Publications of IPR
2024
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Proximity Servoed Minimally Invasive Continuum Robot for Endoscopic Interventions
Marzi, C.; Themistocli, M.; Hein, B.; Mathis-Ullrich, F.
2024. IEEE Transactions on Medical Robotics and Bionics, 6 (4), 1738–1747. doi:10.1109/TMRB.2024.3464127 -
Enhancing Force Sensing Capabilities in Exoskeleton Interfaces Using Compliant Actuator-Sensor Units - A User Study
Alagi, H.; Fischer, N.; Behrends, K.; Ftirst-Walter, I.; Becker, J.; Beigl, M.; Mathis-Ullrich, F.; Hein, B.
2024. 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Heidelberg, Germany, 01-04 September 2024, 889–894, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/BioRob60516.2024.10719794 -
Jerk-limited Traversal of One-dimensional Paths and its Application to Multi-dimensional Path Tracking
Kiemel, J. C.; Kröger, T.
2024. 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, 13th-15th May 2024, 7142 – 7148, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA57147.2024.10611388 -
Planning with Learned Subgoals Selected by Temporal Information
Huang, X.; Sóti, G.; Ledermann, C.; Hein, B.; Kröger, T.
2024. 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, 13th-17th May 2024, 9306 – 9312, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA57147.2024.10610538
2023
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A Compliant Actuator-Sensor Unit using a Shape Memory Alloy and Capacitive Force Sensing for Active Exoskeleton Interfaces
Fischer, N.; Alagi, H.; Beigl, M.; Hein, B.; Mathis-Ullrich, F.
2023. 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 1–7, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/Humanoids57100.2023.10375226 -
Combining Measurement Uncertainties with the Probabilistic Robustness for Safety Evaluation of Robot Systems
Baek, W.-J.; Ledermann, C.; Asfour, T.; Kröger, T.
2023. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, 1st-5th October 2023, 473–480, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS55552.2023.10342112 -
Safety Evaluation of Robot Systems via Uncertainty Quantification
Baek, W.-J.; Kröger, T.
2023. 2023 IEEE International Conference on Robotics and Automation (ICRA), 10532–10538, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48891.2023.10160598 -
Train What You Know – Precise Pick-and-Place with Transporter Networks
Sóti, G.; Huang, X.; Wurll, C.; Hein, B.
2023. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 29 May 2023 - 02 June 2023, 5814 – 5820, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48891.2023.10161242 -
KI5GRob: Fusing Cloud Computing and AI for Scalable Robotic System in Production and Logistics
Zhang, Y.; Sóti, G.; Hein, B.; Wurll, C.
2023. Intelligent Autonomous Systems 17 – Proceedings of the 17th International Conference IAS-17. Ed.: I. Petrovic, 706–723, Springer Nature Switzerland. doi:10.1007/978-3-031-22216-0_47 -
On Scene Engineering and Domain Randomization: Synthetic Data for Industrial Item Picking
Weisenböhler, M.; Hein, B.; Wurll, C.
2023. Intelligent Autonomous Systems 17 – Proceedings of the 17th International Conference IAS-17. Ed.: I. Petrovic, 643–660, Springer Nature Switzerland. doi:10.1007/978-3-031-22216-0_43 -
Highly Stretchable Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems
Alshawabkeh, M.; Alagi, H.; Navarro, S. E.; Duriez, C.; Hein, B.; Zangl, H.; Faller, L.-M.
2023. IEEE Transactions on Instrumentation and Measurement, 1. doi:10.1109/TIM.2023.3250232 -
Uncertainty Estimation for Safe Human-Robot Collaboration Using Conservation Measures
Baek, W.-J.; Ledermann, C.; Kröger, T.
2023. Intelligent Autonomous Systems 17 : Proceedings of the 17th International Conference IAS-17. Ed.: I. Petrovic, 85–102, Springer Nature Switzerland. doi:10.1007/978-3-031-22216-0_7 -
Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors
Kiemel, J. C.; Kröger, T.
