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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： T. Doersam P. Duerrschmied Department for Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly nonlinear friction problems and plant uncertainties require intensive fine-tuning of a controller. This paper gives insight into the frictional behaviour of geared finger links. The behaviour has been approximated by a friction model. Considering the estimated system parameters two kinds of controllers are developed: a simple PD controller with switchable I-part and a PD-controller with a fuzzy friction compensation working in parallel. The results of both controllers are presented and compared in this paper.

关键词： Friction Control systems Robots High performance computing Uncertainty Fingers Parameter estimation PD control Fuzzy control Fuzzy systems

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An Integrated Method for Planning Smooth Collision-Free Trajectories for Robot Arms

An Integrated Method for Planning Smooth Collision-Free Traj...

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Annual Conference of AI, Simulation, and Planning in High Autonomy Syslems

作者： Jianwei Zhang Institute for Real-Time Computer Systems and Robotics Faculty of Computer Science University of Karlsruhe Germany

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Control Schemes for Passive Teleoperation systems over Wide Area Communication Networks with time Varying Delay

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International Journal of Automation and computing 2014年第1期11卷 100-108页

作者： Shafiqul Islam Xiaoping P.Liu Abdulmotaleb El Saddik Lakmal Seneviratne Jorge Dias School of Information Technology and Engineering University of Ottawa School of Engineering and Applied Sciences Harvard University Robotics and Mechanical Engineering Khalifa University of Science & Technology Department of Systems and Computer Engineering Carleton University Electrical Engineering New York University Division of Engineering Kings College London Robotics and Electrical and Computer Engineering Khalifa University of Science & Technology Institute of Systems and Robotics University of Coimbra

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.

关键词： Teleoperation telerobotics Lyapunov-Krasovskii functional time varying delay passive systems

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Efficient test suite reduction by merging Pairs of suitable test cases

Efficient test suite reduction by merging Pairs of suitable ...

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Lecture Notes in computer science

作者： Cichos, Harald Heinze, Thomas S. Real-time Systems Lab TU Darmstadt Darmstadt Germany Institute of Computer Science Friedrich Schiller University of Jena Jena Germany

ISBN: (纸本)9783642212093

During the development and maintenance of software, the size of a test suite often increases to such an extent that the costs allocated for its execution are exceeded. In this case, the test suite needs to be reduced. A number of approaches address the problem of test suite reduction. Most of them consider the removal or merging of test cases. However, less attention has been paid to the identification of test cases that are suitable for merging. In this paper, we present a novel approach to fill this gap. Using this approach allows for the identification of test case pairs that, when merged, have a high potential for test suite reduction. We show that two test suites reduced by our approach are considerably smaller in size than those, whose merged test cases were selected randomly. Additionally, we examine the effect of composite test goals on the reduction ratio. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Merging

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A parallel control computer structure for complex high speed applications

A parallel control computer structure for complex high speed...

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IEEE International Conference on Engineering of Complex computer systems

作者： B. Magnussen Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this paper we discuss advantages and disadvantages of a new system architecture using many processors of which each one is specialised for one part of the algorithm. A tailorable parallel computer architecture which we developed to cope with the problems of parallelisation of control algorithms is presented. Finally examples from the field of robotics and the performance of the prototype computer is presented.

关键词： Concurrent computing Application software Control systems computer architecture Velocity control Hardware Communication system control Robot sensing systems computer science Timing

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WCET-aware static locking of instruction caches 12

WCET-aware static locking of instruction caches

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10th International Symposium on Code Generation and Optimization, CGO 2012

作者： Plazar, Sascha Kleinsorge, Jan C. Marwedel, Peter Falk, Heiko Department of Computer Science 12 TU Dortmund University D-44221 Dortmund Germany Institute of Embedded Systems/Real-Time Systems Ulm University D-89081 Ulm Germany

