Informationstechnische Gesellschaft im VDE (VDE ITG) (Ed.)

New Book!

ISR Europe 2023

56th International Symposium on Robotics, in cooperation with Fraunhofer IPA September 26 – 27, 2023 in Stuttgart

2023, X, 439 pages, 140 x 124 mm, Slimlinebox, CD-Rom
ISBN 978-3-8007-6140-1, e-book: ISBN 978-3-8007-6141-8
Personal VDE Members are entitled to a 10% discount on this title

Content Foreword

Robotics technologies are in an active process of convergence towards innovative solutions with great benefit for all mankind. We roboticists are at the forefront of this development, combining Industry 4.0 and AI trends with established use cases from the industry. Robots are increasingly taking over dangerous, dull or painful tasks Recent years have shown many interesting developments that can be published at the ISR, making it the ideal platform for presenting your research results to the community.

The 56th International Symposium on Robotics - ISR Europe 2023 will be held in Stuttgart, Germany on September 26 to 27, 2023. This international conference is jointly organized by the Mechanical Engineering Industry Association (VDMA) and the Information Technology Society (ITG) within the VDE. ISR Europe 2023 takes place in a new format without the automatica exhibition this year.
Die ITG ist als interdisziplinär arbeitende, wissenschaftliche Fachgesellschaft in das fachübergreifende Netzwerk des VDE eingebunden. Sie agiert als Schnittstelle für Experten der Informationstechnik (ITK) in Wirtschaft, Verwaltung, Lehre und Forschung. Ihre Mitglieder bündeln in enger internationaler Anbindung die deutsche Kompetenz im Bereich der ITK. Die ITG fördert Forschung und Anwendung dieser Schlüsseltechnologie sowie deren effizienten Einsatz in den Bereichen Daten- und Kommunikationstechnik und -systeme, Umweltschutz, Medizin und Verkehr.
1

UAVs and Neural Networks for search and rescue missions

Authors:
Surmann, Hartmut; Leinweber, Artur; Senkowski, Gerhard; Meine, Julien; Slomma, Dominik

2

Guidance of Agricultural Ground Robots Team with an Aerial Vehicle: A Cost-Effective Solution

Authors:
Ugurlu, Halil Ibrahim; Bardakci, Deniz; Pham, Huy Xuan; Kayacan, Erdal

3

ORB-Net: End-to-end Planning Using Feature-based Imitation Learning for Autonomous Drone Racing

Authors:
Pham, Huy Xuan; Heiss, Micha; Tran, Dung; Nguyen, Minh Anh; Nguyen, Anh Quang; Kayacan, Erdal

4

5

Graph Neural Networks for Joint Action Recognition, Prediction and Motion Forecasting for Industrial Human-Robot Collaboration

Authors:
Lagamtzis, Dimitrios; Schmidt, Fabian; Seyler, Jan; Dang, Thao; Schober, Steffen

6

Human Model in a Simulation-Assisted Risk Assessment Tool for Safe Robot Applications

Authors:
Dai, Fan; Klose, Silke; Huck, Tom P.; Ledermann, Christoph

7

Modeling of Load-dependent Friction in Robot Joints Using Long Short-term Memory Networks

Authors:
Trinh, Minh; Pellenz, Yannick; Gruendel, Lukas; Petrovic, Oliver; Becher, Christian

8

Data-centric and Goal-oriented AI for Robotic Repair Tasks

Authors:
Dachtler, Kristina; Ortner, Michael; Ferri, Massimo; Eberst, Christof; Schiendorfer, Alexander

9

Real-to-sim Robotic Scene Generator

Authors:
Petter, Jascha; Schreier, Fabian; Eivazi, Shahram

10

Method for Integrating Exoskeletons into Ergonomics Assessment

Authors:
Ralfs, Lennart; Schuetz, Johannes; Schmermbeck, Katharina; Weidner, Robert

11

Assessing the Impact of Human-Robot Collaboration on Stress Levels and Cognitive Load in Industrial Assembly Tasks

Authors:
Bussolan, Andrea; Baraldo, Stefano; Gambardella, Luca Maria; Valente, Anna

12

Expectations of usability aspects for human-robot interactions in manufacturing settings are changed by experience

Authors:
Niehaus, Susanne; Funk, Miriam; Rosen, Patricia Helen; Ranavolo, Alberto; Chini, Giorgia; Varrecchia, Tiwana; Draicchio, Francesco; Petyx, Marta; Wischniewski, Sascha

13

An Android Robot Head as Embodied Conversational Agent

Authors:
Heisler, Marcel; Becker-Asano, Christian

14

15

Loss it right: Euclidean and Riemannian Metrics in Learning-based Visual Odometry

Authors:
Alvarez-Tunon, Olaya; Brodskiy, Yury; Kayacan, Erdal

16

A Biomimetic Fingerprint for Robotic Tactile Sensing

Authors:
Juina Quilachamin, Oscar Alberto; Navarro-Guerrero, Nicolas

17

A soft pneumatic robotic finger integrated with sound sensor for texture identification of cloths through friction.

