MIN-Fakultät
Fachbereich Informatik
TAMS

64-476 Oberseminar Technische Aspekte Multimodaler Systeme

Raum F-334
Zeit Dienstag 16 - 18 Uhr (c.t.)
Veranstalter Jianwei Zhang

Termine

05.04. Vorbesprechung und Terminvergabe

12.04. Multirobot Cooperation: Formation, Tracking Control & Task Allocation
Vortragender: Jian Chen
Zusammenfassung: Abstract: This talk will focus on two research topics in multirobot cooperation area: Multirobot Formation Control and Multirobot Task Allocation. These two issues have been hot research topics and attracted many researchers in the past decade. The talk will be divided into two parts, with the first part on Multirobot Formation and the second part on Multirobot Task Allocation. In Multirobot Formation control, a Leader-Follower strategy will be presented. By decomposing the Leader-Follower formation problem into a single robot tracking problem, a receding-horizon controller is then incorporated for resolving the tracking problem under an exponential convergent rate. In Multirobot Task Allocation, a resource-constrained modeling framework will be firstly presented, followed by a Leader-Follower coalition method to resolve the proposed task allocation problem. Detailed leader, follower selection strategies and coalition forming methods will be discussed and analyzed. Simulation and experiment results will be finally presented to verify the effectiveness of the proposed methodologies.

19.04. Bio-inspired Mechanism Design and Motion Control of a Novel Multimode Amphibious Robot
Vortragender: Junzhi Yu
Abstract This talk will focus on the system design and locomotion control for a versatile amphibious robot, AmphiRobot, inspired by various amphibian principles in the animal kingdom. In terms of the propulsion features of existing amphibians, a novel hybrid propulsive mechanism coupled with wheel-propeller-fin movements is proposed which integrates fish- or dolphin-like swimming and wheel-based crawling. The robot is able not only to implement flexible wheel-based movements on land, but also to perform steady and efficient fish- or dolphin-like swimming under water and can further switch between these two patterns via a specialized swivel device. To achieve multimodal motions, a body deformation steering approach is proposed for the turning locomotion on land with minimum turning radius obtained accordingly. A Central Pattern Generate (CPG) inspired underwater locomotion control is also implemented and tested on the physical robot. Based on the above design, four prototypes have been built and successfully demonstrated to confirm the effectiveness of the hybrid propulsive scheme and the amphibious control approaches.

26.04. Konzept und Prototyp für ein taktiles Sensorarray
Vortragende: Hendrik Linne / Nikolaus Slottke
Zusammenfassung: The talk presents the bachelor thesis with the title Konzept und Prototyp für ein taktiles Sensorarray (Concept and prototype for a tactile sensorarray). The developed tactile sensor is used for the coordination between a mechanical hand, e.g. a robothand, and an object that is to be gripped by that hand. There will be a contact between a contactglove and a contactmatrix on the object during the gripping process, and therefore the contact point of the hand on the object can be identified. The developed underlying concept as well as the prototype itself is part of the presentation.

Folien


03.05. fällt leider aus

10.05. Autonomous system for airborne cartography of arbitrary landscapes
Vortragender: Benjamin Adler
Zusammenfassung: The presentation describes my work on building a framework required for developing algorithms for autonomous navigation and path planning. These algorithms are designed for operation n environments with 6 degrees of freedom, under tight time constraints and optimized to deliver optimal results in the context of terrain sensing and reconstruction.

The framework is presented both on hardware and in simulation. Also, the process of integrating the necessary hardware and explaining the effects of its properties on the used algorithms is examined.

17.05. Human Hand Model Reconstruction Based on Four Views
Vortragender: Eugen Richter
Zusammenfassung: Articulated hand motion, represented by a sequence of hand model configurations, can be used for many purposes. The sequence can be used as a data set for a learning process, to analyze a grasp or a manipulation task, and for remote operation or human-computer interaction purposes. Because of the high amount of degrees of freedom and the complexity involved in mapping a visual external representation to the internal joint structure, reconstruction of a model of an articulated hand represents a complex task.

In this talk I will describe methods for three-dimensional hand model reconstruction based on four views using motion capturing with passive markers. Starting with the reconstruction of three-dimensional marker positions based on pairwise stereo matching the results are used to fit a hand model using anthropometric and kinematic constraints.


