2015
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Dietrich, Andr’e; Zug, Sebastian; Nardi, Luigi; Kaiser, J"org
Reasoning in complex environments with the SelectScript declarative language (Inproceeding)
IROS Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-15), Hamburg, Germany, 2015.
(Abstract | Links | BibTeX)
@inproceedings{dslRobSelectScript,
title = {Reasoning in complex environments with the SelectScript declarative language},
author = {Andr\’e Dietrich and Sebastian Zug and Luigi Nardi and J\”org Kaiser},
url = {http://arxiv.org/abs/1508.04159
http://nbviewer.ipython.org/url/gitlab.com/OvGU-ESS/SelectScript_demos/raw/master/DSLRob-15/presentation.ipynb},
year = {2015},
date = {2015-09-28},
booktitle = {IROS Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-15)},
address = {Hamburg, Germany},
abstract = {SelectScript is an extendable, adaptable, and declarative domain-specific language aimed at information retrieval from simulation environments and robotic world models in an SQL-like manner. In this work we have extended the language in two directions. First, we have implemented hierarchical queries; second, we improve efficiency enabling manual design space exploration on different \”search\” strategies. We demonstrate the applicability of such extensions in two application problems; the basic language concepts are explained by solving the classical problem of the Towers of Hanoi and then a common path planning problem in a complex 3D environment is implemented.},
keywords = {}
}
SelectScript is an extendable, adaptable, and declarative domain-specific language aimed at information retrieval from simulation environments and robotic world models in an SQL-like manner. In this work we have extended the language in two directions. First, we have implemented hierarchical queries; second, we improve efficiency enabling manual design space exploration on different "search" strategies. We demonstrate the applicability of such extensions in two application problems; the basic language concepts are explained by solving the classical problem of the Towers of Hanoi and then a common path planning problem in a complex 3D environment is implemented.
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Dietrich, André; Zug, Sebastian; Kaiser, Jörg
SelectScript: A Query Language for Robotic World Models and Simulations (Inproceeding)
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, 2015.
(Abstract | Links | BibTeX)
@inproceedings{dietrich2015icra,
title = {SelectScript: A Query Language for Robotic World Models and Simulations},
author = {André Dietrich and Sebastian Zug and Jörg Kaiser},
url = {http://eos.cs.ovgu.de/wp-content/uploads/2015/06/SelectScript-A-Query-Language-for-Robotic-World-Models-and-Simulations.pdf
http://eos.cs.ovgu.de/wp-content/uploads/2015/06/ICRA2015-presentation-slides.pdf},
year = {2015},
date = {2015-05-26},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
publisher = {Seattle, Washington},
abstract = {We introduce a new declarative language called SelectScript. As its name suggests, it is a scripting language inspired primarily by SQL and its relational algebra. It is intended to be used for complex queries on different kinds of world models. Scripts can be dynamically generated and executed, or embedded into the code of foreign programming languages. A first interpreter was therefore developed for Python. Adapting the ideas of language-oriented programming, which enables developers to create their own domain-specific language, we developed a language stub that can be easily adapted and extended to comply with any (discrete) robotic world model or robotic simulator. We will further show how simple SELECT-statements can be used to extract any kind of valuable information in various return formats, thereby going beyond traditional SQL capabilities.},
keywords = {}
}
We introduce a new declarative language called SelectScript. As its name suggests, it is a scripting language inspired primarily by SQL and its relational algebra. It is intended to be used for complex queries on different kinds of world models. Scripts can be dynamically generated and executed, or embedded into the code of foreign programming languages. A first interpreter was therefore developed for Python. Adapting the ideas of language-oriented programming, which enables developers to create their own domain-specific language, we developed a language stub that can be easily adapted and extended to comply with any (discrete) robotic world model or robotic simulator. We will further show how simple SELECT-statements can be used to extract any kind of valuable information in various return formats, thereby going beyond traditional SQL capabilities.
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2014
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Dietrich, André; Zug, Sebastian; Mohammad, Siba; Kaiser, Jörg
Distributed Management and Representation of Data and Context in Robotic Applications (Inproceeding)
Proceedings of the IEEE/RSI International Conference on Intelligent Robobts and Systems (IROS), Chicago, Illinois, 2014, (accepted).
(Abstract | Links | BibTeX)
@inproceedings{dietrich2014iros,
title = {Distributed Management and Representation of Data and Context in Robotic Applications},
author = {André Dietrich and Sebastian Zug and Siba Mohammad and Jörg Kaiser},
url = {http://eos.cs.ovgu.de/wp-content/uploads/2015/06/Distributed-Management-and-Representation-of-Data-and-Context-in-Robotic-Applications.pdf
http://eos.cs.ovgu.de/wp-content/uploads/2015/06/ImpressJS-Slides.zip},
year = {2014},
date = {2014-09-14},
booktitle = {Proceedings of the IEEE/RSI International Conference on Intelligent Robobts and Systems (IROS)},
address = {Chicago, Illinois},
abstract = {The traditional, isolated data handling in sensor-actuator systems does not fulfill the requirements of robots that need to interact with their smart environment. Consequently, we have to develop new mechanisms for adaptive data and context handling.
