TY - JOUR A1 - Schlegl, Thomas A1 - Tomaselli, Domenico A1 - Schlegl, Stefan A1 - West, Nicolai A1 - Deuse, Jochen T1 - Automated search of process control limits for fault detection in time series data JF - Journal of Process Control N2 - Manually defined control limits remain a common strategy for quality control in manufacturing due to their ease of deployment on the shop floor compared to more advanced data analysis approaches. Despite their continued importance, there is no systematic method of defining these control limits. However, sub-optimal control limits can lead to undetected faults or cause unnecessary interruption to production. This manuscript presents an algorithm that systematizes this manual process into an efficient search task. We conceptualized the search task as a sequence of sub-problems that are based on the conventional steps taken by process experts when defining control limits. This algorithm can be integrated into an expert tool for shop floor personnel to automate the definition of control limits in annotated time series data. We demonstrate the efficacy of the control limits found by our algorithm by comparing them to those manually defined by process experts in real-world process data from the automotive industry. Furthermore, we show that our algorithm generalizes to traditional time series classification problems and achieves state-of-the-art performance on selected benchmark datasets. Our work is the first effort in automating the otherwise manual definition of control limits for fault detection. KW - Time series classification KW - Fault detection KW - Control limits KW - Process control Y1 - 2022 U6 - https://doi.org/10.1016/j.jprocont.2022.07.002 VL - 117 SP - 52 EP - 64 PB - Elsevier ER - TY - JOUR A1 - Beimler, Josef A1 - Leißl, Caroline A1 - Ebner, Lena A1 - Elsner, Michael A1 - Mühlbauer, Gerhard A1 - Kohlert, Dieter A1 - Schubert, Martin J. W. A1 - Weiß, Andreas P. A1 - Sterner, Michael A1 - Raith, Thomas A1 - Afranseder, Martin A1 - Krapf, Tobias A1 - Mottok, Jürgen A1 - Siemers, Christian A1 - Großmann, Benjamin A1 - Höcherl, Johannes A1 - Schlegl, Thomas A1 - Schneider, Ralph A1 - Milaev, Johannes A1 - Rampelt, Christina A1 - Roduner, Christian A1 - Glowa, Christoph A1 - Bachl, Christoph A1 - Schliekmann, Claus A1 - Gnan, Alfons A1 - Grill, Martin A1 - Ruhland, Karl A1 - Piehler, Thomas A1 - Friers, Daniel A1 - Wels, Harald A1 - Pflug, Kenny A1 - Kucera, Markus A1 - Waas, Thomas A1 - Schlachetzki, Felix A1 - Boy, Sandra A1 - Pemmerl, Josef A1 - Leis, Alexander A1 - Welsch, Andreas F.X. A1 - Graf, Franz A1 - Zenger, Gerhard A1 - Volbert, Klaus A1 - Waas, Thomas A1 - Scherzinger, Stefanie A1 - Klettke, Meike A1 - Störl, Uta A1 - Heyl, C. A1 - Boldenko, A. A1 - Monkman, Gareth J. A1 - Kujat, Richard A1 - Briem, Ulrich A1 - Hierl, Stefan A1 - Talbot, Sebastian A1 - Schmailzl, Anton A1 - Ławrowski, Robert Damian A1 - Prommesberger, Christian A1 - Langer, Christoph A1 - Dams, Florian A1 - Schreiner, Rupert A1 - Valentino, Piergiorgio A1 - Romano, Marco A1 - Ehrlich, Ingo A1 - Furgiuele, Franco A1 - Gebbeken, Norbert A1 - Eisenried, Michael A1 - Jungbauer, Bastian A1 - Hutterer, Albert A1 - Bauhuber, Michael A1 - Mikrievskij, Andreas A1 - Argauer, Monika A1 - Hummel, Helmut A1 - Lechner, Alfred A1 - Liebetruth, Thomas A1 - Schumm, Michael A1 - Joseph, Saskia A1 - Reschke, Michael A1 - Soska, Alexander A1 - Schroll-Decker, Irmgard A1 - Putzer, Michael A1 - Rasmussen, John A1 - Dendorfer, Sebastian A1 - Weber, Tim A1 - Al-Munajjed, Amir Andreas A1 - Verkerke, Gijsbertus Jacob A1 - Renkawitz, Tobias A1 - Haug, Sonja A1 - Rudolph, Clarissa A1 - Zeitler, Annika A1 - Schaubeck, Simon A1 - Steffens, Oliver A1 - Rechenauer, Christian A1 - Schulz-Brize, Thekla A1 - Fleischmann, Florian A1 - Kusterle, Wolfgang A1 - Beer, Anne A1 - Wagner, Bernd A1 - Neidhart, Thomas ED - Baier, Wolfgang T1 - Forschungsbericht 2013 T3 - Forschungsberichte der OTH Regensburg - 2013 Y1 - 2014 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:898-opus4-7990 CY - Regensburg ER - TY - JOUR A1 - Scharfenberg, Georg A1 - Mottok, Jürgen A1 - Artmann, Christina A1 - Hobelsberger, Martin A1 - Paric, Ivan A1 - Großmann, Benjamin A1 - Pohlt, Clemens A1 - Wackerbarth, Alena A1 - Pausch, Uli A1 - Heidrich, Christiane A1 - Fadanelli, Martin A1 - Elsner, Michael A1 - Pöcher, Daniel A1 - Pittroff, Lenz A1 - Beer, Stefan A1 - Brückl, Oliver A1 - Haslbeck, Matthias A1 - Sterner, Michael A1 - Thema, Martin A1 - Muggenthaler, Nicole A1 - Lenck, Thorsten A1 - Götz, Philipp A1 - Eckert, Fabian A1 - Deubzer, Michael A1 - Stingl, Armin A1 - Simsek, Erol A1 - Krämer, Stefan A1 - Großmann, Benjamin A1 - Schlegl, Thomas A1 - Niedersteiner, Sascha A1 - Berlehner, Thomas A1 - Joblin, Mitchell A1 - Mauerer, Wolfgang A1 - Apel, Sven A1 - Siegmund, Janet A1 - Riehle, Dirk A1 - Weber, Joachim A1 - Palm, Christoph A1 - Zobel, Martin A1 - Al-Falouji, Ghassan A1 - Prestel, Dietmar A1 - Scharfenberg, Georg A1 - Mandl, Roland A1 - Deinzer, Arnulf A1 - Halang, W. A1 - Margraf-Stiksrud, Jutta A1 - Sick, Bernhard A1 - Deinzer, Renate A1 - Scherzinger, Stefanie A1 - Klettke, Meike A1 - Störl, Uta A1 - Wiech, Katharina A1 - Kubata, Christoph A1 - Sindersberger, Dirk A1 - Monkman, Gareth J. A1 - Dollinger, Markus A1 - Dembianny, Sven A1 - Kölbl, Andreas A1 - Welker, Franz A1 - Meier, Matthias A1 - Thumann, Philipp A1 - Swidergal, Krzysztof A1 - Wagner, Marcus A1 - Haug, Sonja A1 - Vernim, Matthias A1 - Seidenstücker, Barbara A1 - Weber, Karsten A1 - Arsan, Christian A1 - Schone, Reinhold A1 - Münder, Johannes A1 - Schroll-Decker, Irmgard A1 - Dillinger, Andrea Elisabeth A1 - Fuchshofer, Rudolf A1 - Monkman, Gareth J. A1 - Shamonin (Chamonine), Mikhail A1 - Geith, Markus A. A1 - Koch, Fabian A1 - Ühlin, Christian A1 - Schratzenstaller, Thomas A1 - Saßmannshausen, Sean Patrick A1 - Auchter, Eberhard A1 - Kriz, Willy A1 - Springer, Othmar A1 - Thumann, Maria A1 - Kusterle, Wolfgang A1 - Obermeier, Andreas A1 - Udalzow, Anton A1 - Schmailzl, Anton A1 - Hierl, Stefan A1 - Langer, Christoph A1 - Schreiner, Rupert ED - Baier, Wolfgang T1 - Forschungsbericht 2015 T3 - Forschungsberichte der OTH Regensburg - 2015 Y1 - 2015 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:898-opus4-13867 SN - 978-3-00-048589-3 CY - Regensburg ER - TY - JOUR A1 - Rück, Thomas A1 - Bierl, Rudolf A1 - Lechner, Alfred A1 - Graf, Antonia A1 - Dams, Florian A1 - Schreiner, Rupert A1 - Auchter, Eberhard A1 - Kriz, Willy