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作者： Kondak, Konstantin Bernard, Markus Losse, Nikolas Hommel, Günter Technische Universität Berlin Faculty of Electrical Engineering and Computer Science Real-Time Systems and Robotics Einsteinufer 17/EN10 10587 Berlin

A mathematical model and control for autonomous small size helicopters were analyzed, which were equipped with different sensors, and can be used in many practical applications. Based on the derived model, a control for the basic helicopter and one for the helicopter with heavy or bulky load rigidly attached to the fuselage are designed and tested in laboratory flight experiments. The main rotor was modeled as a separate rigid body as a result of the contribution estimation. The demonstration of good match between model and flight experiment dynamics were analyzed. A controller was designed, and its good performance was demonstrated by using the derived model.

关键词： Helicopters

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Automated computer-Aided Layout Planning for Robot Workcells

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IFAC Proceedings Volumes 1992年第7期25卷 473-478页

作者： T.C. Lueth Institute for Real-Time Computer Systems and Robotics Faculty for Computer Science University of Karlsruhe Postfach 69 80 W-7500 Karlsruhe 1 Germany

This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a sufficient shop floor layout in a short time, the cartesian configuration space and fast obstacle transformation routines are employed. An optimization algorithm minimizes the length of all collision free paths required for the performance of the workcell task. A final check by a graphical workcell task simulation, whether the layout is valid or not, is no longer required. This new planning approach enhances the conventional layout planning process and reduces the amount of necessary user interaction.

关键词： computer-aided planning workcell design layout planning collision-free path-planning cartesian configuration-space

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A low-cost device-based data approach to Eight Hop Test

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Procedia computer science 2025年 256卷 1135-1142页

作者： Luís Pimenta Paulo Jorge Coelho Norberto Jorge Gonçalves José Paulo Lousado Carlos Albuquerque Nuno M. Garcia Eftim Zdravevski Petre Lameski Ivan Miguel Pires Escola de Ciências e Tecnologia University of Trás-os-Montes e Alto Douro Vila Real Portugal Polytechnic University of Leiria Leiria Portugal Institute for Systems Engineering and Computers at Coimbra (INESC Coimbra) Coimbra Portugal Research Centre in Digital Services (CISeD) Polytechnic Institute of Viseu Portugal Health Sciences Research Unit: Nursing (UICISA: E) Nursing School of Coimbra (ESEnfC) Coimbra Portugal Higher School of Health Polytechnic Institute of Viseu Viseu Portugal Child Studies Research Center (CIEC) University of Minho Braga Portugal Institute of Biophysics and Biomedical Engineering (IBEB) Faculty of Sciences University of Lisbon Lisbon Portugal Faculty of Computer Science and Engineering University Ss Cyril and Methodius Skopje Macedonia Instituto de Telecomunicações Escola Superior de Tecnologia e Gestão de Águeda Universidade de Aveiro Águeda Portugal

The Eight Hop Test is a physical rehabilitation exercise involving jumping with one leg in a circuit similar to the number eight. This study aims to analyze data related to the performance of the test, relating it to gender and pathologies in the population. A mobile application was implemented to acquire accelerometer data, which was then analyzed using various artificial intelligence methods. The study found reliable accuracy in identifying participants’ gender (60%) and specific pathologies (50%), suggesting that mobile sensors can effectively support medical evaluations. Neural Network showed the highest accuracy for multivariate data, while the k-Nearest Neighbor was most effective for binary classifications. The mobile device-based method helps healthcare professionals measure physical strength evolution in lower limb injuries and predicts pathologies with near-100% accuracy using machine learning methods. Future research will explore more individuals and data to improve healthcare treatments and explore new techniques and analyses.

关键词： Eight Hop Test machine learning accelerometer diseases gender

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Control and simulation of an autonomously flying model helicopter *

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IFAC Proceedings Volumes 2004年第8期37卷 627-632页

作者： Carsten Deeg Marek Musial Günter Hommel Technische universität berlin faculty of electrical engineering and computer science real-time systems and robotics group

MARVIN is a model-helicopter based flying robot, which is able to operate completely autonomously. It has been designed to fulfill the demands of the International Aerial robotics Competition (IARC) Millennial Event 1998-2000. To improve the flight behavior, a mathematical model of the flight characteristics has been developed, which is used for simulation. The flight control algorithm is based on a hierarchy of PID controllers. The results of simulation and real flight experiments show similar behavior in many points but also that not all effects are taken into account, yet.