We firstly investigate what types of data are present within smart environments and how they can be classified and organized. Only if the available data can be structured, it can be queried and thus put into context. This is because the variety of data and possible interpretations is tremendous, ranging from measurement values, sensor and robot descriptions/states/commands, to environmental data, such as positions, maps, spatial relations, etc. To cope with this diversity, we developed a solution capable of storing and accessing data within a distributed environment by providing additional context information. Furthermore, we describe how this information can be assembled in a task-oriented manner. This enables robots to dynamically generate environmental abstractions by using data from different sources and also enables them to incorporate external sensor measurements.},
note = {accepted},
keywords = {}
}
The traditional, isolated data handling in sensor-actuator systems does not fulfill the requirements of robots that need to interact with their smart environment. Consequently, we have to develop new mechanisms for adaptive data and context handling.
We firstly investigate what types of data are present within smart environments and how they can be classified and organized. Only if the available data can be structured, it can be queried and thus put into context. This is because the variety of data and possible interpretations is tremendous, ranging from measurement values, sensor and robot descriptions/states/commands, to environmental data, such as positions, maps, spatial relations, etc. To cope with this diversity, we developed a solution capable of storing and accessing data within a distributed environment by providing additional context information. Furthermore, we describe how this information can be assembled in a task-oriented manner. This enables robots to dynamically generate environmental abstractions by using data from different sources and also enables them to incorporate external sensor measurements.
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Dietrich, André; Mohammad, Siba; Zug, Sebastian; Kaiser, Jörg
ROS Meets Cassandra: Data Management in Smart Environments with NoSQL (Conference)
Proc. of the 11th International Baltic Conference (Baltic DB&IS 2014), Tallinn, Estonia, 2014.
(Abstract | Links | BibTeX)
@conference{dietrich2014cassandra,
title = {ROS Meets Cassandra: Data Management in Smart Environments with NoSQL},
author = {André Dietrich and Siba Mohammad and Sebastian Zug and Jörg Kaiser},
url = {http://eos.cs.ovgu.de/wp-content/uploads/2014/09/ROS-Meets-Cassandra-Data-Management-in-Smart-Environments-with-NoSQL.pdf
http://eos.cs.ovgu.de/wp-content/uploads/2015/06/sozi-presentation.svg},
year = {2014},
date = {2014-06-08},
booktitle = {Proc. of the 11th International Baltic Conference (Baltic DB&IS 2014)},
pages = {43–54},
address = {Tallinn, Estonia},
abstract = {Distributed and smart environments can be seen as a distributed storage for data, information, and knowledge. Thus, one of the key challenges for future smart environments is the organization, access, and querying of this distributed storage while allowing entities to dynamically access both real-time and historical data. A relatively new approach for data management, the NoSQL databases, promises data-model flexibility, high scalability, and availability without the overhead in the fully fledged traditional Relational Database Management Systems (RDBMS)s. In our work, we exploit the previous benefits of NoSQL databases by integrating Cassandra into the Robotic Operating System (ROS). We evaluated our approach in two scenarios; within a realistic robotic exploration and with a pessimistic benchmark using randomly generated data.},
keywords = {}
}
Distributed and smart environments can be seen as a distributed storage for data, information, and knowledge. Thus, one of the key challenges for future smart environments is the organization, access, and querying of this distributed storage while allowing entities to dynamically access both real-time and historical data. A relatively new approach for data management, the NoSQL databases, promises data-model flexibility, high scalability, and availability without the overhead in the fully fledged traditional Relational Database Management Systems (RDBMS)s. In our work, we exploit the previous benefits of NoSQL databases by integrating Cassandra into the Robotic Operating System (ROS). We evaluated our approach in two scenarios; within a realistic robotic exploration and with a pessimistic benchmark using randomly generated data.
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2013
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Dietrich, André; Zug, Sebastian; Kaiser, Jörg
The R in Robotics – rosR: A new Language Extension for the Robot Operating System (Article)
The R Journal, 5 (2), pp. 117–128, 2013, ISSN: 2073-4859.
(Abstract | Links | BibTeX)
@article{rosR,
title = {The R in Robotics – rosR: A new Language Extension for the Robot Operating System},
author = {André Dietrich and Sebastian Zug and Jörg Kaiser},
url = {http://journal.r-project.org/archive/2013-2/dietrich-zug-kaiser.pdf},
issn = {2073-4859},
year = {2013},
date = {2013-12-05},
journal = {The R Journal},
volume = {5},
number = {2},
pages = {117–128},
abstract = {The aim of this contribution is to connect two previously separated worlds: robotic application development with the Robot Operating System (ROS) and statistical programming with R. This fruitful combination becomes apparent especially in the analysis and visualization of sensory data. We therefore introduce a new language extension for ROS that allows to implement nodes in pure R. All relevant aspects are described in a step-by-step development of a common sensor data transformation node. This includes the reception of raw sensory data via the ROS network, message interpretation, bag-file analysis, transformation and visualization, as well as the transmission of newly generated messages back into the ROS network. },
keywords = {}
}
The aim of this contribution is to connect two previously separated worlds: robotic application development with the Robot Operating System (ROS) and statistical programming with R. This fruitful combination becomes apparent especially in the analysis and visualization of sensory data. We therefore introduce a new language extension for ROS that allows to implement nodes in pure R. All relevant aspects are described in a step-by-step development of a common sensor data transformation node. This includes the reception of raw sensory data via the ROS network, message interpretation, bag-file analysis, transformation and visualization, as well as the transmission of newly generated messages back into the ROS network.