24.05. A Multi-Robot Platform for Mobil Robots with Multi-Agent Technology
Vortragender: Sebastian Rockel
Zusammenfassung: In the field of robotics typical single robot systems encounter limits when approaching a more complex task. Especially when interaction is needed between the participants, today's systems often lack of flexibility and inter-operability. Nevertheless well developed systems for the robotics domain as well as the cognitive and distributive domain are available today. What is missing is the common link between the two areas.
This work deals with the foundations and methods of a middle layer that joins a multiagent system with a multi-robot system in a generic way. Furthermore a prototype system consisting of an multi-agent system, a multi-robot system and a middle layer will be integrated. Its purpose is to combine high-level cognitive models and information distribution with robot focused abilities, such as navigation and behaviors. This enables us to assign different scenarios to a team of mobile robots.

Slides

31.05. Segmentation and classification within 3D point clouds
Vortragender: Bastian Ruhrmann
Zusammenfassung: I'm going to present my diploma-thesis in progress with the working title corresponding to the topic of this talk. As a basis for my work I'm using point clouds in cartesian coordinates provided by an arbitrary scanner in an indoor environment. Those clouds would be segmented by identifying planar surfaces which will later be classified in order to differentiate between backgrounds (e.g walls) and regions of interest (e.g. tables). This work could lay the groundwork for further implementations of 3D object detection and could also be used in suitable cases of sensor fusion.

07.06. Dies Academicus
Aktionen wegen der Sparpläne des Senats

14.06. Pfingstferien 13.06.-17.06.

21.06. ????
Vortragender: Hannes Bistry

22.06. Sondertermin
10:30 Locomotion of Limbless Robots using Novel Biomimetic Neural Circuits
Vortragender: Guoyuan Li
Zusammenfassung: This topic will present a novel controller for limbless robots locomotion using biomimetic neural circuits. A new central pattern generator (CPG) model, derived from the lamprey CPG prototype, is designed and integrated into the controller as the basis of the neural circuits. In addition, some oscillatory activities are incorporated into circuit construction for limbless gait generation, including side winding, rolling, turning and flapping. The result shows that the CPG-based controller is versatile and robust for gait generation.
11:15 Fast Plane Detection from Noisy Range Images in Both Structured and Unstructured Environments
Vortragender: Junhao Xiao
Zusammenfassung: This presentation will focus on plane detection in point clouds. Three algorithms are proposed step by step in this research, namely point-based region growing algorithm, grid-based region growing algorithm and hybrid region growing algorithm respectively. Experiments and results will be presented. The hybrid region growing algorithm is suitable for both structured and unstructured environments.
15:00 In-hand Manipulation Gist Understanding via Data-glove
Vortragender: Gang Cheng
Zusammenfassung: In-hand manipulation is the interaction between hand and object. In the manipulation process, different size hands use same postures can achieve different manipulation results. Therefore, directly mapping the motion sequence from one to another is not a perfect solution. Actually, we human learn manipulation skill bases on two foundations:
1. since we are born to this world, we have been practicing our hand skills and have more and more experience to handle various object. We do not care about each detailed action but remember the gist.
2. we use the gist to guide us how to perform the actions to a new but similar object as what we have learned. The motion will gradually become precise over times of practice.

This presentation is on how to define and model the action gist through the pose frames from data-glove.
15:45 Discover Novel Object Categories In Unexplored Environments
Vortragender: Jianhua Zhang
Zusammenfassung: In unexplored environments there must be some objects belonging to unknown categories where a robot have never seen. Therefore it is important for robots to have an ability of discovering novel categories. In this talk, I will introduce my project thesis, which contains to goals. The first one is to discovery novel categories and object instances after detecting and localizing objects in a scene. I extend object attributes and a topic model to build a dynamic category hierarchy. Through this hierarchy, a framework is developed to improve object recognition and discover novel categories. The second one is to automatically detect and localize object instances in a scene, regardless objects' categories. This is an ongoing work. I will employ conditional random fields to label a scene as background and foreground. The foreground consists of object instances we are interested in. The Dirichlet process mixture is then employed to divide foreground into blobs which represent object instances.

28.06. Erstellung eines eingebetteten FPGA-basierten Systems zur Anbindung und Bearbeitung der Daten einer Netzwerkkamera
Vortragender: Alexander Krichewski

05.07. ????
Vortragender: Denis Klimentjew

12.07. Continual Planning and Acting in Open-Ended Domains: Who Ordered a Coffee?
Vortragender: Dominik Off/ Simon Adameit(15:30)