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Observer design for a railway running gear with independently rotating wheels

IFAC-PapersOnLine 2019年第15期52卷 325-330页

作者： Alexander Keck Christoph Schwarz Thomas Meurer Institute of System Dynamics and Control German Aerospace Center Münchener Str. 20 82234 Oberpfaffenhofen-Wessling Germany Chair of Automatic Control Faculty of Engineering Kiel University Kaiserstraße 2 24143 Kiel Germany

The German Aerospace Center bundles its railway research in the long-term project “Next Generation Train” (NGT). The NGT is a high speed train concept in light-weight design and double-deck configuration. To reduce wheel and rail wear and to enhance the passenger capacity, a mechatronic running gear with independently rotating wheels (IRW) is designed. This configuration requires an advanced control of the lateral dynamics in order to fully exploit the potential in minimizing wear and noise. In terms of a model-based control design, the controller performance highly depends on the estimated lateral position of the running gear relative to the track. In a practical environment it is difficult to directly measure this displacement of the wheel-pair. Therefore this article deals with the question which sensor configuration enables an appropriate estimation of the lateral displacement and is suitable for observer design. Hence, an observability analysis and an observer synthesis to estimate the lateral position for the nonlinear system of the 1:5 scaled hardware running gear is carried out. For validation purposes three estimators are implemented at the real-time environment of the testbed and the estimation errors of the observer configurations are compared.

关键词： Nonlinearity Observability Observers Extended Kalman filters Railways

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Analysis of different crystalliser configurations to perform preferential crystallisation

Analysis of different crystalliser configurations to perform...

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作者： Elsner, M.P. Muslera, E. Alonso Angelov, I. Fernaśndez Menéndez, D. Lorenz, H. Polenske, D. Vollmer, U. Raisch, J. Seidel-Morgenstern, A. Max Planck Institute for Dynamics of Complex Technical Systems Physical and Chemical Foundations of Process Engineering Sandtorstr. 1 39106 Magdeburg Germany Max Planck Institute for Dynamics of Complex Technical Systems Systems and Control Theory Group Sandtorstr. 1 39106 Magdeburg Germany Otto von Guericke University Department of Chemical Engineering Universitätsplatz 2 39106 Magdeburg Germany Otto von Guericke University Department of System Theory of Process Engineering PO Box 4120 39106 Magdeburg Germany

The intention of this paper is the analysis of general concepts for preferential crystallisation with the focus on aspects of quantification. In this preliminary examination, the amino acid threonine was used as a model system. The use of on-line polarimetry in combination with on-line densimetry as well as microscopic investigation enables to obtain some indispensable information about the crystallisation kinetics. Taking these estimated values into consideration a simplified mathematical description as a first approach including a population balance model was established for the simulation of the time changes of liquid phase composition during the preferential crystallisation process. Based on this simplified model different crystalliser configurations were investtigated.

关键词： Crystallization

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Robust decentralized control of large-scale systems via H∞theory and using descriptor system representation

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International Journal of systems Science 2016年第12-13期34卷 705-715页

作者： Labibi, B. Lohmann, B. Sedigh, A. Khaki Maralani, P. Jabedar Control Department Electrical Engineering Faculty K. N. Toosi University of Technology Seyyed Khandan Bridge Shariati Street 16314 Iran Dept. of System Dynamics and Control University of Bremen Otto-Hahn-Allee/NW1 28359 Bremen Germany Electrical and Computer Eng. Dept. Faculty of Engineering University of Tehran North Karegar Street Building No. 2 Tehran Iran

In this paper, a method for design of linear decentralized robust controllers for a class of uncertain large-scale systems in general form is presented. For a given large-scale system, an equivalent descriptor system in input-output decentralized form is defined. Using this representation, closed-loop diagonal dominance sufficient conditions are derived. It is shown that by appropriately minimizing the weighted sensitivity function of each isolated subsystem, these conditions are achieved. Solving the appropriately defined H∞local problem for each isolated uncertain subsystem, the interactions between the subsystems are reduced, and the overall stability and robust performance are achieved in spite of uncertainties. The designs are illustrated by a practical example.

关键词： control system synthesis

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Preliminary results for the multi-robot, multi-partner, multi-mission, planetary exploration analogue campaign on mount etna

Preliminary results for the multi-robot, multi-partner, mult...

