Development of an elastic path controller for collaborative robot

Master'sMASTER OF ENGINEERIN

Path design and receding horizon control for collision avoidance system of cars

The paper deals with path design and control realization problems of collision avoidance systems (CAS) of cars (ground vehicles). CAS emergency path design is based on the principle of elastic band with improved reaction forces for road borders and static obstacles allowing quick computation of the force equilibrium. The CAS path (reference signal) is smoothed and realized using receding horizon control (RHC). The car can be modelled by full (non-affine) or simplified (input affine) nonlinear models. The nonlinear predictive control problem is solved by using time varying linearization along appropriately chosen nominal control and state sequences, and analytical solution of the minimization of a quadratic criterion satisfying end-constraint. Differential geometric approach (DGA), known from control literature for the input affine nonlinear model, has been used for control initialization in the first horizon. For state estimation Kalman filters and measurements of two antenna GPS and Inertial Navigation System (INS) are used. A stand-alone software has been been developed using the C Compiler of MATLAB R2006a satisfying real time expectations

IDEALIST control and service management solutions for dynamic and adaptive flexi-grid DWDM networks

Wavelength Switched Optical Networks (WSON) were designed with the premise that all channels in a network have the same spectrum needs, based on the ITU-T DWDM grid. However, this rigid grid-based approach is not adapted to the spectrum requirements of the signals that are best candidates for long-reach transmission and high-speed data rates of 400Gbps and beyond. An innovative approach is to evolve the fixed DWDM grid to a flexible grid, in which the optical spectrum is partitioned into fixed-sized spectrum slices. This allows facilitating the required amount of optical bandwidth and spectrum for an elastic optical connection to be dynamically and adaptively allocated by assigning the necessary number of slices of spectrum. The ICT IDEALIST project will provide the architectural design, protocol specification, implementation, evaluation and standardization of a control plane and a network and service management system. This architecture and tools are necessary to introduce dynamicity, elasticity and adaptation in flexi-grid DWDM networks. This paper provides an overview of the objectives, framework, functional requirements and use cases of the elastic control plane and the adaptive network and service management system targeted in the ICT IDEALIST project

Fast Determination of Soil Behavior in the Capillary Zone Using Simple Laboratory Tests

INE/AUTC 13.1

Controllability for chains of dynamical scatterers

In this paper, we consider a class of mechanical models which consists of a linear chain of identical chaotic cells, each of which has two small lateral holes and contains a rotating disk at its center. Particles are injected at characteristic temperatures and rates from stochastic heat baths located at both ends of the chain. Once in the system, the particles move freely within the cells and will experience elastic collisions with the outer boundary of the cells as well as with the disks. They do not interact with each other but can transfer energy from one to another through collisions with the disks. The state of the system is defined by the positions and velocities of the particles and by the angular positions and angular velocities of the disks. We show that each model in this class is controllable with respect to the baths, i.e. we prove that the action of the baths can drive the system from any state to any other state in a finite time. As a consequence, one obtains the existence of at most one regular invariant measure characterizing its states (out of equilibrium)

Brain computer interface based robotic rehabilitation with online modification of task speed

We present a systematic approach that enables online modification/adaptation of robot assisted rehabilitation exercises by continuously monitoring intention levels of patients utilizing an electroencephalogram (EEG) based Brain-Computer Interface (BCI). In particular, we use Linear Discriminant Analysis (LDA) to classify event-related synchronization (ERS) and desynchronization (ERD) patterns associated with motor imagery; however, instead of providing a binary classification output, we utilize posterior probabilities extracted from LDA classifier as the continuous-valued outputs to control a rehabilitation robot. Passive velocity field control (PVFC) is used as the underlying robot controller to map instantaneous levels of motor imagery during the movement to the speed of contour following tasks. In other words, PVFC changes the speed of contour following tasks with respect to intention levels of motor imagery. PVFC also allows decoupling of the task and the speed of the task from each other, and ensures coupled stability of the overall robot patient system. The proposed framework is implemented on AssistOn-Mobile - a series elastic actuator based on a holonomic mobile platform, and feasibility studies with healthy volunteers have been conducted test effectiveness of the proposed approach. Giving patients online control over the speed of the task, the proposed approach ensures active involvement of patients throughout exercise routines and has the potential to increase the efficacy of robot assisted therapies