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1. Opening remarks

Author

Nagaraja, C, Swamy, J, Rajendra, J, Khan, M, Vishwanath, Reddy, D, Manjunath, N, Dillmann, R, Tarn, T, Zhao, Q, Ammi, M, Zuberek, W, Sandhu, P, Patthira, Newman, K, De Silva Liyanage, C, Hassan, S, Sun, K, Rahman, M, Ordono, E, Sharma, R, Mishra, P, Chandel, B, Singla, E, Petric, T, Zhong, Y, Jiglar, J, Alemzadeh, K, Asokan, T, Tripathi, A, Tripathi, M, Ram, S, Shrma, M, Panday, P, Kumar, D, Hinchey, M, Stilman, B, Suraj, Z, Pal, S, Sasi, S, Rajan, D, Marshall, R, Abraham, A, Peter S, D, Paul, V, Gopakumar, V, Dustdar, S, Soto, S, Rausch, A, Angelis, L, Nelson, A, Botzheim, J, Bernardino, H, Zboril, F, Ane, B, Maeda, T, Sakalauskas, V, Hann, G, Samek, J, Romero Salguero, J, Varghese, K, Kriksciuniene, D, Mathew, J, Reif, W, Mauri, G, Cabrerizo Lorite, F, Ozcan, E, Cho, S, Paily, R, Rezankova, H, Tudjarov, B, Hong, W, De Oliveira, J, Flores Romero, J, Oskouei, R, Cicchetti, A, Roy, C, Segura, S, Samuel, C, Mallet, F, Mernik, M, Punnekkat, S, Waseemulla, A, Nagaraja Ch., Swamy J. N., Rajendra J., Khan M. S., Reddy D. S., Manjunath N., Dillmann R., Tarn T. J., Zhao Q., Ammi M., Zuberek W. M., Sandhu P. S., Newman K., De Silva Liyanage C., Hassan S. A. A., Sun K. W., Rahman Md. M., Ordono E. E., Sharma R. K., Mishra P., Chandel B. S., Singla E., Petric T., Zhong Y., Jiglar J., Alemzadeh K., Asokan T., Tripathi A., Tripathi M., Ram S., Shrma M. K., Panday P. N., Kumar D., Hinchey M., Stilman B., Suraj Z., Pal S. K., Sasi S., Rajan D., Marshall R. G., Abraham A., Peter S D., Paul V., Gopakumar V., Dustdar S., Soto S. V., Rausch A., Angelis L., Nelson A. L., Botzheim J., Bernardino H. S., Zboril F., Ane B. K., Maeda T., Sakalauskas V., Hann G. L. K., Samek J., Romero Salguero J. R., Varghese K., Kriksciuniene D., Mathew J., Reif W., Mauri G., Cabrerizo Lorite F. J., Ozcan E., Cho S. -B., Paily R. P., Rezankova H., Tudjarov B., Hong W. -C., De Oliveira J. V., Flores Romero J. J., Oskouei R. J., Cicchetti A., Roy C., Segura S., Samuel C., Mallet F., Mernik M., Punnekkat S., Waseemulla A., Nagaraja, C, Swamy, J, Rajendra, J, Khan, M, Vishwanath, Reddy, D, Manjunath, N, Dillmann, R, Tarn, T, Zhao, Q, Ammi, M, Zuberek, W, Sandhu, P, Patthira, Newman, K, De Silva Liyanage, C, Hassan, S, Sun, K, Rahman, M, Ordono, E, Sharma, R, Mishra, P, Chandel, B, Singla, E, Petric, T, Zhong, Y, Jiglar, J, Alemzadeh, K, Asokan, T, Tripathi, A, Tripathi, M, Ram, S, Shrma, M, Panday, P, Kumar, D, Hinchey, M, Stilman, B, Suraj, Z, Pal, S, Sasi, S, Rajan, D, Marshall, R, Abraham, A, Peter S, D, Paul, V, Gopakumar, V, Dustdar, S, Soto, S, Rausch, A, Angelis, L, Nelson, A, Botzheim, J, Bernardino, H, Zboril, F, Ane, B, Maeda, T, Sakalauskas, V, Hann, G, Samek, J, Romero Salguero, J, Varghese, K, Kriksciuniene, D, Mathew, J, Reif, W, Mauri, G, Cabrerizo Lorite, F, Ozcan, E, Cho, S, Paily, R, Rezankova, H, Tudjarov, B, Hong, W, De Oliveira, J, Flores Romero, J, Oskouei, R, Cicchetti, A, Roy, C, Segura, S, Samuel, C, Mallet, F, Mernik, M, Punnekkat, S, Waseemulla, A, Nagaraja Ch., Swamy J. N., Rajendra J., Khan M. S., Reddy D. S., Manjunath N., Dillmann R., Tarn T. J., Zhao Q., Ammi M., Zuberek W. M., Sandhu P. S., Newman K., De Silva Liyanage C., Hassan S. A. A., Sun K. W., Rahman Md. M., Ordono E. E., Sharma R. K., Mishra P., Chandel B. S., Singla E., Petric T., Zhong Y., Jiglar J., Alemzadeh K., Asokan T., Tripathi A., Tripathi M., Ram S., Shrma M. K., Panday P. N., Kumar D., Hinchey M., Stilman B., Suraj Z., Pal S. K., Sasi S., Rajan D., Marshall R. G., Abraham A., Peter S D., Paul V., Gopakumar V., Dustdar S., Soto S. V., Rausch A., Angelis L., Nelson A. L., Botzheim J., Bernardino H. S., Zboril F., Ane B. K., Maeda T., Sakalauskas V., Hann G. L. K., Samek J., Romero Salguero J. R., Varghese K., Kriksciuniene D., Mathew J., Reif W., Mauri G., Cabrerizo Lorite F. J., Ozcan E., Cho S. -B., Paily R. P., Rezankova H., Tudjarov B., Hong W. -C., De Oliveira J. V., Flores Romero J. J., Oskouei R. J., Cicchetti A., Roy C., Segura S., Samuel C., Mallet F., Mernik M., Punnekkat S., and Waseemulla A.

