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We present a novel approach that utilizes BLE packets sent from generic BLE capable radios to synthesize an FSK-(like) addressable wake-up packet. A wake-up receiver system was developed from off-the-shelf components to detect these packets. It makes use of two differential signal paths separated by passive band-pass filters. After the rectification of each channel a differential amplifier compares the signals and the resulting wake-up signal is evaluated by an AS3933 wake-up receiver IC. Overall, the combination of these techniques contributes to a BLE compatible wake-up system which is more robust than traditional OOK wake-up systems. Thus, increasing wake-up range, while still maintaining a low energy budget. The proof-of-concept setup achieved a sensitivity of -47.8 dBm at a power consumption of 18.5 uW during passive listening. The system has a latency of 31.8 ms with a symbol rate of 1437 Baud.
Human-robot collaboration plays a strong role in industrial production processes. The ISO/TS 15066 defines four different methods of collaboration between humans and robots. So far, there was no robotic system available that incorporates all four collaboration methods at once. Especially for the speed and separation monitoring, there was no sensor system available that can easily be attached directly to an off-the-shelf industrial robot arm and that is capable of detecting obstacles in distances from a few millimeters up to five meters. This paper presented first results of using a 3D time-of-flight camera directly on an industrial robot arm for obstacle detection in human-robot collaboration. We attached a Visionary-T camera from SICK to the flange of a KUKA LBR iiwa 7 R800. With Matlab, we evaluated the pictures and found that it works very well for detecting obstacles in a distance range starting from 0.5 m and up to 5 m.
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.
Avoiding collisions between a robot arm and any obstacle in its path is essential to human-robot collaboration. Multiple systems are available that can detect obstacles in the robot's way prior and subsequent to a collision. The systems work well in different areas surrounding the robot. One area that is difficult to handle is the area that is hidden by the robot arm. This paper focuses on pick and place maneuvers, especially on obstacle detection in between the robot arm and the table that robot is located on. It introduces the use of single pixel time-of-flight sensors to detect obstacles directly from the robot arm. The proposed approach reduces the complexity of the problem by locking axes of the robot that are not needed for the pick and place movement. The comparison of simulated results and laboratory measurements show concordance.
3D printing offers customisation capabilities regarding suspensions for oscillators of vibration energy harvesters. Adjusting printing parameters or geometry allows to influence dynamic properties like resonance frequency or bandwidth of the oscillator. This paper presents simulation results and measurements for a spiral shaped suspension printed with polylactic acid (PLA) and different layer heights. Eigenfrequencies have been simulated and measured and damping ratios have been experimentally determined.
Sichere Detektion von Menschen in der Mensch-Roboter-Kollaboration mit Time-of-Flight Kameras
(2017)
Separation Estimation with Thermal Cameras for Separation Monitoring in Human-Robot Collaboration
(2022)
Human-Robot Collaborative applications have the drawback of being less efficient than their non-collaborative counterparts. One of the main reasons is, that the robot has to slow down when a human being is within the operating space of the robot. There are different approaches on dynamic speed and separation monitoring in human-robot collaborative applications. One approach additionally differentiates between human and non-human objects to increase efficiency in speed and separation monitoring. This paper proposes to estimate the separation distance by measuring the temperature of the approaching object. Measurements show that the measured temperature of a human being decreases with 1 deg C per meter distance from the sensor. This allows an estimation of separation between a robotic system and a human being.
During the last ten years the development of wireless sensing applications has become more and more attractive. A major reason for this trend is the large quantity of available wireless technologies. The progressing demand on wireless technologies is mainly driven through development from the industrial wireless sensors market. Especially requirements like low energy consumption, a resource saving simple protocol stack and short timing delays between different states of the wireless transceivers are very important for wireless sensors. Bluetooth Low Energy (BLE) is a rather new wireless standard in addition to the traditional Bluetooth standard (Basis rate and enhanced data rate, BR/EDR) [1]. The BLE will completely fulfill these fundamental requirements. First BLE transceiver chips and modules are available and have been tested and implemented in products. In this paper the performance analysis results of a BLE sensor system which is based on the TI transceiver CC2540F [5] will be presented. The results can be taken for further important investigations like lifetime calculations or BLE simulation models.