Papers by Gabriella Caporaletti
Entwicklung eines Vor-Crash-Sensorsystems - das Projekt CHAMELEON
Um die Entwicklung eines Vor-Crash-Sensorsystems - das fuer die Nahfeld-Crash-Erkennung in allen ... more Um die Entwicklung eines Vor-Crash-Sensorsystems - das fuer die Nahfeld-Crash-Erkennung in allen Szenarien notwendig ist - zu unterstuetzen, anzuleiten und zu bewerten, wurde das Projekt CHAMAELEON etabliert. Das von der Europaeischen Union unterstuetzte Projekt laeuft von Januar 2000 bis Dezember 2002. Fuer die Erkennung von kollidierenden Objekten an den Seiten- und Frontbereichen des Fahrzeugs zur Berechnung der Aufprallwahrscheinlichkeit werden mehrere Abstandsmess-Technologien - wie Mikrowellen-Radar, Laser-Radar und "Artificial Vision" (kuenstliche Sicht) - verbessert und bewertet. Fuer eine solche Vorhersage werden Informationen wie der Fahrzeugtyp, der Abstand, der Geschwindigkeitsvektor und die Objekt-Orientierung im Verhaeltnis zum ausgestatteten Fahrzeug gemessen und beruecksichtigt. Zur verbesserten Zuverlaessigkeit der Vorhersage und fuer einen Betrieb innerhalb eines groesseren Bereichs von Umgebungsbedingungen wird der gemeinsame Einsatz der verschiedenen Se...
Climbing and Walking Robots, 2006
The content of this paper describes the model and control of a elastic joint driven by fluidic mu... more The content of this paper describes the model and control of a elastic joint driven by fluidic muscles including the nonlinear behavior of the fluidic muscle, the valves and the joint dynamics. Such elastic joints have a lot advantages like passive compliance, low power to weight relation. The control of the joint is developed with the help of a professional software tool named EICASLAB which has been realized within the ACODUASIS Project founded by the European Commission in the frame of the Innovation Program aiming at transferring to the robotics sector the EICAS methodology
Advanced Automated Algorithm Generation Software in the Control of a Solar Power Plant
Innovative Algorithm for Spacecraft Attitude Determination
SAE International Journal of Aerospace, 2011
Robot-handled tools with refreshed accuracy and flexibility
In order to support, to guide and to validate the development of a pre-crash sensorial system nec... more In order to support, to guide and to validate the development of a pre-crash sensorial system necessary for near field crash detection in all scenarios the CHAMELEON project was established. The project, supported by the European Union, is running from January 2000 until December 2002. Several sensing technologies like micro-wave radar, laser radar and artificial vision will be improved and evaluated for the detection of colliding objects on the sides and the frontal area of the vehicle to calculate the crash probability. Information such as vehicle type, distance, velocity vector and object orientation relative to the equipped vehicle will be measured and considered for that prediction. A fusion between the different sensors shall be evaluated for improved reliability of prediction, and for operation under a wider range of environmental conditions. Development of a Pre-Crash sensorial system – the CHAMELEON Project Institut fuer Kraftfahrwesen Aachen Peugeot Citroen Automobile (PSA...
Climbing and Walking Robots, 2006
The content of this paper describes the model and control of a elastic joint driven by fluidic mu... more The content of this paper describes the model and control of a elastic joint driven by fluidic muscles including the nonlinear behavior of the fluidic muscle, the valves and the joint dynamics. Such elastic joints have a lot advantages like passive compliance, low power to weight relation. The control of the joint is developed with the help of a professional software tool named EICASLAB which has been realized within the ACODUASIS Project founded by the European Commission in the frame of the Innovation Program aiming at transferring to the robotics sector the EICAS methodology
The ERSEC Project: Enhanced Road Safety by Integrating Egnos-Galileo Data with On-Board Control System
Development of a Pre-Crash sensorial system
ABSTRACT
The ACODUASIS project-a professional software tool supporting the control design in robotics
Model and Control of compliant joints driven by fluidic muscles
The content of this paper describes the model and control of an elastic joint driven by fluidic m... more The content of this paper describes the model and control of an elastic joint driven by fluidic muscles including the nonlinear behavior of the fluidic muscle, the valves and the joint dynamics. Such elastic joints have a lot advantages like passive compliance, low power to weight relation. The control of the joint is developed with the help of a professional software tool named EICASLAB which has been realized within the ACODUASIS Project founded by the European Commission in the frame of the Innovation Program aiming at transferring to the robotics sector the EICAS methodology
FREE: Flexible and Safe Interactive Human-Robot Environment for Small Batch Exacting Applications
Springer Tracts in Advanced Robotics, 2014
The FREE experiment addresses the field of small-batch production where handwork is still the mai... more The FREE experiment addresses the field of small-batch production where handwork is still the main manufacturing option since automation is more expensive and lacks the prescribed flexibility. FREE aims at addressing this situation by introducing a flexible and safe interactive human-robot environment, achievable through a combination of standard commercial robot equipments with the state of the art safety and control technologies. The core idea is to add to the system a further control loop operating at a level hierarchically superior with respect to the standard robot controller. Such a control loop, defined “Superior Hierarchical Control”, is the interface between the robot and the human operator through a variety of sensors providing contact-less human position detection for safety and human work recording for task learning.
13th IFAC Symposium on Information Control Problems in Manufacturing, 2009
Robots have played a very important role in the growing popular flexible manufacturing environmen... more Robots have played a very important role in the growing popular flexible manufacturing environments. However, state-of-art industrial robots with high accuracy are rather costly and static. Our works aims at providing a low-cost fast integrating platform with advanced middleware support to seamlessly integrate off-the-shelf or future robot sensors, robots, and actuators as well as industrial IT system. To support such approach, a component-based reconfigurable middleware system is designed. A system runtime service is employed to manage the dependence and whole lifecycle of realtime components by reasoning from component's contract-based service description. A continues deployment mechanism is also designed The software architecture was implemented by so called-Hybrid component model. The evaluation shows that the ARFLEX system achieve the goal of enhance in accuracy, flexibility while provide good real-time characteristics.
IFAC Proceedings Volumes, 2009
Robots have played a very important role in the growing popular flexible manufacturing environmen... more Robots have played a very important role in the growing popular flexible manufacturing environments. However, state-of-art industrial robots with high accuracy are rather costly and static. Our works aims at providing a low-cost fast integrating platform with advanced middleware support to seamlessly integrate off-the-shelf or future robot sensors, robots, and actuators as well as industrial IT system. To support such approach, a component-based reconfigurable middleware system is designed. A system runtime service is employed to manage the dependence and whole lifecycle of realtime components by reasoning from component's contract-based service description. A continues deployment mechanism is also designed The software architecture was implemented by so called-Hybrid component model. The evaluation shows that the ARFLEX system achieve the goal of enhance in accuracy, flexibility while provide good real-time characteristics.
The ARFLEX project: Adaptive robots for flexible manufacturing systems
8th IFAC International Workshop on Intelligent Manufacturing Systems, 2007, 2007
ABSTRACT
Innovative Algorithm for Spacecraft Attitude Determination
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Papers by Gabriella Caporaletti