2023. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Ginowan, Japan, 28-30 November 2022, 223–230, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/Humanoids53995.2022.10000077
2022
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From environmental exploration to clearance measurement – developing mobile robot systems for decommissioning of nuclear power plants = Von der Umgebungsexploration bis zur Freimessung – Entwicklung mobiler Robotersysteme für den Rückbau kerntechnischer Anlagen
Chen, Z.; Gentes, S.; Hartmann, D.; Hein, B.; Kazemi, S.; Wernke, A.
2022. at - Automatisierungstechnik, 70 (10), 900–911. doi:10.1515/auto-2022-0058 -
Learning Time-optimized Path Tracking with or without Sensory Feedback
Kiemel, J. C.; Kröger, T.
2022. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 23-27 October 2022, 4024–4031, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS47612.2022.9982053 -
Capacitive Proximity Sensor for Non-Contact Endoscope Localization
Marzi, C.; Alagi, H.; Rau, O.; Hampe, J.; Korvink, J. G.; Hein, B.; Mathis-Ullrich, F.
2022. 2022 International Conference on Robotics and Automation (ICRA), 9614–9620, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA46639.2022.9811734 -
Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems
Alshawabkeh, M.; Alagi, H.; Navarro, S. E.; Duriez, C.; Hein, B.; Faller, L.-M.
2022. 2022 IEEE International Instrumentation and Measurement Technology Conference (I2MTC): 16-19 May 2022, Ottawa, ON, Canada, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/I2MTC48687.2022.9806500 -
Testing Robot System Safety by Creating Hazardous Human Worker Behavior in Simulation
Huck, T. P.; Ledermann, C.; Kröger, T.
2022. IEEE Robotics and automation letters, 7 (2), 770–777. doi:10.1109/LRA.2021.3133612 -
HIRO: Heuristics Informed Robot Online Path Planning Using Pre-computed Deterministic Roadmaps
Huang, X.; Sóti, G.; Zhou, H.; Ledermann, C.; Hein, B.; Kröger, T.
2022. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 23-27 October 2022, 8109–8116, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS47612.2022.9981740 -
Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration
Alagi, H.; Ergun, S.; Ding, Y.; Huck, T. P.; Thomas, U.; Zangl, H.; Hein, B.
2022. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 23rd - 27th October 2022, 6716–6723, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS47612.2022.9981490 -
Relevant Safety Falsification by Automata Constrained Reinforcement Learning
Cronrath, C.; Huck, T. P.; Ledermann, C.; Kröger, T.; Lennartson, B.
2022. 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), 2273–2280, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CASE49997.2022.9926460 -
Multi-level optimization approach for multi-robot manufacturing systems
Ye, X.; Shen, W.; Mamaev, I.; Bertram, T.; Bryg, M.; Schwartz, M.; Hohmann, S.; Asfour, T.; Hein, B.; Kipfmueller, M.; Kotschenreuther, J.
2022. 54th International Symposium on Robotics : (ISR Europe 2022) : 20-21 June 2022, Munich, Germany, 1–8, VDE Verlag -
Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications
Escaida Navarro, S.; Muhlbacher-Karrer, S.; Alagi, H.; Zangl, H.; Koyama, K.; Hein, B.; Duriez, C.; Smith, J. R.
2022. IEEE transactions on robotics, 38 (3), 1599–1620. doi:10.1109/TRO.2021.3111786
2021
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Autonomous Planning and Intraoperative Augmented Reality Navigation for Neurosurgery
Kunz, C.; Hlavac, M.; Schneider, M.; Pala, A.; Henrich, P.; Jickeli, B.; Worn, H.; Hein, B.; Wirtz, R.; Mathis-Ullrich, F.
2021. IEEE Transactions on Medical Robotics and Bionics, 3 (3), 738–749. doi:10.1109/TMRB.2021.3091184 -
Jerk-limited Real-time Trajectory Generation with Arbitrary Target States
Berscheid, L.; Kroeger, T.
2021. Robotics: Science and Systems XVII. Ed:: Dylan A. Shell, Robotics: Science and Systems Foundation. doi:10.15607/RSS.2021.XVII.015 -
Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives
Berscheid, L.; Friedrich, C.; Kröger, T.
2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), 4474–4480, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48506.2021.9560901 -
Grasp Detection for Robot to Human Handovers Using Capacitive Sensors
Mamaev, I.; Kretsch, D.; Alagi, H.; Hein, B.
