{"id":396,"date":"2022-07-21T06:59:40","date_gmt":"2022-07-21T06:59:40","guid":{"rendered":"https:\/\/erdalpekel.de\/?page_id=396"},"modified":"2024-04-22T12:59:44","modified_gmt":"2024-04-22T10:59:44","slug":"publications","status":"publish","type":"page","link":"https:\/\/erdalpekel.de\/?page_id=396","title":{"rendered":"Publikationen"},"content":{"rendered":"<div class=\"teachpress_pub_list\"><form name=\"tppublistform\" method=\"get\"><a name=\"tppubs\" id=\"tppubs\"><\/a><div class=\"teachpress_filter\"><select class=\"default\" name=\"yr\" id=\"yr\" tabindex=\"2\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/erdalpekel.de\/?page_id=396&amp;')\">\r\n                   <option value=\"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=#tppubs\">All years<\/option>\r\n                   <option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2023#tppubs\" >2023<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2022#tppubs\" >2022<\/option><option value = \"tgid=&amp;type=&amp;auth=&amp;usr=&amp;yr=2020#tppubs\" >2020<\/option>\r\n                <\/select><select class=\"default\" name=\"type\" id=\"type\" tabindex=\"3\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/erdalpekel.de\/?page_id=396&amp;')\">\r\n                   <option value=\"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=#tppubs\">All types<\/option>\r\n                   <option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=article#tppubs\" >Journal Articles<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=conference#tppubs\" >Conferences<\/option><option value = \"tgid=&amp;yr=&amp;auth=&amp;usr=&amp;type=phdthesis#tppubs\" >PhD Theses<\/option>\r\n                <\/select><select class=\"default\" name=\"auth\" id=\"auth\" tabindex=\"5\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/erdalpekel.de\/?page_id=396&amp;')\">\r\n                   <option value=\"tgid=&amp;yr=&amp;type=&amp;usr=&amp;auth=#tppubs\">All authors<\/option>\r\n                   <option value = \"tgid=&amp;yr=&amp;type=&amp;usr=&amp;auth=3#tppubs\" > Dierolf, Martin<\/option><option value = \"tgid=&amp;yr=&amp;type=&amp;usr=&amp;auth=7#tppubs\" >M. Dierolf E. Pekel, F. Pfeiffer<\/option><option value = \"tgid=&amp;yr=&amp;type=&amp;usr=&amp;auth=5#tppubs\" > Lasser, Tobias<\/option><option value = \"tgid=&amp;yr=&amp;type=&amp;usr=&amp;auth=8#tppubs\" > Lavilla, Mar\u00eda Lancho<\/option><option value = \"tgid=&amp;yr=&amp;type=&amp;usr=&amp;auth=1#tppubs\" > Pekel, Erdal<\/option><option value = \"tgid=&amp;yr=&amp;type=&amp;usr=&amp;auth=4#tppubs\" > Pfeiffer, Franz<\/option><option value = \"tgid=&amp;yr=&amp;type=&amp;usr=&amp;auth=2#tppubs\" > Schaff, Florian<\/option>\r\n                <\/select><select class=\"default\" name=\"usr\" id=\"usr\" tabindex=\"6\" onchange=\"teachpress_jumpMenu('parent',this, 'https:\/\/erdalpekel.de\/?page_id=396&amp;')\">\r\n                   <option value=\"tgid=&amp;yr=&amp;type=&amp;auth=&amp;usr=#tppubs\">All users<\/option>\r\n                   <option value = \"tgid=&amp;yr=&amp;type=&amp;auth=&amp;usr=1#tppubs\" >Dr. Erdal Pekel<\/option>\r\n                <\/select><\/div><\/form><div class=\"teachpress_publication_list\"><h3 class=\"tp_h3\" id=\"tp_h3_2023\">2023<\/h3><div class=\"tp_publication tp_publication_phdthesis\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Pekel, Erdal<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('8','tp_links')\" style=\"cursor:pointer;\">X-ray Computed Tomography with a Robotic Sample Holder<\/a> <span class=\"tp_pub_type tp_  phdthesis\">PhD Thesis<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_school\">Technische Universit\u00e4t M\u00fcnchen, <\/span><span class=\"tp_pub_additional_year\">2023<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_8\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('8','tp_abstract')\" title=\"Show abstract\" style=\"cursor:pointer;\">Abstract<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_8\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('8','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_8\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('8','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span> | <span class=\"tp_pub_tags_label\">Tags: <\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_8\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@phdthesis{dissertation,<br \/>\r\ntitle = {X-ray Computed Tomography with a Robotic Sample Holder},<br \/>\r\nauthor = {Erdal Pekel},<br \/>\r\nurl = {https:\/\/mediatum.ub.tum.de\/?id=1712965},<br \/>\r\nyear  = {2023},<br \/>\r\ndate = {2023-12-08},<br \/>\r\nurldate = {2023-12-08},<br \/>\r\npages = {155},<br \/>\r\nschool = {Technische Universit\u00e4t M\u00fcnchen},<br \/>\r\nabstract = {We present a robotic sample holder that offers superior flexibility for X-ray computed tomography compared to conventional, static sample mounting mechanisms. We introduce a suitable calibration algorithm and an intermediate, custom designed gripper part that improves the reach of the arm. We also develop a trajectory optimization routine that reduces radiation dose and measurement time and improves reconstruction image quality at runtime without prior knowledge about the measured sample.