Search

Your search keyword '"Brell‐Cokcan, Sigrid"' showing total 205 results
Start Over Author "Brell‐Cokcan, Sigrid"
205 results on '"Brell‐Cokcan, Sigrid"'

16. Task Space Control of Hydraulic Construction Machines using Reinforcement Learning

Author

Lee, Hyung Joo and Brell-Cokcan, Sigrid

Subjects
Computer Science - Robotics
Abstract

Teleoperation is vital in the construction industry, allowing safe machine manipulation from a distance. However, controlling machines at a joint level requires extensive training due to their complex degrees of freedom. Task space control offers intuitive maneuvering, but precise control often requires dynamic models, posing challenges for hydraulic machines. To address this, we use a data-driven actuator model to capture machine dynamics in real-world operations. By integrating this model into simulation and reinforcement learning, an optimal control policy for task space control is obtained. Experiments with Brokk 170 validate the framework, comparing it to a well-known Jacobian-based approach.

Published
2023

17. Reinforcement Learning-based Virtual Fixtures for Teleoperation of Hydraulic Construction Machine

Author

Lee, Hyung Joo and Brell-Cokcan, Sigrid

Subjects
Computer Science - Robotics, Computer Science - Artificial Intelligence
Abstract

The utilization of teleoperation is a crucial aspect of the construction industry, as it enables operators to control machines safely from a distance. However, remote operation of these machines at a joint level using individual joysticks necessitates extensive training for operators to achieve proficiency due to their multiple degrees of freedom. Additionally, verifying the machine resulting motion is only possible after execution, making optimal control challenging. In addressing this issue, this study proposes a reinforcement learning-based approach to optimize task performance. The control policy acquired through learning is used to provide instructions on efficiently controlling and coordinating multiple joints. To evaluate the effectiveness of the proposed framework, a user study is conducted with a Brokk 170 construction machine by assessing its performance in a typical construction task involving inserting a chisel into a borehole. The effectiveness of the proposed framework is evaluated by comparing the performance of participants in the presence and absence of virtual fixtures. This study results demonstrate the proposed framework potential in enhancing the teleoperation process in the construction industry.

Published
2023

21. Task Space Control of Hydraulic Construction Machines Using Reinforcement Learning

Author

Lee, Hyung Joo, Brell-Cokcan, Sigrid, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Piazza, Cristina, editor, Capsi-Morales, Patricia, editor, Figueredo, Luis, editor, Keppler, Manuel, editor, and Schütze, Hinrich, editor

Published
2024
Full Text
View/download PDF

22. A First Approach to a Semantic Process Model for Enabling an Information Flow for Reuse of Building Materials

Author

Jung, Victoria, Heuer, Christoph, Brell-Cokcan, Sigrid, di Prisco, Marco, Series Editor, Chen, Sheng-Hong, Series Editor, Vayas, Ioannis, Series Editor, Kumar Shukla, Sanjay, Series Editor, Sharma, Anuj, Series Editor, Kumar, Nagesh, Series Editor, Wang, Chien Ming, Series Editor, Cui, Zhen-Dong, Series Editor, Fottner, Johannes, editor, Nübel, Konrad, editor, and Matt, Dominik, editor

Published
2024
Full Text
View/download PDF

32. Assistance Systems for Construction Site Safety: Revealing Static Forces for Deconstruction Processes

Author

Heuer, Christoph, Brell-Cokcan, Sigrid, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Petrič, Tadej, editor, Ude, Aleš, editor, and Žlajpah, Leon, editor

Published
2023
Full Text
View/download PDF

46. A General Approach for Automating Teleoperated Construction Machines

Author

Lee, Hyung Joo, Brell-Cokcan, Sigrid, Schmitz, Katharina, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Berns, Karsten, editor, and Görges, Daniel, editor

Published
2020
Full Text
View/download PDF

49. Haptic Programming

Author

Stumm, Sven, Brell-Çokcan, Sigrid, Willmann, Jan, editor, Block, Philippe, editor, Hutter, Marco, editor, Byrne, Kendra, editor, and Schork, Tim, editor

Published
2019
Full Text
View/download PDF

Catalog

Books, media, physical & digital resources
See catalog results