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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.
The idea of this game is to use a flashcard system to create a short story in a foreign language. The story is developed by a group of people by exchanging sentences via a flashcard system. This way, people can learn from each other without fear of making mistakes because the group members are anonymous.
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.
This paper presents a streaming-based E-Learning environment where closer integration between learning and work is achieved by integrating multimedia services into manufacturing processes. It contains a comprehensive and detailed explanation of the proposed E-Learning streaming framework, especially the adaption of streaming services to mobile environments. We first analyze several scenarios where E-Learning streaming services can be integrated into manufacturing processes. To allow systematic and tailor-made integration, we develop a model and a specification language for E-Learning streaming services and apply the model using practical scenarios from real manufacturing processes. Adaption of multimedia streaming services to mobile devices is discussed based on Synchronized Multimedia Integration Language (SMIL). Last, we comment on the benefits of using E-Learning streaming services as part of manufacturing processes and analyze the acceptance of the developed system. The key components of our E-Learning environment are 1) an xml based streaming service specification language, 2) adaption of multimedia E-Learning services to mobile environments, and 3) Web Services for searching, registration, and creation of E-Learning streaming services.
This paper presents a method for supporting the application of Additive Tooling (AT)-based validation environments in integrated product development. Based on a case study, relevant process steps, activities and possible barriers in the realisation of an injection-moulded product are identified and analysed. The aim of the method is to support the target-oriented application of Additive Tooling to obtain physical prototypes at an early stage and to shorten validation cycles.
Electronic pills, smart capsules or miniaturized microsystems swallowed by human beings or animals for various biomedical and diagnostic applications are growing rapidly in the last years. This paper searched out the important existing electronic pills in the market and prototypes in research centers. Further objective of this research is to develop a technology platform with enhanced feature to cover the drawback of most
capsules. The designed telemetry unit is a synchronous bidirectional communication block using continuous phase DQPSK of 115 kHz low carrier frequency for inductive data transmission suited for human body energy transfer. The communication system can assist the electronic pill to trigger an actuator for drug delivery, to record temperature, or to measure pH of the body. It consists additionally to 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.
The Metering Bus, also known as M-Bus, is a European standard EN13757-3 for reading out metering devices, like electricity, water, gas, or heat meters. Although real-life M-Bus networks can reach a significant size and complexity, only very simple protocol analyzers are available to observe and maintain such networks. In order to provide developers and installers with the ability to analyze the real bus signals easily, a web-based monitoring tool for the M-Bus has been designed and implemented. Combined with a physical bus interface it allows for measuring and recording the bus signals. For this at first a circuit has been developed, which transforms the voltage and current-modulated M-Bus signals to a voltage signal that can be read by a standard ADC and processed by an MCU. The bus signals and packets are displayed using a web server, which analyzes and classifies the frame fragments. As an additional feature an oscilloscope functionality is included in order to visualize the physical signal on the bus. This paper describes the development of the read-out circuit for the Wired M-Bus and the data recovery.
In dem Projekt BioMeth wurde der Ansatz der Membranbegasung zur Erhöhung der Verfügbarkeit von gelöstem Wasserstoff für die biologische Methanisierung im Sinn der Etablierung eines Power-to-Gas-Konzeptes zur Energiespeicherung verfolgt. Übergeordnetes Ziel war die Entwicklung eines skalierbaren Verfahrenskonzeptes, dass sich zur Nutzung CO2-haltiger Gasvolumenström eignet. Geplant war es, das Verfahren am Beispiel der Biogasanlage der Biokäserei Monte-Ziego in Teningen zu demonstrieren und dort das bestehende Konzept der parallelen Abwasseraufbereitung und Energieerzeugung zu erweitern. Die ursprüngliche Struktur des Arbeitspaketplanes ist in nachfolgender Abbildung gezeigt.
Aktiver RFID-Sensor
(2008)
Das in Schramberg ansässige Unternehmen Schweizer Electronic, einer der großen europäischen Leiterplattenhersteller, hat sich ein neues Geschäftsfeld als Systemlieferant für mikroelektronische Geräte erschlossen. Gemeinsam mit dem Institut für Angewandte Forschung der Hochschule Offenburg und Siemens hat das Unternehmen einen Datenlogger mit einer ISO 15693 kompatiblen 13,56 MHz RFID-Luftschnittstelle zur Serienreife entwickelt. Die SEAGsens Temperaturmessgeräte aus der Vorserienproduktion haben die ersten Feldtests erfolgreich bestanden. Die Großserienproduktion wird noch in diesem Jahr anlaufen.
Many commonly well-performing convolutional neural network models have shown to be susceptible to input data perturbations, indicating a low model robustness. Adversarial attacks are thereby specifically optimized to reveal model weaknesses, by generating small, barely perceivable image perturbations that flip the model prediction. Robustness against attacks can be gained for example by using adversarial examples during training, which effectively reduces the measurable model attackability. In contrast, research on analyzing the source of a model’s vulnerability is scarce. In this paper, we analyze adversarially trained, robust models in the context of a specifically suspicious network operation, the downsampling layer, and provide evidence that robust models have learned to downsample more accurately and suffer significantly less from aliasing than baseline models.
The concept of m-learning which differs from other forms of e-learning covers a wide range of possibilities opened up by the convergence of new mobile technologies, wireless communication structure and distance learning development. This process of converging has launched some new goals to support m-learning where heterogeneity of devices, their operating systems (Linux, Windows, Symbian, Android etc) and supported markup languages (WML, XHTML etc), adaptive content, preferences or characteristics of user have become some of the major problems to be solved. To facilitate the learning process even more and to establish literally anytime anywhere learning, learning material/content should be available to the user always even if the user is in offline. Multiple devices used by the same user should also be synchronized among themselves and with server to provide updated learning content and to give a freedom to the user to choose any device as per his/her convenience. In this paper software architecture has been proposed to solve these problems and has been implemented by using a multidimensional flashcard learning system which synchronizes among all the devices that are being used by the user.