Pre-conference Workshop 1: Practical industry workshop for TwinCat3 (Beckhoff) and Matlab/Simulink (Mathworks)
Venue: Old University of Basel, Rheinsprung 9, 4051 Basel, Switzerland
2 days workshop, June 10 – 11, 2021
Max. 30 participants
INSTRUCTORS
BACKGROUD
Nowadays, there is large knowledge available about control from a theoretical point of view. However, getting an entire setup working from hardware integration, safety, control, up to the graphical user interface or virtual environment, is seldom taught.
Participants will learn about basic differences in various automatization environments such as dSPACE, Matlab xPC Target, Matlab/Simulink, LabVIEW, and TwinCAT3. Within one week, the participants will learn how to integrate motors, sensors, and safety components in a predesigned electric cabinet for automation and control purposes. They will develop an automation application for a balancing and visual tracking application, integrate different control schemes, and write a graphical user interface to control the application in real-time.
In groups up to four, the participants will learn how to integrate different hardware components in a real-time control system (TwinCAT3, Beckhoff). They will learn how to account for software safety for an application involving servo motors. After successful hardware and software safety integration, different control schemes (model based controllers, non-linear controllers, vision-based non-linear controllers, etc. ) will be integrated in Matlab/Simulink. After compilation for TwinCAT3, the controllers will work on an industrial embedded real-time PC. During runtime, the participants will be able adapting controllers-online, record data, and see the influence of different filters. Consequently, the participants will program their own graphical user interface (GUI) in the game development engine UNITY. This GUI can be interfaced with the real-time environment through an Automation Device Specification (ADS), i.e. a field bus interface for TwinCAT3. After first experiments with the hard and software, two groups will work together for realizing a two-degrees of freedom ball balancing application, where each group controls one degree of freedom. The feedback loop will be closed through real-time vision-data that needs to be extracted applying feature extraction in real-time. Finally, the performance of the teams’ solutions to the challenging application is evaluated in a friendly competition.
GOALS
Hardware, and software integration in real-time applications.
Basic knowledge in applied control (model-based control, non-linear control, cascade control).
Real-time data extraction using computer vision algorithms.
GUI-programming for real-time applications.
USEFUL LINKS (if you want to prepare yourself for the course):
Online introductory seminars to Matlab/Simulink for beginners can be found here: Matlab Onramp
ADDITIONAL INFORMATION
Registered users for the workshop may contact the organizer of the conference to obtain a trial license for Matlab/Simulink (details are still in negotiation with The MathWorks GmbH): georg.rauter@unibas.ch
Day 1 - Thursday, 10.06.2021 | |
08:00 | Registration |
09:00 |
Welcome & Introduction to real-time systems Instructor: Georg Rauter, PhD |
09:20 |
Reading schematics of control cabinets |
09:40 |
Software installation and programming platform Instructor: Georg Rauter, PhD |
10:00 |
First steps in Matlab/Simulink Instructor: Vasco Lenzi |
10:40 | Coffee break |
11:00 |
My first Matlab/Simulink program in TwinCat3 Instructor: Georg Rauter, PhD |
12:40 | Lunch Break |
14:00 |
Safety in TwinCAT3 Instructor: Georg Rauter, PhD |
15:40 | Coffee break |
16:00 |
Implementing a servo motor in Matlab/Simulink for TwinCat3 Instructor: Georg Rauter, PhD |
17:40 | End of workshop day 1: Apéro riche at the terrace next to the river Rhine |
