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This paper covers the development of a threefinger robot hand for fast and soft gripping of delicate and different shaped objects. The fingers are positioned with submillimetre accuracy at the tip within 0.3 seconds. The hand is also equipped with flexible tactile sensors featuring pressureand slip-measurement. Control algorithms for both position and force control are designed and implemented on...
This paper covers the development of the Kuutio, a 150 x 150 x150 mm autonomous balancing cube that should jump up and successfully balanced on its edge using one of its three reaction wheels. Balancing in 1 DOF was performed within submillimetre accuracy at the top corner measuring the angular rate with a gyrometer. Using high-pass and low-pass filtering, the control algorithm for motor torque was...
For the implementation of a 6LoWPAN Home Automation Network with sensor nodes, router, border router, home automation server and user interfaces a sensor node was required. An application which includes temperature, humidity and soil moisture measurement is a plant sensor. From such a sensor node platform, simple room temperature or humidity sensor nodes can be derived. The values of the sensor are...
In this paper, a confocal radar system and its advantages especially for the range resolution in FMCW mode is presented. The confocal system offers an additional range information due to the known focus position of the lens system. The confocal system consists of two dielectric lenses like in an optical confocal system. The first lens collimates the radar beams while the second lens focuses the beams...
The main goal of this project is the remote control of KUKA industrial robots based on KRC 4 controllers. A possible application scenario is an operator who wants to transport loads between non-fixed points. In practice, this scenario could be used, for loading trucks. The usage should be as intuitive as possible and not as uncomfortable as the teaching pendants keys. The following paper describes...
Electric vehicles (EVs) are one of the key technolgies for a sustainable mobility, reducing fuel consumption and traffic related emissions. Until today the energy density of the traction battery is low compared to fossil fuels, resulting in a limited range of EVs. Therefore, an optimization of the overall energy consumption of an electric vehicle is crucial. This paper proposes an optimized velocity...
Estimation and enlarging the domain of attraction of nonlinear systems is one of the difficult and important challenges in the control of dynamical systems. This case efficiently influences the performance and reliability of controlled nonlinear mechatronic systems. In this paper a wide range of affine nonlinear systems has been considered and based on Zubov Theorem, a controller has been designed...
Person following ground robots can have applications in military, civil, and domestic settings. Various sensors may be used to detect a person including cameras, infrared, laser, and ultrasonic sensors. This paper describes the implementation and testing of a robotic cart that is controlled via a smart phone application and can be tele-operated, as well as set into a follower mode where it uses ultrasonic...
Model-Based Testing rises hopes of project teams of meeting both eager time and budget constraints as well as achieving better system quality by thorough testing. However, toolchain and method impose a certain skill set on the project engineer. This paper presents a possible way forward and introduces the constraints to the system architecture.
This paper describes a concept for an interdisciplinary robot contest that is suitable for distance learning universities. Its usability for project tasks in bachelor courses and for research topics for bachelor theses is shown by comparing several robot contest formats. Adequacy and practicability for different levels during the bachelor courses at a distance learning university are compared. The...
MARWIN is a mobile autonomous robot platform designed for performing maintenance and inspection task in a 4D environment at the European XFEL accelerator in Hamburg, Germany. MARWIN consists of a 4-wheel driven chassis and a manipulator arm providing 3 degrees of freedom. It can be operated in a pre-configured autonomous as well as a remotely controlled mode. The primary use case of MARWIN is measuring...
This paper gives a brief introduction to the use of Model-Based Design and the CONSENS modeling method in Embedded Hardware Design and illustrates the benefits.
This paper describes a concept for an interdisciplinary robot contest that is suitable for distance learning universities. Its usability for project tasks in bachelor courses and for research topics for bachelor theses is shown by comparing several robot contest formats. Adequacy and practicability for different levels during the bachelor courses at a distance learning university are compared. The...
Estimation and enlarging the domain of attraction of nonlinear systems is one of the difficult and important challenges in the control of dynamical systems. This case efficiently influences the performance and reliability of controlled nonlinear mechatronic systems. In this paper a wide range of affine nonlinear systems has been considered and based on Zubov Theorem, a controller has been designed...
Piezoelectric bending actuators are suitable for a wide range of applications that require deflections in range of hundreds of microns. A variety of applications can be found in almost all fields of electrical engineering, mechanical engineering, acoustics, automation, automotive, health care and in countless further application areas of industry and daily life. Piezoceramic compacts, piezoceramic...
Sensor systems for machine monitoring (energy monitoring, condition monitoring) can be built up from available low cost components. The Raspberry Pi, being a miniature PC, is well suited to collect and save data, to control a human machine interface and make the connection to the Web via Ethernet. Metering the energy of a 3 phase power line can be done by an energy metering sensor combined with an...
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