diff --git "a/Praxiprojekt_Bericht/Assets/Kapitel/K1 - Einf\303\274hrung.tex" "b/Praxiprojekt_Bericht/Assets/Kapitel/K1 - Einf\303\274hrung.tex"
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diff --git a/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/K2 - Stand der Technik.tex b/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/K2 - Stand der Technik.tex
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diff --git a/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/K3 - Grundlagen und Methodik.tex b/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/K3 - Grundlagen und Methodik.tex
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diff --git a/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/K4 - Umsetzung.tex b/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/K4 - Umsetzung.tex
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diff --git a/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/Kapitel/K5 - Bewertung und Ausblick.tex b/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/Kapitel/K5 - Bewertung und Ausblick.tex
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diff --git a/Praxiprojekt_Bericht/Assets/titelangaben.tex b/Praxiprojekt_Bericht/Assets/titelangaben.tex
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diff --git a/Praxiprojekt_Bericht/BA.bib b/Praxiprojekt_Bericht/BA.bib
index 9df6dd3bcb9ea5745c4b59801f6049d60e99757d..d0654ba8b05d1f2cfea67e2c1da60500c812085a 100644
--- a/Praxiprojekt_Bericht/BA.bib
+++ b/Praxiprojekt_Bericht/BA.bib
@@ -373,7 +373,7 @@
urldate = {2025-02-19},
date = {2024-06-01},
langid = {english},
- keywords = {Collaborative robots, Collision detection, Human–robot collaboration ({HRC}), Obstacle avoidance, Safety},
+ keywords = {Collision detection, Collaborative robots, Human–robot collaboration ({HRC}), Obstacle avoidance, Safety},
file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\4JS4CSVA\\Li et al. - 2024 - Safe human–robot collaboration for industrial settings a survey.pdf:application/pdf},
}
@@ -389,7 +389,7 @@
urldate = {2025-02-19},
date = {2022-10},
note = {{ISSN}: 2153-0866},
- keywords = {Collaboration, Collision avoidance, Robot control, Safety, Service robots, Solid modeling, Three-dimensional displays},
+ keywords = {Collision avoidance, Service robots, Safety, Collaboration, Robot control, Solid modeling, Three-dimensional displays},
file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\XX9FL2U5\\Amaya-Mejía et al. - 2022 - Vision-Based Safety System for Barrierless Human-Robot Collaboration.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\29LFGV4B\\9981689.html:text/html},
}
@@ -404,7 +404,7 @@
author = {Choi, Sung Ho and Park, Kyeong-Beom and Roh, Dong Hyeon and Lee, Jae Yeol and Ghasemi, Yalda and Jeong, Heejin},
urldate = {2025-02-19},
date = {2022-03},
- keywords = {Collaboration, Conferences, H.5.1 [Information Interfaces and Presentation]: Multimedia Information Systems—{XR}-based safety information, Human-robot collaboration, I.3.8 [Computer Graphics]: Applications—Extended Reality, J.7 [Computer Applications]: Computers in Other Systems—Virtual-Physics synchronization, mixed/extended reality ({MR}/{XR}), Real-time systems, Robot sensing systems, Safety, safety distance, Service robots, Three-dimensional displays},
+ keywords = {Real-time systems, Robot sensing systems, Service robots, Safety, Collaboration, Three-dimensional displays, Conferences, H.5.1 [Information Interfaces and Presentation]: Multimedia Information Systems—{XR}-based safety information, Human-robot collaboration, I.3.8 [Computer Graphics]: Applications—Extended Reality, J.7 [Computer Applications]: Computers in Other Systems—Virtual-Physics synchronization, mixed/extended reality ({MR}/{XR}), safety distance},
file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\VYUDN5LQ\\Choi et al. - 2022 - An XR-based Approach to Safe Human-Robot Collaboration.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\GDI6TZQ2\\9757621.html:text/html},
}
@@ -420,7 +420,7 @@
urldate = {2025-02-19},
date = {2022-08},
note = {{ISSN}: 1944-9437},
- keywords = {Collaboration, Digital Twins, human detection, Human robot collaboration, Image color analysis, Location awareness, sensor fusion, Sensor fusion, Service robots, Stability criteria, Thermal sensors},
+ keywords = {Service robots, Collaboration, Digital Twins, human detection, Human robot collaboration, Image color analysis, Location awareness, sensor fusion, Sensor fusion, Stability criteria, Thermal sensors},
file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\Q933FYY2\\Al Naser et al. - 2022 - Fusion of depth, color, and thermal images towards digital twins and safe human interaction with a r.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\942BAXF5\\9900548.html:text/html},
}
@@ -435,14 +435,94 @@
author = {Rashid, Aquib and Peesapati, Kannan and Bdiwi, Mohamad and Krusche, Sebastian and Hardt, Wolfram and Putz, Matthias},
urldate = {2025-02-19},
date = {2020-09},
- keywords = {Cameras, Laser radar, Production, Robot vision systems, Safety, Sensor fusion, Service robots},
+ keywords = {Service robots, Safety, Sensor fusion, Cameras, Laser radar, Production, Robot vision systems},
file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\HAXPN6EL\\Rashid et al. - 2020 - Local and Global Sensors for Collision Avoidance.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\4X42Y6TK\\9235223.html:text/html},
}
@article{jain_survey_nodate,
title = {A survey of Laser Range Finding},
+ url = {http://www.siddjain.com/ee236a.pdf},
abstract = {This report provides a informal survey of laser distance measurement. Applications of laser range finding are briefly discussed and various techniques for laser ranging such as active laser triangulation, pulsed time-of-flight ({TOF}), phase shift, {FMCW}, and correlation are described.},
author = {Jain, Siddharth},
+ urldate = {2025-02-19},
langid = {english},
file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\X2WNAHZB\\Jain - A survey of Laser Range Finding.pdf:application/pdf},
}
+
+@online{noauthor_file20200501_2020,
+ title = {File:20200501 Time of flight.svg - Wikipedia},
+ url = {https://commons.wikimedia.org/wiki/File:20200501_Time_of_flight.svg},
+ shorttitle = {File},
+ urldate = {2025-02-20},
+ date = {2020-05-01},
+ langid = {english},
+ file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\H7EUEBHT\\File20200501_Time_of_flight.html:text/html},
+}
+
+@article{raj_survey_2020,
+ title = {A Survey on {LiDAR} Scanning Mechanisms},
+ volume = {9},
+ rights = {http://creativecommons.org/licenses/by/3.0/},
+ issn = {2079-9292},
+ url = {https://www.mdpi.com/2079-9292/9/5/741},
+ doi = {10.3390/electronics9050741},
+ abstract = {In recent years, light detection and ranging ({LiDAR}) technology has gained huge popularity in various applications such as navigation, robotics, remote sensing, and advanced driving assistance systems ({ADAS}). This popularity is mainly due to the improvements in {LiDAR} performance in terms of range detection, accuracy, power consumption, as well as physical features such as dimension and weight. Although a number of literatures on {LiDAR} technology have been published earlier, not many has been reported on the state-of-the-art {LiDAR} scanning mechanisms. The aim of this article is to review the scanning mechanisms employed in {LiDAR} technology from past research works to the current commercial products. The review highlights four commonly used mechanisms in {LiDAR} systems: Opto-mechanical, electromechanical, micro-electromechanical systems ({MEMS}), and solid-state scanning. The study reveals that electro-mechanical scanning is the most prominent technology in use today. The commercially available 1D time of flight ({TOF}) {LiDAR} instrument is currently the most attractive option for conversion from 1D to 3D {LiDAR} system, provided that low scanning rate is not an issue. As for applications with low size, weight, and power ({SWaP}) requirements, {MEMS} scanning is found to be the better alternative. {MEMS} scanning is by far the more matured technology compared to solid-state scanning and is currently given great emphasis to increase its robustness for fulfilling the requirements of {ADAS} applications. Finally, solid-state {LiDAR} systems are expected to fill in the gap in {ADAS} applications despite the low technology readiness in comparison to {MEMS} scanners. However, since solid-state scanning is believed to have superior robustness, field of view ({FOV}), and scanning rate potential, great efforts are given by both academics and industries to further develop this technology.},
