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Networked Control Systems with Application in the Industrial Tele-robotics

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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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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PICO-SATELLITE ORBIT AND ATTITUDE CONTROL BY ELECTRIC PROPULSION

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IFAC Proceedings Volumes 2013年第19期46卷 277-282页

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

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 attitude-orbit control and the simplicity of the control law provide important advantage for implementation in a pico-satellite with extremely limited resources.

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Remote biological and robotic sensor networks for environmental monitoring

Remote biological and robotic sensor networks for environmen...

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3rd IFAC Symposium on telematics Applications, TA 2013

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

ISBN: (纸本)9783902823564

Environment monitoring of large areas requires for many in-situ pollutant measurements. An efficient approach which integrates biological and robotic systems is presented in this contribution. In this approach bees provide an early detection capacity which is complemented by mobile robots to verify pollution indications by obtaining more detailed in-situ measurements. This contribution reports on the system architecture and the challenging technical components related to detecting the sampling location of the bees by observing their dancing behavior, the autonomous transfer of the rovers to these target positions for detailed measurements, the integration of the obtained data from the different sources into an overall characterization of the area's pollution status and an autonomous flexible alerting system. © IFAC.

关键词： Sensor networks

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Improving patient comfort using model predictive control in robot-assisted radiotherapy

Improving patient comfort using model predictive control in ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Christian Herrmann Klaus Schilling Department of Computer Science VII Robotics and Telematics University of Würzburg Wurzburg Germany

ISBN: (纸本)9781467356404

Moving tumors, especially in the vicinity of lungs, pose a challenging problem in radiotherapy as healthy tissue should not be irradiated. We developed a system to compensate tumor motion with the robotic treatment couch HexaPOD to improve treatment quality. The HexaPOD, carrying the patient, counteracts the tumor motion so that it is eliminated in the beams-eye-view of the linear accelerator. The focus of this work is on two control methods for the HexaPOD in order to realize reference tracking. The first method is a simple position control scheme to enable reference tracking. It is reformulated as second method to be adopted by a model predictive controller to better account for patient comfort and to maintain tracking accuracy. The performance of both methods is compared in experiments with real hardware using prerecorded patient trajectories and human volunteers whose breathing motion was compensated.

关键词： Robots

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Readiness in Formation Control of Multi-Robot System

Readiness in Formation Control of Multi-Robot System

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American Control Conference

作者： Zhihao Xu Hiroaki Kawashima Klaus Schilling Department of Computer Science VII: Robotics and Telematics University of Wurzburg Germany Graduate School of Informatics Kyoto University Japan

ISBN: (纸本)9781479901777

To analyze the performance of the formation system in response to inputs/disturbances from outside of the formation, we propose the notion of readiness, which describes the initial conditions of the formation in terms of a certain set of input space. A higher readiness means better initial conditions of the system with better performance in maintaining or recovering the original formation shape against the exogenous inputs/disturbances. Optimization method based on calculus of variations is used in the analysis for deriving the optimality conditions. Simulations modeled on both unicycle and car-like robots demonstrate the features and the potential applications of the proposed notion.

关键词： Multi-Robot System optimality conditions proposed notion

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Balanced Deployment of Multiple Robots Using a Modified Kuramoto Model

Balanced Deployment of Multiple Robots Using a Modified Kura...

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American Control Conference

作者： Zhihao Xu Magnus Egerstedt Greg Droge Klaus Schilling Department of Computer Science VII: Robotics and Telematics University of Wurzburg Germany School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

ISBN: (纸本)9781479901777

In this paper, we study the problem of making multiple agents spread out equidistantly on a circle. The proposed solution is a new Kuramoto-like model for multirobot coordination, in which the standard sine-terms have been replaced by cosines. This new interaction model enables the balanced deployment of agents on a circle, while only taking into account the local information of each agent's two neighbors on a cycle graph. This means that individual agents do not need to know the (relative) states of all agents nor how many other agents are indeed present in the network. We illustrate the operation of the proposed protocol in simulation as well as extend it to a nonlinear scenario by optimizing over the coupling weights.

关键词： Cooperating robots Agents Circles deployment ASSAY SCALE local information.

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