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检索条件"机构=Department for Analysis and Control of Advanced Robotic Systems"

共 61 条记录，以下是1-10 订阅

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Adaptive Authority Allocation in Shared control of Robots Using Bayesian Filters

Adaptive Authority Allocation in Shared Control of Robots Us...

引用

2020 IEEE International Conference on robotics and Automation, ICRA 2020

作者： Balachandran, Ribin Mishra, Hrishik Cappelli, Matteo Weber, Bernhard Secchi, Cristian Ott, Christian Albu-Schaeffer, Alin Department for Analysis and Control of Advanced Robotic Systems Germany

ISBN: (纸本)9781728173955

In the present paper, we propose a novel system-driven adaptive shared control framework in which the autonomous system allocates the authority among the human operator and itself. Authority allocation is based on a metric derived from a Bayesian filter, which is being adapted online according to real measurements. In this way, time-varying measurement noise characteristics are incorporated. We present the stability proof for the proposed shared control architecture with adaptive authority allocation, which includes time delay in the communication channel between the operator and the robot. Furthermore, the proposed method is validated through experiments and a user-study evaluation. The obtained results indicate significant improvements in task execution compared with pure teleoperation. © 2020 IEEE.

关键词： Kalman filters

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Tele-healthcare with humanoid robots: A user study on the evaluation of force feedback effects 7

Tele-healthcare with humanoid robots: A user study on the ev...

引用

7th IEEE World Haptics Conference, WHC 2017

作者： Panzirsch, Michael Weber, Bernhard Rubio, Luis Coloma, Sofia Ferre, Manuel Artigas, Jordi Department for Analysis and Control of Advanced Robotic Systems German Aerospace Center Oberpfaffenhofen Germany Universidad Politcnica de Madrid Centre for Automation and Robotics CSIC Madrid Spain

ISBN: (纸本)9781509014255

The progress of robotic technology in the last years paved the way for its application in the healthcare sector. In the light of demographic change and lack of nursing staff, telerobotic systems are a promising solution e.g. for homecare in rural areas or in quarantine stations to prevent dissemination of pathogens. This paper presents a user study investigating human performance when teleoperating a complex humanoid robot with an underactuated haptic interface. Twelve novices had to complete basic movement and contact tasks as well as more typical healthcare tasks like instrument handling and usage (pulse oximetry). Besides the general performance level we explored the effect of different force feedback architectures (with vs. without sensor-based force information) and of workspace scaling (1:1 vs. 1:2). The test subjects showed in the majority of tasks significantly best performance with the 3-Channel architecture and a scaling of 1:2. © 2017 IEEE.

关键词： Anthropomorphic robots

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A 3DoF-sidestick user interface for four wheel independent steering vehicles

A 3DoF-sidestick user interface for four wheel independent s...

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IEEE Symposium on Intelligent Vehicle

作者： Michael Panzirsch Bernhard Weber department for Analysis and Control of Advanced Robotic Systems and Bernhard Weber is with the department for Perception and Cognition German Aerospace Center Oberpfaffenhofen Germany

In the past few years x-by-wire has evolved into the trend-setting technology in the field of transport. It allows for the design of new modular vehicle concepts such as the robotic electric vehicle ROboMObil. Through its four wheel robots, which can be accelerated, decelerated and steered independently, a highly maneuverable design is achieved. A fully actuated three degree of freedom sidestick is proposed in this paper as a haptic interface to the three horizontal degrees of motion of the ROboMObil. The main focus lies on the user access to the rear wheel steering behavior or to the instantaneous center of rotation respectively. Two approaches have been designed and analyzed to improve the robustness against pilot induced oscillations.

关键词： Wheels Vehicles Acceleration Mobile robots Robot kinematics Oscillators

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Adaptive Authority Allocation in Shared control of Robots Using Bayesian Filters

Adaptive Authority Allocation in Shared Control of Robots Us...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ribin Balachandran Hrishik Mishra Matteo Cappelli Bernhard Weber Cristian Secchi Christian Ott Alin Albu-Schaeffer The department for Analysis and Control of Advanced Robotic Systems German Aerospace Center (DLR) Germany University of Modena and Reggio Emilia Modena Italy

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

关键词： Bayes methods Robots Uncertainty Task analysis Measurement uncertainty Resource management Noise measurement

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Performance comparison of Wave Variable Transformation and Time Domain Passivity Approaches for time-delayed teleoperation: Preliminary results

Performance comparison of Wave Variable Transformation and T...

