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IEEE Instrumentation and Measurement Technology Conference

作者： E.J. Manders G. Biswas P.J. Mosterman L. Barford V. Ram J. Barnett Center for Intelligent System Vanderbilt University Nashville TN USA Institute of Robotics and System Dynamics DLR Germany Hewlett Packard Laboratories Palo Alto CA USA

This paper discusses our method for monitoring and diagnosis of dynamic systems. A key aspect in our approach is the interaction between a qualitative diagnosis engine that requires symbolic input data and a monitoring component that performs a signal to symbol transformation on the observed signals. We have applied the methodology to the cooling system of an automobile engine on which we have installed thermocouples and pressure sensors. Faults can be introduced into the cooling system in a controlled manner. We show that a combination of linear approximation techniques and statistical signal processing can provide robust symbolic signal values for the diagnosis algorithm.

关键词： Monitoring Cooling Engines Signal processing algorithms Vehicle dynamics Automobiles Sensor systems Thermal sensors Temperature control Control systems

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Feature-based visual servoing and its application to telerobotics

Feature-based visual servoing and its application to telerob...

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1994 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1994

作者： Hager, Gregory D. Grunwald, Gerhard Hirzinger, Gerd Department of Computer Science Yale Station Yale University P.O. Box 208285 New HavenCT06520-8285 United States DLR German Aerospace Research Establishment Institute of Robotics and System Dynamics Miinchenerstr. 20 OberpfaffenhofenD-82234 Germany

ISBN: (纸本)0780319338

Recent advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space, teleoperation system. © 1994 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Visual servoing

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On the Popov envelope of the interval trransfer nuictions

On the Popov envelope of the interval trransfer nuictions

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SICE Annual Conference

作者： Long Wang Institute for Robotics and System Dynamics German Aerospace Research Establishment (DLR) Wessling Germany Department of Mechanics Peking University Beijing China

For the collection of Popov plots of interval trans fer function family, a large portion of its outer bo undary comes from the sixteen Kharitonov transfer functions

关键词： Transfer functions Polynomials Uncertainty Stability Control system synthesis Control systems Power system modeling Robustness Adaptive control Robust control

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Worst case braking trajectories for robotic motion simulators

Worst case braking trajectories for robotic motion simulator...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Andreas Labusch Tobias Bellmann Karan Sharma Johann Bals German Aerospace Center (DLR) Institute of System Dynamics and Control Oberpfaffenhofen Germany German Aerospace Center (DLR) Institute of Robotics and Mechatronics Oberpfaffenhofen Germany

Motion simulators based on industrial robots can produce high dynamic accelerations and velocities compared to classical hydraulic hexapod systems. In case of emergency stops, large and possibly harmful accelerations can occur. This paper aims to provide an optimization procedure to generate worst case trajectories in order to test for these harmful accelerations, by maximizing the kinetic energy prior the emergency stop. The dynamical and mechanical limits of the robot are considered as constraints of the optimization criterion. An exemplary worst case trajectory is simulated using a braking model and the resulting Head Injury Criterion (HIC) is calculated and compared with older tests, using non-optimized trajectories. A significant higher, yet with the current robot dynamics not harmful HIC value can be generated.

关键词： Trajectory Acceleration Joints Kinetic energy Service robots Optimization

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Robust controller for multiplicative uncertainty: the time-varying discrete case

Robust controller for multiplicative uncertainty: the time-v...

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American Control Conference (ACC)

作者： V. Ionescu C. Oara Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany

The robust stabilization problem for time-varying discrete linear systems subject to multiplicative uncertainties is considered. An evaluation of the stability margin and explicit formulae for the robust controller ar... 详细信息

关键词： Robust control Uncertainty Computer aided software engineering Automatic control Time varying systems Linear systems Robust stability Riccati equations Robustness Linear matrix inequalities

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Fast planning of precision grasps for three-dimensional objects

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Advanced robotics 1997年第5期12卷 535-549页

作者： Fischer, Max Hirzinger, Gerd German Aerospace Center (DLR) Institute of Robotics and System Dynamics Wessling 82230 PO Box 1116 Germany

—In the near future, more and more robots will be used for servicing tasks, tasks in hazardous environments or space applications. Dextrous hands are a powerful and flexible tool to interact with these real world environments that are not specially tailored for robots. In orderto grasp and manipulate real world objects, grasp planning systems are required. Grasp planning for general three-dimensional (3-D) objects is quite a complex problem requiring a large amount of computing time. Fast algorithms are required to integrate grasp planners in online planning systemsfor robots. This paper presents a heuristic approach towards fast planning of precision grasps for realistic, arbitrarily shaped 3-D objects. In this approach a number of feasible grasp candidates are generated heuristically. These grasp candidates are qualified using an efficiently computablegrasp quality measure and the best candidate is chosen. It is shown that only a relatively small number of grasp candidates has to be generated in order to obtain a good — although not optimal — grasp. In Sections I and 2 an introduction to the problem field is given and the DLRHand is presented. Section 3 describes the grasp quality measure used. In Sections 4 and 5 the planning strategy is presented, i.e. how to generate and test grasp candidates. The paper closes with some results (Section 6) and an outlook (Section 7). © VSP and robotics Society of Japan 1997.

