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Zeitschrift für Gerontologie und Geriatrie 2012年第8期45卷 716-721页

作者： M. Gietzelt J. Spehr Y. Ehmen S. Wegel F. Feldwieser M. Meis M. Marschollek K.-H. Wolf E. Steinhagen-Thiessen M. Gövercin Peter L. Reichertz Institute for Medical Informatics University of Braunschweig - Institute of Technology and Hannover Medical School Braunschweig Germany Institute for Robotics and Process Control University of Braunschweig - Institute of Technology Braunschweig Germany Geriatric Research Group Department of Geriatric Medicine Charité - Universitätsmedizin Berlin Berlin Germany Department Market and Effects Research Hearing Centre Oldenburg GmbH Oldenburg Germany Peter L. Reichertz Institute for Medical Informatics University of Braunschweig - Institute of Technology and Hannover Medical School Hannover Germany

A considerable proportion of falls occur within the domestic environment. Sensor-based identification of falls in seniors’ homes could help them to remain autonomous and self-sufficient in their own homes. The objective of this study was to evaluate fall detection systems within the home environment using optical and accelerometric sensor systems. Portable triaxial accelerometers and optical sensors were used to detect falls in subjects with known problems of mobility and a recent fall history. Three subjects were investigated with the system. Overall nine falls occurred during the study period. Four falls were recorded by the accelerometric system and one fall by the optical system. Subjects with increased risk of falling as measured with mobility and fall risk assessments tend to fall more frequently. The study shows that there is a considerably large difference between fall-detector evaluation studies in domestic environments and in laboratory trials.

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A Distance and Diversity Measure for Improving the Evolutionary process of Modular Robot Organisms

A Distance and Diversity Measure for Improving the Evolution...

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IEEE International Conference on robotics and Biomimetics

作者： Lutz Winkler Heinz Worn Adrian Friebel Institute for Process Control and Robotics Karlsruhe Institute of Technology - KIT Research Group for Multicellular Systems Biology Interdisciplinary Centre for Bioinformatics (IZBI) University of Leipzig

ISBN: (纸本)9781457721366

In this paper, we present a novel diversity measure for a population of modular robot organisms. Evaluating this diversity we will get a prospect of the fitness of future generations of organisms in an evolutionary process. The degree of the diversity in a population is a measure for the adaptability to the environment. If the diversity is too low, it is necessary to change evolutionary parameters such as mutation probabilities or to start a new evolutionary run in order to get better adapted organisms. The novel measure helps to improve and speed-up the evolutionary process, which is mandatory as the evolution of robot organisms, specially the coevolution of controller and topology of organisms is a very tedious process. In four different experiments using the Robot3D simulator and the Symbricator modular robots, we will show the usefulness of this diversity measure. The goal of the first two experiments will be the evaluation of two different selection strategies: fitness proportionate and rank selection. In the last two experiments we will explore the differences between a restrained evolution, where the type of agent, which controls an element in an organism is predetermined by its parent element, and a free evolution.

关键词： Organism Modular robots Evolutionary health evolution evolution evolution Elements

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High precision cochleostomy by use of a pulsed CO₂ laser - an experimental approach

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Cochlear Implants International 2009年第SUPPL. 1期10卷 58-62页

作者： Klenzner, Thomas Knapp, Felix B. Schipper, Joerg Raczkowsky, Joerg Woern, Heinz Kahrs, Lueder A. Werner, Martin Hering, Peter University Hospital Department of Otorhinolaryngology Head and Neck Surgery Duesseldorf Germany Institute for Process Control and Robotics University Karlsruhe (TH) Germany Centre of Advanced European Studies and Research Bonn Germany

A precise cochleostomy is a crucial step in cochlear implantation, particularly if residual hearing is to be preserved. A contactless ablation of the promontory bone by a pulsed CO₂ laser system seems to be a promising approach. The bone is removed by a scan head controlled laser beam in sequential scan cycles with a pulse rate of 50-100 μs. Digital picture analysis and pattern detection are used to identify the membranous lining of the cochlea. We achieved a bone ablation in a micrometer range per scan cycle with the laser. A perforation of the promontory bone could be detected by automatic pattern detection. The enhancement of automatic pattern detection can lead to a minimally invasive, function-preserving laser cochleostomy. © 2009 John Wiley & Sons, Ltd.

