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Since 1995 autonomous, intelligent or mobile robot systems have been investigated and included in the education process. Using commercial and/or open source platforms like LEGO-techniques with the 6.270-Board (Flynn, A.M. and Jones, J.L., 1996), the EyeBot controller (Braunl, Th., 2002) or the PIONEER robots various aspects like mobility, controllability, sensor fusion, line or object recognition, navigation and control strategies were taken into account. The limited abilities of all these systems in computing power or image processing required the development of a new hardware platform called RCUBE (Boersch, I., et al., 2003) combining the features of a typical actuator-sensor-input-output-board with computing power and image recognition capabilities. The system would be suitable as a compact platform for universities, small enterprises and private developers.
Since 1995 mobile robot systems have been
investigated and included in the education process.
Using commercial and/or open source platforms like
LEGO-techniques with the 6.270-Board [5], the
EyeBot controller [3] or the PIONEER robots [10]
various aspects of mobility, sensing, control and
navigation were taken into account. The limited
abilities of all these platforms in computing power or
image processing required the development of a new
hardware platform called RCUBE [2], [11] combining
the features of a typical actuator-sensor-input-outputboard
with computing power and image recognition
capabilities. The system is suitable as a compact
platform for universities, small enterprises and private
developers.
An intelligent robot platform for autonomous systems with vision capabilities has been developed by the University of Applied Sciences Brandenburg in cooperation with SME's. The system is suitable as a research and education platform for universities, a basis for industrial applications and for private developers of robots. This paper presents an architecture overview and application details of the RCUBE system. RCUBE is available in 2 modular versions: (1) a cost-effective platform for reactive robots and private developers (2) a performant platform for intelligent robots with image processing capabilities suitable for research, development and education in the field of service robotics. The system consists of 3 ready-to-program hardware modules with a basic software layer. They can be combined in different configurations. The modularity provides the flexibility to configure an RCUBE system for different application areas, but also single modules can be used in applications such as autonomous intelligent cameras or planning robots (e.g. lawnmower, vacuum cleaner). A key feature is the capability to autonomous image processing combined with sensors and actors, small size and low power consumption. RCUBE opens the way to small independent seeing robots.
Low-cost Locomotion Sensors
(2012)
Towards Practice-oriented Higher Education for Sustainable Rural Development in Western Kenya
(2021)
The workshop proceedings contain the written versions of the presentations of the Kenyan participants of the final workshop of the DAAD-funded cooperation project "Practice-oriented Higher Education in Western Kenya" (ProUniEdu-WeK) in August 2021 at the Brandenburg University of Applied Sciences (THB).
The contributions give an impression of what has been achieved in the last years on the way to practice-oriented higher education in the participating departments of the Masinde Muliro University of Science and Technology (MMUST) in cooperation with its partners from the THB and what is planned to be done in the years to come.
Simple Algorithms for the Determination of the Walking Distance based on the Acceleration Sensor
(2014)
Inertial Measurement Units in Gait Analysis Applications - Questions, Suggestions and Answers
(2015)
Estimation of the Average Gait Velocity based on Statistical Stride Parameters of Foot Sensor Data
(2016)
The paper presents a public available dataset acquired with wearable inertial measurement units (Xsens MTw) in various walking scenarios. The database provides preprocessed recordings including acceleration, angular velocity and magnetic rate vectors as well as the orientation quaternions. The paper describes the gait measurement system including the whole process chain from the choice of the measurement principle and devices, the data acquisition, the data processing and post-processing. Possible faults and prevention methods are analyzed. Exemplary, indicators of their effect are introduced and discussed.
The paper presents our public Gait Analysis Data Base (http://gaitanalysis.th-brandenburg.de), which contains 3D walking kinematics and muscle activity data from healthy adults walking at normal, slow or fast pace on the flat ground or at an incremental speeds on treadmill. The acceleration, angular velocity and magnetic rate vectors are measured using XSens MTw sensors attached to both feet, shanks, thighs and the pelvis. EMG recordings are acquired using PLUX sEMG sensors applied at various leg muscles. The paper gives not only a detailed description of the data base, its webpage and the used terms (scenario, proband, experiment and trial), but also an overview about the experimental setup, the acquisition of data and the procedure of the experiments, the data processing and evaluation. Results of exemplary applications are described in the second part of the paper.
The paper presents an observation and evaluation of the recovery process. Seven weeks after the fracture of the fibula and six weeks after surgery the measurement of the gait of the subject has been started. Inertial measurement units applied above both ankles are used to acquire kinematical data and three surface EMG at each leg to get information about the activity of three muscles. The intensity of the weekly tests has been increased in dependence on the healing progress. Both scenarios-walking on the floor and on the treadmill-were included in the experiments to obtain comparable data sets. Beside of the investigation of the healing process the paper is focused on symmetry/asymmetry properties of the gait. The results indicate that asymmetry is not only an essential property of pathologic gait but it is present in normal gait too, especially if short distances are evaluated. They may be caused by the influence of a dominant/injured leg, of the first/last steps, the natural variance of the gait or the daily fitness of the subject. Asymmetry is obviously in the contribution of both legs to a stride (step length, strike and lift angle, stand and swing phase).