Published
2016

2. The OpenHELP Project: Heidelberg laparoscopy phantom as an open-source surgical evaluation and training tool

Author

Wagner, M, Apitz, M, Wünscher, J, Preukschas, AA, Wekerle, AL, Nickel, F, Neher, P, Suwelack, S, Speidel, S, Oladokun, D, Maier-Hein, L, Dillmann, R, Meinzer, HP, Müller, BP, Kenngott, HG, Wagner, M, Apitz, M, Wünscher, J, Preukschas, AA, Wekerle, AL, Nickel, F, Neher, P, Suwelack, S, Speidel, S, Oladokun, D, Maier-Hein, L, Dillmann, R, Meinzer, HP, Müller, BP, and Kenngott, HG

Published
2016

3. The OpenHELP Project: Heidelberg laparoscopy phantom as an open-source surgical evaluation and training tool

Author

Wagner, M, Apitz, M, Wünscher, J, Preukschas, AA, Wekerle, AL, Nickel, F, Neher, P, Suwelack, S, Speidel, S, Oladokun, D, Maier-Hein, L, Dillmann, R, Meinzer, HP, Müller, BP, Kenngott, HG, Wagner, M, Apitz, M, Wünscher, J, Preukschas, AA, Wekerle, AL, Nickel, F, Neher, P, Suwelack, S, Speidel, S, Oladokun, D, Maier-Hein, L, Dillmann, R, Meinzer, HP, Müller, BP, and Kenngott, HG

