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Human-Inspired Balancing and Recovery Stepping for Humanoid Robots

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Book Series: Karlsruhe Series on Humanoid Robotics ISSN: 25120875 ISBN: 9783731509035 Year: Volume: 5 Pages: X, 235 p. DOI: 10.5445/KSP/1000091605 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:01:57
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Robustly maintaining balance on two legs is an important challenge for humanoid robots. The work presented in this book represents a contribution to this area. It investigates efficient methods for the decision-making from internal sensors about whether and where to step, several improvements to efficient whole-body postural balancing methods, and proposes and evaluates a novel method for efficient recovery step generation, leveraging human examples and simulation-based reinforcement learning.

Konzept einer agentenbasierten Transportsteuerung: für komplexe, dynamische und multimodale Logistiknetzwerke

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Book Series: Wissenschaftliche Berichte des Instituts für Fördertechnik und Logistiksysteme des Karlsruher Instituts für Technologie ISSN: 01712772 ISBN: 9783731504467 Year: Volume: 87 Pages: IX, 283 p. DOI: 10.5445/KSP/1000050382 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
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Transports within industrial logistics networks are planned strategically. Due to the existence of uncertainties an operational control of transports is necessary. Thereby, dispatchers are today not supported adequately. A control approach for dynamic, complex and multimodal transports is developed, which intends to support or automate the operational control. The approach has a decentral and heterarchical organization, in which the goods and means of transports are modeled as agents.

Modellbildung, Parameteridentifikation und Regelung hoch ausgenutzter Synchronmaschinen

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ISBN: 9783731505556 Year: Pages: VI, 164 p. DOI: 10.5445/KSP/1000057097 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
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What happens when permanent-magnet electric motors with identical power become smaller and lighter? How changes the electromagnetic behavior? What consequences arise with respect to optimal motor control? This study answers these questions and discusses modeling, parameter identification, and control over inverter-fed, magnetically anisotropic, highly utilized, permanent-magnet synchronous motors.

Privacy-Respecting Smart Video Surveillance Based on Usage Control Enforcement

Author:
Book Series: Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe ISSN: 18636489 ISBN: 9783731505389 Year: Volume: 25 Pages: XI, 240 p. DOI: 10.5445/KSP/1000055556 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Computer Science
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This research introduces a conceptual framework for enforcing privacy-related restrictions in smart video surveillance systems based on danger levels and incident types to be handled. It increases the selectivity of surveillance by restricting data processing to individuals associated to incidents under investigation. Constraints are enforced by usage control, which is instantiated for video surveillance for the first time and enables tailoring such systems to comply with data protection law.

Energieeffizienz von Konstantdrucksystemen mit sekundärgeregelten Antrieben beim Einsatz in mobilen Arbeitsmaschinen

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Book Series: Karlsruher Schriftenreihe Fahrzeugsystemtechnik / Institut für Fahrzeugsystemtechnik ISSN: 18696058 ISBN: 9783731503774 Year: Volume: 35 Pages: XXV, 163 p. DOI: 10.5445/KSP/1000047003 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:01:59
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Within this work, it is investigated under which conditions constant pressure systems with secondary controlled drives may be an energetic efficient and cost effective alternative to established mobile hydraulic circuit configurations. For this purpose, a methodology is introduced to evaluate chances and risks at employment of this technology in mobile machines. A demonstrator with three secondary controlled variable displacement drives is developed to confirm the results of the methodology.

Entwicklung einer Betriebsstrategie zur Energierückgewinnung in hybriden Mehrverbrauchersystemen

Author:
Book Series: Karlsruher Schriftenreihe Fahrzeugsystemtechnik / Institut für Fahrzeugsystemtechnik ISSN: 18696058 ISBN: 9783731504795 Year: Volume: 46 Pages: XIV, 130 p. DOI: 10.5445/KSP/1000051743 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
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Energy management strategies are developed for hybrid drive systems in which multiple actuators are interacting with an accumulator. The strategies are derived using a universal approach for efficiency assessment of control decisions. Therefore the accumulator’s power flow is weighted by its impact onto the internal combustion engine. Experimental studies with a telescopic handler show up to 10% of measured fuel savings.

Strategies to reduce friction losses and their implications for the energy efficient design of internal flow domains

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Book Series: Schriftenreihe des Instituts für Strömungsmechanik, Karlsruher Institut für Technologie ISSN: 21998868 ISBN: 9783731502913 Year: Volume: 1 Pages: VII, 167 p. DOI: 10.5445/KSP/1000043770 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
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This work aims at developing a strategy how the energy which has to be applied to transport incompressible and Newtonian fluids through straight ducts can be reduced. Based on the physical properties of laminar and turbulent flow, models are derived which theoretically lead to the reduction of the dissipated energy. The possibility to implement the proposed state due to appropriate design aspects in the cross section shape of the duct is investigated based on numerical simulations of the flow

Optimale Betriebsführung des Modularen Multilevel-Umrichters als Antriebsumrichter für Drehstrommaschinen

Author:
ISBN: 9783731501831 Year: Pages: XI, 310 p. DOI: 10.5445/KSP/1000039063 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
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The concept of the Modular Multilevel Converter (MMC) offers numerous advantages, such as a high degree of modularity and scalability, as well as a very high voltage quality. In future, modern AC drive systems are to be realized with MMCs, which allow applications up to the highest voltage and power classes. This work presents a holistic approach for the operation and control as well as for the dimensioning of the MMC used as a drive inverter.

Die mobile Arbeitsmaschine als komplexes System

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Book Series: Karlsruher Schriftenreihe Fahrzeugsystemtechnik / Institut für Fahrzeugsystemtechnik ISSN: 18696058 ISBN: 9783731501879 Year: Volume: 23 Pages: 160 p. DOI: 10.5445/KSP/1000039390 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
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This work discusses the question, how far mobile machines have evolved to complex systems today. Some resulting problems of the conventional strictly decentralized control are revealed. An alternative is the observer/controller architecture, which is transfered to a concrete mobile machine in the simulation.

Energieoptimale Fahrdynamikregelung mehrmotoriger Elektrofahrzeuge

Author:
Book Series: Karlsruher Schriftenreihe Fahrzeugsystemtechnik / Institut für Fahrzeugsystemtechnik ISSN: 18696058 ISBN: 9783731503323 Year: Volume: 31 Pages: IX, 150 p. DOI: 10.5445/KSP/1000045234 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:02:02
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Within the scope of this work a generic approach to the control of multiple-drive electric vehicles is evolved. An analysis of the overall system with respect to the exploitable degrees of freedom for wheel torque control reveals that several possible solutions for distributing wheel torque exist in certain driving situations. This characteristic of over-actuated systems is exploited in order to pursue further subordinate objectives from from a control perspective.

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