Browsing by Author "Leiß, Florian"

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Open Access
Adaptive locomotion of snake-like robots
(2011) Leiß, Florian
Adaptive locomotion for multi-robot organisms is a huge challenge in modern robotics. The complexity grows fast with the number of degrees of freedom (DOFs) of a robot. A snake like organism structure usually consists of many DOFs and is hence restricted in their motion capabilities. In this theses, an adaptive gait algorithm for avoiding of obstacles should be analyzed by using techniques of coupled oscillators. The simulation in MATLAB as well as tests on a real snake robot will be done in this work. In the MATLAB simulation we could see the principle of adaptive snake-like locomotion as it should be. As well we could analyse fitting functions for the oszillator in the Central Pattern Generator. On the real snake robot we had to take the theoretical foundations and adapt them to make them work on real-time operating system. It was faszinating to work on all difficulties be communication, configuration, designing or programming. And finally we saw the robot crawl arround obstacles, controlled by the equations we developed. It would be great to see our work live on in projects like SYMBRION and REPLICATOR.
Open Access
Bluetooth Low-Energy beacons guidance system for visually impaired
(2016) Leiß, Florian
Visually impaired people need to get more independent in fulfilling their daily tasks. Smartphones are helping them to orientate in unknown environments and to get information about it. Indoor Navigation on a smartphone is a difficult task for developers, because absolute positioning indoors is challenging. Smart environments give the opportunity to interact with the environment. Small Bluetooth low energy devices that need little maintenance and have long battery time can be used to emit light, vibrate or play sounds. Visually impaired people are more used to relative positioning. In account with that a concept was designed in which they can explore their environment using these interactive devices. In this thesis, a platform called Blidget is used which can advertise information using Bluetooth. The modular design of the Blidgets also gives the opportunity to use it as a sensor or an actor by attaching modules. The use of interactive audio feedback from the Smart Environment for indoor navigation for the visually impaired was therfore evaluated. For this purpose a navigation application was implemented using Blidgets to give audio output in different frequencies and durations. The user gets turn-by-turn instructions through the building and can interact with the Blidgets on his path. The usability of this navigational aid was evaluated by comparing it to a simulated ideal verbal guidance system and a tactile map. The results indicate that using the environment for indoor navigation is promising but the use of a touchscreen for input while moving and carrying a white cane needs further improvement.