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Relocalisation by partial map matching 3rd

3rd International Workshop on Modelling and Integration of Sensor Based Intelligent Robot systems, 1998

作者： Rencken, Wolfgang D. Feiten, Wendlin Zöllner, Raoul Siemens AG Coporate Technology München81730 Germany Institute for Real-Time Computer Control Systems Dept. of Computer Science University of Karlsruhe Karlsruhe76128 Germany

ISBN: (纸本)3540669337

The autonomous operation of an intelligent service robot in practical applications requires that the robot builds up a map of the environment by itself. A prerequisite for building large scale consistent maps is that the robot is able to recognise previously mapped areas and relocalise within these areas. The recognition is based on constructing partial maps of geometric landmarks which are then compared to yield the optimal correspondence between these landmarks. For each landmark a signature is constructed which contains additional information about its immediate environment and its non-geometric properties. It is ensured that the signatures are robust with respect to missing landmarks, rotation and translation of landmarks and varying landmark lengths. Both simulation and experiments on real robots have shown that the approach is capable of recognising previously mapped areas robustly in real-time. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Intelligent robots

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Making worst case execution time analysis for hard real-time tasks on state of the art processors feasible

Making worst case execution time analysis for hard real-time...

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IEEE International Conference on Embedded and real-time Computing systems and Applications (RTCSA)

作者： S.M. Petters G. Farber Institute for Real-Time Computer Systems Technische Universitat Munchen Germany

In the development of embedded hard real-time systems the ability to guarantee worst case execution times is gaining importance and complexity. The fast evolving processor acceleration techniques constantly increase the gap between a processor which uses the accelerations and one which does not. Modeling cache, pipelines and other parts of the processor gets increasingly difficult and time consuming. To circumvent this problem especially in the domain of rapid prototyping of embedded hard real-time systems, we propose to lay more weight on measurement and less on modeling. By analyzing the control flow graph the compiler uses for optimization, a reduced control flow graph can be generated, which limits the paths to be measured. Using this information the object code of the program is being instrumented and then measured. By measuring all paths the reduced control flow graph indicates, predictability is achieved without using too pessimistic estimations.

关键词： computer aided software engineering Iron real time systems Acceleration Pipelines Optimizing compilers Reduced instruction set computing Manufacturing processes Flow graphs Prototypes

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A system for robot assisted maxillofacial surgery

A system for robot assisted maxillofacial surgery

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6th Conferenc on Medicine Meets Virtual reality, MMVR 1998

作者： Burghart, Catherina R. Muenchenberg, Jan E. Rembold, Ulrich Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

ISBN: (纸本)9051993862

In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical results. On the one hand this implies the use of image processing, three dimensional modelling techniques and visualization techniques of medical image data, on the other hand planning systems, intraoperative navigation devices and surgical robots are needed. In this paper a complex expert system is presented, which uses a planner for generating treatment plans, an infrared navigation for monitoring both patient, robot, and surgical tool, and a surgical robotic system in order to work on bone. Special stress is laid on the architecture of the planning system, the structure of the treatment plans, and the intraopertative communication protocols.

关键词： Robotic surgery

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Knowledgebased segmentation

Knowledgebased segmentation

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6th Conferenc on Medicine Meets Virtual reality, MMVR 1998

作者： Burghart, Catherina R. Pernozzoli, Arno Rembold, Ulrich Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe 76128 Karlsruhe Germany

ISBN: (纸本)9051993862

The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scanning systems. As an anatomical knowledge base improves the recognition of structures in CT or MRI scans, we chose a knowledge based segmentation in our approach, which will be explained in the following.

关键词： computerized tomography

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Range image registration for free-form surfaces using curvature information as invariance 9

Range image registration for free-form surfaces using curvat...

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9th European Signal Processing Conference, EUSIPCO 1998

作者： Rieder, Markus Guir, Nicolas Dillmann, R. Department for Computer Science Institute for Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe76128 Germany Department of Computer Architecture University of Malaga Malaga Spain

A curvature based technique for fast range image registration is described in this work. With this technique the rotation and the displacement of a surface with respect to another one is calculated. The proposed algorithm uses Gaussian curvature information from each image point to extract a number of feature points. Two bounds are applied to the curvature values. Points with these bound curvature value are classified into two classes of feature points. In order to calculate the rotation angle between the two range images, the feature points are paired. That means the angle and the distance of the point pairs have to be transformed into a general view coordinate system. In the orientation matching procedure, we compare each pairing in the first image with each possible in the second one. This process is independent of the translation calculation which is calculated in a sequencing step. This pipelining principle speeds up the registration process if correspondences are calculated constantly.

