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International Conference on Ubiquitous Robots (UR)

作者： Huajian Zeng Linh Kästner Jens Lambrecht The Chair of Robotics Artificial Intelligence and Real-time Systems Technical University Munich (TUM) Germany The Chair of Industry Grade Networks and Clouds Faculty of Electrical Engineering and Computer Science Berlin Institute of Technology Berlin Germany

In recent years, Deep Reinforcement Learning (DRL) has emerged as a competitive approach for mobile robot navigation. However, training DRL agents often comes at the cost of difficult and tedious training procedures in which powerful hardware is required to conduct oftentimes long training runs. Especially, for complex environments, this proves to be a major bottleneck for widespread adoption of DRL approaches into industries. In this paper we integrate an efficient 2D simulator into the Arena-Rosnav framework of our previous work as an alternative simulation platform to train and develop DRL agents. Therefore, we utilized the provided API to integrate necessary components into the ecosystem of Arena-Rosnav. We evaluated our simulator by training a DRL agent within that platform and compared the training and navigational performance against the baseline 2D simulator Flatland, which is the default simulating platform of Arena-Rosnav. Results demonstrate that using our Arena2D simulator results in substantially faster training times and in some scenarios better agents. This proves to be an important step towards resource-efficient DRL training, which accelerates training times and improve the development cycle of DRL agents for navigation tasks. We made our simulator openly available at https://***/Arena-Rosnav/arena2d.

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Modelling and Control of a Trailer Sprayer for Precision Spraying

Modelling and Control of a Trailer Sprayer for Precision Spr...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： André Baltazar Filipe N. Santos Antόnio Paulo Moreira Salviano Pinto Soares M. J. C. S. Reis José Boaventura Cunha CRIIS-Centre for Robotics in Industry and Intelligent Systems INESC TEC—Institute for Systems and Computer Engineering Technology and Science Porto Portugal ECT—School of Science and Technology UTAD—University of Trás-os-Montes and Alto Douro Vila Real Portugal FEUP—Faculty of Engineering University of Porto Porto Portugal Institute of Electronics and Informatics Engineering of Aveiro (IEETA) Portugal Intelligent Systems Associate Laboratory (LASI) Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Precision spraying in agriculture is crucial for optimizing the application of pesticides while minimizing environmental impact. Despite significant advancements in control models for spraying systems, predictive control algorithms were not used. This paper addresses this gap by proposing a real-time control framework that integrates predictive control strategies to ensure consistent pressure output in a trailer sprayer. Based on information from various sensors, the framework anticipates and adapts to dynamic environmental conditions, enhancing accuracy and sustainability in spraying practices. A methodology is developed to define a proportional valve model. Based on this valve model, the predictive control model optimizes valve movements to minimize errors between predicted and reference pressures, thereby improving spraying efficiency. This study demonstrates the viability of predictive control in improving precision spraying systems applicable to autonomous robots, encouraging future advances in agricultural spraying technologies.

关键词： Adaptation models Spraying Predictive models Valves real-time systems Agriculture Sensors

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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Studying bioluminescence flashes with the ANTARES deep Sea neutrino telescope

