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

12.04. Methodologies and Applications of Weak Signal Detection
Vortragender: Kunpeng Wang

19.04. Our team's research on robot vision at NUDT / Robot Surgery and Surgical Robots for MIS
Vortragender: Prof. Hui Zhang / Prof. Hongjian Yu

26.04. Dexterous Manipulation with the Shadow Hand: Lessons learned from the HANDLE and HYFLAM projects
Vortragender: Norman Hendrich
Summary: While grippers allow a robot to grasp and move simple objects, multi-fingered hands (at least, in theory) also afford dexterous and in-hand object manipulation. The talk will summarize the research objectives of EU-projects HANDLE and HYFLAM and highlight our machine learning approaches to mimic human manipulation using the 20/24-DOF Shadow robot hand. In particular, grasping synergies for different dexterous grasps are learned from human teleoperation, and the correlation with object affordances including object size and shape is demonstrated. Using symmetry arguments, we then derive suitable tool center points for grasping the objects, facilitating approach motion planning.
Folien Slides 5 MB pdf (Informatics/vpn only)

03.05. Brain-inspired intelligence and future applications in robotics
Vortragender: Prof. Bo Xu
Summary: Learning from human brain to improve the machine intelligence is definitely one of the very interesting and potential research areas. Under the framework of CAS Center for Excellence in Brain Science and Intelligence Technology (CEBSIT), a list of brain-inspired computing mechanisms in multi-scales that are under exploring will be presented. Specifically two function models will be emphasized. The first one is a multi-region structured sensing/decision model that could let UAV learn autonomous flying through simply interacting; The second one is RAM (reasoning, attention and memory) model, that could capture the meaning of spoken dialogue through the attention and reasoning. Finally, deep fusion of these models and robotics will be discussed .

03.05. A JavaScript Framework for Presentations and Animations on Computer Science
Vortragender: Laszlo Korte
Summary: The web provides a great open platform for building applications that work across many systems and devices. This talk will present the results of my thesis on building web based tools for teaching and learning basics of technical computer science.
Zusammenfassung: Ein JavaScript Framework für Demos und Animationen zur technischen Informatik
Das Web stellt eine großartige offene Plattform dar, um Anwendungen für ein breites Spektrum an Geräten und Systemen zu entwickeln. In diesem Vortrag stelle ich die Ergebnisse meiner Bachelorarbeit vor, in welcher ich mich der Entwicklung webbasierter Werkzeuge gewidmet habe, die das Lehren und das Lernen von Grundlagen der technischen Informatik erleichtern sollen.
Folien Slides 2.0 M pdf

10.05. Passivity-based and Model-based Control Approaches for Bilateral Teleoperation Systems
Vortragender: Prof. Yu-jun Pan, Dalhousie University, Halifax, Canada
Abstract:

Bilateral Teleoperation is the manipulation of a remote system where system state information is relayed to the remote site and forces are fed back to the operator in order to improve awareness of the remote environment. When delays are introduced into the bilateral teleoperation communication channels, the interacting systems become inherently unstable. These instabilities are both undesirable for the functioning of the teleoperation scheme and unsafe for people interacting with the system. Two approaches developed in recent years are introduced in this presentation.

Firstly, a Power Based Time Domain Passivity Control (PTDPC) is proposed and then experimentally evaluated for use in bilaterally teleoperated schemes. The new passivity observer (PO) monitors the current power behavior and decides the activation of the passivity controller (PC). The PC output is distributed along the time index and a sudden big force change is alleviated. Applications of the approach to haptic interfaces are simulated. A haptic steering wheel interface was constructed to interact with a virtual environment. Furthermore, this steering interface was used in conjunction with a robotic vehicle modified for teleoperation. In both experiments PTDPC is shown to improve the stability and transparency of the teleoperated system. Secondly, a novel control scheme for asymmetric bilateral teleoperation systems is developed based on linear models of the hardware, with considerations in the existence of communication time delays. The master and slave manipulators were modeled as linear single degree of freedom systems. The human user force was modeled based on the band limited availability of human motion, and the environmental force was modeled as a spring and damper type function. An impedance matching approach was applied to the master side dynamics, while a static error feedback gain was used to stabilize the slave side dynamics. A Lyapunov functional based on the error dynamics of the system is proposed with consideration for the minimum and maximum level of delays existing in the system. LMI techniques are used with Jensen’s inequality to determine the static feedback control gain. The experimental results with comparisons to simulation results are demonstrated to show the effectiveness of the proposed approach.


