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67th International Astronautical Congress, IAC 2016

作者： Schilling, Klaus J. Department of Computer Science VII: Robotics and Telematics University Würzburgy Am Hubland Wuerzburg97082 Germany

The Rosetta mission for cometary exploration required, like most planetary missions, a significant period of time including many adaptations of the original plan until it arrived at its target and completed the mission objectives 2016. This contribution addresses the evolution of mission objectives, spacecraft design and target comet. The author was already involved from early system definition studies for the "Comet Nucleus Sample Return (CNSR)" in 1989. The mission was first planned as joint mission by ESA/NASA, landing the complete spacecraft on the comet in order to enable drilling and sampling to a depth of 3 m. The acquired comet materials were stored in a return capsule to transfer them to Earth for detailed analyses in laboratories. After withdrawal of NASA from this mission, the nuclear batteries were missing and there followed an ESA-Mission with the payloads Champollion / RoLand to land on the comet, while the core spacecraft Rosetta focussed on remote observations. Later only one lander fitted into the mass budgets and thus the Rosetta/Philae mission materialized. After the Ariane-5 maiden flight failure, the target comet had to be changed from 46P/Wirtanen to 67P/Churyumov-Gerasimenko with significant impact on the approach trajectory. After an interplanetary transfer of 8 years including several flybys at Earth, Venus and Mars Rosetta finally arrived in in 2014 at the comet and inserted in an orbit around the comet. After a period of near range observations in November 2014 the Lander Philae settled on the surface of comet P67 Churyumov-Gerasimenko. In August 2015 the perihel passage offered near range observation of the most active phase of the comet. Finally in September 2016 the Rosetta spacecraft will attempt a controlled impact on the cometary surface. This contribution will emphasize the mission and spacecraft design evolution during this 27 years period. It will in particular address the technology challenges and the solution approaches of the r

关键词： Comets

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Extension of a telemedicine framework for analysis of industrial machinery data

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IFAC-PapersOnLine 2016年第30期49卷 314-319页

作者： Albert, Michael Aschenbrenner, Doris Barth, Paul Fritscher, Michael Schilling, Klaus Zentrum für Telematik e.V. Würzburg Germany Department of Computer Science - Robotics and Telematics University of Würzburg Würzburg Germany

To extend our system for teleoperation and telemaintenance of industrial machinery we combine it with a rule based analysis framework from our telemedicine system. The goal is to provide a remote expert the ability to analyze industrial machinery data for failure diagnosis or optimization of production processes. We describe the changes we made to the rule based system to be able to fulfill given tasks for data analysis. We processed every task with data recorded from a machine during production and show the results and insights from analyzing the data. © 2016

关键词： Machinery Failure analysis Fault detection Knowledge based systems Manipulators Manufacture Telemedicine Wireless telecommunication systems Analysis frameworks Failure Diagnosis Industrial machinery Production process Remote experts Tele maintenance telematics Telemedicine systems

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Networked control systems with application in the industrial tele-robotics 2

Networked control systems with application in the industrial...

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2nd IFAC Conference on Embedded Systems, computer Intelligence and telematics, CESCIT 2015

作者： Kheirkhah, A. Aschenbrenner, D. Fritscher, M. Sittner, F. Schilling, K. Zentrum fuer Telematik Allesgrundweg 12 GerbrunnDE-97218 Germany Department of Computer Science VII: Robotics and Telematics University of Wuerzburg Am Hubland WuerzburgDE-97074 Germany

Networked Control Systems (NCS) are used for remote control of distributed or nonco-located systems where the control loop is closed via a communication link. Remote access to industrial robotic systems is one of the application fields where robustness and reliability of the closed loop plays a significant role. Caused by the communication chain in the control loop, there are challenging constraints that can affect the stability and performance of a closed loop. One can consider a large number of difficulties in this type of control systems, for instance unknown delay and packet drop-out. There are already a large number of methods and approaches to handle issues in the NCS and because of increasing interest of the industry, many are still being developed to improve the features of the closed loops over communication networks. This paper summarizes the existing theory of the networked control systems under communication constraints and presents an H∞ synthesis for a simple plant. Finally the results are illustrated, discussed and validated using real measurements from a robotic system. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Networked control systems

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RRTCAP∗ - RRT∗ controller and planner - Simultaneous motion and planning 2

RRTCAP∗ - RRT∗ controller and planner - Simultaneous motio...

