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American control Conference

作者： Harald Voit Anuradha Annaswamy Reinhard Schneider Dip Goswami Samarjit Chakraborty Institute of Automatic Control Engineering Technische Universitat Munchen D-80290 Munich Germany Department of Mechanical Engineering Massachussets Institute of Technology Cambridge MA 02319 USA Institute for Real-Time Computer Systems Technische Universitat Munchen D-80290 Munich Germany

ISBN: (纸本)9781457710957

Cyber-Physical systems (CPS) are ubiquitous, motivated by the need to integrate control, computing, and communication, increasing capabilities and declining costs of the underlying technologies, and increased requirements on safety, reliability, and performance. The focus of this paper is the co-design of hybrid communication protocol and adaptive switching control that enables stabilization of multiple control applications using minimal communication resources. The hybrid protocol chosen is one that switches between time-triggered and event-triggered methods in order to realize their combined advantages. A control algorithm is co-designed along with this hybrid protocol so as to exploit the properties of the individual protocols as well as the switches between them. The controller is chosen to be adaptive in order to cope with any uncertainties that may be present. The resulting adaptive, switching controller is shown to be stable in the presence of a class of disturbances.

关键词： Self tuning controllers Communication protocols Switches communication resources HYBRID Hybrid electric vehicles Co-design computer algorithms protocols switching switching controller

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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...

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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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Application of Error Correcting Codes to Navigation of Autonomous Mobile Robots in a CIM Environment

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IFAC Proceedings Volumes 1993年第1期26卷 247-252页

作者： D.E. Lazic V. Senk M. Rude G. Kandu University of Karlsruhe Computer Science Department Institute for Real Time Computing Systems and Robotics D-7500 Karlsruhe 1 Germany (Fellow of European Community - DG XII) University of Karlsruhe European Institute for System Security D-7500 Karlsruhe Germany University of Karlsruhe FZI-Forschungszentrum Informatik D-7500 Karlsruhe Germany Institute “Jozef Stefan” Jamova 39 SLO-Ljubljana Slovenia

A new concept for navigation of mobile robots based on the planary coded environment (PLACER) is presented, which enables the coordination of several mobile robots in a real manufacturing environment. It is a path independent external navigation system with passive environment structuring over the entire movement area of the robots. This area is completely covered with tiles, each containing the coordinates of its centre point inscribed using an error correcting code

关键词： Robots navigation position control error correction codes

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A Robotic Framework for the Robot@Factory 4.0 Competition

A Robotic Framework for the Robot@Factory 4.0 Competition

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

作者： Ricardo B. Sousa Cláudia D. Rocha João G. Martins João Pedro Costa João Tomás Padrão José Maria Sarmento José Pedro Carvalho Maria S. Lopes Paulo G. Costa António Paulo Moreira Faculty of Engineering University of Porto (FEUP) Porto Portugal CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal C2SR - Cyber-Physical Control Systems and Robotics SYSTEC - Research Center for Systems and Technologies Porto Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robotic competitions stand as platforms to propel the forefront of robotics research while nurturing STEM education, serving as hubs of both applied research and scientific innovation. In Portugal, the Portuguese robotics Open (FNR) is an event with several robotic competitions, including the Robot@Factory 4.0 competition. This competition presents an example of deploying autonomous robots on a factory shop floor. Although the literature has works proposing frameworks for the original version of the Robot@Factory competition, none of them proposes a system framework for the Robot@Factory 4.0 version that presents the hardware, firmware, and software to complete the competition and achieve autonomous navigation. This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions. This work is the culmination of all the knowledge acquired by winning the 2022 and 2023 editions of the competition.