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {phdthesis}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('8','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_8\" style=\"display:none;\"><div class=\"tp_abstract_entry\">We present a robotic sample holder that offers superior flexibility for X-ray computed tomography compared to conventional, static sample mounting mechanisms. We introduce a suitable calibration algorithm and an intermediate, custom designed gripper part that improves the reach of the arm. We also develop a trajectory optimization routine that reduces radiation dose and measurement time and improves reconstruction image quality at runtime without prior knowledge about the measured sample.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('8','tp_abstract')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_8\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/mediatum.ub.tum.de\/?id=1712965\" title=\"https:\/\/mediatum.ub.tum.de\/?id=1712965\" target=\"_blank\">https:\/\/mediatum.ub.tum.de\/?id=1712965<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('8','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Pekel, Erdal;  Lavilla, Mar\u00eda Lancho;  Pfeiffer, Franz;  Lasser, Tobias<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('7','tp_links')\" style=\"cursor:pointer;\">Runtime optimization of acquisition trajectories for x-ray computed tomography with a robotic sample holder<\/a> <span class=\"tp_pub_type tp_  article\">Journal Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">In: <\/span><span class=\"tp_pub_additional_journal\">Engineering Research Express, <\/span><span class=\"tp_pub_additional_volume\">vol. 5, <\/span><span class=\"tp_pub_additional_number\">no. 4, <\/span><span class=\"tp_pub_additional_pages\">pp. 045058, <\/span><span class=\"tp_pub_additional_year\">2023<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_7\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('7','tp_abstract')\" title=\"Show abstract\" style=\"cursor:pointer;\">Abstract<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_7\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('7','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_7\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('7','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span> | <span class=\"tp_pub_tags_label\">Tags: <\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_7\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Pekel_2023b,<br \/>\r\ntitle = {Runtime optimization of acquisition trajectories for x-ray computed tomography with a robotic sample holder},<br \/>\r\nauthor = {Erdal Pekel and Mar\u00eda Lancho Lavilla and Franz Pfeiffer and Tobias Lasser},<br \/>\r\nurl = {https:\/\/dx.doi.org\/10.1088\/2631-8695\/ad08fd},<br \/>\r\ndoi = {10.1088\/2631-8695\/ad08fd},<br \/>\r\nyear  = {2023},<br \/>\r\ndate = {2023-11-01},<br \/>\r\njournal = {Engineering Research Express},<br \/>\r\nvolume = {5},<br \/>\r\nnumber = {4},<br \/>\r\npages = {045058},<br \/>\r\npublisher = {IOP Publishing},<br \/>\r\nabstract = {Tomographic imaging systems are expected to work with a wide range of samples that house complex structures and challenging material compositions, which can influence image quality in a bad way. Complex samples increase total measurement duration and may introduce beam-hardening artifacts that lead to poor reconstruction image quality. This work presents an online trajectory optimization method for an x-ray computed tomography system with a robotic sample holder. The proposed method reduces measurement time and increases reconstruction image quality by generating an optimized spherical trajectory for the given sample without prior knowledge. The trajectory is generated successively at runtime based on intermediate sample measurements. We present experimental results with the robotic sample holder where two sample measurements using an optimized spherical trajectory achieve improved reconstruction quality compared to a conventional spherical trajectory. Our results demonstrate the ability of our system to increase reconstruction image quality and avoid artifacts at runtime when no prior information about the sample is provided.