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Dietrich, André; Kaiser, Jörg; Zug, Sebastian; Potluri, Sasanka
Application Driven Environment Representation (Inproceeding)
The Seventh International Conference on Mobile Ubiquitous Computing, Systems, Services and Technologies, 2013.
(Abstract | BibTeX)
@inproceedings{UBICOMM2,
title = {Application Driven Environment Representation},
author = {André Dietrich and Jörg Kaiser and Sebastian Zug and Sasanka Potluri},
year = {2013},
date = {2013-10-03},
booktitle = {The Seventh International Conference on Mobile Ubiquitous Computing, Systems, Services and Technologies},
abstract = {Autonomous systems have to sustain in environments of growing complexity and under dynamically changing conditions, whereby also the number and the complexity of tasks increases that these systems have to fulfill. To cope with these emerging problems, we present a general concept of constructing environment models. From these models we can derive any kind of information in an application specific abstraction, which we call views. Furthermore, we describe the main problem in the generation of views as well as a possible solution to this.},
keywords = {}
}
Autonomous systems have to sustain in environments of growing complexity and under dynamically changing conditions, whereby also the number and the complexity of tasks increases that these systems have to fulfill. To cope with these emerging problems, we present a general concept of constructing environment models. From these models we can derive any kind of information in an application specific abstraction, which we call views. Furthermore, we describe the main problem in the generation of views as well as a possible solution to this.
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Zug, Sebastian; Dietrich, André; Steup, Christoph; Brade, Tino; Petig, Thomas
Phase optimization for control/fusion applications in dynamically composed sensor networks (Inproceeding)
IEEE International Symposium on Robotic and Sensors Environments (ROSE 2013), Washington D.C., USA, USA, 2013.
(Abstract | BibTeX)
@inproceedings{ZugROSE2013,
title = {Phase optimization for control/fusion applications in dynamically composed sensor networks},
author = {Sebastian Zug and André Dietrich and Christoph Steup and Tino Brade and Thomas Petig },
year = {2013},
date = {2013-08-01},
booktitle = {IEEE International Symposium on Robotic and Sensors Environments (ROSE 2013)},
address = {Washington D.C., USA, USA},
abstract = {Distributed sensing promises an effective exchange of sensor data among
different applications. Due to multiple observations, the quality of a
system output increases. However, the dynamic composition disables all
off-line optimization approaches, especially for
sensor-application-scheduling. Within this paper we motivate the need for
an online adjustment of periodically working sensors and fusion/control
applications. Based on number of common goals — e.g., minimization of the
variance of sensor data or the age of data sets — we deduce different
metrics. For one aspect, the number of input counts, we propose a
mathematical description and apply related optimizations. Based on an
exemplary analysis we discuss further research goals.},
keywords = {}
}
Distributed sensing promises an effective exchange of sensor data among
different applications. Due to multiple observations, the quality of a
system output increases. However, the dynamic composition disables all
off-line optimization approaches, especially for
sensor-application-scheduling. Within this paper we motivate the need for
an online adjustment of periodically working sensors and fusion/control
applications. Based on number of common goals — e.g., minimization of the
variance of sensor data or the age of data sets — we deduce different
metrics. For one aspect, the number of input counts, we propose a
mathematical description and apply related optimizations. Based on an
exemplary analysis we discuss further research goals.
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Dietrich, André; Zug, Sebastian; Kaiser, Jörg
Geometric Environment Modeling System (Inproceeding)
7th IFAC Conference on Manufacturing Modelling, Management and Control, pp. 1429–1434, International Federation of Automatic Control Saint Petersburg, Russia, 2013.
