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Creating high quality models of the skull using iterative modelling and area of interests

International Congress Series 2003年第C期1256卷 747-751页

作者： Däuber, S. Eggers, G. Krempien, R. Mende, U. Welzel, T. Hassfeld, St. Wörn, H. Institute for Process Control Robotics University of Karlsruhe (TH) Kaiserstraße 12 76128 Karlsruhe Germany Department of Oral Maxillofacial Surgery University of Heidelberg Im Neuenheimer Feld 400 69120 Heidelberg Germany Department of Clinical Radiology University of Heidelberg Im Neuenheimer Feld 400 69120 Heidelberg Germany

Three-dimensional models of the patient's anatomy are the basis for modern applications in computer-assisted surgery or radiology. In order to create these models, the data are processed in a series of steps that transforms the initial raw data (CT/MRT volume images) into the three-dimensional models (triangle meshes). Most common processing includes segmentation, contouring, decimating and mesh relaxation. Especially decimating and mesh relaxation can strongly effect the accuracy of the models, however, these steps are necessary to ensure interactivity (low amount of triangles for visualization speed) and to reduce staircase artefacts (due to the rectangular voxels of the underlying CT-data). In this work, we show that an iterative and alternating decimating and mesh relaxation can produce more accurate models than the usual single step processing. We also present an Area-of-Interest (AOI)-concept, with which we can achieve further improvements of the models in critical areas, e.g. near the intervention situs. © 2003, Elsevier Science B.V. All rights reserved.

关键词： Mesh optimization Mesh processing Mesh simplification Mesh smoothing

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Multi-Agent Systems for Industrial Diagnostics

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IFAC Proceedings Volumes 2003年第5期36卷 459-464页

作者： Martin Albert Thomas Längle Heinz Wörn Michele Capobianco Attilio Brighenti Institute for Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe S.A.T.E Srl. Systems & Advanced Technologies Engineering s.r.l Santa Croce 664/a 30135

Industrial diagnostic systems aim at anticipating the occurrence of failures or, should failures have occurred, at detecting them and identifying their cause. Similar to a process control system, a diagnostic system is closely connected with a specific industrial application. In case of large and complex industrial systems, such intimate link translates into the need to satisfy requirements for modularity, flexibility, and adaptability. This paper introduces a multi-agent software architecture as a possible solution to better tackle the variety of problems connected with building diagnostic systems, based at the requirements connected with modem industrial applications.

关键词： Agents Complex systems Co-operation Co-ordination De-centralised systems Diagnosis System architectures

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process dependent choice of diagnostic methods 5

Process dependent choice of diagnostic methods

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5th IFAC Symposium on Fault Detection, Supervision and Safety of Technical processes, Safeprocess 2003

作者： Atlas, Erkan Lacatusu, Ciprian C. Capobianco, Michele Gentil, Sylviane Albert, Martin Marcu, Teodor Köppen-Seliger, Birgit University of Duisburg-Essen Institute for Automatic Control Bismarckstr. 81 BB DuisburgD-47048 Germany S.A.T.E Srl. Systems and Advanced Technology Engineering Santa Croce 664/A Duisburg30135 Germany CNRS-INPG-UJF Laboratoire d'Automatique de Grenoble BP 46 Saint-Martin-d'Hères-Cedex38402 France University of Karlsruhe Institute for Process Control and Robotics Kaiserstr.12 KarlsruheD-76I28 Germany

In this contribution one of the concepts of the European Commission research project MAGIC is introduced. Focus is placed on the strategy of choosing diagnostic methods in relation with the characteristics of the industrial process being diagnosed. Normally, only a single diagnostic method is applied for each process or subprocess. The MAGIC project aims at different diagnostic methods to set-up a distributed diagnostic system, and at making the proper choice with respect to the industrial process. The present contribution suggests an approach to the stated problem. © 2003 International Federation of Automatic control.

