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This paper describes a set of flight simulation experiments carried out with the DLR's Generic Cockpit Simulator (GECO). A new concept named time and energy managed operations (TEMO), which aims to enable advanced four dimensional (4D) continuous descent operations (CDO), was evaluated after three full days of experiments with qualified pilots. The experiment focused to investigate the possibility...
In this paper we present the AFDX (Avionics Full-DupleX switched Ethernet) extension for the open-source networking tool Net2Plan [1][2]. The Net2Plan-AFDX extension is also open-source, with no cost. This software will provide integrators, researchers and students with a set of tools to calculate, given an AFDX network design, an exhaustive set of AFDX parameters and performance merits. Net2Plan-AFDX...
Locative narratives can implement different modes of coupling of the physical space and the narrative content, impacting how the user experiences and understands the story. Narrative causal relations are difficult to maintain when the user can freely explore the physical environment. In this paper we focus on multiple interlaced narratives, and the relation among narrative design, physical space and...
In this work, the bilateral teleoperation of a Multi-Master Multi-Slave (MM/MS) robotic system able to perform object manipulation tasks is presented. A multi-agent formation control strategy is considered to control the object's velocity. The velocity and interaction forces are provided by the master robots while the object is manipulated with a bounded force by the slave robots. Stability and transparency...
Previous research of teleoperation assumed teleoperator as a determined signal input or a parallel spring-damp model. However, the teleoperator actually performs quite stochastically in the teleoperation loop. This paper raises a discussion on the problem of the stochastic behavior model of teleoperator, and derives a linear regression method for the behavior approximation. Both the model and method...
In the article the whole process of a manipulator controller development is presented. The controller is designed for the execution of various benchmark tasks in the field of service robotics. Initially, a set of system behaviors is presented as the base of the universal controller structure. For that purpose the embodied agent theory and the System Modeling Language are utilized. The execution and...
We propose a lightweight embedded system for stabilization and control of Unmanned Aerial Vehicles (UAVs) and particularly Micro Aerial Vehicles (MAVs). The system relies solely on onboard sensors to localize the MAV, which makes it suitable for experiments in GPS-denied environments. The system utilizes predictive controllers to find optimal control actions for the aircraft using only onboard computational...
In the article, a reactive torque-based hierarchical task-space control for a robot with multiple redundant DOFs is presented that is suitable to plan, validate and execute a humanoid upper-body motion in human oriented environment. The strategy consists of: (i) joint limit avoidance, (ii) self-collision avoidance using repulsive force fields with additional environment collision avoidance, (iii)...
This paper presents a method for synthesis of control alphabet policies, given continuum descriptions of physical systems and tasks. First, we describe a model predictive control scheme, called switched sequential action control (sSAC), that generates global state-feedback control policies with low computational cost, given a control alphabet. During synthesis, sSAC alphabet policies are directly...
Continuum manipulators enable new fields of application by their inherent flexibility and continuous deformations. However, they cannot compete with conventional robots yet. This is partially caused by a lack of practical and powerful trajectory generation algorithms. Therefore, an online TCP trajectory generator for redundant continuum manipulators has been developed, that computes desired actuator...
In this paper, permutation invariant and collision free trajectories for a formation control problem are generated by using the root locus principle. A polynomial based representation space of multiple robots in two dimensional space is proposed, and the invariant properties in this space are analyzed. The formation control problem is solved in the representation space. A set of permutation invariant...
Control efforts on dynamic gaits for legged systems traditionally focus on limit cycles and their stability. However, there are many practical situations where step-to-step variability is highly desirable, for example to achieve variable footholds or to recover and replan after perturbations. In this paper we present an effective, high-level switching control framework for overcoming terrain obstacles...
In this paper, stabilizability subspaces for linear impulsive systems are defined by the property that not only can trajectories be maintained within the subspace by suitable control signals, they can also be made to asymptotically converge to the equilibrium at the origin. Previous work on state feedback stabilization and the study of controlled invariant subspaces for linear impulsive systems is...
This paper mainly addresses the stabilization issue of linear systems via state-dependent intermittent control. Based on the concept of intermittent control, we initially propose the description of a state-dependent intermittent controller. Then, in this kind of framework, a state-dependent intermittent controller is designed to stabilize the given system by Lyapunov function method. It is worth pointing...
In this note, we study the second order sufficient conditions for local optimal controls of a general control system, which is evolved on a Riemannian manifold and provided with a general metric space as the control set. We do spike variations of control functions, introduce suitable first and second order dual equations, which include the sectional curvature, and obtain the second order sufficient...
This paper discuss a stochastic optimal control problem where the control system is described by fully-coupled forward-backward stochastic differential equation(FBSDE)driven by Itô-lévy process. The control variable v(.) and kt(.) are all contain in the diffusion coefficient σ and g, dominate set is required convex and initial-terminal state is constraint. By using traditional variational technique,...
The regulation controller is designed for the underactuated crane system in 2-dimensional (2D) space by using a differential-flatness-based approach. The elegantly designed controller can simultaneously suppress the payload swing and regulate the trolley to the desired destination for the 2D bridge crane system in the case of constant cable length. Considering cable length variation, the flatness-based...
Aerial robots such as quadrotors are subject to range, power, communication, and collision constraints, which have to be strictly enforced for safe operation. Such constraints are dynamic constraints and require the state of the system to be forward-invariant with respect to a safe set. We propose a control design method for a planar quadrotor subject to collision safety constraints. The proposed...
We are addressing the problem of designing an autonomous feedback control for a group of robots moving in the environment with obstacles and avoiding collisions. A robotic team with full information is considered. We propose a two-stage numerical approach for control synthesis. On the first stage a stabilizing control about some point in the state space is produced. On the second stage optimal trajectories...
Over the past few decades, robot actuators with variable stiffness or impedance control have been developed. This control adjusts the stiffness of the task space of joint space, enabling the robot to perform explosive tasks and to interact with environments and humans. However, planning the robot stiffness is a difficult task, except in a few optimal control problems, such as maximizing the output...
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