(Abstract | Links | BibTeX)
@inproceedings{dietrich2013gems,
title = {Geometric Environment Modeling System},
author = {André Dietrich and Sebastian Zug and Jörg Kaiser},
url = {http://eos.cs.ovgu.de/wp-content/uploads/2014/09/Geometric-Environment-Modelling-System.pdf},
year = {2013},
date = {2013-06-19},
booktitle = {7th IFAC Conference on Manufacturing Modelling, Management and Control},
pages = {1429–1434},
address = {Saint Petersburg, Russia},
organization = {International Federation of Automatic Control},
abstract = {Flexible system configurations and adaptability to changing environments and environmental conditions are key concerns for autonomous systems in future applications, either in industrial production processes, building automation, or health-care scenarios. New technologies for instrumented and smart environments support the distribution and acquisition of a diversity of information, but the organization, selection, validation, and interpretation according to certain contexts are still open issues. Therefore we propose a concept for separating environmental perception and modeling from the application logic. We apply a general model related to the idea of “mental models\’\’ used in cognitive science. It combines geometrical data with knowledge about sensors and actuators. This model is used to derive all information, which is required by an application, and to generate different environmental representations. We show that this approach is capable of solving different problems in the fields of distributed systems as well as instrumented environments and demonstrate its usability.},
keywords = {}
}
Flexible system configurations and adaptability to changing environments and environmental conditions are key concerns for autonomous systems in future applications, either in industrial production processes, building automation, or health-care scenarios. New technologies for instrumented and smart environments support the distribution and acquisition of a diversity of information, but the organization, selection, validation, and interpretation according to certain contexts are still open issues. Therefore we propose a concept for separating environmental perception and modeling from the application logic. We apply a general model related to the idea of “mental models” used in cognitive science. It combines geometrical data with knowledge about sensors and actuators. This model is used to derive all information, which is required by an application, and to generate different environmental representations. We show that this approach is capable of solving different problems in the fields of distributed systems as well as instrumented environments and demonstrate its usability.
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Sahr, Sabine; Dietrich, André; Ludewig, Eberhardt; Oechtering, Gerhard
Comparative Computed Tomography Anatomy of the Lacrimal Drainage System in Brachycephalic Dog Breeds (Inproceeding)
2013 Annual Scientific Meeting, European College of Veterinary Ophthalmologists (ECVO) Barcelona – Spain, 2013.
(BibTeX)
@inproceedings{ECVO2013,
title = {Comparative Computed Tomography Anatomy of the Lacrimal Drainage System in Brachycephalic Dog Breeds},
author = {Sabine Sahr and André Dietrich and Eberhardt Ludewig and Gerhard Oechtering},
year = {2013},
date = {2013-05-16},
booktitle = {2013 Annual Scientific Meeting},
address = {Barcelona – Spain},
organization = {European College of Veterinary Ophthalmologists (ECVO)},
keywords = {}
}
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2012
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Zug, Sebastian; Penzlin, Felix; Dietrich, André; Nguyen, Tran Tuan; Albert, Sven
Are laser scanners replaceable by Kinect sensors in robotic applications? (Inproceeding)
2012 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2012), pp. 144-149, IEEE Magdeburg, Germany, 2012.
(Abstract | Links | BibTeX)
@inproceedings{ROSE2012,
title = {Are laser scanners replaceable by Kinect sensors in robotic applications?},
author = {Sebastian Zug and Felix Penzlin and André Dietrich and Tran Tuan Nguyen and Sven Albert},
url = {http://eos.cs.ovgu.de/wp-content/uploads/2013/11/Kinect_vs_Hokuyo_Web2.pdf},
year = {2012},
date = {2012-11-16},
booktitle = {2012 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2012)},
pages = {144-149},
address = {Magdeburg, Germany},
organization = {IEEE},
abstract = {Laser scanners are omnipresent in robotic applications. Their measurements are used in many scenarios for robust map building, localization, collision avoidance, etc. But regarding the required precise measurement and mechanic system a laser scanner is quite expensive. Hence the robotic community is looking for alternative sensors. Since 2009 a new 3D sensor system — Microsoft Kinect — developed for computer games is available and applied in robotic applications. With an appropriate filter tool-chain its output can be mapped to a 2D laser scanner measurement. The reduced data set is ready to be processed by the established algorithms and methods developed for laser scanners. But will the Kinect sensor replace laser scanners in robotic applications?
This paper compares the technical parameters of the new sensor with established laser scanners. Afterwards we investigate the possibilities and limits of a Kinect for three common robotic applications — map building, localization and obstacle avoidance.},
keywords = {}
}
Laser scanners are omnipresent in robotic applications. Their measurements are used in many scenarios for robust map building, localization, collision avoidance, etc. But regarding the required precise measurement and mechanic system a laser scanner is quite expensive. Hence the robotic community is looking for alternative sensors. Since 2009 a new 3D sensor system — Microsoft Kinect — developed for computer games is available and applied in robotic applications. With an appropriate filter tool-chain its output can be mapped to a 2D laser scanner measurement. The reduced data set is ready to be processed by the established algorithms and methods developed for laser scanners. But will the Kinect sensor replace laser scanners in robotic applications?
This paper compares the technical parameters of the new sensor with established laser scanners. Afterwards we investigate the possibilities and limits of a Kinect for three common robotic applications — map building, localization and obstacle avoidance.
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Dietrich, André; Zug, Sebastian; Kaiser, Jörg
Towards Artificial Perception (Inproceeding)
Berlin, Springer-Verlag (Ed.): Proceddings of the SAFECOMP 2012, Third International Workshop on Digital Engineering (IWDE), pp. 466-476, 2012.