Published
2016

4. Opening remarks

Author

Nagaraja, Ch., Swamy, J. N., Rajendra, J., Khan, M. S., Vishwanath, Reddy, D. S., Manjunath, N., Dillmann, R., Tarn, T. J., Zhao, Q., Ammi, M., Zuberek, W. M., Sandhu, P. S., Patthira, Newman, K., De Silva Liyanage, C., Hassan, S. A. A., Sun, K. W., Rahman, Md.M., Ordoño, E. E., Sharma, R. K., Mishra, P., Chandel, B. S., Singla, E., Petric, T., Zhong, Y., Jiglar, J., Alemzadeh, K., Asokan, T., Tripathi, A., Tripathi, M., Ram, S., Shrma, M. K., Panday, P. N., Kumar, D., Hinchey, M., Stilman, B., Suraj, Z., Pal, S. K., Sasi, S., Rajan, D., Marshall, R. G., Abraham, A., Peter S, D., Paul, V., Gopakumar, V., Dustdar, S., Soto, S. V., Rausch, A., Angelis, L., Nelson, A. L., Botzheim, J., Bernardino, H. S., Zboril, F., Jr., Ane, B. K., Maeda, T., Sakalauskas, V., Hann, G. L. K., Samek, J., Romero Salguero, J. R., Varghese, K., Kriksciuniene, D., Mathew, J., Reif, W., Mauri, G., Cabrerizo Lorite, F. J., Özcan, E., Cho, S. -B, Paily, R. P., Rezankova, H., Tudjarov, B., Hong, W. -C, De Oliveira, J. V., Flores Romero, J. J., Oskouei, R. J., Cicchetti, A., Roy, C., Segura, S., Samuel, C., Mallet, F., Mernik, M., Punnekkat, S., Waseemulla, A., Nagaraja, Ch., Swamy, J. N., Rajendra, J., Khan, M. S., Vishwanath, Reddy, D. S., Manjunath, N., Dillmann, R., Tarn, T. J., Zhao, Q., Ammi, M., Zuberek, W. M., Sandhu, P. S., Patthira, Newman, K., De Silva Liyanage, C., Hassan, S. A. A., Sun, K. W., Rahman, Md.M., Ordoño, E. E., Sharma, R. K., Mishra, P., Chandel, B. S., Singla, E., Petric, T., Zhong, Y., Jiglar, J., Alemzadeh, K., Asokan, T., Tripathi, A., Tripathi, M., Ram, S., Shrma, M. K., Panday, P. N., Kumar, D., Hinchey, M., Stilman, B., Suraj, Z., Pal, S. K., Sasi, S., Rajan, D., Marshall, R. G., Abraham, A., Peter S, D., Paul, V., Gopakumar, V., Dustdar, S., Soto, S. V., Rausch, A., Angelis, L., Nelson, A. L., Botzheim, J., Bernardino, H. S., Zboril, F., Jr., Ane, B. K., Maeda, T., Sakalauskas, V., Hann, G. L. K., Samek, J., Romero Salguero, J. R., Varghese, K., Kriksciuniene, D., Mathew, J., Reif, W., Mauri, G., Cabrerizo Lorite, F. J., Özcan, E., Cho, S. -B, Paily, R. P., Rezankova, H., Tudjarov, B., Hong, W. -C, De Oliveira, J. V., Flores Romero, J. J., Oskouei, R. J., Cicchetti, A., Roy, C., Segura, S., Samuel, C., Mallet, F., Mernik, M., Punnekkat, S., and Waseemulla, A.

Abstract

Editorial

Published
2016
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5. Intelligent Robotics and Applications : 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part I / edited by Honghai Liu, Naoyuki Kubota, Xiangyang Zhu, R diger Dillmann, Dalin Zhou.

Author

Liu, Honghai. editor., Kubota, Naoyuki. editor., Zhu, Xiangyang. editor., Dillmann, R diger. editor., Zhou, Dalin. editor., SpringerLink (Online service), Liu, Honghai. editor., Kubota, Naoyuki. editor., Zhu, Xiangyang. editor., Dillmann, R diger. editor., Zhou, Dalin. editor., and SpringerLink (Online service)

Abstract

This three volume set LNAI 9244, 9245, and 9246 constitutes the refereed proceedings of the 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015, held in Portsmouth, UK, in August 2015. The 60 papers included in the first volume are organized in topical sections on analysis and control for complex systems; marine vehicles and oceanic engineering; drives and actuators’ modeling; biomechatronics in bionic dexterous hand; robot actuators and sensors; intelligent visual systems; estimation and identification; and adaptive control system.