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('7','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_7\" style=\"display:none;\"><div class=\"tp_abstract_entry\">Tomographic imaging systems are expected to work with a wide range of samples that house complex structures and challenging material compositions, which can influence image quality in a bad way. Complex samples increase total measurement duration and may introduce beam-hardening artifacts that lead to poor reconstruction image quality. This work presents an online trajectory optimization method for an x-ray computed tomography system with a robotic sample holder. The proposed method reduces measurement time and increases reconstruction image quality by generating an optimized spherical trajectory for the given sample without prior knowledge. The trajectory is generated successively at runtime based on intermediate sample measurements. We present experimental results with the robotic sample holder where two sample measurements using an optimized spherical trajectory achieve improved reconstruction quality compared to a conventional spherical trajectory. Our results demonstrate the ability of our system to increase reconstruction image quality and avoid artifacts at runtime when no prior information about the sample is provided.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('7','tp_abstract')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_7\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1088\/2631-8695\/ad08fd\" title=\"https:\/\/dx.doi.org\/10.1088\/2631-8695\/ad08fd\" target=\"_blank\">https:\/\/dx.doi.org\/10.1088\/2631-8695\/ad08fd<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('7','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Pekel, Erdal;  Dierolf, Martin;  Pfeiffer, Franz;  Lasser, Tobias<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('5','tp_links')\" style=\"cursor:pointer;\">Spherical acquisition trajectories for x-ray computed tomography with a robotic sample holder<\/a> <span class=\"tp_pub_type tp_  article\">Journal Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">In: <\/span><span class=\"tp_pub_additional_journal\">Engineering Research Express, <\/span><span class=\"tp_pub_additional_volume\">vol. 5, <\/span><span class=\"tp_pub_additional_number\">no. 3, <\/span><span class=\"tp_pub_additional_pages\">pp. 035045, <\/span><span class=\"tp_pub_additional_year\">2023<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_5\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('5','tp_abstract')\" title=\"Show abstract\" style=\"cursor:pointer;\">Abstract<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_5\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('5','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_5\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('5','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span> | <span class=\"tp_pub_tags_label\">Tags: <\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_5\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{Pekel_2023,<br \/>\r\ntitle = {Spherical acquisition trajectories for x-ray computed tomography with a robotic sample holder},<br \/>\r\nauthor = {Erdal Pekel and Martin Dierolf and Franz Pfeiffer and Tobias Lasser},<br \/>\r\nurl = {https:\/\/dx.doi.org\/10.1088\/2631-8695\/acefad},<br \/>\r\ndoi = {10.1088\/2631-8695\/acefad},<br \/>\r\nyear  = {2023},<br \/>\r\ndate = {2023-08-01},<br \/>\r\nurldate = {2023-08-01},<br \/>\r\njournal = {Engineering Research Express},<br \/>\r\nvolume = {5},<br \/>\r\nnumber = {3},<br \/>\r\npages = {035045},<br \/>\r\npublisher = {IOP Publishing},<br \/>\r\nabstract = {This work presents methods for the seamless execution of arbitrary spherical trajectories with a seven-degree-of-freedom robotic arm as a sample holder. The sample holder is integrated into an existing x-ray computed tomography setup. We optimized the path planning and robot control algorithms for the seamless execution of spherical trajectories. A precision-manufactured sample holder part is attached to the robotic arm for the calibration procedure. Different designs of this part are tested and compared to each other for optimal coverage of trajectories and reconstruction image quality. We present experimental results with the robotic sample holder where a sample measurement on a spherical trajectory achieves improved reconstruction quality compared to a conventional circular trajectory. Our results demonstrate the superiority of the discussed system as it outperforms single-axis systems by reaching nearly 82% of all possible rotations. The proposed system is a step towards higher image reconstruction quality in flexible x-ray CT systems. It will enable reduced scan times and radiation dose exposure with task-specific trajectories in the future, as it can capture information from various sample angles.