2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May-5 June 2021, 12552–12558, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48506.2021.9560970 -
A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)
Ergun, S.; Ding, Y.; Alagi, H.; Schoffmann, C.; Ubezio, B.; Soti, G.; Rathmair, M.; Muhlbacher-Karrer, S.; Thomas, U.; Hein, B.; Hofbaur, M.; Zangl, H.
2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May-5 June 2021, 3634–3640, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48506.2021.9561224 -
A Real-Time-Capable Closed-Form Multi-Objective Redundancy Resolution Scheme for Seven-DoF Serial Manipulators
Wiedmeyer, W.; Altoe, P.; Auberle, J.; Ledermann, C.; Kroeger, T.
2021. IEEE Robotics and automation letters, 6 (2), 431–438. doi:10.1109/LRA.2020.3045646 -
Virtual Adversarial Humans finding Hazards in Robot Workplaces
Huck, T. P.; Ledermann, C.; Kröger, T.
2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May-5 June 2021, 3872–3878, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48506.2021.9561668 -
A learning robot for cognitive camera control in minimally invasive surgery
Wagner, M.; Bihlmaier, A.; Kenngott, H. G.; Mietkowski, P.; Scheikl, P. M.; Bodenstedt, S.; Schiepe-Tiska, A.; Vetter, J.; Nickel, F.; Speidel, S.; Wörn, H.; Mathis-Ullrich, F.; Müller-Stich, B. P.
2021. Surgical endoscopy and other interventional techniques, 35, 5365–5374. doi:10.1007/s00464-021-08509-8 -
AQT - A Query Template for AutomationML
Hua, Y.; Hein, B.
2021. IEEE transactions on industrial informatics, 17 (2), 1018–1028. doi:10.1109/TII.2020.2989125
2020
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Simulation-based Testing for Early Safety-Validation of Robot Systems
Huck, T. P.; Ledermann, C.; Kröger, T.
2020 -
A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics
Navarro, S. E.; Nagels, S.; Alagi, H.; Faller, L.-M.; Goury, O.; Morales-Bieze, T.; Zangl, H.; Hein, B.; Ramakers, R.; Deferme, W.; Zheng, G.; Duriez, C.
2020. IEEE Robotics and automation letters, 5 (4), 5621–5628. doi:10.1109/LRA.2020.3008120 -
What the HoloLens Maps Is Your Workspace: Fast Mapping and Set-up of Robot Cells via Head Mounted Displays and Augmented Reality
Puljiz, D.; Krebs, F.; Bosing, F.; Hein, B.
2020 -
TrueRMA: Learning Fast and Smooth Robot Trajectories with Recursive Midpoint Adaptations in Cartesian Space
Kiemel, J. C.; Meißner, P.; Kröger, T.
2020. 2020 IEEE International Conference on Robotics and Automation (ICRA), 4225–4231, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA40945.2020.9196711 -
Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array
Alagi, H.; Navarro, S. E.; Hergenhan, J.; Music, S.; Hein, B.
2020. 2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), 1–6, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/I2MTC43012.2020.9128701 -
Control of a smart walker for training using interaction-energy and personalized parameters
Stogl, D.; Zumkeller, D.; Muth, M.; Hein, B.
2020. 21th IFAC World Congress. Ed.: R. Findeisen, 10154–10161, Elsevier. doi:10.1016/j.ifacol.2020.12.2742 -
What the hololens maps is your workspace: Fast mapping and set-up of robot cells via head mounted displays and augmented reality
Puljiz, D.; Krebs, F.; Bosing, F.; Hein, B.
2020. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 24 October - 24 January 2021, online, 11445–11451, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS45743.2020.9340879 -
TrueÆdapt: Learning Smooth Online Trajectory Adaptation with Bounded Jerk, Acceleration and Velocity in Joint Space
Kiemel, J. C.; Weitemeyer, R.; Meißner, P.; Kröger, T.
2020. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 24 Oct.-24 Jan. 2021, 5387–5394, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS45743.2020.9341001 -
A Modular Deep Learning Architecture for Anomaly Detection in HRI
Sóti, G.; Mamaev, I.; Hein, B.
