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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".


  • 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

Shape Sensing Based on FBG-Technology - Extension of the Application Possibilities Due to Innovative Sensor-Configurations

AutorHendrikje Pauer, Christoph Ledermann, Jörg Raczkowsky, Wilderich Tuschmann and Heinz Woern
Veröffentlicht inNavigation and Actuation of Flexible Instruments in Medical Applications (NAFIMA) Workshop Proceedings - IROS2015
KurzfassungShape sensing based on FBG-optical fibre technology is a current research topic of several working groups worldwide. The sensor is integrated into flexible snakelike objects such as e.g. endoscopes or fexible tubes to detect shape deformation. This way, the objects can be tracked and observed. Shape sensing supports navigation of flexible instruments. In this field of research, some fundamental aspects have already been explored and standard algorithms have been published. As the sensor technology is supposed to be used in medical technology, the requirements towards the sensor accuracy and robustness are demanding. Therefore, shape sensing still needs to be improved. At the Institute for Anthropomatics and Robotics - Intelligent Process Control and Robotics (IAR-IPR), fundamentally new sensor concepts are developed. Instead of improving the sensor on hardware side by optimizing the production process or integrating a higher number of FBG-fibres, the software components are considered. The currently used data-fusion algorithms that compute the shape out of the measurement values are going with strong restrictions concerning the way of fibre positioning along the sensor body. To avoid these restrictions, the IARIPR is working on new reconstruction algorithms that allow freely distributed fibre guiding. The innovative algorithms are based on a fundamentally new mathematical approach. Due to the possibility of free fibre guiding, a high number of different ways of sensor configurations is possible and innovative sensor designs can be implemented. The new approach is expected to allow shape sensing with a significantly higher accuracy and higher sensor deformation flexibility. Also, new design options allows to adapt the sensor individually to specific applications. These improvements are giving way to a wider range of potential applications; especially the use in medical technology will be promoted. In this article, the advantages of the new reconstruction algorithm and the resulting benefits are described. New sensor designs are exemplarily presented.
Bibtex@inproceedings{ ipr_1170857553, author = "{Hendrikje Pauer and Christoph Ledermann and J{{\"o}}rg Raczkowsky and Wilderich Tuschmann and Heinz Woern}", title = "{Shape Sensing Based on FBG-Technology - Extension of the Application Possibilities Due to Innovative Sensor-Configurations}", year = "2015", booktitle = "{Navigation and Actuation of Flexible Instruments in Medical Applications (NAFIMA) Workshop Proceedings - IROS2015}", pages = "14--15", editor = "IEEE/RSJ IROS", }
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