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ROS 2 in Embedded Systemen
(2022)
Das Robot Operating System in seiner zweiten Version (ROS 2) findet zunehmend Verwendung und das nicht nur in Robotern. Dieser Beitrag gibt einen Überblick über den Aufbau und die Funktion von ROS 2. Die wesentlichen Elemente werden vorgestellt, das Publish-Subscribe-Konzept, das der Kommunikation zugrunde liegt, wird erläutert. Die Anforderungen von ROS 2 an Hardware und Betriebssystem werden beleuchtet und es werden Betrachtungen zu dessen Echtzeitverhalten gemacht.
A trend from centralized to decentralized production is emerging in the manufacturing domain leading to new and innovative approaches for long-established production methods. A technology supporting this trend is Cloud Manufacturing, which adapts technologies and concepts known from cloud computing to the manufacturing domain. A core aspect of Cloud Manufacturing is representing knowledge about manufacturing, e.g., machine capabilities, in a suitable form. This knowledge representation should be flexible and adaptable so that it fits across various manufacturing domains, but, at the same time, should also be specific and exhaustive. We identify three core capabilities that such a platform has to support, i.e., the product, the process and the production.We propose representing this knowledge in semantically specified knowledge graphs, essentially creating three through features interconnected ontologies each representing a facet of manufacturing. Finally, we present an exemplary implementation of a Cloud Manufacturing platform using this representation and its advantages.
Mobility choices - an instrument for precise automatized travel behavior detection & analysis
(2021)
With Cloud Computing and multi-core CPUs parallel computing resources are becoming more and more affordable and commonly available. Parallel programming should as well be easily accessible for everyone. Unfortunately, existing frameworks and systems are powerful but often very complex to use for anyone who lacks the knowledge about underlying concepts. This paper introduces a software framework and execution environment whose objective is to provide a system which should be easily usable for everyone who could benefit from parallel computing. Some real-world examples are presented with an explanation of all the steps that are necessary for computing in a parallel and distributed manner.
One goal of the project described in this paper is to create learning algorithms for machines and robots that lack a precise virtual controller for correct simulations. Using a digital twin approach, the developed mixed reality application aims for an overlay of a virtual robot model with the real world counterpart using Microsoft HoloLens 2 smart glasses. The application should help users to have an inside look into the results of the learning algorithm and therefore supervise and improve those results. The main focus of this paper is the visual representation of the digital twin on the smart glasses. One of the challenges is the level of abstraction and specific use of shaders (program code defining material attributes) to help the user differentiating between virtual and real objects. Therefore different presentation methods are described and evaluated. Study results with 48 persons show that the most abstract representation (wireframe) scores lowest, whereas a half-transparent model works best.
IBH Living Lab AAL
(2021)
