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Towards a generic control system for actuated car doors with arbitrary degrees of freedom

Towards a generic control system for actuated car doors with...

引用

IEEE Symposium on Intelligent Vehicle

作者： Michael Strolz Quirin Muhlbauer Christian Scharfenberger Georg Farber Martin Buss Department of Electrical Engineering and Information Technology Institute of Automatic Control Engineering Technische Universität München Munich Germany Institute of Real-Time Computer Systems Department of Electrical Engineering and Information Technology Technische Universität München Munich Germany

Actuated car doors with more than one degree of freedom are a desirable means to boost the convenience of the access to cars. This paper outlines the problems connected with providing an intuitive, comfortable and safe operation of such doors. An advanced control system is proposed that overcomes these problems. First, a vision system for the monitoring of the workspace of the door is described. The data gathered is utilized by a collision avoidance method, which enables a safe operation of the car door. Second, a method for the support of the manual handling of the door is provided, which is based on predefined convenient paths for the specific kinematics of the door. Finally, the proposed control system is applied to a virtual car door, with successful results.

关键词： Vehicles

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Vehicle rear detection in images with Generalized Radial-Basis-Function classifiers

Vehicle rear detection in images with Generalized Radial-Bas...

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IEEE Symposium on Intelligent Vehicle

作者： Peter Bergmiller Michael Botsch Johannes Speth Ulrich Hofmann Technische Universität München Institute of Vehicle Technology Garching Germany Technische Universität München Institute for Circuit Theory and Signal Processing Munich Germany Technische Universität München Institute for Real-Time Computer Systems Munich Germany AUDI AG Ingolstadt Germany

A classification system for vehicle rear detection in images is presented. The classification system consists of an expert system for preselecting relevant regions in an image and a subsequent machine learning classifier. Both utilize specifically designed features for the application. The latter classifier is implemented by a generalized radial basis function (GRBF) algorithm to assure the interpretability of the detection system. The GRBF is constructed based on the kernel of an ensemble method classifier, the random forest (RF) algorithm in order to achieve a low generalization error. The high accuracy of the proposed technique for vehicle rear detection is validated using data from real traffic situations.

关键词： Vehicles

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and systems, Pages 3661-4172

作者： Salvador Dominguez Eduardo Zalama Jaime G. Garcia-Bermejo Jaime Pulido Robotics Computer Vision and Real Time Division CARTIF Foundation Boecillo Valladolid Spain DepDepartment of Systems Engineering and Automatic Control Industrial Engineering School University of Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Comput. Vision & Real Time Div. CARTIF Found. Valladolid

ISBN: (纸本)9781424420575

This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisco is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.

关键词： Social robot learning interaction computer vision motivation

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Multi-modal multi-user telepresence and teleaction system

Multi-modal multi-user telepresence and teleaction system

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Martin Buss Angelika Peer Thomas Schauss Nikolay Stefanov Ulrich Unterhinninghofen Stephan Behrendt Georg Farber Jan Leupold Klaus Diepold Fakheredine Keyrouz Michel Sarkis Peter Hinterseer Eckehard Steinbach Berthold Farber Helena Pongrac Institute of Automatic Control Engineering Technische Universität München Munich Germany Institute for Real-Time Computer Systems Technische Universität München Munich Germany Institute for Data Processing Technische Universität München Munich Germany Institute of Communication Networks Technische Universität München Munich Germany Human Factors Institute Bundeswehr University of Munich Munich Germany Human Factors Institute University of the Bundeswehr Munich Germany

The video shows a rich multi-modal multi-user telepresence system, which was developed within the SFB453 funded by the German Research Foundation (***). As a complex application scenario, the remote repairing of a broken pipe is presented in this paper. The system basically consists of two operator-teleoperator- pairs. While one of the operators interacts with a stationary human- system-interface, the other operator uses a mobile one. Both systems provide visual, auditory, and haptic feedback and enable to control the motion of head, arms, and grippers as well as the locomotion of the corresponding teleoperator.

关键词： Teleoperators Mobile communication Three dimensional displays Humans Haptic interfaces Conferences Robots

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Stability of stepping movements in the frontal plain a biomechanical model

Stability of stepping movements in the frontal plain a biome...

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2007 ASME Summer Bioengineering Conference, SBC 2007

作者： Karg, Sonja A. Institute for Real-Time Computer Systems Technische Universität München Munich Germany

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Design and capabilities of the Munich Cognitive Automobile

Design and capabilities of the Munich Cognitive Automobile

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IEEE Symposium on Intelligent Vehicle

作者： Matthias Goebl Matthias Althoff Martin Buss Georg Farber Falk Hecker Bernd Heissing Sven Kraus Robert Nagel Fernando Puente Leon Florian Rattei Martin Russ Michael Schweitzer Michael Thuy Cheng Wang Hans Joachim Wuensche Technische Universität München Institute for Real-Time Computer Systems München Germany Technische Universität München Institute for Automatic Control Engineering(LSR) München Germany Department of Aerospace Engineering LRT 13 University of Armed Forces Neubiberg Neubiberg Germany Technische Universität München Institute for vehicle technology 85748 Garching Germany Technische Universität München Institute for vehicle technology Garching Germany Lehrstuhl für Kommunikationsnetze Technische Universität München München Germany Fachgebiet Verteilte Messsysteme Technische Universität München München Germany

This paper presents the design of the cognitive automobile in Munich. The focus of the capabilities shown here is the navigation on highways and rural roads. The emphasis on higher speed requires early detection of far field objects, so a multi focal active vision with gaze control is essential. For increased robustness lidar range sensors are combined with vision using an object fusion approach. An elaborate safety concept and a verification stage ensure a safe behavior of the vehicle in all situations. A communication system enables the vehicle to perform cooperative perception and action together with similar intelligent vehicles.

