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 saf...
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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.
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 generat...
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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.
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 bro...
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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.
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 fa...
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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.
作者：
M. FeemsterD.M. DawsonA. BehalW. DixonMatthew Feemster received the B.S degree in Electrical Engineering from Clemson University
Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962
in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology
Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no
In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects...
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In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.
With the deregulation of power industry, many tie lines between control areas are driven to operate near their maximum capacity, especially those serving heavy load centers. Wide area controllers (WACs) using wide-are...
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The goal of the system presented in this paper is to support several facial surgeries that are aiming to transform an unsymmetrical face to a symmetric one. There are two main techniques to achieve this goal: distract...
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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 mand...
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When planning craniofacial surgical interventions, the ideal appearance of the patient is very important. The final appearance should be as close as possible to that which the patient would have if he/she were without...
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