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Prof. Dr.-Ing. Dr. h.c. Heinz Wörn

Professor im Ruhestand
Tel.: +49 721 608-44006
Fax: +49 721 608-47141
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Professor Wörn studierte Elektrotechnik an der Universität Stuttgart und promovierte dort am Institut für Werkzeugmaschinen mit seiner Arbeit zu dem Thema "Mehrprozessorsteuerungssystem für Werkzeugmaschinen mit standartisierten Schnittstellen". Im Anschluss arbeitete er bei KUKA Schweißanlagen und Roboter GmbH, wo er eine leitende Stellung in Forschung und Entwicklung inne hatte. Professor Wörn ist ein international anerkannter Experte für Roboter und Automation. Seine Erfahrung umfasst Roboteranwendungen, Robotersteuerungen und Sensoren für Roboter, sowie deren Programmmierung und Simulation. Seit 1997 leitet er das Institut für Prozessrechentechnik, Automation und Robotik der Universität Karlsruhe als Professor für "Komplexe Systeme in Automation und Robotik".

Forschungsgebiete

  • Planung, Programmierung, Steuerung, Diagnose und Sensorsysteme für Industrieroboter
  • Autonome, mobile Roboter, Mikroroboter, Serviceroboter, Teleroboter, Autonome Fahrzeuge
  • Planung und Simulation von Anlagen und Fabriken
  • Roboter- und sensorgestützte Chirurgie
  • Mikromontage
  • Modellierung komplexer Systeme in Produktion und Medizin

Validation of a Pseudo-Data-Generation-Software for FBG-Optical Fiber Based Shape Sensing

AutorHendrikje Pauer, Lukas Vojkovic, Christoph Ledermann, Wilderich Tuschmann, Heinz Woern
Jahr2015
Veröffentlicht inProceedings - Innovation Messtechnik 2015
EditorShaker Verlag - ISBN: 978-3-8440-3560-5
KurzfassungShape sensing based on FBG-optical Fibers is a current research topic of several working groups worldwide. The sensor is integrated into exible snake- like objects such as e.g. endoscopes or exible tubes to detect shape deformation. This way, the objects can be observed and tracked. Shapesensing supports naviga- tion of exible instruments. Currently, robotic systems consist of rigid joints only. Shapesensing provides the required information for automated control of the robot end-effector position and orientation in case additional exible joints are integrated into the robotic system. In this field of research, some fundamental aspects have already been researched and standard algorithms have been published. As the sensor technology is supposed to be used in medical technology, the requirements to- wards the sensor accuracy and robustness are demand- ing. Therefor, shapesensing still needs to be improved. At the Institute for Anthropomatics and Robotics - In- telligent Process Control and Robotics - Karlsruhe Insti- tute of Technology (IAR-IPR-KIT), fundamentally new sensor concepts are investigated. However, the testing of new algorithms and sensor designs is very costly as a high number of prototypes have to be build. To avoid these costs in time and money, the tests are planned based on pseudo measurement data. To efficiently gen- erate this kind of data, we developed a software. To use the software for research on shape sensors, the plausibil- ity of the produced pseudo data has to be evaluated. In this paper, the pseudo data is compared with real mea- sured data. Therefore, a test series is performed. The conclusion of the experiment is that noise still has to be considered to use the software for testing the robust- ness of shape sensors. However, the pseudo data and the measured values are similar to a sufficiently high level and therefore, the software can be use for research purposes.
Bibtex@inproceedings{ ipr_1170857534, author = "{Hendrikje Pauer and Lukas Vojkovic and Christoph Ledermann and Wilderich Tuschmann and Heinz Woern}", title = "{Validation of a Pseudo-Data-Generation-Software for FBG-Optical Fiber Based Shape Sensing}", year = "2015", booktitle = "{Proceedings - Innovation Messtechnik 2015 }", pages = "64--69", editor = "Shaker Verlag - ISBN: 978-3-8440-3560-5 ", }
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