(Links | BibTeX)
@inproceedings{IWDE2012,
title = {Towards Artificial Perception},
author = {André Dietrich and Sebastian Zug and Jörg Kaiser},
editor = {Springer-Verlag Berlin},
url = {http://link.springer.com/chapter/10.1007%2F978-3-642-33675-1_44},
year = {2012},
date = {2012-09-26},
booktitle = {Proceddings of the SAFECOMP 2012, Third International Workshop on Digital Engineering (IWDE)},
pages = {466-476},
keywords = {}
}
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Dietrich, André
Nutzung geometrischer Modelle zur Verbesserung der Umgebungswahrnehmung (Inproceeding)
Claudia Krull Eike Schallen, Sebastian Zug (Ed.): Tagungsband der 1. Doktorandentagung Magdeburger-Informatik Tage 2012 (MIT 2012), pp. 1-8, 2012.
(BibTeX)
@inproceedings{EOS-2012.000-D,
title = {Nutzung geometrischer Modelle zur Verbesserung der Umgebungswahrnehmung},
author = {André Dietrich},
editor = {Claudia Krull, Eike Schallen, Sebastian Zug},
year = {2012},
date = {2012-07-17},
booktitle = {Tagungsband der 1. Doktorandentagung Magdeburger-Informatik Tage 2012 (MIT 2012)},
journal = {Tagungsband der 1. Doktorandentagung Magdeburger-Informatik tage 2012 (MIT 2012)},
pages = {1-8},
keywords = {}
}
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Zug, Sebastian; Dietrich, André; Kaiser, Jörg
Fault-Handling in Networked Sensor Systems (Inbook)
Rigatos, Gerasimos (Ed.): Fault Diagnosis in Robotic and Industrial Systems, Concept Press Ltd., St. Franklin, Australia, 2012.
(Links | BibTeX)
@inbook{EOS-2012.000-ZDK,
title = {Fault-Handling in Networked Sensor Systems},
author = {Zug, Sebastian and Dietrich, André and Kaiser, Jörg},
editor = {Gerasimos Rigatos},
url = {http://www.iconceptpress.com/www/site/download.paper.php?paperID=11062304503058
http://www.iconceptpress.com/www/site/papers.webView.php?publicationID=BK008A},
year = {2012},
date = {2012-01-01},
booktitle = {Fault Diagnosis in Robotic and Industrial Systems},
publisher = {Concept Press Ltd.},
address = {St. Franklin, Australia},
keywords = {}
}
|
2011
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|
Dietrich, André; Zug, Sebastian; Kaiser, Jörg
Model based Decoupling of Perception and Processing (Inproceeding)
ERCIM/EWICS/Cyberphysical Systems Workshop, Resilient Systems, Robotics, Systems-of-Systems Challenges in Design, Validation & Verification and Certification, Naples, Italy, 2011.
(BibTeX)
@inproceedings{EOS-2011.000-DZK,
title = {Model based Decoupling of Perception and Processing},
author = {André Dietrich and Sebastian Zug and Jörg Kaiser},
year = {2011},
date = {2011-09-01},
booktitle = {ERCIM/EWICS/Cyberphysical Systems Workshop, Resilient Systems, Robotics, Systems-of-Systems Challenges in Design, Validation & Verification and Certification},
address = {Naples, Italy},
keywords = {}
}
|
|
Zug, Sebastian; Dietrich, André; Schappeit, Marc; Steup, Christoph
Flexible Daten-Akquisition & Interpretation für verteilte Sensor-Aktor-Systeme im Produktionsumfeld (Inproceeding)
10. Magdeburger Maschinentage, 2011.
(BibTeX)
@inproceedings{EOS-2011.000-ZDSS,
title = {Flexible Daten-Akquisition & Interpretation für verteilte Sensor-Aktor-Systeme im Produktionsumfeld},
author = {Sebastian Zug and André Dietrich and Marc Schappeit and Christoph Steup},
year = {2011},
date = {2011-09-01},
booktitle = {10. Magdeburger Maschinentage},
keywords = {}
}
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Zug, Sebastian; Steup, Christoph; Dietrich, André; Brezhnyev, Kyrylo
Design and Implementation of a Small Size Robot Localization System (Inproceeding)
IEEE International Symposium on Robotic and Sensors Environments (ROSE 2011), Montreal, Quebec, Canada, 2011.
