2011

Baier, P.; Voelker, W.; Petri, N.; & Schilling, K.;
A simple and inexpensive wire motion capture device to the simulation of catheter procedures.
SESAM 2011, pp. 150, 2011
[BibTeX]

@inproceedings{baier2011a, author = {P. Baier and W. Voelker and N. Petri and K. Schilling}, title = {A simple and inexpensive wire motion capture device to the simulation of catheter procedures}, booktitle = {SESAM 2011 – Simulation: a limitless training methodology}, address = { Granada Congress & Exhibition Centre}, month = {June}, year = {2011}, page = {150} }

[Abstract]

In general, medical simulation procedures involve a complex combination of data input (action capture), processing (hardware and software) and response (feedback). Every stage uses equipment that usually is expensive and difficult to manipulate. We propose a method to build a wire movement sensor compatible with any computer and estimate cost of maximum 100 Euros.

Baier, P.; Voelker, W.; Petri, N.; & Schilling, K.;
Linear collision detection method to a sequenced points guide wire inside of arteries modeled by Sweep surfaces.
SESAM 2011, pp. 151, 2011
[BibTeX]

@inproceedings{baier2011b, author = {P. Baier and W. Voelker and N. Petri and K. Schilling}, title = {Linear collision detection method to a sequenced points guide wire inside of arteries modeled by Sweep surfaces}, booktitle = {SESAM 2011 – Simulation: a limitless training methodology}, address = {Granada Congress & Exhibition Centre}, month = {June}, year = {2011}, page = {151} }

[Abstract]

Due to the medical simulation complexity, the algorithms tend to have high (even exponential) time consumption. Because of this, the trade of between the amount of data and real time execution is always a problem to reach the desirable realism. To get better results, it is possible to use faster (but expensive) computers or improve the mathematical methods. We propose a linear collision detection method to a sequenced points guide wire that uses specific properties from the sweep surface.

Günther, J.P.; & Eck, D.;
Deliktische Haftung bei Assistenzsystemen zur Unterstützung der Mobilität durch Ambient Assisted Living
Technisierte Medizin - dehumanisierte Medizin?, 2011. pp.85-92
[BibTeX]

@INCOLLECTION{Guenther2011, author = {Jan-Philipp Günther and Daniel Eck}, title = {Deliktische Haftung bei Assistenzsystemen zur Unterstützung der Mobilität durch Ambient Assisted Living}, booktitle = {Technisierte Medizin - dehumanisierte Medizin?}, publisher = {kassel university press}, year = {2011}, pages = {85-92}, address = {Aachen, Germany}, comment = {ISBN: 978-3-86219-162-8}, }

[Abstract]

Coming Soon...

Herrmann, C.; Ma, L. & Schilling, K.;
Model Predictive Control for Tumor Motion Compensation in Robot Assisted Radiotherapy
In Proceedings of the 18th IFAC World Congress 2011, Milano, Italy, September 2011, pp. 5968-5973
[Free download from IFAC-PapersOnLine]
[BibTeX]

@inproceedings{Herrmann2011, author = {Christian Herrmann and Lei Ma and Klaus Schilling}, title = {Model Predictive Control for Tumor Motion Compensation in Robot Assisted Radiotherapy}, booktitle = {Proceedings of the 18th IFAC World Congress 2011}, year = {2011}, pages = {5968--5973}, address = {Milano, Italy}, month = {September} }

[Abstract]

This paper presents model predictive control (MPC) of a HexaPOD treatment couch used in robot assisted radiotherapy for motion compensation of lung tumors. The HexaPOD, carrying the patient during treatment, performs translational movements such that the tumor motion in the beams-eye-view of the linear accelerator is eliminated. We first briefly discuss appropriate dynamic models of the treatment couch usable for MPC. It is shown how MPC can be applied to the problem of motion compensation. The influence of horizon parameters and control increment weighting in MPC as well as the performance w.r.t. the tracking error for several test and patient data sets is evaluated with experiments on the hardware.

