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

作者： J. Kreuzinger A. Schulz M. Pfeffer T. Ungerer U. Brinkschulte C. Krakowski Institute for Computer Design and Fault Tolerance University of Karlsruhe Karlsruhe Germany Institute for Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany

This paper investigates real-time scheduling algorithms on upcoming multithreaded processors. As evaluation testbed we introduce a multithreaded processor kernel which is specifically designed as core processor of a micro-controller or system-on-a-chip. Handling of external real-time events is performed through multithreading. Real-time threads are used as interrupt service threads (ISTs) instead of interrupt service routines (ISRs). Our proposed micro-controller supports multiple ISTs with zero-cycle context switching overhead. We investigate the behavior of fixed priority preemptive, earliest deadline first, least laxity first and guaranteed percentage scheduling with respect to multithreaded processors. Our finding is that the strategies GP and LLF result in a good blending of instructions of different threads thus enabling a multithreaded processor to utilize latencies best. Assuming a zero-cycle context switch LLF performs best, however implementation cost context, are prohibitive.

关键词： processor scheduling Yarn Switches Scheduling algorithm System testing Kernel process design System-on-a-chip Multithreading Delay

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Generating polyhedral convex cones from contact graphs for the identification of assembly process states

Generating polyhedral convex cones from contact graphs for t...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Mosemann T. Bierwirth F. Wahl S.A. Stoeter Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis USA

A new approach to automatically generate polyhedral convex cones from contact graphs for identification of assembly process states is presented. The state of contact between subassemblies is changing as operation proceeds in manipulative tasks such as part-mating. Measured contact forces and the resulting torques provide information about the contact geometry which is used to guide the assembly operation. In this paper, we present a method to calculate contact graphs for polyhedral subassemblies. The nodes of the contact graph represent contact formations of the subassemblies and the arcs represent neighborhoods of contact formations. This information is used to generate polyhedral convex cones for each contact formation considering friction. These polyhedral convex cones describe static equilibrium for each contact formation and are used to identify the contact state by measuring forces and torques during a part-mating.

关键词： Robotic assembly Force measurement Torque measurement Assembly systems Intelligent robots Friction Robot sensing systems Robot vision systems robotics and automation Uncertainty

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Operation planning of robot supported surgical interventions

Operation planning of robot supported surgical interventions

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J. Munchenberg J. Brief J. Raczkowsky H. Worn S. Hassfeld J. Muhling Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany Clinic for Cranio-Maxillo-Facial-Surgery University of Heidelberg Heidelberg Germany

Presents a new operation planning system which enables a surgeon to plan and perform complex robot-supported surgical interventions. The system has been evaluated in the Clinic for Cranio-Maxillo-Facial Surgery at the University of Heidelberg. In contrast to commercial systems, our goal was that the system should consider the complete surgical intervention and not just a single procedure of it. A second goal was that the system should enable the management of complex operations, independent of which way the intervention is intra-operatively performed (without technical support, with passive navigation support or with active support by robots). Our system supports the surgeon during pre-operative planning as well as during the intra-operative execution phase. Therefore, we developed a model of the course of operation by which the management of surgical interventions is made possible. The focus of this paper is on this course model. First, we introduce instruction graphs and describe the structure of each activity, observing its attributes and their context. Additionally, various surgical scopes are presented which enable the surgeon to select one view among different ones in the individual operation procedures, in accordance with medical and technical knowledge as well as in accordance with different degrees of abstraction. Finally, we demonstrate the realisation of the introduced course model in our operation planning system and present first results in clinical practice.

关键词： Robots Surgery Surges Navigation Surgical instruments Head process control Computer science process planning Costs

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Planning of a microassembly task in a flexible microrobot cell

Planning of a microassembly task in a flexible microrobot ce...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Fatikow A. Falzullin J. Seyfried Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

After introducing a flexible microrobot cell that has been developed at the University of Karlsruhe, we present the assembly planning system of this cell, which is tailored to the specific needs of microassembly. Important differences between conventional (macro-) assembly and microassembly are discussed. These must to be taken into account at the assembly planning level to be able to perform an efficient microassembly. A formal description of a planning procedure is presented and planning algorithms are described. The planning system has been tested by an example of an automatic assembly planning of the worldwide smallest commercially available micromotor made by Faulhaber, German. The test results achieved are demonstrated.

关键词： Microassembly Robotic assembly Grippers Assembly systems Automatic testing System testing robotics and automation Optical microscopy Intelligent robots Electrostatics

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Flexible microrobots for micro assembly tasks

Flexible microrobots for micro assembly tasks

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International Symposium on Micromechatronics and Human Science (MHS)

作者： H. Woern J. Seyfried St. Fahlbusch A. Buerkle F. Schmoeckel Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

ISBN: (纸本)0780364988

A wide range of microcomponents can today be produced using various microfabrication techniques, The assembly of complex microsystems consisting of several single components (i.e., hybrid microsystems) is, however, a difficult task that is seen to be a real challenge for the robotic research community. It is necessary to conceive flexible, highly precise and fast microassembly methods. In this paper, the development of a microrobot-based microassembly station is presented. Mobile piezoelectric microrobots with dimensions of some cm/sup 3/ and with at least 5 DOF can perform various manipulations either under a light microscope or inside the vacuum chamber of a scanning electron microscope. The components of the station developed and its control system are described. The latter comprises a vision-based sensor system for automatic robot control and user interfaces for semi-automated control and teleoperation. First results of the SEM-based micro assembly, handling of biological cells and integration of force microsensors into our microrobots are presented as well.

