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Design, Automation and Test in Europe Conference and Exhibition

作者： Victor Pollex Timo Feld Frank Slomka Ulrich Margull Ralph Mader Gerhard Wirrer Institute of Embedded Systems/Real-Time Systeme Ulm University Ulm Germany Faculty of Electrical Engineering and Computer Science Ingolstadt University of Applied Sciences Ingolstadt Germany Continental AG Regensburg Germany

ISBN: (纸本)9781450321532

Engine control units in the automotive industry are particular challenging real-time systems regarding their real-time analysis. Some of the tasks of such an engine control unit are triggered by the engine, i.e. the faster the angular velocity of the engine, the more frequent the tasks are executed. Furthermore, the execution time of a task may vary with the angular velocity of the engine. As a result the worst case does not necessarily occur when all tasks are activated simultaneously. Hence this behavior cannot be addressed appropriately with the currently available real-time analysis methods. In this paper we make a first step towards a real-time analysis for an engine control unit. We present a sufficient real-time analysis assuming that the angular velocity of the engine is arbitrary but fixed.

关键词： Angular velocity real-time systems time factors Camshafts Timing Ignition

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A Regularization Approach to Analyze the time-Optimal Motion of a Mobile Robot under State Constraints using Pontryagin’s Maximum Principle

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Procedia computer science 2021年 186卷 11-20页

作者： Fernando Lobo Pereira Roman Chertovskih Anna Daryina Askhat Diveev Dmitry Karamzin Elena Sofronova SYSTEC Faculty of Electrical Engineering Porto University and the Institute for Systems and Robotics 4200-465 Porto Portugal Federal Research Center “Computer Science and Control” of the Russian Academy of Science Moscow Russia

This work concerns the investigation of time-optimal control problem for a simplified mobile robot model subject to state constraints. In this type of problems, which involve the so-called unicycle dynamics, the well-established regularity conditions with respect to the state constraints are not fulfilled. This fact greatly complicates the analysis of the control problem bearing in mind the use of the maximum principle. Moreover, the difficulty is also due to the presence of a singular control mode with respect to the angular velocity. Herein, a regularization approach is proposed in order to overcome these obstacles. A certain tool for the numerical implementation is developed. The numerical analysis is provided for a sample problem.

关键词： Unicycle model state constraints regularization maximum principle

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Globally exponentially stable attitude observer with Earth velocity estimation

Globally exponentially stable attitude observer with Earth v...

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作者： Batista, Pedro Silvestre, Carlos Oliveira, Paulo Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau China Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal

This paper presents a novel observer for attitude estimation based on a triad of high-grade rate gyros aided by a body-fixed vector measurement of a constant inertial vector, departing from the majority of solutions that consider at least two of these vectors. A cascade approach is proposed, where the first block estimates a vector that is related to the angular velocity of the Earth and a second block estimates the attitude. While the topological characteristics are relaxed in the attitude observer so that global exponential stability is achieved, an additional stage is also devised that yields estimates directly on the special orthogonal group, preserving global convergence of the estimation error. Simulation results with realistic sensor noise were performed, including extensive Monte Carlo runs. These results illustrate the convergence of the proposed solution, as well as the achievable performance and robustness to sensor noise. © 2019 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd

关键词： Angular velocity

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Sliding-mode control for trajectory-tracking of a Wheeled Mobile Robot in presence of uncertainties

Sliding-mode control for trajectory-tracking of a Wheeled Mo...

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Asian Control Conference

作者： Razvan Solea Adrian Filipescu Urbano Nunes Faculty of Computer Science Dunarea de Jos University of Galati Galati Romania Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9781424454402

Wheeled Mobile Robots (WMRs) are the most widely used class of mobile robots. This is due to their fast maneuvering, simple controllers and energy saving characteristics. A dynamics-based sliding mode controller for WMR trajectory tracking is proposed. Robustness to external disturbances and parameter uncertainties is achieved. Closed loop real-time results show good performances in trajectory tracking even if for high upper bound of uncertainties.

