Vorgestellt wird ein System basierend auf einem 3D-Scanner nach dem Licht- schnitt-Prinzip mit dem es möglich ist, einen Menschen innerhalb von 1,5 Sekun- den dreidimensional zu erfassen. Mit Hilfe von Evolutionären Algorithmen wird über eine modellbasierte Dateninterpretation die Auswertung der Meßdaten betrie- ben, so daß beliebige Körpermaße ermittelt werden können. Das Ergebnis ist ein individualisiertes CAD-Modells der Person im Rechner. Ein derartiges Modell kann als virtuelle Kleiderpuppe zur Produktion von Maßbekleidung dienen.
This paper presents a new approach to parallel path planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based a best-first search algorithm and needs no essential off-line computations. The algorithm works in an implicitly discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on polyhedral models of the robot and the obstacles. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel path planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows very good speedups. In on-line provided environments with static obstacles, the parallel planning times are only a few seconds.
A practical distributed planning and control system for industrial robots is presented. The hierarchical concept consists of three independent levels. Each level is modularly implemented and supplies an application interface (API) to the next higher level. At the top level, we propose an automatic motion planner. The motion planner is based on a best-first search algorithm and needs no essential off-line computations. At the middle level, we propose a PC-based robot control architecture, which can easily be adapted to any industrial kinematics and application. Based on a client/server-principle, the control unit estab-lishes an open user interface for including application specific programs. At the bottom level, we propose a flexible and modular concept for the integration of the distributed motion control units based on the CAN bus. The concept allows an on-line adaptation of the control parameters according to the robot's configuration. This implies high accuracy for the path execution and improves the overall system performance.
We derive a new class of particle methods for conservation laws, which are based on numerical flux functions to model the interactions between moving particles. The derivation is similar to that of classical Finite-Volume methods; except that the fixed grid structure in the Finite-Volume method is substituted by so-called mass packets of particles. We give some numerical results on a shock wave solution for Burgers equation as well as the well-known one-dimensional shock tube problem.
In the present paper multilane models for vehicular traffic are considered. A microscopic multilane model based on reaction thresholds is developed. Based on this model an Enskog like kinetic model is developed. In particular, care is taken to incorporate the correlations between the vehicles. From the kinetic model a fluid dynamic model is derived. The macroscopic coefficients are deduced from the underlying kinetic model. Numerical simulations are presented for all three levels of description in . Moreover, a comparison of the results is given there.
In this paper the work presented in  is continued. The present paper contains detailed numerical investigations of the models developed there. A numerical method to treat the kinetic equations obtained in  are presented and results of the simulations are shown. Moreover, the stochastic correlation model used in  is described and investigated in more detail.
In this paper the kinetic model for vehicular traffic developed in [3,4] is considered and theoretical results for the space homogeneous kinetic equation are presented. Existence and uniqueness results for the time dependent equation are stated. An investigation of the stationary equation leads to a boundary value problem for an ordinary differential equation. Existence of the solution and some properties are proved. A numerical investigation of the stationary equation is included.
Groups can be studied using methods from different fields such as combinatorial group theory or string rewriting. Recently techniques from Gröbner basis theory for free monoid rings (non-commutative polynomial rings) respectively free group rings have been added to the set of methods due to the fact that monoid and group presentations (in terms of string rewriting systems) can be linked to special polynomials called binomials. In the same mood, the aim of this paper is to discuss the relation between Nielsen reduced sets of generators and the Todd-Coxeter coset enumeration procedure on the one side and the Gröbner basis theory for free group rings on the other. While it is well-known that there is a strong relationship between Buchberger's algorithm and the Knuth-Bendix completion procedure, and there are interpretations of the Todd-Coxeter coset enumeration procedure using the Knuth-Bendix procedure for special cases, our aim is to show how a verbatim interpretation of the Todd-Coxeter procedure can be obtained by linking recent Gröbner techniques like prefix Gröbner bases and the FGLM algorithm as a tool to study the duality of ideals. As a side product our procedure computes Nielsen reduced generating sets for subgroups in finitely generated free groups.