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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Fischer P. van der Smagt G. Hirzinger Institute of Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany

We present a setup to control a four-finger anthropomorphic robot hand using a dataglove. To be able to accurately use the dataglove we implemented a nonlinear learning calibration using a novel neural network technique. Experiments show that a resulting positioning error not exceeding 1.8 mm, but typically 0.5 mm, per finger can be obtained; this accuracy is sufficiently precise for grasping tasks. Based on the dataglove calibration we present a solution for the mapping of human and artificial hand workspaces that enables an operator to intuitively and easily telemanipulate objects with the artificial hand.

关键词： Data gloves Fingers Calibration Humans Robots Artificial neural networks Switches Aerodynamics Ear Grasping

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Visual programming in ANDECS for controlled systems design experimenting

Visual programming in ANDECS for controlled systems design e...

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IEEE International Symposium on Computer Aided Control system Design (CACSD)

作者： R. Finsterwalder G. Grubel Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

Computer-aided design of 'well-balanced' dynamic systems is an iterative search process which requires multi-models/multi-criteria experimenting by means of appropriate computational chains and loops. Visual programming is the way to set up or to modify such an experimentation environment from reusable computational modules, and to monitor its functioning. As realized in the control-engineering software environment ANDECS (Analysis and Design of Controlled systems), visual programming relies on data abstraction in form of control data objects, and on tool abstraction to compose a software system from separate function modules which do not communicate among each other directly but via a suited database system only. In particular, this kind of visual programming yields a direct view on those parts of a modular computational set-up which can be automatically parallelized by the PVM (parallel virtual machine) software.< >

关键词： Control systems Functional programming Design automation Computerized monitoring Communication system software Software tools Software systems Database systems Automatic programming Parallel programming

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Real-time pose estimation of 3D objects from camera images using neural networks

Real-time pose estimation of 3D objects from camera images u...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Wunsch S. Winkler G. Hirzinger Institute for Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany

This paper deals with the problem of obtaining a rough estimate of three dimensional object position and orientation from a single two dimensional camera image. Such an estimate is required by most 3-D to 2-D registration and tracking methods that can efficiently refine an initial value by numerical optimization to precisely recover 3-D pose. However the analytic computation of an initial pose guess requires the solution of an extremely complex correspondence problem that is due to the large number of topologically distinct aspects that arise when a three dimensional opaque object is imaged by a camera. Hence general analytic methods fail to achieve real-time performance and most tracking and registration systems are initialized interactively or by ad hoc heuristics. To overcome these limitations we present a novel method for approximate object pose estimation that is based on a neural net and that can easily be implemented in real-time. A modification of Kohonen's self-organizing feature map is systematically trained with computer generated object views such that it responds to a preprocessed image with one or more sets of object orientation parameters. The key idea proposed here is to choose network topology in accordance with the representation of 3-D orientation. Experimental results from both simulated and real images demonstrate that a pose estimate within the accuracy requirements can be found in more than 81% of all cases. The current implementation operates at 10 Hz on real world images.

关键词： Cameras Neural networks Robot vision systems Failure analysis Yield estimation Aerodynamics Electronic mail Optimization methods Image analysis Real time systems

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The ANDECS Design Environment for Control Engineering

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IFAC Proceedings Volumes 1993年第2期26卷 789-796页

作者： G. Grübel H.-D. Joos M. Otter R. Finsterwalder DLR - German Aerospace Research Establishment Control Design Engineering Institute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany

ANDECS belongs to the new generation of open CAE systems for computational experimenting in controlled dynamic systems simulation, analysis, and multi-objective optimization. Strict databased function modularization with neutral object-oriented data- and model interfaces allows a flexible configuration of application programs. This modularity also guarantees side-effect free functional extensions by an application programmer. Module operation can be switched any time from interactive line commands to an X-Window graphical user interface. Via macro scripts stored on database, module sequences can be operated in batch mode with automatic parameter incrementation. Function modules are available for basic mathematical methods, control methods, simulation, parameter- and trajectory optimization, and interactive visualization for result- and algorithm animation.

关键词： Computer-Aided Control Engineering Computational Experimenting Databased Simulation Engineering Database

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Mobile robots in complex environments: a three-layered hierarchical path control system

Mobile robots in complex environments: a three-layered hiera...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems (IROS'94)

作者： J. Guldner V.I. Utkin R. Bauer Institute for Robotics and System Dynamics DLR German Aerospace Research Establishment (DLR) Germany Institute for Robotics and System Dynamics DLR German Aerospace Research Establishment (DLR) Wessling Germany Siemens AG Munchen Germany

Autonomous navigation in unknown cluttered environments is one of the corner-stones of future applications of mobile robots. The complexity even of seemingly simple problems like point-to-point travel, to be solved in real-time, calls for a hierarchical system architecture. The authors present a three-layered path control system with three modules "global planning", "local navigation", and "collision avoidance". Each module is restricted to a subtask of limited competence and responsibility, allowing for on-line implementation within the associated time frame. Suitable module interaction provides the desired behavior of the overall system. This paper summarizes the main idea of each of the three modules. Experimental results with the Siemens mobile platform ROAMER illustrate the methodology and performance of the path control system in unprepared cluttered environments.< >

关键词： Mobile robots Control systems Navigation Collision avoidance Shape control Aerospace control Aerodynamics Tin Real time systems Hierarchical systems

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On periodic waves governed by the extended Korteweg-de Vries equation

On periodic waves governed by the extended Korteweg-de Vries...

