Simon Gerdes, Johannes Sprink, Christian Haas, Andreas Opgenoorth, Katharina Schmitz
Abstract Teleoperation of mobile machines can have benefits on numerous aspects, including improved safety, enhanced efficiency, and reduced environmental impact. However, effects like increased latency, lack of machine feeling and limited field of view result in challenges for operators. The use of VR-systems with operator head motion tracking could improve its application. This paper presents the investigation of a tele-remote control system, using a VR-visual feedback system including a stereo camera that mimics the operator’s head motion. An operator study was conducted to evaluate the influence of the tele-remote control system. It is shown that the investigated system is able to increase the achieved immersion and thus improve the operability of teleoperated mobile machines.
{"title":"VR-control for teleoperation of mobile machines – a review on the practical implementation","authors":"Simon Gerdes, Johannes Sprink, Christian Haas, Andreas Opgenoorth, Katharina Schmitz","doi":"10.1515/auto-2023-0027","DOIUrl":"https://doi.org/10.1515/auto-2023-0027","url":null,"abstract":"Abstract Teleoperation of mobile machines can have benefits on numerous aspects, including improved safety, enhanced efficiency, and reduced environmental impact. However, effects like increased latency, lack of machine feeling and limited field of view result in challenges for operators. The use of VR-systems with operator head motion tracking could improve its application. This paper presents the investigation of a tele-remote control system, using a VR-visual feedback system including a stereo camera that mimics the operator’s head motion. An operator study was conducted to evaluate the influence of the tele-remote control system. It is shown that the investigated system is able to increase the achieved immersion and thus improve the operability of teleoperated mobile machines.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"6 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135564685","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Birgit Vogel-Heuser, Johannes Fottner, Michael Weyrich
{"title":"Methods, approaches, and applications in mobile machines","authors":"Birgit Vogel-Heuser, Johannes Fottner, Michael Weyrich","doi":"10.1515/auto-2023-0186","DOIUrl":"https://doi.org/10.1515/auto-2023-0186","url":null,"abstract":"","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"79 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135515075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Adrian Josef Huber, Anne Fischer, Maximilian Schöberl, Alexander Schock-Schmidtke, Johannes Fottner
Abstract Facilitating communication via standardized interfaces is key to increase construction site collaboration and productivity. This paper firstly outlines different Machine-to-Machine (M2M) messaging protocols and their suitability for communication on construction sites. Secondly, a unified construction site communication and interface solution that allows for the seamless transfer of data in M2M, Machine-to-Server (M2S), and Server-to-Server (S2S) scenarios, encompassing all layers of an Internet-of-Things (IoT) infrastructure, is proposed. The findings show that predominantly Message Queue Telemetry Transport (MQTT) is suited for M2M communication at construction sites. Underscoring the value of frequent communication and collaboration at construction sites, different exemplary use cases are presented. Additionally, interoperability at all levels of exchange as well as a unified user frontend are emphasized as key requirements to increase application rates of automated communication and collaboration within the construction industry.
{"title":"Communication in collaborating construction equipment","authors":"Adrian Josef Huber, Anne Fischer, Maximilian Schöberl, Alexander Schock-Schmidtke, Johannes Fottner","doi":"10.1515/auto-2023-0034","DOIUrl":"https://doi.org/10.1515/auto-2023-0034","url":null,"abstract":"Abstract Facilitating communication via standardized interfaces is key to increase construction site collaboration and productivity. This paper firstly outlines different Machine-to-Machine (M2M) messaging protocols and their suitability for communication on construction sites. Secondly, a unified construction site communication and interface solution that allows for the seamless transfer of data in M2M, Machine-to-Server (M2S), and Server-to-Server (S2S) scenarios, encompassing all layers of an Internet-of-Things (IoT) infrastructure, is proposed. The findings show that predominantly Message Queue Telemetry Transport (MQTT) is suited for M2M communication at construction sites. Underscoring the value of frequent communication and collaboration at construction sites, different exemplary use cases are presented. Additionally, interoperability at all levels of exchange as well as a unified user frontend are emphasized as key requirements to increase application rates of automated communication and collaboration within the construction industry.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"78 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135515076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Alexander Schuster, Raphael Hagmanns, Iman Sonji, Andreas Löcklin, Janko Petereit, Christof Ebert, Michael Weyrich
Abstract The development and testing of autonomous systems require sufficient meaningful data. However, generating suitable scenario data is a challenging task. In particular, it raises the question of how to narrow down what kind of data should be considered meaningful. Autonomous systems are characterized by their ability to cope with uncertain situations, i.e. complex and unknown environmental conditions. Due to this openness, the definition of training and test scenarios cannot be easily specified. Not all relevant influences can be sufficiently specified with requirements in advance, especially for unknown scenarios and corner cases, and therefore the “right” data, balancing quality and efficiency, is hard to generate. This article discusses the challenges of automated generation of 3D scenario data. We present a training and testing loop that provides a way to generate synthetic camera and Lidar data using 3D simulated environments. Those can be automatically varied and modified to support a closed-loop system for deriving and generating datasets that can be used for continuous development and testing of autonomous systems.
