检索结果-内蒙古大学图书馆

IEEE Conference on Aerospace

作者： Stefan Barthelmes Fabian Buse Maxime Chalon Bastian Deutschmann Franz Hacker Roman Holderried Alexander Kolb Viktor Langofer André Fonseca Prince Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control German Aerospace Center (DLR) Institute of Robotics and Mechatronics

IDEFIX is a four-wheeled 25kg rover that is jointly developed and built by the French Centre National d’Études Spatiales (CNES) and the German Aerospace center (DLR). It will be brought to the Martian Moon Phobos by the Japan Aerospace Exploration Agency (JAXA) as part of the Martian Moons eXploration (MMX) mission in 2027. IDEFIX’s objectives are to scout the surface, demonstrate driving in milligravity and perform scientific measurements. To upright after landing on the surface, drive and align the rover to the sun, each wheel is mounted on a leg, which can be rotated full 360° in its respective shoulder joint. In previous publications, the development, flight design and qualification of the locomotion subsystem were *** the cruise phase there will be several health checks and – once landed on Phobos – the locomotion will be checked-out. To be able to analyze the health state quantitatively and parameterize the system properly, a good characterization of the system is important. The foundation of this characterization are tests and health-checks on the flight model (FM), as well as performance test results on the qualification model (QM). A selection of the post-processing and analysis of this measured data, that was done for the characterization of the Loco FM, is presented in this paper.

关键词：

来源：评论

学校读者我要写书评

暂无评论

The DLR Moon-Mars Test Site for Robotic Planetary Exploration

The DLR Moon-Mars Test Site for Robotic Planetary Exploratio...

引用

Space robotics (iSpaRo), International Conference on

作者： Martin Görner Jennifer Cebulsky Andreas Dömel Maximilian Durner Riccardo Giubilato Moritz Kuhne Marcus G. Müller Kristin Lakatos Peter Lehner Roy Lichtenheldt Bernhard Rebele Mattias Roser Ryo Sakagami Yunis Scheeler Martin J. Schuster Manuel Schütt Wolfgang Stürzl Mallikarjuna Vayugundla Armin Wedler Institute of Robotics and Mechatronics German Aerospace Center (DLR) BL9 Landscape Architects Munich Germany Institute of System Dynamics and Control German Aerospace Center (DLR)

ISBN: (数字)9798350367232

ISBN: (纸本)9798350367249

Building robots for planetary exploration missions requires intensive testing throughout all phases of the design process. Especially, during hard- and software development as well as mission training the process benefits of easy-to-access test sites that offer realistic conditions. For this purpose we have built the 1500 m 2 DLR Moon-Mars test site in Oberpfaffenhofen, Germany. The facility provides a large variety of geological formations and ground substrates on a compact terrain as well as a rich set of power and network connections. As a unique feature of the outdoor test site, we prepared a dedicated link to the German Space Operations center that enables telerobotic experiments from ISS. Furthermore, we provide an optical tracking system for ground truth measurement and control. We describe the design and construction process of the test site and present an overview of its features. Three experiments with our robots LRU1, LRU2 and the Scout rover regarding autonomous navigation and mapping, autonomous manipulation and sampling as well as advanced mobility tests demonstrate the usage of the test site.

关键词： Training Industries Service robots Space missions Optical variables measurement Optical fiber communication Robots Substrates Telerobotics Software development management

来源：评论

学校读者我要写书评

暂无评论

Qualification of the MMX Rover Locomotion Subsystem for the Martian Moon Phobos

Qualification of the MMX Rover Locomotion Subsystem for the ...

引用

IEEE Conference on Aerospace

作者： Stefan Barthelmes Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Günther Geyer Franz Hacker Cynthia Hofmann Roman Holderried Alexander Kolb Erich Krämer Viktor Langofer Roy Lichtenheldt Sascha Moser André Fonseca Prince Kaname Sasaki Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control Weßling German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling German Aerospace Center (DLR) Institute of Space Systems Bremen

Planetary rovers have proven their function and value for the Earth moon as well as Mars in the past decades. While these celestial bodies have a gravity of the same order of magnitude as the Earth, wheeled locomotion has never been performed on a body with much lower gravity. Within the Japanese Martian Moon eXploration (MMX) mission, a wheeled rover will land on the Martian Moon Phobos with a gravity of about 1/2000 of the Earth gravity. The Robotic and mechatronics center of the German Aerospace center (DLR-RMC) has designed and built the locomotion subsystem (LSS) for this rover. As the first ever driving gear for milli-gravity, the LSS needed to undergo a comprehensive qualification campaign. Due to the very challenging timeline of this project, the extent of the campaign needed to be carefully tailored to the needs of the mission. This work describes the concept of the verification including some crucial tailoring choices that have been made. The individual domains of verification are then described in detail with their scope, setup, procedure and results. The goal of this publication is to give a good overview and a detailed insight into the verification of the LSS for milli-gravity. Besides follow-up missions to Phobos, this work is also a good foundation for the qualification of future driving gears for low gravity environments or small rovers in general.