关键词： Sliding mode control Mobile robots Uncertainty Vehicle dynamics Electric variables control Control systems Automatic control Switches Trajectory Kinematics

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Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations

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IFAC-PapersOnLine 2017年第1期50卷 3598-3605页

作者： Batista P. Petit N. Silvestre C. Oliveira P. Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems Instituto Superior Técnico Universidade de Lisboa Portugal MINES ParisTech PSL Research University CAS – Centre automatique et systémes 60 bd St Michel Paris 75272 France Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau Macau Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Portugal

Uniform complete observability and controllability are key concepts for the design of state observers and controllers for linear time-varying systems. While the definitions of these properties are simple, it is more often that not very difficult to show they hold for a particular system. This paper presents alternative simpler sufficient conditions. Examples are shown that illustrate the improvement over previous results, the fact that the new conditions are not necessary, and a practical application. © 2017

关键词： linear time-varying systems uniform complete controllability uniform complete observability

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Model transformations for business-IT alignment: From collaborative business process to SoaML service model 12

Model transformations for business-IT alignment: From collab...

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27th Annual ACM Symposium on Applied Computing, SAC 2012

作者： Delgado, Andrea Ruiz, Francisco De Guzmán, Ignacio García-Rodríguez Piattini, Mario Computer Science Institute Faculty of Engineering University of the Republica Julio Herrera y Reissig 565 Montevideo Uruguay Alarcos Research Group Dep. Information Techs. and Systems University of Castilla-La Mancha Paseo de la Universidad 4 Ciudad Real Spain

ISBN: (纸本)9781450308571

Modeling business process allows an organization to think about its way of conducting business while helping discover weakness in its processes. Although it is common for participants to collaborate within an organization, it is essential to define how different participants from different organizations collaborate as a community, to reach a common business goal. In this context, the realization of business processes by means of services becomes more important, providing support for separating their definition from the technologies implementing them, allowing a better response to changes. A model-driven approach for the direct generation of services from business processes provides several advantages such as reuse of the knowledge imbibed in the correspondences defined between the involved metamodels and traceability between elements in both metamodels, allowing for a better Business-IT alignment. In this article we present an approach for the automatic generation of SoaML service-oriented models from collaborative business process models in BPMN2. © 2012 Authors.

关键词： business processes BPMN2.0 model-driven transformations SoaML standards QVT service-oriented systems

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Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments

arXiv

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arXiv 2020年

作者： Le Gentil, Cedric Vayugundla, Mallikarjuna Giubilato, Riccardo Stürzl, Wolfgang Vidal-Calleja, Teresa Triebel, Rudolph Centre for Autonomous Systems Faculty of Engineering and IT University of Technology Sydney Australia Institute of Robotics and Mechatronics Germany Department of Computer Science Germany

The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the ambiguity of the visual appearance makes state-of-the-art visual place recognition approaches less effective than in urban or man-made environments. This paper presents a method to solve the loop closure problem using only spatial information. The key idea is to use a novel continuous and probabilistic representations of terrain elevation maps. Given 3D point clouds of the environment, the proposed approach exploits Gaussian Process (GP) regression with linear operators to generate continuous gradient maps of the terrain elevation information. Traditional image registration techniques are then used to search for potential matches. Loop closures are verified by leveraging both the spatial characteristic of the elevation maps (SE(2) registration) and the probabilistic nature of the GP representation. A submap-based localization and mapping framework is used to demonstrate the validity of the proposed approach. The performance of this pipeline is evaluated and benchmarked using real data from a rover that is equipped with a stereo camera and navigates in challenging, unstructured planetary-like environments in Morocco and on Mt. Etna. Copyright © 2020, The Authors. All rights reserved.