{"title":"Synthetic data generation for the continuous development and testing of autonomous construction machinery","authors":"Alexander Schuster, Raphael Hagmanns, Iman Sonji, Andreas Löcklin, Janko Petereit, Christof Ebert, Michael Weyrich","doi":"10.1515/auto-2023-0026","DOIUrl":"https://doi.org/10.1515/auto-2023-0026","url":null,"abstract":"Abstract The development and testing of autonomous systems require sufficient meaningful data. However, generating suitable scenario data is a challenging task. In particular, it raises the question of how to narrow down what kind of data should be considered meaningful. Autonomous systems are characterized by their ability to cope with uncertain situations, i.e. complex and unknown environmental conditions. Due to this openness, the definition of training and test scenarios cannot be easily specified. Not all relevant influences can be sufficiently specified with requirements in advance, especially for unknown scenarios and corner cases, and therefore the “right” data, balancing quality and efficiency, is hard to generate. This article discusses the challenges of automated generation of 3D scenario data. We present a training and testing loop that provides a way to generate synthetic camera and Lidar data using 3D simulated environments. Those can be automatically varied and modified to support a closed-loop system for deriving and generating datasets that can be used for continuous development and testing of autonomous systems.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"8 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135564806","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Benjamin Kazenwadel, Simon Becker, Marina Graf, Marcus Geimer
Abstract Automation in agricultural machinery is a crucial driver of productivity and sustainability. Some automation features like automated steering and real-time data analytics are already state-of-the-art. On the other hand, a human driver performs the optimization of the working speed manually, and the automation of this is an ongoing challenge. Process quality and process efficiency are the two main targets in this optimization. Agricultural soil tillage requires achieving both. Therefore, the correlation between process quality optimization and process efficiency is fundamental, and vice versa. The approach presented in this paper shows how the two optimization targets of efficiency and process quality can be optimized and aligned together. Optical sensors determine various parameters to describe and model the process quality. The measured machine state determines the characteristics of the interaction forces between the machine and the environment. A machine learning algorithm describes the relationships in the drivetrain. The two process targets are each predicted for different working speeds and are combined in the form of a boundary target and an optimization target to identify one optimized target speed value.
{"title":"Aligning process quality and efficiency in agricultural soil tillage","authors":"Benjamin Kazenwadel, Simon Becker, Marina Graf, Marcus Geimer","doi":"10.1515/auto-2023-0042","DOIUrl":"https://doi.org/10.1515/auto-2023-0042","url":null,"abstract":"Abstract Automation in agricultural machinery is a crucial driver of productivity and sustainability. Some automation features like automated steering and real-time data analytics are already state-of-the-art. On the other hand, a human driver performs the optimization of the working speed manually, and the automation of this is an ongoing challenge. Process quality and process efficiency are the two main targets in this optimization. Agricultural soil tillage requires achieving both. Therefore, the correlation between process quality optimization and process efficiency is fundamental, and vice versa. The approach presented in this paper shows how the two optimization targets of efficiency and process quality can be optimized and aligned together. Optical sensors determine various parameters to describe and model the process quality. The measured machine state determines the characteristics of the interaction forces between the machine and the environment. A machine learning algorithm describes the relationships in the drivetrain. The two process targets are each predicted for different working speeds and are combined in the form of a boundary target and an optimization target to identify one optimized target speed value.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"1 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135564558","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract As long as all of the messages are supported, the OPC UA standard allows for connections over non-IP networks, and for the use of alternate encoding schemes. However, the vast majority of commercial OPC UA solutions are IP-based and UA Binary-based. In this article, the performance of an OPC UA client-server architecture is analysed by sending UA binary-encoded messages over an ISO 11783 (CAN 2.0B) network, without security. It is found that sending and receiving a given readRequest/readResponse pair took an average of 1.3 ms via a local Ethernet network and 49.2 ms via an ISO 11783 network. It is shown that much of the preamble of OPC UA messages is fixed when using the None security policy, and that this information can be omitted from the data transfer to reduce the amount of data transferred.
{"title":"OPC UA client-server connection over an ISO 11783 vehicle network","authors":"Samuel Brodie, Timo Oksanen","doi":"10.1515/auto-2023-0030","DOIUrl":"https://doi.org/10.1515/auto-2023-0030","url":null,"abstract":"Abstract As long as all of the messages are supported, the OPC UA standard allows for connections over non-IP networks, and for the use of alternate encoding schemes. However, the vast majority of commercial OPC UA solutions are IP-based and UA Binary-based. In this article, the performance of an OPC UA client-server architecture is analysed by sending UA binary-encoded messages over an ISO 11783 (CAN 2.0B) network, without security. It is found that sending and receiving a given readRequest/readResponse pair took an average of 1.3 ms via a local Ethernet network and 49.2 ms via an ISO 11783 network. It is shown that much of the preamble of OPC UA messages is fixed when using the None security policy, and that this information can be omitted from the data transfer to reduce the amount of data transferred.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135564565","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Marius Krüger, Birgit Vogel-Heuser, Simon Vollmann
Abstract This paper focuses on the alignment of Graphical-User-Interface (GUI) applications and embedded devices. The main contribution is a benchmark approach that enables measuring and comparing the GUI rendering capability of embedded devices and provides a performance-oriented GUI design recommendation for an embedded device. The benchmark is tailored to common GUI applications and resource-limited devices, which are usually mounted in mobile machines. GUI applications can only be rendered smoothly if these devices have sufficient performance. A general benchmark concept is described and modeled in Unified Modeling Language (UML) at first, followed by a prototypical implementation and evaluation. It is demonstrated that the benchmark approach is applicable to GUI applications with different levels of complexity as well as embedded devices of different performance classes.