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('5','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_5\" style=\"display:none;\"><div class=\"tp_abstract_entry\">This work presents methods for the seamless execution of arbitrary spherical trajectories with a seven-degree-of-freedom robotic arm as a sample holder. The sample holder is integrated into an existing x-ray computed tomography setup. We optimized the path planning and robot control algorithms for the seamless execution of spherical trajectories. A precision-manufactured sample holder part is attached to the robotic arm for the calibration procedure. Different designs of this part are tested and compared to each other for optimal coverage of trajectories and reconstruction image quality. We present experimental results with the robotic sample holder where a sample measurement on a spherical trajectory achieves improved reconstruction quality compared to a conventional circular trajectory. Our results demonstrate the superiority of the discussed system as it outperforms single-axis systems by reaching nearly 82% of all possible rotations. The proposed system is a step towards higher image reconstruction quality in flexible x-ray CT systems. It will enable reduced scan times and radiation dose exposure with task-specific trajectories in the future, as it can capture information from various sample angles.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('5','tp_abstract')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_5\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1088\/2631-8695\/acefad\" title=\"https:\/\/dx.doi.org\/10.1088\/2631-8695\/acefad\" target=\"_blank\">https:\/\/dx.doi.org\/10.1088\/2631-8695\/acefad<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('5','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_conference\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\">M. Dierolf E. Pekel, F. Pfeiffer<\/p><p class=\"tp_pub_title\">Spherical acquisition trajectories for X-ray Computed Tomography with a robotic sample holder <span class=\"tp_pub_type tp_  conference\">Conference<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_booktitle\">Fully Three-Dimensional Image Reconstruction in Radiology and Nuclear Medicine (Fully 3D), <\/span><span class=\"tp_pub_additional_address\">Stony Brook, USA, <\/span><span class=\"tp_pub_additional_year\">2023<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_4\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('4','tp_abstract')\" title=\"Show abstract\" style=\"cursor:pointer;\">Abstract<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_4\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('4','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span> | <span class=\"tp_pub_tags_label\">Tags: <\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_4\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@conference{Pekel2023,<br \/>\r\ntitle = {Spherical acquisition trajectories for X-ray Computed Tomography with a robotic sample holder},<br \/>\r\nauthor = {E. Pekel, M. Dierolf, F. Pfeiffer, T. Lasser},<br \/>\r\nyear  = {2023},<br \/>\r\ndate = {2023-07-16},<br \/>\r\nurldate = {2023-07-16},<br \/>\r\nbooktitle = {Fully Three-Dimensional Image Reconstruction in Radiology and Nuclear Medicine (Fully 3D)},<br \/>\r\naddress = {Stony Brook, USA},<br \/>\r\nabstract = {In this work we present an X-ray computed tomography setup that integrates a seven degree of freedom robotic arm as a sample holder. The path planning and robot control algorithms are optimized for seamless execution of spherical trajectories. A precision manufactured sample holder part is attached to the robotic arm for the calibration procedure. We present experimental results with the robotic sample holder where a sample measurement on a spherical trajectory achieves superior reconstruction quality compared to a conventional circular trajectory. The proposed system is a step towards higher image reconstruction quality in X-ray CT systems.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {conference}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('4','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_4\" style=\"display:none;\"><div class=\"tp_abstract_entry\">In this work we present an X-ray computed tomography setup that integrates a seven degree of freedom robotic arm as a sample holder. The path planning and robot control algorithms are optimized for seamless execution of spherical trajectories. A precision manufactured sample holder part is attached to the robotic arm for the calibration procedure. We present experimental results with the robotic sample holder where a sample measurement on a spherical trajectory achieves superior reconstruction quality compared to a conventional circular trajectory. The proposed system is a step towards higher image reconstruction quality in X-ray CT systems.