In biotechnologischen Laboratorien ist die Qualitat der typischerweise pharmazeutischen Produkte ein wortwortlich lebenswichtiges Ziel. Die Qualitat der Zellkultivierungen wurde historisch nur durch off-line Messungen von physikalischen Prozessparametern wie pH und pO2 sichergestellt. Biologische Parameter wie die Zelldichte und -viabilitat wurden nur off-line gemessen, weil das dazu notwendige Probenmanagement hochkomplizierte Manipulationen und Analysen beinhaltet und deshalb nicht automatisiert werden konnte. Es gibt zwar mehrere automatisierte Gerate, um einem Labortechniker zu assistieren, aber kein System, welches das gesamte Probenmanagement automatisiert. In dieser Arbeit wird ein neuer Typ von Serviceroboter prasentiert, der aus einem auf einer mobilen Plattform montierten Roboterarm besteht und diese Lucke schliest.
Dieser Roboter muss eine ganze Reihe von Problemen bewaltigen: Er muss seine Position im Labor bestimmen konnen (Lokalisation), er muss eine kollisionsfreie Bahn zu den beteiligten Geraten finden konnen (Bahnplanung mit Hindernisvermeidung), er darf bei seinen Bewegungen keine Menschen gefahrden oder Laborausrustung beschadigen (Kollisionsvermeidung), er muss die zu bedienenden Gerate erkennen und ihre Position prazise messen konnen (Bildverarbeitung), er muss sie bedienen konnen (Armsteuerung), er muss Objekte greifen konnen (Greifer und Finger) und er muss sie gefugig handhaben konnen, um sie nicht zu beschadigen (Kraftregelung). Er muss autonom sein, um nur die allernotwendigste Menge an Benutzereingriffen zu benotigen, und doch durch ein Laborsteuerprogramm kontrollierbar sein, um Eingriffe zu erlauben. Schlieslich muss er einfach durch ungeschultes Personal zu warten sein. All diese Aspekte werden von dem in dieser Arbeit prasentierten neuen Robotersystem abgedeckt.

A mobile service robot for automisation of sample taking and sample management in a biotechnological pilot laboratory

In this paper we propose a novel method for the determination of illumination-invariant features in images Quantitative bilateral symmetry of a given scene is computed using dynamic programming In contrast to problems with other methods, the results of the dynamic programming algorithm describe symmetry in terms of an absolute region instead of a relative degree Vertical symmetry images are generated and symmetry axes are extracted using non-maxima suppression and hysteresis thresholding For each symmetry image a unique feature vector is obtained as the sum of the gray-values of each column of the image The usefulness of the proposed feature detection algorithm is shown by a preliminary experiment In the experiment, the feature vector is used to robustly track motion in an image sequence

http://ieeexplore.ieee.org/iel5/10894/34292/01635052.pdf

Robust illumination-invariant features by quantitative bilateral symmetry detection

Vision-based sensors are a key component for robot systems, where many tasks depend on image data. Realtime constrains of the control tasks bind a lot of processing power only for a single sensor modality. Dedicated and distributed processing resources are the "natural" solution to overcome this limitation. This paper presents first experiments, using embedded processors as well as dedicated hardware, performing various image (pre)processing tasks. Architectural concepts and requirements for smart vision systems have been acquired.

Towards intelligent autonomous vision systems - smart image processing for robotic applications -

This paper proposes a novel architecture for the programming of multi-modal service robots and networked sensors. The presented software framework eases the development of high-level applications for distributed systems. The software architecture is based upon the Roblet-Technology, which is an exceptionally powerful medium in robotics. The possibility to develop, compile and execute an application on one workstation and distribute parts of a program based on the idea of mobile code is pointed out. Since the Roblet-Technology uses Java the development is independent of the operation system. The framework hides the network communication and therefore greatly improves the programming and testing of applications in service robotics. The concept is evaluated in the context of the service robot TASER of the TAMS Institute at the University of Hamburg. This robot consists of a mobile platform with two manipulators equipped with artificial hands. Several multimodal input and output devices for interaction round off the robot. Networked cameras in the working environment of TASER provide additional information to the robot. The integration of these smart sensors shows the extendability of the proposed concept to general distributed systems.

A Unified Robotic Software Architecture for Service Robotics and Networks of Smart Sensors

Using robot kits for education in schools and universities, we found that there is a lack in tools for teaching the structures of an object oriented programming language. Thus, we decided to develop a graphical programming environment for the beginner, using procedural concepts together with given objects.

Grape – Graphical Robot Programming for Beginners

In this paper we present a technology that establishes a framework for task-oriented programming of mobile robot systems. The framework allows writing distributed control or monitoring programs for easy adoption of robots to specific tasks. It enables the programmer to send programs referred to as Roblets® to a Roblet®-server running on the robot. Contrary to other distributed system frameworks these Roblets® consist of data and code. The Roblet®-server executes the Roblets® with well-defined behaviour, even in case of malfunctions. The framework hides all network details from the programmer, so that writing programs on a local computer is similar to working directly with the remote robot. This decreases the development time of programs controlling the robots. The framework is implemented in JavaTM and tested with two service robots.

/pdf/a-flexible-framework-for-task-oriented-programming-of-2tnyubl3p0.pdf

A flexible framework for task-oriented programming of service robots

Mobile Manipulatoren und ihre aufgabenorientierte Programmierung

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A flexible framework for task-oriented programming of service robots

Mobile Manipulatoren und ihre aufgabenorientierte Programmierung