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Bringing laser for osteotomy into the operation theatre

International Congress Series 2005年 1281卷 1364-1364页

作者： H. Peters H. Knoop W. Korb S. Ghanai J. Raczkowsky M. Werner M. Klasing M. Ivanenko S. Hassfeld P. Hering H. Wörn Institute for Process Control and Robotics University of Karlsruhe Germany Department of Maxillofacial and Craniofacial Surgery University Hospital Heidelberg Germany Holography and Laser Technology Caesar Bonn Germany Institute of Laser Medicine University of Duesseldorf Germany

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Real-Time requirements in diagnostic systems 11

Real-Time requirements in diagnostic systems

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11th IFAC Symposium on Automation in Mining, Mineral and Metal processing, MMM 2004

作者： Albert, Martin Uingle, Thomas Worn, Heinz Institute for Process Control and Robotics University of Karlsruhe KarlsruheD-76128 Germany

While artificial intelligence methodologies are being applied towards increasingly realistic domains that require timely responses, real-Time systems are coming to incorporate decision-making tools that require more intelligent capabilities. This paper' describes a distributed multi agent architecture considering industrial demands for realtime diagnostic and decision support systems. The correctness of the behavior of such a system depends on the results of the computation as well as on the time at which the results can be provided. Especially in distributed systems, a proper handling of real-Time requirements together with a deterministic behavior of all parts is extremely important to guarantee reliable and accurate data processing. Copyright © 2004 IFAC.

关键词： Real time systems

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Real-Time Requirements in Diagnostic Systems

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IFAC Proceedings Volumes 2004年第15期37卷 197-202页

作者： Martin Albert Thomas Längle Heinz Wörn Institute for Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe

While artificial intelligence methodologies are being applied towards increasingly realistic domains that require timely responses, real-time systems are coming to incorporate decision-making tools that require more intelligent capabilities. This paper’ describes a distributed multi agent architecture considering industrial demands for realtime diagnostic and decision support systems. The correctness of the behavior of such a system depends on the results of the computation as well as on the time at which the results can be provided. Especially in distributed systems, a proper handling of real-time requirements together with a deterministic behavior of all parts is extremely important to guarantee reliable and accurate data processing.

关键词： Distributed Real-time Communication Agent Software Architecture Multi-Agent Systems Diagnosis

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Fast random sample matching of 3d fragments

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26th DAGM Symposium on Pattern Recognition, 2004

作者： Winkelbach, Simon Rilk, Markus Schönfelder, Christoph Wahl, Friedrich M. Institute for Robotics and Process Control Technical University of Braunschweig Mühlenpfordtstr. 23 BraunschweigD-38106 Germany

ISBN: (纸本)3540229450

This paper proposes an efficient pairwise surface matching approach for the automatic assembly of 3d fragments or industrial components. The method rapidly scans through the space of all possible solutions by a special kind of random sample consensus (RANSAC) scheme. By using surface normals and optionally simple features like surface curvatures, we can highly constrain the initial 6 degrees of freedom search space of all relative transformations between two fragments. The suggested approach is robust, very time and memory efficient, easy to implement and applicable to all kinds of surface data where surface normals are available (e.g. range images, polygonal object representations, point clouds with neighbor connectivity, etc.). © Springer-Verlag Berlin Heidelberg 2004.

关键词： Degrees of freedom (mechanics)

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An integrative approach for multi-sensor based robot task programming

An integrative approach for multi-sensor based robot task pr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： U. Thomas J. Florke S. Detering F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

In this paper, we suggest skill primitive nets for multi-sensor integration in robot task programming. Each skill primitive is either a hybrid motion or a command interpreted by an external vision system. For the integration of different sensors into one general and comprehensive approach, one has to consider different sensing modalities. With an extension of our previously outlined approach of skill primitive nets, multi-sensor integration is possible. Thereby, a large amount of applications can be realized. We also give a precise specification as XML-interface for skill primitive nets. In this paper advantages are outlined, when using this interface between programming and control. Our skill primitive net approach for multi-sensor integration has been evaluated with industrial applications.

关键词： Robot programming Robot sensing systems Robotic assembly Force control Robot control Force sensors Robot vision systems Cameras Force feedback Sensor systems

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Co-operative carrying using pump-like constraints

Co-operative carrying using pump-like constraints

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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

作者： S. Yigit C. Burghart H. Worn Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany

In this paper we present a new method for the cooperative carrying of a rigid object by a robot and a human. This method is based on tactile sensor input. In the carrying mode the robotic system defines constraints for the user's possible movements when manually guiding the object (and robot arm). Thus, instead of using a complex recognition process for interpreting the user's intention the robot determines the next action on basis of the defined constraints and the measured tactile sensor data. The defined constraints only allow the human partner to manipulate the carried object during the carrying procedure in the manner of a water hand pump. In this way, so-called in-place-translations of the object in all directions are possible, while the human partner maintains full control over orientation and position of the object.