Authors:
Lazaridis, Vasileios; Koustoumpardis, Panagiotis; Nikolakopoulos, Pantelis

18

Modelling of a Dual-Motor Robotic Drive with Estimation, Preload, and Guidance of Backlash

Authors:
Kaiser, Benedikt; Schaefer, Adrian; Schuetz, Andreas; Parspour, Nejila; Lechler, Armin; Verl, Alexander

19

EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation

Authors:
Alt, Benjamin; Nguyen, Minh Da; Hermann, Andreas; Katic, Darko; Jaekel, Rainer; Dillmann, Ruediger; Sax, Eric

20

Online 3D Deformable Object Classification for Mobile Cobot Manipulation

Authors:
Nguyen, Khang; Dang, Tuan; Huber, Manfred

21

Depth Image Enhancement with Sensor Fusion CycleGAN for Bin Picking Applications

Authors:
Stueckelmaier, Emily; Moenning, Manuel; Voelk, Markus; Kraus, Werner; Bormann, Richard

22

6DoF State Estimation with a Mesh Constrained Particle Filter For Wheeled Robots

Authors:
Schroepfer, Peter; Chahine, Georges; Pradalier, Cedric

23

Measuring 3D-reconstruction quality in probabilistic volumetric maps with the Wasserstein Distance

Authors:
Aravecchia, Stephanie; Richard, Antoine; Clausel, Marianne; Pradalier, Cedric

24

Educating Future Software Engineers for Industrial Robotics

Authors:
Schuerrle, Berit; Grimmeisen, Philipp; Pfeiffer, Jerome; Zimmermann, Thilo; Morozov, Andrey; Wortmann, Andreas

25

MobileRobot: Control of a Redundant Kinematic using Drive-Steering Modules for Mobile Manipulation

Authors:
Hess, Daniel; Trinh, Buu Hai Dang; Parys, Mathias; Roehrig, Christof

26

27

28

A Robotic Printer for Nonplanar Additive Manufacturing of Carbon Fiber Reinforced Polymers

Authors:
Kipping, Johann; Nettig, Doran; Kallai, Zsolt; Schueppstuhl, Thorsten

29

Automated Grinding for Surface Defect Removal on Aircraft Components

Authors:
Kaehler, Falko; Masekowsky, Soeren; Schueppstuhl, Thorsten

30

A Model-driven and role-oriented approach to software deployment in robotics

Authors:
Wu, Ruichao; Garcia, Nadia Hammoudeh; Kahl, Bjoern; Hellmann Santos, Christoph

31

Towards Robustification of Incremental Model Predictive Control Deploying an Adaptive Tube Technique

Authors:
Zheng, Tian; Li, Hengrui; Wang, Yongchao; Xie, Jing; Leibold, Marion; Lee, Jinoh

32

Optimal Robot Motion Generation Respecting Position-Dependent Safety Constraints

Authors:
Clever, Debora; Stuhlenmiller, Florian; Wahrburg, Arne; Matthias, Bjoern; Enayati, Nima

33

Mobile Preassembly Systems with Cooperative Dual-Arm Manipulation - A Concept for Industrial Applications in the Near Future

Authors:
Wittmann, Jonas; Laile, Mathias; Rainer, Johannes; Fottner, Johannes; Rixen, Daniel

34

Task-Specific Reconfiguration of VariableWorkstations using Automated Planning of Workcell Layouts

Authors:
Bachmann, Timo; Eiberger, Oliver; Eiband, Thomas; Lay, Florian; Angsuratanawech, Promwat; Rodriguez, Ismael; Lehner, Peter; Stulp, Freek; Nottensteiner, Korbinian

35

Human Robot Collaborative Assembly Using Behavior Trees and Dynamic Tree Dispatching

Authors:
Behery, Mohamed; Deutsch, Jonas; Trinh, Minh; Koetter, David; Brecher, Christian; Lakemeyer, Gerhard

36

37

Graph-based Design Languages for the Development of a Robotic Cell with Compliant Grippers

