TY - CHAP A1 - Kaupp, Tobias T1 - NEWHRI: Unifying characteristics of research in human-robot interaction T2 - NEWHRI workshop at ICRA'08 Y1 - 2008 UR - https://www.researchgate.net/profile/Xavier-Giralt/publication/232746634_Robot_Behaviour_Models_in_Human_Robot_Interaction/links/09e4150938e9d48d7b000000/Robot-Behaviour-Models-in-Human-Robot-Interaction.pdf ER - TY - CHAP A1 - Schirmer, Fabian A1 - Kranz, Philipp A1 - Manjunath, Meenakshi A1 - Jesus Raja, Jeshwitha A1 - Rose, Chad G. A1 - Kaupp, Tobias A1 - Daun, Marian T1 - Towards a conceptual safety planning framework for human-robot collaboration Y1 - 2023 UR - https://ceur-ws.org/Vol-3618/forum_paper_2.pdf PB - CEUR Workshop Proceedings ER - TY - JOUR A1 - Kranz, Philipp A1 - Schirmer, Fabian A1 - Kaupp, Tobias A1 - Daun, Marian T1 - Generative AI Copilot to Support Safety Analyses of Human–Robot Collaborations: Hazard Operability Analysis and GPT-4 JF - IEEE Software Y1 - 2024 U6 - https://doi.org/10.1109/MS.2024.3414445 SN - 0740-7459 VL - 41 IS - 6 SP - 65 EP - 72 PB - Institute of Electrical and Electronics Engineers (IEEE) ER - TY - CHAP A1 - Miller, Eddi A1 - Schmitt, Anna-Maria A1 - Kaupp, Tobias A1 - Batres, Rafael A1 - Schiffler, Andreas A1 - Schmitt, Jan T1 - A Peak Shaving Approach in Manufacturing Combining Machine Learning and Job Shop Scheduling T2 - Lecture Notes in Mechanical Engineering N2 - Computerized Numerical Control (CNC) plays an important role in highly autonomous manufacturing systems with multiple machine tools. The necessary Numerical Control (NC) programs to manufacture the parts are mostly written in standardized G-code. An a priori evaluation of the energy demand of CNC-based machine processes opens up the possibility of scheduling multiple jobs according to balanced energy consumption over a production period. Due to this, we present a combined Machine Learning (ML) and Job-Shop-Scheduling (JSS) approach to evaluate G-code for a CNC-milling process with respect to the energy demand of each G-command. The ML model training data are derived by the Latin hypercube sampling (LHS) method facing the main G-code operations G00, G01, and G02. The resulting energy demand for each job enhances a JSS algorithm to smooth the energy demand for multiple jobs, as peak power consumption needs to be avoided due to its expense. Y1 - 2025 SN - 9783031774287 U6 - https://doi.org/10.1007/978-3-031-77429-4_59 SN - 2195-4356 SP - 535 EP - 543 PB - Springer Nature Switzerland CY - Cham ER - TY - CHAP A1 - Miller, Eddi A1 - Schmitt, Anna-Maria A1 - Kaupp, Tobias A1 - Schiffler, Andreas A1 - Schmitt, Jan T1 - Deep Reinforcement Learning for Adaptive Job Shop Scheduling in Robotic Cells: Handling Disruptions Effectively T2 - 2025 11th International Conference on Mechatronics and Robotics Engineering (ICMRE) Y1 - 2025 UR - 10.1109/ICMRE64970.2025.10976238 ER - TY - JOUR A1 - Schirmer, Fabian A1 - Kranz, Philipp A1 - Rose, Chad G. A1 - Schmitt, Jan A1 - Kaupp, Tobias T1 - Towards Dynamic Human–Robot Collaboration: A Holistic Framework for Assembly Planning JF - Electronics N2 - The combination of human cognitive skills and dexterity with the endurance and repeatability of robots is a promising approach to modern assembly. However, efficiently allocating tasks and planning an assembly sequence between humans and robots is a manual, complex, and time-consuming activity. This work presents a framework named “Extract–Enrich–Assess–Plan–Review” that facilitates holistic planning of human–robot assembly processes. The framework automatically Extracts data from heterogeneous sources, Assesses the suitability of each assembly step to be performed by the human