Published
2015

6. Intelligent Robotics and Applications : 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part II / edited by Honghai Liu, Naoyuki Kubota, Xiangyang Zhu, R diger Dillmann, Dalin Zhou.

Author

Liu, Honghai. editor., Kubota, Naoyuki. editor., Zhu, Xiangyang. editor., Dillmann, R diger. editor., Zhou, Dalin. editor., SpringerLink (Online service), Liu, Honghai. editor., Kubota, Naoyuki. editor., Zhu, Xiangyang. editor., Dillmann, R diger. editor., Zhou, Dalin. editor., and SpringerLink (Online service)

Abstract

This three volume set LNAI 9244, 9245, and 9246 constitutes the refereed proceedings of the 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015, held in Portsmouth, UK, in August 2015. The 61 papers included in the second volume are organized in topical sections on man-machine interaction; robot design, development and control; navigation and planning; robot motion analysis and planning; medical robot; prototyping; and manufacturing.

Published
2015

7. Intelligent Robotics and Applications : 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part III / edited by Honghai Liu, Naoyuki Kubota, Xiangyang Zhu, R diger Dillmann, Dalin Zhou.

Author

Liu, Honghai. editor., Kubota, Naoyuki. editor., Zhu, Xiangyang. editor., Dillmann, R diger. editor., Zhou, Dalin. editor., SpringerLink (Online service), Liu, Honghai. editor., Kubota, Naoyuki. editor., Zhu, Xiangyang. editor., Dillmann, R diger. editor., Zhou, Dalin. editor., and SpringerLink (Online service)

Abstract

This three volume set LNAI 9244, 9245, and 9246 constitutes the refereed proceedings of the 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015, held in Portsmouth, UK, in August 2015. The 46 papers included in the third volume are organized in topical sections on mobile robots and intelligent autonomous systems; intelligent system and cybernetics; robot mechanism and design; robotic vision; recognition and reconstruction; and active control in tunneling boring machine.

Published
2015

12. Using performance-based evaluation to close the loop between biological and robotic navigation

Author

Dillmann, R, Milford, Michael, Jacobson, Adam, Wyeth, Gordon, Dillmann, R, Milford, Michael, Jacobson, Adam, and Wyeth, Gordon

Abstract

In this paper we describe the benefits of a performance-based approach to modeling biological systems for use in robotics. Specifically, we describe the RatSLAM system, a computational model of the navigation processes thought to drive navigation in a part of the rodent brain called the hippocampus. Unlike typical computational modeling approaches, which focus on biological fidelity, RatSLAM’s development cycle has been driven primarily by performance evaluation on robots navigating in a wide variety of challenging, real world environments. We briefly describe three seminal results, two in robotics and one in biology. In addition, we present current research on brain-inspired learning algorithms with the aim of enabling a robot to autonomously learn how best to use its sensor suite to navigate, without requiring any specific knowledge of the robot, sensor types or environment characteristics. Our aim is to drive discussion on the merits of practical, performance-focused implementations of biological models in robotics.

Published
2013

13. Robot companions for citizens. The European future technologies conference and exhibition 2011.

Author

Dario, P., Verschure, P.F.M.J., Prescott, T., Cheng, G., Sandini, G., Cingolani, R., Dillmann, R., Floreano, D., Leroux, C., MacNeil, S., Roelfsema, P.R., Verykios, X., Bicchi, A., Melhuish, C., Albu-Schaffer, A., Dario, P., Verschure, P.F.M.J., Prescott, T., Cheng, G., Sandini, G., Cingolani, R., Dillmann, R., Floreano, D., Leroux, C., MacNeil, S., Roelfsema, P.R., Verykios, X., Bicchi, A., Melhuish, C., and Albu-Schaffer, A.

