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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

关键词： Autonomous Vehicles Marine systems Control Laws Formation Control Station Keeping Triangular Formations

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Sufficient real-time analysis for an engine control unit 13

Sufficient real-time analysis for an engine control unit

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21st International Conference on real-time Networks and systems, RTNS 2013

作者： Pollex, Victor Feld, Timo Slomka, Frank Margull, Ulrich Mader, Ralph Wirrer, Gerhard Institute of Embedded Systems/Real-Time Systems Ulm University 89069 Ulm Germany Faculty of Electrical Engineering and Computer Science Ingolstadt University of Applied Sciences Esplanade 10 85049 Ingolstadt Germany Continental AG Siemensstr. 12 93055 Regensburg Germany

ISBN: (纸本)9781450320580

In an engine control unit two types of tasks are executed. On the one hand the time-triggered tasks, which are activated periodically after a specific amount of time has elapsed. On the other hand engine-triggered tasks, which are activated whenever the engine arrives at a specific angular position. In consequence the frequency that an engine-triggered task is activated changes with the speed of the engine. Additionally, the execution time of both time triggered and engine-triggered tasks may also depend on the speed of the engine. The existing methods of real-time analysis are not capable of addressing this behavior adequately. In this paper we present a sufficient real-time analysis for an engine control unit. The analysis considers the changing speed of the engine over time and subsequently the changing frequency of task activations in conjunction with the varying execution times. © 2013 ACM.

关键词： Engines

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Sensor-based globally asymptotically stable range-only simultaneous localization and mapping

Sensor-based globally asymptotically stable range-only simul...

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52nd IEEE Conference on Decision and Control, CDC 2013

作者： Lourenço, Pedro Batista, Pedro Oliveira, Paulo Silvestre, Carlos Philip Chen, C.L. Institute for Systems and Robotics Universidade de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9781467357173

Range-only simultaneous localization and mapping is addressed in this paper, through the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter. A nonlinear sensor-based system is designed and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GAS error dynamics. The performance of the proposed algorithm is assessed resorting to a set of realistic simulations and to the results obtained from experimental tests. © 2013 IEEE.

关键词： Observability

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GAS Decentralized Navigation Filters in a Continuous-Discrete Fixed Topology Framework

GAS Decentralized Navigation Filters in a Continuous-Discret...

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Mediterranean Conference on Control & Automation

作者： Daniel Viegas Pedro Batista Paulo Oliveira Carlos Silvestre Institute for Systems and Robotics Instituto Superior Tecnico Institute for Systems and Robotics and the Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau

ISBN: (纸本)9781479909964

This paper addresses the problem of state estimation in formations of autonomous vehicles. The approach considered here consists in the implementation of a local state observer in each vehicle relying only on locally available measurements and data communicated by neighboring agents, resulting in a decentralized state observer which features lower computational and communication loads than comparable centralized solutions. A method for computing observer gains which yield globally asymptotically stable error dynamics is presented for fixed topology formations, as well as an iterative algorithm for improving the decentralized estimator's performance when the measurements are corrupted by noise. The proposed framework is particularized to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and a continuous-discrete formulation is achieved for the local state observers, to take into account the difference in sampling rates between on-board instrumentation and positioning systems. To assess the performance of the solution, simulation results are presented and discussed for different formation topologies.

关键词： Observers Vehicles Position measurement Vehicle dynamics Noise measurement Topology Estimation error

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Sufficient real-time analysis for an engine control unit with constant angular velocities 13

Sufficient real-time analysis for an engine control unit wit...

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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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GES tightly coupled attitude estimation based on a LBL/USBL positioning system

GES tightly coupled attitude estimation based on a LBL/USBL ...

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European Control Conference (ECC)

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Universidade Técnica de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau.

ISBN: (纸本)9781479901890

Typical attitude estimation solutions for underwater vehicles rely on magnetometers, which are prone to magnetic field distortions. This can preclude its use in intervention scenarios, in the vicinity of objects with strong magnetic signatures, severely endangering not only the intervention mission but also the operation of the underwater vehicle. This paper presents a novel attitude estimation solution, based on a combined Long Baseline / Ultra Short Baseline (LBL/USBL) acoustic positioning system, with application to underwater vehicles. The range and range differences of arrival obtained with the LBL/USBL are directly embedded in the estimator dynamics, without any linearization whatsoever, and globally exponentially stable (GES) error dynamics are achieved. Simulation results evidence good performance of the proposed solution.