关键词： Earth Space vehicles Mars mechatronics Gears Moon Mobile robots

来源：评论

学校读者我要写书评

暂无评论

MMX Rover Locomotion Subsystem-Development and Testing towards the Flight Model

MMX Rover Locomotion Subsystem-Development and Testing towar...

引用

2022 IEEE Aerospace Conference, AERO 2022

作者： Barthelmes, Stefan Bahls, Thomas Bayer, Ralph Bertleff, Wieland Bihler, Markus Buse, Fabian Chalon, Maxime Hacker, Franz Holderried, Roman Langofer, Viktor Lichtenheldt, Roy Moser, Sascha Sasaki, Kaname Sedlmayr, Hans-Jurgen Skibbe, Juliane Stubbig, Leon Vodermayer, Bernhard Institute of System Dynamics and Control Munchener Str. 20 Weßling 82234 Germany Institute of Robotics and Mechatronics Munchener Str. 20 WeBling 82234 Germany Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany

ISBN: (纸本)9781665437608

Wheeled rovers have been successfully used as mobile landers on Mars and Moon and more such missions are in the planning. For the Martian Moon eXploration (MMX) mission of the Japan Aerospace Exploration Agency (JAXA), such a wheeled rover will be used on the Marsian Moon Phobos. This is the first rover that will be used under such low gravity, called milli-g, which imposes many challenges to the design of the locomotion subsystem (LSS). The LSS is used for unfolding, standing up, driving, aligning and lowering the rover on Phobos. It is a entirely new developed highly-integrated mechatronic system that is specifically designed for Phobos. Since the Phase A concept of the LSS, which was presented two years ago [1], a lot of testing, optimization and design improvements have been done. Following the tight mission schedule, the LSS qualification and flight models (QM and FM) assembly has started in Summer 2021. In this work, the final FM design is presented together with selected test and optimization results that led to the final state. More specifically, advances in the mechanics, electronics, thermal, sensor, firmware and software design are presented. The LSS QM and FM will undergo a comprehensive qualification and acceptance testing campaign, respectively, in the first half of 2022 before the FM will be integrated into the rover. © 2022 IEEE.

关键词： Firmware

来源：评论

学校读者我要写书评

暂无评论

Multi-Agent Reinforcement Learning for Cooperative Vehicle Motion control

Multi-Agent Reinforcement Learning for Cooperative Vehicle M...

引用

International Conference on Intelligent Transportation

作者： Kenan Ahmic Johannes Ultsch Jonathan Brembeck Darius Burschka Institute of System Dynamics and Control at the German Aerospace Center (DLR) Wessling Germany Chair of Robotics Artificial Intelligence and Embedded Systems Technical University of Munich (TUM) Munich Germany

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

The longitudinal and lateral low-level motion control of multiple vehicles within a platoon is a challenging task, since several different control objectives need to be solved: (i) Each vehicle in the platoon needs to follow the reference path, (ii) the leading vehicle needs to drive with a desired reference velocity, and (iii) the following vehicles need to maintain a safe spacing distance to their respective preceding vehicle. Typically, several distinct controllers are developed for each task individually, which increases both the engineering effort as well as the susceptibility to errors. We address this issue and present a cooperative low-level vehicle motion controller based on Multi-Agent Reinforcement Learning (MARL) that is able to solve all of the above-mentioned control objectives for both the leading vehicle and the following vehicles. Therefore, we apply parameter sharing within MARL to update a single control policy in a centralized fashion using the experiences of all vehicles in the environment. Additionally, we utilize the concept of agent indication during the training process and enable the policy to specialize on the control objectives of the vehicle it is currently controlling. This leads to a unifying control approach and makes the development of further controllers redundant. The simulative assessment demonstrates the effectiveness of learned policy and shows that it is able to successfully solve all of the above-mentioned control objectives for both vehicles roles, even on unseen paths.

关键词： Training Process control Reinforcement learning Drives Vectors Robustness Collision avoidance Intelligent transportation systems

来源：评论

学校读者我要写书评

暂无评论

MMX Rover Locomotion Subsystem - Development and Testing towards the Flight Model

MMX Rover Locomotion Subsystem - Development and Testing tow...

引用

IEEE Conference on Aerospace

作者： Stefan Barthelmes Thomas Bahls Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Franz Hacker Roman Holderried Viktor Langofer Roy Lichtenheldt Sascha Moser Kaname Sasaki Hans-Jü rgen Sedlmayr Juliane Skibbe Leon Stubbig Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control WeBling German Aerospace Center (DLR) Institute of Robotics and Mechatronics WeBling German Aerospace Center (DLR) Institute of Space Systems Bremen

ISBN: (数字)9781665437608

ISBN: (纸本)9781665437615

关键词： Space vehicles Mars Frequency modulation mechatronics Moon Writing Thermal sensors

来源：评论

学校读者我要写书评

暂无评论

Optimal Stabilization of Periodic Orbits

引用

IFAC-PapersOnLine 2023年第2期56卷 7509-7515页

作者： Fabian Beck Noboru Sakamoto Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan

In this contribution the optimal stabilization problem of periodic orbits is studied in a symplectic geometry setting. For this, the stable manifold theory for the point stabilization case is generalized to the case of periodic orbit stabilization. Sufficient conditions for the existence of a normally hyperbolic invariant manifold (NHIM) of the Hamiltonian system are derived. It is shown that the optimal control problem has a solution if the related periodic Riccati equation has a unique periodic solution. For the analysis of the stable and unstable manifold a coordinate transformation is used which is moving along the orbit. As an example, an optimal control problem is considered for a spring-mass oscillator system, which should be stabilized at a certain energy level.

