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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Pernozzoli, A. Burghart, C. Brief, J. Haßfeld, S. Raczkowsky, J. Mühling, J. Rembold, U. Wörn, H. University of Heidelberg Clinic of Cranio-Maxillo-Facial Surgery Germany University of Karlsruhe Institute of Process Control Automation and Robotics Germany

ISBN: (纸本)1586030140

We present the concept of a system architecture for the computer aided craniofacial surgery. The architecture is based on CORBA, an industrial standard specification for the development of distributed applications. Our concept includes a fundamental behaviour oriented communication model and some fundamental software safety considerations. We've developed a standard library for the integration of new services and devices into our system architecture. It decreases development time noticeably. We tested the performance and usability of our concept on an evaluation set up consisting of a surgery robot system, an infrared navigation system, a force-torque sensor and a visualisation software, obtaining excellent results. Future work will consist in the integration of further devices and the extension of our safety concept. An accurate clinical evaluation will take place continuously.

关键词： Common object request broker architecture (CORBA)

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Benchmark Concept for Industrial Pick&Place Applications 13

Benchmark Concept for Industrial Pick&Place Applications

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13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Vick, Axel Rudorfer, Martin Vonasek, Vojtech Process Automation and Robotics Fraunhofer IPK Berlin Germany University of Birmingham United Kingdom Czech Technical University Prague Czech Republic

Robotic grasping and manipulation is a highly active research field. Typical solutions are usually composed of several modules, e.g. object detection, grasp selection and motion planning. However, from an industrial point of view, it is not clear which solutions can be readily used and how individual components affect each other. Benchmarks used in research are often designed with simplified settings in a very specific scenario, disregarding the peculiarities of the industrial environment. Performance in real-world applications is therefore likely to differ from benchmark results. In this paper, we present a concept for the design of general Pick&Place benchmarks, which help practitioners to evaluate the system and its components for an industrial scenario. The user specifies the workspace (obstacles, movable objects), the robot (kinematics, etc.) and chooses from a set of methods to realize a desired task. Our proposed framework executes the workflow in a physics simulation to determine a range of system-level performance measures. Furthermore, it provides introspective insights for the performance of individual components. © 2021 DAAAM International. All rights reserved.

关键词： Object detection

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Algorithm of image enhancement based on order morphological filtering and image entropy difference

Algorithm of image enhancement based on order morphological ...

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MIPPR 2005: SAR and Multispectral Image processing

作者： Chi, Jian-Nan Wang, Dong-Shu Zeng, Peng-Xin Xu, Xin-He Key Laboratory of Process Industry Automation Ministry of Education China Institute of Artificial Intelligence and Robotics Northeastern University ShengYang 110004 China

According to correlative conception and properties of order morphology transformation, non-linear weighted mean value filter is constructed to remove high frequence noise such as noise of Gaussian and impulse. Then an approximated midpoint value filter which can reject uniformly distributed noise is given by improving weighted mean value filter. Based on above, a new image enhancement algorithm is proposed. Within this algorithm, weighted mean value of the image about structuring elements of different directions is calculated and used to identify edge of image;Local average value and entropy difference is applied to control enhancement coefficients. So the target and edge of image are elevated while high frequence noise of image is restrained. The comparison of average value, standard deviation and image entropy between enhanced image and its original illustrates that contrast of image is also improved.

关键词： Image enhancement

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automation of Life Data Analysis processes 13

Automation of Life Data Analysis Processes

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13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Krämer, Jonathan Thiele, Gregor Johanni, Theresa Krüger, Jörg Department for Industrial automation The Institute for Machine Tools and Factory Management Technical University of Berlin Germany Department for Process automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Germany

Life data analysis is an effective statistical process to gain information on the reliability of technical facilities. The Weibull analysis is a widely-used method for modeling the probabilities of different functional failures. For its application in modern manufacturing and maintenance processes, an automation of this analysis is expedient. An exemplary process of data collection and fitting of a parametric model with continuous time scale is analyzed in this article. Its automation with different statistic software tools is described and comparatively evaluated. With the ambition of minimizing manual effort in the process, a highly automated solution was developed in this research. We describe this self-implemented solution in "R" and justify that this procedure automatizes the process more than the examined commercial implementations. The here presented work proves to be a practical real-time assistance, right now applied in aircraft maintenance. © 2021 DAAAM International. All rights reserved.