A1 - Deubzer, MIchael A1 - Schiller, Frank A1 - Mottok, Jürgen A1 - Niemetz, Michael A1 - Margull, Ulrich A1 - Hagel, Georg A1 - Utesch, Matthias A1 - Waldherr, Franz A1 - Böhm, Matthias A1 - Fraunhoffer, Judith A1 - Gardeia, Armin A1 - Schneider, Ralph A1 - Streubel, Janet A1 - Landes, Dieter A1 - Studt, Reimer A1 - Peuker, Dominik A1 - Scharfenberg, Georg A1 - Hook, Christian A1 - Schuster, Dietwald A1 - Ehrlich, Ingo A1 - Dinnebier, Heinrich A1 - Briem, Ulrich A1 - Lämmlein, Stephan A1 - Koder, Alexander A1 - Bialek, Adam A1 - Genewsky, Axel A1 - Neumeier, Michael A1 - Schlosser, Philipp A1 - Rabl, Hans-Peter A1 - Paule, Matthias A1 - Galster, Christoph A1 - Schiedermeier, Michael A1 - Zwickel, Andreas A1 - Hobmeier, Christoph A1 - Bischoff, Tobias A1 - Rill, Georg A1 - Schaeffer, Thomas A1 - Arbesmeier, Martin A1 - Groß, Andreas A1 - Schlegl, Thomas A1 - Becker, Mark A1 - Senn, Konrad A1 - Schliekmann, Claus A1 - Scholz, Peter A1 - Sippl, Christian A1 - Grill, Martin ED - Eckstein, Josef T1 - Forschungsbericht 2011 / Hochschule für Angewandte Wissenschaften - Fachhochschule Regensburg T3 - Forschungsberichte der OTH Regensburg - 2011 Y1 - 2011 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:898-opus4-7321 SN - 1868-3533 CY - Regensburg ER - TY - CHAP A1 - Höcherl, Johannes A1 - Niedersteiner, Sascha A1 - Haug, Sonja A1 - Pohlt, Clemens A1 - Schlegl, Thomas A1 - Weber, Karsten A1 - Berlehner, Thomas T1 - Smart Workbench BT - Ein multimodales und bidirektionales Assistenzsystem für den industriellen Einsatz T2 - 2. OTH Clustertagung, 18.01.2017, Regensburg Y1 - 2017 ER - TY - CHAP A1 - Höcherl, Johannes A1 - Niedersteiner, Sascha A1 - Haug, Sonja A1 - Pohlt, Clemens A1 - Schlegl, Thomas A1 - Weber, Karsten A1 - Berlehner, Thomas ED - Weidner, Robert T1 - Smart Workbench BT - Ein multimodales und bidirektionales Assistenzsystem für den industriellen Einsatz T2 - 2. Transdisziplinären Konferenz "Technische Unterstützungssysteme, die die Menschen wirklich wollen", 12.-13.12.2016, Helmut-Schmidt-Universität, Hamburg Y1 - 2016 SP - 49 EP - 50 ER - TY - CHAP A1 - Höcherl, Johannes A1 - Bottke, Christian A1 - Schlegl, Thomas T1 - Eine redundante Steuerungsarchitektur zur Realisierung sicherer Mensch-Roboter-Kollaboration - Entwicklung gemäß DIN EN ISO 10218, 13849 und 12100 T2 - Tagungsband AALE 2014 N2 - Das Forschungsprojekt ManuCyte konzentriert sich auf die Realisierung einer Plattform für die Kultivierung menschlicher Zellen und Gewebe im industriellen Maßstab. Für die Mensch-Roboter-Kolloboration ist die Robotersteuerung technologisch diversitär und redundant ausgeführt. Skizziert und analysiert wird ein prototypisches Robotersystem zum Erhalt von sicherer Mensch-Roboter-Kollaboration. Eine normgerechte Risikobeurteilung wird anhand der vorliegenden Anwendung Schritt für Schritt aufgezeigt. Wichtige Kenngrößen zur Bestimmung des sicherheitstechnischen Leistungsgrades sicherheitsrelevanter Steuerungsfunktionen werden exemplarisch berechnet und zusammengefasst. Die Vorgehensweise der Steuerungsentwicklung und die entwickelte Steuerungsarchitektur werden aufgezeigt. Außerdem werden die Sicherheitsanforderungen exemplarisch validiert und die Ergebnisse diskutiert. Aufgezeigt werden die Entwicklungsschritte zu einer möglichen Zertifizierung. A prototypic robot system for Human-Robot Collaboration is sketched and analyzed in the article at hand. For the present application, the risk assessment according to the relevant standards is visualized step by step. Important parameters to determine the safety performance level of safety related control functions are calculated and summarized. The procedure to develop a safe control system and the developed control architecture are shown. Furthermore, the safety requirements are validated exemplarily and the results are discussed. Possible steps to carry the system to a certification complete the present article. KW - Funktionssicherheit KW - Mensch-Roboter-Kooperation KW - Risikoanalyse KW - Robotersteuerung KW - Sicherheitstechnik KW - Steuerungs- und Regelungssystem Y1 - 2014 UR - https://www.oth-regensburg.de/fakultaeten/maschinenbau/aale-2014.html SN - 978-3-8356-7142-3 SP - 165 EP - 173 PB - Deutscher Industrieverlag CY - München ER - TY - CHAP A1 - Höcherl, Johannes A1 - Pohlt, Clemens A1 - Niedersteiner, Sascha A1 - Schlegl, Thomas A1 - Haug, Sonja A1 - Weber, Karsten T1 - Entwicklung eines industriellen Assistenzsystems unter Einbeziehung der Anlagenbediener T2 - 2. OTH Clusterkonferenz Y1 - 2017 SP - 11 EP - 15 ER - TY - CHAP A1 - Haug, Sonja A1 - Glashauser, Lisa A1 - Großmann, Benjamin A1 - Pohlt, Clemens A1 - Schlegl, Thomas A1 - Wackerbarth, Alena A1 - Weber, Karsten T1 - Gamification im Anlernprozess am Industriearbeitsplatz BT - Begleitstudie zur Entwicklung eines gestengesteuerten teilautomatisierten Assistenzsystems T2 - 2. OTH Clusterkonferenz Y1 - 2017 SP - 183 EP - 188 ER - TY - CHAP A1 - Weber, Karsten A1 - Haug, Sonja A1 - Schlegl, Thomas A1 - Pohlt, Clemens A1 - Höcherl, Johannes T1 - Kollaborative Robotik als Beispiel der Mensch-Maschine-Interaktion BT - Chance für mehr Inklusion im Arbeitsleben? T2 - Tagung Technikfolgenabschätzung, 19.06.2017, Akademie der Wissenschaften Wien Y1 - 2017 ER - TY - CHAP A1 - Haug, Sonja A1 - Glashauser, Lisa A1 - Großmann, Benjamin A1 - Pohlt, Clemens A1 - Schlegl, Thomas A1 - Wackerbarth, Alena A1 - Weber, Karsten ED - Weidner, Robert T1 - Gamification im Anlernprozess am Industriearbeitsplatz - ein inklusiver Ansatz BT - Studie zur Entwicklung eines Anlerntutorials für ein gestengesteuertes teilautomatisiertes Assistenzsystem T2 - 2. Transdisziplinären Konferenz "Technische Unterstützungssysteme, die die Menschen wirklich wollen", 12.