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作者： Braun, Manfred Randrüüt, Merle Department of Mechanics and Robotics Institute of Mechatronics and System Dynamics University of Duisburg-Essen Lotharstraße 1 47057 Duisburg Germany Centre for Nonlinear Studies Institute of Cybernetics Tallinn University of Technology Akadeemia tee 21 12618 Tallinn Estonia

The evolution equation describing the propagation of one-dimensional waves in a microstructured material has the form of an extended Korteweg-de Vries equation, where the additional term reflects the influence of micrononlinearity. As shown by lanno and Engelbrecht (J. Phys. A: Math. Gen., 2005, 38, 5159-5172), solitary waves in a microstructured material become asymmetric if nonlinearities are taken into account in both macro- and microscale. The present paper generalizes previous results to periodic waves which, in the KdV case, have the form of cnoidal waves. It is shown that, due to the nonlinearity in microscale, these waves become inclined in the same manner as solitary waves, while the relations between the period, amplitude, and velocity are not affected.

关键词： Cnoidal waves Kdv equation Materials with microstructure Solitary waves

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Robust Control 1

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丛书名： Communications and Control Engineering

1000年

作者： Jürgen Ackermann Dieter Kaesbauer Wolfgang Sienel Reinhold Steinhauser Andrew Bartlett

ISBN: (数字)9781447133650

Many plants have large variations in operating conditions. To ensure smooth running it is essential to find a simple fixed gain controller that guarantees rapidly decaying and well-damped transients for all admissible operating conditions.;presents design tools, developed by the authors, for the solution of this design problem. Examples of simple and complex cases such as a crane, a flight control problem and the automatic and active four-wheel steering of a car illustrate the use of these tools. This book is intended for anyone who has taken an undergraduate course in feedback control systems and who seeks an advanced treatment of robust control with applications. Drawing on the resources and authoritative research of a leading aerospace institute, it will mainly be of interest to mechanical and electrical engineers in universities, institutes and industrial research centres.

关键词： Control, robotics, Mechatronics

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Enabling autonomous locomotion into sand - A mobile and modular drilling robot 47

Enabling autonomous locomotion into sand - A mobile and modu...

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47th International Symposium on robotics, ISR 2016

作者： Becker, Felix Börner, Simon Lichtenheldt, Roy Zimmermann, Klaus Technische Universität Ilmenau Technical Mechanics Group IlmenauPF 100565 D-98684 Germany Robotics and Mechatronics Center Institute of System Dynamics and Control Münchener Strasse 20 Wessling82234 Germany

ISBN: (纸本)9783800742318

Established robots for locomotion into sandy soil are dominated by hammering systems. In this paper, we study an alternative design using a screw-driven mechanism. A testbed to find an efficient design is developed. Dependencies between velocity, drilling torque and depth are measured for different screw prototypes. The results show that the design of the screw is critical for the creation of fast and efficient mobile robots. Based on the experimental results, a prototype of an autonomous drilling robot is designed. With a torque of 0.66 Nm it is able to reach a depth of 20 cm within 2 min. © 2016 VDE VERLAG GMBH Berlin Offenbach.

关键词： Mobile robots

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Integrated simulation models for high-altitude solar-powered aircraft

Integrated simulation models for high-altitude solar-powered...

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AIAA Modeling and Simulation Technologies Conference 2012

作者： Klöckner, Andreas Schlabe, Daniel Looye, Gertjan Münchner Straße 20 D-82234 Oberpfaffenhofen Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Münchner Straße 20 D-82234 Oberpfaffenhofen-Weßling Germany

ISBN: (数字)9781624101830

ISBN: (纸本)9781624101830

In recent years, there has been much research towards fixed-wing high-altitude solarpowered aircraft. Accurate knowledge about the behavior of the aircraft and its energy system is needed in order to plan and execute these aircrafts' missions. To this end, an integrated simulation model has been derived. It contains six-degrees-of-freedom flight dynamics, an energy system with solar cells, batteries, motors, and the effect of the environment on the solar radiation. A continuous day-and-night flight has been simulated and results are presented. The model represents all relevant effects for solar-powered aircraft including dynamic interaction between flight dynamics and energy system. The same model is used for pilot training and control design of the aircraft. © 2012 by Deutsches Zentrum für Luft- und Raumfahrt.

关键词： Flight dynamics

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A Novel Modelica Signal Analysis Tool towards Design of More Electric Aircraft

A Novel Modelica Signal Analysis Tool towards Design of More...

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2010 3rd IEEE International Conference on Computer Science and Information Technology—ICCSIT 2010

作者： J. Bals Deportment of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

The development of future more electric aircraft systems is a challenging process: The respective subsystems are highly integrated to achieve an optimum efficiency and performance both at aircraft and at systems level. For master this multi-disciplinary challenge, the use of powerful modeling and simulation technologies such as Modelica in all phases of the system development process is a key success factor. In this paper, a novel Modelica signal analysis tool-Modelica Scope that is suitable for the virtual testing activities in the verification and validation phase is presented. The Modelica Scope tool is implemented in the Modelica language incorporating diverse signal measurement and analysis capabilities and can be easily integrated in all simulation environments supporting Modelica such as Dymola, SimulationX etc. The motivation, design concept as well as implementation and distinct features of the tool are discussed and illustrated.

关键词： Signal analysis More Electric Aircraft

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