20,126 research outputs found
Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers
Hybrid systems theory has become a powerful approach for designing feedback
controllers that achieve dynamically stable bipedal locomotion, both formally
and in practice. This paper presents an analytical framework 1) to address
multi-domain hybrid models of quadruped robots with high degrees of freedom,
and 2) to systematically design nonlinear controllers that asymptotically
stabilize periodic orbits of these sophisticated models. A family of
parameterized virtual constraint controllers is proposed for continuous-time
domains of quadruped locomotion to regulate holonomic and nonholonomic outputs.
The properties of the Poincare return map for the full-order and closed-loop
hybrid system are studied to investigate the asymptotic stabilization problem
of dynamic gaits. An iterative optimization algorithm involving linear and
bilinear matrix inequalities is then employed to choose stabilizing virtual
constraint parameters. The paper numerically evaluates the analytical results
on a simulation model of an advanced 3D quadruped robot, called GR Vision 60,
with 36 state variables and 12 control inputs. An optimal amble gait of the
robot is designed utilizing the FROST toolkit. The power of the analytical
framework is finally illustrated through designing a set of stabilizing virtual
constraint controllers with 180 controller parameters.Comment: American Control Conference 201
MITK-ModelFit: A generic open-source framework for model fits and their exploration in medical imaging -- design, implementation and application on the example of DCE-MRI
Many medical imaging techniques utilize fitting approaches for quantitative
parameter estimation and analysis. Common examples are pharmacokinetic modeling
in DCE MRI/CT, ADC calculations and IVIM modeling in diffusion-weighted MRI and
Z-spectra analysis in chemical exchange saturation transfer MRI. Most available
software tools are limited to a special purpose and do not allow for own
developments and extensions. Furthermore, they are mostly designed as
stand-alone solutions using external frameworks and thus cannot be easily
incorporated natively in the analysis workflow. We present a framework for
medical image fitting tasks that is included in MITK, following a rigorous
open-source, well-integrated and operating system independent policy. Software
engineering-wise, the local models, the fitting infrastructure and the results
representation are abstracted and thus can be easily adapted to any model
fitting task on image data, independent of image modality or model. Several
ready-to-use libraries for model fitting and use-cases, including fit
evaluation and visualization, were implemented. Their embedding into MITK
allows for easy data loading, pre- and post-processing and thus a natural
inclusion of model fitting into an overarching workflow. As an example, we
present a comprehensive set of plug-ins for the analysis of DCE MRI data, which
we validated on existing and novel digital phantoms, yielding competitive
deviations between fit and ground truth. Providing a very flexible environment,
our software mainly addresses developers of medical imaging software that
includes model fitting algorithms and tools. Additionally, the framework is of
high interest to users in the domain of perfusion MRI, as it offers
feature-rich, freely available, validated tools to perform pharmacokinetic
analysis on DCE MRI data, with both interactive and automatized batch
processing workflows.Comment: 31 pages, 11 figures URL: http://mitk.org/wiki/MITK-ModelFi
Liquid: Designing a Universal Sensor Interface for Ubiquitous Computing
This paper describes the specification of a universal sensor interface (USI) called Liquid, which allows for the collection and representation of sensor readings from a wide range of different sensors. We illustrate how it is possible for Liquid to collect data from a broad spectrum of sensors using a select method of sensor classification and to present this data within a common environment. We explore how this approach can extend itself to include sensors not yet conceived of with relative ease. Finally we explain how the Liquid USI provides developers of ubiquitous systems with a general-purpose toolkit for the development of sensor-based applications
DiPerF: an automated DIstributed PERformance testing Framework
We present DiPerF, a distributed performance testing framework, aimed at
simplifying and automating service performance evaluation. DiPerF coordinates a
pool of machines that test a target service, collects and aggregates
performance metrics, and generates performance statistics. The aggregate data
collected provide information on service throughput, on service "fairness" when
serving multiple clients concurrently, and on the impact of network latency on
service performance. Furthermore, using this data, it is possible to build
predictive models that estimate a service performance given the service load.
We have tested DiPerF on 100+ machines on two testbeds, Grid3 and PlanetLab,
and explored the performance of job submission services (pre WS GRAM and WS
GRAM) included with Globus Toolkit 3.2.Comment: 8 pages, 8 figures, will appear in IEEE/ACM Grid2004, November 200
Nonlinear Model Predictive Control for Multi-Micro Aerial Vehicle Robust Collision Avoidance
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a
reliable and robust collision avoidance technique. In this paper we address the
problem of multi-MAV reactive collision avoidance. A model-based controller is
employed to achieve simultaneously reference trajectory tracking and collision
avoidance. Moreover, we also account for the uncertainty of the state estimator
and the other agents position and velocity uncertainties to achieve a higher
degree of robustness. The proposed approach is decentralized, does not require
collision-free reference trajectory and accounts for the full MAV dynamics. We
validated our approach in simulation and experimentally.Comment: Video available on: https://www.youtube.com/watch?v=Ot76i9p2ZZo&t=40
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