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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Suei Jen Chen Bjorn Hein Heinz Worn Institute for Process Control and Robotics IPR Universität Karlsruhe Karlsruhe Germany

During the rapid transfer of freely suspended loads, hazardous swing oscillations may be produced. In order to deal with this problem, we propose a new methodology, which derives immediately from the acceleration compensation principle (Chen et al. 2006). It consists basically of modifying the original reference-trajectory comprised by a set of suspension points, with the purpose to compensate undesirable residual swing effects at the end of the transfer motion. This open-loop method is computationally simple, time-efficient and feasible. In contrast to the popular methods utilized to control the overhead cranes, which traveling motions are restricted only in the horizontal plane, our compensation technique involves as well the motion in vertical plane. The rope length is assumed invariant. A set of simulations and experimental verifications using an industrial robot manipulator KUKA KR-16 have been carried out to demonstrate the feasibility of the proposed solution.

关键词： Attenuation Manipulators Acceleration Optimal control Motion control Open loop systems Cranes Payloads Intelligent robots Service robots

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Using Acceleration Compensation to Reduce Liquid Surface Oscillation During a High Speed Transfer

Using Acceleration Compensation to Reduce Liquid Surface Osc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Suei Jen Chen Bjorn Hein Heinz Worn Institute for Process Control and Robotics (IPR) Universität Karlsruhe Karlsruhe Germany

An open-loop method on the basis of acceleration compensation to reduce liquid surface oscillation generated during a high-speed transfer will be presented in this paper. In order to suppress the undesirable liquid vibration effects, so called `sloshing', a new simple and effective methodology consisting of adapting the gripper orientation is proposed. The assumption of slosh-free movement will be valid so long as there is no relative motion between the container and the liquid. To accomplish this objective, the maximum acceleration in every time-instant has to be considered in the computation. This represents that our method operates basically in maintaining the normal of the liquid surface opposite to the entire systems acceleration until the completion of the transportation. Experimental results using a manipulator KUKA-KR16 will be demonstrated to validate the effectiveness of our approach.

关键词： Acceleration Containers Transportation Open loop systems Vehicles control systems Feedback control Voltage control Vibration measurement Shape control

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Editorial

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Real-Time Systems 2007年第1期36卷 1-2页

作者： Brinkschulte, Uwe Lee, Sunggu Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany EE Dept. POSTECH Pohang South Korea

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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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第二十六届中国控制会议

作者： Kahrs L.A. Werner M. Knapp F.B. Raczkowsky J. Schipper J. Ivanenko M. Wrn H. Hering P. Klenzner Th. Institute for Process Control and Robotics Universitt Karlsruhe(TH)Germany Institute of Laser Medicine University of DüsseldorfGermany

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 ***,a safer and more accurate Cochlear Implantation technology need to be developed *** the detection of the boundary between soft tissue and bone the laser bone abla-tion system which was based on the combination of laser,robotics,coaxial monitoring and vision navigation was developed for a micro surgery at the skull *** this the laser is guided across the ablation area by vision navigation *** this paper our laser bone ablation system and the first results of the boundary detection are described.

关键词： Vision Navigation,Laser Bone Ablation,Coaxial process control,Interface Detection

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Cognition-oriented building blocks of future benchmark scenarios for humanoid home robots

Cognition-oriented building blocks of future benchmark scena...

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2007 AAAI Workshop

作者： Burghart, Catherina R. Mikut, Ralf Holzapfel, Hartwig Institute of Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Forschungszentrum Karlsruhe GmbH Institute of Applied Computer Science P.O. Box 3640 D-76021 Karlsruhe Germany Interactive Systems Lab. University of Karlsruhe D-76128 Karlsruhe Germany

ISBN: (纸本)9781577353317

Comparing intelligent robots interacting with humans is a difficult task. First of all, robotic helps in everyday life can be involved in different tasks. Additionally, the grade of autonomy of the robot and the type of interaction between human and robot may differ to a great extent. It also is an intricate task to design common metrics to assess human-robot interaction. Thus normal benchmarks fail in this case. After an overview of already existing benchmarks in robotics this paper sketches affordances for benchmarks for human-robot interaction in a home environment. Many aspects of already existing benchmarks, evaluation criteria, and metrics have to be combined to asses human-robot interaction in a complex environment. The great difficulty is measuring human and robot behavior;here novel approaches taking into account perspectives from different fields (i.e. engineers, psychologists, sociologist) are needed, as a human being does not behave as anticipated by the system designer most of the time. Copyright © 2007, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Human robot interaction

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A Force Feedback Virtual Simulator for Education and Training

A Force Feedback Virtual Simulator for Education and Trainin...

