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PROGRESS IN INTEGRATED system-ANALYSIS AND DESIGN SOFTWARE FOR CONTROLLED VEHICLES

VEHICLE system dynamics 1994年第SUP1期23卷 274-296页

作者： KORTUM, W SCHIEHLEN, W HOFFMANN, M DLR-Institdte for Robotics and System Dynamics Wessling Germany Institute B for Mechanics University of Stuttgart Germany TEDAS Mechanical Systems Software GmbH Marburg Germany

ISBN: (纸本)9026513801

This paper represents one of the results of the second Herbertov Workshop in 1992 on ''Research Issues in Automotive Integrated Chassis Control systems''. It was decided to bring together engineers who are actively involved in current software developments to report on the progress in integrated system analysis and design software for controlled vehicles. Therefore, after mentioning some of the principal requirements for such software, the state-of-the-art is summarized. Promising recent research and software developments are described and the application of some of these concepts to an actively controlled vehicle with preview is discussed. Throughout the article the ideas of concurrent analysis and design strategies are emphasized.

关键词： Ground vehicles

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Space robotics

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IFAC Proceedings Volumes 1994年第14期27卷 695-714页

作者： G. Hirzinger German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics Oberpfaffenhofen D-82234 Wessling Germany fax: +49 8153 28-1134

The paper tries to outline the state of the art in space robotics. It discusses the technologies used in ROTEX, the first remotely controlled space robot which flew with shuttle COLUMBIA in April 93, but it also gives a review of the major space robot projects envisioned by different nations for the next decade. The mecha-tronics and dynamics aspects of space robots including free-flying systems are briefly discussed. Broader attention is given to the telerobotic and teleoperational control loop structures, including predictive delay-compensating graphics simulation. The paper finally tries to emphasize that by task level programming (involving “learning by showing” on a high level) future space robots will be powerful tools for scientists and ground operators which are not robot specialists. The tele-sensor-programming concept of ROTEX was a first step in this direction. We plead for flying a variety of space robot systems in the near future in order to enhance experience with and confidence in these technologies as quickly as possible.

关键词： Space robotics telerobotics shared autonomy tele-sensor-programming remote control

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Feature-based visual servoing and its application to telerobotics

Feature-based visual servoing and its application to telerob...

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1994 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1994

作者： Hager, Gregory D. Grunwald, Gerhard Hirzinger, Gerd Department of Computer Science Yale Station Yale University P.O. Box 208285 New HavenCT06520-8285 United States DLR German Aerospace Research Establishment Institute of Robotics and System Dynamics Miinchenerstr. 20 OberpfaffenhofenD-82234 Germany

ISBN: (纸本)0780319338

Recent advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space, teleoperation system. © 1994 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Visual servoing

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An ACSL-model translator to the neutral Fortran DSblock-model format

An ACSL-model translator to the neutral Fortran DSblock-mode...

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IEEE International Symposium on Computer Aided Control system Design (CACSD)

作者： G. Grubel M. Otter F. Breitenecker A. Prinz G. Schuster I. Bausch-Gall H. Fischer Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Simulation Engineering Group Institute for Technical Mathematics Vienna Technical University Vienna Austria Bausch-Gall GmbH Karlsruhe Germany

One problem in multidisciplinary simulation is to merge models which originate in different disciplinary environments into a common computer-executable model for computational experimenting. The paper reports on a possible solution thereof. This is based on a public-domain, application-neutral, formally defined Fortran or C format for dynamic input/output systems, called DSblock, to which "higher level" models can be translated. In particular, it is reported on A-CoSiLa, an ACSL model translator to the neutral DSblock format.< >

关键词： Object oriented modeling Computational modeling Computer simulation Runtime Design engineering Robots Electronic mail Mathematical model Physics computing Temperature control

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Structural invariants of generalized state space systems

Structural invariants of generalized state space systems

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American Control Conference (ACC)

作者： P. Misra P. Van Dooren A. Varga Electrical Engineering Wright State University Dayton OH USA Coordinated Science Labs University of Illinois Urbana-Champaign IL USA DLR-Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

In this paper, we present a state space characterization of the transmission zeros of singular linear multivariable systems that is analogous to that of standard systems. We study the structural invariants of a generalized state space model described by the matrix 5-tuple (E, A, B, C, D), where E may be a singular matrix but det(A-/spl lambda/E)/spl ne/0. The characterization of these zeros is based on the system matrix of the corresponding 5-tuple and is an extension of equivalent results for state space models described by the 4-tuples (A, B, C, D).

关键词： State-space methods Polynomials Matrix decomposition MIMO Transfer functions Design methodology H infinity control Control system synthesis

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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IEEE International Symposium on Computer Aided Control system Design (CACSD)

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control Control design Design engineering Robot kinematics

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Dvelopments in the Field of Control Libraries and their Impact on Control Eduction

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IFAC Proceedings Volumes 1994年第9期27卷 269-272页

作者： Ad Van Den Boom Aloys Geurts Georg Grübel Andras Varga Dept. of Electrical Engineering Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands Dept. of Mathematics and Computing Science Eindhoven University of Technology NL-5600 MB Eindhoven The Netherlands DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics and System Dynamics D-82230 Wessling Germany

The state of the art of control libraries is presented. Attention is paid to the joining of efforts to developing a future mature control library based on the two existing libraries in active development RASP and SLIC... 详细信息

关键词： Control libraries computer aided system design numerical control software education educational aids

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ROBUST LOW-ORDER CONTROL DESIGN OF A GENERIC FLEXIBLE TEST STRUCTURE

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IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS 1993年第3期140卷 167-175页

作者： GOH, CH Institute for Robotics and System Dynamics DLR German Aerospace Research Establishment Wessling Germany

The design of robust low-order controllers based on a high-order model of a generic flexible test structure with collocated sensors/actuators is considered. A new synthesis technique which combines the projective and the positive-real control concepts is developed and used for control design. The proposed method alleviates the known difficulty of the projective approach where the residual (nonretained) closed-loop modes can become unstable, and guarantees the strictly positive realness of the controller. Two approaches for selecting the free design parameters of the design technique are provided. Based on the new technique, two global controllers and one decentralised controller are designed with their performance evaluated and compared.

关键词： CONTROL THEORY CLOSED-LOOP CONTROL FLEXIBLE SPACE STRUCTURES PROJECTIVE CONTROL POSITIVE REAL CONTROL

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Towards a New Generation of Multisensory Light-weight Robots with Learning Capabilities

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IFAC Proceedings Volumes 1993年第2期26卷 665-672页

作者： G. Hirzinger A. Baader R. Koeppe M. Schedl German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany

Key items in the development of a new smart robot generation are explained by hand of dlr's recent activities in robotics research. These items are the design of multisensory gripper systems, ultra-light-weight links and joint drive systems with integrated joint torque control, learning and self-improvement of the dynamical behaviour, modelling the environment using sensorfusion, and new sensor-based off-line programming techniques based on teaching by showing in a (stereo)graphics environment. For each of these issues either simulated or real design results are given.

关键词： Light-weight robots multisensory robots neural nets learning robot control tele-sensor-programming

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SIMPACK - AN ANALYSIS AND DESIGN TOOL FOR MECHANICAL systemS

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VEHICLE system dynamics 1993年第SUP1期22卷 122-126页

作者： RULKA, W EICHBERGER, A DLR German Aerospace Research Establishment Institute for Robotics and System Dynamics D-82230 Wessling Germany

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