Publications of IPR

2019

Study of safe sensor configurations in human robot collaboration.
Baek, W.; Huang, S.; Ledermann, C.; Kröger, T.; Kirsten, R.
2019. 20. GMA/ITG-Fachtagung Sensoren und Messsysteme, Nürnberg, 25.-26.Juni 2019. Proceedings, 93–99, AMA Service GmbH, Wunstorf. doi:10.5162/sensoren2019/1.3.4
Overview of a robot for a neuromuscular training - Robotrainer.
Stogl, D.; Hein, B.; Mende, M.
2019. Proceedings of the European Conference on Mobile Robots (ECMR 2019), Praha, CZ, September 4-6, 2019. Ed.: L. Preucil, Article No.8870955, IEEE, Piscataway (NJ). doi:10.1109/ECMR.2019.8870955
Fast Volumetric Auto-Segmentation of Head CT Images in Emergency Situations for Ventricular Punctures.
Kunz, C.; Henrich, P.; Scheikl, P. M.; Hlavac, M.; Schneider, M.; Heinz, W.; Hein, B.; Mathis-Ullrich, F.
2019. CURAC 2019 - 18. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Reutlingen, 19. - 21. September 2019. Hrsg.: O. Burgert, 41–46, Hochschule, Reutlingen
ROBDEKON: Robotic Systems for Decontamination in Hazardous Environments.
Petereit, J.; Beyerer, J.; Asfour, T.; Gentes, S.; Hein, B.; Hanebeck, U. D.; Kirchner, F.; Dillmann, R.; Gotting, H. H.; Weiser, M.; Gustmann, M.; Egloffstein, T.
2019. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2019), Würzburg, September 2-4, 2019, 249–255, IEEE, Piscataway (NJ). doi:10.1109/SSRR.2019.8848969
Improving Data Efficiency of Self-supervised Learning for Robotic Grasping.
Berscheid, L.; Rühr, T.; Kröger, T.
2019. 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, Canada, 20-24 May 2019, 2125–2131, IEEE, Piscataway (NJ). doi:10.1109/ICRA.2019.8793952
Robotics Education and Research at Scale: A Remotely Accessible Robotics Development Platform.
Wiedmeyer, W.; Mende, M.; Hartmann, D.; Bischoff, R.; Ledermann, C.; Kröger, T.
2019. IEEE International Conference on Robotics and Automation (ICRA), Montreal, CDN, May 20-24, 2019, 3679–3685, IEEE, Piscataway, NJ. doi:10.1109/ICRA.2019.8793976
Augmented reality-assisted ventricular puncture with marker-based scene registration.
Kunz, C.; Schneider, M.; Hlavac, M.; Zenth, D.; Pylatiuk, C.; Hein, B.
2019. International journal of computer assisted radiology and surgery, 14 (Suppl. 1), S151-S152
PaintRL: Coverage Path Planning for Industrial Spray Painting with Reinforcement Learning.
Kiemel, J. C.; Yang, P.; Meißner, P.; Kröger, T.
2019. Workshop on Closing the Reality Gap in Sim2real Transfer for Robotic Manipulation, Freiburg, June 23, 2019
Robot-Based Training for People With Mild Cognitive Impairment [in press].
Stogl, D.; Armbruster, O.; Mende, M.; Hein, B.; Wang, X.; Meyer, P.
2019. IEEE Robotics and automation letters, 4 (2), 1916–1923. doi:10.1109/LRA.2019.2898470
Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses.
Petković, T.; Puljiz, D.; Marković, I.; Hein, B.
2019. Robotics and computer integrated manufacturing, 57, 182–196. doi:10.1016/j.rcim.2018.11.004