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2016 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Ribin Balachandran Jordi Artigas Usman Mehmood Jee-Hwan Ryu Department for Analysis and Control of Advanced Robotic Systems German Aerospace Center (DLR) Oberpfaffenhofen Germany BioRobotics Laboratory of Korea University of Technology and Education Cheonan Korea

ISBN: (纸本)9781509037636

This paper presents initial results of a set of experiments to compare time-delayed teleoperation performance of selected architectures based on two popular passivity based methods, namely, Wave Variables Transformation (WVT) and Time Domain Passivity Approach (TDPA). Five different architectures widely used and available in literature are selected: 2-channel and 3-channel for both WV and TDPA, and 4-channel based on TDPA. An empirical approach for measuring transparency is proposed, which presents three main qualities: 1) controller independency 2) Frequency dependency of performance and 3) Removal of the human operator out of the loop. In order to achieve this, the human operator is replaced by a linear actuator equipped with a force sensor. Deterministic interactions between the simulated operator and the rest of the system can thus be easily implemented and registered. Therefore, this approach allows to isolate pure effects of any control method and perform a proper analysis in terms of selected attributes for a desired metrics. In this article, these are chosen to be effective impedance and position tracking error, both in the frequency domain. In addition to the quantitative results, a qualitative analysis is presented which underlines practical implications of each architecture and control method. The comparison sample presented contains five different delays, varying from 0 to 200 milliseconds, five different environmental impedances and 5 bilateral control architectures along with an analysis of the results obtained.

关键词： Time-domain analysis Delays Impedance Force Robots Standards Frequency modulation

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Computer vision based wheel sinkage detection for robotic lunar exploration tasks

Computer vision based wheel sinkage detection for robotic lu...

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International Conference on Mechatronics and Automation

作者： Hegde, GuruPrasad Robinson, Christopher J. Ye, Cang Stroupe, Ashley Tunstel, Edward Department of Applied Science University of Arkansas at Little Rock Little Rock AR 72204 United States Department of Systems Engineering University of Arkansas at Little Rock Little Rock AR 72204 United States Advanced Robotic Control Group Mobility and Robotic Systems Section Jet Propulsion Laboratory Pasadena CA 91109 United States Johns Hopkins University Applied Physics Laboratory Laurel MD 20723 United States

ISBN: (纸本)9781424451418

This paper presents a wheel sinkage detection method that may be used in robotic lunar exploration tasks. The method extracts the boundary line between a robot wheel and lunar soil by segmenting the wheel-soil images captured from a video camera that monitors wheel-soil interaction. The detected boundary is projected onto the soil-free image of the robot wheel to determine the depth of wheel sinkage. The segmentation method is based on graph theory. It first clusters a wheel-soil image into homogeneous regions called superpixels and constructs a graph on the superpixels. It then partitions the graph into segments by using normalized cuts. Compared with the existing methods, the proposed algorithm is more robust to illumination condition, shadows and dust (covering the wheel). The method's efficacy has been validated by experiments under various conditions. © 2010 IEEE.

关键词： Graph theory

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Sharing and Collaborating When Teaching Automatic control: An Experience-Based Needs analysis 32

Sharing and Collaborating When Teaching Automatic Control: A...

引用

32nd Mediterranean Conference on control and Automation, MED 2024

作者： Knorn, Steffi Garone, Anja Varagnolo, Damiano Garone, Emanuele Technische Universität Department of Control Berlin Germany Brussels Institute for Advanced Studies Belgium Norwegian University of Science and Technology Department of Engineering Cybernetics Norway University of Padova Department of Information Engineering Italy Free University of Brussels Department of Automation and Systems Analysis Belgium

ISBN: (纸本)9798350395440

We discuss two specific issues that affected the workflows in our career as automatic control teachers and that are related to how teachers may establish teaching-oriented collaborations with colleagues from the same or different institutions. The first issue we identify is the systematic difficulty that one encounters when wanting to exchange instructional material with colleagues, while the second is the complexity of establishing students exchange programs across different institutions and nations. We discuss the nature and structure of the two problems, discuss why and how they are connected, and draw practical examples of how these problems may affect workflows. We then present a strategy that aims at solving these issues based on the introduction of an opportune indexing of instructional material in terms of contents and complexity of such contents, and how this information may be graphically displayed so to ease human and machine interpretability. We further discuss how this approach was used on a smaller scale to ease collaborations among close colleagues, and how it may be extended and adopted on a larger scale. © 2024 IEEE.