or robot, and Plans multiple assembly sequence plans (ASP) according to boundary conditions. Those sequences allow for a dynamic adaptation at runtime and incorporate different human–robot interaction modalities that are Synchronized, Cooperative, or Collaborative. An expert remains in the loop to Enrich the extracted data, and Review the results of the Assess and Plan steps with options to modify the process. To experimentally validate this framework, we compare the achieved degree of automation using three different CAD formats. We also demonstrate and analyze multiple assembly sequence plans that are generated by our system according to process time and the interaction modalities used. Y1 - 2025 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:863-opus-57825 SN - 2079-9292 VL - 14 IS - 1 PB - MDPI ER - TY - CHAP A1 - Spieß, Florian A1 - Friesslich, Jonas A1 - Bluemm, Daniel A1 - Mast, Fabio A1 - Vinokour, Dmitrij A1 - Kounev, Samuel A1 - Kaupp, Tobias A1 - Strobel, Norbert T1 - Towards a Mobile Robot Localization Benchmark with Challenging Sensordata in an Industrial Environment T2 - 2021 20th International Conference on Advanced Robotics (ICAR) N2 - To arrive at a realistic assessment of localization methods in terms of their performance in an industrial environment under various challenging conditions, we provide a benchmark to evaluate algorithms both for individual components as well as multi-sensor systems. For several sensor types, including wheel odometry, RGB cameras, RGB-D cameras, and LIDAR, potential issues were identified. The accuracy of wheel odometry, for example, when there are bumps on the track. For each sensor type, we explicitly chose a track for the benchmark dataset containing situations where the sensor fails to provide adequate measurements. Based on the acquired sensor data, localization can be achieved either using a single sensor information or sensor fusion. To help evaluate the output of associated localization algorithms, we provide a software to evaluate a set of metrics as part of the paper. An example application of the benchmark with state-of-the-art algorithms for each sensor is also provided. Y1 - 2021 U6 - https://doi.org/10.1109/ICAR53236.2021.9659355 SP - 857 EP - 864 ER - TY - JOUR A1 - Spiess, Florian A1 - Reinhart, Lukas A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kaiser, Dennis A1 - Kounev, Samuel T1 - People detection with depth silhouettes and convolutional neural networks on a mobile robot JF - Journal of Image and Graphics N2 - This paper presents a novel people detection approach for mobile robot applications based on a combination of classical computer vision techniques and a state-of-the-art neural network. Our approach involves an RGB-D camera as an environmental sensor. The depth data is used to extract silhouettes around people. The RGB images are subsequently augmented with this border information before passing it to the neural network. Under challenging lighting conditions, our system was able to outperform the neural network trained on regular RGB data alone by a factor of two. Y1 - 2021 UR - http://www.joig.net/index.php?m=content&c=index&a=show&catid=72&id=277 VL - 9 IS - 4 SP - 135 EP - 139 ER - TY - CHAP A1 - Spiess, Florian A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kounev, Samuel T1 - A data-driven Sensor Model for LIDAR Range Measurements used for Mobile Robot Navigation T2 - 2022 Sixth IEEE International Conference on Robotic Computing (IRC) N2 - In this paper, an analysis of the precision of LIDAR range measurements is presented. LIDAR data from two different sensors (HLS-LFCD-LDS and SICK TIM561) were analyzed regarding