diff --git a/Praxiprojekt_Bericht/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino b/Bachelorarbeit/Bachelorarbeit/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino similarity index 100% rename from Praxiprojekt_Bericht/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino rename to Bachelorarbeit/Bachelorarbeit/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino diff --git a/Praxiprojekt_Bericht/4_vl53l7cx_clean_with_STlibrary.ino b/Bachelorarbeit/Bachelorarbeit/4_vl53l7cx_clean_with_STlibrary.ino similarity index 100% rename from Praxiprojekt_Bericht/4_vl53l7cx_clean_with_STlibrary.ino rename to Bachelorarbeit/Bachelorarbeit/4_vl53l7cx_clean_with_STlibrary.ino diff --git "a/Praxiprojekt_Bericht/Assets/Kapitel/K1 - Einf\303\274hrung.tex" "b/Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/K1 - Einf\303\274hrung.tex" similarity index 100% rename from "Praxiprojekt_Bericht/Assets/Kapitel/K1 - Einf\303\274hrung.tex" rename to "Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/K1 - Einf\303\274hrung.tex" diff --git a/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/K2 - Stand der Technik.tex b/Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/Kapitel/K2 - Stand der Technik.tex similarity index 100% rename from Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/K2 - Stand der Technik.tex rename to Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/Kapitel/K2 - Stand der Technik.tex diff --git a/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/K3 - Grundlagen und Methodik.tex b/Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/Kapitel/Kapitel/K3 - Grundlagen und Methodik.tex similarity index 100% rename from Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/K3 - Grundlagen und Methodik.tex rename to Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/Kapitel/Kapitel/K3 - Grundlagen und Methodik.tex diff --git a/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/K4 - Umsetzung.tex b/Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/Kapitel/Kapitel/Kapitel/K4 - Umsetzung.tex similarity index 100% rename from Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/K4 - Umsetzung.tex rename to Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/Kapitel/Kapitel/Kapitel/K4 - Umsetzung.tex diff --git a/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/Kapitel/K5 - Bewertung und Ausblick.tex b/Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/Kapitel/Kapitel/Kapitel/Kapitel/K5 - Bewertung und Ausblick.tex similarity index 100% rename from Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/Kapitel/K5 - Bewertung und Ausblick.tex rename to Bachelorarbeit/Bachelorarbeit/Assets/Kapitel/Kapitel/Kapitel/Kapitel/Kapitel/K5 - Bewertung und Ausblick.tex diff --git a/Praxiprojekt_Bericht/Assets/titelangaben.tex b/Bachelorarbeit/Bachelorarbeit/Assets/titelangaben.tex similarity index 100% rename from Praxiprojekt_Bericht/Assets/titelangaben.tex rename to 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wikipedia. + +\bibitem{noauthor_pico-series_nodate} +Pico-series microcontrollers - raspberry pi documentation. + +\bibitem{noauthor_robotics_2021} +Robotics - vocabulary. + +\bibitem{hering_sensoren_2018} +Sensoren in wissenschaft und technik. + +\bibitem{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025} +sparkfun/{SparkFun}\_vl53l5cx\_arduino\_library. +\newblock original-date: 2021-10-22T21:06:36Z. + +\bibitem{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate} +tof\_imager\_micro\_ros/teensy\_pcl\_publisher at humble · + adityakamath/tof\_imager\_micro\_ros · {GitHub}. + +\bibitem{noauthor_tutorials_nodate} +Tutorials — {ROS} 2 documentation: Humble documentation. + +\bibitem{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025} +{UniversalRobots}/universal\_robots\_ros2\_gz\_simulation. +\newblock original-date: 2021-12-15T12:15:45Z. + +\bibitem{noauthor_vl53l7cx_nodate} +{VL}53l7cx - time-of-flight ({ToF}) 8x8 multizone ranging sensor with 90 + degrees {FoV} - {STMicroelectronics}. + +\bibitem{noauthor_vlp_nodate} +{VLP} 16 {\textbar} ouster. + +\bibitem{al_naser_fusion_2022} +Ibrahim Al~Naser, Johannes Dahmen, Mohamad Bdiwi, and Steffen Ihlenfeldt. +\newblock Fusion of depth, color, and thermal images towards digital twins and + safe human interaction with a robot in an industrial environment. +\newblock In {\em 2022 31st {IEEE} International Conference on Robot and Human + Interactive Communication ({RO}-{MAN})}, pages 532--537. +\newblock {ISSN}: 1944-9437. + +\bibitem{amaya-mejia_vision-based_2022} +Lina~María Amaya-Mejía, Nicolás Duque-Suárez, Daniel Jaramillo-Ramírez, + and Carol Martinez. +\newblock Vision-based safety system for barrierless human-robot collaboration. +\newblock In {\em 2022 {IEEE}/{RSJ} International Conference on Intelligent + Robots and Systems ({IROS})}, pages 7331--7336. +\newblock {ISSN}: 2153-0866. + +\bibitem{jain_survey_nodate} +Siddharth Jain. +\newblock A survey of laser range finding. + +\bibitem{li_common_2019} +Peng Li and Xiangpeng Liu. +\newblock Common sensors in industrial robots: A review. +\newblock 1267(1):012036. + +\bibitem{liu_application_2024} +Li~Liu, Fu~Guo, Zishuai Zou, and Vincent~G. Duffy. +\newblock Application, development and future opportunities of collaborative + robots (cobots) in manufacturing: A literature review. +\newblock 40(4):915--932. +\newblock Publisher: Taylor \& Francis \_eprint: + https://doi.org/10.1080/10447318.2022.2041907. + +\bibitem{niclass_design_2012} +Cristiano Niclass, Kota Ito, Mineki Soga, Hiroyuki Matsubara, Isao Aoyagi, + Satoru Kato, and Manabu Kagami. +\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(11):11863--11881. +\newblock Publisher: Optica Publishing Group. + +\bibitem{popov_collision_2017} +Dmitry Popov, Alexandr Klimchik, and Nikolaos Mavridis. +\newblock Collision detection, localization \& classification for industrial + robots with joint torque sensors. +\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. +\newblock Local and global sensors for collision avoidance. +\newblock In {\em 2020 {IEEE} International Conference on Multisensor Fusion + and Integration for Intelligent Systems ({MFI})}, pages 354--359. + +\bibitem{surmann_autonomous_2003} +Hartmut Surmann, Andreas Nüchter, and Joachim Hertzberg. +\newblock An autonomous mobile robot with a 3d laser range finder for 3d + exploration and digitalization of indoor environments. +\newblock 45(3):181--198. + +\end{thebibliography} diff --git a/Bachelorarbeit/Bachelorarbeit/ba.blg b/Bachelorarbeit/Bachelorarbeit/ba.blg new file mode 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{1.3}Forschungsfrage}{4}{section.1.3}% +\contentsline {section}{\numberline {1.4}Aufbau der Arbeit}{5}{section.1.4}% +\contentsline {chapter}{\numberline {2}Stand der Technik}{6}{chapter.2}% +\contentsline {section}{\numberline {2.1}Kollisionsvermeidung und Kollisionserkennung}{7}{section.2.1}% +\contentsline {section}{\numberline {2.2}Laserscanner (LiDAR)}{8}{section.2.2}% +\contentsline {chapter}{\numberline {3}Umsetzung}{11}{chapter.3}% +\contentsline {section}{\numberline {3.1}Vorgehensweise}{11}{section.3.1}% +\contentsline {section}{\numberline {3.2}Software}{11}{section.3.2}% +\contentsline {subsection}{\numberline {3.2.1}Arduino}{11}{subsection.3.2.1}% +\contentsline {subsection}{\numberline {3.2.2}Robot Operating System 2}{14}{subsection.3.2.2}% +\contentsline {subsection}{\numberline {3.2.3}RVIZ2 und Gazebo Classic}{16}{subsection.3.2.3}% +\contentsline {section}{\numberline {3.3}Hardware}{16}{section.3.3}% +\contentsline {subsection}{\numberline 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mode 100644 index 0000000000000000000000000000000000000000..6dc5ee4b0aa5edb552c784ca7283e4684bbff229 --- /dev/null +++ b/Bachelorarbeit/Bachelorarbeit/text.tex @@ -0,0 +1,265 @@ + +\chapter{Einleitung} + % Zielsetzung und Kontext: + % Was ist das Ziel des Berichts? + In diesem Bericht werde ich meine Vorgehensweise zur Entwicklung eines mechatronischen Systems + zur Kollisionsvermeidung beschreiben und seine Funktionsweise erläutern. + % Warum wurde das Thema gewählt? + \\ \indent Aktuell werden Kollisionen von \acrfull{Cobots} häufig mithilfe von intrinsischen Sensoren detektiert, jedoch nicht vermieden. + % Was ist das Ziel des Berichts? + \\ \indent Das Ziel des Sensorsystems ist es, ergänzend zur Kollisionsdetektion, die meisten Kollisionen zu vermeiden. + Das Vermeiden von Kollisionen ermöglicht es dem \acrshort{Cobot}, nach einer vermiedenen Kollision eine neue Route zu planen und auszuführen, + um seine Aufgabe trotz der beinahe Kollision zu erfüllen. + % Welche Methoden oder Ansätze wurden verwendet, um die Ziele zu erreichen oder die Forschung durchzuführen? + \\ \indent Das System verwendet \acrfull{ToFs} von STMicroelectronics zur Abstandsmessung von potentiellen Kollisionsobjekten. + Die Messwerte werden auf einem Linux-basierten persönlichen Computer (\acrshort{PC}) ausgewertet, visualisiert und zusammen mit anderen Sensorinputs interpretiert. + Zur Testung des Systems habe ich den Sensorinput der Drehgebern des \acrfull{UR} in Gazebo Classic simuliert und die Messwerte der \acrshort{ToFs} in einem Testaufbau generiert. + % Welche Schlussfolgerungen wurden basierend auf den Ergebnissen gezogen? + \\ \indent \acrshort{ToFs} eignen sich zur Überwachung des Arbeitsraums eines Roboters, + 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. + +\section{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. + Der Vorteil, den die extrinsische Sensorik mit sich bringt, ist das man nicht mehr auf die Detektion von Kollisionen beschränkt ist und auf unterschiedliche Arten präventiv eine Kollision verhindern kann. + \\ + %Spezifizierung des Themas + \indent In der Robotik werden unterschiedliche Arten von Sensoren verwendet um \acrshort{Cobots} sicherer zu machen. Im Groben unterscheidet man zwischen intrinsischen und exterozeptiven Sensoren.\cite{noauthor_robotics_2021} Die intrinsischen Sensoren betrachten nur, was innerhalb eines Roboters gemessen werden kann. Das wäre zum Beispiel die Position der Gelenke, die vom Drehgeber eingelesen wird oder das Drehmoment, dass vom Drehmoment-Wächter in den Gelenken bestimmt wird. Mit Hilfe der gemessenen Drehmomente wird häufig erkannt, ob es zu einer Kollision mit umliegenden Objekten gekommen sein könnte.\cite{popov_collision_2017} Die Extrinsischen Sensoren betrachten die Umgebung des Roboters und liefern Informationen zu möglichen Kollisionsobjekten oder auch zu Objekten die mit dem Endeffektor des Roboters gegriffen werden sollen. + Beispiele für extrinsische Sensoren wären unterschiedliche Arten von Kameras, Laserscannern (\acrshort{ToFs}) oder Ultraschallsensoren.\cite{li_common_2019} + \\ + %Kern der Arbeit + \indent Ich habe für die Erkennung von potentiellen Kollisionsobjekten in Reichweite der seriellen Kinematik vom \acrshort{UR} \acrshort{ToFs} von STMicroelectronics verwenden.\cite{noauthor_vl53l7cx_nodate} + \\ + Die \acrshort{ToFs} senden einen Lichtimpuls aus und messen wie lange das Infrarot-Licht braucht um wieder vom Empfänger wahrgenommen zu werden.\cite{hering_sensoren_2018} + Mein bestreben ist es herauszufinden in wie Weit \acrshort{ToFs} Hindernisse wahrnehmen können. + 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. +\section{Zielsetzung} + % – Was ist konkret das Problem, das gelöst werden soll? + % – Was ist das Ziel der Arbeit? + Es soll mithilfe von ToF-Sensoren der serieller Roboter gestoppt werden wenn ein Mensch zu dicht am Roboter ist. +\section{Forschungsfrage} + Inwieweit lassen sich mit ToF-Sensoren Kollisionen verhindern? + +\section{Aufbau der Arbeit} + Zunächst wird in dieser Arbeit auf alternative Lösungen zum Erreichen von Kollisionsvermeidung eingegangenen. Im Anschluss werden die Anforderungen an das Sensorsystem näher definiert. Im Kapitel ``Umsetzung'' wird daraufhin erläutert wie die Anforderungen erfüllt werden. Im letzten Kapitel wird festgehalten, ob die Anforderungen erfüllt wurden und es wird ein Ausblick gegeben wie das System verbessert werden kann. + +\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 + \includegraphics[scale=0.5]{images/Cobots-Forecast-Global-Market-1024x576.jpg} + \caption{Market Outlook for Cobots. Source:\cite{noauthor_can_nodate}} + \label{Cobot Growth} + \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} + \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 Pose des Endeffektors erreicht hat. Außerdem wird die Kraft, die von einem Roboterarm auf ein Kollisionsobjekt 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 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 Arbeitsraum 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, 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 "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 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} + \\ \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 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 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} + Um erst mal herauszufinden, ob mein Vorhaben möglich ist habe ich auf Github nach ähnlichen Projekten gesucht. \cite{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate} Da ich in meinem Projekt mehrere Sensoren verwenden will, wurde mir von meiner externen Betreuerin, Sophie Charlotte Keunecke, für die Umsetzung der Raspberry Pi Pico \cite{noauthor_pico-series_nodate} \acrfull{MCU} vorgeschlagen, da dieser \acrshort{MCU} zwei \acrfull{I2C} Interfaces besitzt. Zur Visualisierung der Daten will ich das \acrfull{RVIZ} Programm auf einem \acrfull{NUC} mit Ubuntu 22.04 mit \acrfull{ROS} Humble benutzen. + \\ + Bei meinem ersten Versuch einen Sensor zu initialisieren und Daten auszulesen habe ich ein Beispiel aus der VL53L5CX Bibliothek von SparkFun verwendet.\cite{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025} Später bin ich dann zu der offiziellen Arduino Bibliothek vom VL53L7CX von STMicroelectronics gewechselt, da ich mich entschieden hatte vom VL53l5CX auf den VL53L7CX zu wechseln. + Der VL5L7CX hat eine grosesre Horizontale- und Vertikale-\acrshort{FOV} von $60\circ$ \cite{noauthor_vl53l7cx_nodate} + + \section{Software} + \subsection{Arduino} + Die folgende Software steuert mehrere \acrshort{ToFs} vom Typ VL53L7CX mit einem \acrshort{MCU}. + Die Sensoren kommunizieren über \acrshort{I2C}, wobei zwei separate \acrshort{I2C}-Busse DEV\_I2C0 und DEV\_I2C1 verwendet werden. + Die Sensordaten werden in einem \acrfull{JSON}-Format verarbeitet und über die serielle Schnittstelle ausgegeben. + \\ + Das Projekt verwendet die folgenden Bibliotheken: + \begin{itemize} + \setlength{\itemsep}{0pt} % Reduces space between items + \item Arduino.h: Grundlegende Arduino-Funktionalität + \item Wire.h: I2C-Kommunikation + \item ArduinoJson.h: Serialisierung der Sensordaten in \acrshort{JSON}-Format + \item vl53l7cx\_class.h: Ansteuerung der VL53L7CX-Sensoren + \item 74HC154.h: Steuerung des Multiplexers + \end{itemize} + Im Folgenden möchte ich auf einige Funktionen aus dem C++ eingehen. + Die Funktion aus \ref{Snippet LPN} steuert die \acrshort{LPN} Pins der Sensoren, um die \acrshort{I2C}-Kommunikation im Low-Power-Mode an- oder auszuschalten. + Sie setzt die entsprechenden Bits in zwei 8-Bit-Bytes und sendet diese über shiftOut() an ein Schieberegister. + \begin{lstlisting}[caption={Funktion zum setzen eines LPn Pin},label= Snippet LPN,style=customcpp] + void LPn(uint16_t dataPin, uint16_t latchPin, uint16_t clockPin, uint16_t Pin, bool on) { + uint8_t Pin_byte1 = 0b00000000; + uint8_t Pin_byte2 = 0b00000000; + + if (Pin <= 7) { + Pin_byte1 |= (on << Pin); + } else if (Pin <= 15) { + Pin_byte2 |= (on << (Pin - 8)); + } + + digitalWrite(latchPin, LOW); + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte2); + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte1); + digitalWrite(latchPin, HIGH); + } + \end{lstlisting} + Die Funktion in \ref{Snippet Init} aktiviert den Sensor, setzt die \acrshort{I2C}-Adresse, die Auflösung und die Messfrequenz. Nach der Konfiguration wird das Ranging gestartet. Als Parameter benötigt die Funktion ein Objekt der Klasse VL53L7CX, eine neue \acrshort{I2C}-Adresse und den \acrshort{LPN}-Pin des Sensors, der initialisiert werden soll. + \begin{lstlisting}[caption={Funktion zum initialisieren der Sensoren im Setup},label=Snippet Init,style=customcpp] + void initializeSensorInterface0(VL53L7CX &sensor, uint16_t sensorAddress, int lpnPin) { + LPn(dataPin0, latchPin0, clockPin0, lpnPin, true); // Activate sensor power + delay(wait_for_i2c); + sensor.begin(); + delay(wait_for_i2c); + sensor.init_sensor(); + delay(wait_for_i2c); + + // Set I2C address + sensor.vl53l7cx_set_i2c_address(sensorAddress << 1); + delay(wait_for_i2c); + + // Set resolution and frequency + sensor.vl53l7cx_set_resolution(VL53L7CX_RESOLUTION_8X8); + delay(wait_for_i2c); + sensor.vl53l7cx_set_ranging_frequency_hz(ranging_frequency); + delay(wait_for_i2c); + + // Start ranging + sensor.vl53l7cx_start_ranging(); + delay(wait_for_i2c); + + // Reset LPN + LPn(dataPin0, latchPin0, clockPin0, lpnPin, false); + } + \end{lstlisting} + Die letzte Funktion auf, die Ich in diesem Kapitel eingehen möchte, ist in \ref{Snippet Prozess}. + Diese Funktion ruft die Messwerte des \acrshort{ToF}s ab und speichert sie in einem \acrshort{JSON}-Array. + Die \acrfull{LED} wird während der Verarbeitung eingeschaltet und danach wieder ausgeschaltet. + Die Sensordaten werden in einer Matrix verarbeitet und im \acrshort{JSON}-Format gespeichert. Am Ende der Loop()-Funktion werden die Daten, wenn jeder Sensor ein Array aus Sensordaten zum \acrshort{JSON}-String hinzugefügt hat, seriell mit einer Baudrate von 115200 an den \acrshort{NUC} weitergegeben. Als Parameter benötigt die Funktion ein Objekt der Klasse VL53L7CX, eine leere Instanz des Sensordaten Formats, das \acrshort{JSON}-Array in dem die Daten gespeichert werden und den Schlüssel mit dem die Daten vom Programm auf dem \acrshort{NUC} aus dem \acrshort{JSON}-Array extrahiert werden können. + \begin{lstlisting}[label=Snippet Prozess, style=customcpp, caption={processSensorData - Verarbeitung der Sensordaten}] + void processSensorData(VL53L7CX &sensor, VL53L7CX_ResultsData &results, const JsonArray& data, const char* sensorKey) { + uint8_t NewDataReady = 0; + uint8_t status; + + // Wait for data to be ready + do { + status = sensor.vl53l7cx_check_data_ready(&NewDataReady); + } while (!NewDataReady); + + // Turn LED on to indicate data processing + digitalWrite(LedPin, HIGH); + + // If data is ready, get the ranging data and store it in the JSON array + if ((!status) && (NewDataReady != 0)) { + status = sensor.vl53l7cx_get_ranging_data(&results); + JsonArray sensorData = doc[sensorKey].to<JsonArray>(); + + // Process the results and add them to the JSON array + for (int y = 0; y <= imageWidth * (imageWidth - 1); y += imageWidth) { + for (int x = imageWidth - 1; x >= 0; x--) { + sensorData.add(results.distance_mm[VL53L7CX_NB_TARGET_PER_ZONE * (x + y)]); + } + } + } + // Turn LED off to indicate processing is done + digitalWrite(LedPin, LOW); + } + \end{lstlisting} + \subsection{Robot Operating System 2} + \acrfull{ROS} ist ein Open Source Framework, dass beim erstellen von Anwendungen für die Robotik helfen soll. + Innerhalb des Framework erstellt man Packages. Packages sind Ansammlungen von Nodes, die in unterschiedlichen Programmiersprachen geschrieben sein können. + Innerhalb eines Packages verwendet man für Nodes nur eine Programmiersprache. Nodes können in Dauerschleifen ausgeführt werden und während sie laufen durch \acrshort{ROS}-Subscriber neue Daten erhalten. Dieser Daten-Austausch geschieht unter anderem über Topics, die von \acrshort{ROS}-Pulishern den Subscribern zur Verfügung gestellt werden. In \ref{Topic_Viz} wird der Daten Austausch dargestellt. + \\ + \begin{figure}[h] + \centering + \includegraphics[scale=0.65]{images/Topic_explained.png} + \caption{Visualisierung von einem Topic, Source:\cite{noauthor_tutorials_nodate}} + \label{Topic_Viz} + \end{figure} + + Im Rahmen meines Projekts habe ich ein Package erstellt, dass die Daten, die seriell über eine \acrfull{USB} Verbindung vom Raspberry Pi Pico übermittelt werden, aufbereitet und als Topic veröffentlicht werden. Das Package besteht aktuell aus 2 Nodes. + \\ + Die erste \acrshort{ROS} Node liest Sensordaten über eine serielle Verbindung aus, verarbeitet sie und veröffentlicht sie als PointCloud2-Nachricht. Die Daten stammen von mehreren VL53L7CX-\acrshort{ToFs} und werden als \acrshort{JSON}-String empfangen. Die Node interpretiert die \acrshort{JSON}-Daten, konvertiert die Distanzwerte in 3D-Koordinaten und führt eine Rotationskorrektur durch, um die Sensordaten in ein einheitliches Koordinatensystem zu überführen. Anschließend werden die Punkte zu einer Punktwolke zusammengeführt und im \acrshort{ROS}-Frame "vl53l7cx\_link" veröffentlicht. Die Hauptfunktionen umfassen das Einlesen und Verarbeiten der seriellen Daten, die Berechnung der Punktkoordinaten aus den Sensordaten sowie die Generierung und Veröffentlichung der Punktwolke (PointCloud2) Nachricht. + \\ + Die zweite \acrshort{ROS}-Node implementiert Code zur Verarbeitung von Punktwolken in Bezug auf ein \acrshort{UR}10e-Roboterarmmodell. Die Node empfängt Punktwolken über das Topic \acrfull{PCD}, transformiert diese in den Bezugssystemen des Roboters und überprüft, ob die Punkte innerhalb der kollisionsrelevanten Mesh-Modelle des Roboters liegen. + Dazu werden die statischen Meshes der Roboterglieder geladen und skaliert. Beim Eintreffen einer neuen Punktwolke werden die Transformationsdaten des Roboters aus dem TF-Tree ausgelesen und die Meshes entsprechend transformiert. Anschließend wird für jeden Punkt geprüft, ob er innerhalb eines der Robotermeshes liegt. Die als außerhalb und innerhalb des Roboters klassifizierten Punkte werden getrennt und als neue Punktwolken auf den Topics /valid\_from\_perspective und /invalid\_from\_perspective veröffentlicht. Logging-Informationen geben die Anzahl der Punkte innerhalb und außerhalb des Roboters aus. + \subsection{RVIZ2 und Gazebo Classic} + RViz2 und Gazebo Classic sind zwei essenzielle Werkzeuge in der Robotik, insbesondere in der ROS 2-Umgebung. + \\ + RViz2 ist ein Visualisierungstool, das Sensordaten, Roboterbewegungen und Umgebungskarten in einer grafischen Oberfläche darstellt. Es ermöglicht das Debuggen und die Interaktion mit Sensordaten sowie die Visualisierung von Transformationsbeziehungen zwischen verschiedenen Robotergelenken und Sensoren. + \\ + Gazebo Classic hingegen ist eine Simulationsumgebung, die realistische physikalische Modelle von Robotern und ihrer Umgebung erstellt. In Gazebo können Kollisionen, Gravitation, Reibung und andere physikalische Effekte simuliert werden, wodurch sich das Verhalten eines Roboters vor dem Einsatz in der realen Welt testen lässt. + \\ + In meinem Projekt habe ich in Gazebo Classic einen \acrshort{UR}10 simuliert und mit MoveIt2 bewegt. + Die Simulation hat dann Topics, die die Position der Gelenke vom Roboter betreffen veröffentlicht. + In der pcl\_rob\_node.py, die überprüft, ob die Sensorwerte den Roboter oder ein potentielles Kollisionsobjekt detektiert haben, wird die Information über die Position des Sensormoduls und die Position der einzelnen Achsen des Roboters benötigt. + Als Vorlage für die Simulation diente \cite{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025}. Jedoch gibt es an dem Modell von Universal Robotics kein Sensor Modul und deswegen habe ich am Modell an den Unterarm des Roboters eine Sensor Halterung angebracht. + \\ + Zur Visualisierung und Validierung der 3D-Koordinaten der Punktwolken benutze ich \acrshort{RVIZ}. + \section{Hardware} + \subsection{Elektronisch} + \subsection{Mechanisch} +\chapter{Fazit und Ausblick} + + +\cleardoublepage +\bibliography{BA} + +\end{document} diff --git a/Bachelorarbeit/Bachelorarbeit/titelangaben.tex b/Bachelorarbeit/Bachelorarbeit/titelangaben.tex new file mode 100644 index 0000000000000000000000000000000000000000..16808766bf0342d052d4eef0402911fded6a69d1 --- /dev/null +++ b/Bachelorarbeit/Bachelorarbeit/titelangaben.tex @@ -0,0 +1,11 @@ +% Angaben für Titelseite +\arbeitstyp{Bachelor Arbeit} +\fachbereich{Maschinenbau und Mechatronik} +\studiengang{Mechatronik} +\titel{Entwicklung eines exterozeptiven Time-of-Flight-Sensorsystems zur Kollisionsvermeidung in der Robotik} +\autor{René Ebeling} +\matrnr{3279194} +\betreuer{Prof. Dr. rer. nat. Klaus-Peter Kämper} +\extbetreuer{Sophie Charlotte Keunecke M.Sc.