关键词： Grasp planning Online planner Planning heuristics Precision grasp

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Object Recognition in Forward Looking Sonar Images using Transfer Learning

Object Recognition in Forward Looking Sonar Images using Tra...

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Symposium on Autonomous Underwater Vehicle Technology (AUV)

作者： Louise Rixon Fuchs Andreas Gällström John Folkesson Robotics Perception and Learning RPL KTH - Royal Institute of Technology Stockholm Sweden Sonar System Design Saab Dynamics Linköping Sweden

ISBN: (纸本)9781728102542

Forward Looking Sonars (FLS) are a typical choice of sonar for autonomous underwater vehicles. They are most often the main sensor for obstacle avoidance and can be used for monitoring, homing, following and docking as well. Those tasks require discrimination between noise and various classes of objects in the sonar images. Robust recognition of sonar data still remains a problem, but if solved it would enable more autonomy for underwater vehicles providing more reliable information about the surroundings to aid decision making. Recent advances in image recognition using Deep Learning methods have been rapid. While image recognition with Deep Learning is known to require large amounts of labeled data, there are data-efficient learning methods using generic features learned by a network pre-trained on data from a different domain. This enables us to work with much smaller domain-specific datasets, making the method interesting to explore for sonar object recognition with limited amounts of training data. We have developed a Convolutional Neural Network (CNN) based classifier for FLS-images and compared its performance to classification using classical methods and hand-crafted features.

关键词： Feature extraction Object recognition Synthetic aperture sonar Image segmentation Task analysis Image recognition

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Field-weakening operation of cylindrical permanent-magnet motors

Field-weakening operation of cylindrical permanent-magnet mo...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Jingxin Shi Yu-Sheng Lu Institute for Robotics and System Dynamics German Aerospace Wessling Germany Department of Power Mechanical Engineering National Tsing Hua University Hsinchu Taiwan

ISBN: (纸本)0780329759

For cylindrical permanent-magnet motors in the operation of field-weakening mode, this paper presents the way to develop maximum torque-outputs under the constraints of terminal voltages and armature currents. As compared with the conventional method of constant power operation, this design promotes the available torque-output and fully utilizes the potential of a motor drive, thus reducing the weight and size of a motor drive required to fulfil certain performance specifications. The minimum travelling time to reach a speed command by this design is also formulated so that it can be checked if the hardware capacity of a motor drive is intrinsically enough for specific performance requirements. Besides the promotion of available torque-outputs, another benefit of using this design is to extend the range of reachable speeds, which is important in the applications utilizing mechanical transmissions with high gear ratios.

关键词： Permanent magnet motors Synchronous motors Torque Voltage Motor drives Gears Robot motion Inverters Orbital robotics Servomotors

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An extension of Redheffer's theorem for time-varying systems

An extension of Redheffer's theorem for time-varying systems

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American Control Conference (ACC)

作者： V. Ionescu C. Oara Faculty of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania DLR-O berpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

It is well known that the Redheffer theorem is a key tool in the technical machinery of the H/sub /spl infin// theory. The time-varying version of this theorem has been considered first in Ravi et al. (1991). In the present paper we generalise Redheffer's theorem for time-varying systems by considering relaxed assumptions. More precisely, the exponential stability assumption is relaxed to that of exponential dichotomy while the stability and detectability conditions imposed on the closed loop system are removed.

关键词： Time varying systems Stability Automatic control Machinery Closed loop systems Hilbert space Orbital robotics Equations

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Hybrid Automata for Modeling Discrete Transitions in Complex Dynamic systems

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IFAC Proceedings Volumes 1998年第29期31卷 43-48页

作者： Pieter J. Mosterman Gautam Biswas Institute of Robotics and System Dynamics DLR Oberpfaffenhofen D-82230 Wessling. Germany. Knowledge Systems Laboratory Stanford University Stanford CA 94305. U.S.A.

Hybrid system models combine continuous behavior evolution with discrete mode transitions. These transitions may cause discontinuous changes in the field that defines continuous system behavior and the variable values associated with the continuous state vector. In reality, these discontinuous changes are fast continuous transients. To simplify the analysis of these transients time scale and parameter abstractions are applied to system models with very different impacts on the analysis of system behavior. We have developed a systematic modeling approach based on hybrid automata which combines a priori and a posteriori switching values to formally implement switching semantics associated with the abstraction events.

关键词： hybrid systems compositional modeling modeling abstractions

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