+ pages = {741},
+ number = {5},
+ journaltitle = {Electronics},
+ author = {Raj, Thinal and Hashim, Fazida Hanim and Huddin, Aqilah Baseri and Ibrahim, Mohd Faisal and Hussain, Aini},
+ urldate = {2025-02-20},
+ date = {2020-05},
+ langid = {english},
+ note = {Number: 5
+Publisher: Multidisciplinary Digital Publishing Institute},
+ keywords = {electro-mechanical scanning, {LiDAR}, {MEMS} scanning, opto-mechanical scanning, solid-state {LiDAR}},
+ file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\2PBQYF7P\\Raj et al. - 2020 - A Survey on LiDAR Scanning Mechanisms.pdf:application/pdf},
+}
+
+@article{surmann_autonomous_2003,
+ title = {An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments},
+ volume = {45},
+ issn = {0921-8890},
+ url = {https://www.sciencedirect.com/science/article/pii/S0921889003001556},
+ doi = {10.1016/j.robot.2003.09.004},
+ abstract = {Digital 3D models of the environment are needed in rescue and inspection robotics, facility managements and architecture. This paper presents an automatic system for gaging and digitalization of 3D indoor environments. It consists of an autonomous mobile robot, a reliable 3D laser range finder and three elaborated software modules. The first module, a fast variant of the Iterative Closest Points algorithm, registers the 3D scans in a common coordinate system and relocalizes the robot. The second module, a next best view planner, computes the next nominal pose based on the acquired 3D data while avoiding complicated obstacles. The third module, a closed-loop and globally stable motor controller, navigates the mobile robot to a nominal pose on the base of odometry and avoids collisions with dynamical obstacles. The 3D laser range finder acquires a 3D scan at this pose. The proposed method allows one to digitalize large indoor environments fast and reliably without any intervention and solves the {SLAM} problem. The results of two 3D digitalization experiments are presented using a fast octree-based visualization method.},
+ pages = {181--198},
+ number = {3},
+ journaltitle = {Robotics and Autonomous Systems},
+ shortjournal = {Robotics and Autonomous Systems},
+ author = {Surmann, Hartmut and Nüchter, Andreas and Hertzberg, Joachim},
+ urldate = {2025-02-20},
+ date = {2003-12-31},
+ keywords = {3D digitalization, 3D gaging, 3D laser range finder, Autonomous mobile robots, Next best view planning, Robot relocalization, Scan matching, {SLAM}},
+ file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\BKNJW2B7\\Surmann et al. - 2003 - An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of ind.pdf:application/pdf;ScienceDirect Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\H82LXSD3\\S0921889003001556.html:text/html},
+}
+
+@article{niclass_design_2012,
+ title = {Design and characterization of a 256x64-pixel single-photon imager in {CMOS} for a {MEMS}-based laser scanning time-of-flight sensor},
+ volume = {20},
+ rights = {© 2012 {OSA}},
+ issn = {1094-4087},
+ url = {https://opg.optica.org/oe/abstract.cfm?uri=oe-20-11-11863},
+ doi = {10.1364/OE.20.011863},
+ abstract = {We introduce an optical time-of-flight image sensor taking advantage of a {MEMS}-based laser scanning device. Unlike previous approaches, our concept benefits from the high timing resolution and the digital signal flexibility of single-photon pixels in {CMOS} to allow for a nearly ideal cooperation between the image sensor and the scanning device. This technique enables a high signal-to-background light ratio to be obtained, while simultaneously relaxing the constraint on size of the {MEMS} mirror. These conditions are critical for devising practical and low-cost depth sensors intended to operate in uncontrolled environments, such as outdoors. A proof-of-concept prototype capable of operating in real-time was implemented. This paper focuses on the design and characterization of a 256x64-pixel image sensor, which also comprises an event-driven readout circuit, an array of 64 row-level high-throughput time-to-digital converters, and a 16Gbit/s global readout circuit. Quantitative evaluation of the sensor under 2klux of background light revealed a repeatability error of 13.5cm throughout the distance range of 20 meters.},
+ pages = {11863--11881},
+ number = {11},
+ journaltitle = {Optics Express},
+ shortjournal = {Opt. Express, {OE}},
+ author = {Niclass, Cristiano and Ito, Kota and Soga, Mineki and Matsubara, Hiroyuki and Aoyagi, Isao and Kato, Satoru and Kagami, Manabu},
+ urldate = {2025-02-20},
+ date = {2012-05-21},
+ note = {Publisher: Optica Publishing Group},
+ keywords = {Deformable mirrors, Diode lasers, Image sensors, Light emitting diodes, Optical systems, Systems design},
+ file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\BZWW7BVY\\Niclass et al. - 2012 - Design and characterization of a 256x64-pixel single-photon imager in CMOS for a MEMS-based laser sc.pdf:application/pdf},
+}
+
+@online{noauthor_vlp_nodate,
+ title = {{VLP} 16 {\textbar} Ouster},
+ url = {https://ouster.com/products/hardware/vlp-16},
+ abstract = {Mid-range lidar sensor},
+ urldate = {2025-02-20},
+ langid = {english},
+ file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\AR82YJRS\\vlp-16.html:text/html},
+}
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+\bibcite{hering_sensoren_2018}{4}
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+\bibcite{al_naser_fusion_2022}{7}
+\bibcite{amaya-mejia_vision-based_2022}{8}
+\bibcite{jain_survey_nodate}{9}
+\bibcite{li_common_2019}{10}
+\bibcite{liu_application_2024}{11}
+\bibcite{niclass_design_2012}{12}
+\bibcite{popov_collision_2017}{13}
+\bibcite{raj_survey_2020}{14}
+\bibcite{rashid_local_2020}{15}
+\bibcite{surmann_autonomous_2003}{16}
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diff --git a/Praxiprojekt_Bericht/ba.bbl b/Praxiprojekt_Bericht/ba.bbl
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index 0000000000000000000000000000000000000000..211c118e17aa161ace7605de957b444b33052e1a
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+\begin{thebibliography}{10}
+
+% this bibliography is generated by plaindin.bst [8.2] from 2005-12-21
+
+\providecommand{\url}[1]{\texttt{#1}}
+\expandafter\ifx\csname urlstyle\endcsname\relax
+ \providecommand{\doi}[1]{doi: #1}\else
+ \providecommand{\doi}{doi: \begingroup \urlstyle{rm}\Url}\fi
+
+\bibitem[1]{noauthor_can_nodate}
+\emph{Can the collaborative robot market experience a second growth surge in
+ the post-pandemic era?}
+\newblock
+ \url{https://interactanalysis.com/insight/can-the-collaborative-robot-market-experience-a-second-growth-surge-in-the-post-pandemic-era/}
+
+\bibitem[2]{noauthor_file20200501_2020}
+\emph{File:20200501 Time of flight.svg - Wikipedia}.
+\newblock
+ \url{https://commons.wikimedia.org/wiki/File:20200501_Time_of_flight.svg}
+
+\bibitem[3]{noauthor_robotics_2021}
+\emph{Robotics - Vocabulary}.
+\newblock \url{https://www.dinmedia.de/de/norm/iso-8373/348036781}
+
+\bibitem[4]{hering_sensoren_2018}
+\textsc{Hering}, Ekbert (Hrsg.) ; \textsc{Schönfelder}, Gert (Hrsg.):
+\newblock \emph{Sensoren in Wissenschaft und Technik}.
+\newblock \url{http://dx.doi.org/10.1007/978-3-658-12562-2}
+
+\bibitem[5]{noauthor_vl53l7cx_nodate}
+\emph{{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90
+ degrees {FoV} - {STMicroelectronics}}.
+\newblock
+ \url{https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html}
+
+\bibitem[6]{noauthor_vlp_nodate}
+\emph{{VLP} 16 {\textbar} Ouster}.
+\newblock \url{https://ouster.com/products/hardware/vlp-16}
+
+\bibitem[7]{al_naser_fusion_2022}
+\textsc{Al~Naser}, Ibrahim ; \textsc{Dahmen}, Johannes ; \textsc{Bdiwi},
+ Mohamad ; \textsc{Ihlenfeldt}, Steffen:
+\newblock Fusion of depth, color, and thermal images towards digital twins and
+ safe human interaction with a robot in an industrial environment.
+\newblock {In: }\emph{2022 31st {IEEE} International Conference on Robot and
+ Human Interactive Communication ({RO}-{MAN})}, 532--537. --
+\newblock {ISSN}: 1944-9437
+
+\bibitem[8]{amaya-mejia_vision-based_2022}
+\textsc{Amaya-Mejía}, Lina~M. ; \textsc{Duque-Suárez}, Nicolás ;
+ \textsc{Jaramillo-Ramírez}, Daniel ; \textsc{Martinez}, Carol:
+\newblock Vision-Based Safety System for Barrierless Human-Robot Collaboration.
