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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 inst.tutions 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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Robust control design for automatic steering based on feedback of front and tail lateral displacement 4

Robust control design for automatic steering based on feedba...

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4th European Control Conference, ECC 1997

作者： Guldner, Jürgen Sienel, Wolfgang Ackermann, Jürgen Patwardhan, Satyajit Tan, Han-Shue Bünte, Tilman California Path/UC Berkeley Richmond Field Station Bldg. 452 CA94804-4698 United States Inst. of System Dynamics and Robotics DLR Postfach 1116 WeßlingD-82330 Germany

ISBN: (纸本)9783952426906

This paper describes a robust control design for automatic steering of passenger cars. Previous studies [1.2] showed that reliable automatic driving at highway speed may not be achieved under practical conditions with look-down reference systems which use only one sensor at the front bumper to measure the lateral displacement of the vehicle from the lane reference. An additional lateral displacement sensor is added here at the tail bumper to overcome this problem. The control design is performed stepwise: First, an initial controller is determined using the parameter space approach in an invariance plane. This controller is then refined to accomodate practical constraints. The performance and robustness of the final controller was verified experimentally at California Path.

关键词： Robust control

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Second derivative dependent placement of RBF centers

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Neurocomputing 1995年第3期7卷 311-317页

作者： Sanchez, A.V.D. German Aerospace Res. Establishment DLR Oberpfaffenhofen Inst. Robotics/System Dynamics D-82230 Wessling Germany

To improve the approximation capabilities of RBF networks, centers of adequate widths should be placed more densely on regions of higher than on regions of lower absolute second derivative of the function to be approximated. This new concept is called second derivative dependent center placement. Using a test function especially designed to study this relationship, several RBF networks are designed and compared.

关键词： Neural networks

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Sliding Mode Control for Active Steering of Cars

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IFAC Proceedings Volumes 1995年第1期28卷 61-66页

作者： Jürgen Guldner Vadim I. Utkin Jürgen Ackermann Tilman Bünte DLR Inst. for Robotics and System Dynamics Postfach 1116 D-82230 Wessling Germany The Ohio State Univ. Dept. of Electrical Eng. Columbus OH 43210-1275 USA

This paper presents a sliding mode control strategy for cars with an active steering system. The goal of control is to achieve a fixed dynamic relationship between the driver’s steering command and the vehicle’s yaw rate in spite of a wide range of car and road parameters and varying operating conditions. The steady behavior should still be similar to conventional cars. Control design is based on a linear single track model and exploits the invariance property of sliding mode control. Implementational issues of the design process are discussed in detail in the form of robust continuous nonlinear controller to avoid chattering.

关键词： Active steering control steering command-to-yaw rate transfer function sliding mode control nonlinear robust control

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On the navigation of mobile robots in narrow passages: A general framework based on sliding mode theory

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IFAC Proceedings Volumes 1994年第14期27卷 79-84页

作者： Jürgen Guldner Vadim I. Utkin Rudolf Bauer DLR Inst. for Robotics and System Dynamics Postfach 1116 D-82280 Wessling Germany Siemens AG ZFE ST SN 45 Otto-Hahn-Ring 6 D-81789 München Germany

This paper establishes a general framework for the passing of mobile robots through narrow passages. Under such circumstances, the artificial potential method often leads to oscillatory motion (Koren et al. 1991) or even lock-up situations (Khosla et al. 1988, Noborio et al. 1990). Sliding mode theory is utilized to examine the gradient of an artificial potential in the vicinity of the equi-distance line between the passage constraints. State-dependent and time-dependent smoothing methods are introduced to enable safe passing. The methodology is illustrated in experiments with the Siemens mobile platform ROAMER.

关键词： Mobile robots artificial potential oscillatory motion sliding mode control

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