TY - CHAP A1 - Zhang, Xu A1 - Lütteke, Felix A1 - Ziegler, Christian A1 - Franke, Jörg T1 - Self-learning RRT* Algorithm for mobile robot motion planning in complex environments T2 - Advances in Intelligent Systems and Computing - Intelligent Autonomous Systems 13 N2 - RRT* is a practical and efficient incremental sampling-based motion planning algorithm. However, its searching ability is quite inefficient in some cases, due to relying on uniform random sampling like other RRT-based algorithms without taking the environment information and prior knowledge into account, which particularly leads to many sampling failures or generation of useless nodes in complex environments. In this paper, we propose an extension of RRT* based on a self-learning strategy and a hybrid-biased sampling scheme to improve the planning efficiency. By taking advantage of the prior knowledge accumulation and cost estimation, the searching tree has higher probability and success rate to extend in difficult areas. We also demonstrate the performance of our algorithm by building some simulation environments for our mobile robot and conclude with the results compared with RRT*. Y1 - 2016 U6 - https://doi.org/10.1007/978-3-319-08338-4_5 VL - 302 SP - 57 EP - 69 PB - Springer International Publishing ER - TY - JOUR A1 - Ziegler, Christian A1 - Franke, Jörg T1 - Neuartiges, hochflexibles und universell einsetzbares Strahlentherapiegerät JF - VDI Fortschritt-Bericht – Automatisierungstechnische Verfahren für die Medizin Y1 - 2013 PB - VDI Verlag CY - Düsseldorf ER - TY - GEN A1 - Ziegler, Christian A1 - Franke, Jörg A1 - Dirauf, Franz A1 - Fadler, Franz T1 - Linear kinematics system with rotatable treatment head [Patent, CN102548612B] N2 - A radiotherapy installation is described, with a treatment head which is arranged on a treatment head support and which has an exit port for a beam generated in a beam generator, and with a patient table. The treatment head support is guided on a first rectilinear guide, which is guided on a second rectilinear guide arranged perpendicular to the first rectilinear guide, in order to move the treatment head relative to the patient table during the radiotherapy. Y1 - 2012 UR - https://patents.justia.com/patent/8488739 ER - TY - CHAP A1 - Ziegler, Christian A1 - Franke, Jörg T1 - How adapted production planning and execution concepts can improve the quality, safety and efficiency of clinical workflows T2 - CIRP January Meeting 2014, Paris Y1 - 2014 ER - TY - CHAP A1 - Ziegler, Christian A1 - Franke, Jörg T1 - Closed-loop control of patient handling robots T2 - Recent Advances in Robotics and Automation, Studies in Computational Intelligence N2 - Patient handling robots are increasingly employed to enable a flexible positioning of the patient for diagnostic and therapeutic purposes. Due to the greatly differing robot loads because of varying patient weights especially serial kinematics are no longer able to keep up with the constantly increasing medical demands for positioning accuracy. In this chapter a low-cost measuring system for a permanent integration into the workspace of a patient handling robot is introduced which can measure the pose of a patient couch with high accuracy. This enables closed-loop control of the patient couch. In tests on a robot system an average positioning error of 0.12 mm was achieved for a diversity of medically relevant poses. Y1 - 2013 U6 - https://doi.org/10.1007/978-3-642-37387-9_18 VL - 480 SP - 231 EP - 241 PB - Springer-Verlag CY - Heidelberg ER - TY - CHAP A1 - Ziegler, Christian A1 - Buschhaus, Arnd A1 - Franke, Jörg A1 - Reitelshöfer, Sebastian A1 - Röttenbacher, M. T1 - 3D-Sensorsystem für den kollisionsfreien Betrieb flexibler Strahlentherapiegeräte T2 - Internationales Forum Mechatronik, Winterthur Y1 - 2013 ER - TY - CHAP A1 - Ziegler, Christian A1 - Franke, Jörg T1 - The LinKin System: A new robotic and universally applicable radiation therapy device T2 - IEEE 44th International Symposium on Robotics, Seoul N2 - This paper presents the LinKin System, a fundamentally new robotic radiation therapy device with six degrees of freedom. Because of its linear kinematics system design it has substantial advantages over common therapy devices. The highly flexible and universally applicable LinKin System opens a unique broad application range. Furthermore, due to its novel assistant functions it can be well-integrated into the clinic specific workflows. Y1 - 2013 SN - 978-1-4799-1173-8 U6 - https://doi.org/10.1109/ISR.2013.6695659 PB - IEEE ER - TY - JOUR A1 - Leutert, F. A1 - Ramer, C. A1 - Pirkl, Gerald A1 - Bahle, Gernot A1 - Poxrucker, Andreas A1 - Dresselhaus, M. A1 - Ziegler, Christian A1 - Schilling, Klaus A1 - Franke, Jörg A1 - Lukowicz, Paul T1 - Roboterassistenz in der Behindertenwerkstatt: Intuitiv bedienbare, sichere und flexible Zusammenarbeit mit Industrierobotern JF - wt Werkstattstechnik online Y1 - 2014 U6 - https://doi.org/10.37544/1436-4980-2014-9-567 SN - 1436-4980 VL - 104 IS - 9 SP - 567 EP - 572 ER - TY - JOUR A1 - Yoo, I. S. A1 - Landgraf, M. A1 - Ramer, C. A1 - Reitelshöfer, Sebastian A1 - Ziegler, Christian A1 - Franke, Jörg T1 - My new colleague has artificial muscles: A DEA based approach for inherently compliant robotic systems JF - Production Engineering Research and Development N2 - When robots and human workers team up, safety should be ensured at all times. In order to improve safety of human–robot collaboration in hybrid manufacturing processes, many different types of compliant robotic drives, serial elastic actuators for instance, have been developed to date. However, most of them still consist of rigid mechanical components in combination with prevailing servo motor and