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69th International Astronautical Congress: #InvolvingEveryone, IAC 2018

作者： Wedler, Armin Wilde, Martina Reill, Josef Schuster, Martin J. Vayugundla, Mallikarjuna Brunner, Sebastian G. Bussmann, Kristin DÃ¶mel, Andreas Drauschke, Martin Gmeiner, Heinrich Lehner, Hannah Lehner, Peter MÃ¼ller, Marcus G. StÃ¼rzl, Wolfgang Triebel, Rudolph Vodermayer, Bernhard BÃ¶rner, Anko Krenn, Rainer Dammann, Armin Fiebig, Uwe-Carsten Staudinger, Emanuel WenzhÃ¶fer, Frank FlÃ¶gel, Sascha Sommer, Stefan Asfour, Tamim Flad, Michael Hohmann, SÃ¶ren Brandauer, Martin Albu-SchÃ¤ffer, Alin Olimpiu Institute of Robotics and Mechatronics MÃ¼nchener Str. 20 WeÃŸling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control MÃ¼nchener Str. 20 WeÃŸling82234 Germany Institute of Communications and Navigation MÃ¼nchener Str. 20 WeÃŸl82234 Germany Centre for Polar and Marine Research Am Handelshafen 12 Bremerhafen27570 Germany GEOMAR Helmholtz Centre for Ocean Research Wischhofstr. 1-3 Kiel24148 Germany Institute for Anthr. and Robotics Am Fasanengarten 5 Karlsruhe76131 Germany Institute for Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Inst. of Techn. and Manag. in Construction Am Fasanengarten Karlsruhe76131 Germany

Mobile robotics will play a key role in future space, ocean and deep sea exploration activities. Besides the actual development of the robotic systems, the different ways of commanding those systems, using technologies varying from teleoperation with the human in the loop, through shared autonomy towards highly autonomous systems, will be the main challenges of these missions. This paper describes the robotic activities of the DLR institutions within the Helmholtz projects ROBEX and ARCHES, dealing with robots for autonomous space and ocean exploration applications. Furthermore, it describes the challenges, the overlap and the synergies of those domains, the different approaches of operating robots from far distances in extreme environments and gives an outlook on future mission possibilities. Copyright © 2018 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Remote control

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Flexible robot-assembly using a multi-sensory approach

Flexible robot-assembly using a multi-sensory approach

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ICRA 2000: IEEE International Conference on robotics and Automation

作者： Joerg, Stefan Langwald, Joerg Natale, Ciro Stelter, Johannes Hirzinger, Gerd Inst of Robotics and System Dynamics Wessling Germany

Recent research in industrial robotics aims at the involvement of additional sensoric devices to improve robustness, flexibility and performance of common robot applications. Many different sensors have been developed over the past years to fit the requirements of different but very specific tasks. Special seam tracking sensors support the robot in welding applications. Vision systems are common in quality control and inspection. Force/torque sensors mounted to a robot's wrist are still an exception and limited to the fields of scientific research. Compared to the number of annual robot sales the number of sensor equipped robots is still negligible, although the benefits of sensoric feedback are obvious. In this paper we introduce a general approach to tackle the problem of sensor-based robot assembly. We realized a flexible assembly cell that includes a variety of different sensors for mating with moving parts.

关键词： Robotic assembly

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Building hybrid automata of complex physical systems for real-time applications

Building hybrid automata of complex physical systems for rea...

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The 38th IEEE Conference on Decision and Control (CDC)

作者： Mosterman, Pieter J. Biswas, Gautam Inst of Robotics and System Dynamics

Dynamic behavior of complex physical systems is often nonlinear and includes multiple temporal scales. Singular perturbation methods decouple the fast and slow behavior and by assuming that the fast behavior is at a quasi steady state, the slow behavior of the system can be analyzed. The decoupling reduces the complex system of ordinary differential equations (ODEs) to simpler ODEs that allow fixed time step integration methods, and, therefore, are suitable for real-time applications. This model reduction may cause discontinuous jumps in the initial values of model variables. This paper applies and extends singular perturbation methods to compute discontinuous state changes for piecewise continuous, hybrid, models when the model configuration changes. Computing the explicit state change allows the use of hybrid automata as modeling framework when augmented with execution semantics for state vector updates around discontinuities.

