Dynamic state estimation for mobile robots

The scientific goal of this thesis is to tackle different approaches for effective state estimation and modelling of relevant problems in the context of mobile robots. The starting point of this dissertation is the concept of probabilistic robotics, an emerging paradigm that combines state-of-the-art methods with the classic probabilistic theory, developing stochastic frameworks for understanding the uncertain nature of the interaction between a robot and its environment. This allows introducing relevant concepts which are the foundation of the localisation system implemented on the main experimental platform used on this dissertation. An accurate estimation of the position of a robot with respect to a fixed frame is fundamental for building navigation systems that can work in dynamic unstructured environments. This development also allows introducing additional contributions related with global localisation, dynamic obstacle avoidance, path planning and position tracking problems. Kinematics on generalised manipulators are characterised for dealing with complex nonlinear systems. Nonlinear formulations are needed to properly model these systems, which are not always suitable for real-time realisation, lacking analytic formulations in most cases. In this context, this thesis tackles the serial-parallel dual kinematic problem with a novel approach, demonstrating state-of-the-art accuracy and real-time performance. With a spatial decomposition method, the forward kinematics problem on parallel robots and the inverse kinematics problem on serial manipulators is solved modelling the nonlinear behaviour of the pose space using Support Vector Machines. The results are validated on different topologies with the analytic solution for such manipulators, which demonstrates the applicability of the proposed method. Modelling and control of complex dynamical systems is another relevant field with applications on mobile robots. Nonlinear techniques are usually applied to tackle problems like feature or object tracking. However, some nonlinear integer techniques applied for tasks like position tracking in mobile robots with complex dynamics have limited success when modelling such systems. Fractional calculus has demonstrated to be suitable to model complex processes like viscoelasticity or super diffusion. These tools, that take advantage of the generalization of the derivative and integral operators to a fractional order, have been applied to model and control different topics related with robotics in recent years with remarkable success. With the proposal of a fractional-order PI controller, a suitable controller design method is presented to solve the position tracking problem. This is applied to control the distance of a self-driving car with respect to an objective, which can also be applied to other tracking applications like following a navigation path. Furthermore, this thesis introduces a novel fractional-order hyperchaotic system, stabilised with a full-pseudo-state-feedback controller and a located feedback method. This theoretical contribution of a chaotic system is introduced hoping to be useful in this context. Chaos theory has recently started to be applied to study manipulators, biped robots and autonomous navigation, achieving new and promising results, highlighting the uncertain and chaotic nature which also has been found on robots. All together, this thesis is devoted to different problems related with dynamic state estimation for mobile robots, proposing specific contributions related with modelling and control of complex nonlinear systems. These findings are presented in the context of a self-driving electric car, Verdino, jointly developed in collaboration with the Robotics Group of Universidad de La Laguna (GRULL)

Model consistency management for systems engineering

Um der Komplexität der interdisziplinären Entwicklung moderner technischer Systeme Herr zu werden, findet die Entwicklung heutzutage meist modellbasiert statt. Dabei werden zahlreiche verschiedene Modelle genutzt, die jeweils unterschiedliche Gesichtspunkte berücksichtigen und sich auf verschiedenen Abstraktionsebenen befinden. Wenn die hierbei auftretenden Inkonsistenzen zwischen den Modellen ungelöst bleiben, kann dies zu Fehlern im fertigen System führen. Modelltransformations- und -synchronisationstechniken sind ein vielversprechender Ansatz, um solche Inkonsistenzen zu erkennen und aufzulösen. Existierende Modellsynchronisationstechniken sind allerdings nicht mächtig genug, um die komplexen Beziehungen in so einem Entwicklungsszenario zu unterstützen. In dieser Arbeit wird eine neue Modellsynchronisationstechnik präsentiert, die es erlaubt, Modelle verschiedener Sichten und Abstraktionsebenen zu synchronisieren. Dabei werden Metriken zur Erhöhung des Automatisierungsgrads eingesetzt, die Expertenwissen abbilden. Der Ansatz erlaubt unterschiedliche Grade an Benutzerinteraktion, von vollautomatischer Funktionsweise bis zu feingranularen manuellen Entscheidungen.The development of complex mechatronic systems requires the close collaboration of different disciplines, like mechanical engineering, electrical engineering, control engineering, and software engineering. To tackle the complexity of such systems, such a development is heavily based on models. Engineers use several models on different abstraction levels, for different purposes and with different view-points. Usually, a discipline-spanning system model is developed during the first, interdisciplinary system design phase. For the implementation phase, the disciplines use different models and tools to develop the discipline-specific aspects of the system. During such a model-based development, inconsistencies between the different discipline-specific models and the discipline-spanning system model are likely to occur, because changes to discipline-specific models may affect the discipline-spanning system model and models of other disciplines. These inconsistencies lead to increased development time and costs if they remain unresolved. Model transformation and synchronization are promising techniques to detect and resolve such inconsistencies. However, existing model synchronization solutions are not powerful enough to support the complex consistency relations of such an application scenario. In this thesis, we present a novel model synchronization technique that allows for synchronized models with multiple views and abstraction levels. To minimize the information loss and improve automation during the synchronization, it employs metrics to encode expert knowledge. The approach can be customized to allow different amounts of user interaction, from full automation to fine-grained manual decisions.Tag der Verteidigung: 24.10.2014Paderborn, Univ., Diss., 201

Fundamental Approaches to Software Engineering

This open access book constitutes the proceedings of the 23rd International Conference on Fundamental Approaches to Software Engineering, FASE 2020, which took place in Dublin, Ireland, in April 2020, and was held as Part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2020. The 23 full papers, 1 tool paper and 6 testing competition papers presented in this volume were carefully reviewed and selected from 81 submissions. The papers cover topics such as requirements engineering, software architectures, specification, software quality, validation, verification of functional and non-functional properties, model-driven development and model transformation, software processes, security and software evolution

Bringing Model Checking Closer To Practical Software Engineering

Bal, H.E. [Promotor]Templon, J.A. [Copromotor]Willemse, T.A.C. [Copromotor

SPICA:revealing the hearts of galaxies and forming planetary systems : approach and US contributions

How did the diversity of galaxies we see in the modern Universe come to be? When and where did stars within them forge the heavy elements that give rise to the complex chemistry of life? How do planetary systems, the Universe's home for life, emerge from interstellar material? Answering these questions requires techniques that penetrate dust to reveal the detailed contents and processes in obscured regions. The ESA-JAXA Space Infrared Telescope for Cosmology and Astrophysics (SPICA) mission is designed for this, with a focus on sensitive spectroscopy in the 12 to 230 micron range. SPICA offers massive sensitivity improvements with its 2.5-meter primary mirror actively cooled to below 8 K. SPICA one of 3 candidates for the ESA's Cosmic Visions M5 mission, and JAXA has is committed to their portion of the collaboration. ESA will provide the silicon-carbide telescope, science instrument assembly, satellite integration and testing, and the spacecraft bus. JAXA will provide the passive and active cooling system (supporting the