Design of Neural Network Mobile Robot Motion Controller

Non

Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis

Multirotor Aerial Vehicles may be fault-tolerant by design when rotor-failure is possible to measure or identify, especially when a large number of rotors are used. For instance, an octocopter can be capable to complete some missions even when a double-rotor fault occurs during the execution. In this paper, we study how a rotor-failure reduces the vehicle control admissible set and its importance with respect to the selected mission, i.e. we perform mission-related fault-tolerant analysis. Furthermore, we propose a risk-sensitive motion-planning algorithm capable to take into account the risks during the planning stage by means of mission-related fault-tolerant analysis. We show that the proposed approach is much less conservative in terms of selected performance measures than a conservative risk planner that assumes that the considered fault will certainly occur during the mission execution. As expected, the proposed risk-sensitive motion planner is also readier for accepting failures during the mission execution than the risk-insensitive approach that assumes no failure will occur

Flachheitsbasierte Methode zum stoßfreien Umschalten von Reglerstrukturen

Die vorliegende Arbeit beschäftigt sich mit der Frage, wie stoßfreie Rekonfigurationen von Systemen zur Laufzeit realisiert werden können. Es werden Anforderungen an die Rekonfiguration definiert und eine neue Methode zur stoßfreien Rekonfiguration vorgestellt, die sowohl bei einfachen Betriebspunktwechseln als auch beim Wechsel der Reglerparameter oder der Reglerstruktur angewendet werden kann. Die Methodik basiert auf der Zwei-Freiheitsgrade-Reglerstruktur und der (differenziellen) Flachheit, einer grundlegenden Eigenschaft des Systems selbst. Die Methodik wird für lineare und nichtlineare Ein- und Mehrgrößensysteme vorgestellt, wobei die Rekonfigurationen immer mittels in Echtzeit berechneter Vorsteuerungs- und Führungsgrößentrajektorien realisiert werden. Anhand von akademischen und praktischen Beispielen wird die neue Methode mit bestehenden Verfahren zur stoßfreien Reglerumschaltung verglichen und die Anwendbarkeit demonstriert.The present thesis deals with a new approach to bumpless transfer for system reconfiguration at runtime. During a system reconfiguration an operating point change, a change of controller parameters or even a change of the control structure can occur. After the definition of requirements which has to be fulfilled during the reconfiguration, a new flatness-based method for bumpless transfer is presented. The flatness-based method draws on the two-degrees-of-freedom control structure and on the (differential) flatness which is a fundamental feature of the controlled system. Bumpless switching is realised by means of feedforward and reference trajectories computed in real time which are applicable with linear and non-linear SISO and MIMO systems. The new method of bumpless switching is compared to existing bumpless-switching procedures and its advantages are evidenced by practical examples.Tag der Verteidigung: 11.12.2014Paderborn, Univ., Diss., 201

Thermopower and magnetotransport properties of Bi100−xSbx topological insulator thin films prepared by flash evaporation

We have measured the temperature dependence of resistance R(T), thermopower S(T), magnetoresistance (MR) and the Hall effect (HE) of Bi80Sb20, Bi85Sb15 and Bi90Sb10 topological insulator thin films. Samples were prepared by sequential flash-evaporation at room temperature and annealing at T = 350 K. The R(T) of the three investigated samples show metallic-like behavior at temperatures less than T = 75 K, while at higher temperatures, R(T) curves show a semiconducting-like behavior. The thermopower S(T) of the three investigated samples is negative in the entire temperature range measured in this work, with a linear behavior from 5 K up to ≈100 K. The magnetoresistance of all samples is positive with a small temperature dependence. The highest MR(B = 7 T) was observed in Bi85Sb15 with a ≈600% and ≈125% change at 5 K and 300 K, respectively. Clear evidence of weak antilocalization contribution to the MR was observed only in sample Bi85Sb15 at temperatures T < 75 K. Quantum oscillations in the MR originating from the Fermi surface, which has a clear two-dimensional character, were observed in sample Bi85Sb15 up to ≈21 K. Carrier mobility information of sample Bi85Sb15 was extracted from low field HE data, showing a remarkably high value of μ ≈ 2.8 × 104 cm2/Vs at 5 K, with a small decrease for increasing temperature.Fil: Osmic, E.. Universitat Leipzig. Felix Bloch Institut Fur Festkorperphysik.; AlemaniaFil: Barzola Quiquia, Jose Luis. Universitat Leipzig. Felix Bloch Institut Fur Festkorperphysik.; AlemaniaFil: Böhlmann, W.. Universitat Leipzig. Felix Bloch Institut Fur Festkorperphysik.; AlemaniaFil: Bercoff, Paula Gabriela. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Córdoba. Instituto de Física Enrique Gaviola. Universidad Nacional de Córdoba. Instituto de Física Enrique Gaviola; ArgentinaFil: Venosta, Lisandro Francisco. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Córdoba. Instituto de Física Enrique Gaviola. Universidad Nacional de Córdoba. Instituto de Física Enrique Gaviola; ArgentinaFil: Häussler, P.. Chemnitz University Of Technology; Alemani