} +\datum{\today} +\dank{} diff --git a/Praxiprojekt_Bericht/vl53l7cxhalterung.pdf b/Bachelorarbeit/Bachelorarbeit/vl53l7cxhalterung.pdf similarity index 100% rename from Praxiprojekt_Bericht/vl53l7cxhalterung.pdf rename to Bachelorarbeit/Bachelorarbeit/vl53l7cxhalterung.pdf diff --git a/Praxiprojekt Bericht/main.tex b/Bachelorarbeit/Praxiprojekt Bericht/main.tex similarity index 100% rename from Praxiprojekt Bericht/main.tex rename to Bachelorarbeit/Praxiprojekt Bericht/main.tex diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino b/Bachelorarbeit/Praxiprojekt_Bericht/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino new file mode 100644 index 0000000000000000000000000000000000000000..01920671d69764d457117e2ab0ed558eedb1481e --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino @@ -0,0 +1,506 @@ +/** + ****************************************************************************** + * @file VL53L7CX_Sat_HelloWorld.ino + * @author STMicroelectronics + * @version V1.0.0 + * @date 11 November 2021 + * @brief Arduino test application for the STMicrolectronics VL53L7CX + * proximity sensor satellite based on FlightSense. + * This application makes use of C++ classes obtained from the C + * components' drivers. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2021 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + */ +/* + * To use these examples you need to connect the VL53L7CX satellite sensor directly to the Nucleo board with wires as explained below: + * pin 1 (GND) of the VL53L7CX satellite connected to GND of the Nucleo board + * pin 2 (IOVDD) of the VL53L7CX satellite connected to 3V3 pin of the Nucleo board + * pin 3 (AVDD) of the VL53L7CX satellite connected to 5V pin of the Nucleo board + * pin 4 (PWREN) of the VL53L7CX satellite connected to pin A5 of the Nucleo board + * pin 5 (LPn) of the VL53L7CX satellite connected to pin A3 of the Nucleo board + * pin 6 (SCL) of the VL53L7CX satellite connected to pin D15 (SCL) of the Nucleo board + * pin 7 (SDA) of the VL53L7CX satellite connected to pin D14 (SDA) of the Nucleo board + * pin 8 (I2C_RST) of the VL53L7CX satellite connected to pin A1 of the Nucleo board + * pin 9 (INT) of the VL53L7CX satellite connected to pin A2 of the Nucleo board + */ +/* Includes ------------------------------------------------------------------*/ +#include <Arduino.h> +#include <Wire.h> +#include <ArduinoJson.h> +#include <vl53l7cx_class.h> +#include "74HC154.h" +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <assert.h> +#include <stdlib.h> + +#define DEV_I2C1 Wire1 +#define DEV_I2C0 Wire + +#ifndef LED_BUILTIN + #define LED_BUILTIN 13 +#endif +#define LedPin LED_BUILTIN + +#define LPN_PIN0 14 +#define LPN_PIN1 15 +#define LPN_PIN2 9 +#define LPN_PIN3 12 +#define LPN_PIN4 99 +#define LPN_PIN5 99 +#define LPN_PIN6 99 +#define LPN_PIN7 99 +#define LPN_PIN8 99 +#define LPN_PIN9 99 +#define LPN_PIN10 99 +#define LPN_PIN11 99 +#define LPN_PIN12 99 +#define LPN_PIN13 99 +#define LPN_PIN14 99 +#define LPN_PIN15 99 +#define LPN_PIN16 99 +#define LPN_PIN17 99 + +#define LPN_PIN1 15 +#define I2C_RST_PIN 27 + +#define LPN_PIN2 9 + +uint16_t dataPin0 = 18; +uint16_t latchPin0 = 17; +uint16_t clockPin0 = 16; + +uint16_t dataPin1 = 13; +uint16_t latchPin1 = 14; +uint16_t clockPin1 = 15; + +uint16_t sensoraddress0 = 0x30; +uint16_t sensoraddress1 = 0x31; +uint16_t sensoraddress2 = 0x32; +uint16_t sensoraddress3 = 0x33; +uint16_t sensoraddress4 = 0x34; +uint16_t sensoraddress5 = 0x35; +uint16_t sensoraddress6 = 0x36; +uint16_t sensoraddress7 = 0x37; +uint16_t sensoraddress8 = 0x38; + +uint16_t sensoraddress9 = 0x39; +uint16_t sensoraddress10 = 0x3A; +uint16_t sensoraddress11 = 0x3B; +uint16_t sensoraddress12 = 0x3C; +uint16_t sensoraddress13 = 0x3D; +uint16_t sensoraddress14 = 0x3E; +uint16_t sensoraddress15 = 0x3F; +uint16_t sensoraddress16 = 0x40; +uint16_t sensoraddress17 = 0x41; + +uint16_t wait_for_i2c = 50; +uint16_t imageWidth = 8; +uint16_t ranging_frequency = 15; +pin_size_t SDA_PIN1 = 2; +pin_size_t SCL_PIN1 = 3; +JsonDocument doc; + +// Components. +VL53L7CX sensor0(&DEV_I2C0, LPN_PIN0, I2C_RST_PIN); +VL53L7CX sensor1(&DEV_I2C0, LPN_PIN1, I2C_RST_PIN); +VL53L7CX sensor2(&DEV_I2C0, LPN_PIN2, I2C_RST_PIN); +VL53L7CX sensor3(&DEV_I2C0, LPN_PIN3, I2C_RST_PIN); +VL53L7CX sensor4(&DEV_I2C0, LPN_PIN4, I2C_RST_PIN); +VL53L7CX sensor5(&DEV_I2C0, LPN_PIN5, I2C_RST_PIN); +VL53L7CX sensor6(&DEV_I2C0, LPN_PIN6, I2C_RST_PIN); +VL53L7CX sensor7(&DEV_I2C0, LPN_PIN7, I2C_RST_PIN); +VL53L7CX sensor8(&DEV_I2C0, LPN_PIN8, I2C_RST_PIN); +VL53L7CX sensor9(&DEV_I2C1, LPN_PIN9, I2C_RST_PIN); +VL53L7CX sensor10(&DEV_I2C1, LPN_PIN10, I2C_RST_PIN); +VL53L7CX sensor11(&DEV_I2C1, LPN_PIN11, I2C_RST_PIN); +VL53L7CX sensor12(&DEV_I2C1, LPN_PIN12, I2C_RST_PIN); +VL53L7CX sensor13(&DEV_I2C1, LPN_PIN13, I2C_RST_PIN); +VL53L7CX sensor14(&DEV_I2C1, LPN_PIN14, I2C_RST_PIN); +VL53L7CX sensor15(&DEV_I2C1, LPN_PIN15, I2C_RST_PIN); +VL53L7CX sensor16(&DEV_I2C1, LPN_PIN16, I2C_RST_PIN); +VL53L7CX sensor17(&DEV_I2C1, LPN_PIN17, I2C_RST_PIN); + +void blink_led_loop(void); + +void blink_led_loop(void) +{ + do { + // Blink the led forever + digitalWrite(LedPin, HIGH); + delay(wait_for_i2c); + digitalWrite(LedPin, LOW); + } while (1); +} + +/* Setup ---------------------------------------------------------------------*/ + +void setup() +{ + // Led. + pinMode(LedPin, OUTPUT); + pinMode(LPN_PIN0, OUTPUT); + pinMode(LPN_PIN1, OUTPUT); + pinMode(LPN_PIN2, OUTPUT); + pinMode(LPN_PIN3, OUTPUT); + + Serial.begin(115200); + Serial.println("Initialize... Please wait, it may take few seconds..."); + + // Initialize I2C bus. + DEV_I2C0.begin(); + DEV_I2C0.setClock(1000000); + delay(50); + + DEV_I2C1.setSCL(SCL_PIN1); + DEV_I2C1.setSDA(SDA_PIN1); + DEV_I2C1.begin(); + DEV_I2C1.setClock(1000000); + delay(50); + + // Initialize and configure sensors + Serial.println("Initializing sensors..."); + + i2cScanner(); + + initializeSensor(sensor0, sensoraddress0, LPN_PIN0, I2C_RST_PIN); + i2cScanner(); + + initializeSensor(sensor1, sensoraddress1, LPN_PIN1, I2C_RST_PIN); + i2cScanner(); // Perform I2C scan + + initializeSensor(sensor2, sensoraddress2, LPN_PIN2, I2C_RST_PIN); + i2cScanner(); // Perform I2C scan + + initializeSensor(sensor3, sensoraddress3, LPN_PIN3, I2C_RST_PIN); + i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor4, sensoraddress4, LPN_PIN4, I2C_RST_PIN); + // i2cScanner(); + + // initializeSensor(sensor5, sensoraddress5, LPN_PIN5, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor6, sensoraddress6, LPN_PIN6, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor7, sensoraddress7, LPN_PIN7, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor8, sensoraddress8, LPN_PIN8, I2C_RST_PIN); + // i2cScanner(); + + // initializeSensor(sensor9, sensoraddress9, LPN_PIN9, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor10, sensoraddress10, LPN_PIN10, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor11, sensoraddress11, LPN_PIN11, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor12, sensoraddress12, LPN_PIN12, I2C_RST_PIN); + // i2cScanner(); + + // initializeSensor(sensor13, sensoraddress13, LPN_PIN13, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor14, sensoraddress14, LPN_PIN14, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor15, sensoraddress15, LPN_PIN15, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + // initializeSensor(sensor16, sensoraddress16, LPN_PIN16, I2C_RST_PIN); + // i2cScanner(); + + // initializeSensor(sensor17, sensoraddress17, LPN_PIN17, I2C_RST_PIN); + // i2cScanner(); // Perform I2C scan + + Serial.println("All sensors initialized successfully."); +} + +void loop() { + // Declare the result data variables for each sensor + VL53L7CX_ResultsData Results0; + VL53L7CX_ResultsData Results1; + VL53L7CX_ResultsData Results2; + VL53L7CX_ResultsData Results3; + + // Process each sensor data and save to respective JSON arrays + processSensorData(sensor0, Results0, doc["sensor0"].to<JsonArray>(), "sensor0"); + processSensorData(sensor1, Results1, doc["sensor1"].to<JsonArray>(), "sensor1"); + processSensorData(sensor2, Results2, doc["sensor2"].to<JsonArray>(), "sensor2"); + processSensorData(sensor3, Results3, doc["sensor3"].to<JsonArray>(), "sensor3"); + + // Serialize the JSON document and print to Serial + serializeJson(doc, Serial); + Serial.println(); +} + +bool i2cScanner() +{ + bool status = false; + for (byte address = 1; address < 127; address++ ) + { + Wire.beginTransmission(address); + if (Wire.endTransmission() == 0) + { + Serial.print("Device found at address 0x"); + if (address < 0x10) + Serial.print("0"); + Serial.println(address, HEX); + if (address == 0x29){ + status = true; + } + else{ + status = false; + } + } + } + Serial.println(); + delay(wait_for_i2c); + return status; +} + +void initializeSensor(VL53L7CX &sensor, uint16_t sensorAddress, int lpnPin, int i2cRstPin) { + LPn0(lpnPin, true); + delay(wait_for_i2c); + + sensor.begin(); + delay(wait_for_i2c); + sensor.init_sensor(); + delay(wait_for_i2c); + + // Set I2C address + sensor.vl53l7cx_set_i2c_address(sensorAddress << 1); + delay(wait_for_i2c); + + // Set resolution and frequency + sensor.vl53l7cx_set_resolution(VL53L7CX_RESOLUTION_8X8); + delay(wait_for_i2c); + sensor.vl53l7cx_set_ranging_frequency_hz(ranging_frequency); + delay(wait_for_i2c); + + // Start ranging + sensor.vl53l7cx_start_ranging(); + delay(wait_for_i2c); + + // Reset LPN and I2C pins + LPn0(lpnPin, false); +} + +void processSensorData(VL53L7CX &sensor, VL53L7CX_ResultsData &results, const JsonArray& data, const char* sensorKey) { + uint8_t NewDataReady = 0; + uint8_t status; + + // Wait for data to be ready + do { + status = sensor.vl53l7cx_check_data_ready(&NewDataReady); + } while (!NewDataReady); + + // Turn LED on to indicate data processing + digitalWrite(LedPin, HIGH); + + // If data is ready, get the ranging data and store it in the JSON array + if ((!status) && (NewDataReady != 0)) { + status = sensor.vl53l7cx_get_ranging_data(&results); + JsonArray sensorData = doc[sensorKey].to<JsonArray>(); + + // Process the results and add them to the JSON array + for (int y = imageWidth * (imageWidth - 1); y >= 0; y -= imageWidth) { + for (int x = 0; x <= imageWidth - 1; x++) { + sensorData.add(results.distance_mm[VL53L7CX_NB_TARGET_PER_ZONE * (x + y)]); + } + void I2C_RST(int dataPin, int latchPin, int clockPin){ + uint8_t Pin_byte1 = 0b11111111; // For pins 0-7 + uint8_t Pin_byte2 = 0b11111111; // For pins 8-15 + uint8_t Pin_byte3 = 0b11111111; // For pins 16-23 + // Update the correct byte based on Pin + + digitalWrite(latchPin, LOW); + + // Shift out the bits + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte3); // Send byte for pins 16-23 + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte2); // Send byte for pins 8-15 + shiftOut(dataPin, clockPin, MSBFIRST, Pin_void I2C_RST(int dataPin, int latchPin, int clockPin){ + uint8_t Pin_byte1 = 0b11111111; // For pins 0-7 + uint8_t Pin_byte2 = 0b11111111; // For pins 8-15 + uint8_t Pin_byte3 = 0b11111111; // For pins 16-23 + // Update the correct byte based on Pin + + digitalWrite(latchPin, LOW); + + // Shift out the bits + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte3); // Send byte for pins 16-23 + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte2); // Send byte for pins 8-15 + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte1); // Send byte for pins 0-7 + + digitalWrite(latchPin, HIGH); + delay(200); +} + +void LPn0(uint16_t Pin, bool on) { + uint8_t Pin_byte1 = 0b00000000; // For pins 0-7 + uint8_t Pin_byte2 = 0b00000000; // For pins 8-15 + // Update the correct byte based on Pin + if (Pin <= 7) { + Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1 + } else if (Pin <= 15) { + Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2 + } + digitalWrite(latchPin0, LOW); + + // Shift out the bits + shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte2); // Send byte for pins 8-15 + shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte1); // Send byte for pins 0-7 + + digitalWrite(latchPin0, HIGH); +} + +void LPn1(uint16_t Pin, bool on) { + uint8_t Pin_byte1 = 0b00000000; // For pins 0-7 + uint8_t Pin_byte2 = 0b00000000; // For pins 8-15 + // Update the correct byte based on Pin + if (Pin <= 7) { + Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1 + } else if (Pin <= 15) { + Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2 + } + digitalWrite(latchPin1, LOW); + + // Shift out the bits + shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte2); // Send byte for pins 8-15 + shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte1); // Send byte for pins 0-7 + + digitalWrite(latchPin1, HIGH); +}byte1); // Send byte for pins 0-7 + + digitalWrite(latchPin, HIGH); + delay(200); +} + +void LPn0(uint16_t Pin, bool on) { + uint8_t Pin_byte1 = 0b00000000; // For pins 0-7 + uint8_t Pin_byte2 = 0b00000000; // For pins 8-15 + // Update the correct byte based on Pin + if (Pin <= 7) { + Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1 + } else if (Pin <= 15) { + Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2 + } + digitalWrite(latchPin0, LOW); + + // Shift out the bits + shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte2); // Send byte for pins 8-15 + shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte1); // Send byte for pins 0-7 + + digitalWrite(latchPin0, HIGH); +} + +void LPn1(uint16_t Pin, bool on) { + uint8_t Pin_byte1 = 0b00000000; // For pins 0-7 + uint8_t Pin_byte2 = 0b00000000; // For pins 8-15 + // Update the correct byte based on Pin + if (Pin <= 7) { + Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1 + } else if (Pin <= 15) { + Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2 + } + digitalWrite(latchPin1, LOW); + + // Shift out the bits + shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte2); // Send byte for pins 8-15 + shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte1); // Send byte for pins 0-7 + + digitalWrite(latchPin1, HIGH); +} + } + } + + // Turn LED off to indicate processing is done + digitalWrite(LedPin, LOW); +} + +void I2C_RST(int dataPin, int latchPin, int clockPin){ + uint8_t Pin_byte1 = 0b11111111; // For pins 0-7 + uint8_t Pin_byte2 = 0b11111111; // For pins 8-15 + uint8_t Pin_byte3 = 0b11111111; // For pins 16-23 + // Update the correct byte based on Pin + + digitalWrite(latchPin, LOW); + + // Shift out the bits + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte3); // Send byte for pins 16-23 + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte2); // Send byte for pins 8-15 + shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte1); // Send byte for pins 0-7 + + digitalWrite(latchPin, HIGH); + delay(200); +} + +void LPn0(uint16_t Pin, bool on) { + uint8_t Pin_byte1 = 0b00000000; // For pins 0-7 + uint8_t Pin_byte2 = 0b00000000; // For pins 8-15 + // Update the correct byte based on Pin + if (Pin <= 7) { + Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1 + } else if (Pin <= 15) { + Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2 + } + digitalWrite(latchPin0, LOW); + + // Shift out the bits + shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte2); // Send byte for pins 8-15 + shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte1); // Send byte for pins 0-7 + + digitalWrite(latchPin0, HIGH); +} + +void LPn1(uint16_t Pin, bool on) { + uint8_t Pin_byte1 = 0b00000000; // For pins 0-7 + uint8_t Pin_byte2 = 0b00000000; // For pins 8-15 + // Update the correct byte based on Pin + if (Pin <= 7) { + Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1 + } else if (Pin <= 15) { + Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2 + } + digitalWrite(latchPin1, LOW); + + // Shift out the bits + shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte2); // Send byte for pins 8-15 + shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte1); // Send byte for pins 0-7 + + digitalWrite(latchPin1, HIGH); +} + + diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/4_vl53l7cx_clean_with_STlibrary.ino b/Bachelorarbeit/Praxiprojekt_Bericht/4_vl53l7cx_clean_with_STlibrary.ino new file mode 100644 index 0000000000000000000000000000000000000000..5200f5181cdd2ef3816d374833dc411e55e57137 --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/4_vl53l7cx_clean_with_STlibrary.ino @@ -0,0 +1,263 @@ +/** + ****************************************************************************** + * @file VL53L7CX_Sat_HelloWorld.ino + * @author STMicroelectronics + * @version V1.0.0 + * @date 11 November 2021 + * @brief Arduino test application for the STMicrolectronics VL53L7CX + * proximity sensor satellite based on FlightSense. + * This application makes use of C++ classes obtained from the C + * components' drivers. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2021 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + */ +/* + * To use these examples you need to connect the VL53L7CX satellite sensor directly to the Nucleo board with wires as explained below: + * pin 1 (GND) of the VL53L7CX satellite connected to GND of the Nucleo board + * pin 2 (IOVDD) of the VL53L7CX satellite connected to 3V3 pin of the Nucleo board + * pin 3 (AVDD) of the VL53L7CX satellite connected to 5V pin of the Nucleo board + * pin 4 (PWREN) of the VL53L7CX satellite connected to pin A5 of the Nucleo board + * pin 5 (LPn) of the VL53L7CX satellite connected to pin A3 of the Nucleo board + * pin 6 (SCL) of the VL53L7CX satellite connected to pin D15 (SCL) of the Nucleo board + * pin 7 (SDA) of the VL53L7CX satellite connected to pin D14 (SDA) of the Nucleo board + * pin 8 (I2C_RST) of the VL53L7CX satellite connected to pin A1 of the Nucleo board + * pin 9 (INT) of the VL53L7CX satellite connected to pin A2 of the Nucleo board + */ +/* Includes ------------------------------------------------------------------*/ +#include <Arduino.h> +#include <Wire.h> +#include <ArduinoJson.h> +#include <vl53l7cx_class.h> +#include "74HC154.h" +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdint.h> +#include <assert.h> +#include <stdlib.h> + +#define DEV_I2C1 Wire1 +#define DEV_I2C0 Wire + +#ifndef LED_BUILTIN + #define LED_BUILTIN 13 +#endif +#define LedPin LED_BUILTIN + +#define LPN_PIN0 14 +#define LPN_PIN1 15 +#define LPN_PIN2 9 +#define LPN_PIN3 12 + +#define LPN_PIN1 15 +#define I2C_RST_PIN 27 + +#define LPN_PIN2 9 + + + +uint16_t sensoraddress0 = 0x1Bz; +uint16_t sensoraddress1 = 0x39; +uint16_t sensoraddress2 = 0x57; +uint16_t sensoraddress3 = 0x67; + +uint16_t wait_for_i2c = 50; +uint16_t imageWidth = 8; +uint16_t ranging_frequency = 15; +pin_size_t SDA_PIN1 = 2; +pin_size_t SCL_PIN1 = 3; +JsonDocument doc; + +// Components. +VL53L7CX sensor0(&DEV_I2C1, LPN_PIN0, I2C_RST_PIN); +VL53L7CX sensor1(&DEV_I2C0, LPN_PIN1, I2C_RST_PIN); +VL53L7CX sensor2(&DEV_I2C0, LPN_PIN2, I2C_RST_PIN); +VL53L7CX sensor3(&DEV_I2C0, LPN_PIN2, I2C_RST_PIN); + +void blink_led_loop(void); + +void blink_led_loop(void) +{ + do { + // Blink the led forever + digitalWrite(LedPin, HIGH); + delay(wait_for_i2c); + digitalWrite(LedPin, LOW); + } while (1); +} + +/* Setup ---------------------------------------------------------------------*/ + +void setup() +{ + // Led. + pinMode(LedPin, OUTPUT); + pinMode(LPN_PIN0, OUTPUT); + pinMode(LPN_PIN1, OUTPUT); + pinMode(LPN_PIN2, OUTPUT); + pinMode(LPN_PIN3, OUTPUT); + pinMode(LPN_PIN4, OUTPUT); + pinMode(LPN_PIN5, OUTPUT); + pinMode(LPN_PIN6, OUTPUT); + pinMode(LPN_PIN7, OUTPUT); + pinMode(LPN_PIN8, OUTPUT); + pinMode(LPN_PIN9, OUTPUT); + pinMode(LPN_PIN10, OUTPUT); + pinMode(LPN_PIN11, OUTPUT); + pinMode(LPN_PIN12, OUTPUT); + pinMode(LPN_PIN13, OUTPUT); + pinMode(LPN_PIN14, OUTPUT); + pinMode(LPN_PIN15, OUTPUT); + pinMode(LPN_PIN16, OUTPUT); + pinMode(LPN_PIN17, OUTPUT); + + Serial.begin(115200); + Serial.println("Initialize... Please wait, it may take few seconds..."); + + // Initialize I2C bus. + DEV_I2C0.begin(); + DEV_I2C0.setClock(1000000); + delay(50); + + DEV_I2C1.setSCL(SCL_PIN1); + DEV_I2C1.setSDA(SDA_PIN1); + DEV_I2C1.begin(); + DEV_I2C1.setClock(1000000); + delay(50); + + // Initialize and configure sensors + Serial.println("Initializing sensors..."); + + initializeSensor(sensor0, sensoraddress0, LPN_PIN0, I2C_RST_PIN); + i2cScanner(); // Perform I2C scan + + initializeSensor(sensor1, sensoraddress1, LPN_PIN1, I2C_RST_PIN); + i2cScanner(); // Perform I2C scan + + initializeSensor(sensor2, sensoraddress2, LPN_PIN2, I2C_RST_PIN); + i2cScanner(); // Perform I2C scan + + initializeSensor(sensor3, sensoraddress3, LPN_PIN3, I2C_RST_PIN); + i2cScanner(); // Perform I2C scan + + Serial.println("All sensors initialized successfully."); +} + +void loop() { + // Declare the result data variables for each sensor + VL53L7CX_ResultsData Results0; + VL53L7CX_ResultsData Results1; + VL53L7CX_ResultsData Results2; + VL53L7CX_ResultsData Results3; + + // Process each sensor data and save to respective JSON arrays + processSensorData(sensor0, Results0, doc["sensor0"].to<JsonArray>(), "sensor0"); + processSensorData(sensor1, Results1, doc["sensor1"].to<JsonArray>(), "sensor1"); + processSensorData(sensor2, Results2, doc["sensor2"].to<JsonArray>(), "sensor2"); + processSensorData(sensor3, Results3, doc["sensor3"].to<JsonArray>(), "sensor3"); + + // Serialize the JSON document and print to Serial + serializeJson(doc, Serial); + Serial.println(); +} + +void i2cScanner() +{ + for (byte address = 1; address < 127; address++ ) + { + Wire.beginTransmission(address); + if (Wire.endTransmission() == 0) + { + Serial.print("Device found at address 0x"); + if (address < 0x10) + Serial.print("0"); + Serial.println(address, HEX); + } + } + Serial.println(); + delay(wait_for_i2c); +} + +void initializeSensor(VL53L7CX &sensor, uint16_t sensorAddress, int lpnPin, int i2cRstPin) { + digitalWrite(lpnPin, HIGH); // Activate sensor power + delay(wait_for_i2c); + + sensor.begin(); + delay(wait_for_i2c); + sensor.init_sensor(); + delay(wait_for_i2c); + + // Set I2C address + sensor.vl53l7cx_set_i2c_address(sensorAddress << 1); + delay(wait_for_i2c); + + // Set resolution and frequency + sensor.vl53l7cx_set_resolution(VL53L7CX_RESOLUTION_8X8); + delay(wait_for_i2c); + sensor.vl53l7cx_set_ranging_frequency_hz(ranging_frequency); + delay(wait_for_i2c); + + // Start ranging + sensor.vl53l7cx_start_ranging(); + delay(wait_for_i2c); + + // Reset LPN and I2C pins + digitalWrite(lpnPin, LOW); +} + +void processSensorData(VL53L7CX &sensor, VL53L7CX_ResultsData &results, const JsonArray& data, const char* sensorKey) { + uint8_t NewDataReady = 0; + uint8_t status; + + // Wait for data to be ready + do { + status = sensor.vl53l7cx_check_data_ready(&NewDataReady); + } while (!NewDataReady); + + // Turn LED on to indicate data processing + digitalWrite(LedPin, HIGH); + + // If data is ready, get the ranging data and store it in the JSON array + if ((!status) && (NewDataReady != 0)) { + status = sensor.vl53l7cx_get_ranging_data(&results); + JsonArray sensorData = doc[sensorKey].to<JsonArray>(); + + // Process the results and add them to the JSON array + for (int y = imageWidth * (imageWidth - 1); y >= 0; y -= imageWidth) { + for (int x = 0; x <= imageWidth - 1; x++) { + sensorData.add(results.distance_mm[VL53L7CX_NB_TARGET_PER_ZONE * (x + y)]); + } + } + } + + // Turn LED off to indicate processing is done + digitalWrite(LedPin, LOW); +} + + diff --git "a/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/K1 - Einf\303\274hrung.tex" "b/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/K1 - Einf\303\274hrung.tex" new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/K2 - Stand der Technik.tex b/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/K2 - Stand der Technik.tex new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/K3 - Grundlagen und Methodik.tex b/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/K3 - Grundlagen und Methodik.tex new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/K4 - Umsetzung.tex b/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/K4 - Umsetzung.tex new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/Kapitel/K5 - Bewertung und Ausblick.tex b/Bachelorarbeit/Praxiprojekt_Bericht/Assets/Kapitel/Kapitel/Kapitel/Kapitel/Kapitel/K5 - Bewertung und Ausblick.tex new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/Assets/titelangaben.tex b/Bachelorarbeit/Praxiprojekt_Bericht/Assets/titelangaben.tex new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/BA.bib b/Bachelorarbeit/Praxiprojekt_Bericht/BA.bib new file mode 100644 index 0000000000000000000000000000000000000000..008a836f1b6c89b59dbfd15d30c4f302b9e7b498 --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/BA.bib @@ -0,0 +1,561 @@ + +@online{noauthor_tof_imager_micro_rosteensy_pcl_publisherteensy_pcl_publisherino_nodate, + title = {tof\_imager\_micro\_ros/teensy\_pcl\_publisher/teensy\_pcl\_publisher.ino at humble · adityakamath/tof\_imager\_micro\_ros · {GitHub}}, + url = {https://github.com/adityakamath/tof_imager_micro_ros/blob/humble/teensy_pcl_publisher/teensy_pcl_publisher.ino#L177}, + urldate = {2025-02-21}, + file = {tof_imager_micro_ros/teensy_pcl_publisher/teensy_pcl_publisher.ino at humble · adityakamath/tof_imager_micro_ros · GitHub:C\:\\Users\\reebe\\Zotero\\storage\\PYV8KTSC\\teensy_pcl_publisher.html:text/html}, +} + +@online{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate, + title = {tof\_imager\_micro\_ros/teensy\_pcl\_publisher at humble · adityakamath/tof\_imager\_micro\_ros · {GitHub}}, + url = {https://github.com/adityakamath/tof_imager_micro_ros/tree/humble/teensy_pcl_publisher}, + urldate = {2025-02-21}, + file = {tof_imager_micro_ros/teensy_pcl_publisher at humble · adityakamath/tof_imager_micro_ros · GitHub:C\:\\Users\\reebe\\Zotero\\storage\\TEVM2A5B\\teensy_pcl_publisher.html:text/html}, +} + +@software{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025, + title = {sparkfun/{SparkFun}\_VL53L5CX\_Arduino\_Library}, + url = {https://github.com/sparkfun/SparkFun_VL53L5CX_Arduino_Library}, + publisher = {{SparkFun} Electronics}, + urldate = {2025-02-21}, + date = {2025-01-28}, + note = {original-date: 2021-10-22T21:06:36Z}, +} + +@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\\reebe\\Zotero\\storage\\AR82YJRS\\vlp-16.