The 22nd Conference on Autonomous Mobile Systems (AMS 2012) provides a platform for idea exchange, scientific discussion and cooperation for scientists from universities as well as industry. ...Autonomous mobile systems as well as their practical approach are in the center of interest. The presented selection of articles focuses on approaches from the fields of perception and sensors, mapping and localization, control, navigation, micro- and nano robotics, machine learning, autonomous cars, humanoid robots, system architectures and the application in autonomous mobile systems.
Determining the optimal solution for the inverse kinematics of redundant robots has been the focus of much previous research. Instantaneous approaches are computationally efficient, but may cause ...high joint velocities due to their local character. In this paper, we present an efficient implementation of a global approach following Pontryagin's Minimum Principle for online calculation. Within a moving horizon, we exploit the decoupled structure of the resulting optimal control problem by using the conjugate gradient method for solving the nonlinear dynamic problem. Different examples of cost functionals are presented and the real-time capability is shown by applying this approach to a 9-DOF redundant manipulator.
Humanoid robot LOLA Lohmeier, S.; Buschmann, T.; Ulbrich, H.
2009 IEEE International Conference on Robotics and Automation
Conference Proceeding
This paper presents our new 25-DoF humanoid walking robot LOLA. The goal of our research is to realize a fast, human-like walking motion (target speed: 5 km/h). Furthermore, we want to increase the ...robot's autonomous, vision-guided walking capabilities. The robot has 25 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Special emphasis was put on an improved mass distribution of the leg apparatus to achieve good dynamic performance. The sensor system comprises absolute angular sensors in all links, two custom-made force/torque sensors in the feet and a high-precision inertial sensor in the upper body. Trajectory generation and control system aim at faster, more flexible, and more robust walking patterns.
Humanoid robots are perfectly suited for service applications, since their human-like shape allows them to easily access environments designed for humans. This paper presents the performance enhanced ...humanoid robot LOLA. The goal of the project is to realize fast, human-like and vision-guided walking. LOLA's hardware is characterized by lightweight construction, modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. Real-time walking control is realized by a hierarchical trajectory generation and control system. Hardware and control are designed using a comprehensive multibody model of the robot. LOLA is equipped with a novel multi-focal vision system with four cameras and 6 degrees-of-freedom. Multifocal situation-specific gaze control provides high perception quality, flexible reaction, and accurate localization and navigation in large and weakly structured environments.
Humanoide Roboter sind für Service-Anwendungen perfekt geeignet. Ihre menschenähnliche Form ermöglicht optimales Handeln in für den Menschen spezialisierten Umgebungen. Dieser Artikel präsentiert den leistungsgesteigerten humanoiden Roboter LOLA. Ziel des Projektes ist die Realisierung schnellen, menschenähnlichen und sichtgesteuerten Gehens. LOLAs Hardware zeichnet sich aus durch Leichtbau, modulares und multisensorisches Gelenkdesign mit bürstenlosen Antrieben und eine Architektur mit dezentralen Gelenkreglern. Ein hierarchisches Trajektorienplanungs- und Regelungssystem kontrolliert die Ausführung der Gangbewegung. Hardware- und Regelungsdesign basieren auf einem detailierten Mehrkörpermodell des Roboters. LOLA ist mit einem neuartigen multifokalen Sichtsystem mit vier Kameras und sechs Freiheitsgraden ausgestattet. Eine multifokale situative Blickrichtungssteuerung ermöglicht eine hohe Wahrnehmungsqualität, flexible Reaktion und genaue Lokalisation und Navigation in weiträumigen und schwach strukturierten Umgebungen.
For most cancers, survival rates depend on the early detection of the disease. So far, no biomarkers exist to cope with this difficult task. New proteomic technologies have brought the hope of ...discovering novel early cancer-specific biomarkers in complex biological samples and/or of the setting up of new clinically relevant test systems. Novel mass spectrometry-(MS) based technologies in particular, such as surface-enhanced laser desorption/ionisation time of flight (SELDI-ToF-MS), have shown promising results in the recent literature. Here, proteomic profiles of control and disease states are compared to find biomarkers for diagnosis. This paper aims to address the authors' own work and that of other groups in clinical cancer proteomics based on SELDI-ToF-MS. Shortcomings and hopes for the future are discussed.