Published
2011

14. Robot companions for citizens. The European future technologies conference and exhibition 2011.

Author

Dario, P., Verschure, P.F.M.J., Prescott, T., Cheng, G., Sandini, G., Cingolani, R., Dillmann, R., Floreano, D., Leroux, C., MacNeil, S., Roelfsema, P.R., Verykios, X., Bicchi, A., Melhuish, C., Albu-Schaffer, A., Dario, P., Verschure, P.F.M.J., Prescott, T., Cheng, G., Sandini, G., Cingolani, R., Dillmann, R., Floreano, D., Leroux, C., MacNeil, S., Roelfsema, P.R., Verykios, X., Bicchi, A., Melhuish, C., and Albu-Schaffer, A.

Published
2011

15. From neurons to robots: Towards efficient biologically inspired filtering and SLAM

Author

Beyerer, J, Schultz, T, Dillmann, R, Hanebeck, U D, Suenderhauf, Niko, Protzel, Peter, Beyerer, J, Schultz, T, Dillmann, R, Hanebeck, U D, Suenderhauf, Niko, and Protzel, Peter

Abstract

We discuss recently published models of neural information processing under uncertainty and a SLAM system that was inspired by the neural structures underlying mammalian spatial navigation. We summarize the derivation of a novel filter scheme that captures the important ideas of the biologically inspired SLAM approach, but implements them on a higher level of abstraction. This leads to a new and more efficient approach to biologically inspired filtering which we successfully applied to real world urban SLAM challenge of 66 km length.

Published
2010

16. Wall Shear Stress simulations in a CT based human abdominal aortic model

Author

Hazer, D, Unterhinninghofen, R, Kostrzewa, M, Kauczor, HU, Dillmann, R, Richter, GM, Hazer, D, Unterhinninghofen, R, Kostrzewa, M, Kauczor, HU, Dillmann, R, and Richter, GM

Abstract

Abnormal Wall Shear Stress (WSS) distributions may be a predictor for the risk of development or rupture of an aneurysm and a tool to control the efficiency of the therapy. In this work, we present a method for the computation of WSS based on Computational Fluid Dynamics (CFD) simulations. The approach is applied to a CT based abdominal aortic model and realistic boundary conditions are considered based on MR flow measurements. WSS simulations are computed using the CFD program Fluent. The simulation results show realistic mean WSS distributions and provide a quantitative description of the stress conditions in the aortic model. The mean range of the computed values is compatible with that obtained by other in vivo and in vitro methods , . The method provides a numerical approach for the computation of WSS. However, further development and validation should be investigated in order to reach computations that can be implemented clinically.

Published
2007

17. A hybrid AUV design for shallow water reef navigation

Author

Dillmann, R, Dunbabin, Matthew, Roberts, Jonathan, Usher, Kane, Winstanley, Graeme, Corke, Peter, Dillmann, R, Dunbabin, Matthew, Roberts, Jonathan, Usher, Kane, Winstanley, Graeme, and Corke, Peter

Abstract

The highly unstructured nature of coral reef environments makes them difficult for current robotic vehicles to efficiently navigate. Typical research and commercial platforms have limited autonomy within these environments and generally require tethers and significant external infrastructure. This paper outlines the development of a new robotic vehicle for underwater monitoring and surveying in highly unstructured environments and presents experimental results illustrating the vehicle’s performance. The hybrid AUV design developed by the CSIRO robotic reef monitoring team realises a compromise between endurance, manoeuvrability and functionality. The vehicle represents a new era in AUV design specifically focused at providing a truly low-cost research capability that will progress environmental monitoring through unaided navigation, cooperative robotics, sensor network distribution and data harvesting.