2018

Implementation of Augmented Reality in Autonomous Warehouses: Challenges and Opportunities.
Puljiz, D.; Gorbachev, G.; Hein, B.
2018. VAM-HRI 2018 Workshop Proceedings
Concept Learning in AutomationML with Formal Semantics and Inductive Logic Programming.
Hua, Y.; Hein, B.
2018. 2018 IEEE 14th International Conference on Automation Science and Engineering (CASE), München, 20. - 24. August 2018, 1542–1547, IEEE, Piscataway, NJ. doi:10.1109/COASE.2018.8560541
Towards a Real-Time Environment Reconstruction for VR-Based Teleoperation Through Model Segmentation.
Kohn, S.; Blank, A.; Puljiz, D.; Zenkel, L.; Bieber, O.; Hein, B.; Franke, J.
2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, E, October 1-5, 2018, 1–9, IEEE, Piscataway, NJ. doi:10.1109/IROS.2018.8594053
Model-Free Grasp Planning for Configurable Vacuum Grippers.
You, F.; Mende, M.; Stogl, D.; Hein, B.; Kroger, T.
2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, E, October 1-5, 2018, 4554–4561, IEEE, Piscataway, NJ. doi:10.1109/IROS.2018.8594227
Material Recognition Using a Capacitive Proximity Sensor with Flexible Spatial Resolution.
Alagi, H.; Heiligl, A.; Navarro, S. E.; Kroegerl, T.; Hein, B.
2018. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1-5 Oct. 2018, 6284–6290, IEEE, Piscataway (NJ). doi:10.1109/IROS.2018.8593789
Concept learning in engineering based on refinement operator.
Hua, Y.; Hein, B.
2018. Up-and-Coming and Short Papers of the 28th International Conference on Inductive Logic Programming (UCS-ILP 2018) Ferrara, I, September 2-4, 2018, 76–83, RWTH, Aachen
Inspection Planning for Optimized Coverage of Geometrically Complex Surfaces.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Worn, H.
2018. 2018 Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2018; Brescia; Italy; 16 April 2018 through 18 April 2018, 52–57, IEEE, Piscataway (NJ). doi:10.1109/METROI4.2018.8428313
Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture.
Reister, F.; Kunz, C.; Schneider, M.; Kroeger, T.
2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC 2018), Leipzig, Deutschland, 13.–15. September 2018
Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture.
Reister, F.; Kunz, C.; Schneider, M.; Kroeger, T.
2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig, 13 – 15 September 2018, 28–33, Universität Leipzig, Leipzig
A System for Augmented Reality Guided Ventricular Puncture Using a HoloLens: Design, Implementation and Initial Evaluation [in press].
Kunz, C.; Hlavac, M.; Schneider, M.; Hein, B.; Puljiz, D.; Peikert, S.
2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig, Germany, 13 - 15 September 2018, 132–137
Substitution and Complementation of Production Management Functions with Data Analytics.
Colangelo, E.; Kröger, T.; Bauernhansl, T.
2018. Procedia CIRP, 72, 191–196. doi:10.1016/j.procir.2018.03.145
Substitution and Complementation of Production Management Functions with Data Analytics.
Colangelo, E.; Kröger, T.; Bauernhansla, T.
2018. 51st CIRP Conference on Manufacturing Systems (2018), Stockholm, Schweden, 16.–18. Mai 2018
Adaptive particle filter for localization problem in service robotics.
Heilig, A.; Mamaev, I.; Hein, B.; Malov, D.
2018. Proceedings of the 13th International Conference on Electromechanics and Robotics "Zavalishin’s Readings", St. Petersburg, Russia, 18th - 21st April 2018, Art.Nr. 01004, EDP Sciences, London. doi:10.1051/matecconf/201816101004
Tracking, reconstruction and grasping of unknown rotationally symmetrical objects from a conveyor belt.
Stogl, D.; Zumkeller, D.; Navarro, S. E.; Heilig, A.; Hein, B.
2018. 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation, Limassol, Cyprus, 12th - 15th September 2017, 1–8, IEEE, Piscataway (NJ). doi:10.1109/ETFA.2017.8247651
A versatile hardware and software toolset for computer aided inspection planning of machine vision applications.
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikajii, M.; Beyerer, J.; Dachsbacher, C.
2018. 38th International Conference on Information Systems Architecture and Technology, ISAT 2017; Szklarska Poreba; Poland; 17 September 2017 through 19 September 2017. Ed.: L. Borzemski, 326–335, Springer, Cham. doi:10.1007/978-3-319-67220-5_30

2017

Modulare und Wandlungsfähige Robotersysteme: Modellbasierte Softwareentwicklung basierend auf AutomationML und ontologischer Semantik.
Hua, Y.; Mende, M.; Hein, B.
2017. Industrie 4.0 Management, (6), 33–37
Image formation simulation for computer-aided inspection planning of machine vision systems.
Irgenfried, S.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. Automated Visual Inspection and Machine Vision II - SPIE Optical Metrology, Munich, Germany, 25 - 29 June 2017. Ed.: J. Beyerer, 1033406, SPIE, Bellingham (WA). doi:10.1117/12.2269166
CAD-basierter Workflow für den semi-automatischen Entwurf optischer Inspektionssysteme [CAD based workflow for semi-automatic design of optical inspection systems].
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.
2017. Automatisierungstechnik, 65 (6), 426–439. doi:10.1515/auto-2017-0044
Probabilistic surface inference for industrial inspection planning.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. 17th IEEE Winter Conference on Applications of Computer Vision, Santa Rosa, United States, 24. - 31. March, 2017, 1008–1016, IEEE, Piscataway (NJ). doi:10.1109/WACV.2017.117
Polymer planar waveguide Bragg gratings: fabrication, characterization, and sensing applications.
Rosenberger, M.; Hessler, S.; Pauer, H.; Girschikofsky, M.; Roth, G. L.; Adelmann, B.; Woern, H.; Schmauss, B.; Hellmann, R.
2017. Integrated Optics: Devices, Materials, and Technologies XXI, San Francisco, CA, January 30 - February 1, 2017. Ed.: S.M. Garcia-Blanco, Article no 101061N, SPIE, Bellingham (WA). doi:10.1117/12.2249830

