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Today's trends towards automation and robotics, fueled by the emerging Industry 4.0 paradigm shift, open up many new kinds of control and optimization problems. At the same time, advances in 3D simulation technology lead to ever-improving simulation models and algorithms in various domains, such as multi-body dynamics, kinematics, or sensor simulation. This development can be harnessed for Simulation-...
The concepts and methodologies behind Model-based Systems Engineering (MBSE) hold great promises concerning the development of complex systems. Various projects have been carried out successfully during the last years and demonstrated the power behind the overall concept — and the practical problems to reach the ambitious overall goals. Whereas the first steps of MBSE like the iterative modeling of...
Way beyond its industrial roots, robotics evolved to be a highly interdisciplinary field with a variety of applications in a smart world. The eRobotics methodology addresses this evolution by providing platforms where roboticist can exchange ideas and collaborate with experts from other disciplines for developing complex technical systems and automated solutions. Virtual Testbeds are the central method...
One of the next steps in factory automation might not exclusively be an automation issue, but instead combining robot and human skills to further improve industrial work processes. For various reasons, there is still a low dissemination of hybrid work processes characterized by direct human robot interaction. For instance, it is very difficult to decide which manual work processes are eligible for...
This paper presents an approach to Simulation-Based Control of industrial robots. Data structures and algorithms are presented that adapt a simulation system, in order to meet the real-time constraints imposed by a real-time operating system and the actual robot hardware. It is exemplary shown that our approach is applicable even in challenging settings, while maintaining remarkable accuracy.
Abstract-The sensory acquisition of the environment is themost important task of mobile robotics, as it is the foundationfor any ability that the robot shall have, later on. Sophisticatedtasks often require an environment model for path planning,obstacle avoidance and many more. Furthermore, the robotneeds to know where it is located within the environment tobuild-up, complement and update the model...
In order to examine secure ways to perform autonomous satellite servicing applications, this paper provides an approach for close-range motion estimation for rendezvous and docking scenarios. A stereo-camera based method is presented, which generates estimates of the unperturbed motion performed by a completely uncooperative target. No a-priori knowledge about the target has to be provided to accomplish...
Simulation and VR application models may depend on parameters that are location dependent. To enhance portability and to speed up deployment times we propose a method, which uses a separate location based deployment model that gets loaded automatically by the simulation system. Subsequently loaded simulation models will get altered by the system, according to the deployment model. The deployment model...
Performance availability is an approach to rate the performance of material flow systems. Since the data necessary to determine the performance availability can only be obtained by observing the system in operation, planning towards a certain performance availability is a challenging task. In this paper, we present an approach to model an AGV (Automated Guided Vehicle) based logistics facility to...
In mobile robotics the problem of simultaneous localization and mapping is quite complex. However, by using smart constraints, the problem can be reduced considerably. Instead of constraining the issue to a specific robotic system or its movement behavior, we show how semantic environment perception and modeling allows for another point of view and therefore a simple solution for the problem. We present...
eRobotics is a newly evolving branch of eSystems engineering, providing tools to support the whole life cycle of robotic applications by means of electronic media. To this end, it extends and strengthens the Virtual Testbed idea from space robotics to provide a holistic 3D simulation platform on which complex issues in robotics and automation can be addressed and the most efficient solutions elaborated...
Many research efforts in human-robot interaction (HRI) have so far focussed on the mechanical design of intrinsically safe robots, as well as impedance control for tasks in which human and robot will work together. However, comparatively little attention is paid to an approach that ensures safety and permits close HRI while dispensing human with the necessity of physical presence in close proximity...
In recent years, virtual reality has emerged as a key technology for improving and streamlining design, programming, manufacturing and training processes. Based on experiences in the fields of space robotics, industrial manufacturing, multi-physics and virtual prototyping, "virtual testbeds" are currently being designed and implemented. Experience now shows that virtual testbeds also have...
This paper describes how structures for the flow control in robot programming languages can be translated into Petri nets. Structures common to many robot programming languages are identified and their representation in the realm of Petri nets is described. This common representation of robot programs allows us to apply to them techniques originally developed for Petri nets. An example of how to combine...
The goal of this study is the discrimination of seven tree species. As a well known approach the k-nearest neighbor classifier is compared to a support vector machine based decision tree. This classifier uses advanced support vector machines to implement a hierarchical classification scheme by combining it with decision tree induction. At each node of the decision tree a support vector machine is...
Simulation in the context of engineering often focuses on very special details of global systems. Robot designers usually begin with the analysis of new actuators and joint designs. This corresponds to a “bottom-up”-strategy in the development of simulation models. For classical fields of application of robotics, e.g. in production plants with a well defined environment this is the approved method,...
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