2009

@inproceedings{Eck2009, author ={D. Eck and K. Schilling}, title = {Entwicklung eines teil-autonomen Scooters zur Unterstützung der Mobilität leistungsgewandelter Personen}, booktitle = {Universität Würzburg Tagungsband Ambient Assisted Living des 2.Deutschen AAL-Kongress, VDE Verlag}, pages = {5.2}, address = {Berlin, Germany}, year = {2009}, }

Die demographische Entwicklung stellt für die nächsten Jahrzehnte die wohl größte Herausforderung für Gesellschaft, Staat und Unternehmen, aber auch für jeden Einzelnen in einer globalisierten Welt dar. Eine der wichtigsten Aspekte im demographischen Wandel ist die Erhaltung der Mobilität der Menschen, um auch noch im hohen Alter alleine und selbstbestimmt leben zu können. Schon der Weg zum Hausarzt ist für viele leistungsgewandelte Person ohne Hilfe eine zum Teil unlösbare Aufgabe. Auch das Tragen schwerer Lasten, wie zum Beispiel den Einkauf, stellt viele Personen vor ein großes Problem. Zur Unterstützung leistungsgewandelter Personen gerade bei den alltäglichen Aufgaben des Lebens und darüber hinaus wird im Folgenden die Entwicklung eines teil - autonomer Scooter mit einer Orientierungshilfe vorgestellt. Der teil - autonome Scooter wird zur einfachen Steuerung mit mehreren Fahrassistenzsystemen ausgestattet die den Benutzer die Bedienung erleichtern. So wird in dem teil – autonome Scooter eine Lenkregelung sowie eine Geschwindigkeitsregelung integriert, die den Komfort beim Anfahren und bei der Steuerung des Scooter bei Steigungen erhöhen. Um neben dem Komfort auch die Fahrsicherheit zu erhöhen, soll der Scooter in der Lage sein Hindernissen auszuweichen. Dazu wird eine Hindernisvermeidung auf dem Scooter integriert die potentielle Auffahrunfälle verhindern soll. Eine besondere Herausforderung der Hindernisvermeidung ist die Auswahl geeigneter Sensoren die im Außenbereich zuverlässig jede Art von Hindernis erkennen können. Für die Realisierung der Orientierungshilfe soll eine Fußgängernavigation für leistungsgewandelte Personen entwickelt werden. Diese Navigation soll in der Lage sein, ältere Personen unter Berücksichtigung bestimmter Einschränkungen, wie zum Beispiel das Vermeiden von Treppenstufen, zu einem bestimmten Ziel zu navigieren. Dazu muss zuerst eine Spezifikation der Fußgängernavigation durchgeführt werden. Zusammengefasst unterstützt der teil – autonome Scooter leistungsgewandelte Personen, wodurch diese länger unabhängig und selbstständig leben können. Mit den hier entwickelten Fahrassistenzsystemen wird nicht nur der Komfort handelsüblicher Scooter erhöht sondern auch die Fahrsicherheit. Mit der Hilfe der Orientierungsassistenz können auch Personen mit beginnender kognitiven Beeinträchtigungen noch sicher zu dem gewünschten Ziel navigiert werden.

@article{Hess2009a, author = {M. Hess and M. Saska and K. Schilling}, title = {Application of Coordinated Multi-Vehicle Formations for Snow Shoveling on Airports}, journal = {Intelligent Service Robotics}, year = {2009}, volume = {2(4)}, number = {DOI: 10.1007/s11370-009-0047-6 }, pages = {205-217}, }

@inproceedings{Hess2009, author = {M. Hess and K. Schilling}, title = {On the Rendezvous problem for Groups of Car-like Mobile Robots}, booktitle = {Proceedings of the 2009 IFAC Workshop on Networked Robotics (NetRob 2009), Golden, USA}, year = {2009}, }

@inproceedings{MaOctober2009, author = {L. Ma and K. Schilling}, title = {Attitude coordination for swarms of pico- and nano-satellites}, booktitle = {Proc. 60th International Astronautical Congress, Daejeon, Korea}, year = {2009}, number = {IAC-09-C1.7.9}, pages = {50-55}, keywords = {Attitude determination nano pico satellites} }

@inproceedings{Ma2009, author = {L. Ma and Z. Xu and K. Schilling}, title = {Robust bilateral teleoperation of a car-like rover with communication delay}, booktitle = {Proc. 10th European Control Conference (ECC09), Budapest, Hungary}, year = {2009}, pages = {2337-2342}, }

This paper addresses bilateral teleoperation of a car-like rover with communication delay. The proposed teleoperation scheme enables change of linear velocity and steering angle of the rover by pushing and pulling a haptic joystick. An environmental force determined according to relative distances and speed between the rover and obstacles is rendered to the human operator. The human operator perceives the environmental force via haptic feedback of the joystick to accomplish obstacle detection and avoidance, such that teleoperation performance is improved. A sliding-mode based impedance control is proposed for the slave robot. Stability of the closed-loop teleoperator is ensured by passivity of the impedance controlled master robot and slave robots, as well as absolute stability of the communication channel modeled as a 4- port network. The sliding-mode based impedance controller for the rover also ensures robustness in the presence of uncertain, time-variant dynamics of the robot, which are non negligible for our-door and planetary applications. Preliminary experimental results have shown feasibility of the proposed teleoperation scheme.