2020. Interactive Collaborative Robotics – 5th International Conference, ICR 2020, St Petersburg, Russia, October 7-9, 2020, Proceedings. Ed.: A. Ronzhin, 295–307, Springer International Publishing. doi:10.1007/978-3-030-60337-3_29 -
A Concept for a HRC Workspace Using Proximity Sensors
Mamaev, I.; Alagi, H.; Sóti, G.; Hein, B.
2020. Interactive Collaborative Robotics : 5th International Conference, ICR 2020, St Petersburg, Russia, October 7-9, 2020, Proceedings. Ed.: A. Ronzhin, 1–12, Springer International Publishing. doi:10.1007/978-3-030-60337-3_1 -
Augmented Reality in the Operating Room for Neurosurgical Interventions
Kunz, C.; Mathis-Ullrich, F.; Hein, B.
2020. The Upper-Rhine Artificial Intelligence Symposium, 13th May, Karlsruhe -
Rapid Restart Hill Climbing for Learning Description Logic Concepts
Hua, Y.; Hein, B.
2020. 29th International Conference on Inductive Logic Programming, ILP 2019, Plovdiv, Bulgaria, 3 - 5 September 2019, 46–61, Springer-Verlag. doi:10.1007/978-3-030-49210-6_5 -
Self-supervised Learning for Precise Pick-and-place without Object Model
Berscheid, L.; Meißner, P.; Kröger, T.
2020. IEEE Robotics and automation letters, 5 (3), 4828–4835. doi:10.1109/LRA.2020.3003865
2019
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Robot-Based Machining of Unmodeled Objects via Feature Detection in Dense Point Clouds
Hartmann, D.; Mende, M.; Stogl, D.; Hein, B.; Kroger, T.
2019. IEEE/RSJ International Conference on Intelligent Robots and Systems, November 4 - 8, 2019, The Venetian Macao, Macau, China, 7777–7783, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS40897.2019.8968060 -
Spatial Control Actions for a Physical Training with a Smart Walker
Stogl, D.; Wern, P.; Hein, B.; Hartmann, D.
2019. 2019 International Symposium ELMAR, Zadar, Croatia, 23-25 Sept. 2019, 131–134, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ELMAR.2019.8918658 -
Improving Data Efficiency of Self-supervised Learning for Robotic Grasping
Berscheid, L.; Rühr, T.; Kröger, T.
2019. 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, Canada, 20-24 May 2019, 2125–2131, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2019.8793952 -
Robotics Education and Research at Scale: A Remotely Accessible Robotics Development Platform
Wiedmeyer, W.; Mende, M.; Hartmann, D.; Bischoff, R.; Ledermann, C.; Kröger, T.
2019. IEEE International Conference on Robotics and Automation (ICRA), Montreal, CDN, May 20-24, 2019, 3679–3685, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2019.8793976 -
Metric-based evaluation of fiducial markers for medical procedures
Kunz, C.; Genten, V.; Meissner, P.; Hein, B.
2019. Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, CA, February 16-21, 2019. Ed.: B. Fei, 97, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2511720 -
Robot-Based Training for People With Mild Cognitive Impairment
Stogl, D.; Armbruster, O.; Mende, M.; Hein, B.; Wang, X.; Meyer, P.
2019. IEEE Robotics and automation letters, 4 (2), 1916–1923. doi:10.1109/LRA.2019.2898470 -
13: Projektmanagement im Zeitalter der Digitalisierung, WS 2018/19, 29.01.2019
Kröger, T.
2019. (KIT | Webcast, Ed.). doi:10.5445/DIVA/2019-105 -
Evaluation of domain randomization techniques for transfer learning
Grün, S.; Honinger, S.; Scheikl, P. M.; Hein, B.; Kröger, T.
2019. 19th International Conference on Advanced Robotics (ICAR), Belo Horizonte, Brasil, December 02-06, 2019, 481–486, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICAR46387.2019.8981654 -
Robot Learning of Shifting Objects for Grasping in Cluttered Environments
Berscheid, L.; Meißner, P.; Kröger, T.
2019. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 612–618, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS40897.2019.8968042 -
Study of safe sensor configurations in human robot collaboration
Baek, W.; Huang, S.; Ledermann, C.; Kröger, T.; Kirsten, R.