关键词： automation

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Motion comparison method combining segmented multi-Joint line graphs with the SIFT matching technique

Motion comparison method combining segmented multi-Joint lin...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Ren, Hong Lin Meng, Qing Hao Chen, Chang Wei Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

In this paper, an effective motion comparison method based on segmented multi-joint line graphs combined with the SIFT feature matching method is proposed. Firstly, the multi-joint 3D motion data are captured using the Kinect. Secondly, 3D motion data are normalized and distortion data are removed. Therefore, a 2D line graph can be obtained. Next, SIFT features of the 2D motion line graph are extracted. Finally, the line graphs are divided into several regions and then the comparison results can be calculated based on SIFT matching ratios between the tutor's local line graph and the trainee's local line graph. The experimental results show that the proposed method not only can easily deal with the several challenge problems in motion analysis, e.g., the problem of different rhythm of motions, the problem of a large amount of data, but also can provide detailed error correction cues. © (2014) Trans Tech Publications, Switzerland.

关键词： Motion analysis

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Recurrence characteristics analysis of near-Surface wind speed signal with different sampling frequencies

Recurrence characteristics analysis of near-Surface wind spe...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Wu, Zhan Xie Meng, Qing Hao Li, Jing Hai Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

The wind is the main factor to influence the propagation of gas in the atmosphere. Therefore, the wind signal obtained by anemometer will provide us valuable clues for searching gas leakage sources. In this paper, the Recurrence Plot (RP) and Recurrence Quantification Analysis (RQA) are applied to analyze the influence of recurrence characteristics of the wind speed time series under the condition of the same place, the same time period and with the sampling frequency of 1hz, 2hz, 4.2hz, 5hz, 8.3hz, 12.5hz and 16.7hz respectively. Research results show that when the sampling frequency is higher than 5hz, the trends of recurrence nature of different groups are basically unchanged. However, when the sampling frequency is set below 5hz, the original trend of recurrence nature is destroyed, because the recurrence characteristic curves obtained using different sampling frequencies appear cross or overlapping phenomena. The above results indicate that the anemometer will not be able to fully capture the detailed information in wind field when its sampling frequency is lower than 5hz. The recurrence characteristics analysis of the wind speed signals provides an important basis for the optimal selection of anemometer. © (2014) Trans Tech Publications, Switzerland.

关键词： Time series

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Biomechanical analysis of typical upper limb movements based on Kinect-LifeMOD

Biomechanical analysis of typical upper limb movements based...

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zeng, Ming Chen, Chang Wei Meng, Qing Hao Ren, Hong Lin Ma, Shu Gen Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9783038351924

In traditional biomechanical analysis of upper limb, the high-precision motion data and lifelike human models are needed. It is obvious that those processes are costly and time-consuming. In this paper, a novel and simple combination method based on Kinect-LifeMOD is proposed. Firstly, the Microsoft Kinect (a latest depth sensor) is used to build a cheap and precise motion capture platform. Real-time and reliable key-node rotation data of human skeletons can be acquired by this motion capture system. Next, rotation data is converted into position data as the input of the LifeMOD software which can establish mathematical model of upper limb and execute biomechanical analysis automatically. The experimental results show that the proposed method could achieve the satisfactory performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Biomechanics

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Development of Automated Control System for Laboratory Reactoplast Casting Unit 4

Development of Automated Control System for Laboratory React...

