(Semi-) autonomous complex UAV missions, such as inspection or search-and-rescue in uncertain dynamic environments, require obstacle avoidance and operator shared control. Combining humans' cognitive abilities wit...
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ISBN:
(纸本)9781467393331
(Semi-) autonomous complex UAV missions, such as inspection or search-and-rescue in uncertain dynamic environments, require obstacle avoidance and operator shared control. Combining humans' cognitive abilities with fast automation is the key for such missions. This paper presents a flight control system architecture based on the instantaneous Task Specification using constraints (iTaSC) methodology and software framework. iTaSC is a flexible constraint-based programming approach that generates a robot motion at runtime which automatically derives the input for a low-level controller taking into account constraints and intentions from the operator, obstacles and mission constraints. This setup is experimentally validated by navigating a multirotor UAV safely through a GPS-denied corridor using (intuitive) shared control with a pilot. In addition to the pilot's commands, automatic obstacle avoidance and object tracking are performed real-time through various onboard sensors and with limited onboard computational power.
Collage is a declarative programming model and runtime expressly targeted at building and deploying cross-organizational software as compositions of web components. Collage is based on an RDF data model, data-driven e...
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ISBN:
(纸本)9783642025730
Collage is a declarative programming model and runtime expressly targeted at building and deploying cross-organizational software as compositions of web components. Collage is based on an RDF data model, data-driven execution model, and flexible support for cross-organizational composition of both application and UI components. In this paper we outline a uniform set of Collage language features addressing end-to-end application design, including business objects, but with particular focus on user interaction, and adaptation to current interaction platforms such as web browsers.
The interactive, automatic timetabling system was developed in Fraunhofer FIRST'S department for Planning Technology and and Declarative programming in the frame of research on the constraint-based programming par...
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The interactive, automatic timetabling system was developed in Fraunhofer FIRST'S department for Planning Technology and and Declarative programming in the frame of research on the constraint-based programming paradigm. Since 1998, the system has been used to generate timetables for the Charité Medical Faculty at Berlin's Humboldt University and has undergone continuous extensions. Successful deployment of the system shows that the chosen methods and techniques are well suited for dealing with problems of this sort. The quality of the plans and their permanent use demonstrate the advantages of combined interactive and automatic generation of timetables.
iTASC (acronym for 'instantaneous task specification and control') ill is a systematic constraint-based approach to specify complex tasks of general sensor-based robot systems. iTASC integrates both instantane...
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ISBN:
(纸本)9781424421435
iTASC (acronym for 'instantaneous task specification and control') ill is a systematic constraint-based approach to specify complex tasks of general sensor-based robot systems. iTASC integrates both instantaneous task specification and estimation of geometric uncertainty in a unified framework. Automatic derivation of controller and estimator equations follows from a geometric task model that is obtained using a systematic task modeling procedure. The approach applies to a large variety of robot systems (mobile robots, multiple robot systems, dynamic human-robot interaction, etc.), various sensor systems, and different robot tasks. Using an example task, this paper shows that iTASC is a powerful tool for multi-sensor integration in robot manipulation. The example task includes multiple sensors: encoders, a force sensor, cameras, a laser distance sensor and a laser scanner. The paper details the systematic modeling procedure for the example task and elaborates on the task specific choice of two types of task coordinates: feature coordinates, defined with respect to object and feature frames, which facilitate the task specification, and uncertainty coordinates to model geometric uncertainty. Experimental results for the example task are presented.
In [1], we presented our constraint-based programming approach, iTaSC(1), that formulates instantaneous sensor-based robot tasks as constraint sets, and subsequently solves a corresponding least-squares problem to obt...
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ISBN:
(纸本)9781424427888
In [1], we presented our constraint-based programming approach, iTaSC(1), that formulates instantaneous sensor-based robot tasks as constraint sets, and subsequently solves a corresponding least-squares problem to obtain control set points, such as desired joint velocities or joint torques. This paper further extends this approach, (i) by explicitly supporting the inclusion of inequality constraints In the task and (ii) by supporting a broader class of objective functions for translating the task constraints into robot motion. These extensions are made while retaining a tractable mathematical problem structure (a convex program). Furthermore, first results on extending the approach to non-instantaneous tasks are presented. As illustrated In the paper, the power of the approach lies (i) at its versatility to specify a wide range of robot behaviors and the ease of making task adjustments, and (ii) at its generic nature, that permits using systematic procedures to derive the underlying control equations.
This paper presents techniques for exploiting redundancy in teams of mobile robots. In particular, we address tasks involving the kinematic coordination of several communicating robots. Teams are modeled as highly red...
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ISBN:
(纸本)0780372727
This paper presents techniques for exploiting redundancy in teams of mobile robots. In particular, we address tasks involving the kinematic coordination of several communicating robots. Teams are modeled as highly redundant spatial mechanisms for which multi-objective, concurrent controllers are constructed using a generalization of nullspace control. The goal is to develop a methodology in which the robustness and error suppression in a control theoretic substrate can be used to preserve critical properties in teams of reactive robots. The resulting "safe"' control options can then be explored while guaranteeing global compliance with system specifications. The proposed architecture depends on a set of concurrent, low-dimensional control processes that interact in a well defined manner. Cascaded null space projections and coordination templates are used to manage control interactions across platforms that actively maintain constraints for pairs of robots. Pairwise policies can then be combined to represent coordinated, multi-robot tasks. To illustrate the approach, we demonstrate a distributed control that maintains critical connectivity in line-of-sight communication networks.
In metabolic engineering, modification of metabolic networks is an important biotechnology and a challenging computational task. In the metabolic network modification, we should modify metabolic networks by newly addi...
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In metabolic engineering, modification of metabolic networks is an important biotechnology and a challenging computational task. In the metabolic network modification, we should modify metabolic networks by newly adding enzymes or/and knocking-out genes to maximize the biomass production with minimum side-effect. In this mini-review, we briefly review constraint-based formalizations for Minimum Reaction Cut (MRC) problem where the minimum set of reactions is deleted so that the target compound becomes non-producible from the view point of the flux balance analysis (FBA), elementary mode (EM), and Boolean models. Minimum Reaction Insertion (MRI) problem where the minimum set of reactions is added so that the target compound newly becomes producible is also explained with a similar formalization approach. The relation between the accuracy of the models and the risk of overfitting is also discussed. (C) 2015 Tamura et al. Published by Elsevier B.V.
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