Published
2005

18. Air vehicle simulator: an application for a cable array robot

Author

Dillmann, R, Usher, Kane, Winstanley, Graeme, Corke, Peter, Stauffacher, Dirk, Carnie, Ryan, Dillmann, R, Usher, Kane, Winstanley, Graeme, Corke, Peter, Stauffacher, Dirk, and Carnie, Ryan

Abstract

The development of autonomous air vehicles can be an expensive research pursuit. To alleviate some of the financial burden of this process, we have constructed a system consisting of four winches each attached to a central pod (the simulated air vehicle) via cables - a cable-array robot. The system is capable of precisely controlling the three dimensional position of the pod allowing effective testing of sensing and control strategies before experimentation on a free-flying vehicle. In this paper, we present a brief overview of the system and provide a practical control strategy for such a system. ©2005 IEEE.

Published
2005

19. Efficient goal directed navigation using RatSLAM

Author

Dillmann, R, Milford, Michael, Wyeth, Gordon, Prasser, David, Dillmann, R, Milford, Michael, Wyeth, Gordon, and Prasser, David

Abstract

RatSLAM is a system for vision based Simultaneous Localization and Mapping (SLAM) that has been shown to be capable of building stable representations of real world environments. In this paper we describe a method for using RatSLAM representations as the basis for navigation to designated goal locations. The method uses a new component, goal memory, to learn the temporal gradient between places. Paths are recalled or inferred from the goal memory by following the temporal gradient from the robot’s current position to the goal location. Experimental results have been gathered in a combined office and laboratory environment using a Pioneer robot. The experiments show that the robot can perform vision based SLAM on-line and in real time, and then use those representations immediately to navigate directly to designated goal locations.

Published
2005

20. Eine virtuelle Gemeinschaft für die Planung von Servicerobotern

Author

Technische Universität Dresden, Taminé, O., Dillmann, R., Technische Universität Dresden, Taminé, O., and Dillmann, R.

Abstract

Die Forderungen des Marktes nach immer leistungsfähigeren Produkten resultiert zum einen in einer stetig steigenden Varianten Vielfalt, zum anderen in einem Anstieg der Produktkomplexität. Steigende roduktfunktionalität und -komplexität, immer kürzer werdende Innovationszyklen bei gleichzeitiger Steigerung der Qualität und Reduzierung von Kosten, stellen immer höhere Anforderungen an die Entwickler und an die Struktur des Produktentwicklungsprozesses. Die Folge ist eine steigende Anzahl eingebundener Experten aus unterschiedlichen natur- und ingenieurwissenschaftlichen Disziplinen sowie die Notwendigkeit einer detaillierten Produktplanung. Dies erfordert eine enge Einbindung aller an der Produktentwicklung beteiligten Personen. Insbesondere sind dies der Kunde, der seine Wünsche äußert, die Entwickler, die das technische Know-How besitzen und Projektpartner aus unterschiedlichen Industriebranchen, die auf die Entwicklung Einfluß nehmen. [... aus dem Text]

Published
2000

21. Eine virtuelle Gemeinschaft für die Planung von Servicerobotern

Author

Technische Universität Dresden, Taminé, O., Dillmann, R., Technische Universität Dresden, Taminé, O., and Dillmann, R.

Abstract

Die Forderungen des Marktes nach immer leistungsfähigeren Produkten resultiert zum einen in einer stetig steigenden Varianten Vielfalt, zum anderen in einem Anstieg der Produktkomplexität. Steigende roduktfunktionalität und -komplexität, immer kürzer werdende Innovationszyklen bei gleichzeitiger Steigerung der Qualität und Reduzierung von Kosten, stellen immer höhere Anforderungen an die Entwickler und an die Struktur des Produktentwicklungsprozesses. Die Folge ist eine steigende Anzahl eingebundener Experten aus unterschiedlichen natur- und ingenieurwissenschaftlichen Disziplinen sowie die Notwendigkeit einer detaillierten Produktplanung. Dies erfordert eine enge Einbindung aller an der Produktentwicklung beteiligten Personen. Insbesondere sind dies der Kunde, der seine Wünsche äußert, die Entwickler, die das technische Know-How besitzen und Projektpartner aus unterschiedlichen Industriebranchen, die auf die Entwicklung Einfluß nehmen. [... aus dem Text]

Published
2000

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