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('4','tp_abstract')\">Close<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_2022\">2022<\/h3><div class=\"tp_publication tp_publication_conference\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Pekel, Erdal;  Schaff, Florian;  Dierolf, Martin;  Pfeiffer, Franz;  Lasser, Tobias<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('2','tp_links')\" style=\"cursor:pointer;\">Geometric calibration of seven degree of freedom robotic sample holder for x-ray CT<\/a> <span class=\"tp_pub_type tp_  conference\">Conference<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_booktitle\">7th International Conference on Image Formation in X-Ray Computed Tomography, <\/span><span class=\"tp_pub_additional_address\">Baltimore, USA, <\/span><span class=\"tp_pub_additional_year\">2022<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_2\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('2','tp_abstract')\" title=\"Show abstract\" style=\"cursor:pointer;\">Abstract<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_2\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('2','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_2\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('2','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span> | <span class=\"tp_pub_tags_label\">Tags: <\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_2\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@conference{ctmeeting2022,<br \/>\r\ntitle = {Geometric calibration of seven degree of freedom robotic sample holder for x-ray CT},<br \/>\r\nauthor = {Erdal Pekel and Florian Schaff and Martin Dierolf and Franz Pfeiffer and Tobias Lasser},<br \/>\r\nurl = {https:\/\/doi.org\/10.1117\/12.2646492},<br \/>\r\ndoi = {10.1117\/12.2646492},<br \/>\r\nyear  = {2022},<br \/>\r\ndate = {2022-10-17},<br \/>\r\nurldate = {2022-10-17},<br \/>\r\nbooktitle = {7th International Conference on Image Formation in X-Ray Computed Tomography},<br \/>\r\naddress = {Baltimore, USA},<br \/>\r\nabstract = {We present a geometric calibration method for integrating a seven degrees of freedom robotic arm as a sample holder within an existing laboratory X-ray computed tomography setup. We aim to provide a flexible sample holder that is able to execute non-standard and task-specific trajectories for complex samples. The calibration is necessary to identify the accurate pose of the sample which deviates from the expected pose due to inaccurate placement of the robotic arm. The robotic arm is integrated with a unified software package that allows for path planning, collision detection, geometric calibration and reconstruction of the sample. With our software the user is able to command the robotic arm to execute arbitrary trajectories for a given sample in a safe manner and output its reconstruction to the user. We present experimental results with a circular trajectory where the robotic sample holder achieves identical visual quality compared to a conventional sample holder.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {conference}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('2','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_2\" style=\"display:none;\"><div class=\"tp_abstract_entry\">We present a geometric calibration method for integrating a seven degrees of freedom robotic arm as a sample holder within an existing laboratory X-ray computed tomography setup. We aim to provide a flexible sample holder that is able to execute non-standard and task-specific trajectories for complex samples. The calibration is necessary to identify the accurate pose of the sample which deviates from the expected pose due to inaccurate placement of the robotic arm. The robotic arm is integrated with a unified software package that allows for path planning, collision detection, geometric calibration and reconstruction of the sample. With our software the user is able to command the robotic arm to execute arbitrary trajectories for a given sample in a safe manner and output its reconstruction to the user. We present experimental results with a circular trajectory where the robotic sample holder achieves identical visual quality compared to a conventional sample holder.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('2','tp_abstract')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_2\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/doi.org\/10.1117\/12.2646492\" title=\"https:\/\/doi.org\/10.1117\/12.2646492\" target=\"_blank\">https:\/\/doi.org\/10.1117\/12.2646492<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1117\/12.2646492\" title=\"Follow DOI:10.1117\/12.2646492\" target=\"_blank\">doi:10.1117\/12.2646492<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('2','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><div class=\"tp_publication tp_publication_article\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Pekel, Erdal;  Schaff, Florian;  Dierolf, Martin;  Pfeiffer, Franz;  Lasser, Tobias<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('1','tp_links')\" style=\"cursor:pointer;\">X-ray computed tomography with seven degree of freedom robotic sample holder<\/a> <span class=\"tp_pub_type tp_  article\">Journal Article<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_in\">In: <\/span><span class=\"tp_pub_additional_journal\">Engineering Research Express, <\/span><span class=\"tp_pub_additional_volume\">vol. 4, <\/span><span class=\"tp_pub_additional_number\">no. 3, <\/span><span class=\"tp_pub_additional_year\">2022<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_1\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('1','tp_abstract')\" title=\"Show