关键词： Bone Cochleostomy Digital image processing Laser Precision

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NONLINEAR NETWORK STRUCTURES FOR FEEDBACK control

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Asian Journal of control 2008年第4期1卷

作者： F.L. Lewis Dept. of Electical Engineering The University of Texas at Arlington U.S.A. F. L. Lewis was born in Wärzburg. Germany subsequently studyning in Chile and Goruonstoun School in Scotland. He obtained the Bachelor's Degree in Physics/Electrical Engineering and the Master's of Electrical Engineering Degree at Rice University in 1971. He spent six years in the U.S. navy serving as Navigator aboard the frigate USS Trippe (FF-1075) and Executive Officer and Acting Commanding Officer aboard USS Salinan (ATF-161). In 1977 he received the Master's of Science in Aeronautical Engineering from the University of West Florida. In 1981 he obtained the Ph.D. degree at The Georgia Institute of Technology in Atlanta where he was employed as a professor from 1981 to 1990 and is currently an Adjunct Professor. He is a Professor of Electrical Engineering at The University of Texas at Arlington where he was awarded the Moncrief-O'Donnell Endowed Chair in 1990 at the Automation and Robotics Research Institute. Dr. Lewis has studied the geometric analytic and structural properties of dynamical systems and feedback control automation. His current interests include robotics intelligent control neural and fuzzy systes nonlinear systems and manufacturing process control. He is the author/co-author of 2 U.S. patents 124 journal papers 20 chapters and encyclopedia articles 210 refereed conference papers seven books: Optimal Control Optimal Estimation Applied Optimal Control and Estimation Aircraft Control and Simulation Control of Robot Manipulators Neural Network Control High-Level Feedback Control with Neural Networks and the IEEE reprint volume Robot Control. Dr. Lewis is a registered Professional Engineer in the State of Texas and was selected to the Editorial Boards of International Journal of Control Neural Computing and Applications and Int. J. Intelligent Control Systems. He is the recipient of an NSF Research Initiation Grant and has been continuously funded by NSF since 1982. Since 1991 he has received $1.8 m

A framework is given for controller design using Nonlinear Network Structures, which include both neural networks and fuzzy logic systems. These structures possess a universal approximation property that allows them to be used in feedback control of unknown systems without requirements for linearity in the system parameters or finding a regression matrix. Nonlinear nets can be linear or nonlinear in the tunable weight parameters. In the latter case weight tuning algorithms are not straightforward to obtain. Feedback control topologies and weight tuning algorithms are given here that guarantee closed-loop stability and bounded weights. Extensions are discussed to force control, backstepping control, and output feedback control, where dynamic nonlinear nets are required.

关键词： Intelligent feedback control neural networks neural network structures basis function networks fuzzy control fuzzy-neural networks universal approximation adaptive nonparametric control learning control systems

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First Study on Laser Bone Ablation System at the Skull Base for Micro Surgery Based on Vision Navigation

First Study on Laser Bone Ablation System at the Skull Base ...

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Chinese control Conference (CCC)

作者： Lu Shaofang L. A. Kahrs M. Werner F. B. Knapp J. Raczkowsky J. Schipper M. Ivanenko H. Worn P. Hering Th. Klenzner School of Communication Engineering Jilin University P. R. China Institute for Process Control and Robotics Universitat Karlsruhe (TH) Germany caesar (center of advanced european studies and research)’ Bonn Bonn Germany Department of Oto-Rhino-Laryngology Dusseldorf University Hospital Germany caesar (center of advanced european studies and research)’ Bonn Germany Institute of Laser Medicine University of Dusseldorf Bonn Germany

As the anatomic structures, for example bone thickness, are different and the destruction of the membrane lining the inner ear can lead to a damage of organ functions, for example deafness or vertigo, the protection of soft tissue structures behind the ablated bone in skull base surgery is mandatory. Consequently, a safer and more accurate Cochlear Implantation technology need to be developed urgently. For the detection of the boundary between soft tissue and bone the laser bone ablation system which was based on the combination of laser, robotics, coaxial monitoring and vision navigation was developed for a micro surgery at the skull base. Through this the laser is guided across the ablation area by vision navigation technologies. In this paper our laser bone ablation system and the first results of the boundary detection are described.