ISBN: (纸本)9781605586359

In the past decades, embedded system designers moved from simple, predictable system designs towards complex systems equipped with caches. This step was necessary in order to bridge the increasingly growing gap between processor and memory system performance. Static analysis techniques had to be developed to allow the estimation of the cache behavior and an upper bound of the execution time of a program. This bound is called worst-case execution time (WCET). Its knowledge is crucial to verify whether hard real-time systems satisfy their timing constraints, and the WCET is a key parameter for the design of embedded systems. In this paper, we propose aWCET-aware optimization technique for static I-cache locking which improves a program's performance and predictability. To select the memory blocks to lock into the cache and avoid time consuming repetitive WCET analyses, we developed a new algorithm employing integer-linear programming (ILP). The ILP models the worst-case execution path (WCEP) of a program and takes the inuence of locked cache contents into account. By modeling the effect of locked memory blocks on the runtime of basic blocks, the overall WCET of a program can be minimized. We show that our optimization is able to reduce the estimated WCET (abbr. WCETest) of real-life benchmarks by up to 40.8%. At the same time, our proposed approach is able to outperform a regular cache by up to 23.8% in terms of WCETest. Copyright © 2012 ACM.

关键词： Embedded systems

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Distributed control architecture for intelligent systems

Distributed control architecture for intelligent systems

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： T. Laengle T.C. Lueth U. Rembold H. Woern Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

In contrast to a hierarchical and centralized structure, distributed or decentralized control architectures reveal their main advantages when it is necessary to enhance the system, to integrate components, and to maintain the system. The main disadvantage of not centralized architectures is having to make sure that the system will fulfill an overall or global goal. To investigate these problems, a distributed control architecture for intelligent systems was developed at the University of Karlsruhe. In this paper, the methods for dead-lock-free coordination and cooperation are explained.

关键词： Distributed control Intelligent systems Intelligent control Robot kinematics computer architecture Intelligent robots real time systems computer science Intelligent manufacturing systems Resource management

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A Hybrid Object Representation for Automatic Assembly Planning

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IFAC Proceedings Volumes 1993年第2期26卷 243-246页

作者： G. Werling H. Wild Faculty of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Postfach 6980 7500 Karlsruhe 1 Germany

A new product model that is particularly useful for model-based assembly planning is presented in this paper. The majority of the models used in this domain are simple approximations of the real workpiece and they are often dedicated to special algorithms. The model described here provides a more accurate and more flexible representation of workpieces. An increase in accuracy of the shape description was achieved by enhancing a polyhedral model with an analytical representation. The application of the model is demonstrated within the framework of assembly sequence planning.

关键词： Object representation assembling analytical models polyhedron boundary representation constructive solid geometry

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Automated computer-Aided Layout Planning for Robot Workcells

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IFAC Proceedings Volumes 1992年第7期25卷 473-478页

作者： T.C. Lueth Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Postfach 69 80 W-7500 Karlsruhe 1 Germany

This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a sufficient shop floor layout in a short time, the cartesian configuration space and fast obstacle transformation routines are employed. An optimization algorithm minimizes the length of all collision free paths required for the performance of the workcell task. A final check by a graphical workcell task simulation, whether the layout is valid or not, is no longer required. This new planning approach enhances the conventional layout planning process and reduces the amount of necessary user interaction.

关键词： computer-aided planning workcell design layout planning collision-free path-planning cartesian configuration-space

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Flexible design of complex high-integrity systems using trade offs

Flexible design of complex high-integrity systems using trad...

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Proceedings - Eighth IEEE International Symposium on High Assurance systems Engineering

作者： Bate, Iain Audsley, Neil Real-time Systems Group Department of Computer Science University of York York YO10 5DD United Kingdom

Large-scale complex embedded systems pose unique problems. To reduce overall development times, there is a need to develop the system in a concurrent fashion, involving the development and verification of software at the same time as designing, building and verifying the hardware. This requires a two-phase trade-off analysis approach to the hardware software co-design problem. The first phase is platform independent: it allows system requirements to be met and also supports other important objectives, e.g. scalability, upgradeability. The results of the first phase include deriving requirements and design constraints placed on the platform dependent phase (eg. resource budgets including time). The second, platform dependent phase, chooses the actual software and hardware implementation that satisfies the requirements derived in phase 1. This paper addresses the first part of the problem through trade-off analysis. This establishes the design decisions in a traceable manner whilst capturing the rationale and assumptions made. It then searches the design space for the solution that best meets the system's objectives. The approach has been developed for the needs of critical systems and has already been applied to the logical design of systems.

关键词： Embedded systems

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