-13.12.2016, Helmut- Schmidt-Universität Hamburg N2 - Um die Lebensqualität und Einsatzfähigkeit von Menschen mit Behinderung oder älteren Menschen zu verbessern, wurde untersucht, inwiefern Gamification-Anwendungen beim Anlernen einer Gestensteuerung geeignet sind. Grundlage des Experiments stellt ein intelligenter Arbeitsplatz (Smart Workbench, SWoB) dar, der Personen bei manuellen Handhabungsaufgaben unterstützt sowie bestimmte Produktionsprozesse teilautomatisiert ausführt. Um die Anlage bedienen zu können, muss im Vorfeld eine Einweisung erfolgen, welche von Menschen oder durch ein Lerntutorial mit Gamification-Elementen zur Motivationssteigerung durchgeführt werden kann. In der Studie wurde untersucht, welche Form des Anleitens aus welchen Gründen von unterschiedlichen Personen eher akzeptiert oder abgelehnt wird. Y1 - 2016 UR - https://www.researchgate.net/publication/311699548_Gamification_im_Anlernprozess_am_Industriearbeitsplatz_-_ein_inklusiver_Ansatz_Evaluationsstudie_zur_Entwicklung_eines_Anlerntutorials_fur_ein_gestengesteuertes_teilautomatisiertes_Assistenzsystem SP - 421 EP - 430 ER - TY - CHAP A1 - Lang, Jonas A1 - Becke, Mark A1 - Schlegl, Thomas ED - Liu, Honghai ED - Kubota, Naoyuki ED - Zhu, Xiangyang ED - Dillmann, Rüdiger ED - Zhou, Dalin T1 - A Systematic Approach for the Parameterisation of the Kernel-Based Hough Transform Using a Human-Generated Ground Truth T2 - Intelligent Robotics and Applications N2 - Lines are one of the basic features that are used to characterise the content of an image and to detect objects. Unlike edges or segmented blobs, lines are not only an accumulation of certain feature pixels but can also be described in an easy and exact mathematical way. Besides a lot of different detection methods, the Hough transform has gained much attention in recent years. With increasing processing power and continuous development, computer vision algorithms get more powerful with respect to speed, robustness and accuracy. But there still arise problems when searching for the best parameters for an algorithm or when characterising and evaluating the results of feature detection tasks. It is often difficult to estimate the accuracy of an algorithm and the influences of the parameter selection. Highly interdependent parameters and preprocessing steps continually lead to only hardly comprehensible results. Therefore, instead of pure trial and error and subjective ratings, a systematic assessment with a hard, numerical evaluation criterion is suggested. The paper at hand deals with the latter ones by using a human-generated ground truth to approach the problem. Thereby, the accuracy of the surveyed Kernel-based Hough transform algorithm was improved by a factor of three. These results are used for the tracking of cylindrical markers and to reconstruct their spatial arrangement for a biomedical research application. KW - Feature detection KW - Hough transform KW - Human-generated ground truth KW - Image processing KW - Line detection KW - Systematic parameterisation Y1 - 2015 SN - 978-3-319-22878-5 U6 - https://doi.org/10.1007/978-3-319-22879-2_44 VL - 9244 SP - 473 EP - 486 PB - Springer CY - Cham ER - TY - JOUR A1 - Hoecherl, Johannes A1 - Wrede, Britta A1 - Schlegl, Thomas T1 - Developing human-robot assembly cells - Simulation, virtual interaction, and applications JF - ATP EDITION N2 - In human-robot assembly cells, some tasks in a production process are carried out by the user, others by the robot, and some tasks are carried out in collaboration. However, the potential and advantages of such systems have not yet been fully harnessed. A systematic approach is needed to design cooperative workflows. Here, an iterative, user-centred development cycle is presented for interactive human-robot applications, complementing traditional automation. Virtual reality development is applied to evaluate the workflows to be defined and to develop a more efficient overall design cycle. KW - ALLOCATION KW - human-robot assembly cell KW - hybrid automation KW - IMMIGRANTS KW - interactive workflows KW - SYSTEMS KW - task assignment KW - virtually supported development Y1 - 2017 IS - 5 SP - 34 EP - 42 PB - DIV DEUTSCHER INDUSTRIEVERLAG GMBH ER - TY - CHAP A1 - Höcherl, Johannes A1 - Adam, Andreas A1 - Schlegl, Thomas A1 - Wrede, Britta T1 - Human-Robot Assembly: Methodical Design and Assessment of an Immersive Virtual Environment for Real-World Significance T2 - 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): 8-11 Sept. 2020, Vienna, Austria N2 - Virtual reality is a powerful tool for industrial applications. The article at hand addresses designers of industrial virtual environments. It summarizes key aspects to design immersive and coherent virtual environments. Furthermore, relevant influencing factors for a high quality virtual environment and tools to quantify this quality are presented. So far, a methodology to design, evaluate, and transfer knowledge from virtual environments into reality has been missing and is of high value for industrial applications. The proposed methodical approach includes the steps application analysis, technology selection and integration, design of virtual environment, evaluation of simulator quality, as well as discussion of the real-world validity. The method is shown on the example of a virtual human-robot working cell used to analyze the human perception of robot behavior during mutual assembly processes. The quality of the virtual environment is evaluated to be adequate for those purposes and the transfer of knowledge gained in virtuality on a corresponding real-world application is discussed. To the best of our knowing a system like the presented one, including full-body tracking, finger tracking, a virtual avatar and a head-mounted display has not been used for industrial use cases and human-robot cooperation before. KW - assembly KW - Avatars KW - coherent virtual environment KW - Conferences KW - Design methodology KW - fidelity KW - Head-mounted displays KW - human-robot cooperation KW - immersive KW - industrial applications KW - Knowledge transfer KW - Manufacturing automation KW - real-world validity KW - Robots KW - simulator quality KW - system design KW - virtual environments KW - Virtual reality Y1 - 2020 U6 - https://doi.org/10.1109/ETFA46521.2020.9212039 SP - 549 EP - 556 PB - IEEE ER - TY - CHAP A1 - Pohlt, Clemens A1 - Schlegl, Thomas A1 - Wachsmuth, Sven T1 - Human Work Activity Recognition for Working Cells in Industrial Production Contexts T2 - 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), 6-9 Oct. 2019, Bari, Italy N2 - Collaboration between robots and humans requires communicative skills on both sides. The robot has to understand the conscious and unconscious activities of human workers. Many state-of-the-art activity recognition algorithms with high performance rates on existing benchmark datasets are available for this task. This paper re-evaluates appropriate architectures in light of human work activity recognition for working cells in industrial production contexts. The specific constraints of such a domain is elaborated and used as prior knowledge. We utilize state-of-the-art