关键词： Helicopter control helicopter dynamics autonomous mobile robots

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Hybrid control strategy for the autonomous transition flight of a fixed-wing aircraft

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IEEE Transactions on Control systems Technology 2013年第6期21卷 2194-2211页

作者： Casau, Pedro Cabecinhas, David Silvestre, Carlos Department of Electrical Engineering and Computer Science Institute for Robotics and Systems in Engineering and Science Universidade Técnica de Lisboa Lisbon 1049-001 Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau 999078 China

This paper develops a hybrid control strategy that provides autonomous transition between hovered and leveled flights to a model-scale fixed-wing aircraft. The aircraft's closed-loop dynamics are described by means of a hybrid automaton with the hover, transition, level, and recovery operating modes, each one corresponding to a different region of the flight envelope. Linear parameter varying control techniques are employed in hover and level, providing robust local stabilization, and a nonlinear locally input-to-state stable controller provides practical reference tracking to the transition operating mode. These controllers, together with an appropriate choice of reference maneuvers, ensure that a transition from hovered flight to level flight, or vice versa, is achieved. Whenever the aircraft state reaches unexpected values, the recovery controller is triggered in order to drive the aircraft toward stable hovered flight, providing a chance to retry the transition maneuver. The controllers' performance and robustness is assessed within a realistic simulation environment in the presence of sensor noise. © 2013 IEEE.

关键词： Fixed wings

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Communication system for cooperative mobile robots using ad-hoc networks

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IFAC Proceedings Volumes 2004年第8期37卷 998-1003页

作者： Volker Remuß Marek Musial Technische Universität Berlin Faculty of Electrical Engineering and Computer Science Real-Time Systems and Robotics Group

This paper presents a distributed, master-less communication system currently used for communication in a fleet of heterogeneous unmanned aerial vehicles in the European project COMETS for wired and wireless links. Communication is realized using distributed shared memory (DSM) where each network node is holding full or part of the DSM. The coherency of the DSM is kept by a real-time aware protocol that provides quality of service guarantee and dynamic routing. Furthermore, an experiment is presented using the communication system on a wireless ad-hoc network.

关键词： communication systems communication networks communication protocols mobile robots autonomous mobile robots network reliability network topologies embedded systems scheduling algorithms

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Simulation of Vision in Robot Applications

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IFAC Proceedings Volumes 1988年第16期21卷 499-504页

作者： J. Raczkowsky K.H. Mittenbühler C. Fohler Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe 7500 Karlsruhe FRG

This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Many parameters of the physical model may be adjusted to obtain simulation results close to reality. For processing of the picture data the SPIDER program is added to the simulation of the camera. Though a complete vision system is created. An example shows the simulation of a CCD-camera and a scene with workpieces taken from the ‘European Benchmark’ [COL85].

关键词： Sensors simulation robotics vision CAD modeling picture processing

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A fuzzy control approach for executing subgoal guided motion of a mobile robot in a partially-known environment

A fuzzy control approach for executing subgoal guided motion...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Zhang P. Bohner Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Germany

A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the static environment, a tangent-graph is first constructed and a sequence of subgoals is generated for guiding the global path direction. During the execution of these subgoals, a motion executor using the concept of fuzzy control evaluates the sensor data and the robot current status, and adjusts the moving speed and direction of the robot.< >

关键词： Fuzzy control Mobile robots Robot sensing systems Path planning Control systems Humans Motion control Robot control Roads Robot motion

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Design of a fuzzy controller for optimal execution of subgoal-guided robot motions

Design of a fuzzy controller for optimal execution of subgoa...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jianwei Zhang A. Herp Inst. for Real-Time Computer Systems and Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

In this paper, an approach is presented for designing a robot controller to integrate path planning and motion execution. Instead of following an exactly planned geometric path, which cannot be easily modified to deal with uncertainties, a robot realizes its motion under the guidance of a sequence of grossly selected crucial points called subgoals. A fuzzy model is used for on-line controlling the robot to pass through the subgoals smoothly. With the help of heuristics for optimal motion control, the rule base can be developed. Such a concept provides a control method in real time as well as a possibility of integrating sensor data for the subgoal-guided motion.< >

关键词： Fuzzy control Optimal control Motion control Path planning Orbital robotics Robot sensing systems Motion planning Collision avoidance Solid modeling Control systems

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Aspects of controlling a multifingered gripper

Aspects of controlling a multifingered gripper

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International Conference on Knowledge-Based Intelligent Electronic systems (KES)

作者： T. Doersam T. Fischer Department of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. Some simple linear and nonlinear controllers for the Karlsruhe Dexterous Hand are presented and the results and advantages of the controllers are shown. Also, a new adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning the membership functions. Finally, a short glance at the hardware platform is taken in order to show the control system architecture.

关键词： Grippers Friction Control systems Force control Fuzzy control Force measurement computer science real time systems Robot control Programmable control

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