+\newblock {In: }\emph{2022 {IEEE}/{RSJ} International Conference on Intelligent
+ Robots and Systems ({IROS})}, 7331--7336. --
+\newblock {ISSN}: 2153-0866
+
+\bibitem[9]{jain_survey_nodate}
+\textsc{Jain}, Siddharth:
+\newblock A survey of Laser Range Finding.
+\newblock \url{http://www.siddjain.com/ee236a.pdf}
+
+\bibitem[10]{li_common_2019}
+\textsc{Li}, Peng ; \textsc{Liu}, Xiangpeng:
+\newblock Common Sensors in Industrial Robots: A Review.
+\newblock 1267, Nr. 1, 012036.
+\newblock \url{http://dx.doi.org/10.1088/1742-6596/1267/1/012036}. --
+\newblock DOI 10.1088/1742--6596/1267/1/012036. --
+\newblock ISSN 1742--6588, 1742--6596
+
+\bibitem[11]{liu_application_2024}
+\textsc{Liu}, Li ; \textsc{Guo}, Fu ; \textsc{Zou}, Zishuai ; \textsc{Duffy},
+ Vincent~G.:
+\newblock Application, Development and Future Opportunities of Collaborative
+ Robots (Cobots) in Manufacturing: A Literature Review.
+\newblock 40, Nr. 4, 915--932.
+\newblock \url{http://dx.doi.org/10.1080/10447318.2022.2041907}. --
+\newblock DOI 10.1080/10447318.2022.2041907. --
+\newblock ISSN 1044--7318. --
+\newblock Publisher: Taylor \& Francis \_eprint:
+ https://doi.org/10.1080/10447318.2022.2041907
+
+\bibitem[12]{niclass_design_2012}
+\textsc{Niclass}, Cristiano ; \textsc{Ito}, Kota ; \textsc{Soga}, Mineki ;
+ \textsc{Matsubara}, Hiroyuki ; \textsc{Aoyagi}, Isao ; \textsc{Kato}, Satoru
+ ; \textsc{Kagami}, Manabu:
+\newblock Design and characterization of a 256x64-pixel single-photon imager in
+ {CMOS} for a {MEMS}-based laser scanning time-of-flight sensor.
+\newblock 20, Nr. 11, 11863--11881.
+\newblock \url{http://dx.doi.org/10.1364/OE.20.011863}. --
+\newblock DOI 10.1364/OE.20.011863. --
+\newblock ISSN 1094--4087. --
+\newblock Publisher: Optica Publishing Group
+
+\bibitem[13]{popov_collision_2017}
+\textsc{Popov}, Dmitry ; \textsc{Klimchik}, Alexandr ; \textsc{Mavridis},
+ Nikolaos:
+\newblock Collision detection, localization \& classification for industrial
+ robots with joint torque sensors.
+\newblock {In: }\emph{2017 26th {IEEE} International Symposium on Robot and
+ Human Interactive Communication ({RO}-{MAN})}, {IEEE}. --
+\newblock ISBN 978--1--5386--3518--6, 838--843
+
+\bibitem[14]{raj_survey_2020}
+\textsc{Raj}, Thinal ; \textsc{Hashim}, Fazida~H. ; \textsc{Huddin}, Aqilah~B.
+ ; \textsc{Ibrahim}, Mohd~F. ; \textsc{Hussain}, Aini:
+\newblock A Survey on {LiDAR} Scanning Mechanisms.
+\newblock 9, Nr. 5, 741.
+\newblock \url{http://dx.doi.org/10.3390/electronics9050741}. --
+\newblock DOI 10.3390/electronics9050741. --
+\newblock ISSN 2079--9292. --
+\newblock Number: 5 Publisher: Multidisciplinary Digital Publishing Institute
+
+\bibitem[15]{rashid_local_2020}
+\textsc{Rashid}, Aquib ; \textsc{Peesapati}, Kannan ; \textsc{Bdiwi}, Mohamad ;
+ \textsc{Krusche}, Sebastian ; \textsc{Hardt}, Wolfram ; \textsc{Putz},
+ Matthias:
+\newblock Local and Global Sensors for Collision Avoidance.
+\newblock {In: }\emph{2020 {IEEE} International Conference on Multisensor
+ Fusion and Integration for Intelligent Systems ({MFI})}, 354--359
+
+\bibitem[16]{surmann_autonomous_2003}
+\textsc{Surmann}, Hartmut ; \textsc{Nüchter}, Andreas ; \textsc{Hertzberg},
+ Joachim:
+\newblock An autonomous mobile robot with a 3D laser range finder for 3D
+ exploration and digitalization of indoor environments.
+\newblock 45, Nr. 3, 181--198.
+\newblock \url{http://dx.doi.org/10.1016/j.robot.2003.09.004}. --
+\newblock DOI 10.1016/j.robot.2003.09.004. --
+\newblock ISSN 0921--8890
+
+\end{thebibliography}
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+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%
+% Beispiel für eine Bachelorarbeit mit FH Aachen FB 8
+% Titelblattstyles
+%
+% Prof. Enning, 18.07.2013
+% Überarbeitet, 17.06.2014
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%%%%%%%%%%%%%% Präambel %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\documentclass [
+% draft % falls ohne Bilder gedruckt werden soll (Entwurf)
+ ]{scrbook} % KOMA Klasse für Bücher
+%
+\usepackage{fhacmb} % Style-File für Titelblatt. Ggf. bei Enning holen
+%
+% Einstellen der Optionen für die KOMA Klasse
+\KOMAoptions{
+ parskip=true, % Absätze mit Abstand
+ fontsize=12pt, % Standardschriftgröße
+ toc=flat, % Inhaltsverzeichnis ohne Einzüge
+ twoside=false, % Einseitig setzen
+ numbers=nodotatend, % Nummerierungen nicht mit Punkt abschließen
+% die folgenden Optionen nehmen die entsprechende Dinge ins Inhaltsverzeichnis auf
+% mit der bei texlive vorhandenen aktuellen Version von pdflatex funkioniert es nicht mehr
+% (bekannter Bug)
+% toc=bibliography, % Literaturverzeichnis ins Inhaltsverzeichnis
+% toc=listof, % Abbildung- und Tabellenverzeichnis ins Inhaltsverzeichnis
+% toc=index, % Stichwortverzeichnis ins Inhaltsverzeichnis
+ }
+%
+%%%%%% Immer benötigte Packages
+%
+\usepackage[T1]{fontenc} % sonst funktioniert die Silbentrennung bei Umlauten nicht
+\usepackage[utf8]{inputenc} % Eingabedekodierung. Ermöglicht Umlaute. Achtung: Unbedingt mit Betreuer
+ % Verwendung der Umlaute-Eingabemethode absprechen. Im Zweifel \"O für Ö
+\usepackage[ngerman]{babel} % Silbentrennung und Sprachanpassung
+\usepackage[acronym]{glossaries}
+\usepackage{blindtext} % Blindtext
+\usepackage[hidelinks]{hyperref} % Sprungmarken, z.B. im Inhaltsverzeichnis auf Textpassagen
+\usepackage{graphicx} % Definiert o.a. \includegraphics
+\usepackage{textcomp} % Sonst funktioniert z.B. \texteuro nicht
+\usepackage[automark]{scrlayer-scrpage} % Package zum Definieren der Kopf- und Fußzeilen
+\usepackage{amsmath} % Muss sein
+\usepackage{mathrsfs} % Weitere Mathematik-Symbole, z.B. Laplace-L
+%
+%%%%% Anpassung an Formatvorlagen des Fachbereichs
+%
+\usepackage{helvet} % Serifenlose Schrift ähnlich Arial
+\renewcommand{\familydefault}{\sfdefault} % als Standardschrift serifenlose Schrift verwenden
+%
+\usepackage{geometry} % Ränder direkt einstellen
+\geometry{a4paper, top=20mm, left=30mm, right=20mm, bottom=25mm} % nach Vorgabe
+\linespread{1.25} % Zeilenabstand nach Vorgabe
+%
+\usepackage{chngcntr} % Ändert Verhalten von Countern
+\counterwithout{figure}{section} % Figure-Nummerierung nicht bei section-Wechsel zurücksetzen
+\renewcommand{\thefigure}{\textbf\thechapter-\arabic{figure}} % im Stil 3-2
+%
+%%%% für das Erzeugen von Grafiken mit Zeichenbefehlen
+%
+\usepackage{tikz} % Grundpaket
+\usetikzlibrary{shapes,arrows} % einige Symbolpackages
+\usepackage{tikz-cd} % einige Symbolpackages
+%
+%%%%%% Gegebenenfalls nützliche Zusatzpackages
+%
+%\usepackage{blindtext} % Blindtexte zum Ausprobieren von Formatierungen