2019. 20. GMA/ITG-Fachtagung Sensoren und Messsysteme, Nürnberg, 25.-26.Juni 2019. Proceedings, 93–99, AMA Service. doi:10.5162/sensoren2019/1.3.4 -
Overview of a robot for a neuromuscular training - Robotrainer
Stogl, D.; Hein, B.; Mende, M.
2019. Proceedings of the European Conference on Mobile Robots (ECMR 2019), Praha, CZ, September 4-6, 2019. Ed.: L. Preucil, Article No.8870955, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ECMR.2019.8870955 -
Fast Volumetric Auto-Segmentation of Head CT Images in Emergency Situations for Ventricular Punctures
Kunz, C.; Henrich, P.; Scheikl, P. M.; Hlavac, M.; Schneider, M.; Heinz, W.; Hein, B.; Mathis-Ullrich, F.
2019. CURAC 2019 - 18. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Reutlingen, 19. - 21. September 2019. Hrsg.: O. Burgert, 41–46, Hochschule -
ROBDEKON: Robotic Systems for Decontamination in Hazardous Environments
Petereit, J.; Beyerer, J.; Asfour, T.; Gentes, S.; Hein, B.; Hanebeck, U. D.; Kirchner, F.; Dillmann, R.; Gotting, H. H.; Weiser, M.; Gustmann, M.; Egloffstein, T.
2019. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2019), Würzburg, September 2-4, 2019, 249–255, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SSRR.2019.8848969 -
Augmented reality-assisted ventricular puncture with marker-based scene registration
Kunz, C.; Schneider, M.; Hlavac, M.; Zenth, D.; Pylatiuk, C.; Hein, B.
2019. International journal of computer assisted radiology and surgery, 14 (Suppl. 1), S151-S152 -
PaintRL: Coverage Path Planning for Industrial Spray Painting with Reinforcement Learning
Kiemel, J. C.; Yang, P.; Meißner, P.; Kröger, T.
2019. Workshop on Closing the Reality Gap in Sim2real Transfer for Robotic Manipulation, Freiburg, June 23, 2019 -
Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses
Petković, T.; Puljiz, D.; Marković, I.; Hein, B.
2019. Robotics and computer integrated manufacturing, 57, 182–196. doi:10.1016/j.rcim.2018.11.004
2018
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Towards a Real-Time Environment Reconstruction for VR-Based Teleoperation Through Model Segmentation
Kohn, S.; Blank, A.; Puljiz, D.; Zenkel, L.; Bieber, O.; Hein, B.; Franke, J.
2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, E, October 1-5, 2018, 1–9, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2018.8594053 -
Model-Free Grasp Planning for Configurable Vacuum Grippers
You, F.; Mende, M.; Stogl, D.; Hein, B.; Kroger, T.
2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, E, October 1-5, 2018, 4554–4561, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2018.8594227 -
Material Recognition Using a Capacitive Proximity Sensor with Flexible Spatial Resolution
Alagi, H.; Heiligl, A.; Navarro, S. E.; Kroegerl, T.; Hein, B.
2018. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1-5 Oct. 2018, 6284–6290, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2018.8593789 -
Concept Learning in AutomationML with Formal Semantics and Inductive Logic Programming
Hua, Y.; Hein, B.
2018. 2018 IEEE 14th International Conference on Automation Science and Engineering (CASE), München, 20. - 24. August 2018, 1542–1547, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/COASE.2018.8560541 -
05: Blick „über den Teich“: Die Vorlesungsaufzeichnung Stanford und KIT im Vergleich
Kröger, T.
2018. (Zentrum für Mediales Lernen (ZML), Ed.). doi:10.5445/DIVA/2018-79 -
Implementation of Augmented Reality in Autonomous Warehouses: Challenges and Opportunities
Puljiz, D.; Gorbachev, G.; Hein, B.
2018. VAM-HRI 2018 Workshop Proceedings -
Concept learning in engineering based on refinement operator
Hua, Y.; Hein, B.
2018. Up-and-Coming and Short Papers of the 28th International Conference on Inductive Logic Programming (UCS-ILP 2018) Ferrara, I, September 2-4, 2018, 76–83, RWTH Aachen -
Inspection Planning for Optimized Coverage of Geometrically Complex Surfaces
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Worn, H.
