe Human-Robot Interaction

Incorporating Novel Path Planning Method into Cognitive Visi...

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Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns, Computation World:

作者： Jürgen Graf Stephan Puls Heinz Wörn Institute of Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

In this paper, a novel path planning method is presented and discussed. The method has its application in tasks like human-robot-interaction and cooperation. Thus special boundary conditions, i.e., real-time behaviour and safety, are of great interest. According to the presented results, cognitive industrial robotics without safety fences and a great autonomy are on their way to become part of our everyday life.

关键词： Path planning Machine vision Service robots Safety Cognitive robotics Human robot interaction Computer vision process control Robot vision systems Image reconstruction

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Investigating the effect of pruning on the diversity and fitness of robot controllers based on MDL2∈ during Genetic Programming

Investigating the effect of pruning on the diversity and fit...

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Congress on Evolutionary Computation

作者： M. Szymanski H. Worn Jan Fischer Institute of Process Control and Robotics Universität Karlsruhe Karlsruhe Germany Fraunhofer Institute of Manufacturing Engineering and Automation (IPA) Stuttgart Germany

In this paper we propose a new diversity measure based on the correlation of bit strings for the analysis of genetic programming (GP) experiments. The diversity measure has been applied to analyse the impact of pruning on the diversity of a population during genetic programming and its relation to the convergence time of the fitness function. To show the usability of the proposed diversity measure a GP experiment is introduced where simulated Jasmine robots have to learn a collision avoidance behaviour to find their way through a maze. A full analysis of this experiment is given with different fixed pruning strategies in respect to the population diversity and fitness. The GP has been done on behaviour-based robot controllers implemented in MDL2isin. MDL2isin has the advantage that it provides a very compact bit string representation of the control programme, which can be used for diversity analysis.

关键词： Robot control Genetic programming Convergence Shape measurement Robot programming XML process control Intellectual property Manufacturing processes Pulp manufacturing

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Human-robot interaction for 3D telemanipulated fracture reduction

Human-robot interaction for 3D telemanipulated fracture redu...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Ralf Westphal Simon Winkelbach Friedrich M. Wahl Thomas Gösling Markus Oszwald Tobias Hüfner Christian Krettek Institute for Robotics and Process Control Technical University of Braunschweig Germany Braunschweig Germany Department of Trauma Surgery Hannover Medical School Germany Hannover Germany

Today, femoral shaft fractures are usually stabilized by means of intramedullary nails. This video presents the development of a telemanipulator system, which, by supporting the fracture reduction process, aims at achieving reliable operation results with high reduction accuracies. First, we present a system using 2D X-ray images as base information for the surgeon to guide the reduction. We show the advantages but also the limitations of this approach, which finally led to the development of a telemanipulator system that is based on 3D imaging data instead.

关键词： Robots Educational institutions Accuracy X-ray imaging Surgery Haptic interfaces Biomedical imaging

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Hexa platform as active environment system

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2009年 396卷 381-390页

作者： Osypiuk, Rafal West Pomeranian University of Technology Al. Piastów 17 70-310 Szczecin Poland Institute for Robotics and Process Control Mühlenpfordtstraße 23 D-38106 Braunschweig Germany

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SymbricatorRTOS: A flexible and Dynamic framework for bio-inspired robot control systems and evolution

SymbricatorRTOS: A flexible and Dynamic framework for bio-in...

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Congress on Evolutionary Computation

作者： M. Szymanski L. Winkler D. Laneri F. Schlachter A.C. van Rossum T. Schmickl R. Thenius Institute of Process Control and Robotics (IPR) Universität Karlsruhe Karlsruhe Germany Institute of Parallel and Distributed Systems University of Stuttgart Stuttgart Germany Almende B.V. Rotterdam Netherlands Institute of Zoology Karl-Franzens University of Graz Graz Austria

One of the main aspects of the dasiaSYMBRIONpsila and dasiaREPLICATORpsila projects is that the robots can aggregate to form a multi-robot organism. For this reason the control mechanisms have to be able to control a single robot, a swarm of robots or an aggregated collective organism. To break down the complexity of development and to take the interaction with the environment and other robots into account, bio-inspired and evolutionary concepts are applied. In this paper we describe the underlying software architecture for the projects to enable different controller types, evolution and learning.

关键词： Robot control Organisms Hardware Operating systems Robot sensing systems Service robots Parallel robots Aggregates Software architecture Humans

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Evolutionary robotics: The next-generation-platform for on-line and on-board artificial evolution

Evolutionary robotics: The next-generation-platform for on-l...

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Congress on Evolutionary Computation

作者： S. Kernbach E. Meister O. Scholz R. Humza J. Liedke L. Ricotti J. Jemai J. Havlik W. Liu Institute of Parallel and Distributed Systems University of Stuttgart Stuttgart Germany Fraunhofer Institute of Biomedical Engineering Sankt Ingbert Germany Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany Scuola Superiore Pontedera Italy Ubisense AG Munich Germany IMA Prague Czech Republic University of West of England Bristol UK

In this paper we present the development of a new self-reconfigurable robotic platform for performing on-line and on-board evolutionary experiments. The designed platform can work as an autonomous swarm robot and can undergo collective morphogenesis to actuate in different morphogenetic structures. The platform includes a dedicated power management, rich sensor mechanisms for on-board fitness measurement as well as very powerful distributed computational system to run learning and evolutionary algorithms. The whole development is performed within several large European projects and is open-hardware and open-software.

关键词： Robot sensing systems Organisms Orbital robotics Hardware Biological system modeling Parallel robots Humans Space exploration Sensor phenomena and characterization Computational modeling

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3D visualized robot assisted reduction of femoral shaft fractures: Evaluation in exposed cadaveric bones

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Technology and Health Care 2009年第4期17卷 337-343页

作者： Oszwald, Markus Westphal, Ralf Bredow, Jan Gaulke, Ralph Huefner, Tobias Wahl, Friedrich Krettek, Christian Goesling, Thomas Department of Trauma Surgery Hannover Medical School Hannover 30625 Carl-Neuberg-Str.1 Germany Institute for Robotics and Process Control Technical University of Braunschweig Braunschweig Germany Hospital for Special Surgery Orthopaedic Department New York NY United States

The main problems in intra-medullary nailing of femoral shaft-fractures are leg-length discrepancies and rotational differences with an incidence of 2-18% and 20-40% respectively. These may lead to severe postoperative sequelae such as additional correctional operations and difficult rehabilitation. Insufficient visualization can be considered the main reason for these complications. Finally, retention of the fragments in the correct alignment before nail insertion is difficult. To overcome these problems we established a robotic telemanipulator system to support the reduction process. It was evaluated in 30 fractures of embalmed human femora. Specially programmed software used an image-dataset which was acquired by an isocentric 3D fluoroscope. For visualization, a surface projection was generated. Localization and tracking of the fragments and the robot-arm as well as accuracy measurement was performed by using an optical navigation system. Manipulation was controlled via a force-feedback joystick. This way, collisions of the fragments were transmitted back to the surgeon. At the end of the reduction the robot could rigidly retain the fragments' position. © 2009-IOS Press and the authors. All rights reserved.

关键词： THREE-dimensional imaging in medicine FEMUR -- Wounds & injuries MEDICAL rehabilitation robotics in medicine FRACTURES

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