abstract\" style=\"cursor:pointer;\">Abstract<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_1\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('1','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_1\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('1','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span> | <span class=\"tp_pub_tags_label\">Tags: <\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_1\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@article{10.1088\/2631-8695\/ac8224,<br \/>\r\ntitle = {X-ray computed tomography with seven degree of freedom robotic sample holder},<br \/>\r\nauthor = {Erdal Pekel and Florian Schaff and Martin Dierolf and Franz Pfeiffer and Tobias Lasser},<br \/>\r\nurl = {http:\/\/iopscience.iop.org\/article\/10.1088\/2631-8695\/ac8224},<br \/>\r\ndoi = {10.1088\/2631-8695\/ac8224},<br \/>\r\nyear  = {2022},<br \/>\r\ndate = {2022-08-05},<br \/>\r\nurldate = {2022-08-05},<br \/>\r\njournal = {Engineering Research Express},<br \/>\r\nvolume = {4},<br \/>\r\nnumber = {3},<br \/>\r\nabstract = {We present an X-ray Computed Tomography setup that integrates a seven degrees of freedom robotic arm as a sample holder within an existing laboratory X-ray computed tomography setup. We aim to provide a \ufb02exible sample holder that is able to execute non-standard and task-speci\ufb01c trajectories for complex samples. The robotic arm is integrated with a uni\ufb01ed software package that allows for path planning, collision detection, geometric calibration and reconstruction of the sample. The calibration is necessary to identify the accurate pose of the sample which deviates from the expected pose due to inaccurate placement of the robotic arm. With our software the user is able to command the robotic arm to execute arbitrary trajectories for a given sample in a safe manner and output its reconstruction to the user. We present experimental results with a circular trajectory where the robotic sample holder achieves identical visual quality compared to a conventional sample holder.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {article}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('1','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_1\" style=\"display:none;\"><div class=\"tp_abstract_entry\">We present an X-ray Computed Tomography setup that integrates a seven degrees of freedom robotic arm as a sample holder within an existing laboratory X-ray computed tomography setup. We aim to provide a \ufb02exible sample holder that is able to execute non-standard and task-speci\ufb01c trajectories for complex samples. The robotic arm is integrated with a uni\ufb01ed software package that allows for path planning, collision detection, geometric calibration and reconstruction of the sample. The calibration is necessary to identify the accurate pose of the sample which deviates from the expected pose due to inaccurate placement of the robotic arm. With our software the user is able to command the robotic arm to execute arbitrary trajectories for a given sample in a safe manner and output its reconstruction to the user. We present experimental results with a circular trajectory where the robotic sample holder achieves identical visual quality compared to a conventional sample holder.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('1','tp_abstract')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_1\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-globe\"><\/i><a class=\"tp_pub_list\" href=\"http:\/\/iopscience.iop.org\/article\/10.1088\/2631-8695\/ac8224\" title=\"http:\/\/iopscience.iop.org\/article\/10.1088\/2631-8695\/ac8224\" target=\"_blank\">http:\/\/iopscience.iop.org\/article\/10.1088\/2631-8695\/ac8224<\/a><\/li><li><i class=\"ai ai-doi\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/dx.doi.org\/10.1088\/2631-8695\/ac8224\" title=\"Follow DOI:10.1088\/2631-8695\/ac8224\" target=\"_blank\">doi:10.1088\/2631-8695\/ac8224<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('1','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><h3 class=\"tp_h3\" id=\"tp_h3_2020\">2020<\/h3><div class=\"tp_publication tp_publication_conference\"><div class=\"tp_pub_info\"><p class=\"tp_pub_author\"> Pekel, Erdal;  Dierolf, Martin;  Pfeiffer, Franz;  Lasser, Tobias<\/p><p class=\"tp_pub_title\"><a class=\"tp_title_link\" onclick=\"teachpress_pub_showhide('3','tp_links')\" style=\"cursor:pointer;\">X-ray Computed Tomography with a Robotic Sample Holder<\/a> <span class=\"tp_pub_type tp_  conference\">Conference<\/span> <\/p><p class=\"tp_pub_additional\"><span class=\"tp_pub_additional_booktitle\">International Conference on Image Formation in X-ray Computed Tomography (CT Meeting), <\/span><span class=\"tp_pub_additional_address\">Regensburg, Germany, <\/span><span class=\"tp_pub_additional_year\">2020<\/span>.