2018. 2018 Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2018; Brescia; Italy; 16 April 2018 through 18 April 2018, 52–57, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/METROI4.2018.8428313 -
Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture
Reister, F.; Kunz, C.; Schneider, M.; Kroeger, T.
2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC 2018), Leipzig, Germany, September 13–15, 2018 -
Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture
Reister, F.; Kunz, C.; Schneider, M.; Kroeger, T.
2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig, 13 – 15 September 2018, 28–33, Universität Leipzig -
A System for Augmented Reality Guided Ventricular Puncture Using a HoloLens: Design, Implementation and Initial Evaluation
Kunz, C.; Hlavac, M.; Schneider, M.; Hein, B.; Puljiz, D.; Peikert, S.
2018. CURAC 2018 - Tagungsband : 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. : 13.-15. September 2018, Leipzig. Hrsg: T. Neumuth, 132–137, Universität Leipzig -
Substitution and Complementation of Production Management Functions with Data Analytics
Colangelo, E.; Kröger, T.; Bauernhansl, T.
2018. Procedia CIRP, 72, 191–196. doi:10.1016/j.procir.2018.03.145 -
Substitution and Complementation of Production Management Functions with Data Analytics
Colangelo, E.; Kröger, T.; Bauernhansla, T.
2018. 51st CIRP Conference on Manufacturing Systems (CMS 2018), Stockholm, Sweden, May 16–18, 2018 -
Adaptive particle filter for localization problem in service robotics
Heilig, A.; Mamaev, I.; Hein, B.; Malov, D.
2018. Proceedings of the 13th International Conference on Electromechanics and Robotics "Zavalishin’s Readings", St. Petersburg, Russia, 18th - 21st April 2018, Art.Nr. 01004, EDP Sciences. doi:10.1051/matecconf/201816101004 -
Tracking, reconstruction and grasping of unknown rotationally symmetrical objects from a conveyor belt
Stogl, D.; Zumkeller, D.; Navarro, S. E.; Heilig, A.; Hein, B.
2018. 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation, Limassol, Cyprus, 12th - 15th September 2017, 1–8, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ETFA.2017.8247651 -
A versatile hardware and software toolset for computer aided inspection planning of machine vision applications
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikajii, M.; Beyerer, J.; Dachsbacher, C.
2018. 38th International Conference on Information Systems Architecture and Technology, ISAT 2017; Szklarska Poreba; Poland; 17 September 2017 through 19 September 2017. Ed.: L. Borzemski, 326–335, Springer. doi:10.1007/978-3-319-67220-5_30
2017
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Machine Learning for Capacitive Proximity Sensor Data
Madani, B.; Alagi, H.; Hein, B.; Arntzen, A. A.
2017. Proceedings of the Society for Design and Process Science Transformative Research and Education through Transdisciplinary MeansTM. Ed.: L. Jololian, 214–219, Society for Design and Process Science -
25: Echtzeitsysteme, Gastvorlesung, SS 2017, 18.07.2017
Kröger, T.; Emde, C.
2017. (KIT | Webcast, Ed.). doi:10.5445/DIVA/2017-443 -
Modulare und Wandlungsfähige Robotersysteme: Modellbasierte Softwareentwicklung basierend auf AutomationML und ontologischer Semantik
Hua, Y.; Mende, M.; Hein, B.
2017. Industrie 4.0 Management, (6), 33–37 -
Image formation simulation for computer-aided inspection planning of machine vision systems
Irgenfried, S.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. Automated Visual Inspection and Machine Vision II - SPIE Optical Metrology, Munich, Germany, 25 - 29 June 2017. Ed.: J. Beyerer, 1033406, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2269166 -
CAD-basierter Workflow für den semi-automatischen Entwurf optischer Inspektionssysteme [CAD based workflow for semi-automatic design of optical inspection systems]
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.
2017. Automatisierungstechnik, 65 (6), 426–439. doi:10.1515/auto-2017-0044 -
Probabilistic surface inference for industrial inspection planning
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. 17th IEEE Winter Conference on Applications of Computer Vision, Santa Rosa, United States, 24. - 31. March, 2017, 1008–1016, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/WACV.2017.117 -
Polymer planar waveguide Bragg gratings: fabrication, characterization, and sensing applications
Rosenberger, M.; Hessler, S.; Pauer, H.; Girschikofsky, M.; Roth, G. L.; Adelmann, B.; Woern, H.; Schmauss, B.; Hellmann, R.