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\\reebe\\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}, +} + +@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\\reebe\\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\\reebe\\Zotero\\storage\\H82LXSD3\\S0921889003001556.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\\reebe\\Zotero\\storage\\2PBQYF7P\\Raj et al. - 2020 - A Survey on LiDAR Scanning Mechanisms.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\\reebe\\Zotero\\storage\\H7EUEBHT\\File20200501_Time_of_flight.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\\reebe\\Zotero\\storage\\X2WNAHZB\\Jain - A survey of Laser Range Finding.pdf:application/pdf}, +} + +@inproceedings{rashid_local_2020, + title = {Local and Global Sensors for Collision Avoidance}, + url = {https://ieeexplore.ieee.org/document/9235223}, + doi = {10.1109/MFI49285.2020.9235223}, + abstract = {Implementation of safe and efficient human robot collaboration for agile production cells with heavy-duty industrial robots, having large stopping distances and large self-occlusion areas, is a challenging task. Collision avoidance is the main functionality required to realize this task. In fact, it requires accurate estimation of shortest distance between known (robot) and unknown (human or anything else) objects in a large area. This work proposes a selective fusion of global and local sensors, representing a large range 360° {LiDAR} and a small range {RGB} camera respectively, in the context of dynamic speed and separation monitoring. Safety functionality has been evaluated for collision detection between unknown dynamic object to manipulator joints. The system yields 29-40\% efficiency compared to fenced system. Heavy-duty industrial robot and a controlled linear axis dummy is used for evaluating different robot and scenario configurations. Results suggest higher efficiency and safety when using local and global setup.}, + eventtitle = {2020 {IEEE} International Conference on Multisensor Fusion and Integration for Intelligent Systems ({MFI})}, + pages = {354--359}, + booktitle = {2020 {IEEE} International Conference on Multisensor Fusion and Integration for Intelligent Systems ({MFI})}, + 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}, + file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\HAXPN6EL\\Rashid et al. - 2020 - Local and Global Sensors for Collision Avoidance.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\4X42Y6TK\\9235223.html:text/html}, +} + +@inproceedings{al_naser_fusion_2022, + title = {Fusion of depth, color, and thermal images towards digital twins and safe human interaction with a robot in an industrial environment}, + url = {https://ieeexplore.ieee.org/document/9900548}, + doi = {10.1109/RO-MAN53752.2022.9900548}, + abstract = {Accurate detection of the human body and its limbs in real-time is one of the challenges toward human-robot collaboration ({HRC}) technology in the factory of the future. In this work, a new algorithm has been developed to fuse thermal, depth, and color information. Starting with the calibration of the sensors to each other, proceeding with data fusion and detection of human body parts, and ending with pose estimation. The proposed approach has been tested in various {HRC} scenarios. It has shown a significant decrease in errors and noise in industrial environments. Furthermore, it produces not only a higher positioning accuracy of the head and hands compared to the state of art algorithms (e.g., {OpenPose}), but it is also faster. Hence, such an algorithm could be joined with digital twins for safe and efficient human-robot collaboration.}, + eventtitle = {2022 31st {IEEE} International Conference on Robot and Human Interactive Communication ({RO}-{MAN})}, + pages = {532--537}, + booktitle = {2022 31st {IEEE} International Conference on Robot and Human Interactive Communication ({RO}-{MAN})}, + author = {Al Naser, Ibrahim and Dahmen, Johannes and Bdiwi, Mohamad and Ihlenfeldt, Steffen}, + urldate = {2025-02-19}, + date = {2022-08}, + note = {{ISSN}: 1944-9437}, + keywords = {Sensor fusion, Service robots, Collaboration, Digital Twins, human detection, Human robot collaboration, Image color analysis, Location awareness, sensor fusion, Stability criteria, Thermal sensors}, + file = {Full Text PDF:C\:\\Users\\reebe\\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\\reebe\\Zotero\\storage\\942BAXF5\\9900548.html:text/html}, +} + +@inproceedings{choi_xr-based_2022, + title = {An {XR}-based Approach to Safe Human-Robot Collaboration}, + url = {https://ieeexplore.ieee.org/document/9757621}, + doi = {10.1109/VRW55335.2022.00106}, + abstract = {It is crucial to prevent safety accidents for human-robot collaboration. This study proposes an extended reality ({XR}) approach to safe {HRC} by calculating the minimum distance between the human operator and robot in real time. The proposed approach scans the real environment with multiple sensors and constructs its virtual space in {XR}. The virtual robot is synchronized with the real robot by matching the point cloud of real environment with that of the virtual robot. This system can effectively provide task assistance and safety information to the user wearing an {XR} device.}, + eventtitle = {2022 {IEEE} Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops ({VRW})}, + pages = {481--482}, + booktitle = {2022 {IEEE} Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops ({VRW})}, + 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 = {Safety, Service robots, 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 distance, Three-dimensional displays}, + file = {Full Text PDF:C\:\\Users\\reebe\\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\\reebe\\Zotero\\storage\\GDI6TZQ2\\9757621.html:text/html}, +} + +@inproceedings{amaya-mejia_vision-based_2022, + title = {Vision-Based Safety System for Barrierless Human-Robot Collaboration}, + url = {https://ieeexplore.ieee.org/document/9981689}, + doi = {10.1109/IROS47612.2022.9981689}, + abstract = {Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents and the need for solutions that ensure a safe Human-Robot Collaboration. This paper proposes a safety system that implements Speed and Separation Monitoring ({SSM}) type of operation. For this, safety zones are defined in the robot's workspace following current standards for industrial collaborative robots. A deep learning-based computer vision system detects, tracks, and estimates the 3D position of operators close to the robot. The robot control system receives the operator's 3D position and generates 3D representations of them in a simulation environment. Depending on the zone where the closest operator was detected, the robot stops or changes its operating speed. Three different operation modes in which the human and robot interact are presented. Results show that the vision-based system can correctly detect and classify in which safety zone an operator is located and that the different proposed operation modes ensure that the robot's reaction and stop time are within the required time limits to guarantee safety.}, + eventtitle = {2022 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}, + pages = {7331--7336}, + booktitle = {2022 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}, + author = {Amaya-Mejía, Lina María and Duque-Suárez, Nicolás and Jaramillo-Ramírez, Daniel and Martinez, Carol}, + urldate = {2025-02-19}, + date = {2022-10}, + note = {{ISSN}: 2153-0866}, + keywords = {Safety, Service robots, Collaboration, Three-dimensional displays, Collision avoidance, Robot control, Solid modeling}, + file = {Full Text PDF:C\:\\Users\\reebe\\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\\reebe\\Zotero\\storage\\29LFGV4B\\9981689.html:text/html}, +} + +@article{li_safe_2024, + title = {Safe human–robot collaboration for industrial settings: a survey}, + volume = {35}, + issn = {1572-8145}, + url = {https://doi.org/10.1007/s10845-023-02159-4}, + doi = {10.1007/s10845-023-02159-4}, + shorttitle = {Safe human–robot collaboration for industrial settings}, + abstract = {Human–robot collaboration ({HRC}) plays a pivotal role in today’s industry by supporting increasingly customised product development. Via {HRC}, the strengths of humans and robots can be combined to facilitate collaborative jobs within common workplaces to achieve specific industrial goals. Given the significance of safety assurance in {HRC}, in this survey paper, an update on standards and implementation approaches presented in the latest literature is given to reflect the state-of-the-art of this prominent research topic. First, an overview of safety standards for industrial robots, collaborative robots, and {HRC} is provided. Then, a survey of various approaches to {HRC} safety is conducted from two main perspectives, i.e., pre-collision and post-collision, which are further detailed in the aspects of sensing, prediction, learning, planning/replanning, and compliance control. Major characteristics, pros, cons, and applicability of the approaches are analysed. Finally, challenging issues and prospects for the future development of {HRC} safety are highlighted to provide recommendations for relevant stakeholders to consider when designing {HRC}-enabled industrial systems.}, + pages = {2235--2261}, + number = {5}, + journaltitle = {Journal of Intelligent Manufacturing}, + shortjournal = {J Intell Manuf}, + author = {Li, Weidong and Hu, Yudie and Zhou, Yong and Pham, Duc Truong}, + urldate = {2025-02-19}, + date = {2024-06-01}, + langid = {english}, + keywords = {Safety, Collaborative robots, Collision detection, Human–robot collaboration ({HRC}), Obstacle avoidance}, + file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\4JS4CSVA\\Li et al. - 2024 - Safe human–robot collaboration for industrial settings a survey.pdf:application/pdf}, +} + +@online{noauthor_can_nodate, + title = {Can the collaborative robot market experience a second growth surge in the post-pandemic era?}, + url = {https://interactanalysis.com/insight/can-the-collaborative-robot-market-experience-a-second-growth-surge-in-the-post-pandemic-era/}, + abstract = {The market for collaborative robots is forecast to show strong growth over the coming years, with rising sales in industrial and non-industrial sectors.}, + titleaddon = {Interact Analysis}, + urldate = {2025-02-19}, + langid = {british}, + file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\25UG57J5\\can-the-collaborative-robot-market-experience-a-second-growth-surge-in-the-post-pandemic-era.html:text/html}, +} + +@article{nath_review_2022, + title = {A Review of Advancements in Robotic and Sensor-based Technologies in Construction Sector}, + volume = {7}, + rights = {Copyright (c) 2022 Aditya S. Nath}, + issn = {2736-576X}, + url = {https://www.ej-eng.org/index.php/ejeng/article/view/2624}, + doi = {10.24018/ejeng.2022.7.1.2624}, + abstract = {The study explores recent innovations in robotic and sensor-based technologies that are spearheading advancements in the construction sector to achieve improvements in construction quality, efficiency, and safety. Automation in construction, although coined as a concept in 1980s, has witnessed minimal progress in the level of application. The study attempts to identify issues constraining adoption of automation in the sector, the recent developments in technologies and their scope in construction, their applications and impacts, and way forward. The role of robotics in various stages of construction and its impact on a wider scale has been identified and discussed. The evolution of Building Information Modeling ({BIM}) has transitioned it into being an efficient mediator in the construction process with novel concepts such as 4D and 5D {BIM} and Building Knowledge Management. Various sensor technologies, functioning at diverse scales, have found wide-ranging applications on construction sites ranging from high-accuracy positioning to slow-tracking of personnel and materials, as well as, in progress monitoring and quality control. Information Technology has a major role in binding the sensor technology with on-site requirements to create positive results. A study was done to identify such technological interventions and various software utilities which integrate {BIM} and sensor technology with tools such as {GIS}. The factors which restrained developments in automation in construction sector were identified in the course of study. Various global examples of advanced automated construction technologies with applications in various stages of construction were discussed. The review successfully identifies the nascent technological innovations and their productive usage in relevant areas of construction sector.}, + pages = {85--89}, + number = {1}, + journaltitle = {European Journal of Engineering and Technology Research}, + author = {Nath, Aditya S.}, + urldate = {2025-02-19}, + date = {2022-02-28}, + langid = {english}, + note = {Number: 1}, + keywords = {Sensors}, + file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\AA6ZJJBN\\Nath - 2022 - A Review of Advancements in Robotic and Sensor-based Technologies in Construction Sector.pdf:application/pdf}, +} + +@article{maheepala_low_2021, + title = {Low Power Processors and Image Sensors for Vision-Based {IoT} Devices: A Review}, + volume = {21}, + issn = {1558-1748}, + url = {https://ieeexplore.ieee.org/abstract/document/9165781}, + doi = {10.1109/JSEN.2020.3015932}, + shorttitle = {Low Power Processors and Image Sensors for Vision-Based {IoT} Devices}, + abstract = {With the advancements of the Internet of Things ({IoT}) technology, applications of battery powered machine vision based {IoT} devices is rapidly growing. While numerous research works are being conducted to develop low power hardware solutions for {IoT} devices, image capture and image processing remain high power demanding processes leading to a short battery life. However, the power consumption of the machine vision based {IoT} devices can be minimized by the careful optimization of the hardware components that are used is these devices. In this article, we present a review of low power machine vision hardware components for the {IoT} applications. A guide to selecting the optimum processors and image sensors for a given battery powered machine vision based {IoT} device is presented. Next, the factors that must be considered when selecting processors and image sensors for a given {IoT} application are discussed, and selection criteria for the processors and image sensors are established. Then, the current commercially available hardware components are reviewed in accordance with the established selection criteria. Finally, the research trends in the field of battery powered machine vision based {IoT} devices are discussed, and the potential future research directions in the field are presented.}, + pages = {1172--1186}, + number = {2}, + journaltitle = {{IEEE} Sensors Journal}, + author = {Maheepala, Malith and Joordens, Matthew A. and Kouzani, Abbas Z.}, + urldate = {2025-02-19}, + date = {2021-01}, + note = {Conference Name: {IEEE} Sensors Journal}, + keywords = {Image sensors, Batteries, Cloud computing, image sensor, Internet of Things, low power, machine vision, Machine vision, processor, Program processors, Transceivers}, + file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\XSY3V6PK\\Maheepala et al. - 2021 - Low Power Processors and Image Sensors for Vision-Based IoT Devices A Review.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\Y7EV2L8T\\9165781.html:text/html}, +} + +@article{liu_application_2024, + title = {Application, Development and Future Opportunities of Collaborative Robots (Cobots) in Manufacturing: A Literature Review}, + volume = {40}, + issn = {1044-7318}, + url = {https://doi.org/10.1080/10447318.2022.2041907}, + doi = {10.1080/10447318.2022.2041907}, + shorttitle = {Application, Development and Future Opportunities of Collaborative Robots (Cobots) in Manufacturing}, + abstract = {The rapid development of robot technology has introduced a substantial impact on manufacturing. Numerous studies have been carried out to apply collaborative robots (cobots) to address manufacturing productivity and ergonomics issues, which has brought extensive opportunities. In this context, a systematic literature search in the Web of Science, Scopus, and Google Scholar databases was carried out by electronic and manual search. Thus, 59 relevant contributions out of 4488 studies were analyzed by using preferred reporting items for systematic reviews and meta-analysis ({PRISMA}). To provide an overview of the different results, studies are summarized according to the following criteria: country, author, year, study design, robot category, results, and future opportunities. The effects of cobots on safety, system design, workplace design, task scheduling, productivity, and ergonomics are discussed to provide a better understanding of the application of cobots in manufacturing. To incentive future research, this paper reviews the development of cobots in manufacturing and discusses future opportunities and directions from cobots and manufacturing system perspectives. This paper provides novel and valuable insights into cobots application and illustrates potential developments of future human-cobot interaction.}, + pages = {915--932}, + number = {4}, + journaltitle = {International Journal of Human–Computer Interaction}, + author = {Liu, Li and Guo, Fu and Zou, Zishuai and Duffy, Vincent G.}, + urldate = {2025-02-19}, + date = {2024-02-16}, + note = {Publisher: Taylor \& Francis +\_eprint: https://doi.org/10.1080/10447318.2022.2041907}, + file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\G9ECNMWG\\Liu et al. - 2024 - Application, Development and Future Opportunities of Collaborative Robots (Cobots) in Manufacturing.pdf:application/pdf}, +} + +@inproceedings{popov_collision_2017, + location = {Lisbon}, + title = {Collision detection, localization \& classification for industrial robots with joint torque sensors}, + isbn = {978-1-5386-3518-6}, + url = {http://ieeexplore.ieee.org/document/8172400/}, + doi = {10.1109/ROMAN.2017.8172400}, + abstract = {High dynamic capabilities of industrial robots make them dangerous for humans and environment. To reduce this factor and advance collaboration between human and manipulator fast and reliable collision detection algorithm is required. To overcome this problem, we present an approach allowing to detect collision, localize action point and classify collision nature. Internal joint torque and encoder measurements were used to determine potential collisions with the robot links. This work proposes two ways of solving this problem: using classical analytical approach and learning approach implemented with neural network. The suggested algorithms were examined on the industrial robotic arm Kuka iiwa {LBR} 14 R820, ground truth information on the contact nature and its location were obtained with 3D {LIDAR} and camera.}, + eventtitle = {2017 26th {IEEE} International Symposium on Robot and Human Interactive Communication ({RO}-{MAN})}, + pages = {838--843}, + booktitle = {2017 26th {IEEE} International Symposium on Robot and Human Interactive Communication ({RO}-{MAN})}, + publisher = {{IEEE}}, + author = {Popov, Dmitry and Klimchik, Alexandr and Mavridis, Nikolaos}, + urldate = {2025-02-19}, + date = {2017-08}, + langid = {english}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\LVC2B7U6\\Popov et al. - 2017 - Collision detection, localization & classification for industrial robots with joint torque sensors.pdf:application/pdf}, +} + +@misc{noauthor_robotics_2021, + title = {Robotics - Vocabulary}, + url = {https://www.dinmedia.de/de/norm/iso-8373/348036781}, + shorttitle = {{ISO} 8373:2021-11}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + date = {2021-11}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\6SUCZU6R\\DIN_EN_ISO_8373.pdf:application/pdf}, +} + +@misc{noauthor_din_nodate, + title = {{DIN} {EN} {ISO} 10218-1:2021-09, Robotik\_- Sicherheitsanforderungen\_- Teil\_1: Industrieroboter ({ISO}/{DIS}\_10218-1.2:2021); Deutsche und Englische Fassung {prEN}\_ISO\_10218-1:2021}, + url = {https://www.dinmedia.de/de/-/-/341406648}, + doi = {10.31030/3272912}, + shorttitle = {{DIN} {EN} {ISO} 10218-1}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + langid = {german}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\FFMUVR22\\DIN EN ISO 10218-12021-09, Robotik_- Sicherheitsanforderungen_- Teil_1 Industrieroboter (ISODIS_1.pdf:application/pdf}, +} + +@misc{noauthor_din_nodate-1, + title = {{DIN} {EN} {ISO} 10218-2:2021-03, Robotik\_- Sicherheitsanforderungen für Robotersysteme in industrieller Umgebung\_- Teil\_2: Robotersysteme, Roboteranwendungen und Integration von Roboterzellen ({ISO}/{DIS}\_10218-2:2020); Deutsche und Englische Fassung {prEN}\_ISO\_10218-2:2020}, + url = {https://www.dinmedia.de/de/-/-/331246964}, + shorttitle = {{DIN} {EN} {ISO} 10218-2}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + doi = {10.31030/3215258}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\HB28M28Z\\DIN EN ISO 10218-22021-03, Robotik_- Sicherheitsanforderungen für Robotersysteme in industrieller U.pdf:application/pdf}, +} + +@article{li_common_2019, + title = {Common Sensors in Industrial Robots: A Review}, + volume = {1267}, + issn = {1742-6588, 1742-6596}, + url = {https://iopscience.iop.org/article/10.1088/1742-6596/1267/1/012036}, + doi = {10.1088/1742-6596/1267/1/012036}, + shorttitle = {Common Sensors in Industrial Robots}, + abstract = {The application of industrial robots has greatly promoted the development of industry in the past decades. Now with the proposal and prevalence of Industry 4.0, industrial robots are required to be more independent and intelligent to accomplish more complex and flexible tasks. The advancement of industrial robots relies on the development and progress of multiple technologies, among which sensors are the indispensable part. They can acquire abundant information to help industrial robots implement their functions. This paper reviews the recent literatures and gives a summary and introduction of the commonly used sensors in industrial robots. Additionally, the applications of these sensors in diverse functions of industrial robots are also presented. Finally, the developing direction and challenges of industrial robots in the future are discussed in the last part of this article.}, + pages = {012036}, + number = {1}, + journaltitle = {Journal of Physics: Conference Series}, + shortjournal = {J. Phys.: Conf. Ser.}, + author = {Li, Peng and Liu, Xiangpeng}, + urldate = {2025-02-18}, + date = {2019-07-01}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\WQ5C229K\\Li und Liu - 2019 - Common Sensors in Industrial Robots A Review.pdf:application/pdf}, +} + +@misc{noauthor_din_nodate-2, + title = {{DIN} {EN} {ISO} 10218-2:2021-03, Robotik\_- Sicherheitsanforderungen für Robotersysteme in industrieller Umgebung\_- Teil\_2: Robotersysteme, Roboteranwendungen und Integration von Roboterzellen ({ISO}/{DIS}\_10218-2:2020); Deutsche und Englische Fassung {prEN}\_ISO\_10218-2:2020}, + url = {https://www.dinmedia.de/de/-/-/331246964}, + doi = {10.31030/3215258}, + shorttitle = {{DIN} {EN} {ISO} 10218-2}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + langid = {german}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\M7E9L4CP\\DIN EN ISO 10218-22021-03, Robotik_- Sicherheitsanforderungen für Robotersysteme in industrieller U.pdf:application/pdf}, +} + +@misc{noauthor_din_nodate-3, + title = {{DIN} {EN} {ISO} 10218-1:2021-09, Robotik\_- Sicherheitsanforderungen\_- Teil\_1: Industrieroboter ({ISO}/{DIS}\_10218-1.2:2021); Deutsche und Englische Fassung {prEN}\_ISO\_10218-1:2021}, + url = {https://www.dinmedia.de/de/-/-/341406648}, + doi = {10.31030/3272912}, + shorttitle = {{DIN} {EN} {ISO} 10218-1}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + langid = {german}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\XCP5RDRY\\DIN EN ISO 10218-12021-09, Robotik_- Sicherheitsanforderungen_- Teil_1 Industrieroboter (ISODIS_1.pdf:application/pdf}, +} + +@article{li_common_2019-1, + title = {Common Sensors in Industrial Robots: A Review}, + volume = {1267}, + issn = {1742-6588, 1742-6596}, + url = {https://iopscience.iop.org/article/10.1088/1742-6596/1267/1/012036}, + doi = {10.1088/1742-6596/1267/1/012036}, + shorttitle = {Common Sensors in Industrial Robots}, + abstract = {The application of industrial robots has greatly promoted the development of industry in the past decades. Now with the proposal and prevalence of Industry 4.0, industrial robots are required to be more independent and intelligent to accomplish more complex and flexible tasks. The advancement of industrial robots relies on the development and progress of multiple technologies, among which sensors are the indispensable part. They can acquire abundant information to help industrial robots implement their functions. This paper reviews the recent literatures and gives a summary and introduction of the commonly used sensors in industrial robots. Additionally, the applications of these sensors in diverse functions of industrial robots are also presented. Finally, the developing direction and challenges of industrial robots in the future are discussed in the last part of this article.