关键词： Laser ablation Bones Skull Laser surgery Navigation Biological tissues Biomembranes Ear Deafness Protection

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A standard communication interface for industrial robots and processor based peripherals - XIRP

A standard communication interface for industrial robots and...

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作者： Gauss, Michael Dai, Fan Som, Franz Zimmermann, Uwe E. Woern, Heinz Institute for Process Control and Robotics Universität Karlsruhe Germany ABB Corporate Research Germany Reis Robotics Germany KUKA Roboter Germany

XML Interface for Robots and Peripherals (XIRP) is a standard communication interface for industrial robots and processor based peripherals. The XIRP defines and spreads a standard communication protocol for robots and sensors/actors, which allows reuse of software components. XIRP protocol is a seam tracking application whereby a vision sensor at the robot arm is used to control the robot movement. It is a very simple device, which is not in focus and not intended as a universal interface. The interesting features of XIRP are the standardized device description, commands, and parameters are defined as XML schemas. The device description and command schemas of a certain device/application can be downloaded via HTTP on port 80.

关键词： Interfaces (computer)

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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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Data reduction for optical 3D-inspection in automotive application

Data reduction for optical 3D-inspection in automotive appli...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： R. Dillmann S. Vogt A. Zilker Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany Research and Technology DaimlerChrysler Aerospace Ulm Germany

Advances in optical sensors, computer graphics, and robotics provide new technology for the processes in styling, design, and quality management. They are used in optical inspection and reverse engineering to speed up the development process. One of the challenges of these new technologies for Daimler-Chrysler is the coupling to current CAD systems. The 3D data obtained from fast optical sensors have to be post-processed before they can be transferred to a commercial computer aided design system due to data format and the amount of the measured data. Reducing the measured data can remove important information or lower the accuracy of the data. This paper describes current and two new reduction algorithms for optical 3D data. It illustrates the need of data reduction in an application: a historic Mercedes Benz racing car is measured by a optical sensor delivering 98.3 million points. They are reduced down to 1 million points for reverse engineering of the car body surface.

关键词： Automotive applications Optical sensors Optical design Reverse engineering Computer graphics Robot sensing systems process design Quality management Inspection Design automation

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Leg synchronization of a walking machine by means of backpropagation-networks

Leg synchronization of a walking machine by means of backpro...

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International Joint Conference on Neural Networks (IJCNN)

作者： K. Berns St. Piekenbrock H. Dillmann Group Interactive Planning Research Centre for Computer Science University of Karlsruhe Germany Institute for Real Time Process Control and Robotics University of Karlsruhe Germany

In this paper various approaches to synchronize leg movement of a walking machine are reported. Backpropagation-networks with diverse topologies, different types of encodings of information and of training methods are... 详细信息

关键词： Leg Legged locomotion Network topology Mobile robots Robot kinematics Neural networks Propulsion Switches Foot Computer science

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Intelligent Simulation of Robot Application

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IFAC Proceedings Volumes 1985年第16期18卷 547-555页

作者： R. Dillmann M. Huck Institute of Informatics III University of Karlsruhe Research Group: Process Control Computer Technology and Robotics 7500 Karlsruhe FRG

A simulation system is presented, which supports the programming of a robot based manufacturing process. A CAD system is used for the geometric modeling. The system allows modeling of different object classes like robots, endeffectors, sensors, workpieces 88 well 88 the robot's environment. The control functions of different control hierarchies of the manufacturing system can be emulated. The results of the emulation of the virtual robot can be displayed graphically. Analysis and evaluation methods are applied to detect errors and conflicts which may occur in the simulated manufacturing process. The simulation system allows optimization of the manufacturing processes

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