+%\usepackage{color} % Schriftfarben
+\usepackage{colortbl} % für die Hintergrundfarbe von Tabellen
+%\usepackage{gensymb} % Definiert Formelzeichen, die im math und im text-Modus gleich aussehen
+%\usepackage{wrapfig} % Definiert die wrapfigure-Umgebung (Bild am Rand von Text umflossen)
+%\usepackage{pdfpages} % Einbinden von pdf-Seiten
+%
+%\usepackage{booktabs} % Schöne Tabellen
+%\usepackage{tabu} % Sehr einfach Tabellen gestalten
+%\usepackage{array} % Erweiterung der Tabellenumgebung, neue Spaltentypen
+\usepackage{paralist} % Weitere Nummeriungsoptionen, z.b. alphabetisch für enumerate/itemize
+%\usepackage{verbatim} % Verbesserte verbatim-Umgebung (z.b. Programm-Listings)
+%\usepackage{subfig} % Unterfigures mit eigenen Bildunterschriften
+%
+%%%%%% Sammelsurium
+%
+%\renewcommand{\labelitemii}{$\circ$} % Bullets für itemize-Listen
+%
+%%%%%%%%%% Angaben für Titelseite %%%%%%%%%%%%%%%%%%%%%%
+%
+\input{titelangaben}
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%
+\newacronym{UR}{UR}{Universal Robots}
+\newacronym{HRC}{HRC}{Human-Robot Collaboration}
+\newacronym{Cobot}{Cobot}{kollaborativer Roboter}
+\newacronym{PC}{PC}{persönlicher Computer}
+\newacronym{ToF}{ToF-Sensor}{Time-of-Flight-Sensor}
+\newacronym{ToFs}{ToF-Sensoren}{Time-of-Flight-Sensoren}
+\newacronym{Cobots}{Cobot's}{kollaborativen Robotern}
+\newacronym{RGB-D}{RGB-D}{Rot-Grün-Blau-Tiefen Kamera}
+\newacronym{KI}{KI}{Künstlichen Inteligenz}
+\newacronym{LIDAR}{LiDAR}{Light Detection and Ranging}
+\newacronym{RGB}{RGB-Kamera}{Rot-Grün-Gelb Kamera}
+\newacronym{LRF}{LRF}{Laser Range Finder}
+\newacronym{MEMS}{MEMS}{Mikro Elektrisch Mechanischen Systeme}
+\newacronym{FOV}{FoV}{Field of View}
+\newacronym{VCSEL}{VCSEL}{ Vertical Cavity Surface Emitting Laser}
+\newacronym{FOI}{FoI}{Field of Illumination}
+\newacronym{SPAD}{SPAD}{Single Photon Avalanche Diode}
+\newacronym{I2C}{I$^2$C}{Inter-Integrated Circuit}
+\newacronym{IC}{IC}{Integrated Circuit}
+
+\newglossaryentry{Pose}{
+ name={Pose},
+ description={Position und Orientierung}
+}
+\newglossaryentry{KO}{
+ name={Kollisionsobjekt},
+ description={Mensch oder Objekt innerhalb des Arbeitsraums des Industrie Roboters, das nicht Ziel der Manipulation ist}
+}
+\newglossaryentry{AR}{
+ name={Arbeitsraum},
+ description={Anteil des eingeschränkten Raumes, der während der Ausführung aller vom Anwenderprogramm vorgegebenen Bewegungen [vom Roboter] benutzt wird}
+}
+
+\begin{document}
+%% Verschiedene Versionen, nach DIN 1505 zu zitieren
+\bibliographystyle{plaindin}
+%\bibliographystyle{natdin}
+%\bibliographystyle{alphadin}
+%\bibliographystyle{unsrtdin}
+
+% Einige Anpassungen müssen nach \begin{document} stehen !!
+\renewcaptionname{ngerman}{\figurename}{\textbf Bild} % Bild ... statt Abbildung ...
+\renewcaptionname{ngerman}{\contentsname}{Inhalt}% Inhalt statt Inhaltsverzeichnis
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Titel im FH Style
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\fhacmbtitle{\includegraphics[height=4cm]{fh_logo}}{5pt}{5pt}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Erklärung / Geheimhaltung
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%\frontmatter % Wenn der Hauptteil mit Seite 1 beginnen soll
+\pagestyle{plain}
+% \input{erklaerung}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Inhaltsverzeichnis
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+\tableofcontents
+
+
+%\mainmatter % Wenn der Hauptteil mit Seite 1 beginnen soll
+\pagestyle{scrheadings}
+%%%%%%%%%%%%%%% Anpassung des Seitenstils an FH-Layoutvorschrift %%%%%%%%%%%%
+\renewcommand{\chaptermark}[1]{\markboth{\thechapter\hspace{1cm}#1}{}} % Kapitel für Headerzeile neu definieren (ohne Nummer)
+\chead{} % Header Mitte löschen
+\ihead{\leftmark} % Kapitelbezeichnung links setzen
+\renewcommand{\headfont}{\bfseries} % Bold-Font für Headerzeile verwenden
+\setheadsepline{0.5pt}
+
+% \input{aufgabenstellung}
+\input{text}
+% \input{kapitel2}
+
+% Die DIN 1505 Styles müssen ggf. nachinstalliert werden. Bei Texlive
+% heisst das Paket texlive-bibtex-extra
+
+% Hier muss noch aufgeräumt werden. Nennung von URLs verbesserungsbedürftig. Ggf auf biblatex (statt bibtex) umsteigen
+\bibliography{ba}
+
+\listoffigures
+\listoftables
+
+\appendix
+% \input{anhang}
+
+\end{document}
\ No newline at end of file
diff --git a/Praxiprojekt_Bericht/ba.toc b/Praxiprojekt_Bericht/ba.toc
new file mode 100644
index 0000000000000000000000000000000000000000..a61debac472c47df2c5baf40f852b0e3fa674714
--- /dev/null
+++ b/Praxiprojekt_Bericht/ba.toc
@@ -0,0 +1,18 @@
+\babel@toc {ngerman}{}\relax
+\contentsline {chapter}{\numberline {1}Zusammenfassung}{3}{chapter.1}%
+\contentsline {chapter}{\numberline {2}Motivation}{4}{chapter.2}%
+\contentsline {chapter}{\numberline {3}Stand der Technik}{5}{chapter.3}%
+\contentsline {section}{\numberline {3.1}Kollisionsvermeidung und Kollisionserkennung}{6}{section.3.1}%
+\contentsline {section}{\numberline {3.2}Laserscanner (LiDAR)}{7}{section.3.2}%
+\contentsline {chapter}{\numberline {4}Umsetzung}{10}{chapter.4}%
+\contentsline {section}{\numberline {4.1}Vorgehensweise}{10}{section.4.1}%
+\contentsline {section}{\numberline {4.2}Software}{10}{section.4.2}%
+\contentsline {subsection}{\numberline {4.2.1}Arduino}{10}{subsection.4.2.1}%
+\contentsline {subsection}{\numberline {4.2.2}Robot Operating System 2}{10}{subsection.4.2.2}%
+\contentsline {subsection}{\numberline {4.2.3}RVIZ2 und Gazebo Classic}{10}{subsection.4.2.3}%
+\contentsline {section}{\numberline {4.3}Hardware}{10}{section.4.3}%
+\contentsline {subsection}{\numberline {4.3.1}Elektronisch}{10}{subsection.4.3.1}%
+\contentsline {subsection}{\numberline {4.3.2}Mechanisch}{10}{subsection.4.3.2}%
+\contentsline {chapter}{\numberline {5}Ergebnis}{11}{chapter.5}%
+\contentsline {chapter}{\numberline {6}Ausblick}{12}{chapter.6}%
+\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file
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@@ -0,0 +1,183 @@
+%%%% Package fhacmb.sty %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%
+% Erzeugt eine Titelseite für eine Abschlussarbeit nach dem CD des FH 8
+% Voraussetzung: Documentclass scrbook (KOMA-Klasse)
+%
+% Verwendung: Felder mittels der Befehle definieren, z.B. \titel{irgendwas}
+% Befehl \fhacmbtitle{logo}{abstandx}{abstandy} aufrufen
+% logo: Anweisung zum Zeichnen eines Logos, z.B. \includegraphics[height=4cm]{fh_logo}
+% abstandx: Abstand zwischen rechtem Papierrand und Logo
+% abstandy: Abstand zwischen oberem Papierrand und Logo
+%
+% Nicht definierte Felder tragen als Inhalt den Befehlsnamen
