Fehlervermeidung in der Kommissionierung

Manuelle Kommissioniersysteme sind aufgrund ihrer Flexibilität weit verbreitet, jedoch treten bei diesen auch vermehrt Kommissionierfehler auf, die weitreichende Folgen haben können. Deshalb werden zu Beginn des Beitrags die Auswirkungen und Ursachen von Kommissionierfehlern betrachtet. Der Fokus des Beitrags liegt auf der Darlegung von Möglichkeiten zur Fehlervermeidung. Dabei wird ein ganzheitlicher Ansatz verfolgt, der Maßnahmen aus den Handlungsfeldern Technik, Prozess, Organisation und Motivation umfasst. Als Ausblick auf zukünftige technische Hilfsmittel zur Fehlervermeidung wird das Augmented-Reality-unterstützte System Pick-by-Vision aus der Forschung vorgestellt, das wesentliche Vorteile existierender Techniken der Informationsbereitstellung vereinigt.

(Lifelong) learning in your pocket?

Der Beitrag fokussiert die Entwicklung, den Einsatz und die Nutzung von innovativen Technologien zur Unterstützung von Bildungsszenarien in Schule, Hochschule und Weiterbildung. Ausgehend von den verschiedenen Phasen des Corporate Learning, Social Learning, Mobile Learning und Intelligent Learning wird in einem ersten Abschnitt das Nutzungsverhalten von Technologien durch Kinder, Jugendliche und (junge) Erwachsene in Schule, Studium und Lehre betrachtet. Es folgt die Darstellung technologischer Entwicklungen auf Basis des Technology Life Cycle und die Konsequenzen von unterschiedlichen Entwicklungszuständen und Reifegraden von Technologien wie Content Learning Management, sozialen Netzwerken, mobilen Endgeräten, multidimensionalen und -modalen Räumen bis hin zu Anwendungen augmentierter Realität und des Internets der Dinge, Dienste und Daten für den Einsatz und die Nutzung in Bildungsszenarien. Nach der Darstellung von Anforderungen an digitale Technologien hinsichtlich Inhalte, Didaktik und Methodik wie etwa hinsichtlich der Erstellung von Inhalten, deren Wiederverwendung, Digitalisierung und Auffindbarkeit sowie Standards werden methodische Hinweise zur Nutzung digitaler Technologien zur Interaktion von Lernenden, von Lehrenden, sozialer Interaktion, kollaborativem Autorieren, Kommentierung, Evaluation und Begutachtung gegeben. Abschließend werden - differenziert für Schule und Hochschule - Erkenntnisse zu Rahmenbedingungen, Einflussgrößen, hemmenden und fördernden Faktoren sowie Herausförderungen bei der Einführung und nachhaltigen Implementation digitaler Technologien im schulischen Unterricht, in Lehre, Studium und Weiterbildung im Überblick zusammengefasst.

Experimental Prototype Merging Stereo Panoramic Video and Interactive 3D Content in a 5-sided CAVETM

Immersion and interaction have been identified as key factors influencing the quality of experience in stereoscopic video systems. An experimental prototype designed to explore the influence of these factors in 3D video applications is described here1. The focus is on the real-time insertion algorithm of new 3D models into the original video streams. Using this algorithm, our prototype is aimed to explore a new interaction paradigm ? similar to the augmented reality approach ? with 3D video applications.

Hammer: an Android based application for end-user industrial robot programming

This paper presents a novel tablet based end-user interface for industrial robot programming (called Hammer). This application makes easier to program tasks for industrial robots like polishing, milling or grinding. It is based on the Scratch programming language, but specifically design and created for Android OS. It is a visual programming concept that allows non-skilled programmer operators to create programs. The application also allows to monitor the tasks while it is being executed by overlapping real time information through augmented reality. The application includes a teach pendant screen that can be customized according to the operator needs at every moment.