2017. Integrated Optics: Devices, Materials, and Technologies XXI, San Francisco, CA, January 30 - February 1, 2017. Ed.: S.M. Garcia-Blanco, Article no 101061N, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2249830
2016
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Dex-net 1.0: A cloud-based network of 3d objects for robust grasp planning using a multi-armed bandit model with correlated rewards
Mahler, J.; Pokorny, F. T.; Hou, B.; Roderick, M.; Laskey, M.; Aubry, M.; Kohlhoff, K.; Kröger, T.; Kuffner, J.; Goldberg, K.
2016. Proceedings of the International Conference on Robotics and Automation (ICRA 2016), Stockholm, S, May 16-21, 2016, 1957–1964, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2016.7487342 -
Konzeptionierung und Implementierung eines Interpretationssystem zur Situationserkennung in OP:Sense
Schreiter, L.; Wörtwein, T.; Jöchner, M.; Hussain, J.; Wörn, H.; Raczkowsky, J.
2016. Tagungsband der 15. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) Bern, Switzerland, September 29 - October 1, 2016, 268–271, Der Andere Verlag -
Situation Detection for an Interactive Assistance in Surgical Interventions Based on Random Forests
Schreiter, L.; Philipp, P.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Beyerer, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 115–116 -
Situation Detection for an Interactive Assistance in Surgical Interventions Based on Dynamic Bayesian Networks
Philipp, P.; Schreiter, L.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Wörn, H.; Beyerer, J.
2016. Proceedings of the 6th Joint Workshop On New Technologies for Computer/Robot Assisted Surgery, CRAS 2016, Pisa, Italy, 12th - 14th September 2016 -
Intuitive workflow editor for OWL based semantic networks in medical environment
Dürr, S.; Huck, A.; Schreiter, L.; Beyl, T.; Giehl, J.; Schwarz, M.; Raczkowsky, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 114–115 -
Semantic object-oriented programming (SOOP)
Weber, F.; Bihlmaier, A.; Wörn, H.
2016. 46. Jahrestagung der Gesellschaft fur Informatik - 46th Annual Meeting of the German Informatics Society, INFORMATIK 2016; Klagenfurt; Austria; 26 September 2016 through 30 September 2016. Ed.: H. C. Mayr, 313–326, Gesellschaft für Informatik (GI) -
Performance Characterization in Automated Optical Inspection using CAD Models and Graphical Simulations
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2016. XXX. Messtechnisches Symposium, Hannover, 15. - 16. September 2016, 141–150, Oldenbourg Verlag. doi:10.1515/9783110494297-019 -
A Phenomenological Approach to Integrating Gaussian Beam Properties and Speckle into a Physically-Based Renderer
Bergmann, S.; Mohammadikaji, M.; Irgenfried, S.; Wörn, H.; Beyerer, J.; Dachsbacher, C.
2016. VMV 2016 : 21th International Symposium on Vision, Modeling and Visualization, Bayreuth, Germany, 10-12 October 2016. Ed.: M. Hullin, 179–186, Eurographics Association. doi:10.2312/vmv.20161357 -
Flexible Spatial Resolution for Preshaping with a Modular Capacitive Tactile Proximity Sensor
Escaida Navarro, S.; Alagi, H.; Heilig, A.; Mende, M.; Hein, B.