关键词： Nonlinear control systems

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Sensorimotor compliant motion from geometric perception

Sensorimotor compliant motion from geometric perception

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1999 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'

作者： Koeppe, Ralf Hirzinger, Gerd Inst of Robotics and System Dynamics Wessling Germany

Most of the approaches proposed in the field of sensor based assembly use force and velocity, i.e., sensor signals representing dynamics, as a base on which a desired compliant motion strategy is specified. In contrast, especially while performing alignment and insertion tasks the problem of sensing the assembly state of two objects w.r.t. each other is of geometric nature. Using a generic sensorimotor skill model for compliant motion tasks we discuss the difference between dynamic and geometric perception. We propose approaches of kinesthetic and visual sensing and show the robustness of compliant motion skill maps obtained from sensor signals representing the task geometry rather than the task dynamics.

关键词： Motion control

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Mechatronics in ground transportation - current trends and future possibilities

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Annual Reviews in Control 1998年 22卷 133-144页

作者： Kortuem, W. Goodall, R.M. Hedrick, J.K. Inst for Robotics and System Dynamics Wessling Germany

The paper provides a review of the current and future impact of mechatronic technologies upon ground transportation systems. The basic idea of mechatronics is explained first, followed by an appraisal of social and environmental factors which dictate the fundamental requirements for ground transport. The way in which mechatronics has already affected the design of road and rail systems is described, and various indications are given regarding future mechatronic developments. Some concluding remarks bring together the various ideas in order to predict the long term possibilities from a full exploitation of mechatronics.

关键词： Mechatronics

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Intensity and feature based stereo matching by disparity parameterization

Intensity and feature based stereo matching by disparity par...

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Proceedings of the 1998 IEEE 6th International Conference on Computer Vision

作者： Wei, Guo-Qing Hirzinger, Gerd Inst of Robotics and System Dynamics Oberpfaffenhofen Germany

In this paper, we propose a new solution to the stereo correspondence problem by including features in intensity based matching. The features we use are intensity gradients in both the x and y directions of the left and the deformed right images. Although a uniform smoothness constraint is still used, it is nevertheless applied only to non-feature regions. To avoid local minima in function minimization, we propose to parameterize the disparity function by hierarchical Gaussians. A simple stochastic gradient method is used to estimate the Gaussian weights. Experiments with various real stereo images show robust performances.

关键词： Stereo vision

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Ontology for transitions in physical dynamic systems

Ontology for transitions in physical dynamic systems

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Proceedings of the 1998 15th National Conference on Artificial Intelligence, AAAI

作者： Mosterman, Pieter J. Zhao, Feng Biswas, Gautam Inst of Robotics and System Dynamics Wessling Germany

Physical systems often exhibit complex nonlinear behaviors in continuous time at multiple temporal and spatial scales. Abstractions simplify behavioral analysis and help focus on dominant system behaviors by defining sets of equivalent behavior types called modes. system behavior evolves in continuous modes with discrete transitions between modes. Subtle interactions between the continuous behaviors and discrete transitions need to be captured by well-defined hybrid modeling and analysis semantics. This paper presents a taxonomy of transition modes, and develops a formal semantics for transition conditions that lead to efficient and physically consistent simulation algorithms for physical systems.

关键词： Artificial intelligence

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Distance function and its gradient for manipulator on-line obstacle detection and avoidance

Distance function and its gradient for manipulator on-line o...

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Proceedings of the 1997 8th International Conference on Advanced robotics, ICAR'97

作者： Schlemmer, M. Gruebel, G. Inst for Robotics and System Dynamics Wessling Germany

A novel concept of a smooth distance function for on-line collision detection and avoidance is presented. The concept is well suited for real-time obstacle avoidance path planning. Computation efficiency is achieved by three properties: The `collision' surfaces of obstacles need to be approximated by local grid point sets only. A manipulator is approximated by a finite set of ellipsoids (or balls). Because of the smoothness of the distance function its gradient exists and can be calculated efficiently. The concept exploits the recursive forward kinematic structure and is not based on a configuration space representation. Hence it is also applicable for kinematically redundant (multi-) manipulator systems.

关键词： Motion planning

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