<\/p><p class=\"tp_pub_menu\"><span class=\"tp_abstract_link\"><a id=\"tp_abstract_sh_3\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('3','tp_abstract')\" title=\"Show abstract\" style=\"cursor:pointer;\">Abstract<\/a><\/span> | <span class=\"tp_resource_link\"><a id=\"tp_links_sh_3\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('3','tp_links')\" title=\"Show links and resources\" style=\"cursor:pointer;\">Links<\/a><\/span> | <span class=\"tp_bibtex_link\"><a id=\"tp_bibtex_sh_3\" class=\"tp_show\" onclick=\"teachpress_pub_showhide('3','tp_bibtex')\" title=\"Show BibTeX entry\" style=\"cursor:pointer;\">BibTeX<\/a><\/span> | <span class=\"tp_pub_tags_label\">Tags: <\/span><\/p><div class=\"tp_bibtex\" id=\"tp_bibtex_3\" style=\"display:none;\"><div class=\"tp_bibtex_entry\"><pre>@conference{ctmeeting2020,<br \/>\r\ntitle = {X-ray Computed Tomography with a Robotic Sample Holder},<br \/>\r\nauthor = {Erdal Pekel and Martin Dierolf and Franz Pfeiffer and Tobias Lasser},<br \/>\r\nurl = {https:\/\/ct-meeting.org\/wp-content\/uploads\/2021\/11\/ProceedingsCTMeeting2020.pdf},<br \/>\r\nyear  = {2020},<br \/>\r\ndate = {2020-08-03},<br \/>\r\nurldate = {2020-08-03},<br \/>\r\nbooktitle = {International Conference on Image Formation in X-ray Computed Tomography (CT Meeting)},<br \/>\r\naddress = {Regensburg, Germany},<br \/>\r\nabstract = {In this work we present the integration of a robotic arm with seven degrees of freedom as a sample holder within an experimental X-ray computed tomography setup. The robot enables arbitrary rotations of the sample and hence different non-standard acquisition trajectories that are not possible with conventional sample holding mechanisms. Our framework provides a programmatic interface for trajectory inputs and their motion planning, a robotic arm calibration mechanism for accurate target placement utilizing a single RGB camera, and both passive and active collision detection mechanisms based on a set of depth cameras. We elaborate on the challenges of precisely positioning samples into the X-ray beam and propose a method together with a discussion on its current limitations, in particular in view of performing X-ray computed tomography.},<br \/>\r\nkeywords = {},<br \/>\r\npubstate = {published},<br \/>\r\ntppubtype = {conference}<br \/>\r\n}<br \/>\r\n<\/pre><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('3','tp_bibtex')\">Close<\/a><\/p><\/div><div class=\"tp_abstract\" id=\"tp_abstract_3\" style=\"display:none;\"><div class=\"tp_abstract_entry\">In this work we present the integration of a robotic arm with seven degrees of freedom as a sample holder within an experimental X-ray computed tomography setup. The robot enables arbitrary rotations of the sample and hence different non-standard acquisition trajectories that are not possible with conventional sample holding mechanisms. Our framework provides a programmatic interface for trajectory inputs and their motion planning, a robotic arm calibration mechanism for accurate target placement utilizing a single RGB camera, and both passive and active collision detection mechanisms based on a set of depth cameras. We elaborate on the challenges of precisely positioning samples into the X-ray beam and propose a method together with a discussion on its current limitations, in particular in view of performing X-ray computed tomography.<\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('3','tp_abstract')\">Close<\/a><\/p><\/div><div class=\"tp_links\" id=\"tp_links_3\" style=\"display:none;\"><div class=\"tp_links_entry\"><ul class=\"tp_pub_list\"><li><i class=\"fas fa-file-pdf\"><\/i><a class=\"tp_pub_list\" href=\"https:\/\/ct-meeting.org\/wp-content\/uploads\/2021\/11\/ProceedingsCTMeeting2020.pdf\" title=\"https:\/\/ct-meeting.org\/wp-content\/uploads\/2021\/11\/ProceedingsCTMeeting2020.pdf\" target=\"_blank\">https:\/\/ct-meeting.org\/wp-content\/uploads\/2021\/11\/ProceedingsCTMeeting2020.pdf<\/a><\/li><\/ul><\/div><p class=\"tp_close_menu\"><a class=\"tp_close\" onclick=\"teachpress_pub_showhide('3','tp_links')\">Close<\/a><\/p><\/div><\/div><\/div><\/div><\/div>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-396","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/erdalpekel.de\/index.php?rest_route=\/wp\/v2\/pages\/396","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/erdalpekel.de\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/erdalpekel.de\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/erdalpekel.de\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/erdalpekel.de\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=396"}],"version-history":[{"count":10,"href":"https:\/\/erdalpekel.de\/index.php?rest_route=\/wp\/v2\/pages\/396\/revisions"}],"predecessor-version":[{"id":933,"href":"https:\/\/erdalpekel.de\/index.php?rest_route=\/wp\/v2\/pages\/396\/revisions\/933"}],"wp:attachment":[{"href":"https:\/\/erdalpekel.de\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=396"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}