Kiefel, P.; Busch, S.; Wolfgang, D.; & Schilling, K.
Implementation, Calibration and Verification of a Kalman Filter based Attitude Determination System for the Picosatellite UWE‐3
Proceedings of 8th Int'l ESA Conference on Guidance & Navigation Control Systems, 2011
[BibTeX]

@inproceedings{kiefel2011a, Author = {Kiefel, Peter and Busch, Stephan and Dr{\"o}ge, Wolfgang and Schilling, Klaus}, Booktitle = {Proceedings of 8th Int'l ESA Conference on Guidance & Navigation Control Systems}, Month = {June}, Year = {2011}, Title = {Implementation, Calibration and Verification of a Kalman Filter based Attitude Determination System for the Picosatellite UWE‐3}, }

[Abstract]

Current challenges in the research field of very small satellites comprise the realization of accurate miniaturized Attitude Determination and Control Systems (ADCS). Their application pave the way for attitude sensitive experiments, in particular to realize distributed, cooperating spacecraft systems. Although picosatellites inhere extraordinary mechanical restrictions and limited power budget, the picosatellite UWE-3 will be capable of determining its attitude in real time. Therefore measurements of magnetic field, sun direction and angular rate are combined with reference models like IGRF using an isotropic Kalman Filter. A single miniaturized reaction wheel in combination with magnetic stabilization will constitute a low mass attitude control system. To enable the robust development of this subsystem a dynamic test bench providing precise reference data for calibration and verification becomes essential. While traditional test facilities are typically complex and expensive, the utilization of small satellites entails new opportunities for innovative and economic designs. The UWE-3 dynamic bench facility was developed to enable efficient and precise calibration and verification of ADCS for picosatellites. The portable and lightweight platform allows the design of automated fixed axis spin experiments in any arbitrary user-defined environments. This supports the computation of accurate geometric and statistical calibration data as an essential input for the ADCS to enable sensor calibration, Kalman Filter tuning and system verification.).

Loureiro, G.; Busch, S.; Schmidt, M.& Schilling, K.
SYSTEMS CONCURRENT ENGINEERING PICO-SATELLITES .
62nd International Astronautical Congress, Kapstadt , 2011
[BibTeX]

@inproceedings{loureiro2011, author = {G. Loureiro and S. Busch and M. Schmidt and K. Schilling}, title = {Systems Concurrent Engineering Pico-Satellites}, booktitle = {Proceedings of 62nd International Astronautical Congress}, year = {2011}, number = {IAC-11,B4,7,8,x11253} }

[Abstract]

This paper aims to describe a template containing all elements for systems engineering pico-satellites. The template aims to be generic for accomplishing the needs of university Cubesats development programs and to be reused by such programs. It is implemented in a commercial systems engineering software environment called Cradle ® and it was developed based on the experience of the University of Wurzburg, in Germany, where three satellites of the UWE series have already been developed since 2005. It covers: mission definition which includes stakeholder analysis, concept of operations and operational concept architecture; system requirements analysis; system architecture that shows the functional structure and behavior of the system and systems elements and the physical or implementation architecture of the system; the detailed design that provides the system component specifications; the plans for all life cycle processes of the system such as development, manufacturing, assembly, integration, testing, launching, operations and disposal. The template was developed with a life cycle process perspective, using concurrent engineering principles of anticipation of life cycle process requirements to the early stages of product development. Therefore, the models constructed in the template capture the satellite in every scenario along its life cycle. For example, the models describe the context of the satellite during operations but also during thermal vacuum testing or during launch and launch preparation. The template aims to be an instrument for teaching and learning space systems engineering and to ease the documentation burden necessary to develop a space product. It offers a solution to university satellite programs where, in general, the students do not have enough systems engineering background nor the university has a professional structure for systems engineering and project management. The paper also provides an example of the use of the template with the Cubesats currently under development in Brazil at INPE (Brazilian Institute for Space Research) and ITA (Aeronautics Institute of Technology).

Schilling, K.; Pranajaya, F.; Gill, E.; & Tsourdos, A.
Small Satellite Formations for Distributed Surveil-lance: System Design and Optimal Control Considerations
Proceedings NATO RTO Lecture Series SCI-231, . 2011
[BibTeX]

@inproceedings{schilling2011, author = {K. Schilling and F. Pranajaya and E. Gill and A. Tsourdos}, title = {Small Satellite Formations for Distributed Surveil-lance: System Design and Optimal Control Considerations}, booktitle = {Proceedings NATO RTO Lecture Series SCI-231}, year = {2011}, }

[Abstract]

Coming Soon.