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IAF Space Exploration Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Wedler, Armin Möller, Marcus G Schuster, Martin J Durner, Maximilian Brunner, Sebastian G Lehner, Peter Lehner, Hannah Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Störzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F Staudinger, Emanuel Hellerer, Matthias Lichtenheldt, Roy Dietz, Enrico Braun, Christian Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Vilacampa, Alejandro F Bargen, Info V Schröder, Susanne Frohmann, Sven Seel, Fabian Triebel, Rudolph Lii, Neal Y Bischoff, Esther Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Kyr, Peter Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Kimpe, Andreas Rauer, Heike Höbers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Mönchener Str. 20 Webling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Mönchener Str. 20 Weßling82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base MönchenerStr. 20Webl 82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

ISBN: (纸本)9781713842965

This paper was initially intended to report on the outcome of the twice postponed demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has been postponed from 2020, then 2021, to 2022. Nevertheless, the development of our concepts and integration has progressed rapidly, and some of the preliminary results are worthwhile to share with the community to drive the dialog on robotics planetary exploration strategies. This paper includes an overview of the planned 4-week campaign, as well as the vision and relevance of the mission towards the planned official space missions. Furthermore, the cooperative aspect of the robotic teams, the scientific motivation, the sub task achievements are summarised. © 2021 International Astronautical Federation, IAF. All rights reserved.

关键词： Robotics

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Finally! Insights into the ARCHES Lunar Planetary Exploration Analogue Campaign on Etna in summer 2022 73

Finally! Insights into the ARCHES Lunar Planetary Exploratio...

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73rd International Astronautical Congress, IAC 2022

作者： Wedler, Armin Müller, Marcus G. Schuster, Martin J. Durner, Maximilian Lehner, Peter Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Stürzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F. Ehreiser, Anouk Staudinger, Emanuel Pöhlmann, Robert Zhang, Siwei Hellerer, Matthias Lichtenheldt, Roy Franke, Dennis Pignède, Antoine Schindler, Walter Schütt, Manuel Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Schröder, Susanne Frohmann, Sven Seel, Fabian Dietz, Enrico Triebel, Rudolph Lii, Neal Y. Bischoff, Esther Braun, Christian Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P. Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Rauer, Heike Hübers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Münchener Str. 20 Weßling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Münchener Str. 20 Weßling82234 Germany Institute of Communications and Navigation Münchener Str. 20 Weßl82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base Münchener Str. 20 Weßl82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

This paper summarises the first outcomes of the space demonstration mission of the ARCHES project which could have been performed this year from 13 june until 10 july on Italy's Mt. Etna in Sicily. After the second postponement related to COVID from the initially for 2020 planed campaign, we are now very happy to report, that the whole campaign with more than 65 participants for four weeks has been successfully conduced. In this short overview paper, we will refer to all other publication here on IAC22. This paper includes an overview of the performed 4-week campaign and the achieved mission goals and first results but also share our findings on the organisational and planning aspects. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Robotics

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Constructing numerical solutions to a nonlinear heat conduction equation with boundary conditions degenerating at the initial moment of time

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AIP Conference Proceedings 2016年第1期1785卷

作者： L. F. Spevak A. L. Kazakov 1Institute of Engineering Science UB RAS Ekaterinburg Russia 2Institute for System Dynamics and Control Theory SB RAS Irkutsk Russia

This paper deals with one-dimensional boundary value problems for a non-linear heat conduction equation with a power dependence of the heat conductivity coefficient on temperature. New solution algorithms are constructed for the instances of boundary conditions degenerating at the initial time moment. A comparison of the obtained solutions with known exact solutions shows the effectiveness of the proposed algorithms.

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Frequency response function (FRF) based updating of a laser spot welded structure

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AIP Conference Proceedings 2018年第1期1952卷

作者： M. S. Mohd Zin M. N. Abdul Rani M. A. Yunus M. S. M. Sani W. I. I. Wan Iskandar Mirza A. A. Mat Isa 1Structural Dynamics Analysis & Validation (SDAV) Faculty of Mechanical Engineering Universiti Teknologi MARA (UiTM) 40450 Shah Alam Selangor Malaysia 2Dynamics Control System Engineering Faculty of Mechanical Engineering Universiti Teknologi MARA (UiTM) 40450 Shah Alam Selangor Malaysia 3Advanced Structural Integrity and Vibration Research (ASIVR) Faculty of Mechanical Engineering Universiti Malaysia Pahang 26600 Pekan Pahang Malaysia

The objective of this paper is to present frequency response function (FRF) based updating as a method for matching the finite element (FE) model of a laser spot welded structure with a physical test structure. The FE model of the welded structure was developed using CQUAD4 and CWELD element connectors, and NASTRAN was used to calculate the natural frequencies, mode shapes and FRF. Minimization of the discrepancies between the finite element and experimental FRFs was carried out using the exceptional numerical capability of NASTRAN Sol 200. The experimental work was performed under free-free boundary conditions using LMS SCADAS. Avast improvement in the finite element FRF was achieved using the frequency response function (FRF) based updating with two different objective functions proposed.