+% Manche Felder können leer bleiben \cobetreuer{}
+%
+% Autor: Prof. Enning, 17.07.2013
+%
+% Bitte beachten: Wenn Felder vor \begin{document} definiert werden, müssen Umlaute vollständig umschrieben werden
+% Shortcuts aus babel können noch nicht verwendet werden. Also \"A für ein Ä
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
+\RequirePackage{color} % Für farbigen Text
+\RequirePackage{microtype} % um die 9pt Schrift etwas breiter laufen lassen zu können
+\RequirePackage{graphicx} % für \includegraphics
+\RequirePackage{ifthen} % für \ifthenelse
+\RequirePackage{tabu} % für die einfache Tabellengestaltung
+\RequirePackage{helvet} % Arial-ähnliche Schrift
+\RequirePackage{picture} % zum Setzen des Logos
+\RequirePackage{geometry}
+%\RequirePackage{mmout} % für Kontrollausgaben der Maße
+
+
+\geometry{a4paper, top=20mm, left=30mm, right=20mm, bottom=25mm} % Ränder explizit einstellen
+
+% FH-Mint definieren
+\definecolor{fh-mint}{RGB}{0,177,172}
+
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+\def\hlAbold{\fontfamily{phv}\fontsize{14pt}{30pt}\fontseries{b}\selectfont}
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+
+% Variable und Kommando für Fachbereich
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+
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+
+% Variable und Kommando für Matrikelnummer
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+
+% Variable und Kommando für Vertiefungsrichtung
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+
+% Variable und Kommando für Autor
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+
+% Variable und Kommando für externen Betreuer
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+
+% Variable und Kommando für Datum
+\def\@datum{datum}
+\newcommand\datum[1]{\gdef\@datum{#1}}
+
+% Variable und Kommando für Danksagung und Geheimhaltung
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+
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+ \newskip\@offsy % Offsety des Picture-Koordinatensystems
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+ \def\@ycorr{#3} % Abstand des Logos vom oberen Rand
+ \def\@logo{#1} % Zeichenanweisung für Logo als benannte Variable
+ % Größe des Logos ermitteln und speichern
+ \settowidth{\@logobreite}{\@logo}
+ \settoheight{\@logohoehe}{\@logo}
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+ % in X-Richtung
+ \@offsx=1in % 1 inch (Standardrand, Systemkonstante)
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+ \@offsy=0in % Standardrand offenbar Null ???
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+ % Kontrollausgaben der Maße. Erfordert selbstgeschriebenes Package mmout.sty
+ %offsx=\MM{\@offsx}\\
+ %offsy=\MM{\@offsy}\\
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+ Fachbereich \@fachbereich
+ }\par
+ {\hlAnormal
+ Studiengang \@studiengang
+ }\par
+ \ifthenelse{\equal{\@vertiefung}{}}{}{
+ Vertiefungsrichtung \@vertiefung
+ }\par
+ \vspace{20mm}
+ \@arbeitstyp\par
+ {\hlAbold
+ \@titel
+ }\par
+ \vspace{15mm}
+ \tabulinesep=3mm
+ \begin{tabu}{X[1]X[2]}
+ \textls{vorgelegt von} & {\hlAbold \@autor}\\[2mm]
+ & \textls{Matrikel-Nr.} \textbf{\@matrnr}\\[10mm]
+ % Zeile Referent nur, wenn Angabe vorhanden
+ \ifthenelse{\equal{\@betreuer}{}}{}{
+ \textls{Referent:} & \@betreuer\\
+ }
+ % Zeile Korreferent nur, wenn Angabe vorhanden
+ \ifthenelse{\equal{\@cobetreuer}{}}{}{
+ \textls{Korreferent:} & \@cobetreuer\\
+ }
+ % Zeile Externer Betreuer nur, wenn Angabe vorhanden
+ \ifthenelse{\equal{\@extbetreuer}{}}{}{
+ \textls{Externer Betreuer:} & \@extbetreuer\\[8mm]
+ }
+ \ifthenelse{\equal{\@datum}{}}{}{
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+ }
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+ \vfill
+ \@dank
+ \end{titlepage}
+ }
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diff --git a/Praxiprojekt_Bericht/images/VL53L7CX_Package.jpg b/Praxiprojekt_Bericht/images/VL53L7CX_Package.jpg
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diff --git a/Praxiprojekt_Bericht/main.aux b/Praxiprojekt_Bericht/main.aux
index 77da8b1660a10ed28055a4e8bd8111ebad1a3655..b4d10c3b0bc9bd9cb93e89927ed6dfcb37dd795d 100644
--- a/Praxiprojekt_Bericht/main.aux
+++ b/Praxiprojekt_Bericht/main.aux
@@ -27,30 +27,40 @@
\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Market Outlook for Cobots. Source:\cite {noauthor_can_nodate}}}{2}{}\protected@file@percent }
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\@writefile{toc}{\contentsline {subsection}{\numberline {2.1}Kollisionsvermeidung und Kollisionserkennung}{2}{}\protected@file@percent }
+\citation{noauthor_file20200501_2020}
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\bibdata{BA}
\bibcite{noauthor_can_nodate}{1}
-\bibcite{noauthor_robotics_2021}{2}
-\bibcite{hering_sensoren_2018}{3}
-\bibcite{noauthor_vl53l7cx_nodate}{4}
-\bibcite{al_naser_fusion_2022}{5}
-\bibcite{amaya-mejia_vision-based_2022}{6}
-\bibcite{jain_survey_nodate}{7}
-\bibcite{li_common_2019}{8}
-\bibcite{liu_application_2024}{9}
-\bibcite{popov_collision_2017}{10}
-\bibcite{rashid_local_2020}{11}
-\gdef \@abspage@last{9}
+\bibcite{noauthor_file20200501_2020}{2}
+\bibcite{noauthor_robotics_2021}{3}
+\bibcite{hering_sensoren_2018}{4}
+\bibcite{noauthor_vl53l7cx_nodate}{5}
+\bibcite{al_naser_fusion_2022}{6}
+\bibcite{amaya-mejia_vision-based_2022}{7}
+\bibcite{jain_survey_nodate}{8}
+\bibcite{li_common_2019}{9}
+\bibcite{liu_application_2024}{10}
+\bibcite{popov_collision_2017}{11}
+\bibcite{raj_survey_2020}{12}
+\bibcite{rashid_local_2020}{13}
+\gdef \@abspage@last{11}
diff --git a/Praxiprojekt_Bericht/main.bbl b/Praxiprojekt_Bericht/main.bbl
index 7da2b14dd73acdf4dd0440f22749f79265601960..d53ea5f58e3f284829bc9f343b861308471ea939 100644
--- a/Praxiprojekt_Bericht/main.bbl
+++ b/Praxiprojekt_Bericht/main.bbl
@@ -4,6 +4,9 @@
Can the collaborative robot market experience a second growth surge in the
post-pandemic era?
+\bibitem{noauthor_file20200501_2020}
+File:20200501 time of flight.svg - wikipedia.
+
\bibitem{noauthor_robotics_2021}
Robotics - vocabulary.
@@ -54,6 +57,13 @@ Dmitry Popov, Alexandr Klimchik, and Nikolaos Mavridis.
\newblock In {\em 2017 26th {IEEE} International Symposium on Robot and Human
Interactive Communication ({RO}-{MAN})}, pages 838--843. {IEEE}.
+\bibitem{raj_survey_2020}
+Thinal Raj, Fazida~Hanim Hashim, Aqilah~Baseri Huddin, Mohd~Faisal Ibrahim, and
+ Aini Hussain.
+\newblock A survey on {LiDAR} scanning mechanisms.
+\newblock 9(5):741.
+\newblock Number: 5 Publisher: Multidisciplinary Digital Publishing Institute.