Plataforma terapeútica basada en Kinect para niños con parálisis cerebral infantil

El sistema SONRIE (Sistema de terapia, basadO en KiNect, paRa nIños con parálisis cErebral), realizado como Proyecto Fin de Grado por Dña. Estefanía Sampedro Sánchez, se desarrolló con el fin de permitir el proceso de rehabilitación de los músculos faciales en niños con Parálisis Cerebral Infantil (PCI). SONRIE se compone de una plataforma de juegos cuyo objetivo es lograr una mejora terapéutica en la musculatura orofacial de niños diagnosticados de PCI con edades comprendidas entre los 4 y los 12 años. El escenario de aplicación del sistema SONRIE son las escuelas de integración que tienen escolarizados alumnos diagnosticados con este trastorno. La posibilidad de rehabilitación de los músculos faciales mediante tratamientos que se apoyan en el uso de sistemas telemáticos, junto con el empleo de tecnologías actuales (Realidad Virtual, Realidad Aumentada y Serious Games) supone una gran innovación en el entorno de la neuro-rehabilitación, entendida como el proceso de terapia que permite optimizar la participación de una persona en la sociedad, alcanzando un grado de bienestar óptimo. El trabajo realizado en este Proyecto Fin de Grado pretende escalar el sistema SONRIE, mediante el análisis, diseño y desarrollo de un Framework encargado de facilitar, ampliar y validar el uso adecuado del sistema SONRIE en entornos escolares a través de la integración de nuevas tecnologías. La plataforma desarrollada en este proyecto, permite dotar de dinamismo y persistencia a la plataforma de juegos, ofreciendo a los usuarios de SONRIE (principalmente fisioterapeutas y rehabilitadores que trabajan en entornos escolares) un sistema de terapia para niños con PCI accesible vía web. En este Proyecto Fin de Grado se describe el conjunto de componentes software desarrollados con el fin de proporcionar un entorno web que escale el sistema SONRIE, convirtiéndolo en un sistema de terapia efectivo, completo y usable. ABSTRACT. The SONRIE system (Sistema de terapia, basadO en KiNect, paRa nIños con parálisis cErebral), performed as a final project by Miss Estefanía Sampedro, was developed in order to allow the rehabilitation process of the facial muscles of children with Cerebral Palsy (CP). SONRIE consists of a gaming platform which aims to achieve a therapeutic improvement in the orofacial musculature on children diagnosed with CP aged between 4 and 12 years. The application scenario of the SONRIE system are the integration schools that have students diagnosed with this disorder. The possibility of rehabilitation of facial muscles through treatments based on the use of telematics systems, together with the use of new technologies (Virtual Reality, Augmented Reality and Serious Games) is a great innovation in the neuro-rehabilitation environment, understood as the therapy process that optimizes the participation of a person in the society, reaching an optimum level of welfare. The work done in this final project aims to scale the SONRIE system, through the analysis, design and development of a framework in charge of facilitating, extending and validating the proper use of the SONRIE system in school environments, through the integration of new technologies. The platform developed in this project, can provide dynamism and persistence to the gaming platform, offering to the SONRIE users (mainly physiotherapists and rehabilitators who work in school settings) a therapy system for children with CP accessible via web. In this final project are described the software components developed in order to provide a web environment that scales the SONRIE system, making it an effective, complete and usable therapy system.

Inclusion of immersive virtual learning environments and visual control systems to support the learning of students with Asperger syndrome

This paper presents the use of immersive virtual reality systems in the educational intervention with Asperger students. The starting points of this study are features of these students' cognitive style that requires an explicit teaching style supported by visual aids and highly structured environments. The proposed immersive virtual reality system, not only to assess the student's behavior and progress, but also is able to adapt itself to the student's specific needs. Additionally, the immersive reality system is equipped with sensors that can determine certain behaviors of the students. This paper determines the possible inclusion of immersive virtual reality as a support tool and learning strategy in these particular students' intervention. With this objective two task protocols have been defined with which the behavior and interaction situations performed by participant students are recorded. The conclusions from this study talks in favor of the inclusion of these virtual immersive environments as a support tool in the educational intervention of Asperger syndrome students as their social competences and executive functions have improved.