}, + pages = {012036}, + number = {1}, + journaltitle = {Journal of Physics: Conference Series}, + shortjournal = {J. Phys.: Conf. Ser.}, + author = {Li, Peng and Liu, Xiangpeng}, + urldate = {2025-02-18}, + date = {2019-07-01}, + langid = {english}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\UVXS2R7J\\Li und Liu - 2019 - Common Sensors in Industrial Robots A Review.pdf:application/pdf}, +} + +@article{wunderlich_rasante_2013, + title = {Rasante Entwicklung in der 3D‐Bildgebung: Weiterentwickelte Time‐of‐Flight‐Technologie verbessert miniaturisierte 3D‐Kameras und Sensoren}, + volume = {8}, + rights = {http://onlinelibrary.wiley.com/{termsAndConditions}\#vor}, + issn = {1863-1460, 2191-1975}, + url = {https://onlinelibrary.wiley.com/doi/10.1002/opph.201300018}, + doi = {10.1002/opph.201300018}, + shorttitle = {Rasante Entwicklung in der 3D‐Bildgebung}, + abstract = {Abstract + Optoelektrische Sensoren, die eine dreidimensionale Bildinformation auswerten können, eröffnen nicht nur der Mensch‐Maschinen‐Interaktion durch Gestensteuerung völlig neue Anwendungsmöglichkeiten. Auch für die Industrie erweitert sich durch diese Technologie die Prozessüberwachung und Steuerung sprichwörtlich um eine neue Dimension.}, + pages = {38--40}, + number = {3}, + journaltitle = {Optik \& Photonik}, + shortjournal = {Optik \& Photonik}, + author = {Wunderlich, Max}, + urldate = {2025-02-18}, + date = {2013-09}, + langid = {german}, + file = {Optik Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung:C\:\\Users\\reebe\\Zotero\\storage\\H7CSUHLW\\Optik Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung.pdf:application/pdf}, +} + +@software{noauthor_universalrobotsuniversal_robots_ros2_gazebo_simulation_2025, + title = {{UniversalRobots}/Universal\_Robots\_ROS2\_Gazebo\_Simulation}, + rights = {{BSD}-3-Clause}, + url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation}, + publisher = {Universal Robots A/S}, + urldate = {2025-02-17}, + date = {2025-02-13}, + note = {original-date: 2021-12-15T12:18:45Z}, +} + +@article{haddadin_robot_2017, + title = {Robot Collisions: A Survey on Detection, Isolation, and Identification}, + volume = {33}, + issn = {1941-0468}, + url = {https://ieeexplore.ieee.org/abstract/document/8059840}, + doi = {10.1109/TRO.2017.2723903}, + shorttitle = {Robot Collisions}, + abstract = {Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.}, + pages = {1292--1312}, + number = {6}, + journaltitle = {{IEEE} Transactions on Robotics}, + author = {Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin}, + urldate = {2025-02-12}, + date = {2017-12}, + note = {Conference Name: {IEEE} Transactions on Robotics}, + keywords = {Service robots, Real-time systems, Robot sensing systems, Collision avoidance, Collision detection, Algorithm design and analysis, collision identification, collision isolation, Drones, flexible joint manipulators, human-friendly robotics, Human-robot interaction, physical human–robot interaction ({pHRI}), safe robotics}, + file = {Accepted Version:C\:\\Users\\reebe\\Zotero\\storage\\IEXJFAMF\\Haddadin et al. - 2017 - Robot Collisions A Survey on Detection, Isolation, and Identification.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\LDB3Q92K\\8059840.html:text/html}, +} + +@book{hertzberg_mobile_2012, + location = {Berlin, Heidelberg}, + title = {Mobile Roboter: Eine Einführung aus Sicht der Informatik}, + rights = {https://www.springernature.com/gp/researchers/text-and-data-mining}, + isbn = {978-3-642-01725-4 978-3-642-01726-1}, + url = {https://link.springer.com/10.1007/978-3-642-01726-1}, + series = {{eXamen}.press}, + shorttitle = {Mobile Roboter}, + publisher = {Springer Berlin Heidelberg}, + author = {Hertzberg, Joachim and Lingemann, Kai and Nüchter, Andreas}, + urldate = {2025-02-12}, + date = {2012}, + langid = {german}, + doi = {10.1007/978-3-642-01726-1}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\RLTU9P46\\Hertzberg et al. - 2012 - Mobile Roboter Eine Einführung aus Sicht der Informatik.pdf:application/pdf}, +} + +@collection{hering_sensoren_2018, + location = {Wiesbaden}, + title = {Sensoren in Wissenschaft und Technik}, + rights = {http://www.springer.com/tdm}, + isbn = {978-3-658-12561-5 978-3-658-12562-2}, + url = {http://link.springer.com/10.1007/978-3-658-12562-2}, + publisher = {Springer Fachmedien Wiesbaden}, + editor = {Hering, Ekbert and Schönfelder, Gert}, + urldate = {2025-02-12}, + date = {2018}, + langid = {german}, + doi = {10.1007/978-3-658-12562-2}, + file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\9TI57WXD\\Hering and Schönfelder - 2018 - Sensoren in Wissenschaft und Technik.pdf:application/pdf}, +} + +@article{saudabayev_sensors_2015, + title = {Sensors for Robotic Hands: A Survey of State of the Art}, + volume = {3}, + issn = {2169-3536}, + url = {https://ieeexplore.ieee.org/document/7283549/?arnumber=7283549}, + doi = {10.1109/ACCESS.2015.2482543}, + shorttitle = {Sensors for Robotic Hands}, + abstract = {Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands.}, + pages = {1765--1782}, + journaltitle = {{IEEE} Access}, + author = {Saudabayev, Artur and Varol, Huseyin Atakan}, + urldate = {2025-02-12}, + date = {2015}, + note = {Conference Name: {IEEE} Access}, + keywords = {Robot sensing systems, Sensors, Artificial hands, Hands, industrial robotics, prosthetics, Prosthetics, review, robot end effectors, robot sensing, robotic hands, Robots, sensors}, + file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\HR7ZUF8W\\Saudabayev and Varol - 2015 - Sensors for Robotic Hands A Survey of State of the Art.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\484D4R7H\\7283549.html:text/html}, +} + +@article{paya_state---art_2017, + title = {A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision Sensors}, + volume = {2017}, + rights = {Copyright © 2017 L. Payá et al.}, + issn = {1687-7268}, + url = {https://onlinelibrary.wiley.com/doi/abs/10.1155/2017/3497650}, + doi = {10.1155/2017/3497650}, + abstract = {Nowadays, the field of mobile robotics is experiencing a quick evolution, and a variety of autonomous vehicles is available to solve different tasks. The advances in computer vision have led to a substantial increase in the use of cameras as the main sensors in mobile robots. They can be used as the only source of information or in combination with other sensors such as odometry or laser. Among vision systems, omnidirectional sensors stand out due to the richness of the information they provide the robot with, and an increasing number of works about them have been published over the last few years, leading to a wide variety of frameworks. In this review, some of the most important works are analysed. One of the key problems the scientific community is addressing currently is the improvement of the autonomy of mobile robots. To this end, building robust models of the environment and solving the localization and navigation problems are three important abilities that any mobile robot must have. Taking it into account, the review concentrates on these problems; how researchers have addressed them by means of omnidirectional vision; the main frameworks they have proposed; and how they have evolved in recent years.}, + pages = {3497650}, + number = {1}, + journaltitle = {Journal of Sensors}, + author = {Payá, L. and Gil, A. and Reinoso, O.}, + urldate = {2025-02-12}, + date = {2017}, + langid = {english}, + note = {\_eprint: https://onlinelibrary.wiley.com/doi/pdf/10.1155/2017/3497650}, + file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\EZ473NGD\\Payá et al. - 2017 - A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision.pdf:application/pdf;Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\86LDAQ62\\3497650.html:text/html}, +} + +@online{noauthor_vl53l7cx_nodate, + title = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV} - {STMicroelectronics}}, + url = {https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html}, + abstract = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV}, {VL}53L7CXV0GC/1, {STMicroelectronics}}, + urldate = {2025-02-12}, + langid = {english}, + file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\VEYLCCLA\\vl53l7cx.html:text/html}, +} + +@online{noauthor_pico-series_nodate, + title = {Pico-series Microcontrollers - Raspberry Pi Documentation}, + url = {https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html}, + abstract = {The official documentation for Raspberry Pi computers and microcontrollers}, + urldate = {2025-02-12}, + langid = {english}, + file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\KUCB8PVI\\pico-series.html:text/html}, +} + +@online{noauthor_chatgpt_nodate, + title = {{ChatGPT}}, + url = {https://chatgpt.com}, + abstract = {A conversational {AI} system that listens, learns, and challenges}, + urldate = {2025-02-12}, + file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\ZT8MG8Y4\\678e85c2-fd98-800d-908f-de95b27f0abf.html:text/html}, +} + +@software{iii_earlephilhowerarduino-pico_2025, + title = {earlephilhower/arduino-pico}, + rights = {{LGPL}-2.1}, + url = {https://github.com/earlephilhower/arduino-pico}, + abstract = {Raspberry Pi Pico Arduino core, for all {RP}2040 and {RP}2350 boards}, + author = {{III}, Earle F. Philhower}, + urldate = {2025-02-12}, + date = {2025-02-11}, + note = {original-date: 2021-02-25T04:20:27Z}, + keywords = {a2dp, arduino, arduino-pico, ble, bluetooth, freertos, pi, pico, pico2, picow, raspberry, raspberry-pi, risc-v, riscv, rp2040, rp2350, smp, wifi}, +} + +@online{noauthor_tutorials_nodate, + title = {Tutorials — {ROS} 2 Documentation: Humble documentation}, + url = {https://docs.ros.org/en/humble/Tutorials.html}, + urldate = {2025-02-12}, + file = {Tutorials — ROS 2 Documentation\: Humble documentation:C\:\\Users\\reebe\\Zotero\\storage\\28S5GUZ5\\Tutorials.html:text/html}, +} + +@online{noauthor_examples_nodate, + title = {Examples - trimesh 4.6.2 documentation}, + url = {https://trimesh.org/examples.html}, + urldate = {2025-02-12}, + file = {Examples - trimesh 4.6.2 documentation:C\:\\Users\\reebe\\Zotero\\storage\\82WA6KM7\\examples.html:text/html}, +} + +@software{grans_sebastiangransros2-point-cloud-demo_2024, + title = {{SebastianGrans}/{ROS}2-Point-Cloud-Demo}, + rights = {{MIT}}, + url = {https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo}, + abstract = {Demo package for {ROS}2 that publishes a point cloud and visualizes it using {RViz}2}, + author = {Grans, Sebastian}, + urldate = {2025-02-12}, + date = {2024-12-08}, + note = {original-date: 2020-06-30T16:55:21Z}, +} + +@software{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025, + title = {{UniversalRobots}/Universal\_Robots\_ROS2\_GZ\_Simulation}, + rights = {{BSD}-3-Clause}, + url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation}, + publisher = {Universal Robots A/S}, + urldate = {2025-02-24}, + date = {2025-02-17}, + note = {original-date: 2021-12-15T12:15:45Z}, +} diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/Bibliothek.bib b/Bachelorarbeit/Praxiprojekt_Bericht/Bibliothek.bib new file mode 100644 index 0000000000000000000000000000000000000000..fa8bb91600e1916b2a4b2c4b19a8c339dac19ba8 --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/Bibliothek.bib @@ -0,0 +1,452 @@ + +@software{noauthor_universalrobotsuniversal_robots_ros2_gazebo_simulation_2025, + title = {{UniversalRobots}/Universal\_Robots\_ROS2\_Gazebo\_Simulation}, + rights = {{BSD}-3-Clause}, + url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation}, + publisher = {Universal Robots A/S}, + urldate = {2025-02-17}, + date = {2025-02-13}, + note = {original-date: 2021-12-15T12:18:45Z}, +} + +@article{haddadin_robot_2017, + title = {Robot Collisions: A Survey on Detection, Isolation, and Identification}, + volume = {33}, + issn = {1941-0468}, + url = {https://ieeexplore.ieee.org/abstract/document/8059840}, + doi = {10.1109/TRO.2017.2723903}, + shorttitle = {Robot Collisions}, + abstract = {Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.}, + pages = {1292--1312}, + number = {6}, + journaltitle = {{IEEE} Transactions on Robotics}, + author = {Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin}, + urldate = {2025-02-12}, + date = {2017-12}, + note = {Conference Name: {IEEE} Transactions on Robotics}, + keywords = {Algorithm design and analysis, Collision avoidance, Collision detection, collision identification, collision isolation, Drones, flexible joint manipulators, human-friendly robotics, Human-robot interaction, physical human–robot interaction ({pHRI}), Real-time systems, Robot sensing systems, safe robotics, Service robots}, + file = {Accepted Version:C\:\\Users\\Rene\\Zotero\\storage\\IEXJFAMF\\Haddadin et al. - 2017 - Robot Collisions A Survey on Detection, Isolation, and Identification.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\LDB3Q92K\\8059840.html:text/html}, +} + +@book{hertzberg_mobile_2012, + location = {Berlin, Heidelberg}, + title = {Mobile Roboter: Eine Einführung aus Sicht der Informatik}, + rights = {https://www.springernature.com/gp/researchers/text-and-data-mining}, + isbn = {978-3-642-01725-4 978-3-642-01726-1}, + url = {https://link.springer.com/10.1007/978-3-642-01726-1}, + series = {{eXamen}.press}, + shorttitle = {Mobile Roboter}, + publisher = {Springer Berlin Heidelberg}, + author = {Hertzberg, Joachim and Lingemann, Kai and Nüchter, Andreas}, + urldate = {2025-02-12}, + date = {2012}, + langid = {german}, + doi = {10.1007/978-3-642-01726-1}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\RLTU9P46\\Hertzberg et al. - 2012 - Mobile Roboter Eine Einführung aus Sicht der Informatik.pdf:application/pdf}, +} + +@collection{hering_sensoren_2018, + location = {Wiesbaden}, + title = {Sensoren in Wissenschaft und Technik}, + rights = {http://www.springer.com/tdm}, + isbn = {978-3-658-12561-5 978-3-658-12562-2}, + url = {http://link.springer.com/10.1007/978-3-658-12562-2}, + publisher = {Springer Fachmedien Wiesbaden}, + editor = {Hering, Ekbert and Schönfelder, Gert}, + urldate = {2025-02-12}, + date = {2018}, + langid = {german}, + doi = {10.1007/978-3-658-12562-2}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\9TI57WXD\\Hering and Schönfelder - 2018 - Sensoren in Wissenschaft und Technik.pdf:application/pdf}, +} + +@article{saudabayev_sensors_2015, + title = {Sensors for Robotic Hands: A Survey of State of the Art}, + volume = {3}, + issn = {2169-3536}, + url = {https://ieeexplore.ieee.org/document/7283549/?arnumber=7283549}, + doi = {10.1109/ACCESS.2015.2482543}, + shorttitle = {Sensors for Robotic Hands}, + abstract = {Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands.}, + pages = {1765--1782}, + journaltitle = {{IEEE} Access}, + author = {Saudabayev, Artur and Varol, Huseyin Atakan}, + urldate = {2025-02-12}, + date = {2015}, + note = {Conference Name: {IEEE} Access}, + keywords = {Robot sensing systems, Artificial hands, Hands, industrial robotics, prosthetics, Prosthetics, review, robot end effectors, robot sensing, robotic hands, Robots, sensors, Sensors}, + file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\HR7ZUF8W\\Saudabayev and Varol - 2015 - Sensors for Robotic Hands A Survey of State of the Art.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\484D4R7H\\7283549.html:text/html}, +} + +@article{paya_state---art_2017, + title = {A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision Sensors}, + volume = {2017}, + rights = {Copyright © 2017 L. Payá et al.}, + issn = {1687-7268}, + url = {https://onlinelibrary.wiley.com/doi/abs/10.1155/2017/3497650}, + doi = {10.1155/2017/3497650}, + abstract = {Nowadays, the field of mobile robotics is experiencing a quick evolution, and a variety of autonomous vehicles is available to solve different tasks. The advances in computer vision have led to a substantial increase in the use of cameras as the main sensors in mobile robots. They can be used as the only source of information or in combination with other sensors such as odometry or laser. Among vision systems, omnidirectional sensors stand out due to the richness of the information they provide the robot with, and an increasing number of works about them have been published over the last few years, leading to a wide variety of frameworks. In this review, some of the most important works are analysed. One of the key problems the scientific community is addressing currently is the improvement of the autonomy of mobile robots. To this end, building robust models of the environment and solving the localization and navigation problems are three important abilities that any mobile robot must have. Taking it into account, the review concentrates on these problems; how researchers have addressed them by means of omnidirectional vision; the main frameworks they have proposed; and how they have evolved in recent years.}, + pages = {3497650}, + number = {1}, + journaltitle = {Journal of Sensors}, + author = {Payá, L. and Gil, A. and Reinoso, O.}, + urldate = {2025-02-12}, + date = {2017}, + langid = {english}, + note = {\_eprint: https://onlinelibrary.wiley.com/doi/pdf/10.1155/2017/3497650}, + file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\EZ473NGD\\Payá et al. - 2017 - A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision.pdf:application/pdf;Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\86LDAQ62\\3497650.html:text/html}, +} + +@online{noauthor_vl53l7cx_nodate, + title = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV} - {STMicroelectronics}}, + url = {https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html}, + abstract = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV}, {VL}53L7CXV0GC/1, {STMicroelectronics}}, + urldate = {2025-02-12}, + langid = {english}, + file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\VEYLCCLA\\vl53l7cx.html:text/html}, +} + +@online{noauthor_pico-series_nodate, + title = {Pico-series Microcontrollers - Raspberry Pi Documentation}, + url = {https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html}, + abstract = {The official documentation for Raspberry Pi computers and microcontrollers}, + urldate = {2025-02-12}, + langid = {english}, + file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\KUCB8PVI\\pico-series.html:text/html}, +} + +@online{noauthor_chatgpt_nodate, + title = {{ChatGPT}}, + url = {https://chatgpt.com}, + abstract = {A conversational {AI} system that listens, learns, and challenges}, + urldate = {2025-02-12}, + file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\ZT8MG8Y4\\678e85c2-fd98-800d-908f-de95b27f0abf.html:text/html}, +} + +@software{iii_earlephilhowerarduino-pico_2025, + title = {earlephilhower/arduino-pico}, + rights = {{LGPL}-2.1}, + url = {https://github.com/earlephilhower/arduino-pico}, + abstract = {Raspberry Pi Pico Arduino core, for all {RP}2040 and {RP}2350 boards}, + author = {{III}, Earle F. Philhower}, + urldate = {2025-02-12}, + date = {2025-02-11}, + note = {original-date: 2021-02-25T04:20:27Z}, + keywords = {a2dp, arduino, arduino-pico, ble, bluetooth, freertos, pi, pico, pico2, picow, raspberry, raspberry-pi, risc-v, riscv, rp2040, rp2350, smp, wifi}, +} + +@online{noauthor_tutorials_nodate, + title = {Tutorials — {ROS} 2 Documentation: Humble documentation}, + url = {https://docs.ros.org/en/humble/Tutorials.html}, + urldate = {2025-02-12}, + file = {Tutorials — ROS 2 Documentation\: Humble documentation:C\:\\Users\\Rene\\Zotero\\storage\\28S5GUZ5\\Tutorials.html:text/html}, +} + +@online{noauthor_examples_nodate, + title = {Examples - trimesh 4.6.2 documentation}, + url = {https://trimesh.org/examples.html}, + urldate = {2025-02-12}, + file = {Examples - trimesh 4.6.2 documentation:C\:\\Users\\Rene\\Zotero\\storage\\82WA6KM7\\examples.html:text/html}, +} + +@software{grans_sebastiangransros2-point-cloud-demo_2024, + title = {{SebastianGrans}/{ROS}2-Point-Cloud-Demo}, + rights = {{MIT}}, + url = {https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo}, + abstract = {Demo package for {ROS}2 that publishes a point cloud and visualizes it using {RViz}2}, + author = {Grans, Sebastian}, + urldate = {2025-02-12}, + date = {2024-12-08}, + note = {original-date: 2020-06-30T16:55:21Z}, +} + +@article{wunderlich_rasante_2013, + title = {Rasante Entwicklung in der 3D‐Bildgebung: Weiterentwickelte Time‐of‐Flight‐Technologie verbessert miniaturisierte 3D‐Kameras und Sensoren}, + volume = {8}, + rights = {http://onlinelibrary.wiley.com/{termsAndConditions}\#vor}, + issn = {1863-1460, 2191-1975}, + url = {https://onlinelibrary.wiley.com/doi/10.1002/opph.201300018}, + doi = {10.1002/opph.201300018}, + shorttitle = {Rasante Entwicklung in der 3D‐Bildgebung}, + abstract = {Abstract + Optoelektrische Sensoren, die eine dreidimensionale Bildinformation auswerten können, eröffnen nicht nur der Mensch‐Maschinen‐Interaktion durch Gestensteuerung völlig neue Anwendungsmöglichkeiten. Auch für die Industrie erweitert sich durch diese Technologie die Prozessüberwachung und Steuerung sprichwörtlich um eine neue Dimension.}, + pages = {38--40}, + number = {3}, + journaltitle = {Optik \& Photonik}, + shortjournal = {Optik \& Photonik}, + author = {Wunderlich, Max}, + urldate = {2025-02-18}, + date = {2013-09}, + langid = {german}, + file = {Optik Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung:C\:\\Users\\Rene\\Zotero\\storage\\H7CSUHLW\\Optik Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung.pdf:application/pdf}, +} + +@article{li_common_2019, + title = {Common Sensors in Industrial Robots: A Review}, + volume = {1267}, + issn = {1742-6588, 1742-6596}, + url = {https://iopscience.iop.org/article/10.1088/1742-6596/1267/1/012036}, + doi = {10.1088/1742-6596/1267/1/012036}, + shorttitle = {Common Sensors in Industrial Robots}, + abstract = {The application of industrial robots has greatly promoted the development of industry in the past decades. Now with the proposal and prevalence of Industry 4.0, industrial robots are required to be more independent and intelligent to accomplish more complex and flexible tasks. The advancement of industrial robots relies on the development and progress of multiple technologies, among which sensors are the indispensable part. They can acquire abundant information to help industrial robots implement their functions. This paper reviews the recent literatures and gives a summary and introduction of the commonly used sensors in industrial robots. Additionally, the applications of these sensors in diverse functions of industrial robots are also presented. Finally, the developing direction and challenges of industrial robots in the future are discussed in the last part of this article.}, + pages = {012036}, + number = {1}, + journaltitle = {Journal of Physics: Conference Series}, + shortjournal = {J. Phys.: Conf. Ser.