10.05. CML Server Infrastructure
Vortragender: Norman Hendrich
Zusammenfassung: This talk summarizes the setup of the collaboration tools and website currently under construction as part of CML subproject Z1. We will discuss content and presentation of the CML website, demonstrate parts of the Fiona CMS, and work on several open questions.
Folien Slides 1.4 MB pdf

17.05. Pfingstferien

24.05. From Symbolic Reasoning to Autonomous Robots
Vortragender: Michael Görner
Abstract: This talk presents my scientific background and the research I have carried out over the last years. Starting out in the field of Symbolic Inference, I moved on to Autonomous Robotic Systems where I always focused on the full integration of diverse components to form a complete autonomous system. My latest works, before I moved to TAMS, focus on the construction of useful object models from table surfaces in the robot's environment.
Slides Slides 8.7 MB pdf

31.05. CML Info / Lu's farewell
Vortragender: Wiebke Eggers / Lu Tetsis

07.06. Acquisition of Acoustical Data with Vehicle Sensors
Vortragender: Jonas Haeling
Zusammenfassung: Current automotive trends to equip modern cars with more and more sensors and an internet connection could lead to various applications of swarm data for the automotive industry in the future. For example, temperature and rainfall sensors in every car could augment present weather forecasts.
This presentation is concerned with the possibilities of the hands-free microphone in this context. The main application of this talk is the mapping of environmental noise, which plays a major health role in the European Union. The technical background, characteristics of the microphone and limitations of its feasability will be discussed and a noise map of a region in Wolfsburg will be showcased.

14.06. to be announced
Vortragender: Canceled

21.06. A Hybrid Genetic Swarm Algorithm for Interactive Inverse Kinematics
Vortragender: Sebastian Starke
Abstract: The problem of inverse kinematics is fundamental in robotics and various other applications such as video games and motion analysis in film animations. This thesis proposes a novel biologically-inspired approach for solving the inverse kinematics problem efficiently on arbitrary joint chains while providing high accuracy and convincing success rates for solutions that can be found in real-time. The algorithm merges the evolutionary and collective strengths of genetic algorithms with those from particle swarm optimization and results in a biologically-plausible hybrid method. Experimental results show that the presented solution performs significantly more robust and adaptive than traditional or various related methods and might also be applied to various other problems that can be solved by optimization techniques.
Slides Slides 10.7 MB pdf

12.07. Integration of a 3-Finger Hand and a Force-Torque-Sensor with the UR5 Robot Arm / Multi Agent-Based Modelling and Simulation in Transport and Logistics
Research background
Vortragende: Jennifer Nissley / Yu Hongliu
Zusammenfassung: The force-torque sensor and the 3-finger gripper of a wall-mounted robot arm are currently linked to a steering computer with an ethernet-cable. This cable is causing problems by limiting the action space of the arm and being identified as an obstacle by external cameras. RS485 is used as the physical layer of the communication protocol between the steer- ing computer and the gripper and sensor components of the arm. Over this physical link, Modbus is used to steer the components by writing into and reading out of the components registers. The steering computer is running ROS, a robot operating system, and there are par- tially implemented ROS-nodes for the sensor and the gripper. The purpose of this bachelor thesis is to replace the communications cable with a bluetooth or other wireless connection and to describe the needed hardware as well as the software that will be running on the bluetooth adapter and on the steering computer.