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3D Bin Picking with an innovative powder filled gripper and a torque controlled collaborative robot
(2023)
A new and innovative powder filled gripper concept will be introduced to a process to pick parts out of a box without the use of a camera system which guides the robot to the part. The gripper is a combination of an inflatable skin, and a powder inside. In the unjammed condition, the powder is soft and can adjust to the geometry of the part which will be handled. By applying a vacuum to the inflatable skin, the powder gets jammed and transforms to a solid shaped form in which the gripper was brought before applying the vacuum. This physical principle is used to pick parts. The flexible skin of the gripper adjusts to all kinds of shapes, and therefore, can be used to realize 3D bin picking. With the help of a force controlled robot, the gripper can be pushed with a consistent force on flexible positions depending of the filling level of the box. A Kuka LBR iiwa with joint torque sensors in all of its seven axis’ was used to achieve a constant contact pressure. This is the basic criteria to achieve a robust picking process.
Sensors and actuators enable creation of context-aware applications in which applications can discover and take advantage of contextual information, such as user location, nearby people and objects. In this work, we use a general context definition, which can be applied to various devices, e.g., robots and mobile devices. Developing context-based software applications is considered as one of the most challenging application domains due to the sensors and actuators as part of a device. We introduce a new development approach for context-based applications by using use-case descriptions and Visual Programming Languages (VPL). The introduction of web-based VPLs, such as Scratch and Snap, has reinvigorated the usefulness of VPLs. We provide an in-depth discussion of our new VPL based method, a step by step development process to enable development of context-based applications. Two case studies illustrate how to apply our approach to different problem domains: Context-based mobile apps and context-based humanoid robot applications.
The main advantage of mobile context-aware applications is to provide effective and tailored services by considering the environmental context, such as location, time, nearby objects and other data, and adapting their functionality according to the changing situations in the context information without explicit user interaction. The idea behind Location-Based Services (LBS) and Object-Based Services (OBS) is to offer fully-customizable services for user needs according to the location or the objects in a mobile user's vicinity. However, developing mobile context-aware software applications is considered as one of the most challenging application domains due to the built-in sensors as part of a mobile device. Visual Programming Languages (VPL) and hybrid visual programming languages are considered to be innovative approaches to address the inherent complexity of developing programs. The key contribution of our new development approach for location and object-based mobile applications is a use case driven development approach based on use case templates and visual code templates to enable even programming beginners to create context-aware mobile applications. An example of the use of the development approach is presented and open research challenges and perspectives for further development of our approach are formulated.
Landing heel first has been associated with elevated external knee abduction moments (KAM), thereby potentially increasing the risk of sustaining a non-contact ACL injury. Apart from the foot strike angle, knee valgus angle (VAL) and vertical center of mass velocity at initial ground contact (IC) have been associated with increased KAM in females across different sidestep cuts. While real-time biofeedback training has been proven effective for gait retraining [4], the highly dynamic, non-cyclical nature of cutting maneuvers makes real-time feedback unsuitable and alternative approaches necessary. This study aimed at assessing the efficacy of immediate software-aided feedback on cutting technique in reducing KAM during handball-specific cutting maneuvers.
In this contribution, we present a novel 3D printed multi-material, electromagnetic vibration harvester. The harvester is based on a cantilever design and utilizes an embedded constantan wire within a matrix of polyethylene terephthalate glycol (PETG). A prototype has been manufactured with a combination of a fused filament fabrication (FFF) printer and a robot with a custom-made tool.
Mathematik lässt sich in vielen Objekten finden. Sei es die lineare Steigung eines Handlaufs zum Schulgebäude oder die nahezu zylindrische Form einer Litfaßsäule in der Innenstadt. Das Bestreben, Schüler*innen diese Zusammenhänge entdecken zu lassen, steht im Zentrum des MathCityMap Projekts (Ludwig et al., 2013). Auf sogenannten mathematischen Wanderpfaden (bzw. Mathtrails) werden Schüler*innen durch eine App zu Mathematikaufgaben an realen Objekten bzw. in realen Situationen ihrer Umwelt geleitet. Um die Aufgaben zu lösen, werden Daten erhoben, z. B. durch Messungen oder Zählen. Entscheidend ist, dass die Aufgaben so gestellt sind, dass der Schritt der Datenbeschaffung nur vor Ort stattfinden kann und somit direkt mit dem Objekt bzw. der Situation verknüpft wird.
This paper describes the magmaOffenburg 3D simulation team trying to qualify for RoboCup 2013. While last year’s TDP focused on different ways how robot behavior can be defined in the magmaOffenburg framework this year we focus on how we statistically evaluate new features on distributed systems. We also show some results gained through such analysis.