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IEEE International Symposium on Virtual Environments, Human-Computer Interfaces and Measurement Systems (VECIMS)

作者： Lucio Tommaso De Paolis Euro Blasi Alessandro De Mauro Giovanni Aloisio Department of Innovation Engineering Salento University Lecce Italy SPACI Consortium Italy Institute for Process Control and Robotics (IPR) Medical Robotics Group University of Karlsruhe Germany

The essential requirements of a virtual reality based simulator are a realistic virtual environment and a reproduction of haptic sensation due to the interactions in the virtual environment. The interactions need to be performed in real-time, since a delay between the user action and the system reaction reduces the user experience. Accuracy and efficiency are two opposite requirements; in fact, increased accuracy implies higher computational time and vice versa. So, it is necessary to find a trade-off according to the application and, sometimes, to reduce the realism in favour of the real-time interaction. In this paper is presented a virtual simulator provided of a haptic interface and a virtual environment reconstructed from real patient's medical images in order to have haptic sensations in addition to a very realist virtual environment.

关键词： Force feedback Virtual environment Haptic interfaces Virtual reality Real time systems Delay Computational modeling Medical simulation Image reconstruction Biomedical imaging

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Comparison between Manual and Semi-automatic Segmentation of Nasal Cavity and Paranasal Sinuses from CT Images

Comparison between Manual and Semi-automatic Segmentation of...

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29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2007), vol.14

作者： K. Tingelhoff A. I. Moral M. E. Kunkel M. Rilk I. Wagner K. W. G. Eichhorn F. M. Wahl F. Bootz Clinic and Policlinic of Otolaryngology/Ear Nose and Throat Surgery University of Bonn Germany Institute of Robotics and Process Control Technical University of Braunschweig Germany

Segmentation of medical image data is getting more and more important over the last years. The results are used for diagnosis, surgical planning or workspace definition of robot-assisted systems. The purpose of this paper is to find out whether manual or semi-automatic segmentation is adequate for ENT surgical workflow or whether fully automatic segmentation of paranasal sinuses and nasal cavity is needed. We present a comparison of manual and semi-automatic segmentation of paranasal sinuses and the nasal cavity. Manual segmentation is performed by custom software whereas semi-automatic segmentation is realized by a commercial product (Amira). For this study we used a CT dataset of the paranasal sinuses which consists of 98 transversal slices, each 1.0mm thick, with a resolution of 512×512 pixels. For the analysis of both segmentation procedures we used volume, extension (width, length and height), segmentation time and 3D-reconstruction. The segmentation time was reduced from 960 minutes with manual to 215 minutes with semi-automatic segmentation. We found highest variances segmenting nasal cavity. For the paranasal sinuses manual and semiautomatic volume differences are not significant. Dependent on the segmentation accuracy both approaches deliver useful results and could be used for e.g. robot-assisted systems. Nevertheless both procedures are not useful for everyday surgical workflow, because they take too much time. Fully automatic and reproducible segmentation algorithms are needed for segmentation of paranasal sinuses and nasal cavity.

关键词： Image segmentation Computed tomography Surges Surgery Ethics robotics and automation Anatomy Image reconstruction Biomedical imaging Medical diagnostic imaging

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3D Endoscopic Approach for Endonasal Sinus Surgery

3D Endoscopic Approach for Endonasal Sinus Surgery

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29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS 2007), vol.12

作者： A. I. Moral M. E. Kunkel K. Tingelhoff M. Rilk I. Wagner K. W. G. Eichhorn F. Bootz F. M. Wahl Institute of Robotics and Process Control Technical University of Braunschweig Germany Clinic and Policlinic of Otolaryngology/Ear Nose and Throat Surgery University of Bonn Germany

Functional endoscopic sinus surgery (FESS) is a minimal invasive approach adopted in case of chronic sinusitis (inflammation of the paranasal sinuses). The paranasal sinuses are hollow structures within the bones surrounding the nasal cavity. During FESS the surgeon moves the endoscope and other surgical instruments within the nasal cavity following specific paths to approach each one of the paranasal sinuses. The purpose of this study was to reconstruct these paths to access the paranasal sinuses using volumetric CT data. The results will be used for Finite Element modeling and simulations for Robot Assisted Endonasal Surgery.

关键词： Computed tomography Bones Minimally invasive surgery Endoscopes Image reconstruction Eyes Image segmentation Skull Head Ethics

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Coding interaction patterns between human and receptionist robot

Coding interaction patterns between human and receptionist r...

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IEEE-RAS International Conference on Humanoid Robots

作者： Catherina Burghart Hartwig Holzapfel Roger Haeussling Stephan Breuer Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany Interactive Systems Laboratory University of Karlsruhe Karlsruhe Germany Institute of Sociology University of Karlsruhe Karlsruhe Germany

Intelligent robotic systems will be found in several fields of everyday life in the near future. This implies an easy handling of an interaction with service robots by naive persons. Up till now many problems in human-robot interaction do exist; one of them is the great variety of human communication and behavior. Thus system designers often cannot anticipate human behavior which leads to frustrated users. We have devised a tool to analyze and code human and robot behavior during human-robot interaction, which can serve as a first stepping stone toward recognizing, automating coding and adapting robot behavior in order to obtain successful interactions. The tool called Interaction Analysis Protocol was used in different interaction scenarios between robot and human being. In this paper we present an experiment within which the robot acts as receptionist. The analysis and coded behaviors are based on the Interaction Analysis Protocol.

关键词： Human robot interaction robotics and automation Intelligent robots Protocols Educational robots Autism Speech Humanoid robots process control Interactive systems

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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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