algorithms as spatiotemporal feature encoders and search for appropriate classification and fusion strategies. Furthermore, we combine keypoint-based with appearance-based approaches to a multi-stream recognition system. Due to data protection rules and the high effort of data annotation within industrial domains only small datasets are available that reflect production aspects. Therefore, we use transfer learning approaches to reduce the dependency on data volume and variance in the target domain. The resulting recognition system achieves high performance for both singular person action and human-object interaction. KW - Activity recognition KW - Pose estimation KW - Robots KW - Task analysis KW - Three-dimensional displays KW - Two dimensional displays Y1 - 2019 U6 - https://doi.org/10.1109/SMC.2019.8913873 SP - 4225 EP - 4230 ER - TY - CHAP A1 - Lang, Jonas A1 - Schlegl, Thomas ED - Kubota, Naoyuki ED - Kiguchi, Kazuo ED - Liu, Honghai ED - Obo, Takenori T1 - Camera-Projector Calibration - Methods, Influencing Factors and Evaluation Using a Robot and Structured-Light 3D Reconstruction T2 - Intelligent Robotics and Applications N2 - As camera and projector hardware gets more and more affordable and software algorithms more sophisticated, the area of application for camera-projector configurations widens its scope. Unlike for sole camera calibration, only few comparative surveys for projector calibration methods exist. Therefore, in this paper, two readily available algorithms for the calibration of those arrays are studied and methods for the evaluation of the results are proposed. Additionally, statistical evaluations under consideration of different influencing factors like the hardware arrangement, the number of input images or the calibration target characteristics on the accuracy of the calibration results are performed. Ground truth comparison data is realized through a robotic system and structured light 3D scanning. KW - 3D scanning KW - Evaluation methods KW - Extrinsic error KW - Projector-camera calibration KW - Reconstruction error KW - Reprojection error KW - Robotic measurement KW - Structured light Y1 - 2016 SN - 978-3-319-43517-6 U6 - https://doi.org/10.1007/978-3-319-43518-3_40 VL - 9835 SP - 413 EP - 427 PB - Springer CY - Cham ER - TY - CHAP A1 - Höcherl, Johannes A1 - Wrede, Britta A1 - Schlegl, Thomas ED - Wrede, Britta ED - Nagai, Yukie ED - Komatsu, Takanori ED - Hanheide, Marc ED - Natale, Lorenzo T1 - Motion Analysis of Human-Human and Human-Robot Cooperation During Industrial Assembly Tasks T2 - Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17), Bielefeld Germany, 17.10.2017 -20.10.2017 N2 - This article discusses the relevance of the motion behavior and adaptation of a collaborative robot for human-robot cooperation. Two experiments on cooperative assembly are shown. First, a human-human experiment with defined test conditions evaluates the aspects of distance, nearest body part, and predictability as significant. Second, a human-robot experiment shows that fixed trajectories and conservative dynamic parameters lead to a quick gain of confidence of the participants. Besides, the data shows that a realistic use case with complex tasks is key to evaluate the impact of motion parameters. Y1 - 2017 SN - 9781450351133 U6 - https://doi.org/10.1145/3125739.3132615 SP - 425 EP - 429 PB - ACM CY - New York, NY, USA ER - TY - JOUR A1 - Höcherl, Johannes A1 - Wrede, Britta A1 - Schlegl, Thomas T1 - Mensch-Roboter-Arbeitsabläufe methodisch entwickeln BT - Konzeption, Simulation, virtuelle Interaktion, Anwendung / Simulation, virtual interaction, and applications JF - atp edition (Automatisierungstechnische Praxis) N2 - In Mensch-Roboter-Arbeitszellen werden Teile eines Produktionsablaufs von einemv Menschen, andere von einem kollaborativen Roboter und wieder andere kooperativvin einem gemeinsamen Arbeitsbereich durchgeführt. Bisher werden das Potenzialvund der Mehrwert dieser Systeme noch nicht ausgeschöpft, weshalb ein systematischer Ansatz zur Definition der Arbeitsabläufe unerlässlich ist. Der Beitrag präsentiert einen iterativen, menschzentrierten Entwicklungszyklus für interaktive Mensch-Roboter-Anwendungen. Dieser Zyklus ergänzt die bisher verwendeten Ansätze der Automatisierung. Er beinhaltet Methoden der virtuellen Realität, um die Arbeitsabläufe iterativ evaluieren und dadurch den Entwicklungsprozess effizient gestalten zu können. T2 - Developing human-robot assembly cells KW - Iterative, virtuell unterstützte Entwicklung KW - Mensch-Roboter-Arbeitszelle KW - interaktive Arbeitsabläufe KW - methodische Arbeitszuweisung KW - hybride Automatisierung KW - virtually supported development KW - human-robot assembly cel KW - interactive workflows KW - ask assignment KW - hybrid automation Y1 - 2017 SN - 2190-4111 VL - 59 IS - 5 SP - 34 EP - 42 PB - DIV Dt. Industrieverlag CY - München ER - TY - JOUR A1 - Grossmann, Benjamin A1 - Schlegl, Thomas T1 - Telerobotiksysteme zum industriellen Einsatz. Entwicklung einer vierkanaligen Regelungsarchitektur : Telerobotic systems for industrial applications. Development of a four-channel control architecture JF - atp edition. Automatisierungstechnische Praxis N2 - Die Regensburg Robotics Research Unit entwickelt Regelungsarchitekturen für Telerobotiksysteme für den industriellen Einsatz. Der Beitrag beschreibt das lokale und globale Regelungsmodell hinsichtlich Stabilität und Transparenz auf der Basis der von Lawrence und Yokokohji vorgestellten Regelungsarchitektur und zeigt Simulationsergebnisse auf. Die Modellbildung des geregelten Manipulators, die Kopplung des Operators und des Teleoperators und sowie die Übertragungsfunktion werden dargestellt. Die Simulation des vorgestellten Algorithmus in Matlab/Simulink wird durchgeführt. Innerhalb der Simulationsumgebung ist als Regelstrecke unter der Annahme einer idealen, lokalen Regelung eine im Raum bewegliche Punktmasse modelliert. Die vorgestellte Regelungsarchitektur liefert innerhalb der durchgeführten Simulation vor allem im niederfrequenten Bereich sehr gute Ergebnisse. Die nächsten Schritte sind die experimentelle Evaluierung der lokalen Architektur und der globalen Vierkanalarchitektur an den Robotern. KW - Manipulator KW - Matlab (Simulationsprogramm) KW - Mensch-Maschine-System KW - Regelstrecke KW - Regelungsentwurf KW - Regelungsmodell KW - Regelungssimulation KW - Stabilität von Regelungssystemen KW - Teleroboter KW - Übertragungsfunktion