thus bring several disadvantages such as poor power-to-weight ratio. This paper presents our solution approach for realization of biomimetic, inherently compliant artificial muscles based on dielectric elastomer actuators (DEAs). The artificial muscles based on DEAs distinguish themselves from conventional actuators through their favorable characteristics. They (a) work noiseless, (b) feature specific energy density comparable to human skeletal muscles and (c) are capable of storing or even recovering energy, and finally, (d) can adjust their geometry to meet with undefined and unstructured objects or environments. With remaining challenges overcome, the DEAs are expected to provide a significant contribution to safety of industrial robots collaborating with human workers. Y1 - 2014 U6 - https://doi.org/10.1007/s11740-014-0564-9 IS - 6 SP - 711 EP - 717 ER - TY - CHAP A1 - Buschhaus, Arnd A1 - Blank, Andreas A1 - Ziegler, Christian A1 - Franke, Jörg T1 - Highly efficient control system enabling robot accuracy improvement T2 - 5TH CIRP Conference on Assembly Technologies and Systems (CATS), Dresden N2 - A significant challenge when using industrial robots as flexible handling devices - for example in the area of creating miniaturized conductive patterns on three dimensional molded interconnect devices - is their relatively low absolute accuracy, which is caused by inaccuracies in the robots kinematic chain. This characteristic has to be considered, especially if complex and precise 3D-movements are needed. One approach to overcome this problem investigated at FAPS is the usage of a specially designed robot control system with parallel data processing for real-time correction value determination and usage of these values for remote control of a robot to improve its accuracy. The developed control system utilizes existing network technologies and uses data of sensor systems for continuous process monitoring to derive the robots actual state in course of its movement. In case of a high speed camera the image data is acquired by the control system via a first thread and subsequently the actual robot position is calculated based on this data. At the same time, for determining the robots target state, the system continuously requests the robots nominal position from the robot controller by utilizing a parallel second thread. The information describing the robots actual state is then compared with the sensor data for calculating offset values. These offset values are subsequently filtered and a correction value is calculated. In a third parallel thread new movement instructions are generated, considering the offset values as well as the robots target trajectory. Finally, for remote control of the robot, these movement instructions are transferred to the robot controller. Y1 - 2014 U6 - https://doi.org/10.1016/j.procir.2014.03.200 VL - 23 SP - 200 EP - 205 ER - TY - GEN A1 - Ziegler, Christian A1 - Franke, Jörg A1 - Dirauf, Franz A1 - Fadler, Franz T1 - Linear kinematics system with rotatable treatment head [Patent, US8488739B2] Y1 - 2011 ER - TY - CHAP A1 - Ziegler, Christian A1 - Franke, Jörg T1 - A cost-effective stereo camera system for online pose control of patient handling robots T2 - IEEE International Conference on Automation, Robotics and Applications, Wellington N2 - Patient handling robots are employed more and more frequently to enable a flexible positioning of the patient for diagnostic and therapeutic purposes. Due to the greatly differing robot loads because of varying patient weights especially serial kinematics are no longer able to keep up with the constantly increasing medical demands for positioning accuracy. In this paper a camera-based measuring system is introduced which can measure the pose of a patient couch mounted on a patient handling robot with high accuracy. Through the use of cost-effective hardware components the stereoscopic system is suitable for a permanent integration into the workspace of the robot. This enables online pose control of the patient couch. In tests on a robot system a maximum positioning error of 0.25 mm was achieved for a diversity of medically relevant poses. Y1 - 2011 U6 - https://doi.org/10.1109/ICARA.2011.6144927 PB - IEEE ER - TY - CHAP A1 - Franke, Jörg A1 - Ziegler, Christian T1 - Kamerabasiertes Messsystem zur Absolutgenauigkeitssteigerung von Medizinrobotern T2 - Internationales Forum Mechatronik, Winterthur Y1 - 2010 ER - TY - JOUR A1 - Franke, Jörg A1 - Ziegler, Christian A1 - Merhof, Jochen T1 - Workflowoptimierung im Umfeld medizinischer Großgeräte JF - Professional Process Y1 - 2010 VL - 3 IS - 1 SP - 26 EP - 28 ER - TY - CHAP A1 - Ramer, Christina A1 - Ziegler, Christian A1 - Reitelshöfer, Sebastian A1 - Franke, Jörg T1 - Sensor-guided jogging for visually impaired T2 - 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sao Paolo N2 - This paper introduces an approach for enabling visually impaired and blind people to practice jogging activities by 3D environment perception for course detection and collision avoidance, as well as feedback generation in an intuitive manner. Besides a system concept, first prototypic realizations, that confirm the general feasibility, are presented for this domain, which has not been addressed by research until now. Y1 - 2014 U6 - https://doi.org/10.1109/BIOROB.2014.6913821 SP - 467 EP - 472 PB - IEEE ER - TY - CHAP A1 - Lutz, Benjamin A1 - Kisskalt, Dominik A1 - Regulin, Daniel A1 - Reisch, Raven A1 - Schiffler, Andreas A1 - Franke, Jörg T1 - Evaluation of deep learning for semantic image segmentation in tool condition monitoring T2 - 2019 18th IEEE international conference on machine learning and applications (ICMLA) Y1 - 2019 SP - 2008 EP - 2013 ER -