关键词： Process control

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Passivity-based stability in explicit force control of robots

Passivity-based stability in explicit force control of robot...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ribin Balachandran Mikael Jorda Jordi Artigas Jee-Hwan Ryu Oussama Khatib Department for Analysis and Control of Advanced Robotic Systems German Aerospace Center (DLR) Germany Robotics Lab Stanford University Stanford USA BioRobotics Laboratory of Korea University of Technology and Education Cheonan Korea

Direct force control of robots is challenging, particularly since the interaction with the environment can render the robot unstable. This paper presents the results of novel approaches for passivity-based stability for a particular direct force control method, namely explicit force control. A step-by-step procedure to passivate and stabilise the control loop is presented and it explains how Time Domain Passivity Approach, a passivity-based tool widely used in teleoperation and haptics has been extended and applied in explicit force control. The electrical circuit and network-port representations derived in the process allows the analytical evaluation of the system and can be applied in other control architectures as well. The stability methods are presented both qualitatively and quantitatively with simulations and hardware experiments. A discussion about the results obtained and the energy behavior is also provided. Results are promising and suggest that these methods can be used for stable and high-bandwidth force control of robotic manipulators.

关键词： Force Force control Robots Iron Stability criteria Ports (Computers)

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Ecological flow analysis of network collapse I: New methodology to investigate network collapse dynamics

Ecological flow analysis of network collapse I: New methodol...

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6th Biennial Meeting of the International Environmental Modelling and Software Society: Managing Resources of a Limited Planet, iEMSs 2012

作者： Fath, Brian D. Rovenskaya, Elena Veschinskaya, Victoria Dieckmann, Ulf Brannström, Ake Biology Department Towson University Towson United States Advanced Systems Analysis Program IIASA Laxenburg Austria Optimal Control Department Faculty of Computational Mathematics and Cybernetics Lomonosov Moscow State University Russia Ecology and Evolution Program IIASA Laxenburg Austria

ISBN: (纸本)9788890357428

This research builds on standard ecological network analysis techniques in order to investigate the impact of removing species (nodes) on the remaining of the network species. The flow network is expressed as a system of dynamical equations such that the removal of one node has time-forward impacts on the remaining nodes. The approach allows one to determine the gain or loss experienced by each other compartment in the model and the time for such impact to occur. The general methodology is demonstrated on the Cone Spring Ecosystem. These results indicate that collapse of certain species exert more control on the overall network organization. We also investigate model sensitivity to determine discount rate robustness and discuss further research.

关键词： Ecosystems

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Ecological flow analysis of network collapse II: Indicators of ecosystem level vulnerability

Ecological flow analysis of network collapse II: Indicators ...

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6th Biennial Meeting of the International Environmental Modelling and Software Society: Managing Resources of a Limited Planet, iEMSs 2012

作者： Rovenskaya, Elena Veschinskaya, Victoria Fath, Brian D. Dieckmann, Ulf Brannström, Ake Advanced Systems Analysis Program IIASA Laxenburg Austria Optimal Control Department Faculty of Computational Mathematics and Cybernetics Lomonosov Moscow State University Russia Biology Department Towson University Towson United States Ecology and Evolution Program IIASA Laxenburg Austria

ISBN: (纸本)9788890357428

Using donor-controlled, bottom-up equations to describe network collapse we systematically investigate the impact each species has on the survival or extinction of other species. Short of extinction, one can determine the integrated losses experienced by the ecosystem. These losses are aggregated into system level indicators, such as entropy, average gain/loss, average time to extinction, etc. The methodology is applied to 18 ecological flow networks available in the literature. We calculate the correlations between various indicators and determine high positive correlation between: number of nodes & maximal trophic level;connectedness & average entropy losses;number of nodes & average number of extinct nodes;and, maximum trophic level & evenness of links. A high negative correlation was found between: number of nodes & connectedness;connectedness & maximal trophic level;maximum tropic level & average entropy loss;and, connectedness & evenness of flows. Lastly, a low correlation was found between: Average number of extinct compartments & evenness of flows;number of nodes & evenness of stocks;and, evenness of flows & evenness of stocks.

关键词： Ecosystems

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