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index c8c579af844d0f5696f7e82d4ec4199b6fab9586..49bfc741dfe8703e70b9c7e617d0b416d269c0df 100644
--- a/Praxiprojekt Bericht/main.aux
+++ b/Praxiprojekt Bericht/main.aux
@@ -1,3 +1,29 @@
\relax
-\newlabel{fig:for_fun}{{}{}{}{enumi.5}{}}
-\gdef \@abspage@last{3}
+\@writefile{toc}{\acswitchoff }
+\@writefile{lof}{\acswitchoff }
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index b154d720309cf11b945ffcaddb488e58cc0ac31d..0fe3c72e83caeeffe3511c26adc7d6677536bdc4 100644
--- a/Praxiprojekt Bericht/main.fdb_latexmk
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# Fdb version 4
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- "main.tex" 1739794233.7678 3272 44e3a658af7f0529855eb87671761f57 ""
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(generated)
"main.aux"
"main.log"
"main.pdf"
+ "main.toc"
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index 0f3fbcd46d1650333f7ed819f74f2a9a1ff40e75..9de2681442624bffcfd1ed630b5449938ead6cd1 100644
--- a/Praxiprojekt Bericht/main.fls
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INPUT /home/sochi/.TinyTeX/texmf-var/web2c/pdftex/pdflatex.fmt
INPUT /home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex
OUTPUT main.log
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-Your command was ignored.
-Type I <command> <return> to replace it with another command,
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-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:33: Undefined control sequence.
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-
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-
-
-
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-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:34: LaTeX Error: The font size command \normalsize is not defined:
- there is probably something wrong with the class file.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type H <return> for immediate help.
- ...
-
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-
-Your command was ignored.
-Type I <command> <return> to replace it with another command,
-or <return> to continue without it.
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-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:35: LaTeX Error: Environment abstract undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type H <return> for immediate help.
- ...
-
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-
-Your command was ignored.
-Type I <command> <return> to replace it with another command,
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-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:40: Undefined control sequence.
-l.40 ...indent Aktuell werden Kollisionen von \acp
- {Cobot} häufig mithilfe v...
-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.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:42: Undefined control sequence.
-l.42 ...den von Kollisionen ermöglicht es dem \ac
- {Cobot}, nach einer vermie...
-The control sequence at the end of the top line
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-misspelled it (e.g., `\hobx'), type `I' and the correct
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:44: Undefined control sequence.
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- {ToF} von STMicroelectronics zur ...
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:44: Undefined control sequence.
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:44: Undefined control sequence.
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:44: Undefined control sequence.
-l.44 ...assic simuliert und die Messwerte der \acp
- {ToF} in einem Testaufbau ...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:46: Undefined control sequence.
-l.46 \\ \indent \ac
- {ToF}-Sensoren eignen sich sehr gut zur Überwachung de...
-The control sequence at the end of the top line
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-and I'll forget about whatever was undefined.
-
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:49: LaTeX Error: \begin{document} ended by \end{abstract}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type H <return> for immediate help.
- ...
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-
-Your command was ignored.
-Type I <command> <return> to replace it with another command,
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-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:50: LaTeX Error: The font size command \normalsize is not defined:
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-Type H <return> for immediate help.
- ...
-
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-
-Your command was ignored.
-Type I <command> <return> to replace it with another command,
-or <return> to continue without it.
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-[2]
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:51: Undefined control sequence.
-l.51 \tableofcontents
-
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:53: Undefined control sequence.
-l.53 \section
- {Introduction}
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:54: Undefined control sequence.
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- {Der Sensor}
-The control sequence at the end of the top line
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-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.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:55: Undefined control sequence.
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- {Der Aufbau}
-The control sequence at the end of the top line
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:56: Undefined control sequence.
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- {Die Software}
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:57: Undefined control sequence.
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- {Stand der Technik}
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-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:58: Undefined control sequence.
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- {Intrinsich}
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-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:59: Undefined control sequence.
-l.59 \subsection
- {Extrinsisch}
-The control sequence at the end of the top line
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- ...
-
-l.75 \end{figure}
-
-Your command was ignored.
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+[]\OT1/cmr/m/n/10.95 ToF-Sensor[] eignen sich sehr gut zur []Uberwachung des Ar-beit-sraums eines Robot-
+ []
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:76: Undefined control sequence.
