Motion capture is the process to record the movement of a human. To accomplish this, a hybrid tracking system is used. It combines an optic tracking system with a magnetic one to compensate shortcomings and effectively use their advantages. Another part of this work copes with the conversion of the tracking data into skeletal information and related topics like skeleton definition, skeleton fitting or parameterization of joint rotations. / Mittels Motion Capture werden die Bewegungen eines Menschen in computerlesbare Form überführt. Dazu wird ein hybrides Trackingsystem verwendet, das durch Kombination eines optischen mit einem magnetischen System entsteht und die Schwächen der Einzelsysteme kompensiert. Neben der Realisierung dieses Hybridsystems steht die Übertragung der gewonnenen Bewegungsdaten auf ein Skelettmodell und damit verbundene Fragen, wie Skelettdefinition, Skelettanpassung oder Beschränkung der Gelenkrotationen im Vordergrund.

Techn. Universiẗat, Diss., 2006--Darmstadt.

Techn. Universiẗat, Diss., 2003--Darmstadt. / Dateien in unterschiedlichen Formaten.-Enth.: Textteil. CD-Daten.

Techn. Universiẗat, Diss., 2003--Darmstadt.

Este trabalho aborda o uso de experimentação remota como forma de aprimorar a educação em sistemas de controle e automação. Para isto, uma arquitetura é proposta, onde experimentos reais podem ser combinados com partes simuladas (virtuais) criando um experimento de realidade mista. Um ambiente de ensino à distância, acessível na Internet, engloba o experimento remoto para proporcionar maiores recursos pedagógicos, guias e materiais educacionais teóricos aos estudantes. As diversas tecnologias, presentes no estado da arte, utilizadas para a elaboração da arquitetura são descritas e comparadas para facilitar o entendimento das escolhas realizadas. Trabalhos correlatos são apresentados para descrever o estado da arte dos laboratórios de experiências remotas de diversos tipos. Com base neste estudo, deficiências e vantagens são apontadas para a criação da arquitetura proposta. Para validar a arquitetura são propostos diversos estudos de caso com implementações utilizadas nos cursos de automação e controle da instituição na qual este trabalho está relacionado, ou ainda em cursos de educação à distância para atingir um público mais amplo. Esta dissertação está relacionada como resultado importante do consórcio internacional RExNet, financiado pelo projeto europeu Alfa, do qual a UFRGS faz parte. / This work aims to the use of remotely web-based experiments to improve the learning process of automation and control systems theory courses. An architecture combining virtual learning environments, remote experiments, students guide and experiments analysis is proposed based on a wide state of art study. The validation of the architecture uses state of art technologies and new simple developed programs to implement the case studies presented. All implementations presented in this work uses an Internet accessible virtual learning environment providing educational resources, guides and learning material to create a distance learning course associated with the remote mixed reality experiment. The experiment is integrated in the learning environment and support the mixture of real equipments combined with simulated ones (virtual). This mixture of equipments (components) is automatic controlled by the user and is a new developed technology called interchangeable components. The state of art section of this work presents, compare and describes several technologies used to implement the proposed architecture. Related work of remote experimentation and virtual learning environments is also presented. The architecture was elaborated based on appointed advantages and drawbacks of the related studies. This work is part of the RExNet consortium, supported by the European Alfa project.

Este trabalho aborda o uso de experimentação remota como forma de aprimorar a educação em sistemas de controle e automação. Para isto, uma arquitetura é proposta, onde experimentos reais podem ser combinados com partes simuladas (virtuais) criando um experimento de realidade mista. Um ambiente de ensino à distância, acessível na Internet, engloba o experimento remoto para proporcionar maiores recursos pedagógicos, guias e materiais educacionais teóricos aos estudantes. As diversas tecnologias, presentes no estado da arte, utilizadas para a elaboração da arquitetura são descritas e comparadas para facilitar o entendimento das escolhas realizadas. Trabalhos correlatos são apresentados para descrever o estado da arte dos laboratórios de experiências remotas de diversos tipos. Com base neste estudo, deficiências e vantagens são apontadas para a criação da arquitetura proposta. Para validar a arquitetura são propostos diversos estudos de caso com implementações utilizadas nos cursos de automação e controle da instituição na qual este trabalho está relacionado, ou ainda em cursos de educação à distância para atingir um público mais amplo. Esta dissertação está relacionada como resultado importante do consórcio internacional RExNet, financiado pelo projeto europeu Alfa, do qual a UFRGS faz parte. / This work aims to the use of remotely web-based experiments to improve the learning process of automation and control systems theory courses. An architecture combining virtual learning environments, remote experiments, students guide and experiments analysis is proposed based on a wide state of art study. The validation of the architecture uses state of art technologies and new simple developed programs to implement the case studies presented. All implementations presented in this work uses an Internet accessible virtual learning environment providing educational resources, guides and learning material to create a distance learning course associated with the remote mixed reality experiment. The experiment is integrated in the learning environment and support the mixture of real equipments combined with simulated ones (virtual). This mixture of equipments (components) is automatic controlled by the user and is a new developed technology called interchangeable components. The state of art section of this work presents, compare and describes several technologies used to implement the proposed architecture. Related work of remote experimentation and virtual learning environments is also presented. The architecture was elaborated based on appointed advantages and drawbacks of the related studies. This work is part of the RExNet consortium, supported by the European Alfa project.

