diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..af4369a --- /dev/null +++ b/.gitignore @@ -0,0 +1,303 @@ +## Core latex/pdflatex auxiliary files: +*.aux +*.lof +*.log +*.lot +*.fls +*.out +*.toc +*.fmt +*.fot +*.cb +*.cb2 +.*.lb + +## Intermediate documents: +*.dvi +*.xdv +*-converted-to.* +# these rules might exclude image files for figures etc. +# *.ps +# *.eps +# *.pdf + +## Generated if empty string is given at "Please type another file name for output:" +.pdf + +## Bibliography auxiliary files (bibtex/biblatex/biber): +*.bbl +*.bcf +*.blg +*-blx.aux +*-blx.bib +*.run.xml + +## Build tool auxiliary files: +*.fdb_latexmk +*.synctex +*.synctex(busy) +*.synctex.gz +*.synctex.gz(busy) +*.pdfsync + +## Build tool directories for auxiliary files +# latexrun +latex.out/ + +## Auxiliary and intermediate files from other packages: +# algorithms +*.alg +*.loa + +# achemso +acs-*.bib + +# amsthm +*.thm + +# beamer +*.nav +*.pre +*.snm +*.vrb + +# changes +*.soc + +# comment +*.cut + +# cprotect +*.cpt + +# elsarticle (documentclass of Elsevier journals) +*.spl + +# endnotes +*.ent + +# fixme +*.lox + +# feynmf/feynmp +*.mf +*.mp +*.t[1-9] +*.t[1-9][0-9] +*.tfm + +#(r)(e)ledmac/(r)(e)ledpar +*.end +*.?end +*.[1-9] +*.[1-9][0-9] +*.[1-9][0-9][0-9] +*.[1-9]R +*.[1-9][0-9]R +*.[1-9][0-9][0-9]R +*.eledsec[1-9] +*.eledsec[1-9]R +*.eledsec[1-9][0-9] +*.eledsec[1-9][0-9]R +*.eledsec[1-9][0-9][0-9] +*.eledsec[1-9][0-9][0-9]R + +# glossaries +*.acn +*.acr +*.glg +*.glo +*.gls +*.glsdefs +*.lzo +*.lzs +*.slg +*.slo +*.sls + +# uncomment this for glossaries-extra (will ignore makeindex's style files!) +# *.ist + +# gnuplot +*.gnuplot +*.table + +# gnuplottex +*-gnuplottex-* + +# gregoriotex +*.gaux +*.glog +*.gtex + +# htlatex +*.4ct +*.4tc +*.idv +*.lg +*.trc +*.xref + +# hyperref +*.brf + +# knitr +*-concordance.tex +# TODO Uncomment the next line if you use knitr and want to ignore its generated tikz files +# *.tikz +*-tikzDictionary + +# listings +*.lol + +# luatexja-ruby +*.ltjruby + +# makeidx +*.idx +*.ilg +*.ind + +# minitoc +*.maf +*.mlf +*.mlt +*.mtc[0-9]* +*.slf[0-9]* +*.slt[0-9]* +*.stc[0-9]* + +# minted +_minted* +*.pyg + +# morewrites +*.mw + +# newpax +*.newpax + +# nomencl +*.nlg +*.nlo +*.nls + +# pax +*.pax + +# pdfpcnotes +*.pdfpc + +# sagetex +*.sagetex.sage +*.sagetex.py +*.sagetex.scmd + +# scrwfile +*.wrt + +# svg +svg-inkscape/ + +# sympy +*.sout +*.sympy +sympy-plots-for-*.tex/ + +# pdfcomment +*.upa +*.upb + +# pythontex +*.pytxcode +pythontex-files-*/ + +# tcolorbox +*.listing + +# thmtools +*.loe + +# TikZ & PGF +*.dpth +*.md5 +*.auxlock + +# titletoc +*.ptc + +# todonotes +*.tdo + +# vhistory +*.hst +*.ver + +# easy-todo +*.lod + +# xcolor +*.xcp + +# xmpincl +*.xmpi + +# xindy +*.xdy + +# xypic precompiled matrices and outlines +*.xyc +*.xyd + +# endfloat +*.ttt +*.fff + +# Latexian +TSWLatexianTemp* + +## Editors: +# WinEdt +*.bak +*.sav + +# Texpad +.texpadtmp + +# LyX +*.lyx~ + +# Kile +*.backup + +# gummi +.*.swp + +# KBibTeX +*~[0-9]* + +# TeXnicCenter +*.tps + +# auto folder when using emacs and auctex +./auto/* +*.el + +# expex forward references with \gathertags +*-tags.tex + +# standalone packages +*.sta + +# Makeindex log files +*.lpz + +# xwatermark package +*.xwm + +# REVTeX puts footnotes in the bibliography by default, unless the nofootinbib +# option is specified. 