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Verified Commit 416e54fa authored by Tobias WEBER's avatar Tobias WEBER
Browse files

continued with outlook

parent 24fa0331
......@@ -8,16 +8,21 @@
\chapter*{Acknowledgements}
\addcontentsline{toc}{chapter}{Acknowledgements}
\begin{itemize}
\item {\bf still TODO}
\item ...
\item Yannick Le Goc and instrument control group
\item Dr. Paolo Mutti and computing group
\item Dr. Martin B\"ohm and spectroscopy group
\item Dr. Paul Steffens
\item thesis advisors: Dr. Lihong Ma and Prof. Dr. Christian Icking
\item also thank advisors for former (physics) theses
\item family
\item ...
\end{itemize}
I wish to thank my thesis advisors, Prof. Dr. Christian Icking and Dr. Lihong Ma, for accepting
and supporting this project, for their advice and our regular discussions, the friendly atmosphere,
as well as for always being available for questions.
Equal thanks to Dr. Martin B\"ohm, leader of the spectroscopy group at the ILL and instrument
scientist at the Thales spectrometer, to Yannick Le Goc (computer scientist at the instrument
control and electronics group), as well as Dr. Paul Steffens (Thales instrument scientist) for our
regular discussions about about various triple-axis automatisation projects, the experiments and the
instrumental aspects. I furthermore wish to thank Jérôme Locatelli (instrument control group) for
all the help with \textit{Nomad}, the instrument control system at the ILL, and the technical discussions
about its internal details.
Thanks to Dr. Paolo Mutti, the head of both the scientific computing and the instrument control group
at the ILL, for supporting this project and for the great atmosphere and working environment there.
Also not to forget the continuing support from my former advisor for past theses, Prof. Dr. Peter B\"oni,
as well as from Prof. Dr. Christian Pfleiderer, Prof. Dr. Markus Garst, Dr. Marc Janoschek in all our ongoing projects.
Last but not least also many thanks to my family and to Soilhat for always being there for me!
......@@ -35,6 +35,15 @@ The simplified model may be thought of as the bounding boxes and cylinders of th
The results are still correct and just rationalise away all details close to obstacles, which should
anyway be avoided.
Another development for the future that was suggested by M. B\"ohm, the leader of the spectroscopy
group at the ILL, might include the use of a depth camera for automatic generation and update
of the obstacle positions. The camera would be at a fixed position above the instrument
space, where it has full coverage. The depth values would be used to identify any objects above the
instrument floor. Such a strategy has already been tested in the field of robot motion planning and
algorithms for identifying objects are available \cite{Biswas2012}.
Such a feature might be useful to include non-fixed geometry such as helium cans or ladders
that may be present in the instrument space.
A first general presentation of the software of this work will take place at the
\textit{Innovative Inelastic Neutron Scattering} workshop in Autrans-M\'eaudre-en-Vercors, France
in October 2021.