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4th International Conference on Technology Enhanced Learning in Higher Education, TELE 2024

作者： Prokudin, German Kondratyev, Sergey Pikalov, Vladimir Volgograd State Technical University Department of Production Process Automation Volgograd Russia Lipetsk State Technical University Department of Automated Electric Drive and Robotics Lipetsk Russia

ISBN: (纸本)9798350353532

This paper presents the development and implementation of an automated control system for the technological process of casting reactoplastic products in a laboratory environment. The primary objective is to design an integrated control system and a comprehensive software suite to manage process parameters, enabling the use of various grades of reactoplastics efficiently. The development process involved creating a detailed electrical schematic and an operational algorithm for the equipment. Essential components were meticulously selected to construct a laboratory prototype, leading to the establishment of a reliable automated control system. Additionally, a sophisticated software suite was developed and registered with Rospatent, ensuring intellectual property protection. Extensive experimental casting trials were conducted, resulting in high-quality plastic part samples that demonstrate the system's effectiveness. The proposed system showcases significant advancements in improving the quality and efficiency of small-batch production of plastic components, highlighting its potential for broader industrial applications. © 2024 IEEE.

关键词： Plastic parts

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A Control Theory Approach to Improve the Real-Time Capability of Multi-Threaded Microprocessors

A Control Theory Approach to Improve the Real-Time Capabilit...

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International Symposium on Object-Oriented Real-Time Distributed Computing

作者： Uwe Brinkschulte Mathias Pacher Institute for Process Control Automation and Robotics University of Karlsruhe Germany

ISBN: (纸本)9780769531328

Our aim is to investigate if it is possible to control the throughput (IPC rate) of a thread running on a simultaneous multi-threaded microprocessor by a closed feedback loop. We showed in previous experimental studies that the proposed approach works. In this paper we discuss the control theory approach from a theoretical point of view. We develop a mathematical model of a general purpose multi-threaded microprocessor enhanced with a closed feedback controller and use control theory methods to investigate properties like stability and settling time.

关键词： Control theory Microprocessors Yarn Clocks Adaptive control Communication system control robotics and automation Throughput Mathematical model Delay

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Thermometry of photosensitive and optically induced electrokinetics chips

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Microsystems & Nanoengineering 2018年第1期4卷 190-198页

作者： Feifei Wang Lianqing Liu Gongxin Li Pan Li Yangdong Wen Guanglie Zhang Yuechao Wang Gwo-Bin Lee Wen Jung Li State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences110016 ShenyangChina University of Chinese Academy of Sciences 100049 BeijingChina Shenzhen Academy of Robotics 518057 ShenzhenChina Key Laboratory of Advanced Process Control for Light Industry of the Ministry of Education Institute of AutomationJiangnan University214122 WuxiChina Department of Power Mechanical Engineering National Tsing Hua University30013 HsinchuTaiwan Department of Mechanical and Biomedical Engineering City University of Hong KongKowloon TongHong KongChina

Optically induced electrokinetics(OEK)-based technologies,which integrate the high-resolution dynamic addressability of optical tweezers and the high-throughput capability of electrokinetic forces,have been widely used to manipulate,assemble,and separate biological and non-biological entities in parallel on scales ranging from micrometers to ***,simultaneously introducing optical and electrical energy into an OEK chip may induce a problematic temperature increase,which poses the potential risk of exceeding physiological conditions and thus inducing variations in cell behavior or activity or even irreversible cell damage during ***,we systematically measure the temperature distribution and changes in an OEK chip arising from the projected images and applied alternating current(AC)voltage using an infrared *** have found that the average temperature of a projected area is influenced by the light color,total illumination area,ratio of lighted regions to the total controlled areas,and amplitude of the AC *** an example,optically induced thermocapillary flow is triggered by the light image-induced temperature gradient on a photosensitive substrate to realize fluidic hydrogel *** studies show that the projected light pattern needs to be properly designed to satisfy specific application requirements,especially for applications related to cell manipulation and assembly.

关键词： exceeding illumination manipulation

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