2016

Dex-net 1.0: A cloud-based network of 3d objects for robust grasp planning using a multi-armed bandit model with correlated rewards.
Mahler, J.; Pokorny, F. T.; Hou, B.; Roderick, M.; Laskey, M.; Aubry, M.; Kohlhoff, K.; Kröger, T.; Kuffner, J.; Goldberg, K.
2016. Proceedings of the International Conference on Robotics and Automation (ICRA 2016), Stockholm, S, May 16-21, 2016, 1957–1964, IEEE, Piscataway (NJ). doi:10.1109/ICRA.2016.7487342
Konzeptionierung und Implementierung eines Interpretationssystem zur Situationserkennung in OP:Sense.
Schreiter, L.; Wörtwein, T.; Jöchner, M.; Hussain, J.; Wörn, H.; Raczkowsky, J.
2016. Tagungsband der 15. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) Bern, Switzerland, September 29 - October 1, 2016, 268–271, Der Andere Verlag, [Uelvesbüll], Stuttgart
Situation Detection for an Interactive Assistance in Surgical Interventions Based on Random Forests.
Schreiter, L.; Philipp, P.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Beyerer, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 115–116
Situation Detection for an Interactive Assistance in Surgical Interventions Based on Dynamic Bayesian Networks.
Philipp, P.; Schreiter, L.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Wörn, H.; Beyerer, J.
2016. Proceedings of the 6th Joint Workshop On New Technologies for Computer/Robot Assisted Surgery, CRAS 2016, Pisa, Italy, 12th - 14th September 2016
Intuitive workflow editor for OWL based semantic networks in medical environment.
Dürr, S.; Huck, A.; Schreiter, L.; Beyl, T.; Giehl, J.; Schwarz, M.; Raczkowsky, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 114–115
Semantic object-oriented programming (SOOP).
Weber, F.; Bihlmaier, A.; Wörn, H.
2016. 46. Jahrestagung der Gesellschaft fur Informatik - 46th Annual Meeting of the German Informatics Society, INFORMATIK 2016; Klagenfurt; Austria; 26 September 2016 through 30 September 2016. Ed.: H. C. Mayr, 313–326, Gesellschaft fur Informatik (GI), Bonn
Performance Characterization in Automated Optical Inspection using CAD Models and Graphical Simulations.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2016. XXX. Messtechnisches Symposium, Hannover, 15. - 16. September 2016, 141–150, De Gruyter Oldenbourg, Berlin. doi:10.1515/9783110494297-019
A Phenomenological Approach to Integrating Gaussian Beam Properties and Speckle into a Physically-Based Renderer.
Bergmann, S.; Mohammadikaji, M.; Irgenfried, S.; Wörn, H.; Beyerer, J.; Dachsbacher, C.
2016. VMV 2016 : 21th International Symposium on Vision, Modeling and Visualization, Bayreuth, Germany, 10-12 October 2016. Ed.: M. Hullin, 179–186, Eurographics Association, Aire-la-Ville. doi:10.2312/vmv.20161357
Flexible Spatial Resolution for Preshaping with a Modular Capacitive Tactile Proximity Sensor.
Escaida Navarro, S.; Alagi, H.; Heilig, A.; Mende, M.; Hein, B.
2016. IROS 2016 : 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems : October 9-14, 2016, Daejeon Convention Center, Daejeon, Korea, 3–5, IEEE, Danvers
Endosnake—a single-arm-multi-port MIRS system with flexible instruments.
Mintenbeck, J.; Ledermann, C.; Estaña, R.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1107–1117, Springer International Publishing, Cham. doi:10.1007/978-3-319-08338-4_80
Model-Free (Human) Tracking Based on Ground Truth with Time Delay: A 3D Camera Based Approach for Minimizing Tracking Latency and Increasing Tracking Quality.
Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Ed.: J. Filipe, 247–266, Springer International Publishing, Cham. doi:10.1007/978-3-319-31898-1_14
Hierarchical Task Networks as Domain-Specific Language for Planning Surgical Interventions.
