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The development of mobile robotic systems is a demanding task regarding its complexity, required resources and skills in multiple fields such as software development, artificial intelligence, mechanical design, electrical engineering, signal processing, sensor technology or control theory. This holds true particularly for soccer playing robots, where additional aspects like high dynamics, cooperation and high physical stress have to be dealt with. In robot competitions such as RoboCup, additional skills in the domains of team, project and knowledge management are of importance.
In this contribution a machine vision inspection system is presented which is designed as a length measuring sensor. It is developed to be applied to a range of heat shrink tubes, varying in length, diameter and color. The challenges of this task were the precision and accuracy demands as well as the real-time applicability of the entire approach since it should be realized in regular industrial line production. In production, heat shrink tubes are cut to specific sizes from a continuous tube. A multi-measurement strategy has been developed, which measures each individual tube segment several times with sub pixel accuracy while being in the visual field. The developed approach allows for a contact-free and fully automatic control of 100% of produced heat shrink tubes according to the given requirements with a measuring precision of 0.1mm. Depending on the color, length and diameter of the tubes considered, a true positive rate of 99.99% to 100% has been reached at a true negative rate of > 99.7.
Currently, there is a global problem of an increasing need of energy. There will be less fossil fuel, which will be more expensive in the future. The regenerative energies are getting more and more important. The subject deals with the problem of economical feasibility of geothermal energy systems. Its goal is to analyze nessesary conditions and aspects for realizing geothermal energy systems in comparison to and competition with traditional energy sources. The geothermal energy recovery is economically advantageous if the investment costs, esp. the drilling costs, could be reduced significantly. It only seems possible to open up a big opportunity for realizing geothermal energy systems by using a rock melt drilling technology, to reduce the investment costs significantly.