+
\bibitem{rashid_local_2020}
Aquib Rashid, Kannan Peesapati, Mohamad Bdiwi, Sebastian Krusche, Wolfram
Hardt, and Matthias Putz.
diff --git a/Praxiprojekt_Bericht/main.blg b/Praxiprojekt_Bericht/main.blg
index 40f287ae1676037d7873eee7a8666c9735e22aca..4c0da6c4f5149f72fad74257aeefa7fcf5477f09 100644
--- a/Praxiprojekt_Bericht/main.blg
+++ b/Praxiprojekt_Bericht/main.blg
@@ -9,10 +9,13 @@ Warning--entry type for "noauthor_vl53l7cx_nodate" isn't style-file defined
--line 100 of file BA.bib
Warning--entry type for "noauthor_can_nodate" isn't style-file defined
--line 350 of file BA.bib
+Warning--entry type for "noauthor_file20200501_2020" isn't style-file defined
+--line 452 of file BA.bib
Warning--to sort, need author or key in noauthor_robotics_2021
Warning--to sort, need author or key in noauthor_vl53l7cx_nodate
Warning--to sort, need author or key in hering_sensoren_2018
Warning--to sort, need author or key in noauthor_can_nodate
+Warning--to sort, need author or key in noauthor_file20200501_2020
Warning--empty year in al_naser_fusion_2022
Warning--empty year in amaya-mejia_vision-based_2022
Warning--empty journal in jain_survey_nodate
@@ -22,46 +25,48 @@ Warning--empty year in li_common_2019
Warning--empty journal in liu_application_2024
Warning--empty year in liu_application_2024
Warning--empty year in popov_collision_2017
+Warning--empty journal in raj_survey_2020
+Warning--empty year in raj_survey_2020
Warning--empty year in rashid_local_2020
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diff --git a/Praxiprojekt_Bericht/main.glo b/Praxiprojekt_Bericht/main.glo
index 60ace19dc4310ec3011d001ef59f67fef7afe702..b18b14f44e5ff3df639aab03402e91f06915c409 100644
--- a/Praxiprojekt_Bericht/main.glo
+++ b/Praxiprojekt_Bericht/main.glo
@@ -23,6 +23,11 @@
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\glossaryentry{KI?\glossentry{KI}|setentrycounter[]{page}"\glsnumberformat}{3}
-\glossaryentry{LIDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{3}
\glossaryentry{RGB-Kamera?\glossentry{RGB}|setentrycounter[]{page}"\glsnumberformat}{3}
\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{ToF-Sensor?\glossentry{ToF}|setentrycounter[]{page}"\glsnumberformat}{4}
+\glossaryentry{LRF?\glossentry{LRF}|setentrycounter[]{page}"\glsnumberformat}{4}
+\glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{4}
+\glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{4}
+\glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{4}
diff --git a/Praxiprojekt_Bericht/main.ist b/Praxiprojekt_Bericht/main.ist
index 6a1f59e689394a2e770dcbb0e38e1ce884860b2c..f7676255afa045ef0b50e074e94a0ad3ee986798 100644
--- a/Praxiprojekt_Bericht/main.ist
+++ b/Praxiprojekt_Bericht/main.ist
@@ -1,5 +1,5 @@
% makeindex style file created by the glossaries package
-% for document 'main' on 2025-2-19
+% for document 'main' on 2025-2-20
actual '?'
encap '|'
level '!'
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diff --git a/Praxiprojekt_Bericht/main.toc b/Praxiprojekt_Bericht/main.toc
index ea468ba12fc16b59f9d2a0511d26a5751fb0d4d5..58c0b89703d7695c09d01c5d09c951f29fb9ea49 100644
--- a/Praxiprojekt_Bericht/main.toc
+++ b/Praxiprojekt_Bericht/main.toc
@@ -2,15 +2,15 @@
\contentsline {section}{\numberline {1}Motivation}{1}{}%
\contentsline {section}{\numberline {2}Stand der Technik}{2}{}%
\contentsline {subsection}{\numberline {2.1}Kollisionsvermeidung und Kollisionserkennung}{2}{}%
-\contentsline {subsection}{\numberline {2.2}Laserscanner und Kamerasysteme}{3}{}%
-\contentsline {section}{\numberline {3}Umsetzung}{4}{}%
-\contentsline {subsection}{\numberline {3.1}Vorgehensweise}{4}{}%
-\contentsline {subsection}{\numberline {3.2}Software}{4}{}%
-\contentsline {subsubsection}{\numberline {3.2.1}Arduino}{4}{}%
-\contentsline {subsubsection}{\numberline {3.2.2}Robot Operating System 2}{4}{}%
-\contentsline {subsubsection}{\numberline {3.2.3}RVIZ2 und Gazebo Classic}{4}{}%
-\contentsline {subsection}{\numberline {3.3}Hardware}{4}{}%
-\contentsline {subsubsection}{\numberline {3.3.1}Elektronisch}{4}{}%
-\contentsline {subsubsection}{\numberline {3.3.2}Mechanisch}{4}{}%
-\contentsline {section}{\numberline {4}Ergebnis}{4}{}%
-\contentsline {section}{\numberline {5}Ausblick}{4}{}%
+\contentsline {subsection}{\numberline {2.2}Laserscanner (LiDAR)}{3}{}%
+\contentsline {section}{\numberline {3}Umsetzung}{5}{}%
+\contentsline {subsection}{\numberline {3.1}Vorgehensweise}{5}{}%
+\contentsline {subsection}{\numberline {3.2}Software}{5}{}%
+\contentsline {subsubsection}{\numberline {3.2.1}Arduino}{5}{}%
+\contentsline {subsubsection}{\numberline {3.2.2}Robot Operating System 2}{5}{}%
+\contentsline {subsubsection}{\numberline {3.2.3}RVIZ2 und Gazebo Classic}{5}{}%
+\contentsline {subsection}{\numberline {3.3}Hardware}{5}{}%
+\contentsline {subsubsection}{\numberline {3.3.1}Elektronisch}{5}{}%
+\contentsline {subsubsection}{\numberline {3.3.2}Mechanisch}{5}{}%
+\contentsline {section}{\numberline {4}Ergebnis}{5}{}%
+\contentsline {section}{\numberline {5}Ausblick}{5}{}%
diff --git a/Praxiprojekt_Bericht/main.tex b/Praxiprojekt_Bericht/text.tex
similarity index 58%
rename from Praxiprojekt_Bericht/main.tex
rename to Praxiprojekt_Bericht/text.tex
index 6c844217517bc19cca9ce30769db286bc4535857..92ca23bc1837723f5ae6d875bf2deef6e0cccb76 100644
--- a/Praxiprojekt_Bericht/main.tex
+++ b/Praxiprojekt_Bericht/text.tex
@@ -1,59 +1,5 @@
-\documentclass[a4paper,12pt]{article}
-\usepackage{graphicx}
-\usepackage[utf8]{inputenc}
-\usepackage[ngerman]{babel}
-\usepackage{glossaries}
-\makeglossaries
-\usepackage{geometry} % Ränder direkt einstellen
-\geometry{a4paper, top=20mm, left=30mm, right=20mm, bottom=25mm} % nach Vorgabe
-
-%\frontmatter % Wenn der Hauptteil mit Seite 1 beginnen soll
-\pagestyle{plain}
-
-\usepackage{tocloft}
-\cftsetindents{section}{1.5em}{2.3em} % Einrückung für Abschnitte
-\cftsetindents{subsection}{3.8em}{3.2em} % Einrückung für Unterabschnitte
-
-\newacronym{UR}{UR}{Universal Robots}
-\newacronym{HRC}{HRC}{Human-Robot Collaboration}
-\newacronym{Cobot}{Cobot}{kollaborativer Roboter}
-\newacronym{PC}{PC}{persönlicher Computer}
-\newacronym{ToF}{ToF-Sensor}{Time-of-Flight-Sensor}
-\newacronym{ToFs}{ToF-Sensoren}{Time-of-Flight-Sensoren}
-\newacronym{Cobots}{Cobot's}{kollaborativen Robotern}
-\newacronym{RGB-D}{RGB-D}{Rot-Grün-Blau-Tiefen Kamera}
-\newacronym{KI}{KI}{Künstlichen Inteligenz}
-\newacronym{LIDAR}{LIDAR}{Light Detection and Ranging}
-\newacronym{RGB}{RGB-Kamera}{Rot-Grün-Gelb Kamera}
-
-\newglossaryentry{Pose}{
- name={Pose},
- description={Position und Orientierung}
- }
-\newglossaryentry{KO}{
- name={Kollisionsobjekt},
- description={Mensch oder Objekt innerhalb des Arbeitsraums des Industrie Roboters, das nicht Ziel der Manipulation ist}
- }
-\newglossaryentry{AR}{
- name={Arbeitsraum},
- description={Anteil des eingeschränkten Raumes, der während der Ausführung aller vom Anwenderprogramm vorgegebenen Bewegungen [vom Roboter] benutzt wird}
-}
-
-\title{Praxisprojekt Bericht
- {\large \\Mechatronische Entwicklung eines intrinsischen Time-of-Flight-Sensorsystems zur Kollisionsvermeidung in der Robotik}}
-\author{René Ebeling}
-\date{\today}
-\linespread{1.25} % Zeilenabstand nach Vorgabe
-
-\begin{document}
-% Start page numbering here
-\pagenumbering{arabic} % or "roman" for Roman numerals
-\bibliographystyle{plain}
-\maketitle
-\thispagestyle{empty} % Suppress page number on this page
-\newpage
-\begin{abstract}
+\chapter{Zusammenfassung}
% Zielsetzung und Kontext:
% Was ist das Ziel des Berichts?