Tzschichholz, T.;Ma, L.; & Schilling, K.;
Model-based spacecraft pose estimation and motion prediction using a photonic mixer device camera
Acta Astronautica Vol. 68, 2011. pp. 1156-1167
[BibTeX]

@article{Tzschichholz2011, title = {Model-based spacecraft pose estimation and motion prediction using a photonic mixer device camera}, author = {Tristan Tzschichholz and Lei Ma and Klaus Schilling}, journal = {Acta Astronautica}, volume = {68}, pages = {1156-1167}, year = {2011}, issn = {0094-5765}, doi = {DOI: 10.1016/j.actaastro.2010.10.003}, url = {http://www.sciencedirect.com/science/article/B6V1N-519D4MK-1/2/dbda1146601609ec8aeafb04f3837eee} }

[Abstract]

Determination of relative distances and orientations, as well as motion identification is essential in rendezvous and docking and formation flying tasks. A 3D-image generated by a PMD (photonic mixer device) camera, which employs a phase shift measurement of emitted modulated light to derive distance and color information on each pixel, provides in this contribution the basis for near range motion detection and prediction. A novel algorithm based on rotation- and scale-invariant features commonly used for scan matching in high-resolution images is presented. The performance of the PMD camera and of the proposed data processing is characterized in scenarios, considering factors like relative velocities, rotation dynamics, illumination and optical properties of target surface materials, which are major effects for disturbances in this context.

Uhlschmied, C.; Eck, D.; Schilling, K.; Schens, I.; & Thomas, B.;
Safe Navigation for People with Degenerated Physical and Mental Skills
Proceedings of the 4. AAL Kongress, 2011, pp. 15.2
[BibTeX]

@INPROCEEDINGS{Uhlschmied2011, author = {Claudia Uhlschmied and Daniel Eck and Klaus Schilling and Irina Schens and Bernd Thomas}, title = {Safe Navigation for People with Degenerated Physical and Mental Skills}, booktitle = {Proceedings of the 4. AAL Kongress}, pages = {15.2}, address = {Berlin, Germany}, year = {2011}, }

[Abstract]

An often mentioned problem of people with degenerated physical and mental skills is the decrease in orientation ability in unknown as well as familiar environments. Up to now there are no technical aids to assist these people. So far they can only rely on car-navigation devices and use these in the pedestrian navigation mode. However, these devices have some operational weaknesses: Important information such as sidewalks, crosswalks, pedestrian traffic lights, stairs and special footpaths (e.g. within a park) are not considered in the route calculation, hence it is not possible to determine a safe and user adapted route. Furthermore, people with degenerated physical and mental skills often have problems with the handling and operation of navigation units, due to the complicated menu and too smalls buttons. Therefore this pa-per presents a new navigation system, which is able to calculate safe routes. Furthermore the menu of this device was adapted to the target group.

Xu, Z.; Ma, L.; Wu, Z.; Schilling, K.; & Necsulescu, D.;
Teleoperating a Formation of Car-Like Rovers under Time Delays
30th Chinese Control Conference, 2011. pp.4095-4101
[BibTeX]

@INPROCEEDINGS{Xu2011a, author = {Z. Xu and L. Ma and Z. Wu and K. Schilling and D. Necsulescu}, title = {Teleoperating a Formation of Car-Like Rovers under Time Delays}, booktitle = {30th Chinese Control Conference, Yantai, China}, year = {2011}, pages = {4095- 4101} }

[Abstract]

This paper addresses bilateral teleoperation of a formation of car-like planetary rovers under communication delays. The mobile robots form a team using the leader-follower approach, with the leader being teleoperated by human operator via a haptic device. Communication delays present in the teleoperation channel, and as well between the leader and the followers. The haptic joystick provides the human operator with a force-feedback mechanism describing the environmental conditions, based on the relative distances and speeds between the rover and the obstacles. The teleoperation is implemented with an impedance controller based on the sliding-mode method, which accomplishes speed coordination. Formation control is developed based on the input-output linearization method. The follower robots keep constant distances and relative bearing angles with respect to the leader. An improved PD-type formation controller is proposed to compensate the delay effect, which is proved to be stable and effective in tracking. Hardware experiments support the implementation of both the teleoperation and the formation controllers, which also showed capability of dealing with variable time delays in the communication channels