关键词： Gaussian noise (electronic)

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Sensorless nonlinear control of fed-batch Escherichia coli cultivation bioprocess using the state-dependent approach 12th

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12th Portuguese Conference on Automatic Control, CONTROLO 2016

作者： Iratni, Abdelhamid Araújo, Rui Rastegar, Saeid Mostefai, Mohammed Faculty of Science and Technology Electrical Engineering Department University of Bordj Bou Arreridj El Anasser Algeria Department of Electrical and Computer Engineering Institute for Systems and Robotics University of Coimbra Coimbra Portugal Automatic Control Laboratory of Setif Electrical Engineering Department Faculty of Technology University of Setif1 Sétif Algeria

ISBN: (纸本)9783319436708

The cultivation of Escherichia coli bacteria is widely used by geneticists and biopharmaceuticals to produce medicines and vaccines. In such industries, Bioprocesses are known by their harsh environment and very expensive physical sensors. This paper deals with nonlinear estimation and control of fed-batch Escherichia coli bioprocess. Enhancing the process performance and maximizing its efficiency by optimizing the control of Escherichia coli cultures depends on the availability of appropriate online sensors for the main culture components. In this study, an innovative method for nonlinear estimation and control of bioprocesses is designed and assessed. The new algorithm for control and estimation of Escherichia coli bioprocess states, based on the State-Dependent Riccati Equation technique, is validated by numerical simulation. The results obtained clearly demonstrate the effectiveness of the proposed technique for Biosystems in measuring, monitoring, and control of their natural nonlinear dynamics. © Springer International Publishing Switzerland 2017.

关键词： Extended Kalman filters

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Human-centered AI and robotics

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AI Perspectives 2022年第1期4卷 1-14页

作者： Doncieux, Stephane Chatila, Raja Straube, Sirko Kirchner, Frank Institute of Intelligent Systems and Robotics (ISIR) Sorbonne Université CNRS Paris France Robotics Innovation Center DFKI GmbH (German Research Center for Artificial Intelligence) Bremen Germany Faculty of Mathematics and Computer Science Robotics Group University of Bremen Bremen Germany

robotics has a special place in AI as robots are connected to the real world and robots increasingly appear in humans everyday environment, from home to industry. Apart from cases were robots are expected to completely replace them, humans will largely benefit from real interactions with such robots. This is not only true for complex interaction scenarios like robots serving as guides, companions or members in a team, but also for more predefined functions like autonomous transport of people or goods. More and more, robots need suitable interfaces to interact with humans in a way that humans feel comfortable and that takes into account the need for a certain transparency about actions taken. The paper describes the requirements and state-of-the-art for a human-centered robotics research and development, including verbal and non-verbal interaction, understanding and learning from each other, as well as ethical questions that have to be dealt with if robots will be included in our everyday environment, influencing human life and societies.

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Photonic Crystal Design for Bloch Surface Wave Sensing 5

Photonic Crystal Design for Bloch Surface Wave Sensing

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5th International Conference on Applications of Optics and Photonics, AOP 2022

作者： Dias, Bernardo De Almeida, José M. M. M. Coelho, Luís C. C. INESC TEC-Institute for Systems and Computer Engineering Technology and Science Faculty of Sciences University of Porto Porto4169-007 Portugal Department of Physics and Astronomy Faculty of Sciences University of Porto Porto4169-007 Portugal Department of Physics School of Science and Technology University of Trás-os-Montes e Alto Douro Vila Real5001-801 Portugal

Bloch Surface Waves (BSW) consist of electromagnetic modes generated at the interface between a photonic crystal and an isotropic dielectric. This type of surface mode displays sharp resonances and high sensitivity to external refractive index variations, and thus appears to be an ideal candidate for usage in optical sensors. Nevertheless, design and optimization of photonic crystals is not a trivial task and constitutes an ongoing field of research. The sensitivity of BSW in both refractometric and adsorption sensing is calculated analytically using first-order perturbation theory for TE modes, allowing the understanding of how several physical parameters of the photonic crystal influence the sensitivity. Preliminary experimental results are presented, which aim to use the analytical calculations to allow for both refractometric and adsorption sensing in a single photonic crystal structure. © Published under licence by IOP Publishing Ltd.

关键词： Photonic crystals

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