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IEEE Symposium on Intelligent Vehicle

作者： Alexander Schaub Darius Burschka Institute of System Dynamics and Control at the Robotics and Mechatronics Center German Aerospace Center Wessling Germany Department of Computer Science Technische Universität München Garching bei Munchen Germany

ISBN: (纸本)9781467327534

This paper presents a novel approach for reactive obstacle avoidance for static and dynamic objects using monocular image sequences. A sparse motion field is calculated by tracking point features using the Kanade-Lucas-Tomasi method. The rotational component of this sparse optical flow due to ego motion of the camera is compensated using motion parameters estimated directly from the images. A robust method for detection of static and dynamic objects in the scene is applied to identify collision candidates. The approach operates entirely in the image space of a monocular camera and does not require any extrinsic information about the configuration of the sensor or speed of the camera. The system prioritizes the detected collision candidates by their time to collision. Additionally, the spatial distribution of the candidates is calculated for non-degenerated conditions. We present the mathematical framework and the experimental validation of the suggested approach on simulated and real-world data.

关键词： Cameras Optical imaging Vectors Robot sensing systems Optical sensors Adaptive optics Collision avoidance

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An ACSL-model translator to the neutral Fortran DSblock-model format

An ACSL-model translator to the neutral Fortran DSblock-mode...

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

作者： G. Grubel M. Otter F. Breitenecker A. Prinz G. Schuster I. Bausch-Gall H. Fischer Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Simulation Engineering Group Institute for Technical Mathematics Vienna Technical University Vienna Austria Bausch-Gall GmbH Karlsruhe Germany

One problem in multidisciplinary simulation is to merge models which originate in different disciplinary environments into a common computer-executable model for computational experimenting. The paper reports on a possible solution thereof. This is based on a public-domain, application-neutral, formally defined Fortran or C format for dynamic input/output systems, called DSblock, to which "higher level" models can be translated. In particular, it is reported on A-CoSiLa, an ACSL model translator to the neutral DSblock format.< >

关键词： Object oriented modeling Computational modeling Computer simulation Runtime Design engineering Robots Electronic mail Mathematical model Physics computing Temperature control

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Near-field source localization with partly sensor gain and phase uncertainties

Near-field source localization with partly sensor gain and p...

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IEEE Workshop on Signal Processing Advances in Wireless Communications (SPAWC)

作者： Weiliang Zuo Jingmin Xin Guangmin Wang Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China State Key Laboratory of Astronautic Dynamics Xi'an China Department of System Design Engineering Keio Univerity Yokohama Japan

In this paper, we consider the source localization for the multiple near-field narrowband signals impinging on a uniform linear array (ULA) with partly gain and phase uncertainties. By dividing the ULA into two overlapped symmetric subarrays and assuming that they have partly unknown gain and phase responses but correspondingly identical, a new modified generalized ESPRIT based method is presented, in which the direction of arrival (DOA) and range are estimated separately. Moreover, we prove that the proposed method is equivalent to the spectral Fresnel-region rank reduction (FR-RARE) [15] method, but more computationally efficient than it. The simulations demonstrate the effectiveness of the proposed method.

关键词： Direction-of-arrival estimation Arrays Estimation Conferences Signal to noise ratio Vectors

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Structural invariants of generalized state space systems

Structural invariants of generalized state space systems

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American Control Conference (ACC)

作者： P. Misra P. Van Dooren A. Varga Electrical Engineering Wright State University Dayton OH USA Coordinated Science Labs University of Illinois Urbana-Champaign IL USA DLR-Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

In this paper, we present a state space characterization of the transmission zeros of singular linear multivariable systems that is analogous to that of standard systems. We study the structural invariants of a generalized state space model described by the matrix 5-tuple (E, A, B, C, D), where E may be a singular matrix but det(A-/spl lambda/E)/spl ne/0. The characterization of these zeros is based on the system matrix of the corresponding 5-tuple and is an extension of equivalent results for state space models described by the 4-tuples (A, B, C, D).

关键词： State-space methods Polynomials Matrix decomposition MIMO Transfer functions Design methodology H infinity control Control system synthesis

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Development of Semi-Active Truck Suspension

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IFAC Proceedings Volumes 1997年第8期30卷 467-472页

作者： M. Valasek M. Babic Z. Sika L. Magdolen Department of Mechanics Faculty of Mechanical Engineering Czech Technical University in Prague CZ Institute for Robotics and System Dynamics German Aerospace Research Establishment DLR Wessling FRG Department of Technical Mechanics Faculty of Mechanical Engineering Slovak Technical University Bradslava SK