arXiv

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arXiv 2021年

作者： Reeb, Nico Hutschenreuter, S. Zehetner, P. Ensslin, T. Albert, A. Alves, S. André, M. Anghinolfi, M. Anton, G. Ardid, M. Aubert, J.-J. Aublin, J. Baret, B. Basa, S. Belhorma, B. Bendahman, M. Bertin, V. Biagi, S. Bissinger, M. Boumaaza, J. Bouta, M. Bouwhuis, M.C. Brânzaş, H. Bruijn, R. Brunner, J. Busto, J. Caiffi, B. Capone, A. Caramete, L. Carr, J. Carretero, V. Celli, S. Chabab, M. Chau, T.N. Chiarusi, T. Circella, M. Coleiro, A. Colomer-Molla, M. Coniglione, R. Coyle, P. Creusot, A. Díaz, A.F. de Wasseige, G. Deschamps, A. Distefano, C. Di Palma, I. Domi, A. Donzaud, C. Dornic, D. Drouhin, D. van Eeden, T. Enzenhöfer, A. Fermani, P. Ferrara, G. Filippini, F. Fusco, L. Gatelet, Y. Gay, P. Glotin, H. Gozzini, R. Ruiz, R. Gracia Graf, K. Guidi, C. Hallmann, S. van Haren, H. Heijboer, A.J. Hello, Y. Hernández-Rey, J.J. Hößl, J. Hofestädt, J. Huang, F. Illuminati, G. James, C.W. Jisse-Jung, B. de Jong, M. de Jong, P. Jongen, M. Kadler, M. Kalekin, O. Katz, U. Khan-Chowdhury, N.R. Kouchner, A. Kreykenbohm, I. Kulikovskiy, V. Lahmann, R. Le Breton, R. Lefèvre, D. Leonora, E. Levi, G. Lincetto, M. Lopez-Coto, D. Loucatos, S. Maderer, L. Manczak, J. Marcelin, M. Margiotta, A. Marinelli, A. Martínez-Mora, J.A. Melis, K. Migliozzi, P. Moussa, A. Muller, R. Nauta, L. Navas, S. Nezri, E. Fearraigh, B.Ó. Organokov, M. Pavalaş, G.E. Pellegrino, C. Perrin-Terrin, M. Piattelli, P. Pieterse, C. Poirè, C. Popa, V. Pradier, T. Randazzo, N. Reck, S. Riccobene, G. Romanov, A. Sánchez-Losa, A. Greus, F. Salesa Samtleben, D.F.E. Sanguineti, M. Sapienza, P. Schnabel, J. Schumann, J. Schüssler, F. Spurio, M. Stolarczyk, Th. Taiuti, M. Tingay, S.J. Vallage, B. van Elewyck, V. Versari, F. Viola, S. Vivolo, D. Wilms, J. Zavatarelli, S. Zegarelli, A. Zornoza, J.D. Zúñiga, J. Information Field Theory Group Max Planck Institute for Astrophysics Garching Germany Informatics 6 Chair of Robotics Artificial Intelligence and Real time Systems Technical University of Munich Garching Germany Department of Astrophysics IMAPP Radboud University Nijmegen Nijmegen Netherlands Department of Physics Ludwig-Maximilians University Munich Germany CERN Geneva Switzerland Université de Strasbourg CNRS IPHC UMR 7178 StrasbourgF-67000 France Université de Haute Alsace MulhouseF-68200 France IFIC - Instituto de Física Corpuscular CSIC Universitat de València c/ Catedrático José Beltrán 2 Paterna ValenciaE-46980 Spain Technical University of Catalonia Laboratory of Applied Bioacoustics Rambla Exposició Vilanova i la Geltrú Barcelona08800 Spain INFN - Sezione di Genova Via Dodecaneso 33 Genova16146 Italy Friedrich-Alexander-Universität Erlangen-Nürnberg Erlangen Centre for Astroparticle Physics Erwin-Rommel-Str. 1 Erlangen91058 Germany Universitat Politècnica de València C/ Paranimf 1 Gandia46730 Spain Aix Marseille Univ CNRS IN2P3 CPPM Marseille France Université de Paris CNRS Astroparticule et Cosmologie ParisF-75013 France Aix Marseille Univ CNRS CNES LAM Marseille France National Center for Energy Sciences and Nuclear Techniques B.P.1382 RabatR. P. 10001 Morocco University Mohammed V in Rabat Faculty of Sciences 4 av. Ibn Battouta B.P. 1014 R.P. Rabat10000 Morocco Via S. Sofia 62 Catania95123 Italy University Mohammed I Laboratory of Physics of Matter and Radiations B.P.717 Oujda6000 Morocco Nikhef Science Park Amsterdam Netherlands Institute of Space Science Bucharest MagureleRO-077125 Romania Universiteit van Amsterdam Instituut voor Hoge-Energie Fysica Science Park 105 Amsterdam1098 XG Netherlands INFN - Sezione di Roma P.le Aldo Moro 2 Roma00185 Italy Dipartimento di Fisica Università La Sapienza P.le Aldo Moro 2 Roma00185 Italy LPHEA Faculty of Science - Semlali Cadi Ayyad University P.O

We develop a novel technique to exploit the extensive data sets provided by underwater neutrino telescopes to gain information on bioluminescence in the deep sea. The passive nature of the telescopes gives us the unique opportunity to infer information on bioluminescent organisms without actively interfering with them. We propose a statistical method that allows us to reconstruct the light emission of individual organisms, as well as their location and movement. A mathematical model is built to describe the measurement process of underwater neutrino telescopes and the signal generation of the biological organisms. The Metric Gaussian Variational Inference algorithm is used to reconstruct the model parameters using photon counts recorded by the neutrino detectors. We apply this method to synthetic data sets and data collected by the ANTARES neutrino telescope. The telescope is located 40 km off the French coast and fixed to the sea floor at a depth of 2475 m. The runs with synthetic data reveal that we can reliably model the emitted bioluminescent flashes of the organisms. Furthermore, we find that the spatial resolution of the localization of light sources highly depends on the configuration of the telescope. Precise measurements of the efficiencies of the detectors and the attenuation length of the water are crucial to reconstruct the light emission. Finally, the application to ANTARES data reveals the first precise localizations of bioluminescent organisms using neutrino telescope data. © 2021, CC BY.

关键词： Bioluminescence

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Robot assistant for dental implantology 4th

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4th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2001

作者： Boesecke, R. Brief, J. Raczkowsky, J. Schorr, O. Daueber, S. Krempien, R. Treiber, M. Wetter, T. Hassfeld, S. TaMed GmbH Hufschmiedstr. ¼ WieslochD-69168 Germany Department of Oral and Maxillofacial Surgery University Hospital Heidelberg Germany Department of Radiology University Hospital Heidelberg Germany Institute of Real-Time Computer Systems and Robotics University of Karlsruhe Germany Department of Medical Informatics University Hospital Heidelberg Germany