Studio del modello Augmented Worlds per l'ingegneria di sistemi software basati su realtà aumentata: esplorazioni basate su Unity e Android

Negli ultimi anni il crescere della capacità di calcolo dei dispositivi e il diminuire delle loro dimensioni ha permesso di far nascere idee innovative e di esplorare più in dettaglio alcuni settori. Uno di questi è sicuramente quello della realtà aumentata (Augmented reality), infatti, la discussione su questo argomento nasce già negli anni 40 del novecento, ma, per mancanza di mezzi tecnologici adeguati, solo ora si iniziano a realizzare le prime applicazioni che si basano su questa idea e il grande pubblico inizia ad interessarsi all'argomento. La costruzione di applicazioni di realtà aumentata, al momento, è basata sull'utilizzo di alcuni framework che mettono a disposizione dello sviluppatore alcune funzioni molto comuni in questi software, come il tracking di marker e l'utilizzo di bottoni virtuali. Questi strumenti, seppur comodi, non garantiscono sempre la buona progettazione dell'applicazione e tendono a unire insieme parti di logica applicativa e di grafica. Per questo motivo, anche nella ricerca, si stanno cercando di studiare dei metodi in grado di permettere una divisione ottimale dei compiti in modo da ottenere un software riusabile e facilmente mantenibile, ma che permetta anche di sfruttare appieno le potenzialità dell'AR attraverso, per esempio, sistemi distribuiti. Un framework concettuale che rientra in questa categoria è sicuramente quello degli Augmented Worlds, mondi virtuali collegati a quello fisico che ne incrementano le caratteristiche e le possibilità tramite la presenza di entità aumentate. La tesi, quindi, si propone di sviluppare un prototipo di un framework con le caratteristiche sopra citate di estendibilità, utilizzando le piattaforme in questo momento a disposizione e ispirandosi alla visione degli Augmented Worlds.

Applicazioni di Mixed Reality e Microsoft Hololens: studio e riprogettazione del concetto di ologramma e della relativa gestione all'interno di un'applicazione olografica.

La tesi presenta una panoramica sull'augmented, virtual e mixed reality, descrivendone le caratteristiche e le modalità di sviluppo. Come caso di studio viene analizzato il dispositivo Microsoft Hololens, descrivendone le caratteristiche concettuali, hardware e software. Per le applicazioni di questo dispositivo viene effettuata una riprogettazione della gestione e del concetto di ologramma all'interno di un'applicazione olografica, analizzandone i motivi e i vantaggi. E' fornita una overview sui dettagli implementativi della riprogettazione al fine di chiarire ogni aspetto dell'applicazione.

Realidade aumentada aplicada em bibliotecas: multiplicidade no acesso a informação

Conceitua Realidade Aumentada do ponto de vista histórico de vários autores e como surgiu esse segmento através da evolução tecnológica até os dias atuais. Aborda seu funcionamento, como também, seus sistemas e aplicações em diversos campos de pesquisas e estudos científicos. Diferencia Realidade Aumentada de Realidade Virtual, visando melhor esclarecimento entre ambas na intenção de descaracterizá-las com uma única “realidade”. Apresenta a Realidade Aumentada e sua aplicação dentro de um contexto de uma unidade de informação, promovendo uma melhor interação com os usuários e as adaptações pelas quais as bibliotecas terão que passar futuramente para se adequarem a “explosão” tecnológica. Descreve o funcionamento da biblioteca ARToolKIT, baseada em RA e suas principais etapas de funcionamento para visualização de objetos virtuais em 3D. Exemplifica os benefícios que uma unidade de informação, que utiliza Realidade Aumentada, promove aos usuários portadores de deficiência, além de sua inclusão no meio digital e sua inserção no mercado de trabalho

Sistema de realidade aumentada no procedimento cirúrgico de remoção de pedras nos rins