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Referring to the structure of this paper, first we define the requirements of the simulation of human-robot collaboration by means of power and force limiting by inherent design or control. Then we review the state-of-the-art of domain of robotic simulation. We demonstrate how to determine the force and pressure in case of a direct collision between human and robot for industrial safety certification. With the help of a detailed parameter study, we reduce the needed parameters for the simulation of HRC to the relevant factors. 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{4}Umsetzung}{24}{chapter.4}% -\contentsline {section}{\numberline {4.1}Docker-Compose}{25}{section.4.1}% -\contentsline {section}{\numberline {4.2}Entwicklungsumgebung}{26}{section.4.2}% -\contentsline {section}{\numberline {4.3}Verwendete Datentypen}{27}{section.4.3}% -\contentsline {section}{\numberline {4.4}Simulationswelt}{29}{section.4.4}% -\contentsline {section}{\numberline {4.5}Mensch}{31}{section.4.5}% -\contentsline {subsection}{\numberline {4.5.1}Übersicht}{31}{subsection.4.5.1}% -\contentsline {subsection}{\numberline {4.5.2}Modellierung}{31}{subsection.4.5.2}% -\contentsline {subsection}{\numberline {4.5.3}Export der Modellanimationen}{34}{subsection.4.5.3}% -\contentsline {subsection}{\numberline {4.5.4}Programmierung}{36}{subsection.4.5.4}% -\contentsline {subsubsection}{\nonumberline Message Queue}{36}{subsubsection*.15}% -\contentsline {subsubsection}{\nonumberline ROS-Nachrichten}{38}{subsubsection*.17}% -\contentsline {subsubsection}{\nonumberline ActorPlugin}{39}{subsubsection*.19}% -\contentsline {subsubsection}{\nonumberline ActorServer}{42}{subsubsection*.22}% -\contentsline {section}{\numberline {4.6}Roboter}{43}{section.4.6}% -\contentsline {subsection}{\numberline {4.6.1}Übersicht}{43}{subsection.4.6.1}% -\contentsline {subsection}{\numberline {4.6.2}Modellierung}{43}{subsection.4.6.2}% -\contentsline {subsection}{\numberline {4.6.3}MoveIt 2 Konfiguration}{45}{subsection.4.6.3}% -\contentsline {subsection}{\numberline {4.6.4}Integration mit Gazebo}{46}{subsection.4.6.4}% -\contentsline {section}{\numberline {4.7}Behavior Trees}{46}{section.4.7}% -\contentsline {subsubsection}{\nonumberline Allgemein nutzbare Nodes}{46}{subsubsection*.26}% -\contentsline {subsubsection}{\nonumberline Menschenspezifisch}{47}{subsubsection*.28}% -\contentsline {subsubsection}{\nonumberline Roboterspezifisch}{48}{subsubsection*.30}% -\contentsline {subsection}{\numberline {4.7.1}Subtrees}{48}{subsection.4.7.1}% -\contentsline {subsection}{\numberline {4.7.2}Verhalten des Roboters}{48}{subsection.4.7.2}% -\contentsline {subsection}{\numberline {4.7.3}Verhalten des Menschen}{48}{subsection.4.7.3}% -\contentsline {chapter}{\numberline {5}Szenarienbasierte Evaluation}{49}{chapter.5}% -\contentsline {section}{\numberline {5.1}Simulation des Menschen}{49}{section.5.1}% -\contentsline {section}{\numberline {5.2}Bewegung des Roboters}{49}{section.5.2}% -\contentsline {section}{\numberline {5.3}BehaviorTrees}{49}{section.5.3}% -\contentsline {subsection}{\numberline {5.3.1}Nodes}{49}{subsection.5.3.1}% -\contentsline {subsection}{\numberline {5.3.2}Kombinieren von Nodes zu einer Request}{49}{subsection.5.3.2}% -\contentsline {chapter}{\numberline {6}Diskussion}{50}{chapter.6}% -\contentsline {section}{\numberline {6.1}Lessons Learned bei der Umsetzung}{50}{section.6.1}% -\contentsline {subsection}{\numberline {6.1.1}Erstellung des Robotermodells}{50}{subsection.6.1.1}% -\contentsline {subsection}{\numberline {6.1.2}Erweiterung des Robotermodells mit MoveIt}{50}{subsection.6.1.2}% -\contentsline {subsection}{\numberline {6.1.3}Gazebo}{50}{subsection.6.1.3}% -\contentsline {subsubsection}{\nonumberline Upgrade auf Ignition}{50}{subsubsection*.32}% -\contentsline {subsubsection}{\nonumberline Pluginarchitektur}{51}{subsubsection*.34}% -\contentsline {subsubsection}{\nonumberline Fehlende Animationsgrundlagen}{52}{subsubsection*.36}% -\contentsline {subsection}{\numberline {6.1.4}ROS2}{52}{subsection.6.1.4}% -\contentsline {subsubsection}{\nonumberline Nachrichten und deren Echtzeitfähigkeit}{52}{subsubsection*.38}% -\contentsline {subsubsection}{\nonumberline Änderung der Compilertoolchain}{52}{subsubsection*.40}% -\contentsline {subsection}{\numberline {6.1.5}MoveIt2}{52}{subsection.6.1.5}% -\contentsline {subsubsection}{\nonumberline Upgrade auf MoveIt2}{52}{subsubsection*.42}% -\contentsline {subsubsection}{\nonumberline Fehlerhafte Generierung der Roboter}{53}{subsubsection*.44}% -\contentsline {subsubsection}{\nonumberline Controller}{53}{subsubsection*.46}% -\contentsline {section}{\numberline {6.2}Lessons Learned bei den Szenarien}{53}{section.6.2}% -\contentsline {subsection}{\numberline {6.2.1}Debugging}{53}{subsection.6.2.1}% -\contentsline {chapter}{\numberline {7}Zusammenfassung und Ausblick}{54}{chapter.7}% -\contentsline {section}{\numberline {7.1}Ergebnisse}{54}{section.7.1}% -\contentsline {subsection}{\numberline {7.1.1}Graphische Repräsentation der Szenarien}{54}{subsection.7.1.1}% -\contentsline {subsection}{\numberline {7.1.2}Anpassung der Behavior Trees an Szenarien}{54}{subsection.7.1.2}% -\contentsline {section}{\numberline {7.2}Diskussion}{54}{section.7.2}% -\contentsline {section}{\numberline {7.3}Ausblick}{54}{section.7.3}% -\contentsline {subsection}{\numberline {7.3.1}Umsetzung in anderem Simulator}{54}{subsection.7.3.1}% -\contentsline {subsection}{\numberline {7.3.2}Simulation bewegter Objekte}{54}{subsection.7.3.2}% -\contentsline {subsection}{\numberline {7.3.3}Ergänzung von Umgebungserkennung}{55}{subsection.7.3.3}% -\contentsline {subsection}{\numberline {7.3.4}Zusammenbringen von ActorPlugin und ActorServer}{55}{subsection.7.3.4}% -\contentsline {subsection}{\numberline {7.3.5}Separieren der Subtrees in eigene Dateien}{55}{subsection.7.3.5}% -\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file diff --git a/tex/texput.log b/tex/texput.log deleted file mode 100644 index be488df..0000000 --- a/tex/texput.log +++ /dev/null @@ -1,21 +0,0 @@ -This is pdfTeX, Version 3.141592653-2.6-1.40.25 (TeX Live 2023/Arch Linux) (preloaded format=pdflatex 2023.4.3) 15 MAY 2023 18:44 -entering extended mode - \write18 enabled. - %&-line parsing enabled. -**main.tex - -! 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