{"title":"Investigating the rendering capability of embedded devices for graphical-user-interfaces in mobile machines","authors":"Marius Krüger, Birgit Vogel-Heuser, Simon Vollmann","doi":"10.1515/auto-2023-0043","DOIUrl":"https://doi.org/10.1515/auto-2023-0043","url":null,"abstract":"Abstract This paper focuses on the alignment of Graphical-User-Interface (GUI) applications and embedded devices. The main contribution is a benchmark approach that enables measuring and comparing the GUI rendering capability of embedded devices and provides a performance-oriented GUI design recommendation for an embedded device. The benchmark is tailored to common GUI applications and resource-limited devices, which are usually mounted in mobile machines. GUI applications can only be rendered smoothly if these devices have sufficient performance. A general benchmark concept is described and modeled in Unified Modeling Language (UML) at first, followed by a prototypical implementation and evaluation. It is demonstrated that the benchmark approach is applicable to GUI applications with different levels of complexity as well as embedded devices of different performance classes.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"76 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135514873","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract System identification with finite impulse response (FIR) models has been recently revised by introducing specific forms of regularization in the estimation. By utilizing prior knowledge of the dynamic process under investigation different kernels for regularization can be derived. However, the dynamical processes considered are mainly restricted to time-delay free systems. Therefore, in this paper we propose two novel methods to handle the time-delay case. Both methods incorporate the time-delay estimation in the hyperparameter optimization of the regularized FIR models. The first method is built on a single kernel (SK) and the second utilizes a multiple kernel (MK) approach. Simulations on different dynamical systems show the superior behavior of both methods in comparison to standard regularization methods, whereupon the MK outperforms the SK approach.
{"title":"Handling of time delays in system identification with regularized FIR models","authors":"Tarek Kösters, Christopher Illg, Oliver Nelles","doi":"10.1515/auto-2023-0007","DOIUrl":"https://doi.org/10.1515/auto-2023-0007","url":null,"abstract":"Abstract System identification with finite impulse response (FIR) models has been recently revised by introducing specific forms of regularization in the estimation. By utilizing prior knowledge of the dynamic process under investigation different kernels for regularization can be derived. However, the dynamical processes considered are mainly restricted to time-delay free systems. Therefore, in this paper we propose two novel methods to handle the time-delay case. Both methods incorporate the time-delay estimation in the hyperparameter optimization of the regularized FIR models. The first method is built on a single kernel (SK) and the second utilizes a multiple kernel (MK) approach. Simulations on different dynamical systems show the superior behavior of both methods in comparison to standard regularization methods, whereupon the MK outperforms the SK approach.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"238 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135810333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yanke Wang, Christian Pylatiuk, Ralf Mikut, Ravindra Peravali, Markus Reischl
Abstract A touch-evoked response of zebrafish larvae provides information on the mechanism of the gene functional expressions. Recently, an automated system has been developed for precise and repeated touch-response experimentation with minor human intervention. To quantify the collected data, we propose a fully automated multi-larvae touch-response behavior inspection pipeline based on larva tracking and segmentation. Experimental data with different treatments is analyzed by using the proposed inspection platform for demonstration, and the result proves that this platform can generate comparable touch-response behavior inspection readouts efficiently and automatically. The initial results were published in 31. Workshop Computational Intelligence, and this paper summarizes and extends the main work of the respective article.
{"title":"A fully automated touch-response behavior inspection pipeline on zebrafish larvae","authors":"Yanke Wang, Christian Pylatiuk, Ralf Mikut, Ravindra Peravali, Markus Reischl","doi":"10.1515/auto-2023-0013","DOIUrl":"https://doi.org/10.1515/auto-2023-0013","url":null,"abstract":"Abstract A touch-evoked response of zebrafish larvae provides information on the mechanism of the gene functional expressions. Recently, an automated system has been developed for precise and repeated touch-response experimentation with minor human intervention. To quantify the collected data, we propose a fully automated multi-larvae touch-response behavior inspection pipeline based on larva tracking and segmentation. Experimental data with different treatments is analyzed by using the proposed inspection platform for demonstration, and the result proves that this platform can generate comparable touch-response behavior inspection readouts efficiently and automatically. The initial results were published in 31. Workshop Computational Intelligence, and this paper summarizes and extends the main work of the respective article.","PeriodicalId":55437,"journal":{"name":"At-Automatisierungstechnik","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135810334","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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