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In this chapter, we report on our activities to create and maintain a fleet of autonomous load haul dump (LHD) vehicles for mining operations. The ever increasing demand for sustainable solutions and economic pressure causes innovation in the mining industry just like in any other branch. In this chapter, we present our approach to create a fleet of autonomous special purpose vehicles and to control these vehicles in mining operations. After an initial exploration of the site we deploy the fleet. Every vehicle is running an instance of our ROS 2-based architecture. The fleet is then controlled with a dedicated planning module. We also use continuous environment monitoring to implement a life-long mapping approach. In our experiments, we show that a combination of synthetic, augmented and real training data improves our classifier based on the deep learning network Yolo v5 to detect our vehicles, persons and navigation beacons. The classifier was successfully installed on the NVidia AGX-Drive platform, so that the abovementioned objects can be recognised during the dumper drive. The 3D poses of the detected beacons are assigned to lanelets and transferred to an existing map.
South Africa in recent years is the establishment of a number of research hubs involved in AI activities ranging from mobile robotics and computational intelligence, to knowledge representation and reasoning, and human language technologies. In this survey we take the reader through a quick tour of the research being conducted at these hubs, and touch on an initiative to maintain and extend the current level of interest in AI research in the country.
The Robot Operating System (ROS) is the current de-facto standard in robot middlewares. The steadily increasing size of the user base results in a greater demand for training as well. User groups range from students in academia to industry professionals with a broad spectrum of developers in between. To deliver high quality training and education to any of these audiences, educators need to tailor individual curricula for any such training. In this paper, we present an approach to ease compiling curricula for ROS trainings based on a taxonomy of the teaching contents. The instructor can select a set of dedicated learning units and the system will automatically compile the teaching material based on the dependencies of the units selected and a set of parameters for a particular training. We walk through an example training to illustrate our work.
Roboterfußball - Wissenschaft, die auch Spass macht / Ferrein, Alexander ; Lakemeyer, Gerhard
(2006)
Logic-based robot control in highly dynamic domains / Ferrein, Alexander ; Lakemeyer, Gerhard
(2008)
Planwirtschaft
(2004)
Among many approaches to address the high-level decision making problem for autonomous robots and agents, the robot program¬ming and plan language Golog follows a logic-based deliberative approach, and its successors were successfully deployed in a number of robotics applications over the past ten years. Usually, Golog interpreter are implemented in Prolog, which is not available for our target plat¬form, the bi-ped robot platform Nao. In this paper we sketch our first approach towards a prototype implementation of a Golog interpreter in the scripting language Lua. With the example of the elevator domain we discuss how the basic action theory is specified and how we implemented fluent regression in Lua. One possible advantage of the availability of a Non-Prolog implementation of Golog could be that Golog becomes avail¬able on a larger number of platforms, and also becomes more attractive for roboticists outside the Cognitive Robotics community.
In this extended abstract we describe the robot programming and planning language READYLOG, a GOLOG dialect which was developed to support the decision making of robots acting in dynamic real-time domains like robotic soccer. The formal framework of READYLOG, which is based on the situation calculus, features imperative control structures like loops and procedures, allows for decision-theoretic planning, and accounts for a continuously changing world. We developed high-level controllers in READYLOG for our soccer robots in RoboCup’s Middle-size league, but also for service robots and for autonomous agents in interactive computer games.
Die Arbeitsvorbereitung, als ein wesentliches Aufgabengebiet des Baubetriebswesens, ist von enormer Bedeutung für den Erfolg eines Bauprojektes. Die Arbeitsvorbereitung lässt sich zeitlich sowohl in der Angebotsphase (kalkulationsbegleitende Arbeitsvorbereitung), in der Vorbereitungsphase der Baustelle (von Auftragsvergabe bis Baubeginn) als auch baubegleitend einordnen.
This paper proposes an approach to the choice and evaluation of engineering models with the aid of a typical application in geotechnics. An important issue in the construction of shallow tunnels, especially in weak ground conditions, is the tunnel face stability. Various theoretical and numerical models for predicting the necessary support pressure have been put forth in the literature. In this paper, we combine laboratory experiments performed at the University of Innsbruck with current methods of uncertainty and sensitivity analysis for assessing adequacy, predictive power and robustness of the models. The major issues are the handling of the twofold uncertainty of test results and of model predictions as well as the decision about what are the influential input parameters.
Entwicklung eines Bemessungsmodells für punktförmige Verbindungen textibewehrter Betonbauteile
(2008)
ETHICS is concerned with evaluating, measuring and making improvements in the thermal and energy performance of steel-clad and steel-framed buildings. It addresses basic building physics performance at a laboratory and full-scale level, and the preparation of design guidance for commercial, industrial and residential buildings. It includes the development of design tools to assist users in assessing whole-building performance, and calibrates these tools against whole-building measurements, which will be obtained from this research. Opportunities for renewable energy and other energy-saving features will be assessed. This project focuses on objectives that are of particular interest for the design of new steel constructions regarding energy efficiency. ETHICS investigates the as-built performance by on-site tests regarding air tightness and heat transfer properties of the building envelope and by monitoring the energy consumption and thermal comfort of selected up-to-date steel buildings. As energy efficiency is a key requirement for design and construction of buildings in the future, this project provides well-founded scientific data, which prove the high energy performance of current steel constructions and work out details for further improvements to maintain and extend the position of steel products in the construction sector.