相关论文: Model for performance prediction in multi-axis mac…
Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…
In trajectory forecasting tasks for traffic, future output trajectories can be computed by advancing the ego vehicle's state with predicted actions according to a kinematics model. By unrolling predicted trajectories via time integration…
We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…
As an integral part of contemporary manufacturing, monitoring systems obtain valuable information during machining to oversee the condition of both the process and the machine. Recently, diverse algorithms have been employed to detect tool…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
In dynamic simulation of complete wheel loaders, one interesting aspect, specific for the working task, is the momentary power distribution between drive train and hydraulics, which is balanced by the operator. This paper presents the…
Optimizing robotic action parameters is a significant challenge for manipulation tasks that demand high levels of precision and generalization. Using a model-based approach, the robot must quickly reason about the outcomes of different…
Computational models are of increasing complexity and their behavior may in particular emerge from the interaction of different parts. Studying such models becomes then more and more difficult and there is a need for methods and tools…
In the pursuit of sustainable manufacturing, ultra-short pulse laser micromachining stands out as a promising solution while also offering high-precision and qualitative laser processing. However, unlocking the full potential of ultra-short…
Laser machining is a highly flexible non-contact manufacturing technique that has been employed widely across academia and industry. Due to nonlinear interactions between light and matter, simulation methods are extremely crucial, as they…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation.…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…
Industrial manipulators are normally operated in cluttered environments, making safe motion planning important. Furthermore, the presence of model-uncertainties make safe motion planning more difficult. Therefore, in practice the speed is…
This paper proposes a cutting mechanics-based machine learning (CMML) modeling method to discover governing equations of machining dynamics. The main idea of CMML design is to integrate existing physics in cutting mechanics and unknown…
This paper discusses desirable properties of forecasting models in production systems. It then develops a family of models which are designed to satisfy these properties: highly customizable to capture complex patterns; accommodates a large…
Machine vision tasks present challenges for resource constrained edge devices, particularly as they execute multiple tasks with variable workloads. A robust approach that can dynamically adapt in runtime while maintaining the maximum…
Computer model calibration typically operates by choosing parameter values in a computer model so that the model output faithfully predicts reality. By using performance targets in place of observed data, we show that calibration techniques…