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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.
In times of global climate change, it is increasingly important to investigate emissions and resource consumption of all machines and, if possible, to improve them. This includes within the transport sector car ferries.
In order to reduce the environmental impacts of car ferries, the electrification has penetrated into this sector, which has led to the world's first fully electric car ferry. One of the most important components to operate this ferry is the energy storage. Not only the battery storage of the ferry itself is needed, but also an onshore battery storage system is needed to support the electrical grid.
The present study examines how storage technologies and concepts can impact the environment considering the world's first all-electric car ferry, MF Ampere, which operates in Norway.
To examine this, the current onshore battery storage system is compared to a concrete sphere storage system. For this purpose, data from the first test run of this new storage technology, which was successfully carried out by the Fraunhofer Institute in 2016, is considered. Subsequently, a life cycle assessment of the two storage systems is carried out to compare the environmental impacts.
The concrete sphere storage system performs better for 15 of 17 impact categories compared to the existing onshore battery storage system. Depending on the impact category the impact reduction is about 2% to 8%.
Nevertheless, it is difficult to estimate how long the useful life and how good the efficiency of the concrete ball storage will be, since no system of this size has been tested yet. Also, the costs of the concrete sphere storage system have not been considered.