关键词： Robotic assembly Microassembly Scanning electron microscopy Automatic control control systems Electron mobility Sensor systems Robot control User interfaces Biological cells

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Manipulating deformable linear objects-force-based detection of contact state transitions

Manipulating deformable linear objects-force-based detection...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： A. Remde E. Pfaffenberger H. Worn Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE Institute for Process Control and Robotics IPR Universität Karlsruhe Karlsruhe Germany

This paper deals with the robot handling of deformable linear objects (DLO), such as hoses, wires or leaf springs, based on contact state transitions and force/moment sensing. First, we describe the characteristic change of force and moment for all single-contact transitions which may occur between the DLO and a rigid polyhedron obstacle. Second, we discuss the sensor data processing for the automated detection of the state transitions.

关键词： Object detection Force sensors Hoses Springs Shape Robotic assembly Force measurement Robot sensing systems Wires Sensor systems

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Distributed diagnosis and teleservice for automated production cells

Distributed diagnosis and teleservice for automated producti...

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1999 European control Conference, ECC 1999

作者： Woern, H. Laengle, Th. Heck, F. Institute for Process Control and Robotics University of Karlsruhe KarlsruheD-76128 Germany

ISBN: (纸本)9783952417355

In this paper, we present a new concept for future industrial component diagnosis and monitoring (CDM) systems for production cells which are able to use existing CDM programs. The proposed system uses a multi-agent approach to integrate the method of semantically distributed diagnosis. This paper uses the KQML (Knowledge and Query Manipulation language) specification as a communication language for the multi-agent system together with the CORBA standard as the underlying platform to realise the KQML communication. Because the CORBA standard contains the Internet Inter Orb Protocol (IIOP) which is based on TCP/IP as a means of communication, it is possible to use existing Intranets or even the Internet for remote diagnosis or monitoring purposes. © 1999 EUCA.

关键词： Common object request broker architecture (CORBA)

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Simulation of frontal orbital advancement

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Virtual Reality 1999年第3期4卷 235-240页

作者： Grabowski, H.A. Hassfeld, S. Krempien, R. Munchenberg, J. Brief, J. Rembokp, U. Wörn, H. Institute for Process Control and Robotics University of Karlsruhe Germany Clinic for Cranio-Maxillo-Fociol-Surgery University of Heidelberg Germany Department of Radiology University of Heidelberg Germany Institute for Process Control and Robotics Department of Computer Science University of Karlsruhe 76128 Karlsruhe Germany

In this paper, we present a system for performing a complex surgical intervention using virtual reality (VR) technology. With the aid of the system, the intervention can be planned and simulated exactly before performing it in reality and important additional information can be achieved during the simulation. Before working in VR, finite element models of the patient's head are generated form CT-images. Based on these models, additional work is done in VR, where the patient's skull is cut into several pieces, which are then re-positioned. Based on moving and shifting the obtained pieces, the goal is to increase the volume inside the skull, which is called intracranial volume. Until now, it was not possible to measure the achieved increase of the intracranial volume. However, by using our system is it now possible to calculate this volume online during each step of our virtual intervention. The obtained results are used for the surgical intervention in reality. © Springer-Verlag London Ltd.

关键词： Finite element models Geometric modelling Mesh generation Virtual cutting Volume measurement VR-based surgery

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Mephisto a modular and extensible path planning system using observation 1st

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1st International Conference on Computer Vision Systems, ICVS 1999

作者： Steinhaus, Peter Ehrenmann, Markus Dillmann, RÜDiger Institute of Process Control and Robotics University of Karlsruhe Geb. 40.28 Kaiserstr. 12 Karlsruhe76128 Germany

ISBN: (纸本)3540654593

In this paper a scalable architecture with a computer vision subsystem as an integrated part to achieve a fast and robust navigation for almost autonomous mobile systems in dynamic environments is presented. The principal approach is not only using the robots' mobile sensor systems but also some fixed external vision sensors to build the required environment models. The measurements of the mobile and external sensors are fused to improve the quality of the input data. This sensor fusion is done by an active dynamic environment model that also provides an optimised data layer for different path planning systems. To achieve the required system's scalability a distributed approach is followed. Instead of using one big global environment model a distributed redundant environment model is employed to allow easier local path planning and to reduce bottlenecks in data transmission. Thus the path planning system is split to a local path planner and a global planning system. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Motion planning

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