Y1 - 2015 VL - 57 IS - 6 SP - 48 EP - 55 PB - DIV Deutscher Industrieverlag ER - TY - JOUR A1 - Höcherl, Johannes A1 - Bottke, Christian A1 - Schlegl, Thomas T1 - Steuerungsarchitektur für kollaborierende Roboter. Analyse - Risikobeurteilung - Entwurf - Validierung JF - atp edition. Automatisierungstechnische Praxis N2 - Der Beitrag beschreibt den Systemaufbau für die Risikobeurteilung zur Realisierung einer sicheren Mensch-Maschine-Kollaboration und stellt die vorgeschriebene Risikobeurteilung gemäß DIN EN ISO 10218-1:2012-01 in folgende Schritten vor: Beurteilung der Erfahrenswerte und des Nutzerverhaltens, Festlegung der Grenzen des Roboters, Identifikation der Gefährdungen und Risikoeinschätzung in den dimensionen Ausmaß, Exposition, Eintrittswahrscheinlichkeit und Vermeidungsmöglichkeit. Die Umsetzung in eine Steuerung, die Steuerungsarchitektur und die eingesetzten Komponenten zur Realisierung einer sicheren Abstandsüberwachung werden beschrieben und in Blockschaltbildern grafisch dargestellt. Die Validität der Sicherheitsfunktion wird diskutiert. KW - Funktionsanalyse KW - Funktionssicherheit KW - Mensch-Maschine-System KW - Mensch-Roboter-Kooperation KW - Redundanz KW - Regelungsentwurf KW - Risikoanalyse KW - Robotersteuerung Y1 - 2015 U6 - https://doi.org/10.17560/atp.v57i06.497 VL - 57 IS - 6 SP - 38 EP - 46 PB - DIV Deutscher Industrieverlag CY - Essen ER - TY - CHAP A1 - Hoecherl, Johannes A1 - Schmargendorf, Maike A1 - Wrede, Britta A1 - Schlegl, Thomas T1 - User-Centered Design of Multimodal Robot Feedback for Cobots of Human-RobotWorking Cells in Industrial Production Contexts T2 - 50th International Symposium on Robotics (ISR 2018) : Munich, Germany, 20-21 June 2018 N2 - This article discusses the systematic design of the robot feedback for users in a stationary human-robot cooperation scenario. The design cycle starts with the analysis of related work and the capabilities of the human-robot system. It is followed by an online questionnaire with 100 participants to discover relevant information and modalities. A final experiment in the human-robot working cell with 13 subjects evaluates the usability of the robot feedback design. KW - Ausrüstungsentwurf KW - Maschinendesign KW - Online-Betrieb KW - Robotersystem KW - Roboterzelle KW - Systemdesign Y1 - 2018 UR - http://www.vde-verlag.de/proceedings-de/454699073.html SN - 978-3-8007-4699-6 SP - 1 EP - 8 PB - Curran Associates, Inc. CY - Red Hook, NY ER - TY - CHAP A1 - Milaev, Johannes A1 - Ruider, Martin A1 - Schlegl, Thomas T1 - Entwicklung eines Experimentalsystems zur Validierung adaptiver Regelungen mit einem OEM-Steuergerät T2 - Tagungsband AALE 2014 : das Forum für Fachleute der Automatisierungstechnik aus Hochschulen und Wirtschaft ; 11. Fachkonferenz, Regensburg N2 - Im Rahmen des Kooperationsprojektes "ACES" (Integrated Adaption of Linear Controllers for Embedded Systems) ist ein Prüfstand zur Validierung adaptiver Regelungen entwickelt und aufgebaut worden, der das dynamische Verhalten eines Kfz-Antriebstrangs aufweist. Ziel ist es, verschiedene Adaptionsverfahren auf ihre Einsetzbarkeit in OEM-Steuergeräten, die im Automotive-Bereich auf breiter Basis verwendet werden, kostengünstig testen zu können. Das Problem der aktiven Schwingungsdämpfung in Kfz-Antriebssträngen mit unbekannten und veränderlichen mechanischen Parametern stellt eine Pilotanwendung dar. Ein leicht anpassbarer mechanischer Prüfstand dient hierbei als vereinfachtes Modell eines Antriebstrangs. Dieser ist Bestandteil eitles Experimentalsystems mit einer informationstechnischen Architektur, die einen Betrieb engebetteter Regelungssysteme auf verschiedenen Plattformen gestattet. Das flexible mechanische und informationstechnische Design des Experimentalsystems gestattet die Variation von Parametern der zu regelnden Applikation durch leicht austauschbare mechanische Komponenten und gezielte Einbringung von Störgrößen. Zudem kann die Berechnung der Regelungsarchitektur auf einem Industrie-PC oder einem Steuergerät erfolgen. Weitere Vorteile des entwickelten Experimentalsystems sind die Berücksichtigung von Effekten, die aus dem Verhalten realer Sensoren und der CAN-basierten Signalübertragung entstehen. Insbesondere der Einfluss von Wortbreite und Latenz übertragener Signale auf die Adaption von Regelungen kann mit Hilfe des vorgestellten Experimentalsystems eingehend untersucht werden. KW - Adaptivregelung KW - aktive Schwingungsdämpfung KW - Algorithmus KW - Antriebsstrang KW - Drehschwingung KW - Kraftfahrzeug KW - Lageregelung KW - Prüfstand KW - robuste Regelung KW - Schwingungsdämpfung KW - Validierung Y1 - 2014 UR - https://www.oth-regensburg.de/fakultaeten/maschinenbau/aale-2014.html SN - 978-3-8356-7142-3 SP - 241 EP - 250 PB - Deutscher Industrieverlag CY - München ER - TY - CHAP A1 - Großmann, Benjamin A1 - Schlegl, Thomas T1 - Entwicklung einer Regelungsarchitektur für ein Telepräsenzsystem T2 - Tagungsband AALE 2014 N2 - Es wird dargelegt, wie das Verhalten eines Manipulators durch die Vorsteuerung von Drehmomenten und die Anwendung von kinematischen Beziehungen zu einer Punktmasse vereinfacht werden kann. Der darauf aufbauende, vorgestellte Algorithmus zur Kopplung des Operators mit dem Teleoperator ist mathematisch beschrieben und hinsichtlich der Problematik von Differentiationen in der realen Anwendung angepasst. Die vorgestellte Simulation mit zwei Testsignalen sowie die Frequenzganganalyse eines Koppelterms zeigen, dass der Algorithmus vor allem bei niedrigen Frequenzen dem Bediener ein hohes Maß an Transparenz liefert. Eine Frequenzganganalyse bei Variation der parametrierbaren Übertragungsfunktionen kann die Transparenz bei hohen Frequenzen verbessern. Nächste Schritte konzentrieren sich auf die experimentelle Evaluierung einer vorgestellten Kraftregelungsarchitektur am Assistenzroboter CARo5X. Insbesondere wird geprüft, ob die Annahme eines linearisierten und entkoppelten Systems am Experimentalaufbau hinreichend zutrifft. Nach erfolgter Inbetriebnahme der vorgestellten Kraftregelung am Robotersystem SixAx, das von der Regensburg Robotics Research Unit (RRRU) entwickelt worden ist, werden beide Roboter durch den vorgestellten Ansatz gekoppelt und final experimentell bewertet. KW - Algorithmus KW - Dateneingabegerät KW - Fernsteuerung KW - Kinematik KW - Kraftregelung KW - Manipulator KW - mobiles Bedienpanel KW - Regelkreis KW - Steuerungs- und Regelungssystem Y1 - 2014 UR - https://www.oth-regensburg.de/fakultaeten/maschinenbau/aale-2014.html SN - 978-3-8356-7142-3 SP - 285 EP - 294 PB - Deutscher Industrieverlag CY - München ER - TY - CHAP A1 - Becke, Mark A1 - Schlegl, Thomas T1 - Least squares pose estimation of cylinder axes from multiple views using contour line features T2 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan N2 - In this paper, a new method for a minimum-error pose estimation of cylinder axes based on apparent contour line features from multiple views is presented. Novel model equations for both single and particularly multiple views are derived, and based upon these, an iterative algorithm for least squares fitting the model to imaged cylinder contour line features is introduced. The good performance and fast convergence of the proposed algorithm is shown by solving exemplary fitting problems. KW - Cameras KW - Feature extraction KW - GEOMETRY KW - Image reconstruction KW - Mathematical model Y1 - 2015 U6 - https://doi.org/10.1109/IECON.2015.7392371 SP - 1855 EP - 1861 PB - IEEE ER - TY - CHAP A1 - Bauer, Gregor A1 - Grossmann, Benjamin A1 - Schlegl, Thomas A1 - Kobayashi, Hiroshi T1 - Modeling, identification and control of an antagonistically actuated joint for telerobotic systems T2 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 9-12 Nov. 2015, Yokohama, Japan N2 - Within this paper a modeling, identification and control technique for an antagonistically actuated joint consisting of two pneumatically actuated muscles is presented. The antagonistically actuated joint acts as a test bench for control architectures which are going to be used to control an exoskeleton within a telerobotic system. A static and dynamic model of the muscle and the joint is derived and the parameters of the models are identified using a least-squares algorithm. The control architecture, consisting of a inner pressure and an outer position controller is presented. The pressure controller is evaluated using switching valves compared against proportional valves. KW - DYNAMICS KW - FORCE KW - Muscles KW - Telerobotics KW - Torque KW - Valves Y1 - 2015 U6 - https://doi.org/10.1109/IECON.2015.7392676 SP - 3696 EP - 3701 PB - IEEE ER - TY - CHAP A1 - Pohlt, Clemens A1 - Haubner, Franz A1 - Lang, Jonas A1 - Rochholz, Sandra A1 - Schlegl, Thomas A1 - Wachsmuth, Sven T1 - Effects on User Experience During Human-Robot Collaboration in Industrial Scenarios T2 - 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 7-10 Oct. 2018, Miyazaki, Japan N2 - In smart manufacturing environments robots collaborate with human operators as peers. They even share the same working space and time. An intuitive interaction with different input modalities is decisive to reduce workload and training periods for collaboration. We introduce our interaction system that is able to recognize gestures, actions and objects in a typical smart working scenario. As key aspect, this article considers an empirical investigation of input modalities (touch, gesture), individual differences (performance, recognition rate, previous knowledge) and boundary conditions (level of automation) on user experience. Therefore, answers from 31 participants within two experiments are collected. We show that the arrangement of the human-robot collaboration (input modalities, boundary conditions) has a significant effect on user experience in real-world environments. This effect and the individual differences between participants can be measured utilizing recognition rates and standardized usability questionnaires. KW - Collaboration KW - Gesture recognition KW - Robots KW - Task analysis KW - Three-dimensional displays KW - Training KW - Tutorials Y1 - 2018 U6 - https://doi.org/10.1109/SMC.2018.00150 SP - 837 EP - 842 PB - IEEE ER - TY - CHAP A1 - Weiß, Roman A1 - Großmann, Benjamin A1 - Leibold, Marion A1 - Schlegl, Thomas A1 - Wollherr, Dirk A1 - Weiss, Roman A1 - Grossmann, Benjamin T1 - Modeling and nonlinear control of antagonistically actuating pneumatic artificial muscles T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 3-7 July 2017, Munich, Germany N2 - This paper discusses modeling and nonlinear control of a joint antagonistically actuated by two pneumatic, artificial muscles. A single model of the whole system is obtained by a combined physical and phenomenological modeling approach. The combined model for the joint, the muscles and the proportional valves results in a nonlinear, affine-in-control system description. The model is used to derive control laws for an input/output linearization approach to linearize the plant. Modeling and parametrization errors are covered via an outer control loop consisting of a state-feedback which is extended by an additional feedback of error integral. Extensive experimental results show the quality of the model and the performance of the respective control laws. KW - FORCE KW - Muscles KW - Pulleys KW - Robot sensing systems KW - Transfer functions KW - Valves Y1 - 2017 U6 - https://doi.org/10.1109/AIM.2017.8014001 SP - 94 EP - 99 PB - IEEE ER - TY - CHAP A1 - Pohlt, Clemens A1 - Hell, Sebastian A1 - Schlegl, Thomas A1 - Wachsmuth, Sven ED - Wrede, Britta ED - Nagai, Yukie ED - Komatsu, Takanori ED - Hanheide, Marc ED - Natale, Lorenzo T1 - Impact of Spontaneous Human Inputs during Gesture based Interaction on a Real-World Manufacturing Scenario T2 - Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17), Bielefeld Germany, 17.10.2017 -20.10.2017 N2 - Seamless human-robot collaboration depends on high non-verbal behaviour recognition rates. To realize that in real-world manufacturing scenarios with an ecological valid setup, a lot of effort has to be invested. In this paper, we evaluate the impact of spontaneous inputs on the robustness of human-robot collaboration during gesture-based interaction. A high share of these spontaneous inputs lead to a reduced capability to predict behaviour and subsequently to a loss of robustness. We observe body and hand behaviour during interactive manufacturing of a collaborative task within two experiments. First, we analyse the occurrence frequency, reason and manner of human inputs in specific situations during a human-human experiment. We show the high impact of spontaneous inputs, especially in situations that differ from the typical working procedure. Second, we concentrate on implicit inputs during a real-world Wizard of Oz experiment using our human-robot working cell. We show that