关键词： Hamiltonian dynamics Nonlinear control Periodic Orbit Optimal control

来源：评论

学校读者我要写书评

暂无评论

control of a Class of Underactuated systems by Successive Submanifold Stabilization ⁎

引用

IFAC-PapersOnLine 2021年第19期54卷 352-358页

作者： Fabian Beck Noboru Sakamoto Christian Ott Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan

Many control design methods for underactuated systems require solving a partial differential equation, which can be complex for systems with many degrees of freedom. In order to reduce the complexity, it is proposed to decompose the dynamics into several subsystems. The problem then reduces to the successive stabilization of the individual subsystems, i.e., each step is a submanifold stabilization problem of reduced dimension. In this way, control methods which are only practicable for lower dimensional systems can be applied to the overall complex dynamical system. To ensure that the subsystems can be stabilized independently, the dynamics are transformed by a change of coordinates to a form with block-diagonal inertia metric. For the unactuated part kinetic symmetries can be utilized, whereas for the actuated part null space projectors are employed to decouple the dynamics with respect to the inertia metric. The subsystems are then stabilized by optimal control or PD-like feedback. In the stability analysis semidefinite Lyapunov functions are employed. The procedure is demonstrated for a manipulator on an elastic base and validated in simulation.

关键词： Hamiltonian dynamics robotics Nonlinear control

来源：评论

学校读者我要写书评

暂无评论

Finally! Insights into the ARCHES Lunar Planetary Exploration Analogue Campaign on Etna in summer 2022 73

Finally! Insights into the ARCHES Lunar Planetary Exploratio...

引用

73rd International Astronautical Congress, IAC 2022

作者： Wedler, Armin Müller, Marcus G. Schuster, Martin J. Durner, Maximilian Lehner, Peter Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Stürzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F. Ehreiser, Anouk Staudinger, Emanuel Pöhlmann, Robert Zhang, Siwei Hellerer, Matthias Lichtenheldt, Roy Franke, Dennis Pignède, Antoine Schindler, Walter Schütt, Manuel Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Schröder, Susanne Frohmann, Sven Seel, Fabian Dietz, Enrico Triebel, Rudolph Lii, Neal Y. Bischoff, Esther Braun, Christian Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P. Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Rauer, Heike Hübers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Münchener Str. 20 Weßling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Münchener Str. 20 Weßling82234 Germany Institute of Communications and Navigation Münchener Str. 20 Weßl82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base Münchener Str. 20 Weßl82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

This paper summarises the first outcomes of the space demonstration mission of the ARCHES project which could have been performed this year from 13 june until 10 july on Italy's Mt. Etna in Sicily. After the second postponement related to COVID from the initially for 2020 planed campaign, we are now very happy to report, that the whole campaign with more than 65 participants for four weeks has been successfully conduced. In this short overview paper, we will refer to all other publication here on IAC22. This paper includes an overview of the performed 4-week campaign and the achieved mission goals and first results but also share our findings on the organisational and planning aspects. Copyright © 2022 by the International Astronautical Federation (IAF). All rights reserved.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

Preliminary results for the multi-robot, multi-partner, multi-mission, planetary exploration analogue campaign on mount etna

Preliminary results for the multi-robot, multi-partner, mult...

引用

IAF Space Exploration Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Wedler, Armin Möller, Marcus G Schuster, Martin J Durner, Maximilian Brunner, Sebastian G Lehner, Peter Lehner, Hannah Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Störzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F Staudinger, Emanuel Hellerer, Matthias Lichtenheldt, Roy Dietz, Enrico Braun, Christian Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Vilacampa, Alejandro F Bargen, Info V Schröder, Susanne Frohmann, Sven Seel, Fabian Triebel, Rudolph Lii, Neal Y Bischoff, Esther Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Kyr, Peter Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Kimpe, Andreas Rauer, Heike Höbers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Mönchener Str. 20 Webling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Mönchener Str. 20 Weßling82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base MönchenerStr. 20Webl 82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

ISBN: (纸本)9781713842965

This paper was initially intended to report on the outcome of the twice postponed demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has been postponed from 2020, then 2021, to 2022. Nevertheless, the development of our concepts and integration has progressed rapidly, and some of the preliminary results are worthwhile to share with the community to drive the dialog on robotics planetary exploration strategies. This paper includes an overview of the planned 4-week campaign, as well as the vision and relevance of the mission towards the planned official space missions. Furthermore, the cooperative aspect of the robotic teams, the scientific motivation, the sub task achievements are summarised. © 2021 International Astronautical Federation, IAF. All rights reserved.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：