关键词： Robot sensing systems Humans Force measurement Orbital robotics Tactile sensors Force control Wrist Force sensors Haptic interfaces Sensor systems

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Adaptive implicit hybrid force/pose control of industrial manipulators: compliant motion experiments

Adaptive implicit hybrid force/pose control of industrial ma...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： T. Kroger B. Finkemeyer M. Heuck F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

The major purpose of this paper is to combine results of current robot force control research with scientific approaches in compliant motion, which are based on Mason's task frame formalism. The embedding of adaptive implicit hybrid force/pose control in a robot control architecture for compliant motion control is described. By the usage of adaptive force control, the practicability of compliant motion applications is improved. The applied control concept is constituted in a theoretical as well as in a practical manner. To highlight the meaning for practical implementations, experimental results with industrial manipulators under adaptive force control in three degrees of freedom are finally shown.

关键词： Force control Programmable control Adaptive control Motion control Industrial control Robot control Manipulators Robotic assembly Sections Service robots

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A task frame formalism for practical implementations

A task frame formalism for practical implementations

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IEEE International Conference on robotics and Automation (ICRA)

作者： T. Kroger B. Finkemeyer F.M. Wahl Institute for Robotics and Process Control Braunschweig Technical University Germany

Mason's Task Frame Formalism (TFF) is supposed to deliver robot application programmers an intuitive and powerful programming interface. The open literature provides many theoretic approaches, but almost none of them is practicable. To bring these research results into practice is the major aim of this paper. Sets of manipulation primitives specify compliant motion commands, which let us execute complex robot tasks. We introduce an appropriate notation and focus on all significant TFF values, which have to be applied to the transformations, which are required on the control level. All essential calculations are derived; to highlight the meaning for practical implementations, an example, how to embed this knowledge in control architectures, is given.

关键词： Robot control Force control Programming profession Robot programming Manipulators Robotic assembly process control Motion control Level control control systems

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Development of a modular anthropomorphic robot hand using servohydraulic actuators

Development of a modular anthropomorphic robot hand using se...

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IEEE-RAS International Conference on Humanoid Robots

作者： K. Weiss H. Woern Institute of Process Control and Robotics (IPR) Technical University of Karlsruhe Karlsruhe Germany

Today's service robotics requires humanlike handling systems to interact with our everyday use items. In this paper we introduce the concept of a new modular anthropomorphic robot hand and describe our current work on its realization. Due to its modular architecture of a hand which shall be easily customizable to different applications ranging from handling systems for household helpers to robust finger grippers in factory automation. To drive the fingers, a servohydraulic approach for power transmission is used. Dedicated micro hydraulic cylinders are integrated in the finger segments to actuate the joints. They are driven by a position controlled piston pump. Due to the use of a PTFE enhanced surface coating, slip stick effects and friction are significantly reduced. Our prototype has shown, that the fingers are very robust and even water resistant. The low level control of the robot hand will be done by a reconfigurable system on chip, making future changes of the hardware's functionality possible without changing any printed circuits boards.

关键词： Anthropomorphism Actuators Fingers Robustness Human robot interaction robotics and automation Architecture Grippers Manufacturing automation Power transmission

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CAD/CAM prefabricated individual skull implants: New aspects in robot resection and guided bone regeneration

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International Congress Series 2004年第C期1268卷 584-590页

作者： Weihe, S. Schiller, C. Rasche, C. Hassfeld, S. Wehmöller, M. Knoop, H. Epple, M. Eufinger, H. Department of Oral Maxillofacial Plastic Surgery Ruhr-University Bochum D-44892 Bochum In der Schornau 23-25 Germany Institute of Inorganic Chemistry University of Duisburg-Essen Germany Department of Oral Maxillofacial Surgery Ruprecht-Karls-University Heidelberg Germany Institute of Production Systems Ruhr-University Bochum Germany Institute of Process Control Robotics University of Karlsruhe Germany

According to the desire of single-step skull bone resection and reconstruction the acquired CT data were not only used for the design of the individual implant but also for a robot-guided bone resection in an animal cadaver model. The results of three robot skull bone resections during 4 years showed a perspicuously improved precision combined with a dramatically reduced set-up time. As the evaluation of 166 patients with titanium skull implants showed thermal and psychic stress factors, a biodegradable composite material from polyesters, calcium phosphate and calcium carbonate for guided bone regeneration was developed. Skull implants made of this new bone substitution material showed promising results in animal experiments over a follow-up period from 2 to 11 months so far. © 2004, Elsevier Science B.V. All rights reserved.

关键词： Biomaterial CAD/CAM Composite Cranioplasty Robot

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