hand positions can be used to anticipate user needs in a semi-structured environment by applying knowledge about the semi-structured human behaviour which is distributed over working space and time in a typical manner. Y1 - 2017 SN - 9781450351133 U6 - https://doi.org/10.1145/3125739.3132590 SP - 347 EP - 351 PB - ACM CY - New York, NY ER - TY - CHAP A1 - Pohlt, Clemens A1 - Schlegl, Thomas A1 - Wachsmuth, Sven T1 - Weakly-Supervised Learning for Multimodal Human Activity Recognition in Human-Robot Collaboration Scenarios T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): October 25-29, 2020, Las Vegas, NV, USA (virtual) N2 - The ability to synchronize expectations among human-robot teams and understand discrepancies between expectations and reality is essential for human-robot collaboration scenarios. To ensure this, human activities and intentions must be interpreted quickly and reliably by the robot using various modalities. In this paper we propose a multimodal recognition system designed to detect physical interactions as well as nonverbal gestures. Existing approaches feature high post-transfer recognition rates which, however, can only be achieved based on well-prepared and large datasets. Unfortunately, the acquisition and preparation of domain-specific samples especially in industrial context is time consuming and expensive. To reduce this effort we introduce a weakly-supervised classification approach. Therefore, we learn a latent representation of the human activities with a variational autoencoder network. Additional modalities and unlabeled samples are incorporated by a scalable product-of-expert sampling approach. The applicability in industrial context is evaluated by two domain-specific collaborative robot datasets. Our results demonstrate, that we can keep the number of labeled samples constant while increasing the network performance by providing additional unprocessed information. KW - Activity recognition KW - Collaboration KW - Intelligent robots KW - reliability KW - Service robots KW - Synchronization Y1 - 2020 U6 - https://doi.org/10.1109/IROS45743.2020.9340788 SP - 8381 EP - 8386 PB - IEEE ER - TY - JOUR A1 - Niedersteiner, Sascha A1 - Lang, Jonas A1 - Pohlt, Clemens A1 - Schlegl, Thomas T1 - Klassifikation des Arbeitsfortschritts BT - Support-Vector-Machine-Ansatz für intelligente Arbeitsplätze JF - atp magazin N2 - Steigende Anforderungen an die Qualität von zum Teil manuell gefertigten Produkten führen dazu, dass Handarbeitsplätze mit Assistenzsystemen für die Unterstützung der am Arbeitsplatz arbeitenden Mitarbeiterinnen und Mitarbeiter ausgestattet werden. Der Beitrag beschreibt einen neuen Ansatz, um mittels Verfahren des maschinellen Lernens die Objekterkennung sowie die Transitionen eines, den Arbeitsprozess repräsentierenden Zustandsautomaten eines solchen Systems einzulernen. Hierfür werden nach einer Vorverarbeitung Daten aus einer Tiefenkamera in drei Stufen durch Support Vector Machines (SVM) klassifiziert und das Ergebnis mit dem Zustandsautomaten verknüpft. Das Konzept wird an einem industriellen Montageprozess überschaubarer Komplexität evaluiert; es zeigt gute Ergebnisse hinsichtlich der Robustheit gegenüber Fehlern bei der Objektklassifikation. KW - assistierender Arbeitsplatz KW - Maschinelles Lernen KW - Mensch-Maschine-Interaktion KW - robuste Erkennung des Arbeitsfortschritts KW - Tiefenkamera Y1 - 2017 U6 - https://doi.org/10.17560/atp.v59i11.1911 VL - 59 IS - 11 SP - 58 EP - 66 PB - Vulkan-Verlag ER - TY - JOUR A1 - Niedersteiner, Sascha A1 - Lang, Jonas A1 - Pohlt, Clemens A1 - Schlegl, Thomas T1 - Tracking work task completion - A support vector machine approach for assisting workbenches JF - atp edition N2 - Tightening quality requirements of industrial products involving manual assembly lead to the development of assisting workbenches with integrated functions to support workers performing these manual tasks. This contribution discusses a new approach to learning transitions of a finite state automaton representing the sequence of work tasks based on the video stream of a 3D depth camera. Preprocessed video data is fed into a three-stage classification scheme based on support vector machines. The results of the classification are then related to the state automation to trigger state transitions indicating the completion of a specific work task and the start of the next one. The proposed approach has been evaluated at an industrial assembly process of moderate complexity and shows very robust results with respect to disturbances caused by inaccurate object classification. N2 - Steigende Anforderungen an die Qualität von zum Teil manuell gefertigten Produkten führen dazu, dass Handarbeitsplätze mit Assistenzsystemen für die Unterstützung der am Arbeitsplatz arbeitenden Mitarbeiterinnen und Mitarbeiter ausgestattet werden. Der Beitrag beschreibt einen neuen Ansatz, um mittels Verfahren des maschinellen Lernens die Objekterkennung sowie die Transitionen eines, den Arbeitsprozess repräsentierenden Zustandsautomaten eines solchen Systems einzulernen. Hierfür werden nach einer Vorverarbeitung Daten aus einer Tiefenkamera in drei Stufen durch Support Vector Machines (SVM) klassifiziert und das Ergebnis mit dem Zustandsautomaten verknüpft. Das Konzept wird an einem industriellen Montageprozess überschaubarer Komplexität evaluiert; es zeigt gute Ergebnisse hinsichtlich der Robustheit gegenüber Fehlern bei der Objektklassifikation. T2 - Klassifikation des Arbeitsfortschritts - Support-Vector-Machine-Ansatz für intelligente Arbeitsplätze KW - 3D depth camera KW - assisting workbench KW - human-machine interaction KW - Machine learning KW - robust tracking of task completion KW - SYSTEM Y1 - 2017 U6 - https://doi.org/10.17560/atp.v59i11.1911 IS - 11 SP - 58 EP - 66 PB - DIV Deutscher Industrieverl. ER - TY - CHAP A1 - Niedersteiner, Sascha A1 - Pohlt, Clemens A1 - Schlegl, Thomas T1 - Smart Workbench: A Multimodal and Bidirectional Assistance System for Industrial Application T2 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 09.