This paper describes the magmaOffenburg 3D simulation team trying to qualify for RoboCup 2012. While last year’s TDP focused on the tool set created for 3D simulation and the support for heterogeneous robot models, this year we focus on the different ways how robot behavior can be defined in the magmaOffenburg framework and how those behaviors can be improved by learning.
This paper describes the magmaOffenburg 3D simulation team trying to qualify for RoboCup 2011. While last year’s TDP focused on the tool set created for 3D simulation in this year we describe the further improvement in this tools as well as some new features we implemented focusing on heterogeneous robot models which seem to be used in RoboCup 2012.
An additional tool was written to simply generate situation-dependent strategies. Furthermore some tools, described last year, are now integrated in one single GUI to easy things up.
This paper describes the magmaOffenburg 3D simulation team trying to qualify for RoboCup 2010. While last year’s TDP focused on decisions making using extended behavior networks and on its software architecture and implementation in this year we describe the tool set that was created for RoboCup 3D. It contians a GUI for agent- and world state visualization, for evaluation of localization algorithms and benchmarks in general, a visual editor for Extended Behavior Networks creation and debugging, a live movement tool to interact with the joints and finally a tool for editing behavior motor files.
This paper describes the magmaOffenburg 3D simulation team trying to qualify for RoboCup 2009. It focuses on two distinctive features of the team: decisions making using extended behavior networks and its software architecture and implementation in Java to open the simulation for the Java community.
Team description papers of magmaOffenburg are incremental in the sense that each year we address a different topic of our team and the tools around our team. In this year’s team description paper we focus on the architecture of the software. It is a main factor for being able to keep the code maintainable even after 15 years of development. We also describe how we make sure that the code follows this architecture.
Evaluierung von Kalman Filter Konfigurationen zur Roboterlokaliserung mittels Sensordatenfusion
(2023)
In dieser Arbeit werden drei verschiedene Konfigurationen der von Tom Moore, für das Robot Operating System, entwickelte Kalman-Filter vorgestellt. Diese bilden die Grundlage für eine Lokalisierung mittels Sensorfusion in dem verwendeten ROS-Framework. Ziel dieser Arbeit ist der Aufbau und die Verifikation einer Lokalisierung für ein mobiles Robotersystem Husky A200 der Firma Clearpath Robotics. Hierzu wurden die Möglichkeiten des bestehenden Systems untersucht und mehrere Versionen von Lokalisierungsfiltern konfiguriert. Am an Ende, wird eine Verifikation der Ergebnisse in verschiedenen Szenarien gegeneinandergestellt. Hierzu werden die Ergebnisse einer Variante des Extended Kalman-Filters in 2D (EKF2D), eine Variante des Unscented Kalman-Filter in 2D (UKF2D) und eine Variante des Extended Kalman-Filters in 3D (EKF3D) verifiziert und verglichen. Die Untersuchungen ergaben das der EKF2D die besten und robustesten Ergebnisse für eine Lokalisierung erbringt, trotz, im Vergleich zu der UKF2D Variante, 17,3 % höhere Endpositionsabweichung aufweist. Die in diesem Projekt gewählte EKF3D Konfigurationsvariante eignet sich, wegen seinen starken Ungenauigkeiten in der Höhenbestimmung nicht für eine aussagekräftige Positionsbestimmung.
Die Positionierung mobiler Systeme mit hoher Genauigkeit ist eine Voraussetzung für intelligentes autonomes Verhalten, sowohl in der Feldrobotik als auch in industriellen Umgebungen. Dieser Beitrag beschreibt den Aufbau einer Roboterplattform und ihre Verwendung für den Test und die Bewertung von Kalman-Filter-Konfigurationen. Der Aufbau wurde mit einem mobilen Roboter Husky A200 und einem LiDAR-Sensor (Light Detection and Ranging) realisiert. Zur Verifizierung des vorgeschlagenen Aufbaus wurden fünf verschiedene Szenarien ausgearbeitet. Mit denen wurden die Filter auf ihre Leistungsfähigkeit hinsichtlich der Genauigkeit der Positionsbestimmung getestet.
The title expresses goals the Kansas Geological Survey (KGS) has been working toward for some time. This report extends concepts and objectives developed while working on an earlier effort for effective interactive digital maps on the Internet. That work was reported to the 1998 DMT Workshop in Champaign, Illinois (Ross, 1998). The current project goes beyond previous efforts that focused on methods for serving the contents of a geographic information system (GIS); the points, lines, and polygons representing features of the digital geologic map and the data in the attribute tables of the GIS describing those features.
In den Unternehmen der Automobilbranche herrscht ein beträchtlicher Rationalisierungsdruck mit einem daraus folgenden hohen Automatisierungsgrad. Den erheblichen Investitionen in modernste Fertigungstechnologien und Montageanlagen steht zunehmend die Forderung eines Return of Investment mit zweistelligen Prozentsätzen gegenüber. Betriebliche Abläufe und Fertigungsprozesse werden daher sehr detailliert geplant, wobei 'minutiöse' Planungen oftmals nur die Beherrschung komplexer Prozeßabläufe vortäuschen. Ungeplante Einflußfaktoren und Störungen lassen manche Planung schnell zu Makulatur verkommen.
