2019 - 2023: more Projects

Role: Research Scientist

Customer: Technical University of Munich

Tasks:

The features that I implemented in this work are

• the simulation and control of the FRANKA EMIKA Panda robotic arm,
• the iterative design of sample holder parts using a 3D printer,
• the geometric calibration of the exact position of the samples on the CT images with a sample holder and with optimization algorithms,
• the development of intelligent acquisition strategies for improved image quality and reduced radiation dose,
• and the creation of web-based user interfaces for controlling the robotic arm and the visualization of measurement results.

I implemented the software for the control of the robotic arm with the following components as a standalone software-package:

• ROS middleware for efficient data-exchange between independent processes
• Secure manipulation of the robotic arm with the MoveIt! Framework, including persistent encoding of the robotic arm?s surroundings for collision detection
• Implementation of ROS-processes for robot control with C++, mainly by using the standard and boost-libraries
• Implementation of ROS-processes for calibration and image-analysis algorithms with Python, mainly using the NumPy, SciPy and OpenCV libraries
• Goal planning for positioning samples of varying sizes with the robotic arm?s end-effector
• Trajectory planning and persistence for circular, spherical and dynamic trajectories with error-recovery routine for handling erroneous execution
• Setup and maintenance of coordinate transforms with tf component
• Definition of interfaces for data exchange between processes for data sizes between kilobytes and gigabytes
• Visualization with RViz and custom ReactJS web-interface
• Simulation of the robotic arm in Gazebo
• Setup of continuous integration pipeline in GitLab