关键词： Technological innovation Education Propulsion Production facilities Software Hardware Autonomous robots

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Motion coordination and reactive control of autonomous multi-manipulator systems

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Journal of Field robotics 1996年第11期13卷

作者： U. M. Nassal Institute for Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany

The emerging field of service robots demands new systems with increased flexibility. The flexibility of a robot system can be increased in many different ways. Mobile manipulation—the coordinated use of manipulation capabilities and mobility—is an approach to increase robots flexibility with regard to their motion capabilities. Most mobile manipulators that are currently under development use a single arm on a mobile platform. The use of a two-arm manipulator system allows increased manipulation capabilities, especially when large, heavy, or non-rigid objects must be manipulated. This article is concerned with motion control for mobile two-arm systems. These systems require new schemes for motion coordination and control. A coordination scheme called transparent coordination is presented that allows for an arbitrary number of manipulators on a mobile platform. Furthermore, a reactive control scheme is proposed to enable the platform to support sensor-guided manipulator motion. Finally, this article introduces a collision avoidance scheme for mobile two-arm robots. This scheme surveys the vehicle motion to avoid platform collisions and arm collisions caused by self-motion of the robot. © 1996 John Wiley & Sons, Inc.

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Motivation and Competitive Learning in a Social Robot

Motivation and Competitive Learning in a Social Robot

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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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Operation planning in craniomaxillofacial surgery

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computer Aided Surgery 1998年第3‐4期2卷

作者： Petra Bohner PH.D. Catherina Holler M.S. Stefan Haßfeld M.D. Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Clinic for Maxillofacial and Craniofacial Surgery University of Heidelberg Heidelberg Germany

Surgery in the craniomaxillofacial area is complex. Planning a surgical operation can help the surgeon enhance the quality of the operation. On the other hand, the benefit of a planning phase cannot be realized if the planning strategy cannot be replicated during surgery. A complete surgical system would support planning, simulation, execution by a surgeon, execution guided by a navigation system, and autonomous execution by a robot. In this paper we present our approach for an integrated system for planning and execution of craniomaxillofacial surgery. This approach is based on a hierarchical architecture and the decomposition of planning levels being either independent or dependent on the execution system via implicit and explicit elementary operations. The architecture of our system can be applied to other surgical interventions in general. The system has been employed in two operations in the mandible/maxilla region, the LeFort I osteotomy and sagittal dissection of the mandible. Results of simulated and robotized execution of some elementary operations are presented. Comp Aid Surg 2:153–161 (1997). © 1997 Wiley-Liss, Inc.

关键词： robots operation planning craniomaxillofacial surgery

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Multi-modal multi-user telepresence and teleaction system

Multi-modal multi-user telepresence and teleaction system

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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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The HIMAC Project: Hierarchical Management and control in Manufacturing systems

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IFAC Proceedings Volumes 1997年第1期30卷 309-314页

作者： E. Canuto M. Christodoulou c. Chu F. Donati V. Gaganis B. janusz J.M. Proth W. Reithofer M. Vallauri Dipartimento di Automatica e Informatica. Politecnico di Torino. Corso Duca degli Abruzzi 24 1-10129 Torino. Italy Dept. of Electrical & Computer Engineering. Laboratory of Automation Technical University of Crete. GR-73100 Chania (Crete). Greece INRIA Lorraine Technopôle Metz 2000. Rue Marconi 4. F-57070 Metz. France Institute for Real-time Computer Systems and Robotics. University of Karlsruhe Kaiserstrasse 12 D-76128 Karlsruhe. Germany

The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systems control. HIMAC has followed a new approach, by developing a specific mathematIcs, the Manufactunng Algebra (MA), for modelling and controlling the production processes of discrete manufacturing systems. As a key feature, the MA models can be bottom-up aggregated starting from the very detailed levels used in simulation, thus making poSSIble a coherent model hierarchy at the base of the design and realization of Hierarchical control strategies and architectures. The formulation of the original mathematical approach and its validation criteria are outlined in the paper. For a deeper understanding, the mterested reader can take advantage of the list of references given at the end.

关键词： Manufacturing systems Production control Hierarchical control

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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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