Bihlmaier, A.; Schreiter, L.; Raczkowsky, J.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1095–1105, Springer International Publishing, Cham. doi:10.1007/978-3-319-08338-4_79
Knowledge-based workspace optimization of a redundant robot for minimally invasive robotic surgery (MIRS).
Hutzl, J.; Bihlmaier, A.; Wagner, M.; Kenngott, H. G.; Muller, B. P.; Worn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 1403–1408, IEEE, Piscataway (NJ). doi:10.1109/ROBIO.2015.7418967
From AutomationML to ROS: A model-driven approach for software engineering of industrial robotics using ontological reasoning.
Hua, Y.; Zander, S.; Bordignon, M.; Hein, B.
2016. 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, Germany, 6–9 September 2016, 1–8, IEEE, Piscataway (NJ). doi:10.1109/ETFA.2016.7733579
Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room.
Beyl, T.; Nicolai, P.; Comparetti, M. D.; Raczkowsky, J.; De Momi, E.; Woern, H.
2016. International journal of computer assisted radiology and surgery, 11 (7), 1329–1345. doi:10.1007/s11548-015-1318-7
Towards a generic BRDF/BTF measurement system: Improving visual realism in robot simulators using robots.
Bihlmaier, A.; Stein, F.; Worn, H.
2016. IEEE International Conference on Emerging Technologies and Innovative Business Practices for the Transformation of Societies (EmergiTech), Mauritius, 3–6 August 2016, 410–416, IEEE, Piscataway (NJ). doi:10.1109/EmergiTech.2016.7737376
3D contour following for a cylindrical end-effector using capacitive proximity sensors.
Navarro, S. E.; Koch, S.; Hein, B.
2016. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 9–14 October 2016, 82–89, IEEE, Piscataway (NJ). doi:10.1109/IROS.2016.7759038
Towards 1-component Bragg-grating based shape sensing.
Pauer, H.; Rosenberger, M.; Girschikofsky, M.; Hellmann, R.; Tuschmann, W.; Woern, H.
2016. 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, 5-8 July 2016, 1909–1915, IEEE, Piscataway (NJ)
Reducing elevation angle errors of long-range deep-sea acoustic localization by ray tracing and depth measurements.
Oertel, D.; Neumann, S.; Worn, H.; Golz, M.; Waniek, J. J.
2016. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, Canada, 12-15 July 2016, 178–183, IEEE, Piscataway (NJ). doi:10.1109/AIM.2016.7576763
Flexible Polymer Shape Sensor Based on Planar Waveguide Bragg Gratings.
Rosenberger, M.; Pauer, H.; Girschikofsky, M.; Woern, H.; Schmauss, B.; Hellmann, R.
2016. IEEE photonics technology letters, 28 (17), 1898–1901. doi:10.1109/LPT.2016.2574889
A versatile and modular capacitive tactile proximity sensor.
Alagi, H.; Navarro, S. E.; Mende, M.; Hein, B.
2016. 24th IEEE Haptics Symposium 2016, HAPTICS 2016; Philadelphia; United States; 8 April 2016 through 11 April 2016. Ed.: S. Choi, 290–296, IEEE Computer Society, Los Almitos (CA). doi:10.1109/HAPTICS.2016.7463192
3D perception technologies for surgical operating theatres.
Beyl, T.; Schreiter, L.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Studies in health technology and informatics, 220, 45–50. doi:10.3233/978-1-61499-625-5-45
Hybrid rendering architecture for realtime and photorealistic simulation of robot-assisted surgery.
Müller, S.; Bihlmaier, A.; Irgenfried, S.; Wörn, H.
2016. Studies in Health Technology and Informatics, 220, 245–250. doi:10.3233/978-1-61499-625-5-245
A Haptic Display for Tactile and Kinesthetic Feedback in a CHAI 3D Palpation Training Scenario.
Hergenhan, J.; Rutschke, J.; Uhl, M.; Navarro, S. E.; Hein, B.; Wörn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 291–296, IEEE, Piscataway (NJ). doi:10.1109/ROBIO.2015.7418782
Advanced ROS Network Introspection (ARNI).
Bihlmaier, A.; Hadlich, M.; Wörn, H.
2016. Robot Operating System (ROS) - The Complete Reference (Volume 1). Ed.: A. Koubaa, 651–670, Springer, Cham. doi:10.1007/978-3-319-26054-9_25