Geschäftsprozeßmodellierung und dynamische Simulationen von Fertigungsprozessen mittels zeitbewerteter Petri-Netze, bieten ausgezeichnete Möglichkeiten, komplexe Zusammenhänge transparenter zu machen und neue Erkenntnisse über die Einflüsse von Störungen oder Qualitätsschwankungen auf die Produkt- und Prozeßqualität zu erhalten. In einem Teilbereich der Produktion der Daimler-Benz AG in Gaggenau wurden Qualitätsstörungen und ihre Wirkungen auf den Fertigungsprozeß von Drehmomentwandlern untersucht. Die im Fertigungsverlauf auftretenden qualitätsbeeinflussenden Störungen wurden in Petri-Netz-Modellen abgebildet und in diversen Szenerien simuliert. Die Auswirkungen auf die Anlagenverfügbarkeit, Durchlaufzeiten, Lagerstrategien und die Kostensituationen wurden verdeutlicht und erste Maßnahmen mit den zugehörigen Voraussetzungen aufgezeigt.
“Today’s network landscape consists of quite different network technologies, wide range of end-devices with large scale of capabilities and power, and immense quantity of information and data represented in different formats” [9]. A lot of efforts are being done in order to establish open, scalable and seamless integration of various technologies and content presentation for different devices including mobile considering individual situation of the end user. This is very difficult because various kinds of devices used by different users or in different times/parallel by the same user which is not predictable and have to be recognized by the system in order to know device capabilities. Not only the devices but also Content and User Interfaces are big issues because they could include different kinds of data format like text, image, audio, video, 3D Virtual Reality data and upcoming other formats. Language Learning Game (LLG) is such an example of a device independent application where different kinds of devices and data formats, as a content of a flashcard is used for a collaborative learning. The idea of this game is to create a short story in a foreign language by using mobile devices. The story is developed by a group of participants by exchanging sentences/data via a flashcard system. This way the participants can learn from each other by knowledge sharing without fear of making mistakes because the group members are anonymous. Moreover they do not need a constant support from a teacher.
Qualitative Wissenschaft, künstlerisches Forschen und forschendes Lernen verbinden Erkenntnis aus Praxis und Erfahrung. In der Autoethnographie der eigenen Werkstatt des Hörens wie der Kultur in Studios anderer, wird die noch neue Interdisziplin Sound (Studies) erprobt und vertieft, mit Impulsen für die Praxis und Theorie, von der noch wenig bekannten A/r/t ographie heute, hin zu einer künftig A/R/Tophonie, dem künstlerischen Forschen in der Musik, ebenso wie durch Klang Komposition, Radio Kunst und visuelle Musik.
Security in IT systems, particularly in embedded devices like Cyber Physical Systems (CPSs), has become an important matter of concern as it is the prerequisite for ensuring privacy and safety. Among a multitude of existing security measures, the Transport Layer Security (TLS) protocol family offers mature and standardized means for establishing secure communication channels over insecure transport media. In the context of classical IT infrastructure, its security with regard to protocol and implementation attacks has been subject to extensive research. As TLS protocols find their way into embedded environments, we consider the security and robustness of implementations of these protocols specifically in the light of the peculiarities of embedded systems. We present an approach for systematically checking the security and robustness of such implementations using fuzzing techniques and differential testing. In spite of its origin in testing TLS implementations we expect our approach to likewise be applicable to implementations of other cryptographic protocols with moderate efforts.
Digital libraries are providing an increasing amount of data, which is normally structured in a classical way by documents and described by metadata as keywords. The data, even in scientific systems such as digital libraries and virtual research environments, will contain a great amount of noise or information unnecessary for our personal interests. Although there has been a lot of progress in the field of information retrieval, search techniques and other content finding methods, there is still much to be done in the field of information retrieval based on user behavior. This paper presents an approach deployed in the Humboldt Digital Library (HDL) to facilitate the retrieval of relevant information to the users of the system, making recommendations of paragraphs based on their profile and the behavior of other users who share similar profiles. The Humboldt digital library represents an innovative system of open access to the legacy of Alexander von Humboldt in a digital form on the Internet (www.avhumboldt.net). It contributes to the key question, how to present interconnected data in a proper form using information technologies.