-12.11.2015, Yokohama, Japan N2 - Manual tasks in industrial production are often monotonous, leading to a decrease in concentration and motivation of the worker and thus to deficiencies in the products. With quality as well as performance requirements getting more and more stringent, workers need additional support by their work environment. We developed a novel approach providing worker assistance and inline quality assurance for manual workplaces. The prototypical system Smart Workbench (SWoB) uses a multimodal sensor interface consisting of a 3D depth sensor in combination with a 2D camera to control quality aspects of the product and track the work progress. The bidirectional flow of information is handled via an image processing driven gestural interface and the displaying of advice directly on the work surface. In this paper the developed system is introduced and the current state of evaluating its industrial usage with a manual quality control and packaging task reported. Y1 - 2015 SN - 978-1-4799-1762-4 SN - 978-1-4799-1761-7 U6 - https://doi.org/10.1109/iecon.2015.7392549 PB - IEEE CY - Piscataway, N.J. ER - TY - JOUR A1 - Großmann, Benjamin A1 - Schlegl, Thomas T1 - Development of a Hybrid Path/Force Control Architecture for an Assisting Robot JF - International journal of mechanics and control : JoMaC N2 - For human machine interaction a control ar chitecture for the force controlled guidance mode of a five axis robot is developed. This enables a human operator to move the robot easily by applying forces at th e end-effector. The position and th e path can then be tracked and stored for a later reuse. The control archit ecture is also used in a hybrid mode where it is possible to control chosen workspace coordinates with a path controller and others with a force controller. The hybrid mode is especially used to cut tissue material with a scalpel which is mounted at the robots effector. KW - robotics KW - force control KW - hybrid control KW - assisting robot Y1 - 2014 UR - http://www.jomac.it/data/uploads/freeissue/jomac14a.pdf SN - 1590-8844 VL - 15 IS - 1 SP - 27 EP - 34 PB - Levrotto&Bella CY - Torino ER - TY - JOUR A1 - Schlegl, Peter A1 - Robatzek, Patrick A1 - Kucera, Markus A1 - Volbert, Klaus A1 - Waas, Thomas T1 - Performance analysis of mobile radio for automatic control in smart grids JF - International Journal of Advancements in Electronics and Electrical Engineering N2 - In the context of a "Smart Grid" research project, together with industrial partners, the OTH-Regensburg realized an intelligent medium-voltage grid in the local area. Goal was to improve the current voltage regulation and to counter the problems with inconsistent energy feed-in of decentralized renewable energy producers. In this paper we discuss the possibilities of using 3rd generation (3G) cellular networks (UMTS) as basic technology to communicate the voltage-levels within a medium-voltage grid. We build an experimental hardware setup to generate data-traffic as specified for the smart grid. By analyzing the performance of 3G cellular networks in terms of transmission latency and rate of failure, we tried to evaluate the usability of this technology for such critical data exchange. Though mobile communication in its structure is not specified for the use of transmitting such infrastructure critical data, the results show a promising high reliability with low transmission latency. The experiments served just to test a fragment of the conditions of use in a real scenario. An expanded test scope is needed to further analyze the performance of mobile radio for automatic control in smart grids. In the end the results discussed in this paper led to a successful prototype of an intelligent medium-voltage grid with mobile radio as communication technology KW - mobile radio KW - cellular data transmission KW - 3G KW - 4G KW - Smart Grid KW - communication Y1 - 2014 UR - http://journals.theired.org/journals/paper/details/5456.html SN - 2319-7498 VL - 4 IS - 1 SP - 69 EP - 75 ER - TY - JOUR A1 - Broll, Alexander A1 - Rosentritt, Martin A1 - Schlegl, Thomas A1 - Goldhacker, Markus T1 - A data-driven approach for the partial reconstruction of individual human molar teeth using generative deep learning JF - Frontiers in Artificial Intelligence N2 - Background and objectiveDue to the high prevalence of dental caries, fixed dental restorations are regularly required to restore compromised teeth or replace missing teeth while retaining function and aesthetic appearance. The fabrication of dental restorations, however, remains challenging due to the complexity of the human masticatory system as well as the unique morphology of each individual dentition. Adaptation and reworking are frequently required during the insertion of fixed dental prostheses (FDPs), which increase cost and treatment time. This article proposes a data-driven approach for the partial reconstruction of occlusal surfaces based on a data set that comprises 92 3D mesh files of full dental crown restorations.MethodsA Generative Adversarial Network (GAN) is considered for the given task in view of its ability to represent extensive data sets in an unsupervised manner with a wide variety of applications. Having demonstrated good capabilities in terms of image quality and training stability, StyleGAN-2 has been chosen as the main network for generating the occlusal surfaces. A 2D projection method is proposed in order to generate 2D representations of the provided 3D tooth data set for integration with the StyleGAN architecture. The reconstruction capabilities of the trained network are demonstrated by means of 4 common inlay types using a Bayesian Image Reconstruction method. This involves pre-processing the data in order to extract the necessary information of the tooth preparations required for the used method as well as the modification of the initial reconstruction loss.ResultsThe reconstruction process yields satisfactory visual and quantitative results for all preparations with a root mean square error (RMSE) ranging from 0.02 mm to 0.18 mm. When compared against a clinical procedure for CAD inlay fabrication, the group of dentists preferred the GAN-based restorations for 3 of the total 4 inlay geometries.ConclusionsThis article shows the effectiveness of the StyleGAN architecture with a downstream optimization process for the reconstruction of 4 different inlay geometries. The independence of the reconstruction process and the initial training of the GAN enables the application of the method for arbitrary inlay geometries without time-consuming retraining of the GAN. KW - inlay restoration KW - dental prosthesis design KW - StyleGAN KW - machine learning KW - digital dentistry Y1 - 2024 U6 - https://doi.org/10.3389/frai.2024.1339193 SN - 2624-8212 VL - 7 PB - Frontiers Media SA ER -