Within the EC project Copernicus SADTS (Semi-Active Damping of Truck’s Suspension and Its Influence on Driver and Road Loads) the semi-active suspension for Liaz truck prototype is being developed. The objective is to decrease the dynamic road-tyre forces in order to reduce the road damage. It was necessary to develop a suitable truck prototype, its simulation model, different control concepts and to implement the semi-active suspension. The paper describes the development stages and the so far achieved results. The full mathematical model was the basis for simplified models for control designs and served as a reference model for comparison of different control concepts. The spatial three dimensional simulation model has been developed and verified. The base model includes also the reference inputs of excitation and the different criteria for performance evaluation. The purpose of the model was to investigate the vertical dynamics though with the influence of antisymmetry of uneveness and lateral motion. A number of different control concepts have been considered. Possible suitable control concepts have been selected from existing classical as well as advanced control design methods. Also several within this project newly developed approaches have been added. There have been considered the control concepts of simple approaches (sky hook), classical approaches (LQR), multi-objective multi-parameter optimization (ΜΟΡΟ), fuzzy and neural networks, robust control design. The newly developed control concepts are ground-hook and combination sky/ground-hook, robust multi-objective optimization based on Taguchi approach, fuzzy control based on optimization, structural approach (separate control of frame and cabine suspension). The performance criteria for evaluation have been road forces, driver’s seat and load accelerations, robustness against change of parameters. The comparison has been done on the simulation model in SIMPACK program package connected with MAT-LAB/SIMULI

关键词： semi-active damping road-tyre force truck road friendliness

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An automatic procedure for force controller design

An automatic procedure for force controller design

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： C. Natale R. Koeppe G. Hirzinger Prisma Laboratory Dipartimento di Inforniatica e Sistemistica Università degli Studi di Napoli Federico II Napoli Italy Institute of Robotics and System Dynamics German Aerospace Center DLR Wessling Germany

In this paper the problem of designing a force controller for industrial robots with a positional interface is addressed. An automatic design procedure to compute the structure and the parameters of the controller is devised, to provide a useful tool for rapid and robust setup of force control at industrial level. The synthesis of the force controller simply requires technology parameters provided by the robot manufacturer and a desired performance expressed in non-technical way by the user, typically a technician. The automated design algorithm will be described in detail and its effectiveness will be demonstrated on an industrial robot.

关键词： Force control Automatic control Service robots robotics and automation Industrial control Manufacturing industries Robot control Robust control Computer industry Algorithm design and analysis

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control Control design Design engineering Robot kinematics

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A COMPUTATIONALLY EFFICIENT SOURCE LOCALIZATION METHOD FOR A MIXTURE OF NEAR-FIELD AND FAR-FIELD NARROWBAND SIGNALS

A COMPUTATIONALLY EFFICIENT SOURCE LOCALIZATION METHOD FOR A...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Weiliang Zuo Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781479928941

In this paper, we consider the source localization for a mixed near-field (NF) and far-field (FF) narrowband signals impinging on a uniform linear array (ULA) with the symmetrical geometric configuration. A computationally efficient direction-of-arrivals (DOAs) and range estimation method for the mixed NF and FF signals is proposed, where the DOAs of the NF and FF signals are estimated separately, and the computationally burdensome eigendecomposition is avoided. Comparing to some existent methods, the proposed method can separate the NF signals from the FF signals more efficiently, and consequently the estimation performance is improved. The effectiveness of the proposed method is verified though numerical examples.

关键词： signals Narrowband near-field Position measurement network file system uniform linear arrays United States Department of Agriculture Logic arrays

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Hierarchical Control of a Quadcopter under Stuck Actuator Fault

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IFAC-PapersOnLine 2020年第2期53卷 4258-4263页

作者： Ngoc Thinh Nguyen Ionela Prodan Felix Petzke Stefan Streif Laurent Lefèvre Univ. of Luebeck Institute for Robotics and Cognitive Systems 23562 Luebeck Germany Univ. Grenoble Alpes Grenoble INP Institute of Engineering and Management Univ. Grenoble Alpes. LCIS Valence France Technische Universität Chemnitz Automatic Control and System Dynamics (ACSD) Lab 09107 Chemnitz Germany

We propose a hierarchical FTC (Fault Tolerant Control) scheme for trajectory tracking by a quadcopter system under stuck actuator fault and actuator saturation. Both the FDI (Fault Detection and Isolation) and control reconfiguration modules are implemented at the low-level associated with the rotation dynamics through a NMPC (Nonlinear Model Predictive Control) strategy. The uncontrolled (when under fault) yaw torque is predicted and compensated by the NMPC. It is shown that the overall control scheme succeeds in maintaining trajectory tracking for various fault events (both in the sense of having various stuck values and in the sense of changing the actuator under fault).

关键词： FTC Stuck actuator fault Trajectory tracking Hierarchical control Feedback linearization NMPC Quadcopter

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Gearbox Ripple Rejection of Robots Using Observer and Adaptive Control Theory

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IFAC Proceedings Volumes 2011年第1期44卷 893-898页

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Muenchner Str. 20 Department of Electrical and Computer Engineering University of Utah 50 S Central Campus Dr. Salt Lake City UT 84112 USA

Abstract Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gearbox ripple problem is more complicated to be solved with control theory because only motor side sensors should be used. Due to the internal model principle gearbox side information is necessary to solve the problem. The first algorithm uses an observer to get gearbox side information where the second algorithm uses a gearbox side rate sensor. The algorithms are tested with a nonlinear SISO problem and with a nonlinear MIMO system. In both cases the ripples are canceled with an adaptive controller which estimates the phase and magnitude of the ripple. This adaptive controller is designed separately and is added to the existing basis controller. The algorithms are tested in simulation and on a testbed, which is an industrial application.

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