@inproceedings{Saska2009, author = {M. Saska and J. Mejia and D. Stipanovic and K. Schilling}, title = {Control and Navigation of Formations of Car-Like Robots on a Receding Horizon}, booktitle = {3rd IEEE Multi-conference on Systems and Control (MSC 2009). Saint Petersburg,Russia}, year = {2009}, pages = {1761-1766}, }

@inproceedings{Sauer2009, author = {M. Sauer and M. Hess and K. Schilling}, title = {Towards a Predictive Mixed Reality User-Interface for Mobile Robot Teleoperation}, booktitle = {IFAC Workshop on Networked Robotics (Netrob 2009), Golden, USA}, year = {2009}, }

@inproceedings{Sauer2009a, author = {M. Sauer and F. Zeiger and K. Schilling}, title = {A Simulation Setup for Communication Hardware in the Loop Experiments}, booktitle = {Proceedings 6th International Conference on Informatics, Automation and Robotics (ICINCO 2009), Milan, Italy}, year = {2009}, pages = {312-317}, }

@inproceedings{Schilling2009, author = {K. Schilling}, title = {Networked Distributed Pico-Satellite Systems for Earth Observation and Telecommunication Applications}, booktitle = {Plenary Paper in Proceedings of IFAC Workshop Aerospace Guidance,Navigation and Flight Control, Samara, Russia, IFAC}, year = {2009}, }

@inproceedings{Schilling2009a, author = {K. Schilling and M.Garcia-Sanz and B. Twiggs and R. Sandau}, title = {Small Satellite Formations for Distributed Surveillance: System Design and Optimal Control Considerations}, booktitle = {NATO RTO Lecture Series SCI-209}, year = {2009}, }

@inproceedings{Schmidt2009, author = {M. Schmidt and K. Schilling}, title = {A Scheduling System with redundant scheduling capabilities}, booktitle = {International Workshop for Planning and Scheduling in Space, Pasadena, USA}, year = {2009}, }

@article{Schmidt2009c, author = {M. Schmidt and K. Ravandoor and O. Kurz and S. Busch and K. Schilling}, title = {Attitude Determination for the Pico-Satellite UWE-2}, journal = {Space Technology}, volume = {28}, year = {2009}, pages = {67-74}, }

@inproceedings{SchmidtOctober2009, author = {M. Schmidt and K. Schilling}, title = {Evaluation of the CUSS scheduling system with respect to real world scenarios}, booktitle = {Proc. 60th International Astronautical Congress (IAC'09), Daejeon, Korea}, year = {2009}, }

@inproceedings{Schmidt2009a, author = {M. Schmidt and K. Schilling}, title = {Small satellites for educational purposes}, booktitle = {Proceedings 60th International Astronautical Congress (IAC'09), Daejeon, Korea}, year = {2009}, pages = {81-87}, }

@article{Schilling2009Eds, title = {Special issue on networked robots}, editor= {Dezhen Song and Volkan Isler and Nak Young Chong and Norihiro Hagita and Klaus Schilling}, journal = {Intelligent Service Robotics}, year = {2009}, volume = {2}, pages = {195-273}, }

@inproceedings{Tschichholz2009, author = {T. Tschichholz and L. Ma and M. Sauer and K. Schilling}, title = {Model-based spacecraft pose estimation and motion prediction using photonic mixer devices}, booktitle = {Proceedings 60th International Astronautical Congress (IAC'09), Daejeon, Korea}, year = {2009}, }

@inproceedings{Xu2009, author = {Z. Xu and L. Ma and K. Schilling}, title = {Passive bilateral teleoperation of a car-like mobile robot}, booktitle = {Proceedings of the 17th Mediterranean Conference on Control and Automation, Thessaloniki, Greece}, year = {2009}, pages = {790-796}, isbn = {978-1-4244-4684-1}, }

This paper addresses the bilateral teleoperation of a car-like planetary rover under communication delay. The teleoperation platform is built up between the rover and a haptic device, which provides the human operator a force-feedback mechanism describing the environmental conditions, based on the relative distances and speeds between the rover and the obstacles. Therefore, obstacle avoidance can be achieved independent of the visualization of the environment, which, on the other hand, will reduce the communication burden. We propose to use two control methods, which are based on different driving principles. A virtual-mass model extended to the application on a car-like rover is introduced, so that wave-variable method can be implemented on this teleoperation system to overcome the time-delay problem. This control strategy is compared with the sliding-mode based impedance control through a set of experiments, which also prove the feasibility of both teleoperation schemes.

@article{Zeiger, author = {F. Zeiger and N. Krämer and M. Sauer and K. Schilling}, title = {Mobile Robot Teleoperation via Wireless Multihop Networks - Parameter Tuning of Protocols and Real World Application Scenarios }, editor = {Jean-Louis Ferrier and Juan Andrade Cetto and Joaquim Filipe}, journal = {Springer Lecture Notes in Electrical Engineering}, publisher = {Springer Berlin Heidelberg}, year = {2009}, volume = {37}, number = {978-3-642-00270-0}, pages = {139-152}, }

@inproceedings{Zeiger2009a, author = {F. Zeiger and M. Sauer and L. Stolz and K. Schilling}, title = {Integrating Teams of Mobile Robots into Wireless Ad-hoc Networks}, booktitle = {IFAC Workshop on Networked Robotics (Netrob 2009), Golden, USA}, year = {2009}, }

@inproceedings{Zeiger2009, author = {F. Zeiger and M. Sauer and L. Stolz and K. Schilling}, title = {Teleoperation of a Mobile Robot via UMTS Link}, booktitle = {6th International Conference on Informatics, Automation and Robotics (ICINCO 2009),Milan, Italy}, year = {2009}, pages = {121-126}, }

@article{Zeiger2009b, author = {F. Zeigerand M. Schmidt and K. Schilling}, title = {Remote Experiments with Mobile Robot Hardware via Internet at limited Link Capacity}, journal = {IEEE Transactions on Industrial Electronics}, year = {2009}, volume = {56}, number = {12}, pages = {4798-4805}, }