关键词： Image registration

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Interactive generation of flexible robot programs

Interactive generation of flexible robot programs

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Friedrich J. Holle R. Dillmann Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

Service robots require interactive programming interfaces that allow users without programming experience to easily instruct the robots. systems following the programming by demonstration (PbD) paradigm that were developed within the last years are getting closer to this goal. However, most of these systems lack the possibility for the user to supervise and alter the course of program generation after the initial demonstration was performed. In this paper we present an approach, where the user is able to supervise the entire program generation process and to annotate, and edit system hypotheses. Moreover, the knowledge representation and algorithms presented enable the user to generalize the generated program by annotating conditions and object selection criteria via a 3D simulation and graphical user interface. The resulting PbD-system widens the PbD approach in robotics to the interactive generation of flexible robot programs based on demonstration and annotations.

关键词： Programming profession Robot programming Service robots Sensor phenomena and characterization Sensor systems real time systems Knowledge representation Graphical user interfaces Manipulators Educational programs

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Information Processing in a Flexible Robot-Based Microassembly Station

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IFAC Proceedings Volumes 1998年第15期31卷 253-258页

作者： Heinz Woern Joerg Seyfried Sergej Fatikow Karoly Santa University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 karlsruhe Germany Phone: +49-721-608 3656 Fax: +49-721-606 740

In biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and tested, and now higher-level problems have to be tackled: control systems with adequate computational power, user-interfaces and planning systems for micromanipulation systems have to be implemented and tested. Special attention must be paid to the requirements of micromanipulation, which differs greatly in some aspects from conventional manipulation. This paper discusses the information processing aspects of the control system of a micromanipulation station. The micromanipulation station consists of a microassembly robot working under a light-optical microscope, a CCD camera and an XY-stage. The requirements for the control computer system are high: assembly and execution planning has to be done in order to perform fully-automated microassembly, a vision system is necessary, and the control of the microrobots and the peripherals connected to the system demand high I/O power. The paper also shows a user interface to access the system resources in a user-friendly way and presents a sketch of the planning and the control algorithms

关键词： Robots microsystems assembly systems design

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Microassembly planning for manufacturing by flexible microrobots

Microassembly planning for manufacturing by flexible microro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Fatikow R. Mounassypov Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Department of Technical Cybernetics Ufa State Aviation Technical University Bashkortostan Russia

Automation of highly precise microassembly steps will make it easier to realize low cost microsystems. For this, a microrobot-based microassembly desktop station is being developed at the University of Karlsruhe. In this paper, we suggest a common microassembly model for a computer-aided microassembly planning-which is based on geometric reasoning-and discuss its components in detail. The feasibility criteria for the generation of feasible assembly sequences and the optimization criteria for selecting the optimal assembly plan are described. For both these planning steps, the algorithms for an automatic procedure have been developed and implemented. For stations employing several microrobots, a method for decomposition and allocation of an assembly plan is suggested. Finally, we discuss the structure of the station's planning system.

关键词： Microassembly Flexible manufacturing systems Robotic assembly Microscopy robotics and automation Glass Sensor systems Robot sensing systems Intelligent robots Process planning

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Inter-completion time scheduling (ICTS): non-preemptive scheduling to maximize the minimum inter-completion time

Inter-completion time scheduling (ICTS): non-preemptive sche...

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IEEE International Conference on Engineering of Complex computer systems

作者： C.C. Amaro A.D. Stoyen S.K. Baruah Department of Computer & Information Science Dependable Real-Time Systems Laboratory New Jersey Institute of Technology Newark NJ USA Department of Computer Science University of Vermont Burlington VT USA

Temporal load-balancing, spreading out the executions of tasks over time, is desirable in many applications in complex systems. A form of temporal load balancing is discussed, scheduling to maximize minimum inter-completion time (MICT-scheduling) and minimum global inter-completion time (MGICT-scheduling). It is shown that MICT- and MGICT-scheduling are, in general, NP-hard. A number of restricted classes of task systems are identified, which can be efficiently MICT- and MGICT-scheduled.

关键词： Processor scheduling real time systems Load management

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Non-Preemptive Scheduling to Maximize the Minimum Global Inter-Completion time (MGICT) 1

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IFAC Proceedings Volumes 1998年第14期31卷 135-140页

作者： Carlos C. Amaro Sanjoy K. Baruah Alexander D. Stoyen Wolfgang A. Halang Dependable Real- Time Systems Laboratory Department of Computer & Information Science New Jersey Institute of Technology University Heights Newark NJ 07102 USA Department of Computer Science The University of Vermont Burlington VT 05405 Faculty of Electrical Engineering Fernuniversität 58084 Hagen Germany

Temporal load-balancing - "spreading out" the executions of tasks over time - is desirable in many applications. A form of temporal load-balancing is discussed: scheduling to maximize minimum global inter-completion time (MGICT-scheduling). It is shown that MGICT-scheduling is, in general, NP-hard. A number of restricted classes of task systems are identified, which can be efficiently MGICT-scheduled.

关键词： non-preemptive scheduling independent tasks multiple processors loadbalancing

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