A inovação tecnológica e as facilidades que gera tem tido um impacto crescente em diversas área, inclusivamente na medicina. A rápida evolução por parte de algumas tecnologias, como é o caso da Realidade Aumentada (RA), criam excelentes oportunidades, nomeadamente para intervenções cirúrgicas laparoscópicas, que apresentam especialmente problemas ao nível da exposição do doente a radiação. O presente documento detalha todo o processo de investigação e desenvolvimento realizado com a pretensão de criar um sistema de navegação por RA que auxilie o procedimento cirúrgico laparoscópico de remoção de pedras nos rins. Com este objetivo em perspetiva, e numa parceria com a empresa ECmedica LTD, foram desenvolvidos quatro protótipo funcionais. Com o intuito de compreender as melhores práticas de sistemas de input, interface e sistema de registo a aplicar, estes integraram aspetos inovadores tais como a utilização de uma sonda ultra-som, como substituta do raioX, e um registo feito através de sensores magnéticos. Apoiados numa metodologia de design centrado no utilizador e em instrumentos de análise como entrevistas e observação natural, os protótipos foram testados, obtendo respostas esclarecedoras relativamente ao objetivos dos protótipos. Foi observado que a RA é vista pelos médicos como uma solução com potencial, com as soluções apresentadas ao nível de inputs, interface e registo a serem bem recebidas. A projeção bidimensional oferecida pela imagem ultra-som foi encarada como insuficientes, sendo sugerida a sua substituição por um aumento tridimensional capaz de facilitar a correta inserção da agulha.

Realidade aumentada aplicada em bibliotecas: multiplicidade no acesso a informação

Conceitua Realidade Aumentada do ponto de vista histórico de vários autores e como surgiu esse segmento através da evolução tecnológica até os dias atuais. Aborda seu funcionamento, como também, seus sistemas e aplicações em diversos campos de pesquisas e estudos científicos. Diferencia Realidade Aumentada de Realidade Virtual, visando melhor esclarecimento entre ambas na intenção de descaracterizá-las com uma única “realidade”. Apresenta a Realidade Aumentada e sua aplicação dentro de um contexto de uma unidade de informação, promovendo uma melhor interação com os usuários e as adaptações pelas quais as bibliotecas terão que passar futuramente para se adequarem a “explosão” tecnológica. Descreve o funcionamento da biblioteca ARToolKIT, baseada em RA e suas principais etapas de funcionamento para visualização de objetos virtuais em 3D. Exemplifica os benefícios que uma unidade de informação, que utiliza Realidade Aumentada, promove aos usuários portadores de deficiência, além de sua inclusão no meio digital e sua inserção no mercado de trabalho

EACS: Effective Avoidance Combination Strategy

International audience

Contributions to 3D Data Registration and Representation

Nowadays, new computers generation provides a high performance that enables to build computationally expensive computer vision applications applied to mobile robotics. Building a map of the environment is a common task of a robot and is an essential part to allow the robots to move through these environments. Traditionally, mobile robots used a combination of several sensors from different technologies. Lasers, sonars and contact sensors have been typically used in any mobile robotic architecture, however color cameras are an important sensor due to we want the robots to use the same information that humans to sense and move through the different environments. Color cameras are cheap and flexible but a lot of work need to be done to give robots enough visual understanding of the scenes. Computer vision algorithms are computational complex problems but nowadays robots have access to different and powerful architectures that can be used for mobile robotics purposes. The advent of low-cost RGB-D sensors like Microsoft Kinect which provide 3D colored point clouds at high frame rates made the computer vision even more relevant in the mobile robotics field. The combination of visual and 3D data allows the systems to use both computer vision and 3D processing and therefore to be aware of more details of the surrounding environment. The research described in this thesis was motivated by the need of scene mapping. Being aware of the surrounding environment is a key feature in many mobile robotics applications from simple robotic navigation to complex surveillance applications. In addition, the acquisition of a 3D model of the scenes is useful in many areas as video games scene modeling where well-known places are reconstructed and added to game systems or advertising where once you get the 3D model of one room the system can add furniture pieces using augmented reality techniques. In this thesis we perform an experimental study of the state-of-the-art registration methods to find which one fits better to our scene mapping purposes. Different methods are tested and analyzed on different scene distributions of visual and geometry appearance. In addition, this thesis proposes two methods for 3d data compression and representation of 3D maps. Our 3D representation proposal is based on the use of Growing Neural Gas (GNG) method. This Self-Organizing Maps (SOMs) has been successfully used for clustering, pattern recognition and topology representation of various kind of data. Until now, Self-Organizing Maps have been primarily computed offline and their application in 3D data has mainly focused on free noise models without considering time constraints. Self-organising neural models have the ability to provide a good representation of the input space. In particular, the Growing Neural Gas (GNG) is a suitable model because of its flexibility, rapid adaptation and excellent quality of representation. However, this type of learning is time consuming, specially for high-dimensional input data. Since real applications often work under time constraints, it is necessary to adapt the learning process in order to complete it in a predefined time. This thesis proposes a hardware implementation leveraging the computing power of modern GPUs which takes advantage of a new paradigm coined as General-Purpose Computing on Graphics Processing Units (GPGPU). Our proposed geometrical 3D compression method seeks to reduce the 3D information using plane detection as basic structure to compress the data. This is due to our target environments are man-made and therefore there are a lot of points that belong to a plane surface. Our proposed method is able to get good compression results in those man-made scenarios. The detected and compressed planes can be also used in other applications as surface reconstruction or plane-based registration algorithms. Finally, we have also demonstrated the goodness of the GPU technologies getting a high performance implementation of a CAD/CAM common technique called Virtual Digitizing.

