David Oertel

• Karlsruhe Institute of Technology

Navigation is a challenging task for underwater devices, as there is no global navigation system available. This often restricted Autonomous Underwater Vehicles (AUV) in their operations, either spatially because they depend on reference markers that need to be deployed on the mission side, or by dive time as they need to surface regularly to geo-r...

Localization is a common problem in underwater sensor networks. Since global navigation satellite systems do not work underwater, geo-referencing of underwater sensors requires other technologies. In this paper, we present an novel localization approach for nodes in an acoustic underwater sensor network. By combining pressure sensors with the funct...

For deep-sea (robotic) applications, accurate acoustic localization is required, e.g. using USBL devices. Internal calculations for these devices usually assume a constant sound velocity within the deployment area ignoring refraction effects due to a depth-dependent sound velocity profile. This work presents the results of long-range deep-sea (5000...

CLAWAR 2015: 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines Zhejiang University, HangZhou, China, 6 – 9 September 2015 Edited by: Hongye Su ( Zhejiang University, China), Tianmiao Wang ( Beijing University of Aeronautics and Astronautics, China), Mohammad O Tokhi ( University of Sheffie...

Modular robots consist of many mechatronic modules that can be connected into various shapes and therefore adapted for a given task or environment. Motion of the robots can be achieved by locomotion generators that control joints connecting the modules. An important advantage of modular robots is their ability to recover from failures by ejecting a...

Modular robots are built of many basic robotic modules that can be connected into robots of various shapes. These robots are able to recover from a failure by ejecting and replacing damaged modules. Although this type of failure recovery is usually suggested in literature, it may be precluded due inability of the broken modules to cooperate or if n...

This paper shows an approach of a knowledge-based path-guidance for minimally invasive robotic surgery. For an accurate path-guidance it is important to know or estimate the direction of the tool tip's motion. Therefor it is necessary to predict the future direction. In this work, the predicted direction is based on clustering applied to typical tr...

In this paper, a new operating principle for a tactile sensor for medical diagnostics is proposed based on the measurement of three-dimensional magnetic fields. A permanent magnet and the newly developed 3D-Hall sensor AS54xx of the Fraunhofer Institute for Integrated Circuits (IIS) in Erlangen, Germany, are embedded in one silicone pad. An externa...

Transmission network expansion planning in its original formulation is NP-hard due to the subproblem Steiner trees, the minimum cost connection of an initially unconnected network with mandatory and optional nodes. By using electrical network theory we show why NP-hardness still holds when this subproblem of network design from scratch is omitted b...