From f8abcb9855b89112f5f60c2a0385278cfafddbe0 Mon Sep 17 00:00:00 2001
From: Rene Ebeling <hj703144@igmr.rwth-aachen.de>
Date: Mon, 17 Feb 2025 14:00:43 +0100
Subject: [PATCH] Update project report with revised LaTeX document structure
and added table of contents
---
Praxiprojekt Bericht/main.aux | 30 +-
Praxiprojekt Bericht/main.fdb_latexmk | 53 +-
Praxiprojekt Bericht/main.fls | 84 ++-
Praxiprojekt Bericht/main.log | 996 ++++++--------------------
Praxiprojekt Bericht/main.pdf | Bin 52729 -> 95168 bytes
Praxiprojekt Bericht/main.synctex.gz | Bin 4550 -> 12026 bytes
Praxiprojekt Bericht/main.tex | 50 +-
Praxiprojekt Bericht/main.toc | 8 +
8 files changed, 400 insertions(+), 821 deletions(-)
create mode 100644 Praxiprojekt Bericht/main.toc
diff --git a/Praxiprojekt Bericht/main.aux b/Praxiprojekt Bericht/main.aux
index c8c579a..49bfc74 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 }
+\@writefile{lot}{\acswitchoff }
+\ACRO{recordpage}{Cobot}{2}{1}{2}
+\ACRO{recordpage}{Cobot}{2}{1}{2}
+\ACRO{recordpage}{ToF}{2}{1}{2}
+\ACRO{recordpage}{PC}{2}{1}{2}
+\ACRO{recordpage}{UR}{2}{1}{2}
+\ACRO{recordpage}{ToF}{2}{1}{2}
+\ACRO{recordpage}{ToF}{2}{1}{2}
+\ACRO{recordpage}{Cobot}{2}{1}{2}
+\@writefile{toc}{\contentsline {section}{\numberline {1}Introduction}{4}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.1}Der Sensor}{4}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.2}Der Aufbau}{4}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {1.3}Die Software}{4}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {section}{\numberline {2}Stand der Technik}{4}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.1}Intrinsich}{4}{}\protected@file@percent }
+\@writefile{toc}{\contentsline {subsection}{\numberline {2.2}Extrinsisch}{4}{}\protected@file@percent }
+\ACRO{total-barriers}{1}
+\ACRO{usage}{UR=={1}}
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+\ACRO{usage}{PC=={1}}
+\ACRO{usage}{ToF=={3}}
+\ACRO{pages}{PC=={2@1@2}}
+\ACRO{pages}{UR=={2@1@2}}
+\ACRO{pages}{ToF=={2@1@2}}
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+\gdef \@abspage@last{5}
diff --git a/Praxiprojekt Bericht/main.fdb_latexmk b/Praxiprojekt Bericht/main.fdb_latexmk
index b154d72..0fe3c72 100644
--- a/Praxiprojekt Bericht/main.fdb_latexmk
+++ b/Praxiprojekt Bericht/main.fdb_latexmk
@@ -1,20 +1,61 @@
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(generated)
"main.aux"
"main.log"
"main.pdf"
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index 0f3fbcd..9de2681 100644
--- a/Praxiprojekt Bericht/main.fls
+++ b/Praxiprojekt Bericht/main.fls
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INPUT /home/sochi/.TinyTeX/texmf-var/web2c/pdftex/pdflatex.fmt
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index b405be5..a597fe0 100644
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-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:34: LaTeX Error: The font size command \normalsize is not defined:
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-Type H <return> for immediate help.
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-Type I <command> <return> to replace it with another command,
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-Type H <return> for immediate help.
- ...
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-Type I <command> <return> to replace it with another command,
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-The control sequence at the end of the top line
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-
-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:42: Undefined control sequence.
-l.42 ...den von Kollisionen ermöglicht es dem \ac
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-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:44: Undefined control sequence.
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-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:44: Undefined control sequence.
-l.44 ...nux-basierten persönlichen Computer (\acs
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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 ...e ich den Sensorinput der Encodern des \ac
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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
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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
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-The control sequence at the end of the top line
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-and I'll forget about whatever was undefined.
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-Type H <return> for immediate help.
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-Type I <command> <return> to replace it with another command,
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-[2]
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-l.51 \tableofcontents
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-and I'll forget about whatever was undefined.
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-/home/sochi/robot-sensor/Praxiprojekt Bericht/main.tex:53: Undefined control sequence.
-l.53 \section
- {Introduction}
-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:54: Undefined control sequence.
-l.54 \subsection
- {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.
-l.55 \subsection
- {Der Aufbau}
-The control sequence at the end of the top line
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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:56: Undefined control sequence.
-l.56 \subsection
- {Die Software}
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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:57: Undefined control sequence.
-l.57 \section
- {Stand der Technik}
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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:58: Undefined control sequence.
-l.58 \subsection
- {Intrinsich}
-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:59: Undefined control sequence.
-l.59 \subsection
- {Extrinsisch}
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-and I'll forget about whatever was undefined.
-
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diff --git a/Praxiprojekt Bericht/main.tex b/Praxiprojekt Bericht/main.tex
index 06c8076..0fab432 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 0000000..f096c0b
--- /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}{}%
--
GitLab