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Author

  • Heiko Engemann (10)
  • Stephan Kallweit (10)
  • Josef Schleupen (4)
  • Shengzhi Du (4)
  • Mohsen Bagheri (3)
  • Harshal Dawar (2)
  • Patrick Cönen (2)
  • Patrick Wiesen (2)
  • Peter Dahmann (2)
  • Chuanfang Ning (1)
  • Enno Sebastian Duelberg (1)
  • Harshavardhan Deshpande (1)
  • Josef Franko (1)
  • Marius Wenning (1)
  • Nicolas Limpert (1)
  • Saqib Anwar (1)
  • Sriram Badri (1)

Year of publication

  • 2021 (1)
  • 2020 (3)
  • 2019 (1)
  • 2018 (2)
  • 2017 (1)
  • 2016 (2)

Document Type

  • Conference Proceeding (6)
  • Article (3)
  • Part of a Book (1)

Language

  • English (9)
  • German (1)

Has Fulltext

  • no (8)
  • yes (2)

Keywords

  • autonomous navigation (1)
  • large-scale inspection (1)
  • mobile manipulation (1)
  • surface-orthogonal path planning (1)
  • wind turbine production (1)

Institute

  • Fachbereich Maschinenbau und Mechatronik (10)
  • MASKOR Institut für Mobile Autonome Systeme und Kognitive Robotik (7)
  • Fachbereich Luft- und Raumfahrttechnik (2)
  • IaAM - Institut für angewandte Automation und Mechatronik (1)

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The potential of SMART climbing robot combined with a weatherproof cabin for rotor blade maintenance (2016)
Josef Schleupen ; Heiko Engemann ; Mohsen Bagheri ; Stephan Kallweit
Autonomous mobile manipulation using ROS (2018)
Heiko Engemann ; Patrick Wiesen ; Stephan Kallweit ; Harshavardhan Deshpande ; Josef Schleupen
Developing a climbing maintenance robot for tower and rotor blade service of wind turbines (2017)
Josef Schleupen ; Heiko Engemann ; Mohsen Bagheri ; Stephan Kallweit ; Peter Dahmann
Learning by Doing - Mobile Robotics in the FH Aachen ROS Summer School (2018)
Patrick Wiesen ; Heiko Engemann ; Nicolas Limpert ; Stephan Kallweit
Entwicklung eines Kletterroboters zur Diagnose und Instandsetzung von Windenergieanlagen (SMART) (2016)
Stephan Kallweit ; Josef Schleupen ; Peter Dahmann ; Mohsen Bagheri ; Heiko Engemann
Implementation of an Autonomous Tool Trolley in a Production Line (2019)
Heiko Engemann ; Sriram Badri ; Marius Wenning ; Stephan Kallweit
Design of a Multi-Robot System for Wind Turbine Maintenance (2020)
Josef Franko ; Shengzhi Du ; Stephan Kallweit ; Enno Sebastian Duelberg ; Heiko Engemann
AutoSynPose: Automatic Generation of Synthetic Datasets for 6D Object Pose Estimation (2020)
Heiko Engemann ; Shengzhi Du ; Stephan Kallweit ; Chuanfang Ning ; Saqib Anwar
OMNIVIL - an autonomous mobile manipulator for flexible production (2020)
Heiko Engemann ; Shengzhi Du ; Stephan Kallweit ; Patrick Cönen ; Harshal Dawar
A robot-assisted large-scale inspection of wind turbine blades in manufacturing using an autonomous mobile manipulator (2021)
Heiko Engemann ; Patrick Cönen ; Harshal Dawar ; Shengzhi Du ; Stephan Kallweit
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.
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