(Abstract | BibTeX)
@inproceedings{EOS-2011.000-ZSDB,
title = {Design and Implementation of a Small Size Robot Localization System},
author = {Sebastian Zug and Christoph Steup and André Dietrich and Kyrylo Brezhnyev},
year = {2011},
date = {2011-09-01},
booktitle = {IEEE International Symposium on Robotic and Sensors Environments (ROSE 2011)},
address = {Montreal, Quebec, Canada},
abstract = {The position of a mobile robot can be determined very precise today. A large number of high level sensor systems in combination with processing algorithms running on powerful hardware can provide (nearly) every requirement. But in case of limited financial and computational resources new approaches beside laser scanners and stereo cameras are necessary. In this paper we propose a localization system motivated by RoboCup Junior competitions but also suitable for similar applications. The paper describes the theoretical investigation of a multi sensor system, based on this the implementation with real hardware and its validation.},
keywords = {}
}
The position of a mobile robot can be determined very precise today. A large number of high level sensor systems in combination with processing algorithms running on powerful hardware can provide (nearly) every requirement. But in case of limited financial and computational resources new approaches beside laser scanners and stereo cameras are necessary. In this paper we propose a localization system motivated by RoboCup Junior competitions but also suitable for similar applications. The paper describes the theoretical investigation of a multi sensor system, based on this the implementation with real hardware and its validation.
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Zug, Sebastian; Dietrich, André; Kaiser, Jörg
An Architecture for a Dependable Distributed Sensor System (Article)
IEEE Transactions on Instrumentation and Measurement, 60 Issue 2, pp. 408 – 419, 2011.
(Abstract | BibTeX)
@article{EOS-2011.000-ZDK,
title = {An Architecture for a Dependable Distributed Sensor System},
author = {Sebastian Zug and André Dietrich and Jörg Kaiser},
year = {2011},
date = {2011-02-01},
journal = {IEEE Transactions on Instrumentation and Measurement},
volume = {60 Issue 2},
pages = {408 — 419},
publisher = {IEEE Instrumentation and Measurement Society},
abstract = {In future smart environments mobile applications will ?nd a dynamically varying number of networked sensors that offer their measurements results. This additional information supports a mobile robot to operate faster, with a higher precision and enhanced safety. The potentially increased redundancy obtained in such scenarios however is seriously affected by new uncertainties. Firstly, the dependency on wireless communication introduces new latencies and faults and secondly, the sensors of the environment may be of low quality or even faulty. Therefore this quality has to be assessed dynamically. Our work aims at providing a generic programming abstraction for fault-tolerant sensors and fusion nodes that copes with the varying quality of measurements and communication.},
keywords = {}
}
In future smart environments mobile applications will ?nd a dynamically varying number of networked sensors that offer their measurements results. This additional information supports a mobile robot to operate faster, with a higher precision and enhanced safety. The potentially increased redundancy obtained in such scenarios however is seriously affected by new uncertainties. Firstly, the dependency on wireless communication introduces new latencies and faults and secondly, the sensors of the environment may be of low quality or even faulty. Therefore this quality has to be assessed dynamically. Our work aims at providing a generic programming abstraction for fault-tolerant sensors and fusion nodes that copes with the varying quality of measurements and communication.
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|
Dietrich, André; Zug, Sebastian; Kaiser, Jörg
Modelbasierte Fehlerdetektion in verteilten Sensor-Aktor-Systemen (Inproceeding)
11./12. Forschungskolloquium am Fraunhofer IFF, Fraunhofer Institut für Fabrikbetrieb und Automatisierung (IFF), 2011.
(BibTeX)
@inproceedings{EOS-2011.001-DZK,
title = {Modelbasierte Fehlerdetektion in verteilten Sensor-Aktor-Systemen},
author = {André Dietrich and Sebastian Zug and Jörg Kaiser},
year = {2011},
date = {2011-01-01},
booktitle = {11./12. Forschungskolloquium am Fraunhofer IFF},
publisher = {Fraunhofer Institut für Fabrikbetrieb und Automatisierung (IFF)},
keywords = {}
}
|
2010
|
|
Zug, Sebastian; Schulze, Michael; Dietrich, André; Kaiser, Jörg
Programming abstractions and middleware for building control systems as networks of smart sensors and actuators (Inproceeding)
Proceedings of Emerging Technologies in Factory Automation (ETFA ’10), Bilbao, Spain, 2010, ISSN: 978-1-4244-6849.
(Abstract | BibTeX)
@inproceedings{EOS-2010.001-ZSDK,
title = {Programming abstractions and middleware for building control systems as networks of smart sensors and actuators},
author = {Sebastian Zug and Michael Schulze and André Dietrich and Jörg Kaiser},
issn = {978-1-4244-6849},
year = {2010},
date = {2010-09-13},
booktitle = {Proceedings of Emerging Technologies in Factory Automation (ETFA ’10)},
address = {Bilbao, Spain},
abstract = {Developing complex sensor/actuator systems, like robot applications, is challenged by a multitude of different hardware platforms, networks, programming languages, data formats, etc. In this paper, we present our architecture that copes with this heterogeneity and allows for a flexible composition of smart sensors and actuators. The main focus lies on a two layered approach combining the communication middleware FAMOUSO and the programming abstraction MOSAIC. FAMOUSO enables the information exchange between networked systems, hides the high degree of heterogeneity on hardware and network level, and is usable from different programming environments. MOSAIC uses FAMOUSO and provides a generic access to the exchanged information. Furthermore, it offers a way to abstract from different sensor and actuator hardware and provides a framework for application development with predefined components, enabling comprehensive fault detection. The paper concludes with a case study that shows how the middleware and programming abstractions are used to build a distributed modular system for a robot manipulator.},
keywords = {}
}
Developing complex sensor/actuator systems, like robot applications, is challenged by a multitude of different hardware platforms, networks, programming languages, data formats, etc. In this paper, we present our architecture that copes with this heterogeneity and allows for a flexible composition of smart sensors and actuators. The main focus lies on a two layered approach combining the communication middleware FAMOUSO and the programming abstraction MOSAIC. FAMOUSO enables the information exchange between networked systems, hides the high degree of heterogeneity on hardware and network level, and is usable from different programming environments. MOSAIC uses FAMOUSO and provides a generic access to the exchanged information. Furthermore, it offers a way to abstract from different sensor and actuator hardware and provides a framework for application development with predefined components, enabling comprehensive fault detection. The paper concludes with a case study that shows how the middleware and programming abstractions are used to build a distributed modular system for a robot manipulator.