Day 2 - Friday, 11.06.2021 | |
08:00 | Registration |
09:00 |
Development of a state machine for a servo motor in Matlab/Simulink for TwinCat3 Instructor: Georg Rauter, PhD |
10:40 |
Coffee break |
11:00 |
Implementation of basic controllers in Matlab/Simulink for control of a servo motor in TwinCAT3 Instructor: Georg Rauter, PhD |
12:40 |
Lunch Break |
14:00 |
TwinCat3 Vision Instructor: Tobias Bachmann |
15:40 | Coffee Break |
16:00 |
Demonstration of visual servoing using Matlab/Simulink Instructor: Vasco Lenzi |
17:20 |
Demonstration of visual servoing using Matlab/Simulink in TwinCAT3 Vision Instructor: Georg Rauter, PhD |
17:35 | Wrap up and Conclusions Instructor: Georg Rauter, PhD |
17:40 | End of workshop day 2 |
Pre-conference Workshop 2: 3D-Motion- tracking systems with and without markers & IMUs
Venue: Old University of Basel, Rheinsprung 9, 4051 Basel, Switzerland
1 day workshop, June 10, 2021
INSTRUCTORS
COORDINATOR
Thursday, 10.06.2021 | |
08:00 | Registration |
09:00 |
Optical tracking systems with and without markers & IMUs Instructor: Thomas Seel, PhD Coordination: Beat Göpfert |
10:40 |
Coffee break |
11:00 |
Theoretical session: 3D-Motion Tracking with marker, markerless and IMU- Systems Instructors: Simi Reality Motion Systems, Qualisys AB |
12:40 |
Lunch Break |
14:00 |
Hands-on session in 3D-Motion Tracking with systems of Simi Reality Motion Systems and Qualisys AB Coordination: B. Göpfert |
15:40 | Coffee Break |
16:00 |
Hands-on session in 3D-Motion Tracking with systems of Simi Reality Motion Systems and Qualisys AB Coordination: B. Göpfert |
17:40 | End of workshop day 1: Apéro riche at the terrace next to the river Rhine |
Post-conference Workshop: Robotics in Nursing
Venue: Alte Universität, Rheinsprung 9, Basel, Switzerland
1 day workshop, June 11, 2021
GOALS OF THE WORKSHOP
INSTRUCTORS
Workshop Program | ||
Time | Topic | Presenters |
09.00-09.10 | Welcome & Introduction |
Oliver Mauthner, PhD, RN University Department of Geriatric Medicine Felix Platter, Basel |
09:10-09:30 |
Meet the nursing robot live: Robo Dog, Miro, Pepper |
Oliver Mauthner, PhD, RN University Department of Geriatric Medicine Felix Platter, Basel |
09:30-10:40 |
Elderly care in times of the 4th industrial revolution: Are robots the future? 60’ + 10’ |
Thekla Brunkert, PhD University Department of Geriatric Medicine FELIX PLATTER, (Switzerland) & |
10:40-11:00 | Coffee break | |
11:00‐11:30 | Practical applications of robotics in nursing in Swiss health care and beyond 20’ + 10 ‘ |
Sandra Engberg, PhD, RN School of Nursing, University of Pittsburgh (USA) |
11:30‐12:00 | Ethics of social assistive robots 20’ + 10’ |
Tijs Vanmeulebroucke, PhD Centre for Biomedical Ethics and Law KU Leuven (Belgium) |
12:00‐12:20 | Legal aspects of robotics in nursing 15’ + 5’ |
Elliott Ash, PhD Center for Law and Economics, ETH Zürich, (Switzerland) |
12:20‐12:40 | Is there a business case for robotics in nursing? 15’ + 5 |
Alexander Thys, MD, MBS Haute Ecole de Commerce, Paris (France) & L.E.K. Consulting London Office (UK) |
12:40‐14:00 | Lunch break | |
14:00‐14:10 | Case studies robots and group discussion Introduction of goals and methods |
Moderation: Sandra Engberg, PhD, RN |
14:10‐14:50 | Social Assistive Robot https://www.youtube.com/watch?v=Qt98NlE_SRo Group discussion |
Oliver Mautner, PhD, RN & Thekla Brunkert, PhD |
14:50‐15:30 | Gait Rehabilitation Robot: the FLOAT https://reha-stim.com/de/the-float/ |
Marc Bolliger, PhD Spinal Cord Injury Center, University Hospital Balgrist, Zurich, Switzerland |
15:30-16:10 | Coffee break | |
16:10‐16:50 | Round table discussion on the research priorities on robotics in nursing | All presenters of the day including older persons Moderation by Oliver Mauther, PhD, RN |
16:50‐17:00 | Conclusions | Thekla Brunkert, PhD |