A5074365272- Advanced Control Systems Optimization
- Autonomous Vehicle Technology and Safety
- Real-time simulation and control systems
- Iterative Learning Control Systems
- Advanced Control Systems Design
- Electric and Hybrid Vehicle Technologies
- Vehicle Dynamics and Control Systems
- Advanced Optical Sensing Technologies
- Control Systems and Identification
- Stability and Control of Uncertain Systems
- Calibration and Measurement Techniques
- Fault Detection and Control Systems
- Safety Systems Engineering in Autonomy
- Optical Systems and Laser Technology
- Robotic Path Planning Algorithms
- Control Systems in Engineering
- Advanced Measurement and Metrology Techniques
- Formal Methods in Verification
- Plant Surface Properties and Treatments
- Robotic Mechanisms and Dynamics
- Software Testing and Debugging Techniques
- Optical measurement and interference techniques
- Control and Stability of Dynamical Systems
- Remote Sensing and LiDAR Applications
- Model-Driven Software Engineering Techniques
Virtual Vehicle (Austria)
2023-2024
Graz University of Technology
2014-2024
Anstalt für Verbrennungskraftmaschinen List (Austria)
2020-2024
Institut für Automatisierung und Informatik
2018
Virtual testing and validation of autonomous systems require real-time capable sensor models to couple the system under test with simulated environment. This paper proposes a lidar modeling approach using back projection 360 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$^{\circ}$</tex-math> </inline-formula> depth images for point cloud computation. Beam incident angles are derived from estimated surface...
The main objective of this article is to provide angle-dependent spectral reflectance measurements various materials in the near infrared spectrum. In contrast already existing libraries, e.g., NASA ECOSTRESS and Aster which consider only perpendicular measurements, presented dataset includes angular resolution material reflectance. To conduct a new measurement device based on 945 nm time-of-flight camera used, was calibrated using Lambertian targets with defined values at 10, 50, 95%. are...
Trajectory planning with the consideration of obstacles is a classical task in autonomous driving and robotics applications. This paper introduces novel solution approach for subclass racing problems which additionally capable dealing reward objects. special type objects representing particular regions state space, whose optional reaching somehow beneficial (e.g. results bonus points during race). First, homotopy class selected represents left/right catch/ignore decisions related to obstacle...
Control allocation (CA) is part of a hierarchical control architecture and distributes the desired effort controller among set redundant actuators as it used, for example, to meet high reliability requirements. Before applying CA, factorization linear plant's input matrix must be carried out. This paper investigates influence this on two common algorithms constrained CA: direct redistributed pseudoinverse (RPINV). It shown why does not affect first method, whereas influences latter one soon...
This paper focuses on the comparison of control allocation (CA) techniques based their application to a laboratory setup which emulates rotational dynamics quadrotor. CA is an intermediate layer between controller and actuators distributes overall effort in case input redundancy. The algorithms Weighted Pseudoinverse, Redistributed Enhanced Direct Allocation, Normalized Generalized Inverse, Least Squares are briefly outlined compared each other. They used map virtual torques generated by...
Abstract Purpose The aim of this paper is the development a process control concept for hot melt extrusion (HME) and pelletization process. new should improve particle size distribution pellets produced. Methods Production containing an active pharmaceutical ingredient (API) can be achieved by means HME, followed step. quality produced depends on strand temperature at pelletizer’s inlet intake speed. This presents strategy diameter based adjusting cooling intensity track between HME step...
In automotive clutch applications the use of purely electromagnetic actuators is not yet very common. Their dynamics are nonlinear and often subject to kinematic constraints. Therefore their accurate control a challenging task. this paper, plant model an actuator developed from corresponding physical principles. On basis, position controller for electromagnet's armature utilizing feedback linearization presented. It allows smooth fast movement without introducing unwanted torque jerks into...
Modern mechatronic systems are often equipped with a set of redundant actuators due to different operating points and high reliability requirements. One possibility deal such incorporates separation between the control task distribution effort among (so-called allocation). In case linear plant model factorization input matrix has be carried out. The relationship factorizations can described by means invertible transformation matrices. This work investigates impact on computation generalized...
A friction clutch equipped with an electromagnetic actuator is considered. The goal to estimate the air gap between electromagnet and armature, which allows compress discs. Starting point design of observer by linearization along a trajectory. In order improve estimation, sliding mode using super twisting concepts developed in this paper. By means sensitivity analysis it shown that capable position under presence parameter variations.
Using an electromagnet as direct source of axial force generation is not yet very common in automotive clutch applications because the inherently nonlinear dynamics. In this article a physically reasoned model used to describe electromagnetic actuator's behavior and system Identification carried out order design model-based controller. Special attention paid determination current-and position-dependent inductance. addition, flatness-based position controller developed that enables smooth...
This conference paper presents the mid-term results of two EUREKA projects "testEPS" and "Central System". TestEPS addresses certification autonomous driving systems, while Central System focuses on infrastructure solutions for a connected vehicle system. Both integrate same four technological fields: simulation virtual testing, realworld HD mapping, communication, to realize their vision achieve individual goals. The application use cases each field as utilized in respective project....
The development and testing of autonomous racing technology is a complex challenging process that requires significant resources, expertise, innovation. In this paper, the team Autonomous Racing Graz provides insights into their systems, which were refined during participation in two ROBORACE seasons. We introduce stack used by team, provide an overview modules for system analysis, testing, simulation. Our focus on presenting solutions efficient data analysis comprehensive simulation, as...
Systems with a redundant set of actuators are to be found in many domains which characterized by high demands on reliability and performance. The ambiguity the choice actuator commands caused redundancy can resolved control allocation (CA). One variant CA involves formulation constrained quadratic programs have solved during controller operation. corresponding method proposed this work is based well-known penalty function enables fast solution those optimization problems. Two strategies for...