Dynamic virtual workspace for teleoperation of heterogeneous robots in non-deterministic environments

Robots are ever increasing in a variety of different workplaces providing an array of benefits such alternative solutions to traditional human labor. While developing fully autonomous robots is the ultimate goal in many robotic applications the reality is that there still exist many situationswere robots require some level of teleoperation in order to achieve assigned goals especially when deployed in non-deterministic environments. For instance teleoperation is commonly used in areas such as search and rescue, bomb disposal and exploration of inaccessible or harsh terrain. This is due to a range of factors such as the lack of ability for robots to quickly and reliably navigate unknown environments or provide high-level decision making especially intime critical tasks. To provide an adequate solution for such situations human-in-the-loop control is required. When developing human-in-the-loop control it is important to take advantage of the complimentary skill-sets that both humans and robots share. For example robots can performrapid calculations, provide accurate measurements through hardware such as sensors and store large amounts of data while humans provide experience, intuition, risk management and complex decision making capabilities. Shared autonomy is the concept of building robotic systems that take advantage of these complementary skills-sets to provide a robust an efficient robotic solution. While the requirement of human-in-the-loop control exists Human Machine Interaction (HMI) remains an important research topic especially the area of User Interface (UI) design.In order to provide operators with an effective teleoperation system it is important that the interface is intuitive and dynamic while also achieving a high level of immersion. Recent advancements in virtual and augmented reality hardware is giving rise to innovative HMI systems. Interactive hardware such as Microsoft Kinect, leap motion, Oculus Rift, Samsung Gear VR and even CAVE Automatic Virtual Environments [1] are providing vast improvements over traditional user interface designs such as the experimental web browser JanusVR [2]. This combined with the introduction of standardized robot frameworks such as ROS and Webots [3] that now support a large number of different robots provides an opportunity to develop a universal UI for teleoperation control to improve operator efficiency while reducing teleoperation training.This research introduces the concept of a dynamic virtual workspace for teleoperation of heterogeneous robots in non-deterministic environments that require human-in-the-loop control. The system first identifies the connected robots through the use kinematic information then determines its network capabilities such as latency and bandwidth. Given the robot type and network capabilities the system can then provide the operator with available teleoperation modes such as pick and place control or waypoint navigation while also allowing them to manipulate the virtual workspace layout to provide information from onboard camera’s or sensors.

A visualisation framework for collaborative virtual environment usage information

Due to the popularity of modern Collaborative Virtual Environments, there has been a related increase in their size and complexity. Developers therefore need visualisations that expose usage patterns from logged data, to understand the structures and dynamics of these complex environments. This chapter presents a new framework for the process of visualising virtual environment usage data. Major components, such as an event model, designer task model and data acquisition infrastructure are described. Interface and implementation factors are also developed, along with example visualisation techniques that make use of the new task and event model. A case study is performed to illustrate a typical scenario for the framework, and its benefits to the environment development team.