ISBN: (纸本)3540426973

We introduce a method to apply a preoperative 3D plan for inserting dental implants with an assisting medical robot. The treatment plan is based on the 3D visualization of the CT data of the patient.s maxilla and mandible, and supplies the location of the implants in the patient.s coordinates. The plan is then transferred to the surgical robot.s coordinate system. The robot guides the tool, a drill guide. Position, orientation, and depth of the initial drilling is defined with the tool held by the robot while the surgeon drills. The robot assists the dentist, and the optimal treatment plan will be applied directly to the patient. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Drills

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Distributed control architecture for intelligent systems

Distributed control architecture for intelligent systems

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： T. Laengle T.C. Lueth U. Rembold H. Woern Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

In contrast to a hierarchical and centralized structure, distributed or decentralized control architectures reveal their main advantages when it is necessary to enhance the system, to integrate components, and to maintain the system. The main disadvantage of not centralized architectures is having to make sure that the system will fulfill an overall or global goal. To investigate these problems, a distributed control architecture for intelligent systems was developed at the University of Karlsruhe. In this paper, the methods for dead-lock-free coordination and cooperation are explained.

关键词： Distributed control Intelligent systems Intelligent control Robot kinematics computer architecture Intelligent robots real time systems computer science Intelligent manufacturing systems Resource management

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An automated microrobot-based desktop station for micro assembly and handling of micro-objects

An automated microrobot-based desktop station for micro asse...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： S. Fatikow U. Rembold Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

One of the main problems of present-day microsystem technology (MST) is the assembly of a whole microsystem from different micro-components. This paper presents an automated micromanipulation desktop station the main feature of which are piezoelectrically driven microrobots placed on a highly precise x-y table of a microscope. The microrobots can perform high-precise manipulations (with an accuracy of up to 10 nm) and the transport of very small objects (at a speed of several mm/sec). To control the desktop station automatically, a sensor system is provided for fine and for gross positioning of the robots, respectively. Apart from assembly tasks this automated station can be used, for examples, for handling biological cells or testing silicon chips.

关键词： Microscopy Automatic control Control systems Sensor systems Robot sensing systems robotics and automation Robotic assembly Biological cells Automatic testing Silicon

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A MULTIAGENT APPROACH WITH DISTRIBUTED FUZZY-LOGIC CONTROL

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computerS IN INDUSTRY 1995年第3期26卷 219-227页

作者： BOHNER, P Institute for Real-Time Computer Systems and Robotics Faculty for Informatics University of Karlsruhe Kaiserstr. 12 76128 Karlsruhe Germany

The use of manipulator systems with many degrees of freedoms is essential to expand the field of potential applications. This paper presents a distributed approach for executing task-level programs for cooperating manipulators or one-arm systems with many degrees of freedom. At task level, only the movement of the objects to be manipulated is specified. The according manipulator motions are then calculated by assigning local intelligence to each joint. The local intelligence enables the joint agents to calculate in parallel their appropriate movements to make the end effector reach the desired position. During execution, each joint evaluates sensor data to compensate for execution errors, to react on unexpected obstacles and to provide the manipulator coordination. Therefore, a distributed fuzzy rule base has been developed. As this local evaluation may lead to non-optimal overall behavior of the manipulator, the joint agents communicate to provide global suboptimality.

关键词： DEPENDENT AGENTS DISTRIBUTED AGENTS REACTIVE AGENTS PLAN-BASED AGENTS DISTRIBUTED CONTROL DISTRIBUTED ARTIFICIAL INTELLIGENCE

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A parallel control computer structure for complex high speed applications

A parallel control computer structure for complex high speed...

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IEEE International Conference on Engineering of Complex computer systems

作者： B. Magnussen Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Karlsruhe Germany

With high speed control applications it is often very difficult to achieve the aspired timing of the control algorithm using just one processor. This is true especially if the system is complex or very large. In this paper we discuss advantages and disadvantages of a new system architecture using many processors of which each one is specialised for one part of the algorithm. A tailorable parallel computer architecture which we developed to cope with the problems of parallelisation of control algorithms is presented. Finally examples from the field of robotics and the performance of the prototype computer is presented.

关键词： Concurrent computing Application software Control systems computer architecture Velocity control Hardware Communication system control Robot sensing systems computer science Timing

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Decentralized control of distributed intelligent robots and subsystems

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Annual Review in Automatic Programming 1994年第C期19卷 281-286页

作者： Laengle, Th Lueth, T.C University of Karlsruhe Faculty for Informatics Institute for Real-Time Computer Systems and Robotics 76128 Karlsruhe Prof. Dr.-Ing. U Rembold Prof. Dr.- Ing. R. Dillmann Germany

In a distributed robot system, asynchronous and synchronous communication between the system components is necessary to guarantee problem soliving capability in realtime. On that account, the distributed control architecure of the Karlsruhe Autonomous Mobile Robot KAMRO which is being developed at IPR has been extended by these communication kinds. The robot system consists of several subcomponents, like manipulators, two hand-eyecameras, one overhead camera and a mobile platform. To get better problem solving capability than the former centralized control architecture, these components are able to work together in teams (asynchronous communication) or special agents (synchronous communication). © 1995.

关键词： control theory Distributed control real-time computer systems robot control architecture robots

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