4 research outputs found
Complexities of health and acceptance of electronic health records for the Austrian elderly population
We examine the personal health situation and how the complexities thereof affect the elderly Austriansâ willingness to accept electronic health records (EHR). Using data from the sixth wave of the SHARE survey in Austria, we find the complexity of individual health problems and the social integration of individuals influencing the acceptance of EHR. The higher the degree of multimorbidity, the more medication is prescribed, and the higher the number of hospital admissions, the higher is the acceptance of EHR. Having a chronical illness has a positive effect on EHR acceptance, whereas a pessimistic attitude and lack of joy in life, as indicators of depressive mood, have a negative impact. The results are mainly driven by women and younger patients aged between 50 and 70. People with poor social connection express lower acceptance of EHR
Real-time 6-DoF Pose Estimation by an Event-based Camera using Active LED Markers
Real-time applications for autonomous operations depend largely on fast and
robust vision-based localization systems. Since image processing tasks require
processing large amounts of data, the computational resources often limit the
performance of other processes. To overcome this limitation, traditional
marker-based localization systems are widely used since they are easy to
integrate and achieve reliable accuracy. However, classical marker-based
localization systems significantly depend on standard cameras with low frame
rates, which often lack accuracy due to motion blur. In contrast, event-based
cameras provide high temporal resolution and a high dynamic range, which can be
utilized for fast localization tasks, even under challenging visual conditions.
This paper proposes a simple but effective event-based pose estimation system
using active LED markers (ALM) for fast and accurate pose estimation. The
proposed algorithm is able to operate in real time with a latency below
\SI{0.5}{\milli\second} while maintaining output rates of \SI{3}{\kilo \hertz}.
Experimental results in static and dynamic scenarios are presented to
demonstrate the performance of the proposed approach in terms of computational
speed and absolute accuracy, using the OptiTrack system as the basis for
measurement.Comment: 14 pages, 12 figures, this paper has been accepted to WACV 202
Robotic Assembly of Concrete Ring Segments in Tunnel Construction
Abweichender Titel nach Ăbersetzung der Verfasserin/des VerfassersIm modernen Tunnelbau erfolgt die Errichtung eines unterirdischen Hohlraums ĂŒberwiegend maschinell unter Verwendung von Tunnelbohrmaschinen. Neben dem Ausbruch des Gebirges dient die Tunnelbohrmaschine dazu, den entstandene Hohlraum solange zu stĂŒtzen, bis die endgĂŒltige Tunnelsicherung eingebaut ist. WĂ€hrend des sog. Ringbaus wird die Tunnelsicherung aus ringförmig angeordneten Stahlbetonsegmenten errichtet. Die Steuerung des Segmentmanipulators (Erektor) wĂ€hrend des Ringbaus erfolgt noch weitgehend manuell. In dieser Arbeit wird daher ein System zur robotischen Assemblierung von Betonringsegmenten im Tunnelbau vorgestellt. Das beschriebene System umfasst den Leichtbauindustrieroboter KUKA LBR iiwa 14 R820 fĂŒr die Manipulation der Ringsegmente und Kameras fĂŒr die markerbasierte Posenerfassung der Segmente. ZunĂ€chst werden die mathematischen Grundlagen des Roboters und der visuellen PosenschĂ€tzung hergeleitet. Danach werden die Trajektorienplanung und die Trajektorieninterpolation basierend auf Spline-Kurven im Konfigurationsraum und im Arbeitsraum detailliert eingefĂŒhrt. Das Regelgesetz im Konfigurationsraum und die Impedanzregelung im Arbeitsraum fĂŒr Kontaktaufgaben werden ebenfalls diskutiert. Auf Basis dieser Grundlagen wird der Versuchsaufbau detailliert beschrieben. FĂŒr die visuelle PosenschĂ€tzung der Segmente werden die kinematischen Beziehungen bei der Segmentaufnahme und Segmentplatzierung hergeleitet und die Filterung der Posensignale behandelt. AnschlieĂend wird der Assembliervorgang in Grob- und Feinpositionierung aufgeteilt und im Detail diskutiert. Im Fall der Feinpositionierung wird ein Verfahren zur iterativen Trajektorienplanung vorgestellt, das bei AnnĂ€herung an die Segmentaufnahme bzw. Segmenteinbauposition das verbesserte Posenfeedback der visuellen PosenschĂ€tzung berĂŒcksichtigt. Die Systemkomponenten und der Assembliervorgang werden zunĂ€chst in Simulation auf FunktionsfĂ€higkeit geprĂŒft und abschlieĂend im experimentellen Versuch erfolgreich validiert. Der experimentelle Versuchsaufbau basiert auf einer Nachbildung einer realen Tunnelauskleidung im MaĂstab 1 to 5. Die Segmente der Tunnelauskleidung sind im 3D-Druckverfahren nachgebildet. Die untere Grenze der Auflösung der SegmentposenschĂ€tzung liegt fĂŒr Positionssignale im Bereich von zehn Mikrometern und fĂŒr Orientierungssignale im Bereich von einem Milliradiant. Die vorgestellten Lösungen in dieser Arbeit können auch in einem allgemeineren Kontext eingesetzt werden, z. B. fĂŒr die Assemblierung von Betonelementen im Hochbau oder bei der Errichtung von Bahngleisen im schotterlosen Oberbau.In modern tunnel construction, the creation of an underground cavity is mainly accomplished mechanically using tunnel boring machines. In addition to the rock cutting, the tunnel boring machine serves to support the underground cavity until the final support measures have been installed. During the so-called ring erection, the tunnel lining is built from reinforced concrete segments assembled as a ring. The segment manipulator (erector) is still widely controlled manually during ring erection.In this thesis, a system for the robotic assembly of concrete ring segments in tunnel construction is presented. The system includes the lightweight industrial robot KUKA LBR iiwa 14 R820 for manipulating the ring segments and cameras for the marker-based pose detection of the segments.First, the mathematical model of the robot and the visual pose estimation are derived. Successively the trajectory planning and the trajectory interpolation based on spline curves are introduced in detail. The control law in the joint space and the impedance control in the task space for contact tasks are described.The experimental setup is described based on the introduced foundations. For the visual pose estimation of the segments, the kinematic relationships for segment pickup and segment placement are derived. Additionally, the filtering of the pose signals is described. The assembly process is divided into rough and fine positioning. In the case of fine positioning, a method for iterative trajectory planning is presented, which takes into account the improved pose feedback from the visual pose estimation when approaching the segment pickup or placement position.The system components and the assembly process are first tested for functionality in simulation and are then successfully validated in an experimental setup. The experimental setup is based on a replica of a real tunnel lining on a scale of 1 to 5. The segments of the tunnel lining are recreated using the 3D printing process. The lower limit of the resolution of the segment pose estimation is in the range of ten micrometers for position signals and for orientation signals in the range of one milliradian.The solutions presented in this thesis can also be used in a more general context, e.g. for the assembly of concrete elements in building construction or for the construction of ballastless railroad tracks.9