Research Interests:
Embedded systems in robotics or mechatronics need flexibility since they are working in dynamic environments. We consider an embedded modular multi-microcontroller system. Each module includes a microcontroller and special purpose... more
Embedded systems in robotics or mechatronics need flexibility since they are working in dynamic environments. We consider an embedded modular multi-microcontroller system. Each module includes a microcontroller and special purpose hardware like a motor driver. Usually a change of the embedded software necessitates a direct access to all the devices (microcontrollers) to reload the code. To overcome this disadvantage we introduce an infrastructure for flexible runtime reconfiguration of microcontroller modules within a system. The infrastructure enables the system to be coarse-grain reconfigurable on module level from one single point of access. By using our infrastructure the system can remain operational during reconfiguration except the modules that actually get reconfigured. The infrastructure can cope with hardware changes during runtime like disconnection and reconnection of system parts.
Research Interests:
Research Interests:
Abstract A railbound autonomous system depending on a linear motor uses a hybrid planning component to choose a path along track sections and to evaluate actuator trajectories for an air gap adjustment system using physical and fuzzy... more
Abstract A railbound autonomous system depending on a linear motor uses a hybrid planning component to choose a path along track sections and to evaluate actuator trajectories for an air gap adjustment system using physical and fuzzy models of the ...
Research Interests:
ABSTRACT
Research Interests:
Abstract For railbound autonomous systems a hybrid planner chooses a path along track sections. The vehicle's propulsion uses a linear motor that needs trajectories for an air gap adjustment system. To model these,... more
Abstract For railbound autonomous systems a hybrid planner chooses a path along track sections. The vehicle's propulsion uses a linear motor that needs trajectories for an air gap adjustment system. To model these, physical and fuzzy models as well as historical data ...
Research Interests:
Research Interests:
Research Interests:
Research Interests:
Abstract Self-optimization is a concept for mechatronic systems to leave open the choice among system objectives as a degree of freedom until runtime to allow better adaptation to changing system and environment conditions. Demonstration... more
Abstract Self-optimization is a concept for mechatronic systems to leave open the choice among system objectives as a degree of freedom until runtime to allow better adaptation to changing system and environment conditions. Demonstration and knowledge transfer of ...
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Abstract In mechatronic systems a lot of components above the controller level are needed for the development towards self-optimizing systems. Among them a hybrid planning architecture integrating discrete and continuous domains is of... more
Abstract In mechatronic systems a lot of components above the controller level are needed for the development towards self-optimizing systems. Among them a hybrid planning architecture integrating discrete and continuous domains is of major importance to support ...
Research Interests:
Abstract In the presented work, a hybrid planner is used to adjust the active suspension system of a novel railway vehicle to upcoming situations. The hybrid planner uses the results from a model based multi objective optimization as a... more
Abstract In the presented work, a hybrid planner is used to adjust the active suspension system of a novel railway vehicle to upcoming situations. The hybrid planner uses the results from a model based multi objective optimization as a basis for discrete planning in ...
Research Interests:
The Paderkickers are a robot soccer team that makes heavy use of automotive technology like C167 micro-controllers or communication over CAN bus. All sensor data is processed on these decentralized embedded nodes to yield a high degree of... more
The Paderkickers are a robot soccer team that makes heavy use of automotive technology like C167 micro-controllers or communication over CAN bus. All sensor data is processed on these decentralized embedded nodes to yield a high degree of reliability and hardware ...