Bartholomäus Rudak’s research while affiliated with TU Dortmund University and other places

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Publications (6)


Fig. 2. Concept of the automated de-palletizing system
Table 2 . Technical properties of the MESA and ifm sensor
Fig. 3. Graphical User Interface of the automated de-palletizing software  
Fig. 4. Comparison of gripping accuracy for the (a) ifm and (b) MESA camera  
Fig. 6. Concept of load detection with dynamic sensor positioning

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New Approaches for Singularization in Logistic Applications Using Low Cost 3D Sensors
  • Article
  • Full-text available

January 2015

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501 Reads

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13 Citations

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In this chapter, novel approaches for the detection of logistical objects (loading units) in the field of material flow applications are comparative presented, focusing on solutions using low cost 3D sensors. These approaches realize substantial changes in comparison to traditional system design of logistic processes. Complex 3D-vision systems, costly laser scanners or throughput decreasing local sensor solutions integrated in grippers are substituted by low cost Photonic Mixing Device (PMD) cameras or structured light sensors (like Asus Xtion or Microsoft Kinect). By using low cost sensors and modern point cloud processing algorithms for detection and classification in logistic applications like de-palletizing, automation of usually manual processes will be economically feasible. Besides the description of different basic solution concepts for 2.5D and 3D, two practical applications are presented.

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Towards Sensor-Actuator Coupling in an Automated OrderPicking System by Detecting Sealed Seams on PouchPacked Goods

October 2014

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226 Reads

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4 Citations

Journal of Sensor and Actuator Networks

In this paper, a novel concept of coupling the actuators of an automated order picking system for pouch packed goods with an embedded CCD camera sensor by means of image processing and machine learning is presented. The picking system mechanically combines the conveyance and singularization of a still-connected chain of pouch packed goods in a single machinery. The proposed algorithms perform a per-frame processing of the captured images in real-time to detect the sealed seams of the ongoing pouches. The detections are used to deduce cutting decisions in order to control the system’s actuators, namely the drive pulley for conveyance and the cutting device for the separation. Within this context, two controlling strategies are presented as well which specify the interaction of the sensor and the actuators. The detection is carried out by two different marker detection strategies: enhanced Template Matching as a heuristic and Support Vector Machines as a supervised classification based concept. Depending on the employed marker, detection rates of almost 100% with a calculation time of less than 40ms are possible. From a logistic point of view, sealed seam widths of 20mm prove feasible.


Analysis of the Accuracy and Robustness of the Leap Motion Controller

May 2013

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2,475 Reads

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938 Citations

Sensors

The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2mmhas been obtained for static setups and of 1.2mmfor dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.


Physically-based Real-Time 3-D Simulation of Hoses for Virtual Automation Systems

August 2012

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23 Reads

Proceedings of the IASTED International Conference on Modelling, Simulation and Optimatization

Current simulation systems for virtual automation usually ignore the simulation of cables and hoses. Cable simulations are commonly very specialized systems i.e. for laying cables in cars. Our approach adds a new aspect to the simulation of virtual automation systems by additionally simulating one-dimensional flexible objects like hoses and cables. The approach is physically-based and fast enough to work even in large automation systems. We describe the theoretical concepts for our mass-spring approach and identify the necessary physical parameters. In a detailed evaluation we measured the physical parameters and compared the form and characteristics of a real hose with the simulation as well as with a pure mathematical approach. Besides analysing the behaviour we evaluated the run-time performance to ensure real-time performance of the overall system.


Automated detection of euro pallet loads by interpreting PMD camera depth images

June 2012

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1,339 Reads

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20 Citations

Logistics Research

In this study, a novel approach for the detection of parcel loading positions on a pallet is presented. This approach was realized as a substantial change in comparison with traditional system design of contour detection in de-palletizing processes. Complex 3D-vision systems, costly laser scanners or throughput decreasing local sensor solutions integrated in grippers are substituted by a low-cost photonic mixing device (PMD) camera. By combining PMD technology and a predetermined model of loading situations, stored during assembling the pallet, this approach can compensate for the drawbacks of each respective system. An essential part of the approach are computer-graphics methods specific to the given problem to both detect the deviation between the nominal and the actual loading position and if necessary an automated correction of the packaging scheme. From an economic point of view, this approach can decrease the costs of mandatory contour checking in automated de-palletizing processes.


Simultaneous simulation of one-dimensional flexible objects in 3-D graphical simulation environments

January 2012

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11 Reads

Cables and hoses are objects whose length is naturally much larger than their diameter. Objects with these properties can conveniently be modeled as one-dimensional (1-D) objects in 3-D graphical modeling and simulation systems. Our goal is to simulate a large number of these objects in a virtual environment like a simulated automation system. Most simulation approaches for one-dimensional objects are very specialized and often focus on the laying of a single cable. Our approach focuses on the simultaneous simulation of a large number of these 1-D objects. We utilize two approaches, a very fast purely geometrical Bezier curve approach for stiffer 1-D objects and a slightly slower physically-based approach. By combining these two algorithms our solution is able to simulate hundreds of one- dimensional objects in real-time.

Citations (4)


... The research domain of object activity recognition is significantly smaller than HAR. For pallets, research tends to focus on tracking in terms of temperature deviations or location [15,16,17,18]. In [19] the authors work on sensor-based pallets and develop a system to monitor humidity and temperature in the surrounding environment to make assumptions about the state of the transported food. ...

Reference:

Data-driven, sensor-based taxonomy for environmental life cycle assessment of pallets
New Approaches for Singularization in Logistic Applications Using Low Cost 3D Sensors

... After training, it can select an appropriate picking system for a given order structure and design parameters to implement the best picking systems. Zadgaonkar and Chandak [47] explores Bluetooth technology, and Weichert et al. [46] presents an actuator coupling system to collect packaging identification data and group them using image processing in automated picking systems. Alfian et al. [1] also uses RFID readings to identify product movements in warehouses, using the mapped paths as training data for a classification model capable of indicating the shortest routes. ...

Towards Sensor-Actuator Coupling in an Automated OrderPicking System by Detecting Sealed Seams on PouchPacked Goods

Journal of Sensor and Actuator Networks

... A model fitting algorithm for detecting payload in the form of pellets, followed by estimating the position of the pellets in a frontal view is presented in [13]. Weichert, Skibinski et al. [14] propose a similar approach to detect box-shaped payloads on euro pellets in point clouds obtained using 3D ToF cameras, and present successful results for objects represented with a sufficient number of points. An algorithm for detecting cardboard packages from RGB-D images by fitting cuboid models to detected box faces is described in [15]. ...

Automated detection of euro pallet loads by interpreting PMD camera depth images

Logistics Research

... The LeapMotion Controller, which is a device that composes the haptic device used in this study, has been reported to have an accuracy deviation of 1.2 mm. (26) In addition, the system we proposed can detect only one hand, At this moment, even if two hands are in the irradiation field, feedback can only be given for one hand. Therefore, some improvements will be required for displaying the position of the AR marker position on the MR and detecting the user's right and left hands in the future work. ...

Analysis of the Accuracy and Robustness of the Leap Motion Controller

Sensors