Performance of ALICE pixel prototypes in high energy beams

The two innermost layers of the ALICE inner tracking system are instrumented with silicon pixel detectors. Single chip assembly prototypes of the ALICE pixels have been tested in high energy particle beams at the CERN SPS. Detection efficiency and spatial precision have been studied as a function of the threshold and the track incidence angle. The experimental method, data analysis and main results are presented.Comment: 10 pages, 9 figures, contribution to PIX2005 Workshop, Bonn (Germany), 5-8 September 200

Beam Test Performance and Simulation of Prototypes for the ALICE Silicon Pixel Detector

The silicon pixel detector (SPD) of the ALICE experiment in preparation at the Large Hadron Collider (LHC) at CERN is designed to provide the precise vertex reconstruction needed for measuring heavy flavor production in heavy ion collisions at very high energies and high multiplicity. The SPD forms the innermost part of the Inner Tracking System (ITS) which also includes silicon drift and silicon strip detectors. Single assembly prototypes of the ALICE SPD have been tested at the CERN SPS using high energy proton/pion beams in 2002 and 2003. We report on the experimental determination of the spatial precision. We also report on the first combined beam test with prototypes of the other ITS silicon detector technologies at the CERN SPS in November 2004. The issue of SPD simulation is briefly discussed.Comment: 4 pages, 5 figures, prepared for proceedings of 7th International Position Sensitive Detectors Conference, Liverpool, Sept. 200

The ALICE Silicon Pixel Detector System (SPD)

The ALICE silicon pixel detector (SPD) comprises the two innermost layers of the ALICE inner tracker system. The SPD includes 120 detector modules (half-staves) each consisting of 10 ALICE pixel chips bump bonded to two silicon sensors and one multi-chip read-out module. Each pixel chip contains 8192 active cells, so that the total number of pixel cells in the SPD is ≈ 107. The on-detector read-out is based on a multi-chip-module containing 4 ASICs and an optical transceiver module. The constraints on material budget and detector module dimensions are very demanding

Alignment of the ALICE Inner Tracking System with cosmic-ray tracks

37 pages, 15 figures, revised version, accepted by JINSTALICE (A Large Ion Collider Experiment) is the LHC (Large Hadron Collider) experiment devoted to investigating the strongly interacting matter created in nucleus-nucleus collisions at the LHC energies. The ALICE ITS, Inner Tracking System, consists of six cylindrical layers of silicon detectors with three different technologies; in the outward direction: two layers of pixel detectors, two layers each of drift, and strip detectors. The number of parameters to be determined in the spatial alignment of the 2198 sensor modules of the ITS is about 13,000. The target alignment precision is well below 10 micron in some cases (pixels). The sources of alignment information include survey measurements, and the reconstructed tracks from cosmic rays and from proton-proton collisions. The main track-based alignment method uses the Millepede global approach. An iterative local method was developed and used as well. We present the results obtained for the ITS alignment using about 10^5 charged tracks from cosmic rays that have been collected during summer 2008, with the ALICE solenoidal magnet switched off.Peer reviewe

Transverse momentum spectra of charged particles in proton-proton collisions at s=900\sqrt{s} = 900 GeV with ALICE at the LHC

The inclusive charged particle transverse momentum distribution is measured in proton-proton collisions at $\sqrt{s} = 900$ GeV at the LHC using the ALICE detector. The measurement is performed in the central pseudorapidity region $(|\eta|<0.8)$ over the transverse momentum range $0.15<p_{\rm T}<10$ GeV/$c$. The correlation between transverse momentum and particle multiplicity is also studied. Results are presented for inelastic (INEL) and non-single-diffractive (NSD) events. The average transverse momentum for $|\eta|<0.8$ is $\left<p_{\rm T}\right>_{\rm INEL}=0.483\pm0.001$ (stat.) $\pm0.007$ (syst.) GeV/$c$ and \left_{\rm NSD}=0.489\pm0.001 (stat.) $\pm0.007$ (syst.) GeV/$c$, respectively. The data exhibit a slightly larger $\left<p_{\rm T}\right>$ than measurements in wider pseudorapidity intervals. The results are compared to simulations with the Monte Carlo event generators PYTHIA and PHOJET.Comment: 20 pages, 8 figures, 2 tables, published version, figures at http://aliceinfo.cern.ch/ArtSubmission/node/390