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Abstract: ams AG is a leading provider of sensing solutions developing semiconductor sensors in a wide variety of fields, with optical sensing as one of the key competences. Since integrated photonics is a promising technology for new sensor systems, ams AG has been developing processes for fully integrated CMOS-compatible photonic components based on Si3N4. This talk will provide an overview on the processing of basic photonic building blocks and their optical properties and performance. We will also give examples for applications in the fields of optical coherence tomography and opto-chemical gas sensing. In the 1980s photonics started its way for common use in telecommunication technology, using optical fiber technologies. In recent years, also a variety of photonic sensors has been proposed and developed. One of the major drawbacks of most of these photonic devices has been the lack of integration into existing (semiconductor) production processes, so far. This integration is feasible using SiN material systems to process monolithically integrated CMOS-compatible photonic sensors in the visible and near-infrared spectrum. We will present the basic processing steps for the SiN photonic technology, the development of some critical processing steps such as SiN deposition and SiN etching as well as several photonic components (waveguides, splitters, etc.) with their optical properties. One of the applications presented relates to optical coherence tomography (OCT), a fast growing imaging technique in ophthalmology. Drawbacks of existing OCT systems are their high costs as well as their bulkiness, which prevents a wider spread use of OCT systems.
One way to overcome both cost and size issues is to integrate optical and electrical components on a single chip.
Part of this work was carried out in the framework of the projects COHESION (funded by the Austrian Research Promotion Agency (FFG), no. 848588), OCTCHIP (funded by the EU’ Horizon 2020 research and innovation programme, no. 688173), and COLODOR (M-ERA.NET transnational Call 2015, funded by the Austrian Research Promotion Agency (FFG), no.854066, and the Bundesministerium für Bildung und Forschung, Germany).
Integration of an industrial robot manipulator in ROS to enhance its spatial perception capabilities
(2020)
Robots without any external sensors are not capable of sensing their environment, often leading to damaging collisions. These collisions could potentially be avoided if the robot had a way to sense its environment in the first place. This thesis attempts to tackle this problem by equipping such a robot with extra sensor hardware for perceiving environmental objects. The robot used within this thesis is a KUKA LBR iiwa 7 R800. The goal is a robot capable of moving in an unseen environment without colliding with obstacles nearby.
The research covers different sensor options, robots in cramped areas as well as algorithms and simulation topics. Software platforms and libraries used for the implementation are briefly introduced.
Multiple infrared sensors are directly installed onto the robot manipulator. The extra sensors and the robot are integrated into the ROS middleware to create an application capable of sensing the robots’ environment and plan collision-free paths accordingly.
The experiments show, that the low amount of available sensor data can not map the robots’ environment with enough detail. Additional problems, such as sensor noise corrupting parts of the generated map or the robot recognizing itself as an obstacle, lead to a negative result in total. In future work, the choice of sensors shall be reconsidered and tested upfront via simulation software.