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Kiebel, Thomas; Dietrich, André; Schulze, Michael; Zug, Sebastian; Kaiser, Jörg
Identifying patients and visualize their vitality data through Augmented Reality (Inproceeding)
The 7th IEEE International Conference on Mobile Ad-hoc and Sensor Systems (MASS ’10), San Francisco, CA, USA, 2010.
(Abstract | Links | BibTeX)
@inproceedings{kiebel2010ar,
title = {Identifying patients and visualize their vitality data through Augmented Reality},
author = {Thomas Kiebel and André Dietrich and Michael Schulze and Sebastian Zug and Jörg Kaiser},
url = {http://eos.cs.ovgu.de/wp-content/uploads/2014/09/Identifying-patients-and-visualize-their-vitality-data-through-Augmented-Reality.pdf},
year = {2010},
date = {2010-08-12},
booktitle = {The 7th IEEE International Conference on Mobile Ad-hoc and Sensor Systems (MASS ’10)},
address = {San Francisco, CA, USA},
abstract = {Hospitals aim at an extensive continuous monitoring of patients. This enables the personal to check the conditions of a patient anywhere at any given time and allows them to immediately react to anomalies and emergencies. The same technology can be used to instantaneously visualize available patient data using augmented reality techniques.},
keywords = {}
}
Hospitals aim at an extensive continuous monitoring of patients. This enables the personal to check the conditions of a patient anywhere at any given time and allows them to immediately react to anomalies and emergencies. The same technology can be used to instantaneously visualize available patient data using augmented reality techniques.
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Zug, Sebastian; Schulze, Michael; Dietrich, André; Kaiser, Jörg
Reliable Fault-Tolerant Sensors for Distributed Systems (Inproceeding)
Proceedings of the Fourth {ACM} International Conference on Distributed {Event-Based} Systems (DEBS ’10), pp. 105-106, ACM Press New York, NY, USA, Cambridge, United Kingdom, 2010, ISSN: 978-1-60558-927-5.
(Abstract | BibTeX)
@inproceedings{EOS-2010.000-ZSDK,
title = {Reliable Fault-Tolerant Sensors for Distributed Systems},
author = {Sebastian Zug and Michael Schulze and André Dietrich and Jörg Kaiser},
issn = {978-1-60558-927-5},
year = {2010},
date = {2010-07-12},
booktitle = {Proceedings of the Fourth {ACM} International Conference on Distributed {Event-Based} Systems (DEBS ’10)},
pages = {105-106},
publisher = {ACM Press New York, NY, USA},
address = {Cambridge, United Kingdom},
abstract = {Providing reliable fault-tolerant sensors is a challenge for distributed systems. The demonstration setup combines three sensors and allows to inject di fferent faults that are reliably detected by our system.},
keywords = {}
}
Providing reliable fault-tolerant sensors is a challenge for distributed systems. The demonstration setup combines three sensors and allows to inject di fferent faults that are reliably detected by our system.
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Dietrich, André; Zug, Sebastian; Kaiser, Jörg
Detecting External Measurement Disturbances Based on Statistical Analysis for Smart Sensors (Inproceeding)
Procedings of the IEEE International Symposium on Industrial Electronics (ISIE), pp. 2067-2072, Bari, Italy, 2010.
