Robotics & Process Control Research Group
Prof. Dr. E. von Puttkamer
University of Kaiserslautern
Department of Computer Science
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Completed research activities
The photo gallery presents a mobile platform overview.
Starting in the middle of the 80th only active ranging sensors have been applied in this project. The project goal has been reached with the development of test vehicle MOBOT-IV, which can be employed in office buildings, hospitals, gymnasiums, etc.
ALBATROSS is a stable operating system kernel providing a realtime communication scheme developed for Motorola-68k-based VMEbus multiprocessor systems in the MOBOT-project. Since 1991 ALBATROSS has been applied on all mobile test platforms of the research group's mobile robot activities.
Joining the Teleman44-Project of the European Union the research group participated in the development of the remote-operated limb climbing robot ROBUG-III intended for assembly and maintenance in hazardous environments. The group's contribution to this project was the conception and realization of the steering control panel, the communication system between user and robot, a position and orientation sensor and extensive visualization and simulation software.
Cooperation partners were research groups in Portsmouth (UK) and Brussels (Belgium).
The project's aim was the generation of a topological map of a robot's working environment using a connectionist approach. A dynamic neural network learns the incoming sensor images and self-localization is achieved by finding the neuron which represents the image most similar to the current situation vector.
This technique was implemented on the mobile platform ALICE, which is equipped with simple optical and tactile sensors.
In order to improve stability and reliability of object recognition by mobile robots SPIN (from Spatial Perception to Identification with Neural networks) introduces a method for generating stable 3D-symbols from subsymbolic processing and classification of 3D-surfaces using dynamic self-organizing maps.
Within the TOPAS project new integrated approaches and methods for human
body measurements are investigated and developed.
The research activities concentrate on both, the development of a fast
3D whole body scanner and the adaption of a 3D CAD manmodel to the sensor data
as a necessary prerequisite for the interpretation of the range readings.
Developed for design and validation of robot control software in the MOBOT-project the simulation package 3d7 (3D Simulation Environment for Autonomous System Design) provides a 3D modelling system for indoor environments, sensor simulators for sonar and optical ranging systems, and simulators for vehicle kinematics and dynamics. A feedback loop allows complete simulation of a robot's behaviour in miscellaneous environments.
Project target of the Storage/Logistics Simulation was the verification and optimization of an automatic storage management system applied in the steel industry by embedding the underlying set of rules in a simulation environment.
Cooperation partner was ABB-Mannheim.
Last modified: 20.07.99, Joachim Weber
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