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51st European Microwave Conference, EuMC 2021

作者： Gardill, Markus Tandon, Tushar Brandenburgische Technische Universität Cottbus-Senftenberg Department of Electronic Systems and Sensors Germany Computer Science VII - Robotics and Telematics Germany

ISBN: (纸本)9782874870637

We present an approach to experimental radar systems education based on a combination of commercial low-cost hardware with modern open-source software technologies. Following a discussion of the general top-level architecture of flexible, software-defined radar systems, we introduce the specific selection of subsystems, their capabilities, and current system limitations. Compared to existing approaches to practical radar education, a more top-level modular design with a greater focus on performance and flexibility of baseband processing is selected while reducing the complexity of circuit and subsystem assembly and total system cost. We present example measurements obtained from the radar kit. The radar kit allows for bringing a radar lab to the students instead of students into the labs. It enables practical hands-on radar education also in distance-only-learning scenarios. © 2022 European Microwave Association.

关键词： Open source software

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Communication System Architecture and Firmware Design for Nano Satellites

Communication System Architecture and Firmware Design for Na...

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IAF Space Communications and Navigation Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Tandon, Tushar Mayank Schumacher, Johannes Kaur, Ravneet Sundaramoorthy, Guhan Sahoo, Udit Kumar Gardill, Markus Department of Computer Science VII Robotics and Telematics Julius-Maximilians Universität Würzburg Am Hubland WürzburgD-97074 Germany Department of engineering Celestial Space Technologies GmbH Zollhof 7 Nuremberg90443 Germany Celestial Space Technologies GmbH Zollhof 7 Nuremberg90443 Germany

ISBN: (纸本)9781713843023

In earlier days, very few countries were a part of the space race and only a couple of space agencies worked towards space exploration. But today, with the privatization of the space industry many new public-private players have emerged and collaborate to develop various missions for deep space exploration activities. The new space industry is a cooperative effort by private companies, startups, public and private research institutes, and governmental reforms to enable these collaborations for realizing the global vision of space exploration. The upcoming space exploration missions are focused to establish a permanent human presence on Moon and Mars. Many studies have been conducted to analyze the different challenges and risks for such courageous missions. One of the main challenges is to stay connected all the time with the least possible delay. This paper will explain the firmware architecture design developed for a student project demonstration for the IGLUNA 2020 campaign in the context of lunar infrastructure development. The paper documents the mission scenario and the firmware that was developed using open-source software and related libraries. The designed firmware can be used for CubeSat missions that provide an opportunity for students and educational institutions to effortlessly develop a working system for technology demonstration in space. The paper will also explain the different software blocks used for the development which can be further utilized for creating complex and more robust communication software for nanosatellites missions. Copyright © 2021 by Tushar Tandon. Published by IAF

关键词： Nanosatellites

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MOBILE MAPPING of the la CORONA LAVATUBE on LANZAROTE 4

MOBILE MAPPING of the la CORONA LAVATUBE on LANZAROTE

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4th ISPRS Geospatial Week 2019

作者： Lauterbach, H.A. Borrmann, D. Nüchter, A. Rossi, A.P. Unnithan, V. Torrese, P. Pozzobon, R. Computer Science VII - Robotics and Telematics Julius-Maximilians-Universität Würzburg Germany Physics and Earth Sciences Jacobs University Bremen Germany Dipartimento di Scienze della Terra e dell'Ambiente Università di Pavia Italy Department of Geosciences Università degli Studi di Padova Italy

Planetary surfaces consist of rough terrain and cave-like environments. Future planetary exploration demands for accurate mapping. However, recent backpack mobile mapping systems are mostly tested in structured, indoor environments. This paper evaluates the use of a backpack mobile mapping system in a cave-like environment. The experiments demonstrate the abilities of an continuous-time optimization approach by mapping part of a lavatube of the La Corona volcano system on Lanzarote. We compare two strategies for trajectory estimation relying either on 2D or 3D laser scanners and show that a 3D laser scanner substantially improved the final results. © Authors 2019.

关键词： Mapping

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Space master: An international, interdisciplinary master in space science and technology 68

Space master: An international, interdisciplinary master in ...

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68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017

作者： Schilling, Klaus Barabash, Victoria Julius-Maximilians Universität Würzburg Informatik VII: Robotics and Telematics WürzburgD-97074 Germany Luleå University of Technology Department of Computer Science Electrical and Space Engineering Division of Space Technology Box 848 KirunaS-981 28 Sweden

ISBN: (纸本)9781510855373

The significant demand for aerospace engineers led 2005 to the foundation of the interdisciplinary program "SpaceMaster" by six European Universities. It was established in the European elite-program "Erasmus Mundus" to train talented young people in the challenging subject of space science and technology. The universities cooperate and contribute their special expertise to the courses in order to cover the broad interdisciplinary area of spacecraft design and space environment. In particular system design techniques are emphasized, which are of interest for a broad spectrum of industrial applications well beyond aerospace. The international dimension of this space education is reflected in the distribution of places for education: 1st semester in Würzburg (Germany), 2nd semester in Kiruna (Sweden), second year according to the desired specialization in one of the six partner European Universities. The successful students will receive double diploma from the two European Universities, where most credits were received. The student population is also very international: typically from about 600 applications 50 students are selected, half of them from Europe, the other half from outside Europe. The students are able to follow the more scientific tracks on space physics with an emphasis on instrumentation and astronomy, or atmospheric and planetary physics. The engineering tracks emphasize the design of spacecraft and mission realization. Here specifically the design of CanSats and educational CubeSats is used to complement the lectures by practical implementation aspects. For more than 10 years, the SpaceMaster-alumni encounter excellent career perspectives in industry, space agencies and research institutes. In this contribution the international university cooperation, the contents of the curriculum, as well as the specific challenges and acquired experiences in this international program are addressed. © 2018 International Astronautical Federation IAF. All rights re

关键词： Students

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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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Industry 4.0 approaches for production of large quantities of satellites 67

Industry 4.0 approaches for production of large quantities o...

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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 planned mega-constellations in the communication (internet for everybody via satellite) and the Earth observation (high temporal resolution images by small satellites) sector will impact production methods significantly. The traditional way of satellite implementation is classical manufacturing based on significant manpower and not including significant automation nor robotic systems. For the currently envisaged mega-constellations hundreds of satellites are to be produced in a very limited timeframe, this will not be feasible by the traditional approach. Therefore this contribution analyses transfer of advanced networked automation approaches developed as "industry 4.0" for advanced production of consumer goods and for automotive industry. Specific joint requirements with satellite production include - high flexibility to variations of standard product - fast integration of modular components - respecting high quality requirements This contribution reports about the concept and first experiences with a technology demonstrator realized in Wuerzburg, addressing the following realized key design steps for efficient satellite realization: • modular satellite bus architecture to support flexible integration in production. Here a standardized baseplate (similar like in computers) carries all power and data line;the different subsystems are plugged in, allowing high flexibility in replacement, • satellite system integration is realized by close worker / robot cooperation, introducing a much higher automation level, • to take account of extremly high quality assurance requirements, transport robots provide a flexible flow of materials between integration and testing areas, • automated tests for functionality and performance of the satellite are established. Thus the similarities to automotive and computer production will be exploited for potential future satellite mass production. In this contribution details of the industry 4.0 demonstrator in Wuerzburg will be presen

关键词： Satellites

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Rosetta: 27 years of mission evolution from first feasibility concepts to final impact on the comet 67

Rosetta: 27 years of mission evolution from first feasibilit...

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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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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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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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