Dokument-ID Dokumenttyp Verfasser/Autoren Herausgeber Haupttitel Abstract Auflage Verlagsort Verlag Erscheinungsjahr Seitenzahl Schriftenreihe Titel Schriftenreihe Bandzahl ISBN Quelle der Hochschulschrift Konferenzname Bemerkung Quelle:Titel Quelle:Jahrgang Quelle:Heftnummer Quelle:Erste Seite Quelle:Letzte Seite URN DOI Zugriffsart Link Abteilungen OPUS4-9860 Wissenschaftlicher Artikel Engemann, Heiko, engemann@fh-aachen.de; Cönen, Patrick, coenen@fh-aachen.de; Dawar, Harshal, ; Du, Shengzhi, ; Kallweit, Stephan, kallweit@fh-aachen.de A robot-assisted large-scale inspection of wind turbine blades in manufacturing using an autonomous mobile manipulator Wind energy represents the dominant share of renewable energies. The rotor blades of a wind turbine are typically made from composite material, which withstands high forces during rotation. The huge dimensions of the rotor blades complicate the inspection processes in manufacturing. The automation of inspection processes has a great potential to increase the overall productivity and to create a consistent reliable database for each individual rotor blade. The focus of this paper is set on the process of rotor blade inspection automation by utilizing an autonomous mobile manipulator. The main innovations include a novel path planning strategy for zone-based navigation, which enables an intuitive right-hand or left-hand driving behavior in a shared human-robot workspace. In addition, we introduce a new method for surface orthogonal motion planning in connection with large-scale structures. An overall execution strategy controls the navigation and manipulation processes of the long-running inspection task. The implemented concepts are evaluated in simulation and applied in a real-use case including the tip of a rotor blade form. Basel MDPI 2021 21 Applied Sciences 11 Belongs to the Special Issue "Advances in Industrial Robotics and Intelligent Systems" 19 1 22 10.3390/app11199271 weltweit https://doi.org/10.3390/app11199271 Fachbereich Maschinenbau und Mechatronik OPUS4-7418 Konferenzveröffentlichung Ferrein, Alexander, ferrein@fh-aachen.de; Kallweit, Stephan, kallweit@fh-aachen.de; Scholl, Ingrid, scholl@fh-aachen.de; Reichert, Walter, w.reichert@fh-aachen.de Learning to Program Mobile Robots in the ROS Summer School Series The main objective of our ROS Summer School series is to introduce MA level students to program mobile robots with the Robot Operating System (ROS). ROS is a robot middleware that is used my many research institutions world-wide. Therefore, many state-of-the-art algorithms of mobile robotics are available in ROS and can be deployed very easily. As a basic robot platform we deploy a 1/10 RC cart that is wquipped with an Arduino micro-controller to control the servo motors, and an embedded PC that runs ROS. In two weeks, participants get to learn the basics of mobile robotics hands-on. We describe our teaching concepts and our curriculum and report on the learning success of our students. 2015 6 S. Proceedings 6th International Conference on Robotics in Education (RiE 15) weltweit http://doi.org/10.21269/7418 Fachbereich Elektrotechnik und Informationstechnik