Celotno besedilo
Dostopno za:
DOBA, IZUM, KILJ, NUK, PILJ, PNG, SAZU, SIK, UILJ, UKNU, UL, UM, UPUK
A well known strategy in biped locomotion to prevent falling in the presence of large disturbances is to modify next footstep positions of the robot. Solving this complex control problem for the ...overall model of the robot is a challenging task. Published methods employ either linear models or heuristics to determine those positions. This paper introduces a new optimization method using a nonlinear and more accurate model of the robot. The resulting optimization problem to calculate the necessary footstep modification is solved by a direct shooting method. Using a problem formulation in an unconstrained way enables an optimization that performs in real-time rates. Further we present our overall framework that uses sensor feedback in trajectory generation. Experimental results of our biped robot LOLA show the effectiveness of the method under real world conditions.
Gastrointestinal cancers are usually diagnosed at advanced stages, making a curative treatment difficult. Biomarkers can help to overcome this problem by allowing earlier diagnosis, and thus better ...therapy. Proteomics tools are novel technologies to identify such biomarkers. This review summarizes advances in biomarker detection using two-dimensional gel electrophoresis (2D-PAGE), chromatography and mass spectrometry technologies. 2D-PAGE combined with mass spectrometry has led to the identification of several differentially expressed proteins in cancer tissue. However, for serum analysis, 2D-PAGE has severe limitations. For serum-based cancer diagnosis, surface-enhanced laser desorption-ionization time-of-flight (SELDI-TOF) mass spectrometry is a promising new technology. The potential of proteins identified with this technology as novel cancer biomarkers still needs to be confirmed in clinical trials.
Classic biped walking controllers assume a perfectly flat, rigid surface on which the robot walks. While walking over unknown terrain, robots need to sense and estimate the ground location. Errors in ...this estimation result in an unexpected early or late ground contact of the swing foot. In this paper, we analyze how these errors affect walking stability. Based on simulation results, we propose a strategy that mitigates this effect. We show that if the ground height has an associated uncertainty, an overestimation of its value results in a more stable walk. This overestimation depends on both sensor data and the robot's dynamics. By using a reduced robot model, our strategy could be implemented into the real-time control to make the robot more robust against perception errors and irregular surfaces.
Transplantation of islets of Langerhans is a possible treatment for type-I diabetes mellitus. However, there is a shortage of donors for such transplantations and the pig may be an alternative source ...of donor organs. The aims of the study reported here were to establish a method for
adult porcine islet isolation that was based on enzymatic digestion using Liberase PI in a semiautomatic set-up, and to evaluate the in vitro and in vivo function of isolated islets. After overnight culture, isolated islets, from five of seven batches, had poor insulin response to an in vitro
glucose challenge that was only partially increased by additional challenge with arginine. More than 50% of DNA and 90% of the insulin content was lost during a one-week culture period. With some batch-to-batch variation, in 15 of 25 cases, 4,000 to 7,000 porcine islets cured streptozotocin
diabetic nude mice within three weeks following transplantation.In conclusion, it is possible to isolate viable islets from adult pigs, using a semiautomatic set-up. With batch-to-batch variation, the islets are able to revert diabetes mellitus when transplanted to diabetic nude mice.
The paper presents the performance enhanced humanoid robot LOLA which is currently being manufactured. The goal of the project is the realization of a fast, human-like walking motion. The robot is ...characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentralized joint controllers. The fusion of motor, gear and sensors into a highly integrated, mechatronic joint module has several advantages for the whole system, including high power density, good dynamic performance and reliability. Additional degrees of freedom are introduced in elbow, waist and toes. Linear actuators are employed for the knee joints for a better mass distribution in the legs
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