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2nd IFAC Conference on Embedded Systems, computer Intelligence and telematics, CESCIT 2015

作者： Heß, Robin Lindeholz, Tobias Eck, Daniel Schilling, Klaus Department of Computer Science VII: Robotics and Telematics University of Würzburg 91014 Germany Zentrum für Telematik. E.V. Allesrrundweg 12 Gerbrunn91218 Germany

This paper presents a trajectory planning approach, the Rapidly Exploring Random Tree∗ Controller and Planner (RRTCAP∗), combining the planning phase of a RRT∗-based algorithm with the execution phase on a real robot. Despite the necessary adaption of RRT∗- planner, using Reed-Sheeps curves as local planning method, a trajectory controller is shown which is necessary for compensating deviations introduced by mechanical tolerances and simplified models. The algorithm is implemented on the existing mobile robot OutdoorMERLIN and evaluated in different scenarios using simulations, as well as hardware experiments. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All righte reserved.

关键词： Controllers

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Networked Control Systems with Application in the Industrial Tele-robotics

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IFAC-PapersOnLine 2015年第10期48卷 147-152页

作者： A. Kheirkhah D. Aschenbrenner M. Fritscher F. Sittner K. Schilling Zentrumfuer Telematik Allesgrundweg 12 DE-97218 Gerbrunn Department of Computer Science VII: Robotics and Telematics University of Wuerzburg Am Hubland DE-97074 Wuerzburg

Networked Control Systems (NCS) are used for remote control of distributed or non- co-located systems where the control loop is closed via a communication link. Remote access to industrial robotic systems is one of the application fields where robustness and reliability of the closed loop plays a significant role. Caused by the communication chain in the control loop, there are challenging constraints that can affect the stability and performance of a closed loop. One can consider a large number of difficulties in this type of control systems, for instance unknown delay and packet drop-out. There are already a large number of methods and approaches to handle issues in the NCS and because of increasing interest of the industry, many are still being developed to improve the features of the closed loops over communication networks. This paper summarizes the existing theory of the networked control systems under communication constraints and presents an H∞ synthesis for a simple plant. Finally the results are illustrated, discussed and validated using real measurements from a robotic system.

关键词： Network Control computer-based control systems Training and adaptation algorithms Constructive algorithms Tele-robotics

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RRTCAP∗ - RRT∗ Controller and Planner - Simultaneous Motion and Planning

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IFAC-PapersOnLine 2015年第10期48卷 52-57页

作者： Robin Heβ Tobias Lindeholz Daniel Eck Klaus Schilling Department of Computer Science VII: Robotics and Telematics University of Wurzburg 97074 Germany Zentrumfilr Telematik e.V. Allesgrundweg 12 97218 Gerbrunn Germany

This paper presents a trajectory planning approach, the Rapidly Exploring Random Tree∗ Controller and Planner (RRTCAP∗), combining the planning phase of a RRT∗-based algorithm with the execution phase on a real robot. Despite the necessary adaption of RRT∗ - planner, using Reed-Sheeps curves as local planning method, a trajectory controller is shown which is necessary for compensating deviations introduced by mechanical tolerances and simplified models. The algorithm is implemented on the existing mobile robot Outdoor MERLIN and evaluated in different scenarios using simulations, as well as hardware experiments.