关键词： Observers Vehicles Acoustics Vehicle dynamics Vectors Magnetometers

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Big Data: Prospects and Challenges

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Vikalpa 2015年第1期40卷 74 - 96页

作者： Janakiraman Moorthy Rangin Lahiri Neelanjan Biswas Dipyaman Sanyal Jayanthi Ranjan Krishnadas Nanath Pulak Ghosh (Coordinator) Director and Professor of Marketing at the Institute of Management Technology Dubai. Earlier he was Professor of Marketing at the IIM Calcutta and IIM Lucknow. He received his PhD from IIM Ahmedabad. His recent research papers were published in the leading scholarly ournals such as Marketing Science British Food Journal Journal of Information Technology Case and Application Research Journal of Database Marketing & Customer Strategy Management. He has wide experience in the banking and investment industry. He was earlier the Global Research and Project Director of the Institute for Customer Relationship Management Atlanta USA. He was the Convener of the prestigious CAT Exam 2011. e-mail: Practice Director leading Atos India's CRM practice while supporting Strategic Business Development for North American Market. With an experience of more than 15 years Rangin has worked extensively as a Business Consultant in Information Technology (Sales Automation Marketing & Service Management area) Customer Data Management and CRM Analytics. e-mail: Business Consultant at Atos with extensive experience in Business Analysis Risk Management Analytics Business Development Presales Solution Ideation on Enterprise Data Management Enterprise Reference Data and Master Data Management area. e-mail: founder and CEO of dono consulting a boutique quantitative analytics and investment research firm. He has worked for leading financial firms in New York and India including Dow Jones Blackstone Sorin Capital (VP Quantitative Modeling) and Thomson Reuters (Head of Real Estate Analytics). A CFA charter holder and Commonwealth Scholar Deep has an MS (Applied Economics) from University of Texas Dallas and an MA (Economics) from Jadavpur University e-mail: Professor in the Information Systems Group of the Institute of Management Technology Ghaziabad. Her PhD is in the field of data mining from Jamia Millia Islamia Central University India. She has published five edited books. She is serving on the editorial b

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Sensor-based Globally Asymptotically Stable Range-Only Simultaneous Localization and Mapping

Sensor-based Globally Asymptotically Stable Range-Only Simul...

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IEEE Annual Conference on Decision and Control

作者： Pedro Lourenco Pedro Batista Paulo Oliveira Carlos Silvestre C. L. Philip Chen Institute for Systems and Robotics Instituto Superior Tecnico Universidade de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau

ISBN: (纸本)9781467357159

关键词： design analysis simultaneous localization and mapping Kalman filters asymptotic Observability realistic simulation dynamics Sensor systems gas filters

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Optical position stabilization of an UAV for autonomous landing 7

Optical position stabilization of an UAV for autonomous land...

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7th German Conference on robotics, ROBOTIK 2012

作者： Ax, Markus Thamke, Stefan Kuhnert, Lars Schlemper, Jens Kuhnert, Klaus-Dieter University of Siegen Fak. IV - Electrical Engineering and Computer Science Institute for Real-Time Learning Systems Germany

Vertical Take-Off and Landing (VTOL) capable Mini Unmanned Aerial Vehicles (MUAV) are an economic alternative to real helicopters if local aerial pictures or other aerial measurements are needed. With electronic stabilization, GPS based position-hold and autonomous way-point functions these systems are easy to operate. While autonomous take off and flying are done routinely, this is not true for autonomous landing. GPS based position stabilization, in conjunction with the normally used cheap and small IMUs, is not accurate enough to avoid dangerous moves in the very last moment of the landing operation. While sufficient for an emergency landing this is not suitable as routine operation. In this paper a solution is presented which uses optical flow techniques for position stabilization in the moment just before the touch down to avoid the inaccuracies from the GPS at this critical moment. © 7th German Conference on robotics, ROBOTIK 2012

关键词： Stabilization

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