关键词： Decision support systems

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Integrated multi-agent-based supply chain management

Integrated multi-agent-based supply chain management

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IEEE International Workshop on Enabling Technologies: Infrastructure for Collaborative Enterprises (WET ICE)

作者： D. Frey P.-O. Woelk T. Stockheim R. Zimmermann Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany Institute for Information Systems University of Frankfurt am Main Frankfurt Germany Institute of Production Engineering University of Hannover Hanover Germany Department of Information Systems FAU Erlangen-Nuernberg Nuremberg Germany

Multi-agent systems (MAS) offer new perspectives compared to conventional, centrally organized architectures in the scope of supply chain management (SCM). Their structure inherently meets the requirements of decentralized supply chains, whereas conventional SCM systems are often restricted in terms of dynamic behavior, handling severe disturbances at supplier sites as well as dealing with highly customized or complex products. Since necessary data are not available within the whole supply chain, an integrated approach for production planning and control taking into account all the partners involved is not feasible. In this paper, a MAS architecture integrating various intelligent agent systems is presented to address the problem.

关键词： Supply chain management Supply chains Manufacturing Production planning Logistics Companies process planning Management information systems Multiagent systems Job shop scheduling

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process Dependent Choice of Diagnostic Methods

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IFAC Proceedings Volumes 2003年第5期36卷 471-476页

作者： Erkan Atlas Ciprian C. Lacatusu Michele Capobianco Sylviane Gentil Martin Albert Teodor Marcu Birgit Köppen-Seliger University of Duisburg-Essen Institute for Automatic Control Bismarckstr. 81 BB D-47048 Duisburg S.A.T.E Srl.- Systems and Advanced Technology Engineering Santa Croce 664/A 30135 Venezia Italy CNRS-INPG-UJF Laboratoire d'Automatique de Grenoble BP 46 38402 Saint Martin d'Hères Cedex France University of Karlsruhe Institute for Process Control and Robotics Kaiserstr. 12 D-76I28 Karlsruhe

关键词： Complex systems Fault diagnosis Decision support systems Rule-based systems Fuzzy Logic

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Benchmarking and Robust Multi-Agent-Based Production Planning and control

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IFAC Proceedings Volumes 2003年第3期36卷 249-254页

作者： Daniel Frey Jens Nimis Heinz Wörn Peter Lockemann Institute for Process Control and Robotics Universität Karlsruhe (TH) Engler-Bunte-Ring 8 76131 Karlsruhe Germany ffrey Tel.+49 721 608-4246 Fax. ++49 72 1 608-7141 Institute for Program Structures and Data Organization Universität Karlsruhe (TH) Am Fasanengarten 5 76128 Karlsruhe Germany Tel. ++49 721 608-7337 Fax. ++49 721 608-7343

Multi-agent systems (MAS) offer new perspectives compared to conventional, centrally organised architectures in the scope of production planning and control. They are expected to be more flexible and robust while dealing with a turbulent production environment and disturbances. In this paper, a MAS is developed and compared to an Operations Research Job-Shop algorithm using a simulation-based benchmarking scenario. Environmental constraints for a successful application of MAS are identified and classified. Furthermore, the topic of MAS robustness is addressed by applying database technologies on the basis of transactions.

关键词： Modelling Simulation Production Planning Scheduling Flexibility Reliability Multi-agent Approach

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Shape from single stripe pattern illumination

Shape from single stripe pattern illumination

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24th Symposium of the German Pattern Recognition Association, DAGM 2002

作者： Winkelbach, S. Wahl, F.M. Institute for Robotics and Process Control Technical University of Braunschweig Mühlenpfordtstr. 23 D-38106 Braunschweig Germany

ISBN: (纸本)354044209X

This paper presents a strategy for rapid reconstruction of surfaces in 3d which only uses a single camera shot of an object illuminated with a simple stripe pattern. With this respect, it is a meaningful extension of our 'shape from 2d edge gradient' method introduced earlier. The reconstruction is based on determining stripe directions and stripe widths in the camera image in order to estimate surface orientation. I.e., this method does not use triangulation for range data acquisition, but rather computes surface normals. These normals can be 2d integrated and thus yield the surface coordinates;in addition they can be used to compute robust 3d features of free-form surfaces for object recognition, pose estimation, etc. The method is straightforward and very efficient by processing only one image and using only simple image processing operations. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Object recognition

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Integration of intraoperative radiotherapy (IORT) dose distribution into the postoperative CT-based external beam radiotherapy (EBRT) treatment planing

Integration of intraoperative radiotherapy (IORT) dose distr...