Authors:
Grueble, Tobias; Stetter, Ralf; Schuchter, Timo; Till, Markus; Rudolph, Stephan

38

Evaluation of external control of KUKA Industrial Robots for laboratory and prototype environments

Authors:
Mehner, Malte; Matkovic, Nikolas; Muehlbeier, Edgar; Mayer, Dominik; Fleischer, Juergen; Verl, Alexander

39

Technology packages for industrial robots to enable human-robot collaboration

Authors:
Heiligensetzer, Peter; Mohre, Michael; Pieniack, Sebastian

40

A prototype adjuster for motion planning of redundant robots

Authors:
Leniowski, Ryszard; Leniowska, Lucyna; Ozog, Dominik; Tomecki, Krzysztof

41

42

A Study on a New Illuminance Sensing System Based on Color Image of Objects

Authors:
Kakishima, Keisuke; Yoshimi, Takashi

43

Towards a Semantic Digital Twin for Marine Robotics

Authors:
Odonkor, Derrick; Coffelt, Jeremy Paul; Syrbe, Joern; Beetz, Michael

44

Implementation of a ROS-based Digital Twin Approach of a Multi-Robot Cell for Incremental Manufacturing

Authors:
Opolka, Anna Marie; Griemert, Rudolf; Wacker, Christian; Wagner, Arne; Droeder, Klaus

45

Performance analysis of a novel cutting tool for hole generation on a CFRP material via robot machining

Authors:
Sawyer, Daniela; Celikag, Huseyin; Ozturk, Erdem; Walsh, Mark

46

47

Door Manipulation as a Fundamental Skill Realized on Robots With Differential Drive

Authors:
Mueller, Tristan; Mueller, Steffen; Gross, Horst-Michael

48

Bridging Distance with a Collaborative Telepresence Robot for Older Adults – Report on Progress in the CO-HUMANICS Project

Authors:
Fischedick, Soehnke Benedikt; Richter, Kay; Wengefeld, Tim; Seichter, Daniel; Scheidig, Andrea; Doering, Nicola; Broll, Wolfgang; Werner, Stephan; Raake, Alexander; Gross, Horst-Michael

49

Towards a Robotic-Based Development Environment for Designing and Evaluating Exoskeletons

Authors:
Hoffmann, Niclas; Mir Latifi, Seyed Milad; Nagwekar, Rajal; Weidner, Robert

50

The influence of an interactive user training on perceived safety in HRI

Authors:
Exeler, Sharon; Nertinger, Simone; Herzog, Olivia; Naceri, Abdeldjallil; Haddadin, Sami

51

Benchmark on deep reinforcement learning-based placing using a robot arm

Authors:
Kernbach, Andreas; Hoffmann, Kathrin; Sawodny, Oliver; Eivazi, Shahram

52

53

Automatic Path Planning for Robotic Grinding and Polishing Tasks based on Point Cloud Slicing

Authors:
Raible, Julian; Braun, Christopher; Huber, Marco

54

Improved Dynamic Behaviour of Industrial Robots through Hybrid Drives

Authors:
Hansen, Stephan; Hamann, Tobias; Boehlmann, Christian; Moeller, Christian; Hintze, Wolfgang

55

A Concept for Unifying the Performance Assessment of Industrial Robot Systems with Closed-loop Dynamic Trajectories

Authors:
Finkbeiner, Martin Satoshi; Schaefle, Tobias Rainer; Beck, Joshua; Stoll, Johannes T.; Kraus, Werner; Giftthaler, Markus

56

Autonomous robotics in agriculture – a preliminary techno-economic evaluation of a mechanical weeding system

Authors:
Rossmadl, Andreas; Gandorfer, Markus; Kopfinger, Stefan; Busboom, Axel

57

Upside down: an open-source motion platform for highly dynamic movement

Authors:
Man Singh Pradhan, Nayan; Frank, Patrick; Mo, An; Badri-Sproewitz, Alexander

58

Recurrent Neural Network for Modelling a Contractive Soft Actuator

Authors:
Kienzlen, Annika; Zuern, Manuel; Kazemi, Shahab; Xu, Weiliang; Cheng, Leo K.; Strommel, Martin; Verl, Alexander

59

Denoising and Segmentation of SONAR Images for Rescue Operations

Authors:
Keen, Hannan Ejaz; Haider, Amjad; Berns, Karsten

60

Learning Multiple Radiation Source Distribution Models using Gaussian Processes

Authors:
De Schepper, David; Simons, Mattias; Schroeyers, Wouter; Kellens, Karel; Demeester, Eric