关键词： Vehicles

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Autonomously Flying VTOL-Robots: Modeling and Control

Autonomously Flying VTOL-Robots: Modeling and Control

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Konstantin Kondak Markus Bernard Nicolas Meyer Gunter Hommel Real-Time Systems and Robotics Group Faculty of Electrical Engineering and Computer Science Technische Universitat Berlin Berlin Germany

In this paper an approach for control of autonomously flying robots with vertical take off and landing capabilities (VTOL) is presented. After reviewing that the motion description for different VTOL-robots is very similar, the general control scheme for VTOL-robots is presented. This scheme is based on linearisation and decoupling using inversion of the system model blocks. To compensate the model uncertainties and disturbances two additional parts are included into the controller: a reduced state observer based on a robot motion model as well as a disturbances observer and compensator for orientation control. The presented approach was applied to two different VTOL-robots: a helicopter and a quad-rotor. In real flight experiments it was verified that the presented general but simple controller provides sufficient performance for a wide range of practical applications.

关键词： Helicopters Robot sensing systems Gyroscopes robotics and automation Automatic control Motion control Uncertainty Unmanned aerial vehicles Observers Delay estimation

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A real-time-capable Hard- and Software Architecture for Joint Image and Knowledge Processing in Cognitive Automobiles

A Real-Time-capable Hard- and Software Architecture for Join...

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2007 IEEE Intelligent Vehicles Symposium (IV 2007), vol.2

作者： Matthias Goebl Georg Farber Institute for Real-Time Computer Systems Technische Universität München Munich Germany

Cognitive automobiles consist of a set of algorithms that cover a wide range of processing levels: from low-level image acquisition and feature extraction up to situation assessment and decision making. The modules implementing them are naturally characterized by decreasing data rates at higher levels, because raw data is discarded after evaluation, and increasing processing intervals, as knowledge based levels require longer computation times. The architecture presented in this papers offers a method to interchange information with different temporal resolutions liberally among modules with distinct cycle times and real-time demands. It allows effortless buffering of raw data for subsequent data fusion and verification, facilitating innovative processing structures. The paper is completed by measurements demonstrating the achieved real-time capabilities on our selected hardware architecture.

关键词： Software architecture Automobiles computer architecture Hardware Remotely operated vehicles Collaborative work Application software Cognitive robotics Road vehicles Cognition

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Dynamic modeling of wind farms with fixed-speed wind turbine generators

Dynamic modeling of wind farms with fixed-speed wind turbine...

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2007 IEEE Power Engineering Society General Meeting, PES

作者： Wei, Qiao Harley, Ronald G. Venayagamoorthy, Ganesh K. IEEE School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332-0250 United States University of KwaZulu-Natal Durban South Africa Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri-Rolla Rolla MO 65409-0249 United States

ISBN: (纸本)1424412986

A wind farm typically consists of a large number of individual wind turbine generators (WTGs) connected by an internal electrical network. To study the impact of wind farms on the dynamics of the power system, an important issue is to develop appropriate wind farm models to represent the dynamics of many individual WTGs. This paper presents various dynamic models, including a detailed model and three reduced-order equivalent models, of wind farms with fixed-speed WTGs. These models are developed and compared by simulation studies in the PSCAD/EMTDC environment under different wind velocity and fluctuation conditions as well as gird fault conditions. Concluding remarks are provided on how to choose an appropriate wind farm model for power system dynamic and transient studies. © 2007 IEEE.

关键词： Power plants

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Model-based performance engineering of General Motors’ vehicle supply chain

Model-based performance engineering of General Motors’ vehi...

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IEEE International Conference on systems, Man and Cybernetics

作者： Armin Zimmermann Michael Knoke Shang-Tae Yee Jeffrey D. Tew Faculty of Electrical Engineering and Computer Science Real-Time Systems and Robotics Group Technische Universität Berlin Barlin Germany GM Research and Development Center Warren MI USA

We present results of a collaboration project, during which parts of General Motors' north American vehicle supply chain have been modeled and evaluated. A variant of colored stochastic Petri nets has been developed for this task, and support for model creation and performance evaluation was implemented in our tool timeNET. Variations of the model and their stepwise evaluation lead to suggestions about how the supply chain can be reorganized in order to improve the time between customer order and vehicle delivery (order-to-delivery time).

关键词： Automotive engineering Vehicles Supply chains Logistics Petri nets Stochastic processes Research and development Delay Resource management Performance analysis

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