2016. IROS 2016 : 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems : October 9-14, 2016, Daejeon Convention Center, Daejeon, Korea, 3–5, Institute of Electrical and Electronics Engineers (IEEE) -
Endosnake—a single-arm-multi-port MIRS system with flexible instruments
Mintenbeck, J.; Ledermann, C.; Estaña, R.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1107–1117, Springer International Publishing. doi:10.1007/978-3-319-08338-4_80 -
Model-Free (Human) Tracking Based on Ground Truth with Time Delay: A 3D Camera Based Approach for Minimizing Tracking Latency and Increasing Tracking Quality
Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Ed.: J. Filipe, 247–266, Springer International Publishing. doi:10.1007/978-3-319-31898-1_14 -
Hierarchical Task Networks as Domain-Specific Language for Planning Surgical Interventions
Bihlmaier, A.; Schreiter, L.; Raczkowsky, J.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1095–1105, Springer International Publishing. doi:10.1007/978-3-319-08338-4_79 -
Knowledge-based workspace optimization of a redundant robot for minimally invasive robotic surgery (MIRS)
Hutzl, J.; Bihlmaier, A.; Wagner, M.; Kenngott, H. G.; Muller, B. P.; Worn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 1403–1408, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBIO.2015.7418967 -
From AutomationML to ROS: A model-driven approach for software engineering of industrial robotics using ontological reasoning
Hua, Y.; Zander, S.; Bordignon, M.; Hein, B.
2016. 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, Germany, 6–9 September 2016, 1–8, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ETFA.2016.7733579 -
Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room
Beyl, T.; Nicolai, P.; Comparetti, M. D.; Raczkowsky, J.; De Momi, E.; Woern, H.
2016. International journal of computer assisted radiology and surgery, 11 (7), 1329–1345. doi:10.1007/s11548-015-1318-7 -
Towards a generic BRDF/BTF measurement system: Improving visual realism in robot simulators using robots
Bihlmaier, A.; Stein, F.; Worn, H.
2016. IEEE International Conference on Emerging Technologies and Innovative Business Practices for the Transformation of Societies (EmergiTech), Mauritius, 3–6 August 2016, 410–416, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/EmergiTech.2016.7737376 -
3D contour following for a cylindrical end-effector using capacitive proximity sensors
Navarro, S. E.; Koch, S.; Hein, B.
2016. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 9–14 October 2016, 82–89, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2016.7759038 -
Towards 1-component Bragg-grating based shape sensing
Pauer, H.; Rosenberger, M.; Girschikofsky, M.; Hellmann, R.; Tuschmann, W.; Woern, H.
2016. 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, 5-8 July 2016, 1909–1915, Institute of Electrical and Electronics Engineers (IEEE) -
Reducing elevation angle errors of long-range deep-sea acoustic localization by ray tracing and depth measurements
Oertel, D.; Neumann, S.; Worn, H.; Golz, M.; Waniek, J. J.
2016. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, Canada, 12-15 July 2016, 178–183, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/AIM.2016.7576763 -
Flexible Polymer Shape Sensor Based on Planar Waveguide Bragg Gratings
Rosenberger, M.; Pauer, H.; Girschikofsky, M.; Woern, H.; Schmauss, B.; Hellmann, R.
2016. IEEE photonics technology letters, 28 (17), 1898–1901. doi:10.1109/LPT.2016.2574889 -
A versatile and modular capacitive tactile proximity sensor
Alagi, H.; Navarro, S. E.; Mende, M.; Hein, B.
2016. 24th IEEE Haptics Symposium 2016, HAPTICS 2016; Philadelphia; United States; 8 April 2016 through 11 April 2016. Ed.: S. Choi, 290–296, IEEE Computer Society. doi:10.1109/HAPTICS.2016.7463192 -
3D perception technologies for surgical operating theatres
Beyl, T.; Schreiter, L.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Studies in health technology and informatics, 220, 45–50. doi:10.3233/978-1-61499-625-5-45 -
Hybrid rendering architecture for realtime and photorealistic simulation of robot-assisted surgery
Müller, S.; Bihlmaier, A.; Irgenfried, S.; Wörn, H.
2016. Studies in Health Technology and Informatics, 220, 245–250. doi:10.3233/978-1-61499-625-5-245 -
A Haptic Display for Tactile and Kinesthetic Feedback in a CHAI 3D Palpation Training Scenario
Hergenhan, J.; Rutschke, J.; Uhl, M.; Navarro, S. E.; Hein, B.; Wörn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 291–296, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBIO.2015.7418782 -
Advanced ROS Network Introspection (ARNI)
Bihlmaier, A.; Hadlich, M.; Wörn, H.
2016. Robot Operating System (ROS) - The Complete Reference (Volume 1). Ed.: A. Koubaa, 651–670, Springer. doi:10.1007/978-3-319-26054-9_25