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diff --git a/Praxiprojekt Bericht/main.pdf b/Praxiprojekt Bericht/main.pdf
index fe396ab5b4d59100bf0733925e410306ca6d9e98..acdd879a6fd5534d5651cff6156c6b960516e9c5 100644
Binary files a/Praxiprojekt Bericht/main.pdf and b/Praxiprojekt Bericht/main.pdf differ
diff --git a/Praxiprojekt Bericht/main.synctex.gz b/Praxiprojekt Bericht/main.synctex.gz
index e688cbb5ad8df836d9507b9a4181798ab2a2ce1b..c21d4685ee3502c5165d1ac7760d910c94cda9cd 100644
Binary files a/Praxiprojekt Bericht/main.synctex.gz and b/Praxiprojekt Bericht/main.synctex.gz differ
diff --git a/Praxiprojekt Bericht/main.tex b/Praxiprojekt Bericht/main.tex
index 06c8076c104b8bcf1e737a6bda1b80b63d7b6c73..0fab432461552c03419438fdf1f6bf26e7e85ed6 100644
--- a/Praxiprojekt Bericht/main.tex
+++ b/Praxiprojekt Bericht/main.tex
@@ -1,7 +1,9 @@
-documenttclass[12pt, letterpaper]{article}
-\usepackage[german]{babel}
+\documentclass[a4paper,12pt]{article}
+\usepackage[margin=1in]{geometry}
+\usepackage{fix-cm}
\usepackage{graphicx}
\usepackage{acro}
+
\DeclareAcronym{UR}{
short = UR ,
long = Universal Robots ,
@@ -12,40 +14,46 @@ documenttclass[12pt, letterpaper]{article}
\DeclareAcronym{Cobot}{
short = Cobot ,
long = kollaborativen Roboter ,
- short-plural = 's ,
- long-plural = en
+ short-plural = {s} ,
+ long-plural = {en}
}
\DeclareAcronym{PC}{
- short = PC ,
- long = persönlicher Computer ,
- short-plural = s ,
+ short = {PC} ,
+ long = {persönlicher Computer} ,
+ short-plural = {s} ,
}
\DeclareAcronym{ToF}{
- short = ToF-Sensor ,
- long = Time-of-Flight-Sensor ,
- short-plural = en ,
- long-plural = en
+ short = {ToF-Sensor} ,
+ long = {Time-of-Flight-Sensor} ,
+ short-plural = {en} ,
+ long-plural = {en}
}
+\begin{document}
\title{Praxisprojekt Bericht\\{\large Mechatronische Entwicklung eines intrinsischen Sensorsystems zur Kollisionsvermeidung in der Robotik mit Time-of-Flight-Sensoren}}
\author{René Ebeling}
\date{\today}
-\begin{document}
\maketitle
\newpage
\begin{abstract}
% 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.
+ 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 \acp{Cobot} 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 \ac{Cobot}, nach einer vermiedenen Kollision eine neue Route zu planen und auszuführen, um seine Aufgabe trotz der beinahe Kollision zu erfüllen.
+ \\ \indent Das Ziel des Sensorsystems ist es, ergänzend zur Kollisionsdetektion, die meisten Kollisionen zu vermeiden.
+ Das Vermeiden von Kollisionen ermöglicht es dem \ac{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 \acp{ToF} von STMicroelectronics zur Abstandsmessung von potentiellen Kollisionsobjekten. Die Messwerte werden auf einem Linux-basierten persönlichen Computer (\acs{PC}) ausgewertet, visualisiert und zusammen mit anderen Sensorinputs interpretiert. Zur Testung des Systems habe ich den Sensorinput der Encodern des \ac{UR} in Gazebo Classic simuliert und die Messwerte der \acp{ToF} in einem Testaufbau generiert.
+ \\ \indent Das System verwendet \acp{ToF} von STMicroelectronics zur Abstandsmessung von potentiellen Kollisionsobjekten.
+ Die Messwerte werden auf einem Linux-basierten persönlichen Computer (\acs{PC}) ausgewertet, visualisiert und zusammen mit anderen Sensorinputs interpretiert.
+ Zur Testung des Systems habe ich den Sensorinput der Encodern des \ac{UR} in Gazebo Classic simuliert und die Messwerte der \acp{ToF} in einem Testaufbau generiert.
% Welche Schlussfolgerungen wurden basierend auf den Ergebnissen gezogen?
- \\ \indent \ac{ToF}-Sensoren eignen sich sehr gut zur Überwachung des Arbeitsraums eines Roboters, da sie präzise Entfernungsdaten liefern und so die Kollisionsvermeidung effektiv unterstützen können.
+ \\ \indent \ac{ToF} eignen sich sehr gut 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
+ \\ \indent Durch die Kollisionsvermeidung kan ein \ac{Cobot} autonomer arbeiten und so die Effizienz und Sicherheit in der Produktion erhöhen.
\end{abstract}
\newpage
\tableofcontents
@@ -66,12 +74,6 @@ documenttclass[12pt, letterpaper]{article}
\end{enumerate}
First document. This is a \underline{\textbf{simple}} example with no
extra parameters or packages. \\ included. I want to include parameters. The \underline{tutorial} is too slow for my attention span. Test
-\begin{figure}[h]
- \centering
- \includegraphics[width=0.7\linewidth]{Screenshot from 2025-01-31 15-04-53.png}
- \caption{Sport Kart Prices}
- \label{fig:for_fun}
- \ref{fig:for_fun}
-\end{figure}
+\newpage
\printacronyms
\end{document}
diff --git a/Praxiprojekt Bericht/main.toc b/Praxiprojekt Bericht/main.toc
new file mode 100644
index 0000000000000000000000000000000000000000..f096c0b29bd0516e06c68cccc018b9136783e093
--- /dev/null
+++ b/Praxiprojekt Bericht/main.toc
@@ -0,0 +1,8 @@
+\acswitchoff
+\contentsline {section}{\numberline {1}Introduction}{4}{}%
+\contentsline {subsection}{\numberline {1.1}Der Sensor}{4}{}%
+\contentsline {subsection}{\numberline {1.2}Der Aufbau}{4}{}%
+\contentsline {subsection}{\numberline {1.3}Die Software}{4}{}%
+\contentsline {section}{\numberline {2}Stand der Technik}{4}{}%
+\contentsline {subsection}{\numberline {2.1}Intrinsich}{4}{}%
+\contentsline {subsection}{\numberline {2.2}Extrinsisch}{4}{}%