Este trabalho aborda o uso de experimentação remota como forma de aprimorar a educação em sistemas de controle e automação. Para isto, uma arquitetura é proposta, onde experimentos reais podem ser combinados com partes simuladas (virtuais) criando um experimento de realidade mista. Um ambiente de ensino à distância, acessível na Internet, engloba o experimento remoto para proporcionar maiores recursos pedagógicos, guias e materiais educacionais teóricos aos estudantes. As diversas tecnologias, presentes no estado da arte, utilizadas para a elaboração da arquitetura são descritas e comparadas para facilitar o entendimento das escolhas realizadas. Trabalhos correlatos são apresentados para descrever o estado da arte dos laboratórios de experiências remotas de diversos tipos. Com base neste estudo, deficiências e vantagens são apontadas para a criação da arquitetura proposta. Para validar a arquitetura são propostos diversos estudos de caso com implementações utilizadas nos cursos de automação e controle da instituição na qual este trabalho está relacionado, ou ainda em cursos de educação à distância para atingir um público mais amplo. Esta dissertação está relacionada como resultado importante do consórcio internacional RExNet, financiado pelo projeto europeu Alfa, do qual a UFRGS faz parte. / This work aims to the use of remotely web-based experiments to improve the learning process of automation and control systems theory courses. An architecture combining virtual learning environments, remote experiments, students guide and experiments analysis is proposed based on a wide state of art study. The validation of the architecture uses state of art technologies and new simple developed programs to implement the case studies presented. All implementations presented in this work uses an Internet accessible virtual learning environment providing educational resources, guides and learning material to create a distance learning course associated with the remote mixed reality experiment. The experiment is integrated in the learning environment and support the mixture of real equipments combined with simulated ones (virtual). This mixture of equipments (components) is automatic controlled by the user and is a new developed technology called interchangeable components. The state of art section of this work presents, compare and describes several technologies used to implement the proposed architecture. Related work of remote experimentation and virtual learning environments is also presented. The architecture was elaborated based on appointed advantages and drawbacks of the related studies. This work is part of the RExNet consortium, supported by the European Alfa project.

Due to their programmability, robots have been used instead of traditional automation for a longtime within the industrial sector. However, programming robots is complex and time-consuming,where for example small errors can have major consequences both materially and for the peopleworking next to the robot. Trying to find simpler ways of programming industrial robots is thus ofhigh relevance. The latest technique for simplifying programming is to use either augmented realityor mixed reality, and today, several studies show that these techniques are possible. However, moreresearch on usability and limitations such tools have is necessary. This study investigates how ageneric holographic tool, which utilizes mixed reality, needs to be improved to be usable for robotprogramming in realistic industrial settings. In this study this is done by investigating limitationsof using a holographic tool and then discuss how these limitations can be reduced or eliminated.To find limitations, a prototype has been designed and developed. The prototype can visualize adigital copy of a physical robot, that can be moved into different positions which in turn createsprogram instructions. The prototype was tested at ABB Robotics with the collaborative single armYuMi robot, and with users that had different amount of experience with similar programmingtools. The results showed several possible limitations, mainly linked to potential safety risks andtechnical limitations. Additionally, some perceived physical impact was found. The most importantimprovement stated were the importance of an easy access to an emergency stop. Finally, theprototype developed during this study does not support all functionality that are included in theprogramming tools used today. Therefore, more studies need to be made to see if the result staysthe same.

The exploration of realistic grasping with industrial robots could open gates in the way of understanding the industry, giving robots the ability to adapt to different situations without reprogramming and therefore, become more flexible tools. In order to facilitate this apparently complex task it is important to implement new tools for robot programming. The project presented shows the development of a program that lets the user give specific instructions about ways of approaching new objects in the task of robot grasping using a mixed reality interface. The proposed solution can let the user work in real time and repeat saved paths with familiar objects. This program consists of recording the user’s movement, saving and processing the information to a robot that can replicate the exact same approaches and grasps. The development of this project as a mixed reality interface permits bringing together the real and virtual world with safety of working with a previsualization of the robot and with the certainty of processing the information right in the real world. This solution is a flexible tool that can be changed to different situations and be implemented in any kind of production.

In recent years, the traditional manufacturing industry is challenged worldwide with the astounding growth and advancement so-called Industry 4.0. One of the multiple objectives pursued by the industry with this technological revolution is to achieve a new enhanced standard of safety. In addition, a solution against inaccurate offline robot programming needs to be tackled. The combination of a Digital Shadow (DS) of the robot with visualisation in Mixed Reality (MR) can help to increase safety and eventually, even make the design process faster. In this survey paper, a visualisation system in MR that allows the user to overlay digital tools into a UR10e Physical Robot (PR), thus permitting the PR to interact with digital work objects is proposed. To achieve the synchronisation between the digital and real assets, a DS of the robot has been developed. The integration of the Digital Models (DMs) of tools and work objects allows the user to work with the robot without load, opening the possibility of recreating and testing in real-time experimental industrial processes.