In diesem Bericht werde ich meine Vorgehensweise zur Entwicklung eines mechatronischen Systems
@@ -73,16 +19,8 @@
da sie präzise genug sind um Entfernungsdaten zu liefern und so die Kollisionsvermeidung durch das erkennen von Objekten im Arbeitsraum ermöglichen können.
% Welche Bedeutung haben sie für das Thema oder für die Praxis?
\\ \indent Durch die Kollisionsvermeidung kann ein \acrshort{Cobot} autonomer arbeiten und so die Effizienz und Sicherheit in der Produktion erhöht werden.
-\end{abstract}
-\thispagestyle{empty} % Suppress page number on this page
-\newpage
-\tableofcontents
-\thispagestyle{empty} % Suppress page number on this page
-\cleardoublepage
-
-\setcounter{page}{1} % Start counting from 1
-\section{Motivation}
+\chapter{Motivation}
%Allgemeiner Überblick über das Thema
Ich habe im Rahmen meines Praxisprojekts ein System entwickelt, welches zum Ziel hatte eine extrinsische Sensorüberwachung des Arbeitsraums von einem \acrfull{UR} zu realisieren.
Mit dem Sensorinput kann man die Umgebung des Roboters überwachen und gegebenenfalls auf veränderte Umstände reagieren. Am meisten Anwendung hätte das System in Bereichen in denen es schwierig ist Routinen zu schaffen. Wie zum Beispiel bei der Kollaboration mit Menschen.
@@ -100,8 +38,8 @@
Mit welchen anderen Sensor Informationen oder allgemeinen Angaben man die Daten fusionieren muss, um Kollisionen vermeiden zu können und wie man die Daten der Sensoren verarbeiten muss, um eine sinnvolle digitale Projektion, des Arbeitsraums vom \acrshort{UR} zu erhalten.
-\newpage
-\section{Stand der Technik}
+\cleardoublepage
+\chapter{Stand der Technik}
Im Bereich der \acrlong{Cobots} sind in den letzten Jahren große Fortschritte gemacht worden. Das liegt zum Teil daran, dass der Bedarf nach \acrshort{Cobots} in den letzten Jahren konstant gewachsen ist und somit auch die Finanziellen Mittel, die der Forschung in dem Bereich zu Verfügung stehen.
\begin{figure}[h]
\centering
@@ -111,43 +49,80 @@
\end{figure}
Zum anderen geht mit der Industriellen Revolution -Industrie 4.0- ein steigender Bedarf von personalisierten Produkten einher, die das etablieren von Routinen in der Produktion unattraktiv machen. Das Bedeutet, dass \acrshort{Cobots} besser werden müssen in der Wahrnehmung ihrer Umgebung, damit man sie universeller einsetzbar machen kann.\cite{liu_application_2024}
- \subsection{Kollisionsvermeidung und Kollisionserkennung}
+ \section{Kollisionsvermeidung und Kollisionserkennung}
+ %Warum ist Kollisionsvermeidung und Kollisionserkennung überhaupt wichtig?
Roboterarme müssen große Kräfte aufbringen können, um Lasten zu heben. Ein Roboterarm ohne Sensoren hat keine Möglichkeit zu erkennen, ob er die erwünschte \gls{Pose} des Endeffektors erreicht hat. Außerdem wird die Kraft, die von einem Roboterarm auf ein \gls{KO} ausgeübt wird nur von der Motorleistung beschränkt, was Gefahren für Mensch und Material birgt.
\\
+ %Paper zur Kollisionsdetektion nur mit Drehgeber und Drehmoment-Wächter
Mit einem Drehgeber kann ein serieller Roboter den absolut Winkel der Gelenke bestimmen und dadurch mit anderen geometrischen Eigenschaften der Kinematik die Absolut Position der einzelnen Achsen bestimmen. Durch die Verwendung von Drehmoment-Wächtern und Angaben zu Schwerpunkten, Gewicht und \gls{Pose} der einzelnen Achsen kann ein Soll-Drehmoment für jedes Gelenk in Drehrichtung bestimmt werden und mit dem Ist-Drehmoment verglichen werden. Unter der Voraussetzung das der Endeffektor kein Objekt gegriffen hat kann man davon ausgehen, dass es bei einer Abweichung, die nicht auf Beschleunigungen zurück zu führen ist, zu einer Kollision gekommen ist.\cite{popov_collision_2017}
\\
Drehgeber und Drehmoment-Wächter sind propriozeptive Sensoren und können nur Eigenschaften messen die sich auf den inneren Status des Roboterarms beziehen. \cite{noauthor_robotics_2021}
\\
+ %Unterschiedliche Paper zum Stand dere Technik in der Kollisionsvermeidung
\indent Bei der Kollisionsvermeidung kann man unterschiedliche Ansätze verfolgen.
Eine der Optionen ist mit einer Wärmebild Kamera einen Menschen zu identifizieren und dann mit dem Bild einer \acrfull{RGB-D} zu überlagern um die Position des Menschen im \gls{AR} zu bestimmen.\cite{al_naser_fusion_2022}
\\
In einem anderen Paper wurde Kollisionsvermeidung erreicht in dem man den Roboter langsamer werden ließ wenn er einem Menschen zu nahe kam. Die Distanz hat man gemessen in dem man mit einer \acrfull{KI} den Video Input von einer Kinect Kamera ausgewertet hat.\cite{amaya-mejia_vision-based_2022}
\\
- Eine Methode zu Kollisionsvermeidung die meinem Projekt ähnelt ist die Sensor Fusion von \acrfull{LIDAR}, \acrfull{RGB} und Drehgeber Sensor Daten zur Bestimmung des Abstandes von Mensch und Roboter. Bei Anwendungen mit schwer last Robotern, deren Bremsweg zu lang wäre um sich auf Kollisionserkennung zu verlassen. \cite{rashid_local_2020}
-
- \subsection{Laserscanner und Kamerasysteme}
- Laserscanner machen sich drei unterschiedliche Physikalische Prinzipien zu nutze.
+ Eine Methode zu Kollisionsvermeidung die meinem Projekt ähnelt, bestimmt die Distanz zwischen Mensch und Maschine in dem es die Sensordaten von \acrfull{LIDAR}-Sensor, \acrfull{RGB} und Drehgeber Sensor fusioniert. Das ist besonders hilfreich bei Anwendungen mit schwer last Robotern, deren Bremsweg zu lang wäre, um sich auf Kollisionserkennung zu verlassen. \cite{rashid_local_2020}
+ \newpage
+ \section{Laserscanner (LiDAR)}
+ %Wie funktionieren Laserscanner?
+ Laserscanner machen sich unterschiedliche Physikalische Prinzipien zu nutze, um Abstände zu messen. Im Folgenden werde ich auf drei Vorgehensweisen näher eingehen.
\\
- Die \acrshort{ToFs} messen die Zeit, die ein Emittierter Lichtimpuls braucht um zu einer Oberfläche zu reisen, reflektiert zu werden und vom Receiver des Scanners wieder wahrgenommen zu werden.
+ Die \acrshort{ToFs} messen die Zeit, die ein Emittierter Lichtimpuls braucht, um zu einer Oberfläche zu "fliegen", von der Oberfläche reflektiert zu werden und vom Receiver (in Abbildung 2: unten) des Scanners wieder wahrgenommen zu werden.
+ Mit Lichtgeschwindigkeit und der Zeit lässt sich dann der gesamte Weg des Lichtes errechnen und durch halbieren des Weges lässt sich dann die Distanz zum Ziel bestimmen.