(Abstract | Links | BibTeX)
@inproceedings{dietrich2010statistics,
title = {Detecting External Measurement Disturbances Based on Statistical Analysis for Smart Sensors},
author = {André Dietrich and Sebastian Zug and Jörg Kaiser},
url = {http://eos.cs.ovgu.de/wp-content/uploads/2014/09/Detecting-External-Measurement-Disturbances-Based-on-Statistical-Analysis-for-Smart-Sensors.pdf},
year = {2010},
date = {2010-07-01},
booktitle = {Procedings of the IEEE International Symposium on Industrial Electronics (ISIE)},
pages = {2067-2072},
address = {Bari, Italy},
abstract = {The transducer process of a sensor is interference prone to environmental conditions or external disturbances depending on sensor type, measurement procedure etc. Dependable sensors are characterized by a broad independence of those factors or/and they can both detect situations that make a correct measurement impossible and validate the measurement result. In this paper we describe a statistical approach for the detection of faulty measurements caused by external disturbances. Our fault detection algorithm is based on a comparison of faultless reference measurements with current sensing values. Using this enhancement, a sensor becomes a real smart sensing device and supplies an additional validity estimation of each measurement. The approach was implemented and validated in a demonstration setup that integrates an infrared sensor array disturbed by a strong extraneous light.},
keywords = {}
}
The transducer process of a sensor is interference prone to environmental conditions or external disturbances depending on sensor type, measurement procedure etc. Dependable sensors are characterized by a broad independence of those factors or/and they can both detect situations that make a correct measurement impossible and validate the measurement result. In this paper we describe a statistical approach for the detection of faulty measurements caused by external disturbances. Our fault detection algorithm is based on a comparison of faultless reference measurements with current sensing values. Using this enhancement, a sensor becomes a real smart sensing device and supplies an additional validity estimation of each measurement. The approach was implemented and validated in a demonstration setup that integrates an infrared sensor array disturbed by a strong extraneous light.
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Dietrich, André; Schulze, Michael; Zug, Sebastian; Kaiser, Jörg
Visualization of Robot’s Awareness and Perception (Inproceeding)
First International Workshop on Digital Engineering (IWDE), ACM Press New York, NY, USA, Magdeburg, Germany, 2010.
(Abstract | BibTeX)
@inproceedings{EOS-2010.000-DSZK,
title = {Visualization of Robot’s Awareness and Perception},
author = {André Dietrich and Michael Schulze and Sebastian Zug and Jörg Kaiser},
year = {2010},
date = {2010-06-14},
booktitle = {First International Workshop on Digital Engineering (IWDE)},
publisher = {ACM Press New York, NY, USA},
address = {Magdeburg, Germany},
abstract = {Today, direct interaction between humans and robots is limited, although the combination of human flexibility and robots power enables a growing productivity. The problem for humans lies in the nearly unpredictable behavior and motion of the robot itself. However, we can enhance human\’s view with more information to get knowledge about robot\’s perception and awareness. We use Augmented Reality methods for providing the information in an adaptable visualization for different user types. We show that our approach leads to shorter development cycles as well as to safer human-robot interaction.},
keywords = {}
}
Today, direct interaction between humans and robots is limited, although the combination of human flexibility and robots power enables a growing productivity. The problem for humans lies in the nearly unpredictable behavior and motion of the robot itself. However, we can enhance human’s view with more information to get knowledge about robot’s perception and awareness. We use Augmented Reality methods for providing the information in an adaptable visualization for different user types. We show that our approach leads to shorter development cycles as well as to safer human-robot interaction.
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Zug, Sebastian; Dietrich, André
Examination of Fusion Result Feedback for Fault-Tolerant and Distributed Sensor Systems (Inproceeding)
IEEE International Workshop on Robotic and Sensors Environments (ROSE 2010), Phoenix, AZ, USA, 2010.
(Abstract | BibTeX)
@inproceedings{EOS-2010.000-ZD,
title = {Examination of Fusion Result Feedback for Fault-Tolerant and Distributed Sensor Systems},
author = {Sebastian Zug and André Dietrich},
year = {2010},
date = {2010-01-01},
booktitle = {IEEE International Workshop on Robotic and Sensors Environments (ROSE 2010)},
address = {Phoenix, AZ, USA},
abstract = {Future distributed applications will combine mobile and stationary sensor actuator entities as part of smart environments. Hence, a various number of intelligent sensor systems and sensor types will be available for mobile robots. We designed a programming abstraction – the Smart Abstract Entity – to deal with the diversity of data formats, measurement units, individual uncertainties, etc., in such applications. One focus of this approach was fault-tolerance in a hybrid manner. We combined centralized and decentralized mechanisms in our core concept. In this paper we discuss one aspect of the fault-tolerance concept – the feedback transmission of available fusion results to the sensor nodes, for a verification of its current state. We use a mobile robot scenario to examine the impact of this feedback approach for the position estimation and discuss parameters as well as methods for refinement.},
keywords = {}
}
Future distributed applications will combine mobile and stationary sensor actuator entities as part of smart environments. Hence, a various number of intelligent sensor systems and sensor types will be available for mobile robots. We designed a programming abstraction – the Smart Abstract Entity – to deal with the diversity of data formats, measurement units, individual uncertainties, etc., in such applications. One focus of this approach was fault-tolerance in a hybrid manner. We combined centralized and decentralized mechanisms in our core concept. In this paper we discuss one aspect of the fault-tolerance concept – the feedback transmission of available fusion results to the sensor nodes, for a verification of its current state. We use a mobile robot scenario to examine the impact of this feedback approach for the position estimation and discuss parameters as well as methods for refinement.
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