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Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung

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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: 9783731508557 Year: Volume: 39 Pages: XXVI, 176 p. DOI: 10.5445/KSP/1000086157 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-28 18:37:01
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For human-robot-interaction, this work proposes a method for monitoring the complex, dynamic environment of the robot. The robot motion is controlled based on the concept of nonlinear model predictive control. The controller considers the detected obstacles and intended or unintended contacts of the robot with its environment so that undesired collisions are avoided and an adequate reaction to contacts is achieved. The proposed approaches are analyzed on a mobile manipulator.

Kooperative Regelungskonzepte auf Basis der Spieltheorie und deren Anwendung auf Fahrerassistenzsysteme

Author:
Book Series: Karlsruher Beiträge zur Regelungs- und Steuerungstechnik / Karlsruher Institut für Technologie, Institut für Regelungs- und Steuerungssysteme ISSN: 25116312 ISBN: 9783731506102 Year: Volume: 2 Pages: LXXXIV, 163 p. DOI: 10.5445/KSP/1000063300 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:01:58
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Cooperative control loops in which human and a technical automation system perform a control task in close cooperation are investigated. A control framework is proposed which is based on a formal description of the cooperative control problem. The main idea of the control algorithm is to solve a differential game on a sliding horizon. The concept has been applied to design two cooperative advanced driver-assistance systems. One for the longitudinal driving task, one for the lateral driving task.

Ein neues Konzept für die geberlose Regelung von Permanentmagnet-Synchronmaschinen für Hybrid- und Elektrofahrzeuge

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ISBN: 9783731508625 Year: Pages: VII, 160 p. DOI: 10.5445/KSP/1000087356 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-30 20:02:02
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With the current state of the art angle sensors are used for the operation of permanent magnet synchronous machines in electric and hybrid vehicles. In the present work, a new concept for sensorless control is proposed. The robust operation could be proven with new and further developed sensorless procedures on the machine test bench. The operating range of sensorless control could be significantly increased with the presented methods.

ISA: Immissionsschutz beim Abbruch - Minimierung von Umweltbelastungen (Lärm, Staub, Erschütterungen) beim Abbruch von Hoch-/Tiefbauten und Schaffung hochwertiger Recyclingmöglichkeiten für Materialien aus Gebäudeabbruch

Author:
Book Series: Produktion und Energie / Karlsruher Institut für Technologie, Institut für Industriebetriebslehre und industrielle Produktion u. Deutsch-Französisches Institut für Umweltforschung ISSN: 21942404 ISBN: 9783731505341 Year: Volume: 16 Pages: XVIII, 334 p. DOI: 10.5445/KSP/1000055155 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Business and Management
Added to DOAB on : 2019-07-28 18:37:01
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Following three instruments for the integration of an efficient immission control in the planning of deconstruction and demolition activities have been developped : - a database including economical, ecological and technical data for the planning of deconstruction and demolition processes, - a planning support tool tested on site in the frame of demolition and deconstruction projects, - a prototypical immission measuring system for a permanent immission control.

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)
Added to DOAB on : 2019-07-30 20:01:58
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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.

Flow control : theoretical concept of absolute instability

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ISBN: 9783866445314 Year: Pages: 97 p. DOI: 10.5445/KSP/1000016554 Language: ENGLISH
Publisher: KIT Scientific Publishing
Subject: Technology (General)
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At the 37th Prandtl memorial lecture on Regions of Viccous Flow, H.Oertel 1994 developed for the first time the stability theory of local perturbations in boundary layers and wake flows, as well as their practical application in the flow control of vehicle flows and the boundary layer of civil aircraft wings.This work presents how the stability theory concept of absolute instability has advanced and proven in practice in the last 15 years in terms of the efficient flow control.

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

Author:
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.

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