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Solar Sails for Planetary Defense High-Energy Missions

Solar Sails for Planetary Defense High-Energy Missions

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2019 IEEE Aerospace Conference, AERO 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Borchers, Kai Dumont, Etienne Grimm, Christian D. Ho, Tra-Mi Jahnke, Rico Koch, Aaron D. Lange, Caroline Maiwald, Volker Mess, Jan-Gerd Mikulz, Eugen Quantius, Dominik Reershemius, Siebo Renger, Thomas Sasaki, Kaname Seefeldt, Patric Spietz, Peter Sprowitz, Tom Sznajder, MacIej Tóth, Norbert Ceriotti, Matteo McInnes, Colin Peloni, Alessandro Dachwald, Bernd Lichtenheldt, Roy Wolff, Friederike Boden, Ralf Riemann, Johannes Seboldt, Wolfgang Wejmo, Elisabet Ziach, Christian Cordero, Federico Biele, Jens Krause, Christian Herčik, David Koncz, Alexander Pelivan, Ivanka Schmitz, Nicole Mikschl, Tobias Montenegro, Sergio Ruffer, Michael Tardivel, Simon DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Strasse 7 Bremen28359 Germany University of Glasgow GlasgowG12 8QQ United Kingdom Faculty of Aerospace Engineering FH Aachen Univ. of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany DLR German Aerospace Center Robotics and Mechatronics Center Institute of System Dynamics and Control Münchener Str. 20 Oberpfaffenhofen Weßling82234 Germany DLR Institute of Space Systems Germany Telespazio-VEGA Darmstadt Germany DLR German Aerospace Center Space Operations and Astronaut Training - MUSC Cologne51147 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Braunschweig Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany CNES Future Missions Flight Dynamics 18 avenue E. Belin Toulouse Cedex 931401 France

ISBN: (纸本)9781538668542

20 years after the successful ground deployment test of a (20 m)2 solar sail at DLR Cologne, and in the light of the upcoming U.S. NEAscout mission, we provide an overview of the progress made since in our mission and hardware design studies as well as the hardware built in the course of our solar sail technology development. We outline the most likely and most efficient routes to develop solar sails for useful missions in science and applications, based on our developed 'now-term' and near-term hardware as well as the many practical and managerial lessons learned from the DLR-ESTEC Gossamer Roadmap. Mission types directly applicable to planetary defense include single and Multiple NEA Rendezvous ((M)NR) for precursor, monitoring and follow-up scenarios as well as sail-propelled head-on retrograde kinetic impactors (RKI) for mitigation. Other mission types such as the Displaced L1 (DL1) space weather advance warning and monitoring or Solar Polar Orbiter (SPO) types demonstrate the capability of near-term solar sails to achieve asteroid rendezvous in any kind of orbit, from Earth-coorbital to extremely inclined and even retrograde orbits. Some of these mission types such as SPO, (M)NR and RKI include separable payloads. For one-way access to the asteroid surface, nanolanders like MASCOT are an ideal match for solar sails in micro-spacecraft format, i.e. in launch configurations compatible with ESPA and ASAP secondary payload platforms. Larger landers similar to the JAXA-DLR study of a Jupiter Trojan asteroid lander for the OKEANOS mission can shuttle from the sail to the asteroids visited and enable multiple NEA sample-return missions. The high impact velocities and re-try capability achieved by the RKI mission type on a final orbit identical to the target asteroid's but retrograde to its motion enables small spacecraft size impactors to carry sufficient kinetic energy for deflection. © 2019 IEEE.

关键词： Solar sails

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On the analytic solvability of a special boundary value problem for the nonlinear heat equation

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AIP Conference Proceedings 2017年第1期1915卷

作者： A. L. Kazakov A. A. Lempert P. A. Kuznetsov 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. Ekaterinburg 620049 Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 Lermontova St. 664033 Irkutsk Russia

In the article we develop an approach to the study of nonlinear problems of mathematical physics, proposed in A. F. Sidorov’s school of thought, and apply it to solving boundary value problems with degeneracy for the nonlinear heat (porous medium) equation. The essence of the approach is that the solution of problems is constructed in the form of multiple power series. The convergence of the constructed series is proved by the majorant method. It allows us to propose the existence and uniqueness theorem, which is analogous to the Cauchy-Kovalevskaya theorem for the considered problem. A constructive scheme for finding the coefficients of the series is proposed. A special feature of the study is that the boundary condition is given on a moving closed manifold.

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A numerical solution to the two-dimensional nonlinear degenerate heat conduction equation with a source

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AIP Conference Proceedings 2020年第1期2315卷

作者： A. L. Kazakov L. F. Spevak O. A. Nefedova 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. Ekaterinburg 620049 Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 lermontov St. Irkutsk 664033 Russia

The paper develops an algorithm for solving the two-dimensional nonlinear degenerate parabolic heat conduction equation with a source depending on required function, with a specified law of heat wave front motion. The algorithm based on the boundary element method is implemented in the form of a program. To verify it, we use exact solutions the construction of which is reducible to solving a Cauchy problem for ordinary differential equations with a singularity before the highest derivative. The solutions to the Cauchy problem are constructed in the form of power series with recurrently computed coefficients (with a proof of the statement providing its convergence) and by the boundary element method.

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