This article sets the focus on methods of information technology in the Humboldt Portal, which represents an ongoing research project to develop a virtual research environment on the Internet for the legacy of Alexander von Humboldt. Based on the experiences of developing and providing the Humboldt Digital Library (www.avhumboldt.net) for more than a decade, we defined a working plan to create an Internet portal for comprehensive access to Humboldt’s writings, no matter if documents are provided as PDF files, scan images or XML-TEI documents on external archives (Google Books, Internet Archive, Deutsches Textarchiv, Bibliotheque National de France). Going far beyond services of a digital library we will provide an information network with multimedia assets, which are containing objects like terms, paragraphs, data tables, scan images, or illustrations, together with correlated properties like thematic linkage to other objects, relevant keywords with optional synonyms and dynamic hyperlinks to related translations in different languages. So the Humboldt Portal can contribute to the key question, how to present interconnected data in an appropriate form using information technologies on the Web.
Technology and computer applications influence our daily lives and questions arise concerning the role of artificial intelligence and decision-making algorithms. There are warning voices, that computers can, in theory, emulate human intelligence-and exceed it. This paper points out that a replacement of humans by computers is unlikely, because human thinking is characterized by cognitive heuristics and emotions, which cannot simply be implemented in machines operating with algorithms, procedural data processing or artificial neural networks. However, we are going to share our responsibilities with superior computer systems, which are tracking and surveying all of our digital activities, whereas we have no idea of the decision-making processes inside the machines. It is shown that we need a new digital humanism defining rules of computer responsibilities to avoid digital totalism and comprehensive monitoring and controlling of individuals within the planet Earth.
A platform of an electronic capsule is being developed for multi-task medical assistant application. It includes a near field telemetry unit for bidirectional communication system of 115 KHz low carrier frequency for inductive data transmission suited for human body energy transfer. The system triggers an actuator for drug delivery in various time and release forms via wireless external control, it has the ability to record temperature, measure pH of the body (additional sensors), and retrieve data to the outside. It consists of a 32bit processor, memory, external peripheries, and detection facility. The complete system is designed to fit small-size mass medical application with low power consumption, size of 7x25mm. The system is designed, simulated and emulated on FPGA. A final layout of the complete chip design is still under progress.
Autonomous humanoid robots require light weight, high torque and high speed actuators to be able to walk and run. For conventional gears with a fixed gear ratio the product of torque and velocity is constant. On the other hand desired motions require maximum torque and speed. In this paper it is shown that with a variable gear ratio it is possible to vary the relation between torque and velocity. This is achieved by introducing systems of rods and levers to move the joints of our humanoid robot ”Sweaty II”. On the basis of a variable gear ratio low speed and high torque can be achieved for those joint angles, which require this motion mode, whereas high speed and low torque can be realized for those joint angles, where it is favorable for the desired motion.
Existing approaches solving multi-vehicle pickup and delivery problems with soft time windows typically use common benchmark sets to verify their performance. However, there is a gap from these benchmark sets to real world problems with respect to instance size and problem complexity. In this paper we show that a combination of existing approaches together with improved heuristics is able to deal with the instance sizes and complexity of real world problems. The cost savings potential of the heuristics is compared to human dispatching plans generated from the data of a European carrier.
The services sector is also called “tertiary sector” and has become increasingly important in the last few decades. The process of this occurring structural change is characterized by a significant increase in employment in the services sector. On the other hand, the former economic importance in traditional areas, such as agriculture and forestry, as well as manufacturing, is declining.
To have an overview it is important to look and to analyse the different research studies.
Sweaty has already participated several times in RoboCup soccer competitions (Adult Size). Now the work is focused coordinating the play of two robots. Moreover, we are working on stabilizing the gait by adding additional sensor information. An ongoing work is the optimization of the control strategy by balancing between impedance and position control. By minimizing the jerk, gait and overall gameplay should improve significantly.
Sweaty has already participated several times in RoboCup soccer competitions (Adult Size). Now the work is focused on stabilizing the gait. Moreover, we would like to overcome the constraints of a ZMP-algorithm that has a horizontal footplate as precondition for the simplification of the equations. In addition we would like to switch between impedance and position control with a fuzzy-like algorithm that might help to minimize jerks when Sweaty’s feet touch the ground.
Sweaty has already participated four times in RoboCup soccer competitions (Adult Size) and came second three times. While 2016 Sweaty needed a lot of luck to be finalist, 2017 Sweaty was a serious adversary in the preliminary rounds. In 2018 Sweaty showed up in the final with some lack of experience and room for improvements, but not without any chance. This paper describes the intended improvements of the humanoid adult size robot Sweaty in order to qualify for the RoboCup 2019 adult size competition.
This paper describes the Sweaty II humanoid adult size robot trying to qualify for the RoboCup 2018 adult size humanoid competition. Sweaty came 2nd in RoboCup 2017 adult size league. The main characteristics of Sweaty are described in the Team Description Paper 2017. The improvements that have been made or are planned to be implemented for RoboCup 2018 are described in this paper.