In this paper, a novel state machine for mobile robots is described that enables a direct use for... more In this paper, a novel state machine for mobile robots is described that enables a direct use for exploration and inspection tasks. It offers a graphical user interface (GUI) to supervise the process and to issue commands if necessary. The state machine was developed for the open-source framework Robot Operating System (ROS) and can interface arbitrary algorithms for navigation and exploration. Interfaces to the commonly used ROS navigation stack and the explore_lite package are already included and can be utilized. In addition, routines for mapping and inspection can be added freely to adapt to the area of application. The state machine features a teleoperation mode to which it changes as soon as a respective command was issued. It also implements a software emergency stop and multiplexes all movement commands to the motor controller. To show the state machine's capabilities several simulations and real-world experiments are described in which it was used.
We present a data-driven imitation learning system for learning human-robot interactions from hum... more We present a data-driven imitation learning system for learning human-robot interactions from human-human demonstrations. During training, the movements of two interaction partners are recorded through motion capture and an interaction model is learned. At runtime, the interaction model is used to continuously adapt the robot's motion, both spatially and temporally, to the movements of the human interaction partner. We show the effectiveness of the approach on complex, sequential tasks by presenting two applications involving collaborative human-robot assembly. Experiments with varied object hand-over positions and task execution speeds confirm the capabilities for spatio-temporal adaption of the demonstrated behavior to the current situation.
Herein, the immersion process of a ceramic foam filter in a steel melt is investigated by means o... more Herein, the immersion process of a ceramic foam filter in a steel melt is investigated by means of numerical simulations, which are mainly based on the volume of fluid approach. The geometry of the used filters is modeled using an artificially generated beam model, which is convolved with a Gaussian kernel. The modeling approach enables the generation of filter geometries with, e.g., pore density and strut thickness similar to real ceramic foam filters. The main scope of the article is to show the effect of the immersion velocity of the filter on the formation of gas bubbles inside the pore cavities of the ceramic filter. Moreover, the influence of the contact angle on the volume fraction of gas bubbles, which remain in the filter, is investigated. For better understanding, the numerical results are underlined using 3D visualization and virtual reality.
Indoor localization for smartphone users enables applications such as indoor navigation or augmen... more Indoor localization for smartphone users enables applications such as indoor navigation or augmented information services. Indoor localization can be achieved by using camera images to resolve the position based on a precomputed training set of images. This technique is widely known as imagebased localization. In particular, we create a feature cloud from a Structure from Motion (SfM) approach as training set. At runtime, a feature-based matching identifies similarities between a test image and the trained set in order to solve the perspective n-point (PNP) problem and compute the camera position. Since indoor environments are challenging regarding wall structure, light conditions and glass elements, we combine SIFT and SURF image features to exploit the advantages of both techniques and, thus, provide a highly robust localization technology. We can even show that our novel approach can be used for a realtime image-based localization of a smartphone using remote processing.
While model-driven approaches are nowadays common-place in the development of many kinds of softw... more While model-driven approaches are nowadays common-place in the development of many kinds of software, 3D applications are often still developed in an ad-hoc and code-centric manner. This state of affairs is somewhat surprising, as there are obvious benefits to a more structured 3D development process. E.g., model-based techniques could help to ensure the mutual consistency of the code bases produced by the heterogeneous development groups, i.e. 3D designers and programmers. Further, 3D applications are often developed for multiple platforms in different programming environments for which some support for synchronization during development iterations is desirable. This paper presents a model-driven approach for the structured development of multi-platform 3D applications based on round-trip engineering. Abstract models of the application are specified in SSIML, a DSL tailored for the development of 3D applications. In a forward phase, consistent 3D scene descriptions and program code...
In this paper, a novel state machine for mobile robots is described that enables a direct use for... more In this paper, a novel state machine for mobile robots is described that enables a direct use for exploration and inspection tasks. It offers a graphical user interface (GUI) to supervise the process and to issue commands if necessary. The state machine was developed for the open-source framework Robot Operating System (ROS) and can interface arbitrary algorithms for navigation and exploration. Interfaces to the commonly used ROS navigation stack and the explore_lite package are already included and can be utilized. In addition, routines for mapping and inspection can be added freely to adapt to the area of application. The state machine features a teleoperation mode to which it changes as soon as a respective command was issued. It also implements a software emergency stop and multiplexes all movement commands to the motor controller. To show the state machine's capabilities several simulations and real-world experiments are described in which it was used.
We present a data-driven imitation learning system for learning human-robot interactions from hum... more We present a data-driven imitation learning system for learning human-robot interactions from human-human demonstrations. During training, the movements of two interaction partners are recorded through motion capture and an interaction model is learned. At runtime, the interaction model is used to continuously adapt the robot's motion, both spatially and temporally, to the movements of the human interaction partner. We show the effectiveness of the approach on complex, sequential tasks by presenting two applications involving collaborative human-robot assembly. Experiments with varied object hand-over positions and task execution speeds confirm the capabilities for spatio-temporal adaption of the demonstrated behavior to the current situation.
Herein, the immersion process of a ceramic foam filter in a steel melt is investigated by means o... more Herein, the immersion process of a ceramic foam filter in a steel melt is investigated by means of numerical simulations, which are mainly based on the volume of fluid approach. The geometry of the used filters is modeled using an artificially generated beam model, which is convolved with a Gaussian kernel. The modeling approach enables the generation of filter geometries with, e.g., pore density and strut thickness similar to real ceramic foam filters. The main scope of the article is to show the effect of the immersion velocity of the filter on the formation of gas bubbles inside the pore cavities of the ceramic filter. Moreover, the influence of the contact angle on the volume fraction of gas bubbles, which remain in the filter, is investigated. For better understanding, the numerical results are underlined using 3D visualization and virtual reality.
Indoor localization for smartphone users enables applications such as indoor navigation or augmen... more Indoor localization for smartphone users enables applications such as indoor navigation or augmented information services. Indoor localization can be achieved by using camera images to resolve the position based on a precomputed training set of images. This technique is widely known as imagebased localization. In particular, we create a feature cloud from a Structure from Motion (SfM) approach as training set. At runtime, a feature-based matching identifies similarities between a test image and the trained set in order to solve the perspective n-point (PNP) problem and compute the camera position. Since indoor environments are challenging regarding wall structure, light conditions and glass elements, we combine SIFT and SURF image features to exploit the advantages of both techniques and, thus, provide a highly robust localization technology. We can even show that our novel approach can be used for a realtime image-based localization of a smartphone using remote processing.
While model-driven approaches are nowadays common-place in the development of many kinds of softw... more While model-driven approaches are nowadays common-place in the development of many kinds of software, 3D applications are often still developed in an ad-hoc and code-centric manner. This state of affairs is somewhat surprising, as there are obvious benefits to a more structured 3D development process. E.g., model-based techniques could help to ensure the mutual consistency of the code bases produced by the heterogeneous development groups, i.e. 3D designers and programmers. Further, 3D applications are often developed for multiple platforms in different programming environments for which some support for synchronization during development iterations is desirable. This paper presents a model-driven approach for the structured development of multi-platform 3D applications based on round-trip engineering. Abstract models of the application are specified in SSIML, a DSL tailored for the development of 3D applications. In a forward phase, consistent 3D scene descriptions and program code...
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Papers by Bernhard Jung