Jens Wettach

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—A highly flexible framework for visualization and sensor simulation in three-dimensional environments is presented. By allowing the insertion of freely programmable elements for online scene modification, a programmer can customize the framework to fulfill the exact simulation or visualization needs of an application of interest. Furthermore , the(More)
Besides safe motion control the gain of environmental knowledge is a key for a reliable home or office service robot. When being set into a completely unknown environment the robot has to be able to derive a certain abstract internal representation of this world without any user interaction. This knowledge enables the robot to know how to get from its(More)
The need for robust indoor localisation for all types of entities has been under continuous research by the ubiquitous community. Intelligent environments have to be supported with contextual information in order to facilitate intelligent behaviour. These contextual information include the location of humans and objects within the particular environment.(More)
This paper describes the thermodynamical model of a vacuum system for a climbing robot. Based on this model a simulation system is described, which is used to evaluate the influence of leakage situations on the adhesion system and to test control approaches. As a validation of the simulation parameters and the adhesion strategy a test platform was(More)
This paper discusses the simulation of vehicle kinematics with SimVis3D and the Newton Game Dynamics Engine. As running example a Pioneer 1 like robot is used. First its differential drive is simulated manually, without physical effects. Then the dynamics engine is applied to simulate this drive mechanism based on rolling friction between wheels and ground.(More)
— Research in mobile service robotics aims on development of intuitive speech interfaces for human-robot interaction. We see a service robot as a part of an intelligent environment and want to step forward discussing a concept where a robot does not only offer its own features via natural speech interaction but also becomes a transactive agent featuring(More)
Simulation frameworks are widespread in the range of robotics to test algorithms and analyze system behavior beforehand – which tremendously reduces effort and time needed for conducting experiments on the real machines. This paper addresses a component based framework for simulating a wall-climbing robot that uses negative pressure adhesion in combination(More)