the influence of range, incident angle to the surface, and material. Based on the results, a data-driven model for LIDAR precision behavior was developed, and a comparison with standard deviation models based on the vendor-provided specifications was presented. Our model can be used to create realistic sensor simulations and to develop robot navigation algorithms weighing sensor range readings based on the precision. Y1 - 2022 U6 - https://doi.org/10.1109/IRC55401.2022.00020 SP - 76 EP - 80 ER - TY - JOUR A1 - Spiess, Florian A1 - Friesslich, Jonas A1 - Kaupp, Tobias A1 - Kounev, Samuel A1 - Strobel, Norbert T1 - Survey and Experimental Comparison of RGB-D Indoor Robot Navigation Methods Supported by ROS and Their Expansion via Fusion with Wheel Odometry and IMU Data JF - International Journal of Mechanical Engineering and Robotics Research Y1 - 2020 U6 - https://doi.org/10.18178/ijmerr.9.12.1532-1540 VL - 9 IS - 12 SP - 1532 EP - 1540 ER - TY - CHAP A1 - Schmitt, Jan A1 - Hillenbrand, Andreas A1 - Kranz, Philipp A1 - Kaupp, Tobias T1 - Assisted human-robot-interaction for industrial assembly: Application of spatial augmented reality (sar) for collaborative assembly tasks T2 - Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction Y1 - 2021 SP - 52 EP - 56 ER - TY - CHAP A1 - Schmitt, Jan A1 - Kranz, Philipp A1 - Hillenbrand, Andreas A1 - Kaupp, Tobias T1 - Assisted human-robot-interaction for industrial assembly: Video to assisted human-robot-interaction for industrial assembly T2 - Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction Y1 - 2021 SP - 665 EP - 667 ER - TY - JOUR A1 - Spiess, Florian A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kounev, Samuel T1 - A data-driven Model for Range Sensors JF - Encyclopedia with Semantic Computing and Robotic Intelligence Y1 - 2023 UR - https://www.worldscientific.com/doi/abs/10.1142/S2529737623500065?journalCode=escri ER - TY - CHAP A1 - Vogler, N. A1 - Kaupp, Tobias A1 - Schmitt, Jan A1 - Antelmann, H. T1 - Maturity level models for the evaluation of the digitalization progress of assembly-intensive production processes T2 - German Assembly Engineering 2019 Y1 - 2019 ER - TY - JOUR A1 - Ali, Usama A1 - Wu, Lan A1 - Müller, Adrian A1 - Sukkar, Fouad A1 - Kaupp, Tobias A1 - Vidal-Calleja, Teresa T1 - Interactive Distance Field Mapping and Planning to Enable Human-Robot Collaboration JF - IEEE Robotics and Automation Letters Y1 - 2024 U6 - https://doi.org/10.1109/LRA.2024.3482128 SN - 2377-3766 VL - 9 IS - 12 SP - 10850 EP - 10857 PB - Institute of Electrical and Electronics Engineers (IEEE) ER - TY - CHAP A1 - Kranz, Philipp A1 - Kristhofen, Dennis A1 - Schirmer, Fabian A1 - Rose, Chad G. A1 - Schmitt, Jan A1 - Kaupp, Tobias T1 - Gesture vs. Touch Control for Unforeseen Situations of Human-Robot Collaborative Assembly T2 - 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI) Y1 - 2025 U6 - https://doi.org/10.1109/HRI61500.2025.10974148 SP - 1433 EP - 1437 PB - IEEE ER - TY - CHAP A1 - Schirmer, Fabian A1 - Kranz, Philipp A1 - Rose, Chad G. A1 - Willert, Volker A1 - Schmitt, Jan A1 - Kaupp, Tobias T1 - Utilizing Eye Gaze for Human-Robot Collaborative Assembly T2 - 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI) Y1 - 2025 U6 - https://doi.org/10.1109/HRI61500.2025.10974041 SP - 1603 EP - 1607 PB - IEEE ER - TY - CHAP A1 - Ali, Usama A1 - Sukkar, Fouad A1 - Mueller, Adrian A1 - Wu, Lan A1 - Gentil, Cedric Le A1 - Kaupp, Tobias A1 - Calleja, Teresa Vidal T1 - Enabling Safe, Active and Interactive Human-Robot Collaboration via Smooth Distance Fields T2 - 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI) Y1 - 2025 U6 - https://doi.org/10.1109/HRI61500.2025.10974001 SP - 439 EP - 446 PB - IEEE ER - TY - CHAP A1 - Kranz, Philipp A1 - Schirmer, Fabian A1 - Daun, Marian A1 - Kaupp, Tobias T1 - Towards a Modular Human-Robot Safety Control System Using Petri Nets T2 - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics Y1 - 2024 U6 - https://doi.org/10.5220/0013011900003822 SP - 384 EP - 391 PB - SCITEPRESS - Science and Technology Publications ER - TY - JOUR A1 - Kaupp, Tobias A1 - Schirmer, Fabian A1 - Kranz, Philipp T1 - Sichere Mensch-Roboter-Kollaboration in der Montage – Innovative Sicherheitskonzepte für eine effiziente Zusammenarbeit JF - Factory Innovation Y1 - 2024 U6 - https://doi.org/https://doi.org/10.30844/FID.24.6.TK SN - 2749-7593 VL - 2024 IS - 6 PB - GITO mbH Verlag ER - TY - JOUR A1 - Miller, Eddi A1 - Engelmann, Bastian A1 - Kaupp, Tobias A1 - Schmitt, Jan T1 - Advanced Cascaded Scheduling for Highly Autonomous Production Cells with Material Flow and Tool Lifetime Consideration using AGVs JF - Journal of Machine Engineering Y1 - 2023 UR - https://doi.org/10.36897/jme/171749 SN - 2391-8071 ER - TY - CHAP A1 - Endres, Felix A1 - Reinhart, Lukas A1 - Kaupp, Tobias A1 - Willert, Volker T1 - Perspective Invariant Inference of Corner Points in Packing Patterns of Cardboard Boxes T2 - Proceedings of Image Processing Forum 2022, 24. - 25. Nov. 2022 Y1 - 2022 SP - 201 EP - 213 ER - TY - CHAP A1 - Mueller, Julian A1 - Endres, Felix A1 - Reinhart, Lucas A1 - Loeser, Martin A1 - Buinitskii, Stanislav A1 - Willert, Volker A1 - Kaupp, Tobias T1 - Team SWOT - Champions of RoboCup@Work 2024 T2 - Lecture Notes in Computer Science Y1 - 2025 SN - 9783031858581 U6 - https://doi.org/https://doi.org/10.1007/978-3-031-85859-8_36 SN - 0302-9743 SP - 424 EP - 435 PB - Springer Nature Switzerland CY - Cham ER - TY - CHAP A1 - Schirmer, Fabian A1 - Kranz, Philipp A1 - Schmitt, Jan A1 - Kaupp, Tobias T1 - Anomaly Detection for Dynamic Human-Robot Assembly: Application of an LSTM-based autoencoder to interpret uncertain human behavior in HRC T2 - Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction Y1 - 2023 U6 - https://doi.org/10.1145/3568294.3580100 SP - 881 EP - 883 ER - TY - CHAP A1 - Miller, Eddi A1 - Kaupp, Tobias A1 - Schmitt, Jan ED - Kohl, Holger ED - Seliger, Günther ED - Dietrich, Franz T1 - Cascaded Scheduling for Highly Autonomous Production Cells with AGVs T2 - Manufacturing Driving Circular Economy: Proceedings of the 18th Global Conference on Sustainable Manufacturing, October 5-7, 2022, Berlin ; Lecture Notes in Mechanical Engineering N2 - Highly autonomous production cells are a crucial part of manufacturing systems in industry 4.0 and can contribute to a sustainable value-adding process. To realize a high degree of autonomy in production cells with an industrial robot and a machine tool, an experimental approach was carried out to deal with numerous challenges on various automation levels. One crucial aspect is the scheduling problem of tasks for each resource (machine tool, tools, robot, AGV) depending on various data needed for a job-shop scheduling algorithm. The findings show that the necessary data has to be derived from different automation levels in a company: horizontally from ERP to shop-floor, vertically from the order handling department to the maintenance department. Utilizing that data, the contribution provides a cascaded scheduling approach for machine tool jobs as well as CNC and robot tasks for highly autonomous production cells supplied by AGVs. Y1 - 2023 SN - 978-3-031-28838-8 SN - 978-3-031-28839-5 U6 - https://doi.org/https://doi.org/10.1007/978-3-031-28839-5_43 SP - 383 EP - 390 PB - Springer CY - Cham ER - TY - JOUR A1 - Kaupp, Tobias T1 - Lehre, Forschung und Transfer am Beispiel der Robotik BT - vom RoboCup@Work zur autonomen Warenkommissionierung JF - FHWS Science Journal N2 - Das IDEE ist mit vier Forschungsprofessoren besetzt, die durch eine Lehrentlastung Freiräume für den Auf- und Ausbau von interdisziplinären Forschungsaktivitäten nutzen können. Das Center Robotik (CERI) ist eines der Aufgabengebiete des IDEEs mit den beiden Schwerpunkten »Robotergestützte Arbeitsplätze der Zukunft« sowie »Intralogistik in der Smart Factory«. Dieser Artikel beschäftigt sich mit dem zweiten Schwerpunkt. Anhand der CERI Aktivitäten im Bereich der fahrerlosen Transportsysteme wird aufgezeigt, wie der »Dreiklang« Forschung, Lehre und Transfer in der Praxis umgesetzt wird und die drei Bestandteile sich gegenseitig befruchten können. KW - robotik Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:863-opus-20065 UR - https://nbn-resolving.org/urn:nbn:de:bvb:863-opus-19389 SN - 2196-6095 VL - 5 IS - 2 SP - 109 EP - 116 ER - TY - JOUR A1 - Kaupp, Tobias A1 - Schmitt, Jan A1 - Hillenbrand, Andreas A1 - Kranz, Philipp T1 - Das hybride Team: ein Leitfaden zur systematischen Planung von assistierten, kollaborativen Mensch-Roboter-Arbeitsplätzen in der Montage JF - FHWS Science Journal N2 - Im Zuge der fortschreitenden Globalisierung und zunehmenden Digitalisierung der Arbeitswelt, ergeben sich gerade für kleine und mittelständische Unternehmen Herausforderungen im Bereich der Produktion und insbesondere in der Montage. Steigende Komplexität der Produkte, kürzer werdende Produktlebenszyklen bei kleinen Losgrößen mit hoher Variantenvielfalt und großem Wettbewerbsdruck zwingen Unternehmen bereits vorhandene Montagestrategien zu überarbeiten. Gerade bei komplexeren Baugruppen ist eine Hochautomatisierung der Montage in der Serienfertigung aufgrund der Produktstruktur nur schwer realisierbar und oftmals nicht wirtschaftlich. In der industriellen Produktion ist ein klarer Trend von der Massenproduktion hin zur »Massenspezialanfertigung« zu erkennen. Die Leistungsfähigkeit eines Industriebetriebes hängt entscheidend von den angewandten Produktionsverfahren, den eingesetzten Produktionsmitteln und der eingeführten Produktionsorganisation ab. Aber auch das Zusammenspiel von Mensch, Organisation und Technik trägt dazu bei Potenziale für den Erfolg eines Unternehmens auszuschöpfen. Aufgrund sich ständig ändernder Marktbedingungen und der kostengünstigen Herstellung von Produkten in Niedriglohnländern bei gleichzeitig steigendem Qualitätsniveau müssen Produktionsstrukturen ständig neu überdacht und weiterentwickelt werden. Die Montage ist im Vergleich zur klassischen Fertigung (wie z.B. Drehen, Fräsen oder Schleifen) ein eher niedrig automatisierter Bereich der industriellen Produktion, indem allerdings eine hohe Wertschöpfung am Produkt stattfindet. Die manuelle Montage ist daher auch zukünftig ein wichtiger Bestandteil der industriellen Produktion. Um am Markt bestehen zu können, müssen Unternehmen nach Möglichkeiten suchen, um manuelle Arbeit produktiver und damit kosteneffizienter zu gestalten ohne dabei Abstriche bei der Qualität hinzunehmen. Zur Unterstützung manueller Tätigkeiten sind in den vergangenen Jahren verschiedene Innovationen in den Fokus der Unternehmen gerückt. Das Ziel muss es sein, den (Montage-)Standort Deutschland durch innovative Konzepte wie kollaborative Mensch-Roboter-Arbeitsplätze zu sichern. KW - mensch-roboter KW - montage KW - arbeitsplatz Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:863-opus-19972 UR - https://nbn-resolving.org/urn:nbn:de:bvb:863-opus-19389 SN - 2196-6095 VL - 5 IS - 2 SP - 12 EP - 72 ER -