}, + author = {Li, Peng and Liu, Xiangpeng}, + urldate = {2025-02-18}, + date = {2019-07-01}, + langid = {english}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\UVXS2R7J\\Li und Liu - 2019 - Common Sensors in Industrial Robots A Review.pdf:application/pdf}, +} + +@misc{noauthor_din_nodate, + title = {{DIN} {EN} {ISO} 10218-1:2021-09, Robotik\_- Sicherheitsanforderungen\_- Teil\_1: Industrieroboter ({ISO}/{DIS}\_10218-1.2:2021); Deutsche und Englische Fassung {prEN}\_ISO\_10218-1:2021}, + url = {https://www.dinmedia.de/de/-/-/341406648}, + doi = {10.31030/3272912}, + shorttitle = {{DIN} {EN} {ISO} 10218-1}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + langid = {german}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\XCP5RDRY\\DIN EN ISO 10218-12021-09, Robotik_- Sicherheitsanforderungen_- Teil_1 Industrieroboter (ISODIS_1.pdf:application/pdf}, +} + +@misc{noauthor_din_nodate-1, + title = {{DIN} {EN} {ISO} 10218-2:2021-03, Robotik\_- Sicherheitsanforderungen für Robotersysteme in industrieller Umgebung\_- Teil\_2: Robotersysteme, Roboteranwendungen und Integration von Roboterzellen ({ISO}/{DIS}\_10218-2:2020); Deutsche und Englische Fassung {prEN}\_ISO\_10218-2:2020}, + url = {https://www.dinmedia.de/de/-/-/331246964}, + doi = {10.31030/3215258}, + shorttitle = {{DIN} {EN} {ISO} 10218-2}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + langid = {german}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\M7E9L4CP\\DIN EN ISO 10218-22021-03, Robotik_- Sicherheitsanforderungen für Robotersysteme in industrieller U.pdf:application/pdf}, +} + +@software{noauthor_universalrobotsuniversal_robots_ros2_gazebo_simulation_2025-1, + title = {{UniversalRobots}/Universal\_Robots\_ROS2\_Gazebo\_Simulation}, + url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation}, + publisher = {Universal Robots A/S}, + urldate = {2025-02-17}, + date = {2025-02-13}, +} + +@article{haddadin_robot_2017-1, + title = {Robot Collisions: A Survey on Detection, Isolation, and Identification}, + volume = {33}, + issn = {1941-0468}, + url = {https://ieeexplore.ieee.org/abstract/document/8059840}, + doi = {10.1109/TRO.2017.2723903}, + shorttitle = {Robot Collisions}, + abstract = {Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.}, + pages = {1292--1312}, + number = {6}, + journaltitle = {{IEEE} Transactions on Robotics}, + author = {Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin}, + urldate = {2025-02-12}, + date = {2017-12}, + keywords = {Algorithm design and analysis, Collision avoidance, Collision detection, collision identification, collision isolation, Drones, flexible joint manipulators, human-friendly robotics, Human-robot interaction, physical human–robot interaction ({pHRI}), Real-time systems, Robot sensing systems, safe robotics, Service robots}, + file = {Accepted Version:C\:\\Users\\Rene\\Zotero\\storage\\BGZ6TUWR\\Haddadin et al. - 2017 - Robot Collisions A Survey on Detection, Isolation, and Identification.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\UJAHJUBE\\8059840.html:text/html}, +} + +@book{hertzberg_mobile_2012-1, + location = {Berlin, Heidelberg}, + title = {Mobile Roboter: Eine Einführung aus Sicht der Informatik}, + isbn = {978-3-642-01725-4 978-3-642-01726-1}, + url = {https://link.springer.com/10.1007/978-3-642-01726-1}, + series = {{eXamen}.press}, + shorttitle = {Mobile Roboter}, + publisher = {Springer Berlin Heidelberg}, + author = {Hertzberg, Joachim and Lingemann, Kai and Nüchter, Andreas}, + urldate = {2025-02-12}, + date = {2012}, + doi = {10.1007/978-3-642-01726-1}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\4LFEHVEK\\Hertzberg et al. - 2012 - Mobile Roboter Eine Einführung aus Sicht der Informatik.pdf:application/pdf}, +} + +@collection{hering_sensoren_2018-1, + location = {Wiesbaden}, + title = {Sensoren in Wissenschaft und Technik}, + isbn = {978-3-658-12561-5 978-3-658-12562-2}, + url = {http://link.springer.com/10.1007/978-3-658-12562-2}, + publisher = {Springer Fachmedien Wiesbaden}, + editor = {Hering, Ekbert and Schönfelder, Gert}, + urldate = {2025-02-12}, + date = {2018}, + doi = {10.1007/978-3-658-12562-2}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\BG7FCKRW\\Hering and Schönfelder - 2018 - Sensoren in Wissenschaft und Technik.pdf:application/pdf}, +} + +@article{saudabayev_sensors_2015-1, + title = {Sensors for Robotic Hands: A Survey of State of the Art}, + volume = {3}, + issn = {2169-3536}, + url = {https://ieeexplore.ieee.org/document/7283549/?arnumber=7283549}, + doi = {10.1109/ACCESS.2015.2482543}, + shorttitle = {Sensors for Robotic Hands}, + abstract = {Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands.}, + pages = {1765--1782}, + journaltitle = {{IEEE} Access}, + author = {Saudabayev, Artur and Varol, Huseyin Atakan}, + urldate = {2025-02-12}, + date = {2015}, + keywords = {Artificial hands, Hands, industrial robotics, prosthetics, Prosthetics, review, robot end effectors, robot sensing, Robot sensing systems, robotic hands, Robots, sensors, Sensors}, + file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\CDE3NZ3S\\Saudabayev and Varol - 2015 - Sensors for Robotic Hands A Survey of State of the Art.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\Rene\\Zotero\\storage\\BEAGLR7C\\7283549.html:text/html}, +} + +@article{paya_state---art_2017-1, + title = {A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision Sensors}, + volume = {2017}, + issn = {1687-7268}, + url = {https://onlinelibrary.wiley.com/doi/abs/10.1155/2017/3497650}, + doi = {10.1155/2017/3497650}, + abstract = {Nowadays, the field of mobile robotics is experiencing a quick evolution, and a variety of autonomous vehicles is available to solve different tasks. The advances in computer vision have led to a substantial increase in the use of cameras as the main sensors in mobile robots. They can be used as the only source of information or in combination with other sensors such as odometry or laser. Among vision systems, omnidirectional sensors stand out due to the richness of the information they provide the robot with, and an increasing number of works about them have been published over the last few years, leading to a wide variety of frameworks. In this review, some of the most important works are analysed. One of the key problems the scientific community is addressing currently is the improvement of the autonomy of mobile robots. To this end, building robust models of the environment and solving the localization and navigation problems are three important abilities that any mobile robot must have. Taking it into account, the review concentrates on these problems; how researchers have addressed them by means of omnidirectional vision; the main frameworks they have proposed; and how they have evolved in recent years.}, + pages = {3497650}, + number = {1}, + journaltitle = {Journal of Sensors}, + author = {Payá, L. and Gil, A. and Reinoso, O.}, + urldate = {2025-02-12}, + date = {2017}, + file = {Full Text PDF:C\:\\Users\\Rene\\Zotero\\storage\\G2QJUK53\\Payá et al. - 2017 - A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision.pdf:application/pdf;Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\PSAFIKFD\\3497650.html:text/html}, +} + +@online{noauthor_vl53l7cx_nodate-1, + title = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV} - {STMicroelectronics}}, + url = {https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html}, + abstract = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV}, {VL}53L7CXV0GC/1, {STMicroelectronics}}, + urldate = {2025-02-12}, + file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\BKZM82KQ\\vl53l7cx.html:text/html}, +} + +@online{noauthor_pico-series_nodate-1, + title = {Pico-series Microcontrollers - Raspberry Pi Documentation}, + url = {https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html}, + abstract = {The official documentation for Raspberry Pi computers and microcontrollers}, + urldate = {2025-02-12}, + file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\VKDULUUX\\pico-series.html:text/html}, +} + +@online{noauthor_chatgpt_nodate-1, + title = {{ChatGPT}}, + url = {https://chatgpt.com}, + abstract = {A conversational {AI} system that listens, learns, and challenges}, + urldate = {2025-02-12}, + file = {Snapshot:C\:\\Users\\Rene\\Zotero\\storage\\R25VDLY2\\678e85c2-fd98-800d-908f-de95b27f0abf.html:text/html}, +} + +@software{iii_earlephilhowerarduino-pico_2025-1, + title = {earlephilhower/arduino-pico}, + url = {https://github.com/earlephilhower/arduino-pico}, + abstract = {Raspberry Pi Pico Arduino core, for all {RP}2040 and {RP}2350 boards}, + author = {{III}, Earle F. Philhower}, + urldate = {2025-02-12}, + date = {2025-02-11}, + keywords = {a2dp, arduino, arduino-pico, ble, bluetooth, freertos, pi, pico, pico2, picow, raspberry, raspberry-pi, risc-v, riscv, rp2040, rp2350, smp, wifi}, +} + +@online{noauthor_tutorials_nodate-1, + title = {Tutorials — {ROS} 2 Documentation: Humble documentation}, + url = {https://docs.ros.org/en/humble/Tutorials.html}, + urldate = {2025-02-12}, + file = {Tutorials — ROS 2 Documentation\: Humble documentation:C\:\\Users\\Rene\\Zotero\\storage\\HQ4G28QE\\Tutorials.html:text/html}, +} + +@online{noauthor_examples_nodate-1, + title = {Examples - trimesh 4.6.2 documentation}, + url = {https://trimesh.org/examples.html}, + urldate = {2025-02-12}, + file = {Examples - trimesh 4.6.2 documentation:C\:\\Users\\Rene\\Zotero\\storage\\SURMD6VT\\examples.html:text/html}, +} + +@software{grans_sebastiangransros2-point-cloud-demo_2024-1, + title = {{SebastianGrans}/{ROS}2-Point-Cloud-Demo}, + url = {https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo}, + abstract = {Demo package for {ROS}2 that publishes a point cloud and visualizes it using {RViz}2}, + author = {Grans, Sebastian}, + urldate = {2025-02-12}, + date = {2024-12-08}, +} + +@article{wunderlich_rasante_2013-1, + title = {Rasante Entwicklung in der 3D‐Bildgebung: Weiterentwickelte Time‐of‐Flight‐Technologie verbessert miniaturisierte 3D‐Kameras und Sensoren}, + volume = {8}, + issn = {1863-1460, 2191-1975}, + url = {https://onlinelibrary.wiley.com/doi/10.1002/opph.201300018}, + doi = {10.1002/opph.201300018}, + shorttitle = {Rasante Entwicklung in der 3D‐Bildgebung}, + abstract = {Abstract Optoelektrische Sensoren, die eine dreidimensionale Bildinformation auswerten können, eröffnen nicht nur der Mensch‐Maschinen‐Interaktion durch Gestensteuerung völlig neue Anwendungsmöglichkeiten. Auch für die Industrie erweitert sich durch diese Technologie die Prozessüberwachung und Steuerung sprichwörtlich um eine neue Dimension.}, + pages = {38--40}, + number = {3}, + journaltitle = {Optik \& Photonik}, + shortjournal = {Optik \& Photonik}, + author = {Wunderlich, Max}, + urldate = {2025-02-18}, + date = {2013-09}, + file = {Optik Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung:C\:\\Users\\Rene\\Zotero\\storage\\JZJDENIL\\Optik Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung.pdf:application/pdf}, +} + +@article{li_common_2019-1, + title = {Common Sensors in Industrial Robots: A Review}, + volume = {1267}, + issn = {1742-6588, 1742-6596}, + url = {https://iopscience.iop.org/article/10.1088/1742-6596/1267/1/012036}, + doi = {10.1088/1742-6596/1267/1/012036}, + shorttitle = {Common Sensors in Industrial Robots}, + abstract = {The application of industrial robots has greatly promoted the development of industry in the past decades. Now with the proposal and prevalence of Industry 4.0, industrial robots are required to be more independent and intelligent to accomplish more complex and flexible tasks. The advancement of industrial robots relies on the development and progress of multiple technologies, among which sensors are the indispensable part. They can acquire abundant information to help industrial robots implement their functions. This paper reviews the recent literatures and gives a summary and introduction of the commonly used sensors in industrial robots. Additionally, the applications of these sensors in diverse functions of industrial robots are also presented. Finally, the developing direction and challenges of industrial robots in the future are discussed in the last part of this article.}, + pages = {012036}, + number = {1}, + journaltitle = {Journal of Physics: Conference Series}, + shortjournal = {J. Phys.: Conf. Ser.}, + author = {Li, Peng and Liu, Xiangpeng}, + urldate = {2025-02-18}, + date = {2019-07-01}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\WQ5C229K\\Li und Liu - 2019 - Common Sensors in Industrial Robots A Review.pdf:application/pdf}, +} + +@misc{noauthor_din_nodate-2, + title = {{DIN} {EN} {ISO} 10218-2:2021-03, Robotik\_- Sicherheitsanforderungen für Robotersysteme in industrieller Umgebung\_- Teil\_2: Robotersysteme, Roboteranwendungen und Integration von Roboterzellen ({ISO}/{DIS}\_10218-2:2020); Deutsche und Englische Fassung {prEN}\_ISO\_10218-2:2020}, + url = {https://www.dinmedia.de/de/-/-/331246964}, + shorttitle = {{DIN} {EN} {ISO} 10218-2}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + doi = {10.31030/3215258}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\HB28M28Z\\DIN EN ISO 10218-22021-03, Robotik_- Sicherheitsanforderungen für Robotersysteme in industrieller U.pdf:application/pdf}, +} + +@misc{noauthor_din_nodate-3, + title = {{DIN} {EN} {ISO} 10218-1:2021-09, Robotik\_- Sicherheitsanforderungen\_- Teil\_1: Industrieroboter ({ISO}/{DIS}\_10218-1.2:2021); Deutsche und Englische Fassung {prEN}\_ISO\_10218-1:2021}, + url = {https://www.dinmedia.de/de/-/-/341406648}, + doi = {10.31030/3272912}, + shorttitle = {{DIN} {EN} {ISO} 10218-1}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + langid = {german}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\FFMUVR22\\DIN EN ISO 10218-12021-09, Robotik_- Sicherheitsanforderungen_- Teil_1 Industrieroboter (ISODIS_1.pdf:application/pdf}, +} + +@misc{noauthor_robotics_2021, + title = {Robotics - Vocabulary}, + url = {https://www.dinmedia.de/de/norm/iso-8373/348036781}, + shorttitle = {{ISO} 8373:2021-11}, + publisher = {{DIN} Media {GmbH}}, + urldate = {2025-02-19}, + date = {2021-11}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\6SUCZU6R\\DIN_EN_ISO_8373.pdf:application/pdf}, +} + +@inproceedings{popov_collision_2017, + location = {Lisbon}, + title = {Collision detection, localization \& classification for industrial robots with joint torque sensors}, + isbn = {978-1-5386-3518-6}, + url = {http://ieeexplore.ieee.org/document/8172400/}, + doi = {10.1109/ROMAN.2017.8172400}, + abstract = {High dynamic capabilities of industrial robots make them dangerous for humans and environment. To reduce this factor and advance collaboration between human and manipulator fast and reliable collision detection algorithm is required. To overcome this problem, we present an approach allowing to detect collision, localize action point and classify collision nature. Internal joint torque and encoder measurements were used to determine potential collisions with the robot links. This work proposes two ways of solving this problem: using classical analytical approach and learning approach implemented with neural network. The suggested algorithms were examined on the industrial robotic arm Kuka iiwa {LBR} 14 R820, ground truth information on the contact nature and its location were obtained with 3D {LIDAR} and camera.}, + eventtitle = {2017 26th {IEEE} International Symposium on Robot and Human Interactive Communication ({RO}-{MAN})}, + pages = {838--843}, + booktitle = {2017 26th {IEEE} International Symposium on Robot and Human Interactive Communication ({RO}-{MAN})}, + publisher = {{IEEE}}, + author = {Popov, Dmitry and Klimchik, Alexandr and Mavridis, Nikolaos}, + urldate = {2025-02-19}, + date = {2017-08}, + langid = {english}, + file = {PDF:C\:\\Users\\Rene\\Zotero\\storage\\LVC2B7U6\\Popov et al. - 2017 - Collision detection, localization & classification for industrial robots with joint torque sensors.pdf:application/pdf}, +} diff --git a/Praxiprojekt_Bericht/ba.pdf b/Bachelorarbeit/Praxiprojekt_Bericht/Praxisprojekt_Bericht_Rene_Ebeling.pdf similarity index 99% rename from 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programming layer <2025-01-18> +! Undefined control sequence. +l.2 \chapter + {Schaltpläne und Verdrahtungsdiagramme} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + + +! LaTeX Error: Missing \begin{document}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.2 \chapter{S + chaltpläne und Verdrahtungsdiagramme} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no S in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no l in font nullfont! +LaTeX Font Info: Trying to load font information for +cmr on input line 2. +LaTeX Font Info: No file cmr.fd. on input line 2. + +LaTeX Font Warning: Font shape `/cmr/m/n' undefined +(Font) using `/cmr/m/n' instead on input line 2. + +! Corrupted NFSS tables. +wrong@fontshape ...message {Corrupted NFSS tables} + error@fontshape else let f... +l.2 \chapter{Schaltplä + ne und Verdrahtungsdiagramme} +This error message was generated by an \errmessage +command, so I can't give any explicit help. +Pretend that you're Hercule Poirot: Examine all clues, +and deduce the truth by order and method. + + +LaTeX Font Warning: Font shape `/cmr/m/n' undefined +(Font) using `OT1/cmr/m/n' instead on input line 2. + +Missing character: There is no n in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no V in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no e in font nullfont! +! Undefined control sequence. +l.3 \section + {Schaltplan des elektronischen Aufbaus} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no S in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no k in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no f in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no s in font nullfont! + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.4 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.6 \includegraphics + [width=\textwidth]{images/Schaltplan.png} % Ersetzen Si... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.6 \includegraphics[width=\textwidth] + {images/Schaltplan.png} % Ersetzen Si... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.6 \includegraphics[width=\textwidth] + {images/Schaltplan.png} % Ersetzen Si... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.7 \caption + {Schaltplan des elektronischen Aufbaus} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no S in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no k in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no f in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no s in font nullfont! + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.9 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +! Undefined control sequence. +l.10 \section + {Verdrahtungsdiagramm} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no V in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no m in font nullfont! + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.11 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.13 \includegraphics + [width=\textwidth]{images/Verdrahtungsdiagramm.png} % ... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.13 \includegraphics[width=\textwidth] + {images/Verdrahtungsdiagramm.png} % ... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.13 \includegraphics[width=\textwidth] + {images/Verdrahtungsdiagramm.png} % ... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no V in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.14 \caption + {Verdrahtungsdiagramm} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no V in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no m in font nullfont! + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.16 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + + +Overfull \hbox (30.00003pt too wide) in paragraph at lines 2--17 +[]\/cmr/m/n/10 ^^?a + [] + +! Undefined control sequence. +l.18 \chapter + {Quellcode} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + + +! LaTeX Error: Missing \begin{document}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.18 \chapter{Q + uellcode} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no Q in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +! Undefined control sequence. +l.19 \section + {Arduino-Quellcode} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no A in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no Q in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +! Undefined control sequence. +l.20 \lstinputlisting + [language=C++]{arduino_code.ino} % Ersetzen Sie dies du... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no = in font nullfont! +Missing character: There is no C in font nullfont! +Missing character: There is no + in font nullfont! +Missing character: There is no + in font nullfont! +Missing character: There is no ] in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no o in font nullfont! +! Missing $ inserted. +<inserted text> + $ +l.20 \lstinputlisting[language=C++]{arduino_ + code.ino} % Ersetzen Sie dies du... +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + +LaTeX Font Info: External font `cmex10' loaded for size +(Font) <7> on input line 20. +LaTeX Font Info: External font `cmex10' loaded for size +(Font) <5> on input line 20. +! Extra }, or forgotten $. +l.20 ...putlisting[language=C++]{arduino_code.ino} + % Ersetzen Sie dies durch... +I've deleted a group-closing symbol because it seems to be +spurious, as in `$x}$'. But perhaps the } is legitimate and +you forgot something else, as in `\hbox{$x}'. In such cases +the way to recover is to insert both the forgotten and the +deleted material, e.g., by typing `I$}'. + +! Undefined control sequence. +l.21 \section + {ROS 2-Nodes Quellcode} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +! Undefined control sequence. +l.22 \subsection + {Datenverarbeitungs-Node (Python)} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +! Undefined control sequence. +l.23 \lstinputlisting + [language=Python]{datenverarbeitung_node.py} % Ersetzen... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +! Undefined control sequence. +l.24 \subsection + {Kollisionserkennungs-Node (Python)} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +! Undefined control sequence. +l.25 \lstinputlisting + [language=Python]{kollisionserkennung_node.py} % Ersetz... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +! Missing $ inserted. +<inserted text> + $ +l.26 + +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + + +Overfull \hbox (20.0pt too wide) in paragraph at lines 18--26 +[] + [] + + +Overfull \hbox (368.80351pt too wide) in paragraph at lines 18--26 +[]\OML/cmm/m/it/10 ode:ino[][]\/cmr/m/n/10 [\OML/cmm/m/it/10 language \/cmr/m/n +/10 = + [] + + +Overfull \hbox (382.83499pt too wide) in paragraph at lines 18--26 +\OML/cmm/m/it/10 Python\/cmr/m/n/10 ][][][\OML/cmm/m/it/10 language \/cmr/m/n/1 +0 = + [] + + +Overfull \hbox (161.26112pt too wide) in paragraph at lines 18--26 +\OML/cmm/m/it/10 Python\/cmr/m/n/10 ][]$ + [] + +! Undefined control sequence. +l.27 \chapter + {CAD-Zeichnungen und 3D-Modelle} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + + +! LaTeX Error: Missing \begin{document}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.27 \chapter{C + AD-Zeichnungen und 3D-Modelle} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no C in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no D in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no Z in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no 3 in font nullfont! +Missing character: There is no D in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no M in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no e in font nullfont! +! Undefined control sequence. +l.28 \section + {CAD-Zeichnungen des Sensormoduls} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no C in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no D in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no Z in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no s in font nullfont! + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.29 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.31 \includegraphics + [width=\textwidth]{images/CAD_Zeichnung_1.png} % Erset... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.31 \includegraphics[width=\textwidth] + {images/CAD_Zeichnung_1.png} % Erset... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.31 \includegraphics[width=\textwidth] + {images/CAD_Zeichnung_1.png} % Erset... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no C in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no D in font nullfont! +! Missing $ inserted. +<inserted text> + $ +l.31 ...ludegraphics[width=\textwidth]{images/CAD_ + Zeichnung_1.png} % Ersetze... +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + +! Extra }, or forgotten $. +l.31 ...th=\textwidth]{images/CAD_Zeichnung_1.png} + % Ersetzen Sie dies durch... +I've deleted a group-closing symbol because it seems to be +spurious, as in `$x}$'. But perhaps the } is legitimate and +you forgot something else, as in `\hbox{$x}'. In such cases +the way to recover is to insert both the forgotten and the +deleted material, e.g., by typing `I$}'. + + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.32 \caption + {CAD-Zeichnung des Sensormoduls (Ansicht 1)} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.34 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +! Missing $ inserted. +<inserted text> + $ +l.34 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + +! Missing } inserted. +<inserted text> + } +l.34 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.35 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.37 \includegraphics + [width=\textwidth]{images/CAD_Zeichnung_2.png} % Erset... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.37 \includegraphics[width=\textwidth] + {images/CAD_Zeichnung_2.png} % Erset... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.37 \includegraphics[width=\textwidth] + {images/CAD_Zeichnung_2.png} % Erset... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no C in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no D in font nullfont! +! Missing $ inserted. +<inserted text> + $ +l.37 ...ludegraphics[width=\textwidth]{images/CAD_ + Zeichnung_2.png} % Ersetze... +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + +! Extra }, or forgotten $. +l.37 ...th=\textwidth]{images/CAD_Zeichnung_2.png} + % Ersetzen Sie dies durch... +I've deleted a group-closing symbol because it seems to be +spurious, as in `$x}$'. But perhaps the } is legitimate and +you forgot something else, as in `\hbox{$x}'. In such cases +the way to recover is to insert both the forgotten and the +deleted material, e.g., by typing `I$}'. + + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.38 \caption + {CAD-Zeichnung des Sensormoduls (Ansicht 2)} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.40 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +! Missing $ inserted. +<inserted text> + $ +l.40 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + +! Missing } inserted. +<inserted text> + } +l.40 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + +! Undefined control sequence. +l.41 \section + {3D-Modelle des Sensormoduls} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no 3 in font nullfont! +Missing character: There is no D in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no M in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no s in font nullfont! + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.42 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.44 \includegraphics + [width=\textwidth]{images/3D_Modell_1.png} % Ersetzen ... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.44 \includegraphics[width=\textwidth] + {images/3D_Modell_1.png} % Ersetzen ... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.44 \includegraphics[width=\textwidth] + {images/3D_Modell_1.png} % Ersetzen ... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no 3 in font nullfont! +Missing character: There is no D in font nullfont! +! Missing $ inserted. +<inserted text> + $ +l.44 ...cludegraphics[width=\textwidth]{images/3D_ + Modell_1.png} % Ersetzen S... +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + +! Extra }, or forgotten $. +l.44 ...[width=\textwidth]{images/3D_Modell_1.png} + % Ersetzen Sie dies durch... +I've deleted a group-closing symbol because it seems to be +spurious, as in `$x}$'. But perhaps the } is legitimate and +you forgot something else, as in `\hbox{$x}'. In such cases +the way to recover is to insert both the forgotten and the +deleted material, e.g., by typing `I$}'. + + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.45 \caption + {3D-Modell des Sensormoduls (Perspektive 1)} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.47 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +! Missing $ inserted. +<inserted text> + $ +l.47 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + +! Missing } inserted. +<inserted text> + } +l.47 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.48 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.50 \includegraphics + [width=\textwidth]{images/3D_Modell_2.png} % Ersetzen ... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.50 \includegraphics[width=\textwidth] + {images/3D_Modell_2.png} % Ersetzen ... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.50 \includegraphics[width=\textwidth] + {images/3D_Modell_2.png} % Ersetzen ... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no 3 in font nullfont! +Missing character: There is no D in font nullfont! +! Missing $ inserted. +<inserted text> + $ +l.50 ...cludegraphics[width=\textwidth]{images/3D_ + Modell_2.png} % Ersetzen S... +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + +! Extra }, or forgotten $. +l.50 ...[width=\textwidth]{images/3D_Modell_2.png} + % Ersetzen Sie dies durch... +I've deleted a group-closing symbol because it seems to be +spurious, as in `$x}$'. But perhaps the } is legitimate and +you forgot something else, as in `\hbox{$x}'. In such cases +the way to recover is to insert both the forgotten and the +deleted material, e.g., by typing `I$}'. + + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.51 \caption + {3D-Modell des Sensormoduls (Perspektive 2)} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.53 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +! Missing $ inserted. +<inserted text> + $ +l.53 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + +! Missing } inserted. +<inserted text> + } +l.53 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + + +Overfull \hbox (20.0pt too wide) in paragraph at lines 27--54 +[] + [] + + +Overfull \hbox (282.0635pt too wide) in paragraph at lines 27--54 +[]\OML/cmm/m/it/10 eichnung[]:png[][]$ + [] + + +Overfull \hbox (282.0635pt too wide) in paragraph at lines 27--54 +[]\OML/cmm/m/it/10 eichnung[]:png[][]$ + [] + + +Overfull \hbox (256.32677pt too wide) in paragraph at lines 27--54 +[]\OML/cmm/m/it/10 odell[]:png[][]$ + [] + + +Overfull \hbox (256.32677pt too wide) in paragraph at lines 27--54 +[]\OML/cmm/m/it/10 odell[]:png[][]$ + [] + +! Undefined control sequence. +l.55 \chapter + {Datenblätter und technische Spezifikationen} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + + +! LaTeX Error: Missing \begin{document}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.55 \chapter{D + atenblätter und technische Spezifikationen} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no D in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no z in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no f in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no k in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +! Undefined control sequence. +l.56 \section + {Datenblatt des VL53L7CX-Sensors} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no D in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no V in font nullfont! +Missing character: There is no L in font nullfont! +Missing character: There is no 5 in font nullfont! +Missing character: There is no 3 in font nullfont! +Missing character: There is no L in font nullfont! +Missing character: There is no 7 in font nullfont! +Missing character: There is no C in font nullfont! +Missing character: There is no X in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no s in font nullfont! +! Undefined control sequence. +l.57 \includepdf + [pages=-]{VL53L7CX_Datenblatt.pdf} % Ersetzen Sie dies durch... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no = in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no ] in font nullfont! +Missing character: There is no V in font nullfont! +Missing character: There is no L in font nullfont! +Missing character: There is no 5 in font nullfont! +Missing character: There is no 3 in font nullfont! +Missing character: There is no L in font nullfont! +Missing character: There is no 7 in font nullfont! +Missing character: There is no C in font nullfont! +Missing character: There is no X in font nullfont! +! Missing $ inserted. +<inserted text> + $ +l.57 \includepdf[pages=-]{VL53L7CX_ + Datenblatt.pdf} % Ersetzen Sie dies durch... +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + +! Extra }, or forgotten $. +l.57 \includepdf[pages=-]{VL53L7CX_Datenblatt.pdf} + % Ersetzen Sie dies durch... +I've deleted a group-closing symbol because it seems to be +spurious, as in `$x}$'. But perhaps the } is legitimate and +you forgot something else, as in `\hbox{$x}'. In such cases +the way to recover is to insert both the forgotten and the +deleted material, e.g., by typing `I$}'. + +! Undefined control sequence. +l.58 \section + {Datenblatt des Raspberry Pi Pico} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +! Undefined control sequence. +l.59 \includepdf + [pages=-]{Raspberry_Pi_Pico_Datenblatt.pdf} % Ersetzen Sie d... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +! Undefined control sequence. +l.60 \section + {Technische Spezifikationen des UR10e-Roboters} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +! Undefined control sequence. +l.61 \includepdf + [pages=-]{UR10e_Technische_Spezifikationen.pdf} % Ersetzen S... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +! Missing $ inserted. +<inserted text> + $ +l.62 + +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + + +Overfull \hbox (25.00002pt too wide) in paragraph at lines 55--62 +[]\/cmr/m/n/10 ^^?a + [] + + +Overfull \hbox (243.01959pt too wide) in paragraph at lines 55--62 +[]\OML/cmm/m/it/10 atenblatt:pdf[]\/cmr/m/n/10 [\OML/cmm/m/it/10 pages \/cmr/m/ +n/10 = + [] + + +Overfull \hbox (409.28622pt too wide) in paragraph at lines 55--62 +\OMS/cmsy/m/n/10 ^^@\/cmr/m/n/10 ][][][\OML/cmm/m/it/10 pages \/cmr/m/n/10 = + [] + + +Overfull \hbox (180.84958pt too wide) in paragraph at lines 55--62 +\OMS/cmsy/m/n/10 ^^@\/cmr/m/n/10 ][]$ + [] + +! Undefined control sequence. +l.63 \chapter + {Zusätzliche Testergebnisse und Daten} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + + +! LaTeX Error: Missing \begin{document}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.63 \chapter{Z + usätzliche Testergebnisse und Daten} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no Z in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no z in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no T in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no D in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +! Undefined control sequence. +l.64 \section + {Genauigkeitstests der ToF-Sensoren} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no G in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no k in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no T in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no F in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.65 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.67 \includegraphics + [width=\textwidth]{images/Genauigkeitstests.png} % Ers... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.67 \includegraphics[width=\textwidth] + {images/Genauigkeitstests.png} % Ers... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.67 \includegraphics[width=\textwidth] + {images/Genauigkeitstests.png} % Ers... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no G in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no k in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.68 \caption + {Ergebnisse der Genauigkeitstests der ToF-Sensoren} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no E in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no G in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no k in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no T in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no F in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.70 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +! Undefined control sequence. +l.71 \section + {Latenzzeitmessungen} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no L in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no z in font nullfont! +Missing character: There is no z in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.72 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.74 \includegraphics + [width=\textwidth]{images/Latenzzeitmessungen.png} % E... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.74 \includegraphics[width=\textwidth] + {images/Latenzzeitmessungen.png} % E... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.74 \includegraphics[width=\textwidth] + {images/Latenzzeitmessungen.png} % E... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no L in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no z in font nullfont! +Missing character: There is no z in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.75 \caption + {Ergebnisse der Latenzzeitmessungen} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no E in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no L in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no z in font nullfont! +Missing character: There is no z in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.77 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +! Undefined control sequence. +l.78 \section + {Kollisionsvermeidungstests} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no K in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no v in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.79 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.81 \includegraphics + [width=\textwidth]{images/Kollisionsvermeidungstests.p... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.81 \includegraphics[width=\textwidth] + {images/Kollisionsvermeidungstests.p... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.81 \includegraphics[width=\textwidth] + {images/Kollisionsvermeidungstests.p... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no K in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no v in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.82 \caption + {Ergebnisse der Kollisionsvermeidungstests} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no E in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no K in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no v in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.84 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + + +Overfull \hbox (25.00002pt too wide) in paragraph at lines 63--85 +[]\/cmr/m/n/10 ^^?a + [] + +! Undefined control sequence. +l.86 \chapter + {Glossar} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + + +! LaTeX Error: Missing \begin{document}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.86 \chapter{G + lossar} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + +Missing character: There is no G in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no r in font nullfont! + +Overfull \hbox (20.0pt too wide) in paragraph at lines 86--87 +[] + [] + +! Undefined control sequence. +<recently read> \acrfull + +l.88 \item \acrfull + {ToF}: ... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no T in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no F in font nullfont! +Missing character: There is no : in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +! Undefined control sequence. +<recently read> \acrfull + +l.89 \item \acrfull + {ROS}: ... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no R in font nullfont! +Missing character: There is no O in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no : in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +! Undefined control sequence. +<recently read> \acrfull + +l.90 \item \acrfull + {CAD}: ... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no C in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no D in font nullfont! +Missing character: There is no : in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +! Undefined control sequence. +l.94 \chapter + {Bibliographie} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no B in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no e in font nullfont! +\bibdata{literatur} +No file anhang.bbl. + +Overfull \hbox (20.0pt too wide) in paragraph at lines 94--97 +[] + [] + +! Undefined control sequence. +l.98 \chapter + {Detaillierte Beschreibung der ROS 2-Nodes} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no D in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no B in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no R in font nullfont! +Missing character: There is no O in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no 2 in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no N in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +! Undefined control sequence. +l.99 \section + {Datenverarbeitungs-Node} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no D in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no v in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no N in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no ( in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no f in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no B in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no N in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no ) in font nullfont! +! Undefined control sequence. +l.101 \section + {Kollisionserkennungs-Node} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no K in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no k in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no N in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no ( in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no f in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no B in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no N in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no ) in font nullfont! + +Overfull \hbox (20.0pt too wide) in paragraph at lines 98--103 +[] + [] + + +Overfull \hbox (5.55557pt too wide) in paragraph at lines 98--103 +\/cmr/m/n/10 ^^?u + [] + + +Overfull \hbox (5.55557pt too wide) in paragraph at lines 98--103 +\/cmr/m/n/10 ^^?u + [] + +! Undefined control sequence. +l.104 \chapter + {Zusätzliche Bilder und Screenshots} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no Z in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no z in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no B in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no s in font nullfont! + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.105 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.107 \includegraphics + [width=\textwidth]{images/Aufbau_Sensorsystem.png} % ... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.107 \includegraphics[width=\textwidth] + {images/Aufbau_Sensorsystem.png} % ... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.107 \includegraphics[width=\textwidth] + {images/Aufbau_Sensorsystem.png} % ... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no A in font nullfont! +Missing character: There is no u in font nullfont! +Missing character: There is no f in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no u in font nullfont! +! Missing $ inserted. +<inserted text> + $ +l.107 ...graphics[width=\textwidth]{images/Aufbau_ + Sensorsystem.png} % Ersetz... +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + +! Extra }, or forgotten $. +l.107 ...extwidth]{images/Aufbau_Sensorsystem.png} + % Ersetzen Sie dies durch... +I've deleted a group-closing symbol because it seems to be +spurious, as in `$x}$'. But perhaps the } is legitimate and +you forgot something else, as in `\hbox{$x}'. In such cases +the way to recover is to insert both the forgotten and the +deleted material, e.g., by typing `I$}'. + + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.108 \caption + {Aufbau des Sensorsystems} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.110 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +! Missing $ inserted. +<inserted text> + $ +l.110 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + +! Missing } inserted. +<inserted text> + } +l.110 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + + +! LaTeX Error: Environment figure undefined. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.111 \begin{figure} + [h] +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +Missing character: There is no [ in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no ] in font nullfont! +! Undefined control sequence. +l.113 \includegraphics + [width=\textwidth]{images/RViz_Screenshot.png} % Erse... +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no [ in font nullfont! +Missing character: There is no w in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no d in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no h in font nullfont! +Missing character: There is no = in font nullfont! +! Missing number, treated as zero. +<to be read again> + ] +l.113 \includegraphics[width=\textwidth] + {images/RViz_Screenshot.png} % Erse... +A number should have been here; I inserted `0'. +(If you can't figure out why I needed to see a number, +look up `weird error' in the index to The TeXbook.) + +! Illegal unit of measure (pt inserted). +<to be read again> + ] +l.113 \includegraphics[width=\textwidth] + {images/RViz_Screenshot.png} % Erse... +Dimensions can be in units of em, ex, in, pt, pc, +cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one! +I'll assume that you meant to say pt, for printer's points. +To recover gracefully from this error, it's best to +delete the erroneous units; e.g., type `2' to delete +two letters. (See Chapter 27 of The TeXbook.) + +Missing character: There is no ] in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no m in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no g in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no / in font nullfont! +Missing character: There is no R in font nullfont! +Missing character: There is no V in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no z in font nullfont! +! Missing $ inserted. +<inserted text> + $ +l.113 ...degraphics[width=\textwidth]{images/RViz_ + Screenshot.png} % Ersetzen... +I've inserted a begin-math/end-math symbol since I think +you left one out. Proceed, with fingers crossed. + +! Extra }, or forgotten $. +l.113 ...h=\textwidth]{images/RViz_Screenshot.png} + % Ersetzen Sie dies durch... +I've deleted a group-closing symbol because it seems to be +spurious, as in `$x}$'. But perhaps the } is legitimate and +you forgot something else, as in `\hbox{$x}'. In such cases +the way to recover is to insert both the forgotten and the +deleted material, e.g., by typing `I$}'. + + +! LaTeX Error: \caption outside float. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.114 \caption + {RViz-Screenshot der Punktwolkenvisualisierung} +You're in trouble here. Try typing <return> to proceed. +If that doesn't work, type X <return> to quit. + + +! LaTeX Error: \begin{document} ended by \end{figure}. + +See the LaTeX manual or LaTeX Companion for explanation. +Type H <return> for immediate help. + ... + +l.116 \end{figure} + +Your command was ignored. +Type I <command> <return> to replace it with another command, +or <return> to continue without it. + +! Missing $ inserted. +<inserted text> + $ +l.116 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + +! Missing } inserted. +<inserted text> + } +l.116 \end{figure} + +I've inserted something that you may have forgotten. +(See the <inserted text> above.) +With luck, this will get me unwedged. But if you +really didn't forget anything, try typing `2' now; then +my insertion and my current dilemma will both disappear. + + +Overfull \hbox (25.00002pt too wide) in paragraph at lines 104--117 +[]\/cmr/m/n/10 ^^?a + [] + + +Overfull \hbox (198.51pt too wide) in paragraph at lines 104--117 +[]\OML/cmm/m/it/10 ensorsystem:png[][]$ + [] + + +Overfull \hbox (294.96538pt too wide) in paragraph at lines 104--117 +[]\OML/cmm/m/it/10 creenshot:png[][]$ + [] + +! Undefined control sequence. +l.118 \chapter + {Stückliste} +The control sequence at the end of the top line +of your error message was never \def'ed. If you have +misspelled it (e.g., `\hobx'), type `I' and the correct +spelling (e.g., `I\hbox'). Otherwise just continue, +and I'll forget about whatever was undefined. + +Missing character: There is no S in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no k in font nullfont! +Missing character: There is no l in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no t in font nullfont! +Missing character: There is no e in font nullfont! + +Overfull \hbox (25.55557pt too wide) in paragraph at lines 118--119 +[]\/cmr/m/n/10 ^^?u + [] + +Missing character: There is no V in font nullfont! +Missing character: There is no L in font nullfont! +Missing character: There is no 5 in font nullfont! +Missing character: There is no 3 in font nullfont! +Missing character: There is no L in font nullfont! +Missing character: There is no 7 in font nullfont! +Missing character: There is no C in font nullfont! +Missing character: There is no X in font nullfont! +Missing character: There is no - in font nullfont! +Missing character: There is no S in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no n in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no : in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no R in font nullfont! +Missing character: There is no a in font nullfont! +Missing character: There is no s in font nullfont! +Missing character: There is no p in font nullfont! +Missing character: There is no b in font nullfont! +Missing character: There is no e in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no r in font nullfont! +Missing character: There is no y in font nullfont! +Missing character: There is no P in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no P in font nullfont! +Missing character: There is no i in font nullfont! +Missing character: There is no c in font nullfont! +Missing character: There is no o in font nullfont! +Missing character: There is no : in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +Missing character: There is no . in font nullfont! +) +! Emergency stop. +<*> anhang.tex + +*** (job aborted, no legal \end found) + + +Here is how much of TeX's memory you used: + 37 strings out of 473200 + 634 string characters out of 5720278 + 394991 words of memory out of 5000000 + 23389 multiletter control sequences out of 15000+600000 + 558837 words of font info for 36 fonts, out of 8000000 for 9000 + 1141 hyphenation exceptions out of 8191 + 23i,2n,32p,145b,116s stack positions out of 10000i,1000n,20000p,200000b,200000s +! ==> Fatal error occurred, no output PDF file produced! diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/anhang.tex b/Bachelorarbeit/Praxiprojekt_Bericht/anhang.tex new file mode 100644 index 0000000000000000000000000000000000000000..5330cb9b1e5210723690a67d508d9cc34e22ca22 --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/anhang.tex @@ -0,0 +1,42 @@ +\chapter{Quellcode} +\section{Arduino-Quellcode} +\lstinputlisting[language=C++]{18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino} % Ersetzen Sie dies durch Ihren Arduino-Quellcode +\section{ROS 2-Nodes Quellcode} +\subsection{Datenverarbeitungs-Node (Python)} +\lstinputlisting[language=Python]{ser_test_node.py} % Ersetzen Sie dies durch Ihren Python-Quellcode +\subsection{Kollisionserkennungs-Node (Python)} +\lstinputlisting[language=Python]{pcl_rob_node.py} % Ersetzen Sie dies durch Ihren Python-Quellcode + +\chapter{3D-Modelle des Sensormoduls} +\begin{figure}[h] + \centering + \includegraphics[width=\textwidth]{images/Halterung_Seite.jpg} % Ersetzen Sie dies durch Ihre 3D-Modelle + \caption{3D-Modell des Sensormoduls (Perspektive 1)} + \label{fig:3d_modell_1} +\end{figure} +\begin{figure}[h] + \centering + \includegraphics[width=\textwidth]{images/Halterung_Seite_Oben.jpg} % Ersetzen Sie dies durch Ihre 3D-Modelle + \caption{3D-Modell des Sensormoduls (Perspektive 2)} + \label{fig:3d_modell_2} +\end{figure} +\begin{figure}[h] + \centering + \includegraphics[width=\textwidth]{images/Halterung_Seite_Oben_schräg.jpg} % Ersetzen Sie dies durch Ihre 3D-Modelle + \caption{3D-Modell des Sensormoduls (Perspektive 3)} + \label{fig:3d_modell_3} +\end{figure} +\begin{figure}[h] + \centering + \includegraphics[width=\textwidth]{images/Halterung_Top.jpg} % Ersetzen Sie dies durch Ihre 3D-Modelle + \caption{3D-Modell des Sensormoduls (Perspektive 4)} + \label{fig:3d_modell_4} +\end{figure} + +\chapter{Versuchsaufbau} +\begin{figure}[h] + \centering + \includegraphics[scale=0.5]{images/Versuchsaufbau_mit_VL53L5CX.jpg} + \caption{Versuchsaufbau mit zwei VL53L5CX} + \label{fig:versuchsaufbau} +\end{figure} \ No newline at end of file diff --git a/Praxiprojekt_Bericht/ba.acn b/Bachelorarbeit/Praxiprojekt_Bericht/ba.acn similarity index 75% rename from Praxiprojekt_Bericht/ba.acn rename to Bachelorarbeit/Praxiprojekt_Bericht/ba.acn index a908bd034237309df1e704977296115ce08e8e95..dd0f761aa89f6a9b5e054b8719fe4427cd0c1de5 100644 --- a/Praxiprojekt_Bericht/ba.acn +++ b/Bachelorarbeit/Praxiprojekt_Bericht/ba.acn @@ 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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 + } +\usepackage{xcolor} % Für Farbdefinitionen +%%%%%% Immer benötigte Packages +\usepackage[ +pdfborder={0 0 1}, % Rahmen um Links (0 0 1 bedeutet einfarbiger Rahmen mit Breite 1) +colorlinks=false % Deaktiviert die farbige Textmarkierung, lässt Rahmen aktiv +]{hyperref} +% +\definecolor{fh-mint}{RGB}{0,177,172} +\hypersetup{ + linkbordercolor=fh-mint, % Farbe des Rahmens um interne Links + citebordercolor=blue, % Farbe des Rahmens um Zitate + urlbordercolor=green % Farbe des Rahmens um URLs +} +\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{blindtext} % Blindtext +\usepackage[colorlinks=false]{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 +\usepackage{listings} % Paket für Code-Darstellung +% +%%%%% 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{tocloft} +\cftsetindents{section}{1.5em}{2.3em} % Einrückung für Abschnitte +\cftsetindents{subsection}{3.8em}{3.2em} % Einrückung für Unterabschnitte +%\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 +\usepackage{enumitem} +%%%%%% Sammelsurium +% +%\renewcommand{\labelitemii}{$\circ$} % Bullets für itemize-Listen +% +%%%%%%%%%% Angaben für Titelseite %%%%%%%%%%%%%%%%%%%%%% +% +\input{titelangaben} +% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +% +\usepackage[acronym]{glossaries} +% Glossar erstellen +\makeglossaries + +\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} +\newacronym{MCU}{MCU}{Micro Controller Unit} +\newacronym{ROS}{ROS2}{Robot Operating System 2} +\newacronym{RVIZ}{RVIZ2}{Robot Visualization 2} +\newacronym{NUC}{NUC}{Next Unit of Computing} +\newacronym{LPN}{LPn}{Low-Power-Mode-Communication-Enable} +\newacronym{JSON}{JSON}{JavaScript Object Notation} +\newacronym{LED}{LED}{Light Emitting Diode} +\newacronym{USB}{USB}{Universal Seriell Bus} +\newacronym{PCD}{pcd}{Point Cloud Data} +\newacronym{PLA}{PLA}{Polylactid} +\newacronym{IMU}{IMU}{Inertial Measurement Unit} + +\lstset{ + language=C++, % Programmiersprache + basicstyle=\ttfamily\small, % Schriftart und -größe + keywordstyle=\color{blue}, % Schlüsselwörter in Blau + commentstyle=\color{green!50!black}, % Kommentare in Grün + stringstyle=\color{red}, % Strings in Rot + numbers=left, % Zeilennummern links anzeigen + numberstyle=\tiny, % Zeilennummern in kleiner Schrift + stepnumber=1, % Jede Zeile nummerieren + numbersep=10pt, % Abstand der Nummerierung vom Code + backgroundcolor=\color{gray!10},% Hintergrundfarbe + frame=single, % Rahmen um den Code + breaklines=true, % Automatischer Zeilenumbruch + captionpos=b, % Beschriftung unterhalb des Codes + tabsize=2, % Breite von Tabs + showstringspaces=false % Leerzeichen in Strings nicht anzeigen +} +\lstdefinestyle{customcpp}{ + morekeywords=[2]{ + shiftOut, + uint8_t, + uint16\_t, + digitalWrite, + LPn,initializeSensorInterface0, + delay, + sensor, + begin, + init_sensor, + vl53l7cx_set_i2c_address, + vl53l7cx_set_resolution, + vl53l7cx_set_ranging_frequency_hz, + vl53l7cx_start_ranging, + VL53L7CX, + }, + keywordstyle=[2]\color{blue}\bfseries, % Style for custom keywords + %emph=[2]{shiftOut,digitalWrite,LPn} + %emphstyle=[2]{\color{orange}\bfseries} +} +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +\renewcommand{\figurename}{Abb.} +\begin{document} +%% Verschiedene Versionen, nach DIN 1505 zu zitieren +\bibliographystyle{plain} +%\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} +%\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 + + +%% Verschiedene Versionen, nach DIN 1505 zu zitieren +\bibliographystyle{plaindin} +%\bibliographystyle{natdin} +%\bibliographystyle{alphadin} +%\bibliographystyle{unsrtdin} +\bibliography{ba} + +\listoffigures + +\appendix +\input{anhang} + +\end{document} \ No newline at end of file diff --git a/Praxiprojekt_Bericht/ba.toc b/Bachelorarbeit/Praxiprojekt_Bericht/ba.toc similarity index 52% rename from Praxiprojekt_Bericht/ba.toc rename to Bachelorarbeit/Praxiprojekt_Bericht/ba.toc index f9af336a3110036b43d9102869e0a581e1960ce3..ab7940bca984e987f13067281b1fcfe45b236856 100644 --- a/Praxiprojekt_Bericht/ba.toc +++ b/Bachelorarbeit/Praxiprojekt_Bericht/ba.toc @@ -10,14 +10,8 @@ \contentsline {subsection}{\numberline {4.2.1}Arduino}{10}{subsection.4.2.1}% \contentsline {subsection}{\numberline {4.2.2}Robot Operating System 2}{13}{subsection.4.2.2}% \contentsline {subsection}{\numberline {4.2.3}RVIZ2 und Gazebo Classic}{15}{subsection.4.2.3}% -\contentsline {section}{\numberline {4.3}Hardware}{16}{section.4.3}% -\contentsline {subsection}{\numberline {4.3.1}Elektronisch}{16}{subsection.4.3.1}% -\contentsline {subsection}{\numberline {4.3.2}Mechanisch}{18}{subsection.4.3.2}% -\contentsline {chapter}{\numberline {5}Ausblick}{20}{chapter.5}% -\contentsline {chapter}{\numberline {A}Quellcode}{25}{appendix.A}% -\contentsline {section}{\numberline {A.1}Arduino-Quellcode}{25}{section.A.1}% -\contentsline {section}{\numberline {A.2}ROS 2-Nodes Quellcode}{39}{section.A.2}% -\contentsline {subsection}{\numberline {A.2.1}Datenverarbeitungs-Node (Python)}{39}{subsection.A.2.1}% -\contentsline {subsection}{\numberline {A.2.2}Kollisionserkennungs-Node (Python)}{44}{subsection.A.2.2}% -\contentsline {chapter}{\numberline {B}3D-Modelle des Sensormoduls}{52}{appendix.B}% -\contentsline {chapter}{\numberline {C}Versuchsaufbau}{56}{appendix.C}% +\contentsline {section}{\numberline {4.3}Hardware}{15}{section.4.3}% +\contentsline {subsection}{\numberline {4.3.1}Elektronisch}{15}{subsection.4.3.1}% +\contentsline {subsection}{\numberline {4.3.2}Mechanisch}{15}{subsection.4.3.2}% +\contentsline {chapter}{\numberline {5}Ergebnis}{16}{chapter.5}% +\contentsline {chapter}{\numberline {6}Ausblick}{17}{chapter.6}% diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/fh_logo.png b/Bachelorarbeit/Praxiprojekt_Bericht/fh_logo.png new file mode 100644 index 0000000000000000000000000000000000000000..4f231037730a4b1986cb1c05dc3a08124be508da Binary files /dev/null and b/Bachelorarbeit/Praxiprojekt_Bericht/fh_logo.png differ diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/fhacmb.sty b/Bachelorarbeit/Praxiprojekt_Bericht/fhacmb.sty new file mode 100644 index 0000000000000000000000000000000000000000..a8bf10bd4f3dacd8e377c0d9c196e7d6022d9831 --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/fhacmb.sty @@ -0,0 +1,172 @@ +%%%% 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} + +% Textstyles für das Deckblatt +\def\hlmint{\fontfamily{phv}\fontsize{19pt}{19pt}\fontseries{b}\color{fh-mint}\selectfont} +\def\hlAbold{\fontfamily{phv}\fontsize{14pt}{30pt}\fontseries{b}\selectfont} +\def\hlAnormal{\fontfamily{phv}\fontsize{14pt}{14pt}\selectfont} + +% Variable und Kommando für den Typ der Arbeit +\def\@arbeitstyp{arbeitstyp} +\newcommand\arbeitstyp[1]{\gdef\@arbeitstyp{#1}} + +% Variable und Kommando für Fachbereich +\def\@fachbereich{fachbereich} +\newcommand\fachbereich[1]{\gdef\@fachbereich{#1}} + +% Variable und Kommando für Studiengang +\def\@studiengang{studiengang} +\newcommand\studiengang[1]{\gdef\@studiengang{#1}} + +% Variable und Kommando für Matrikelnummer +\def\@matrnr{matrnr} +\newcommand\matrnr[1]{\gdef\@matrnr{#1}} + +% Variable und Kommando für Vertiefungsrichtung +\def\@vertiefung{vertiefung} +\newcommand\vertiefung[1]{\gdef\@vertiefung{#1}} + +% Variable und Kommando für Autor +\def\@autor{autor} +\newcommand\autor[1]{\gdef\@autor{#1}} + +% Variable und Kommando für Titel +\def\@titel{titel} +\newcommand\titel[1]{\gdef\@titel{#1}} + +% Variable und Kommando für Betreuer +\def\@betreuer{betreuer} +\newcommand\betreuer[1]{\gdef\@betreuer{#1}} + +% Variable und Kommando für externen Betreuer +\def\@extbetreuer{extbetreuer} +\newcommand\extbetreuer[1]{\gdef\@extbetreuer{#1}} + +% Variable und Kommando für Datum +\def\@datum{datum} +\newcommand\datum[1]{\gdef\@datum{#1}} + +% Variable und Kommando für Danksagung und Geheimhaltung +\def\@dank{dank} +\newcommand\dank[1]{\gdef\@dank{#1}} + +% Hier wird der Befehl definiert, der die Arbeit macht +% Beispiel für Aufruf: +% \fhacmbtitle{\includegraphics[height=4cm]{fh_logo}}{5pt}{5pt} +\newcommand{\fhacmbtitle}[3]{ + \begin{titlepage} + % Berechnungen für das Positionieren des Logos + % Variablendeklarationen + \newskip\@logobreite % Breite des Logos + \newskip\@logohoehe % Höhe des Logos + \newskip\@koordx % Abstand vom linken Rand + \newskip\@koordy % Abstand vom oberen Rand + \newskip\@offsx % Offsetx des Picture-Koordinatensystems + \newskip\@offsy % Offsety des Picture-Koordinatensystems + % + \def\@xcorr{#2} % Abstand des Logos vom rechten Rand + \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} + % Offsets des Koordinatensystems für ganzes Papierformat + % in X-Richtung + \@offsx=1in % 1 inch (Standardrand, Systemkonstante) + \advance\@offsx by \oddsidemargin % Rand abziehen (Logo nur auf ungerade Seite) + % in Y-Richtung + \@offsy=0in % Standardrand offenbar Null ??? + \advance\@offsy by \topmargin % Rand abziehen + % x-Koordinate für Logo berechnen + \@koordx=\paperwidth % initialisieren mit Papierbreite + \advance\@koordx by -\@logobreite % davon Logobreite + \advance\@koordx by -\@xcorr % und gewünschten Abstand abziehen + % y-Koordinate für Logo berechnen + \@koordy=0pt % mit 0 initialisieren (oben) + \advance\@koordy by \@ycorr % gewünschten Abstand dazuaddieren + % picture-Umgebung am oberen linken Blattrand ausrichten + \begin{picture}(0pt,0pt)(\@offsx,-\@offsy) + % Logo zeichnen + \put(\@koordx,-\@koordy){\@logo} + \end{picture} + + % Kontrollausgaben der Maße. Erfordert selbstgeschriebenes Package mmout.sty + %offsx=\MM{\@offsx}\\ + %offsy=\MM{\@offsy}\\ + %koordx=\MM{\@koordx}\\ + %koordy=\MM{\@koordy}\\ + % + % 9 pt Helvetica (=phv) auswählen + \fontfamily{phv}\fontsize{9pt}{9pt}\selectfont + \vspace{25mm} + % Mintfarbenes fettes "FH Aachen" + {\hlmint + FH Aachen + }\par + {\hlAbold + Fachbereich \@fachbereich + }\par + {\hlAnormal + Studiengang \@studiengang + }\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 Externer Betreuer nur, wenn Angabe vorhanden + \ifthenelse{\equal{\@extbetreuer}{}}{}{ + \textls{Externe Betreuerin:} & \@extbetreuer\\[8mm] + } + \ifthenelse{\equal{\@datum}{}}{}{ + \textls{Datum:} & \@datum\\ + } + 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differ diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/library.bib b/Bachelorarbeit/Praxiprojekt_Bericht/library.bib new file mode 100644 index 0000000000000000000000000000000000000000..69a3c336b003f7b24834a60e673ffa39285cd01e --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/library.bib @@ -0,0 +1,161 @@ + +@software{grans_sebastiangransros2-point-cloud-demo_2024, + title = {{SebastianGrans}/{ROS}2-Point-Cloud-Demo}, + rights = {{MIT}}, + url = {https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo}, + abstract = {Demo package for {ROS}2 that publishes a point cloud and visualizes it using {RViz}2}, + author = {Grans, Sebastian}, + urldate = {2025-02-12}, + date = {2024-12-08}, + note = {original-date: 2020-06-30T16:55:21Z}, +} + +@online{noauthor_examples_nodate, + title = {Examples - trimesh 4.6.2 documentation}, + url = {https://trimesh.org/examples.html}, + urldate = {2025-02-12}, + file = {Examples - trimesh 4.6.2 documentation:/home/sochi/Zotero/storage/82WA6KM7/examples.html:text/html}, +} + +@online{noauthor_tutorials_nodate, + title = {Tutorials — {ROS} 2 Documentation: Humble documentation}, + url = {https://docs.ros.org/en/humble/Tutorials.html}, + urldate = {2025-02-12}, + file = {Tutorials — ROS 2 Documentation\: Humble documentation:/home/sochi/Zotero/storage/28S5GUZ5/Tutorials.html:text/html}, +} + +@software{iii_earlephilhowerarduino-pico_2025, + title = {earlephilhower/arduino-pico}, + rights = {{LGPL}-2.1}, + url = {https://github.com/earlephilhower/arduino-pico}, + abstract = {Raspberry Pi Pico Arduino core, for all {RP}2040 and {RP}2350 boards}, + author = {{III}, Earle F. Philhower}, + urldate = {2025-02-12}, + date = {2025-02-11}, + note = {original-date: 2021-02-25T04:20:27Z}, + keywords = {a2dp, arduino, arduino-pico, ble, bluetooth, freertos, pi, pico, pico2, picow, raspberry, raspberry-pi, risc-v, riscv, rp2040, rp2350, smp, wifi}, +} + +@online{noauthor_chatgpt_nodate, + title = {{ChatGPT}}, + url = {https://chatgpt.com}, + abstract = {A conversational {AI} system that listens, learns, and challenges}, + urldate = {2025-02-12}, + file = {Snapshot:/home/sochi/Zotero/storage/ZT8MG8Y4/678e85c2-fd98-800d-908f-de95b27f0abf.html:text/html}, +} + +@online{noauthor_pico-series_nodate, + title = {Pico-series Microcontrollers - Raspberry Pi Documentation}, + url = {https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html}, + abstract = {The official documentation for Raspberry Pi computers and microcontrollers}, + urldate = {2025-02-12}, + langid = {english}, + file = {Snapshot:/home/sochi/Zotero/storage/KUCB8PVI/pico-series.html:text/html}, +} + +@online{noauthor_vl53l7cx_nodate, + title = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV} - {STMicroelectronics}}, + url = {https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html}, + abstract = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV}, {VL}53L7CXV0GC/1, {STMicroelectronics}}, + urldate = {2025-02-12}, + langid = {english}, + file = {Snapshot:/home/sochi/Zotero/storage/VEYLCCLA/vl53l7cx.html:text/html}, +} + +@article{paya_state---art_2017, + title = {A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision Sensors}, + volume = {2017}, + rights = {Copyright © 2017 L. Payá et al.}, + issn = {1687-7268}, + url = {https://onlinelibrary.wiley.com/doi/abs/10.1155/2017/3497650}, + doi = {10.1155/2017/3497650}, + abstract = {Nowadays, the field of mobile robotics is experiencing a quick evolution, and a variety of autonomous vehicles is available to solve different tasks. The advances in computer vision have led to a substantial increase in the use of cameras as the main sensors in mobile robots. They can be used as the only source of information or in combination with other sensors such as odometry or laser. Among vision systems, omnidirectional sensors stand out due to the richness of the information they provide the robot with, and an increasing number of works about them have been published over the last few years, leading to a wide variety of frameworks. In this review, some of the most important works are analysed. One of the key problems the scientific community is addressing currently is the improvement of the autonomy of mobile robots. To this end, building robust models of the environment and solving the localization and navigation problems are three important abilities that any mobile robot must have. Taking it into account, the review concentrates on these problems; how researchers have addressed them by means of omnidirectional vision; the main frameworks they have proposed; and how they have evolved in recent years.}, + pages = {3497650}, + number = {1}, + journaltitle = {Journal of Sensors}, + author = {Payá, L. and Gil, A. and Reinoso, O.}, + urldate = {2025-02-12}, + date = {2017}, + langid = {english}, + note = {\_eprint: https://onlinelibrary.wiley.com/doi/pdf/10.1155/2017/3497650}, + file = {Full Text PDF:/home/sochi/Zotero/storage/EZ473NGD/Payá et al. - 2017 - A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision.pdf:application/pdf;Snapshot:/home/sochi/Zotero/storage/86LDAQ62/3497650.html:text/html}, +} + +@article{saudabayev_sensors_2015, + title = {Sensors for Robotic Hands: A Survey of State of the Art}, + volume = {3}, + issn = {2169-3536}, + url = {https://ieeexplore.ieee.org/document/7283549/?arnumber=7283549}, + doi = {10.1109/ACCESS.2015.2482543}, + shorttitle = {Sensors for Robotic Hands}, + abstract = {Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands.}, + pages = {1765--1782}, + journaltitle = {{IEEE} Access}, + author = {Saudabayev, Artur and Varol, Huseyin Atakan}, + urldate = {2025-02-12}, + date = {2015}, + note = {Conference Name: {IEEE} Access}, + keywords = {Artificial hands, Hands, industrial robotics, prosthetics, Prosthetics, review, robot end effectors, robot sensing, Robot sensing systems, robotic hands, Robots, sensors, Sensors}, + file = {Full Text PDF:/home/sochi/Zotero/storage/HR7ZUF8W/Saudabayev and Varol - 2015 - Sensors for Robotic Hands A Survey of State of the Art.pdf:application/pdf;IEEE Xplore Abstract Record:/home/sochi/Zotero/storage/484D4R7H/7283549.html:text/html}, +} + +@collection{hering_sensoren_2018, + location = {Wiesbaden}, + title = {Sensoren in Wissenschaft und Technik}, + rights = {http://www.springer.com/tdm}, + isbn = {978-3-658-12561-5 978-3-658-12562-2}, + url = {http://link.springer.com/10.1007/978-3-658-12562-2}, + publisher = {Springer Fachmedien Wiesbaden}, + editor = {Hering, Ekbert and Schönfelder, Gert}, + urldate = {2025-02-12}, + date = {2018}, + langid = {german}, + doi = {10.1007/978-3-658-12562-2}, + file = {PDF:/home/sochi/Zotero/storage/9TI57WXD/Hering and Schönfelder - 2018 - Sensoren in Wissenschaft und Technik.pdf:application/pdf}, +} + +@book{hertzberg_mobile_2012, + location = {Berlin, Heidelberg}, + title = {Mobile Roboter: Eine Einführung aus Sicht der Informatik}, + rights = {https://www.springernature.com/gp/researchers/text-and-data-mining}, + isbn = {978-3-642-01725-4 978-3-642-01726-1}, + url = {https://link.springer.com/10.1007/978-3-642-01726-1}, + series = {{eXamen}.press}, + shorttitle = {Mobile Roboter}, + publisher = {Springer Berlin Heidelberg}, + author = {Hertzberg, Joachim and Lingemann, Kai and Nüchter, Andreas}, + urldate = {2025-02-12}, + date = {2012}, + langid = {german}, + doi = {10.1007/978-3-642-01726-1}, + file = {PDF:/home/sochi/Zotero/storage/RLTU9P46/Hertzberg et al. - 2012 - Mobile Roboter Eine Einführung aus Sicht der Informatik.pdf:application/pdf}, +} + +@article{haddadin_robot_2017, + title = {Robot Collisions: A Survey on Detection, Isolation, and Identification}, + volume = {33}, + issn = {1941-0468}, + url = {https://ieeexplore.ieee.org/abstract/document/8059840}, + doi = {10.1109/TRO.2017.2723903}, + shorttitle = {Robot Collisions}, + abstract = {Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.}, + pages = {1292--1312}, + number = {6}, + journaltitle = {{IEEE} Transactions on Robotics}, + author = {Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin}, + urldate = {2025-02-12}, + date = {2017-12}, + note = {Conference Name: {IEEE} Transactions on Robotics}, + keywords = {Robot sensing systems, Algorithm design and analysis, Collision avoidance, Collision detection, collision identification, collision isolation, Drones, flexible joint manipulators, human-friendly robotics, Human-robot interaction, physical human–robot interaction ({pHRI}), Real-time systems, safe robotics, Service robots}, + file = {Accepted Version:/home/sochi/Zotero/storage/IEXJFAMF/Haddadin et al. - 2017 - Robot Collisions A Survey on Detection, Isolation, and Identification.pdf:application/pdf;IEEE Xplore Abstract Record:/home/sochi/Zotero/storage/LDB3Q92K/8059840.html:text/html}, +} + +@software{noauthor_universalrobotsuniversal_robots_ros2_gazebo_simulation_2025, + title = {{UniversalRobots}/Universal\_Robots\_ROS2\_Gazebo\_Simulation}, + rights = {{BSD}-3-Clause}, + url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation}, + publisher = {Universal Robots A/S}, + urldate = {2025-02-17}, + date = {2025-02-13}, + note = {original-date: 2021-12-15T12:18:45Z}, +} diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/main.acn b/Bachelorarbeit/Praxiprojekt_Bericht/main.acn new file mode 100644 index 0000000000000000000000000000000000000000..7f9053c87b27b3208c902648aeb990c4ce14f206 --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/main.acn @@ -0,0 +1,19 @@ +\glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{2} +\glossaryentry{Cobot?\glossentry{Cobot}|setentrycounter[]{page}"\glsnumberformat}{2} +\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{2} +\glossaryentry{PC?\glossentry{PC}|setentrycounter[]{page}"\glsnumberformat}{2} +\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{2} +\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{2} +\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{2} +\glossaryentry{Cobot?\glossentry{Cobot}|setentrycounter[]{page}"\glsnumberformat}{2} +\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{4} +\glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{4} +\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{4} +\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{4} +\glossaryentry{ToF-Sensor?\glossentry{ToF}|setentrycounter[]{page}"\glsnumberformat}{4} +\glossaryentry{ToF-Sensor?\glossentry{ToF}|setentrycounter[]{page}"\glsnumberformat}{4} +\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{4} +\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{4} +\glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{5} +\glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{5} +\glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{5} diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/main.aux b/Bachelorarbeit/Praxiprojekt_Bericht/main.aux new file mode 100644 index 0000000000000000000000000000000000000000..b4d10c3b0bc9bd9cb93e89927ed6dfcb37dd795d --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/main.aux @@ -0,0 +1,66 @@ +\relax +\providecommand \babel@aux [2]{\global \let \babel@toc \@gobbletwo } +\@nameuse{bbl@beforestart} +\catcode `"\active +\bibstyle{plain} +\providecommand\@newglossary[4]{} +\@newglossary{main}{glg}{gls}{glo} +\providecommand\@glsorder[1]{} +\providecommand\@istfilename[1]{} +\@istfilename{main.ist} +\@glsorder{word} +\babel@aux{ngerman}{} +\citation{noauthor_robotics_2021} +\citation{popov_collision_2017} +\citation{li_common_2019} +\citation{noauthor_vl53l7cx_nodate} +\citation{hering_sensoren_2018} +\@writefile{toc}{\contentsline {section}{\numberline {1}Motivation}{1}{}\protected@file@percent } +\citation{noauthor_can_nodate} +\citation{liu_application_2024} +\citation{popov_collision_2017} +\citation{noauthor_robotics_2021} +\citation{al_naser_fusion_2022} +\citation{amaya-mejia_vision-based_2022} +\citation{rashid_local_2020} +\@writefile{toc}{\contentsline {section}{\numberline {2}Stand der Technik}{2}{}\protected@file@percent } +\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Market Outlook for Cobots. 