+ \begin{figure}[h]
+ \centering
+ \includegraphics[scale=0.15]{images/20200501_Time_of_flight.svg.png}
+ \caption{The way a ToF-Sensor works, Source:\cite{noauthor_file20200501_2020}}
+ \label{ToF Explained}
+ \end{figure}
\\
- Die zweite Methode zum messen von Abständen mit Lasern macht sich die Optische Interferenz zu nutze. Es werden zwei Lichtimpulse mit unterschiedlicher Wellenlänge emittiert und basierend darauf, in wie weit sich die Lichtwellen gegenseitig verstärken oder auslöschen auf dem weg vom Sensor zu Reflexions-Fläche und zurück. Kann die Distanz ermittelt werden.
+ Die zweite Methode zum messen von Abständen mit Lasern macht sich die Optische Interferenz zu nutze. Es werden zwei Lichtimpulse mit unterschiedlicher Wellenlänge emittiert und basierend darauf, in wie weit sich die Lichtwellen gegenseitig verstärken oder auslöschen auf dem weg vom Sensor zur Reflexions-Fläche und zurück. Kann die Distanz ermittelt werden.
\\
Bei der dritten Methode zur Abstandsbestimmung mit Lasern wird der Laserstrahl geneigt und basierend darauf wo der Laser auf einem "großflächigen" Detektor auftrifft kann der Abstand zwischen Sensor und Messobjekt trianguliert werden.
\cite{li_common_2019} \cite{jain_survey_nodate}
-\section{Umsetzung}
- \subsection{Vorgehensweise}
- \subsection{Software}
- \subsubsection{Arduino}
- \subsubsection{Robot Operating System 2}
- \subsubsection{RVIZ2 und Gazebo Classic}
- \subsection{Hardware}
- \subsubsection{Elektronisch}
- \subsubsection{Mechanisch}
-\section{Ergebnis}
-\section{Ausblick}
+ \\ \indent
+ %Welche Technischen Möglichkeiten gibt es um aus 1-Dimensionalen ToF-Sensoren eine räumliche Wahrnehmung zu generiren?
+ Im Weiteren werde ich mich auf die Fortschritte der Laserscanner, die sich das Time-of-Flight Prinzip zu eigen machen fokussieren. \cite{raj_survey_2020}
+ \\
+ Um aus einem 1-Dimensionalen \acrshort{ToF} eine räumliche Wahrnehmung zu schaffen muss man mehrere Punkte messen und in einem Referenz Koordinatensystem beschreiben. Als Koordinaten Ursprung bietet sich zur Simplifizierung die Position des Sensors selbst an.
+ Wenn man nun die Orientierung des Sensormoduls ändert und die Absolut Position des \acrfull{LRF} bei behält, dann kann man mit genügend Punkten und mit dem richtigen Werkzeugen zur Visualisierung ein 3-Dimensionales Abbild der Umgebung schaffen.
+ Beim Optomechanischen Scannen wird die Orientierung des Emitters und des Empfängers selbst nicht verändert, sondern mit Hilfen von Spiegeln und Prismen wird der ausgehende Laserstrahl und die eingehende Reflektion abgelenkt, um die Distanz von unterschiedlichen Punkten zum Sensor zu messen. In Abbildung 3 kann man zwei Beispiele für einen Optomechanischen 2D-\acrshort{LIDAR} sehen. Der Grundsätzliche Aufbau von den beiden ist sehr ähnlich. Man verwendet in beiden \acrshort{LIDAR} einen um 45° zu seiner Drehachse geneigten Spiegel, um den Laserstrahl und seine Reflektion abzulenken. In Abbildung 6a hat man den Spiegel unterhalb des Emitters und Empfängers positioniert und man hat im Gegensatz zu dem Aufbau in Abbildung in 6b den Emitter und Empfänger 90° versetz zu einander angeordnet.\cite{raj_survey_2020}
+ \begin{figure}[h]
+ \centering
+ \includegraphics[scale=0.1]{images/Optomechanical LiDAR.png}
+ \caption{Beispiel für einen Optomechanischen 2D-\acrshort{LIDAR}, Source:\cite{raj_survey_2020}}
+ \label{Opto LiDAR Example}
+ \end{figure}
+ \\
+ Beim Elektromechanischen Scannen verwendet man Servomotoren um mit einem 2-Dimensionalen Optomechanischen Scanner eine 3-Dimensionale Aufnahme der Umgebung zu schaffen. Das haben \cite{surmann_autonomous_2003} erreicht in dem sie 2D-Scanner im Ganzen um eine seiner Achsen haben rotieren lassen.
+ \\
+ Beim Scannen mit \acrfull{MEMS} verwendet man ein Spiegel Array zum Ablenken, des Laserstrahls und seiner Reflektion. Jedoch konnte bei \cite{niclass_design_2012} nur eine geringe \acrfull{FOV} von 15° in der Vertikale und 11° in der Horizontalen erreicht werden. Zudem wird in \cite{raj_survey_2020} erwähnt, dass eine \acrshort{FOV} von 40° in der Diagonalen nicht übertroffen werden konnte und dass \acrshort{MEMS} basierte \acrshort{LIDAR} anfällig gegenüber Vibrationen sind.
+ \\
+ Die letzte Art von \acrshort{ToF}, die ich im Rahmen dieses Kapitels berücksichtigen möchte ist der Solid-State Scanner. Der Vorteil von dieser Art Scanner ist, dass er keine sich bewegende Teile besitzt und sehr große Scann raten von bis zu 600000 Punkten/s erreichen kann.\cite{noauthor_vlp_nodate}
+ Der Sensor, den ich im Rahmen meines Praxisprojekts verwende, fällt auch in die Kategorie der Solid-State Scanner. Der VL53L7CX ist Flash-Sensor, dass bedeutet das die Leuchtdiode des Sensors einen ungerichteten Lichtimpuls aussendet. Die räumliche Wahrnehmung des Sensors erreicht man durch den speziellen Aufbau des Empfängers. Der Detektor besitzt 64 Kanäle die alle etwas unterschiedlich ausgerichtet sind. Dadurch sehen die einzelnen Kanäle nur ihre eigene festgelegte Richtungen innerhalb einer 40° Horizontalen und 40° Vertikalen \acrshort{FOV}\cite{noauthor_vl53l7cx_nodate}. In Abbildung 4 kann man das Package vom \acrfull{IC} des VL53L7CX sehen.
+ \\
+ \begin{figure}[h]
+ \centering
+ \includegraphics[scale=0.2]{images/VL53L7CX_Package.jpg}
+ \caption{Package eines VL53L7CX, Source:\cite{noauthor_vl53l7cx_nodate}}
+ \label{VL53L7CX Package}
+ \end{figure}
+
+\chapter{Umsetzung}
+ \section{Vorgehensweise}
+ \section{Software}
+ \subsection{Arduino}
+ \subsection{Robot Operating System 2}
+ \subsection{RVIZ2 und Gazebo Classic}
+ \section{Hardware}
+ \subsection{Elektronisch}
+ \subsection{Mechanisch}
+\chapter{Ergebnis}
+\chapter{Ausblick}
-\cleardoublepage
-\printglossary[title={Glossary}]
\cleardoublepage
\bibliography{BA}
diff --git a/Praxiprojekt_Bericht/titelangaben.tex b/Praxiprojekt_Bericht/titelangaben.tex
new file mode 100644
index 0000000000000000000000000000000000000000..76fff6fc09f449cfd2100df64628a213ea1ec3de
--- /dev/null
+++ b/Praxiprojekt_Bericht/titelangaben.tex
@@ -0,0 +1,13 @@
+% Angaben für Titelseite
+\arbeitstyp{Praxisprojekt Bericht}
+\fachbereich{Maschinenbau und Mechatronik}
+\studiengang{Mechatronik}
+\vertiefung{-}
+\titel{Mechatronische Entwicklung eines extrinsischen\\ Time-of-Flight-Sensorsystems und Fusion mit intrinsischen Sensoren zur Kollisionsvermeidung in der Robotik}
+\autor{René Ebeling}
+\matrnr{3279194}
+\betreuer{Prof. Dr. rer. nat. Klaus-Peter Kämper}
+\cobetreuer{-}
+\extbetreuer{Sophie Charlotte Keunecke M.Sc.}
+\datum{\today}
+\dank{Dank, Bruder. Viel Ehre für dich.}