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Telemedical Applications with Rulebased Descision- and Information-Systems (TARDIS)

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IFAC-PapersOnLine 2015年第10期48卷 7-11页

作者： Michael Albert Matthias Gors Klaus Schilling Zentrumfiir Telematik e.V. Allesgrundweg 12 97218 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Wurzburg Wilrzburg Germany

Industrialized countries have a growing need for telemedical structures for dealing with the growing numbers of patients caused by the development of the demographic structures. The progress of performant mobile devices and affordable medical sensors offer the possibility for building up a telemedical system using commercial “off-the-shelf” devices by using personal area communication technologies. In order to achieve a very generic and flexible system, a rule-based framework was developed. It is used to model individual behaviors of the system, depending on the patients disease, treatment and the used devices. It allows to add autonomous functions to the patients mobile device and allows data preprocessing and feedback to the user even without an active data communication to the medical center. In the Tele-Service-Center the framework can be used to filter and analyze data or adapt the treatment of each individual patient. The proposed system was implemented and tested in real life with patients suffering from chronic obstructive pulmonary disease with a very good feedback.

关键词： telematics Telemedicine Rule-based systems Decision support systems

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The line Coating Robot - an automated mobile System for high Precision Powder Coating

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IFAC-PapersOnLine 2015年第10期48卷 58-62页

作者： Michael Albert Daniel Eck Klaus Schilling Zentrumfür Telematik e.V. Allesgrundweg 12 97218 Gerbrunn Germany Department of Computer Science - Robotics and Telematics University of Würzburg Wilrzburg Germany

We developed a line coating robot, which will be used to apply markings on different surfaces like roads, factory floors or the ground of swimming pools. We implemented a navigation controller for the robot that uses a laser sensor to move the robot precisely along a path that is marked with laser light. We build up a laser sensor ourselves to minimize costs and gain higher flexibility and compared this sensor to a commercial laser sensor in respect to robustness, resolution and performance.

关键词： robot navigation line following powder coating

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Pico-satellite orbit and attitude control by electric propulsion

Pico-satellite orbit and attitude control by electric propul...

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19th IFAC Symposium on Automatic Control in Aerospace, ACA 2013

作者： Kronhaus, Igal Schilling, Klaus Department of Computer Science VII: Robotics and Telematics Wuerzburg University 97074 Wuerzburg Germany

ISBN: (纸本)9783902823465

The possibility of maintaining a group of pico-satellites in a bounded formation, using very low power electric propulsion, is presented. A model predictive controller is used to develop a simple control scheme that avoids the need for on-line orbit determination. The control law, verified using a high fidelity propagator, is capable of maintaining a group of pico-satellites within a 1500 km region at an average ΔV of 2.5 m/s per month. In order to reduce the power requirements of the attitude and propulsion systems, a combined control is utilized. Attitude accuracy is shown to be better than 0.5 deg. The combined attitudeorbit control and the simplicity of the control law provide important advantage for implementation in a pico-satellite with extremely limited resources. © IFAC.

关键词： Attitude control

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Trajectory planning for car-like robots using rapidly exploring random trees

Trajectory planning for car-like robots using rapidly explor...

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3rd IFAC Symposium on telematics Applications, TA 2013

作者： Hess, Robin Kempf, Florian Schilling, Klaus Department of Computer Science VII Robotics and Telematics University of Wuerzurg Am Hubland D-97074 Wuerzburg Germany

ISBN: (纸本)9783902823564

This work presents the RRT-planning algorithm adapted to a mobile car-like robot. Based on an short overview of the RRT-approach, all necessary components, adapted to target vehicle, are shown. A possible state space model, including a valid metric, is presented, as well as a control input selection approach. In order to avoid undesired circular motion, we introduced a circle limitation for the control input selection algorithm. Several simulation results are presented for different environments. We show the limitation and propose a solution implementing this algorithm on real hardware. Finally a conclusion is drawn, summarizing the results and giving an outlook to future work. © IFAC.

关键词： State space methods

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