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- Englisch (51) (entfernen)
Schlagworte
- Robotik (8)
- Flugkörper (7)
- UAV (7)
- Rettungsrobotik (5)
- Erweiterte Realität <Informatik> (3)
- Augmented Reality (2)
- Human-Robot Interaction (2)
- Twitter <Softwareplattform> (2)
- 360° Panorama (1)
- Alternative Geschäftsmodelle (1)
Institut
- Informatik und Kommunikation (51) (entfernen)
Problem
- How to effectively use aerial robots to support rescue forces?
- How to achieve good flight characteristics and long flight times?
- How to enable simple and intuitive control?
- How to efficiently record image data of the environment?
- How to generate flight and image data for rescue forces?
Implementation:
The flying robot was designed in Autodesk Fusion360. In order to achieve high stability as well as low weight, the frame was milled from carbon. Mounts such as for GPS and 360° camera were 3D printed. A special feature is that the flying robot is not visible in the panoramic view of the 360° camera. The flight controller of the robot was set up using Ardupilot. The communication with the robot is done via MAVLink (UDP).To support different platforms, a software was realized as a web application. The front end was created using HTML, CSS and Javascript.
The back end is based on Flask-Socket-IO (Python). For the intelligent recognition of motor vehicles a micro controller with an integrated camera is used. For the post-processing of flight and video data a pipeline was implemented for automation.
This technical report is about the architecture and integration of commercial UAVs in Search and Rescue missions. We describe a framework that consists of heterogeneous UAVs, a UAV task planner, a bridge to the UAVs, an intelligent image hub, and a 3D point cloud generator. A first version of the framework was developed and tested in several training missions in the EU project TRADR.
Renewable and sustainable energy production by many small and distributed producers is revolutionizing the energy landscape as we know it. Consumers produce energy, making them to prosumers in the smart grid. The interaction between prosumers and other entities in the grid and the optimal utilization of new smart grid components (electric cars, freezers, solar panels, etc.) are crucial for the success of the smart grid. The Power Trading Agent Competition is an open simulation platform that allows researchers to conduct low risk studies in this new energy market. In this work we present Maxon16, an autonomous energy broker and champion of the 2016's Power Trading Agent Competition. We present the strategies the broker used in the final round and evaluate the effectiveness of the strategies by analyzing the tournament's results.
Media Brand Management
(2022)
The management of media brands faces challenges. In order to be able to point out possible solutions, this article first explains the concept and the nature of “media brands.” Subsequently, various theoretical approaches to the explanation of media brands and their management are presented. Regardless of theoretical preferences, it is important to keep in mind the brand-strategic complexity of media management that is subsequently described. Due to their specificity, special attention is paid to the basic strategic positioning options and to the communication management of media brands. In this way, the special features of media brand management become clear in comparison with other products and services.
Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots are gaining increasing popularity in domestic care, where they support people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior, which is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their perception and comprehending how they “see” the world. To tackle this challenge, we compared three different visualization techniques for Spatial Augmented Reality. All of these communicate cobot perception by visually indicating which objects in the cobot’s surrounding have been identified by their sensors. We compared the well-established visualizations Wedge and Halo against our proposed visualization Line in a remote user experiment with participants suffering from physical impairments. In a second remote experiment, we validated these findings with a broader non-specific user base. Our findings show that Line, a lower complexity visualization, results in significantly faster reaction times compared to Halo, and lower task load compared to both Wedge and Halo. Overall, users prefer Line as a more straightforward visualization. In Spatial Augmented Reality, with its known disadvantage of limited projection area size, established off-screen visualizations are not effective in communicating cobot perception and Line presents an easy-to-understand alternative.
The video shows a very high resolution 3D point cloud !!! of the outdoor area of the German Rescue Robotics Center. For the recording, a 25-second POI flight was performed with a Mavic 3. From the 4K video footage captured during this flight, 77 images were cropped and localized within 4 minutes using colmap and processed using Neural Radiance Fields (NeRF). The nerfacto model of Nerfstudio was trained on an Nvidia RTX 4090 for 8 minutes. In summary, a top 3D model is available to task forces after about 13 minutes. The calculation is performed locally on site by the RobLW of the DRZ. The video shown here shows a free camera path rendered at 60 hz (Full HD).
Opportunities and Challenges in Mixed-Reality for an Inclusive Human-Robot Collaboration Environment
(2018)
This paper presents an approach to enhance robot control using Mixed-Reality. It highlights the opportunities and challenges in the interaction design to achieve a Human-Robot Collaborative environment. In fact, Human-Robot Collaboration is the perfect space for social inclusion. It enables people, who suffer severe physical impairments, to interact with the environment by providing them movement control of an external robotic arm. Now, when discussing about robot control it is important to reduce the visual-split that different input and output modalities carry. Therefore, Mixed-Reality is of particular interest when trying to ease communication between humans and robotic systems.
We investigate the possibility to use update propagation methods for optimizing the evaluation of continuous queries. Update propagation allows for the efficient determination of induced changes to derived relations resulting from an explicitly performed base table update. In order to simplify the computation process, we propose the propagation of updates with different degrees of granularity which corresponds to an incremental query evaluation with different levels of accuracy. We show how propagation rules for diferent update granularities can be systematically derived, combined and further optimized by using Magic Sets. This way, the costly evaluation of certain subqueries within a continuous query can be systematically circumvented allowing for cutting down on the number of pipelined tuples considerably.
Recommendations for the Development of a Robotic Drinking and Eating Aid - An Ethnographic Study
(2021)
Being able to live independently and self-determined in one’s own home is a crucial factor or human dignity and preservation of self-worth. For people with severe physical impairments who cannot use their limbs for every day tasks, living in their own home is only possible with assistance from others. The inability to move arms and hands makes it hard to take care of oneself, e.g. drinking and eating independently. In this paper, we investigate how 15 participants with disabilities consume food and drinks. We report on interviews, participatory observations, and analyzed the aids they currently use. Based on our findings, we derive a set of recommendations that supports researchers and practitioners in designing future robotic drinking and eating aids for people with disabilities.
In the realm of digital situational awareness during disaster situations, accurate digital representations,
like 3D models, play an indispensable role. To ensure the
safety of rescue teams, robotic platforms are often deployed
to generate these models. In this paper, we introduce an
innovative approach that synergizes the capabilities of compact Unmaned Arial Vehicles (UAVs), smaller than 30 cm, equipped with 360° cameras and the advances of Neural Radiance Fields (NeRFs). A NeRF, a specialized neural network, can deduce a 3D representation of any scene using 2D images and then synthesize it from various angles upon request. This method is especially tailored for urban environments which have experienced significant destruction, where the structural integrity of buildings is compromised to the point of barring entry—commonly observed post-earthquakes and after severe fires. We have tested our approach through recent post-fire scenario, underlining the efficacy of NeRFs even in challenging outdoor environments characterized by water, snow, varying light conditions, and reflective surfaces.
This technical report is about the architecture and integration of very small commercial UAVs (< 40 cm diagonal) in indoor Search and Rescue missions. One UAV is manually controlled by only one single human operator delivering live video streams and image series for later 3D scene modelling and inspection. In order to assist the operator who has to simultaneously observe the environment and navigate through it we use multiple deep neural networks to provide guided autonomy, automatic object detection and classification and local 3D scene modelling. Our methods help to reduce the cognitive load of the operator. We describe a framework for quick integration of new methods from the field of Deep Learning, enabling for rapid evaluation in real scenarios, including the interaction of methods.