......@@ -683,6 +683,22 @@
}
@inproceedings
{
Icking1995,
author = {Christian Icking and Rolf Klein},
title = {{Searching for the Kernel of a Polygon -- A Competitive Strategy}},
booktitle = {{SCG '95: Proceedings of the eleventh annual symposium on Computational geometry}},
issn = {},
year = {1995},
month = {September},
volume = {},
number = {},
pages = {258-266},
doi = {10.1145/220279.220307},
}
@inproceedings
{
Karavelas2004,
......@@ -713,6 +729,18 @@
}
@incollection
{
Biswas2012,
title = {{Depth camera based indoor mobile robot localization and navigation}},
author = {Biswas, Joydeep and Veloso, Manuela},
booktitle = {2012 IEEE International Conference on Robotics and Automation},
year = {2012},
pages = {1697-1702},
doi = {10.1109/ICRA.2012.6224766}
}
% -----------------------------------------------------------------------------
......@@ -1432,7 +1460,7 @@
@misc
{
web_mingw64,
title = {{Mingw-w64 (Software)}},
title = {{MinGW-w64 -- Minimalist GNU for Windows (Software)}},
author = {{Various Authors}},
year = {2021},
url = "https://www.mingw-w64.org/",
......@@ -1714,6 +1742,18 @@
}
@misc
{
Choset2010_ch1,
author = {Howie Choset},
title = {{Robotic Motion Planning Lectures --- Chapter 1 (Lecture Notes)}},
note = {Carnegie Mellon University, Robotics Institute, Pennsylvania, USA},
year = {2007},
url = {https://www.cs.cmu.edu/~motionplanning/lecture/Chap1-Introduction_howie.pdf},
note = "[Online; accessed 24-September-2021]"
}
@misc
{
Choset2010_ch2,
......@@ -1726,6 +1766,90 @@
}
@misc
{
Choset2010_ch3,
author = {Howie Choset},
title = {{Robotic Motion Planning Lectures --- Chapter 3: Configuration Space (Lecture Notes)}},
note = {Carnegie Mellon University, Robotics Institute, Pennsylvania, USA},
year = {2007},
url = {https://www.cs.cmu.edu/~motionplanning/lecture/Chap3-Config-Space_howie.pdf},
note = "[Online; accessed 24-September-2021]"
}
@misc
{
Choset2010_ch4,
author = {Howie Choset},
title = {{Robotic Motion Planning Lectures --- Chapter 4: Potential Functions (Lecture Notes)}},
note = {Carnegie Mellon University, Robotics Institute, Pennsylvania, USA},
year = {2007},
url = {https://www.cs.cmu.edu/~motionplanning/lecture/Chap4-Potential-Field_howie.pdf},
note = "[Online; accessed 24-September-2021]"
}
@misc
{
Choset2010_ch5,
author = {Howie Choset},
title = {{Robotic Motion Planning Lectures --- Chapter 5: Roadmap Methods (Lecture Notes)}},
note = {Carnegie Mellon University, Robotics Institute, Pennsylvania, USA},
year = {2007},
url = {https://www.cs.cmu.edu/~motionplanning/lecture/Chap5-RoadMap-Methods_howie.pdf},
note = "[Online; accessed 24-September-2021]"
}
@misc
{
Choset2010_ch6,
author = {Howie Choset},
title = {{Robotic Motion Planning Lectures --- Chapter 6: Cell Decomposition (Lecture Notes)}},
note = {Carnegie Mellon University, Robotics Institute, Pennsylvania, USA},
year = {2007},
url = {https://www.cs.cmu.edu/~motionplanning/lecture/Chap6-CellDecomp_howie.pdf},
note = "[Online; accessed 24-September-2021]"
}
@misc
{
Choset2010_ch7,
author = {Howie Choset},
title = {{Robotic Motion Planning Lectures --- Chapter 7: Sample-Based Motion Planning (Lecture Notes)}},
note = {Carnegie Mellon University, Robotics Institute, Pennsylvania, USA},
year = {2007},
url = {https://www.cs.cmu.edu/~motionplanning/lecture/Chap7-Prob-Planning_howie.pdf},
note = "[Online; accessed 24-September-2021]"
}
@misc
{
Choset2010_ch8,
author = {Howie Choset},
title = {{Robotic Motion Planning Lectures --- Chapter 8: Localization, Mapping, SLAM and The Kalman Filter according to George (Lecture Notes)}},
note = {Carnegie Mellon University, Robotics Institute, Pennsylvania, USA},
year = {2007},
url = {https://www.cs.cmu.edu/~motionplanning/lecture/Chap8-Kalman-Mapping_howie.pdf},
note = "[Online; accessed 24-September-2021]"
}
@misc
{
Choset2010_ch9,
author = {Howie Choset},
title = {{Robotic Motion Planning Lectures --- Chapter 9: Bayesian Approaches to Localization, Mapping, and SLAM (Lecture Notes)}},
note = {Carnegie Mellon University, Robotics Institute, Pennsylvania, USA},
year = {2007},
url = {https://www.cs.cmu.edu/~motionplanning/lecture/Chap9-Bayesian-Mapping_howie.pdf},
note = "[Online; accessed 24-September-2021]"
}
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