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10th Annual Medicine Meets Virtual Reality Conference, MMVR 2002

作者： Treiber, Martina Daeuber, S. Krempien, R. Hoppe, H. F.W., Hensley J., Brief H., Woern T., Lehnert M., Buechler M., Wannenmacher University of Heidelberg Department of Clinical Radiology Germany Institute for Process Control and Robotics Germany University of Heidelberg Dept. of Surgery Germany

ISBN: (纸本)1586032038

In the treatment of malignant disease external beam radiation therapy (EBRT) is often combined with surgery. Intraoperative radiotherapy (IORT) improves the local control by dose escalation. For reasons of recording, improvement and security of the intervention, it would be necessary to merge the IORT-dose distribution with the postoperative CT-based EBRT-planing. The aim of this work was to develop a method to reconstruct the IORT field and register it with the postoperative planing CT. This enables the reconstruction of the IORT dose distribution and merge it with the CT-based EBRT planing data. We use a surface scanner to receive a large amount of surface points which enables us reconstruct the IORT-field and to register it with the CT-based EBRT planning data. Scanning and calculation time is not over 2 seconds, depending mainly on the CPU power. The error of a single point is below 1 mm. The density of the point cloud is approx. 4 per mm2. In this paper we give an overview of our experimental setup and the accuracy of the method. © 2002, The authors.

关键词： Computerized tomography

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A unified notation for serial, parallel, and hybrid kinematic structures

A unified notation for serial, parallel, and hybrid kinemati...

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IEEE International Conference on robotics and Automation (ICRA)

作者： U. Thomas I. Maciuszek F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

This paper proposes a new notation for kinematic structures which allows a unified description of serial, parallel, and hybrid robots or articulated machine tools. During the past decades, the Denavit-Hartenberg (DH) parameters have been used widely to describe serial kinematics of robots in science and industry. Till now, such a common notation for parallel manipulators has not yet been accepted. This paper tries to fill this gap by presenting a new notation, which is based on the graph representation known from gear trains. In parallel manipulators, spherical and cardan joints are widely used. In order to describe these kinds of joints, the DH-parameter notation has been extended, so that, to each joint as many joint variables can be assigned as degrees of freedom exist. The notation is not only very useful for design, programming, and simulation of parallel robots; it also can be applied as a convention to refer to parallel or hybrid kinematic structures elsewhere.

关键词： Kinematics Manipulators Parallel robots Service robots process control Machine tools Gears Motion planning Motion control Software tools

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A real-time Java system on a multithreaded Java microcontroller

A real-time Java system on a multithreaded Java microcontrol...

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： M. Pfeffer S. Uhrig T. Ungerer U. Brinkschulte Institute for Computer Science University of Augsburg Augsburg Germany Institute for Process Control Automation and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents a real-time Java hardware and software system for use in embedded applications. The system includes a multithreaded Java microcontroller, an adapted Java Virtual Machine (JVH) and an extended application programming interface (API). The microcontroller core is designed with a multithreaded pipeline and hardware support for real-time scheduling algorithms. The Java Virtual Machine consists of trap routines for complex Java byte-codes, real-time garbage collection and a class loader for creating real-time data structures. On a higher level, the application programming interface provides easy real-time thread management and access to hardware components like serial interfaces and timer/counter units.

关键词： Java Real time systems Microcontrollers Hardware Application software Virtual machining Software systems Algorithm design and analysis Pipelines Scheduling algorithm

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