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Duffy. +\newblock Application, development and future opportunities of collaborative + robots (cobots) in manufacturing: A literature review. +\newblock 40(4):915--932. +\newblock Publisher: Taylor \& Francis \_eprint: + https://doi.org/10.1080/10447318.2022.2041907. + +\bibitem{popov_collision_2017} +Dmitry Popov, Alexandr Klimchik, and Nikolaos Mavridis. +\newblock Collision detection, localization \& classification for industrial + robots with joint torque sensors. +\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. +\newblock Local and global sensors for collision avoidance. +\newblock In {\em 2020 {IEEE} International Conference on Multisensor Fusion + and Integration for Intelligent Systems ({MFI})}, pages 354--359. + +\end{thebibliography} diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/main.blg b/Bachelorarbeit/Praxiprojekt_Bericht/main.blg new file mode 100644 index 0000000000000000000000000000000000000000..4c0da6c4f5149f72fad74257aeefa7fcf5477f09 --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/main.blg @@ -0,0 +1,72 @@ +This is BibTeX, Version 0.99d (TeX Live 2024) +Capacity: max_strings=200000, hash_size=200000, hash_prime=170003 +The top-level auxiliary file: main.aux +The style file: plain.bst +Database file #1: BA.bib +Warning--entry type for "hering_sensoren_2018" isn't style-file defined +--line 48 of file BA.bib +Warning--entry type for "noauthor_vl53l7cx_nodate" isn't style-file defined +--line 100 of file BA.bib +Warning--entry type for 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+\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/Bachelorarbeit/Praxiprojekt_Bericht/pcl_rob_node.py b/Bachelorarbeit/Praxiprojekt_Bericht/pcl_rob_node.py new file mode 100644 index 0000000000000000000000000000000000000000..b4a0ae15abf208ff28cc2ab8f13ad63bda2469cd --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/pcl_rob_node.py @@ -0,0 +1,234 @@ +import rclpy +import rclpy.duration +from rclpy.node import Node +from sensor_msgs.msg import PointCloud2 +from tf2_ros import TransformListener, Buffer +import numpy as np +import trimesh +import std_msgs.msg +import sensor_msgs.msg as sensor_msgs +import sensor_msgs_py.point_cloud2 as pc2 +from std_msgs.msg import Header +from scipy.spatial.transform import Rotation as R +import os + +class PointCloudProcessor(Node): + def __init__(self): + super().__init__('pointcloud_processor') + self.subscription = self.create_subscription( + PointCloud2, + 'pcd', + self.pointcloud_callback, + 10) + self.subscription # prevent unused variable warning + self.publisher_valid = self.create_publisher(PointCloud2, '/valid_from_perspective', 10) + self.publisher_invalid = self.create_publisher(PointCloud2, '/invalid_from_perspective', 10) + + self.tf_buffer = Buffer() + self.tf_listener = TransformListener(self.tf_buffer, self) + + base_path = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10e', 'collision_custom') + self.mesh_shoulder_link_static = trimesh.load_mesh(os.path.join(base_path, 'shoulder.stl')) + self.mesh_forearm_link_static = trimesh.load_mesh(os.path.join(base_path, 'forearm.stl')) + self.mesh_upperarm_link_static = trimesh.load_mesh(os.path.join(base_path, 'upperarm.stl')) + self.mesh_wrist1_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist1.stl')) + self.mesh_wrist2_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist2.stl')) + self.mesh_wrist3_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist3.stl')) + + base_path_collision = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10e', 'collision') + self.mesh_base_link_static = trimesh.load_mesh(os.path.join(base_path_collision, 'base.stl')) + + self.meshes_static = [ + self.mesh_shoulder_link_static, + self.mesh_base_link_static, + self.mesh_forearm_link_static, + self.mesh_upperarm_link_static, + self.mesh_wrist1_link_static, + self.mesh_wrist2_link_static, + self.mesh_wrist3_link_static + ] + + # Scale the meshes only in z and y + scale_matrix = np.eye(4) + scale_matrix[1, 1] = 2 # Scale y by 2 + scale_matrix[2, 2] = 2 # Scale z by 2 + for mesh in self.meshes_static: + mesh.apply_transform(scale_matrix) + + def visualize_meshes(self,meshes): + scene = trimesh.Scene() + for mesh in meshes: + scene.add_geometry(mesh) + scene.show() + + def pointcloud_callback(self, msg): + self.perspective_frame ='vl53l7cx_link' + + try: + self.target_frame = 'vl53l7cx_link' + now = rclpy.time.Time() + transform_base = self.tf_buffer.lookup_transform(self.target_frame, 'world', now) + transform_shoulder = self.tf_buffer.lookup_transform(self.target_frame, 'shoulder_link', now) + transform_upperarm = self.tf_buffer.lookup_transform(self.target_frame, 'upper_arm_link', now) + transform_forearm = self.tf_buffer.lookup_transform(self.target_frame, 'forearm_link', now) + #transform_vl53l7cx = self.tf_buffer.lookup_transform(self.target_frame, 'vl53l7cx_link', now) + transform_wrist1 = self.tf_buffer.lookup_transform(self.target_frame, 'wrist_1_link', now) + transform_wrist2 = self.tf_buffer.lookup_transform(self.target_frame, 'wrist_2_link', now) + transform_wrist3 = self.tf_buffer.lookup_transform(self.target_frame, 'wrist_3_link', now) + except Exception as e: + self.get_logger().error(f'Error in looking up transform: {e}') + return + + + self.mesh_shoulder_link = self.transform_mesh(transform_shoulder, self.mesh_shoulder_link_static) + self.mesh_forearm_link = self.transform_mesh(transform_forearm, self.mesh_forearm_link_static) + self.mesh_base_link = self.transform_mesh(transform_base, self.mesh_base_link_static) + self.mesh_upperarm_link = self.transform_mesh(transform_upperarm, self.mesh_upperarm_link_static) + self.mesh_wrist1_link = self.transform_mesh(transform_wrist1, self.mesh_wrist1_link_static) + self.mesh_wrist2_link = self.transform_mesh(transform_wrist2, self.mesh_wrist2_link_static) + self.mesh_wrist3_link = self.transform_mesh(transform_wrist3, self.mesh_wrist3_link_static) + # Move the upperarm mesh in the negative z direction by 30 centimeters + translation_matrix = trimesh.transformations.translation_matrix([0, 0, -0.17]) + self.mesh_upperarm_link.apply_transform(translation_matrix) + # Move the forearm mesh in the positive z direction by 5 centimeters + translation_matrix_forearm = trimesh.transformations.translation_matrix([0, 0, -0.05]) + self.mesh_forearm_link.apply_transform(translation_matrix_forearm) + self.meshes = [ + self.mesh_shoulder_link, + self.mesh_base_link, + self.mesh_forearm_link, + self.mesh_upperarm_link, + self.mesh_wrist1_link, + self.mesh_wrist2_link, + self.mesh_wrist3_link + ] + + #self.visualize_meshes(self.meshes) + + self.transformed_points_base = self.do_transform_cloud(msg, transform_base.transform) + self.points = np.array([(point['x'], point['y'], point['z']) for point in pc2.read_points(msg, field_names=("x", "y", "z"), skip_nans=True)], dtype=np.float64) + + inside_base = self.mesh_base_link.contains(self.points) + inside_forearm = self.mesh_forearm_link.contains(self.points) + inside_upperarm = self.mesh_upperarm_link.contains(self.points) + inside_wrist1 = self.mesh_wrist1_link.contains(self.points) + inside_wrist2 = self.mesh_wrist2_link.contains(self.points) + inside_wrist3 = self.mesh_wrist3_link.contains(self.points) + inside_shoulder = self.mesh_shoulder_link.contains(self.points) + inside_robot = np.logical_or.reduce(( + inside_base, + inside_forearm, + inside_upperarm, + inside_wrist1, + inside_wrist2, + inside_wrist3, + inside_shoulder + )) + outside_robot = np.logical_not(inside_robot) + self.points =np.asanyarray(self.points) + #points_valid = np.hstack((self.transformed_points_base, inside_shoulder.reshape(10000,1))) + points_outside_robot = self.points[outside_robot] + points_inside_robot = self.points[inside_robot] + self.publish_point_cloud(points_outside_robot, points_inside_robot) + self.get_logger().info(f'Number of points outside robot: {len(points_outside_robot)}') + self.get_logger().info(f'Number of points inside robot: {len(points_inside_robot)}') + def do_transform_cloud(self, cloud, trans): + # Convert the cloud to a numpy array + quaternion = (trans.rotation.x, trans.rotation.y, trans.rotation.z, trans.rotation.w) + rotation = R.from_quat(quaternion) + self.points = pc2.read_points(cloud, skip_nans=True) + list_of_tuples = [tuple(row) for row in self.points] + + points = [] + for point in list_of_tuples: + point = rotation.apply(point) + point[0] = point[0] + trans.translation.x + point[1] = point[1] + trans.translation.y + point[2] = point[2] + trans.translation.z + points.append(point) + return points + + def transform_mesh(self, transform, mesh_static): + # Extract the translation and rotation from the transform + translation = transform.transform.translation + rotation = transform.transform.rotation + + # Create a translation matrix + translation_matrix = trimesh.transformations.translation_matrix([translation.x, translation.y, translation.z]) + + # Create a rotation matrix from the quaternion + rotation_matrix = trimesh.transformations.quaternion_matrix([rotation.w, rotation.x, rotation.y, rotation.z]) + + # Combine the translation and rotation matrices into a single transformation matrix + transformation_matrix = np.dot(translation_matrix, rotation_matrix) + # Apply the transformation matrix to the mesh + transformed_mesh = mesh_static.copy() + transformed_mesh.apply_transform(transformation_matrix) + return transformed_mesh + + def publish_point_cloud(self,points_valid,points_invalid): + + # Create PointCloud2 message + header = std_msgs.msg.Header() + header.frame_id = self.perspective_frame # The frame ID (replace with your robot's frame) + # Publish the message + self.publisher_valid.publish(self.point_cloud(points_valid, self.perspective_frame)) + self.publisher_invalid.publish(self.point_cloud(points_invalid, self.perspective_frame)) + + def point_cloud(self, points, parent_frame): + """ Creates a point cloud message. + Args: + points: Nx3 array of xyz positions. + parent_frame: frame in which the point cloud is defined + Returns: + sensor_msgs/PointCloud2 message + + Code source: + https://gist.github.com/pgorczak/5c717baa44479fa064eb8d33ea4587e0 + + References: + http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html + http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointField.html + http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html + + """ + # In a PointCloud2 message, the point cloud is stored as an byte + # array. In order to unpack it, we also include some parameters + # which desribes the size of each individual point. + ros_dtype = sensor_msgs.PointField.FLOAT32 + dtype = np.float32 + itemsize = np.dtype(dtype).itemsize # A 32-bit float takes 4 bytes. + + data = points.astype(dtype).tobytes() + + # The fields specify what the bytes represents. The first 4 bytes + # represents the x-coordinate, the next 4 the y-coordinate, etc. + fields = [sensor_msgs.PointField( + name=n, offset=i*itemsize, datatype=ros_dtype, count=1) + for i, n in enumerate('xyz')] + + # The PointCloud2 message also has a header which specifies which + # coordinate frame it is represented in. + header = Header(frame_id=parent_frame) + + return sensor_msgs.PointCloud2( + header=header, + height=1, + width=points.shape[0], + is_dense=False, + is_bigendian=False, + fields=fields, + point_step=(itemsize * 3), # Every point consists of three float32s. + row_step=(itemsize * 3 * points.shape[0]), + data=data + ) + +def main(args=None): + rclpy.init(args=args) + pointcloud_processor = PointCloudProcessor() + rclpy.spin(pointcloud_processor) + pointcloud_processor.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/ser_test_node.py b/Bachelorarbeit/Praxiprojekt_Bericht/ser_test_node.py new file mode 100644 index 0000000000000000000000000000000000000000..360eab863ba44dc1a31f07e6fa8fa25ef9628605 --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/ser_test_node.py @@ -0,0 +1,146 @@ +import serial +import rclpy +import json +import numpy as np +from rclpy.node import Node +import sensor_msgs.msg as sensor_msgs +from std_msgs.msg import Header +angles = [19.923,14.515,8.829,2.964,182.964,188.829,194.515,199.923] +points = np.empty((0, 0)) +# Define the rotation angle in radians +theta = np.pi / 4 # 45 degrees +# Define the rotation matrix around the z-axis +rotation_matrix = np.array([ + [np.cos(theta), -np.sin(theta), 0], + [np.sin(theta), np.cos(theta), 0], + [0, 0, 1] +]) + +class SerialListPublisher(Node): + def __init__(self, serial_port='/dev/ttyACM0', baudrate=115200): # the Serialport or baudrate may have to be edited when changing host pc + super().__init__('serial_list_publisher') + self.pcd_publisher = self.create_publisher(sensor_msgs.PointCloud2, 'pcd', 10) + self.serial_port = serial.Serial(serial_port, baudrate, timeout=None) + self.get_logger().info(f"Connected to {serial_port} at {baudrate} baud") + self.read_serial_and_publish() + + def read_serial_and_publish(self): + try: + while rclpy.ok(): + line = self.serial_port.readline().decode('utf-8').strip() # Read a line from the serial port + data = json.loads(line) # Interpret arrays from JSON String + points_all=[] # Create an empty List for the Arrays of points from the Sensors + count = 0 # Set the Counter to Zero. The Counter is needed to rotate the sensor Points in the self.create_plc_from_distance function + for key, array in data.items(): # a for-Loop that goes through the arrays of data from each sensor + points_all.append(self.create_pcd_from_distance(np.array(array).reshape(8,8), count*45)) # in this line we create an 8x8 np.array from the sensor data list, then we feed it into the the create_plc_from_distance() with the angle we want the points to be rotated around the z-axis + count = count + 1 # the counter counts one up + self.points = np.vstack(points_all) # stacking the sensor 64x3 arrays to one (count*64)x3 vertically + self.pcd = self.point_cloud(self.points, 'vl53l7cx_link') # converting the np.array to pointcloud data with the parent_frame. The parent_frame has to be edited in the future to suit the use-case + self.pcd_publisher.publish(self.pcd) # publishing the pointcloud2 topic + + except serial.SerialException as e: + self.get_logger().error(f"Serial error: {e}") + except KeyboardInterrupt: + self.get_logger().info("Shutting down...") + finally: + self.serial_port.close() + + def create_pcd_from_distance(self, distance, rotation_angle): + # Define the rotation angle in radians + theta = np.radians(rotation_angle) # 45 degrees + # Define the rotation matrix around the z-axis + rotation_matrix = np.array([ + [np.cos(theta), -np.sin(theta), 0], + [np.sin(theta), np.cos(theta), 0], + [0, 0, 1] + ]) + rotation_matrix_90_y = np.array([ + [0, 0, 1], + [0, 1, 0], + [-1, 0, 0] + ]) + #declaring the lists for the koordinates components + x_collum = [] + z_collum = [] + y_collum = [] + for j in range(len(distance[:][0])): + for i in range(len(distance[0])): + x = (distance[i][j]) + x_collum.append(x) + + # Calculate x and y using trigonometry + z = x * np.sin(np.radians(angles[j])) + y = x * np.sin(np.radians(angles[i])) + + z_collum.append(z) + y_collum.append(y) + z_collum = np.array(z_collum).reshape(64,1).astype(int) # Convert list to numpy array + y_collum = np.array(y_collum).reshape(64,1).astype(int) # Convert list to numpy array + x_collum = np.array(x_collum).reshape(64,1).astype(int) # Convert list to numpy array + self.points = np.dot(np.hstack((x_collum, y_collum, z_collum ))/1000, rotation_matrix.T) # Creating a 64x3 array out of the z_collum, y_collum and x_collum + self.points = np.dot(self.points, rotation_matrix_90_y.T) + return self.points + + def point_cloud(self, points, parent_frame): + """ Creates a point cloud message. + Args: + points: Nx3 array of xyz positions. + parent_frame: frame in which the point cloud is defined + Returns: + sensor_msgs/PointCloud2 message + + Code source: + https://gist.github.com/pgorczak/5c717baa44479fa064eb8d33ea4587e0 + + References: + http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html + http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointField.html + http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html + + """ + # In a PointCloud2 message, the point cloud is stored as an byte + # array. In order to unpack it, we also include some parameters + # which desribes the size of each individual point. + ros_dtype = sensor_msgs.PointField.FLOAT32 + dtype = np.float32 + itemsize = np.dtype(dtype).itemsize # A 32-bit float takes 4 bytes. + + data = points.astype(dtype).tobytes() + + # The fields specify what the bytes represents. The first 4 bytes + # represents the x-coordinate, the next 4 the y-coordinate, etc. + fields = [sensor_msgs.PointField( + name=n, offset=i*itemsize, datatype=ros_dtype, count=1) + for i, n in enumerate('xyz')] + + # The PointCloud2 message also has a header which specifies which + # coordinate frame it is represented in. + header = Header(frame_id=parent_frame) + + return sensor_msgs.PointCloud2( + header=header, + height=1, + width=points.shape[0], + is_dense=False, + is_bigendian=False, + fields=fields, + point_step=(itemsize * 3), # Every point consists of three float32s. + row_step=(itemsize * 3 * points.shape[0]), + data=data + ) + + +def main(args=None): + rclpy.init(args=args) + node = SerialListPublisher(serial_port='/dev/ttyACM0', baudrate= 115200) + try: + rclpy.spin(node) + except KeyboardInterrupt: + node.get_logger().info("Node stopped by user.") + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/texput.log b/Bachelorarbeit/Praxiprojekt_Bericht/texput.log new file mode 100644 index 0000000000000000000000000000000000000000..8c22814cd6006917e819531d97d646ef2978d069 --- /dev/null +++ b/Bachelorarbeit/Praxiprojekt_Bericht/texput.log @@ -0,0 +1,21 @@ +This is pdfTeX, Version 3.141592653-2.6-1.40.26 (TeX Live 2024) (preloaded format=pdflatex 2025.2.18) 13 APR 2025 11:58 +entering extended mode + restricted \write18 enabled. + %&-line parsing enabled. +**fhacmb.tex + +! Emergency stop. +<*> fhacmb.tex + +*** (job aborted, file error in nonstop mode) + + +Here is how much of TeX's memory you used: + 3 strings out of 473200 + 102 string characters out of 5720278 + 391991 words of memory out of 5000000 + 23357 multiletter control sequences out of 15000+600000 + 558837 words of font info for 36 fonts, out of 8000000 for 9000 + 1141 hyphenation exceptions out of 8191 + 0i,0n,0p,1b,6s stack positions out of 10000i,1000n,20000p,200000b,200000s +! ==> Fatal error occurred, no output PDF file produced! diff --git a/Praxiprojekt_Bericht/text.tex b/Bachelorarbeit/Praxiprojekt_Bericht/text.tex similarity index 91% rename from Praxiprojekt_Bericht/text.tex rename to Bachelorarbeit/Praxiprojekt_Bericht/text.tex index 3a11f2799870874b559e4c1504015892baa8783c..51f6bb554d9e89386cf9ed65346042a129f452c3 100644 --- a/Praxiprojekt_Bericht/text.tex +++ b/Bachelorarbeit/Praxiprojekt_Bericht/text.tex @@ -15,7 +15,7 @@ Die Messwerte werden auf einem Linux-basierten persönlichen Computer (\acrshort{PC}) ausgewertet, visualisiert und zusammen mit anderen Sensorinputs interpretiert. Zur Testung des Systems habe ich den Sensorinput der Drehgebern des \acrfull{UR} in Gazebo Classic simuliert und die Messwerte der \acrshort{ToFs} in einem Testaufbau generiert. % Welche Schlussfolgerungen wurden basierend auf den Ergebnissen gezogen? - \\ \indent \acrshort{ToFs} eignen sich sehr gut zur Überwachung des Arbeitsraums eines Roboters, + \\ \indent \acrshort{ToFs} eignen sich zur Überwachung des Arbeitsraums eines Roboters, 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. @@ -27,7 +27,7 @@ Der Vorteil, den die extrinsische Sensorik mit sich bringt, ist das man nicht mehr auf die Detektion von Kollisionen beschränkt ist und auf unterschiedliche Arten präventiv eine Kollision verhindern kann. \\ %Spezifizierung des Themas - \indent In der Robotik werden unterschiedliche Arten von Sensoren verwendet um \acrshort{Cobots} sicherer zu machen. Im Groben unterscheidet man zwischen intrinsischen und extrinsischen Sensoren.\cite{noauthor_robotics_2021} Die intrinsischen Sensoren betrachten nur, was innerhalb eines Roboters gemessen werden kann. Das wäre zum Beispiel die Position der Gelenke, die vom Drehgeber eingelesen wird oder das Drehmoment, dass vom Drehmoment-Wächter in den Gelenken bestimmt wird. Mit Hilfe der gemessenen Drehmomente wird häufig erkannt, ob es zu einer Kollision mit umliegenden Objekten gekommen sein könnte.\cite{popov_collision_2017} Die Extrinsischen Sensoren betrachten die Umgebung des Roboters und liefern Informationen zu möglichen Kollisionsobjekten oder auch zu Objekten die mit dem Endeffektor des Roboters gegriffen werden sollen. + \indent In der Robotik werden unterschiedliche Arten von Sensoren verwendet um \acrshort{Cobots} sicherer zu machen. Im Groben unterscheidet man zwischen intrinsischen und exterozeptiven Sensoren.\cite{noauthor_robotics_2021} Die intrinsischen Sensoren betrachten nur, was innerhalb eines Roboters gemessen werden kann. Das wäre zum Beispiel die Position der Gelenke, die vom Drehgeber eingelesen wird oder das Drehmoment, dass vom Drehmoment-Wächter in den Gelenken bestimmt wird. Mit Hilfe der gemessenen Drehmomente wird häufig erkannt, ob es zu einer Kollision mit umliegenden Objekten gekommen sein könnte.\cite{popov_collision_2017} Die Extrinsischen Sensoren betrachten die Umgebung des Roboters und liefern Informationen zu möglichen Kollisionsobjekten oder auch zu Objekten die mit dem Endeffektor des Roboters gegriffen werden sollen. Beispiele für extrinsische Sensoren wären unterschiedliche Arten von Kameras, Laserscannern (\acrshort{ToFs}) oder Ultraschallsensoren.\cite{li_common_2019} \\ %Kern der Arbeit @@ -51,16 +51,16 @@ 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} \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. + Roboterarme müssen große Kräfte aufbringen können, um Lasten zu heben. Ein Roboterarm ohne Sensoren hat keine Möglichkeit zu erkennen, ob er die erwünschte Pose des Endeffektors erreicht hat. Außerdem wird die Kraft, die von einem Roboterarm auf ein Kollisionsobjekt 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} + 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 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} + 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 Arbeitsraum 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} \\ @@ -89,7 +89,7 @@ \\ 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} + 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 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} @@ -101,7 +101,7 @@ \\ 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} + 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 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] diff --git a/Praxiprojekt_Bericht/titelangaben.tex b/Bachelorarbeit/Praxiprojekt_Bericht/titelangaben.tex similarity index 63% rename from Praxiprojekt_Bericht/titelangaben.tex rename to Bachelorarbeit/Praxiprojekt_Bericht/titelangaben.tex index ad29064ddc4bf741acfaee602a23fa171623d13b..617efc3776f2dbbf6f7b5d60d8e193f491d202bb 100644 --- a/Praxiprojekt_Bericht/titelangaben.tex +++ b/Bachelorarbeit/Praxiprojekt_Bericht/titelangaben.tex @@ -2,7 +2,7 @@ \arbeitstyp{Praxisprojekt Bericht} \fachbereich{Maschinenbau und Mechatronik} \studiengang{Mechatronik} -\titel{Mechatronische Entwicklung eines extrinsischen\\ Time-of-Flight-Sensorsystems und Fusion mit intrinsischen Sensoren zur Kollisionsvermeidung in der Robotik} +\titel{Entwicklung eines exterozeptiven Time-of-Flight-Sensorsystems zur Kollisionsvermeidung in der Robotik} \autor{René Ebeling} \matrnr{3279194} \betreuer{Prof. Dr. rer. nat. Klaus-Peter Kämper} diff --git a/Bachelorarbeit/Praxiprojekt_Bericht/vl53l7cxhalterung.pdf b/Bachelorarbeit/Praxiprojekt_Bericht/vl53l7cxhalterung.pdf new file mode 100644 index 0000000000000000000000000000000000000000..9f1c59dc94a25219d1b02b3dd273fd6fac36cb26 Binary files /dev/null and b/Bachelorarbeit/Praxiprojekt_Bericht/vl53l7cxhalterung.pdf differ diff --git a/Praxiprojekt_Bericht/ba.synctex.gz b/Praxiprojekt_Bericht/ba.synctex.gz deleted file mode 100644 index 622d2183de1ba725fcbdd45ec08f01ac50d4ac12..0000000000000000000000000000000000000000 Binary files a/Praxiprojekt_Bericht/ba.synctex.gz and /dev/null differ