References of "Voos, Holger 50003283"
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See detailObserver Design for a Nonlinear Minimal Model of Glucose Disappearance and Insulin Kinetics
Boutat, Driss; Darouach, Mohamed; Voos, Holger UL

in The 7th International Conference on Bio-inspired Systems and Signal Processing BIOSIGNALS, Angers, France, 3-6 March 2014 (2014, March)

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See detailReasoning on Robot Knowledge from Discrete and Asynchronous Observations
Ziafati, Pouyan UL; Elrakaiby, Yehia UL; van der Torre, Leon UL et al

in AAAI Spring Symposium 2014: Knowledge Representation and Reasoning in Robotics, Stanford, USA, 2015 (2014, March)

Robot knowledge of the world is created from discrete and asynchronous events received from its perception components. Proper representation and maintenance of robot knowledge is crucial to enable the use ... [more ▼]

Robot knowledge of the world is created from discrete and asynchronous events received from its perception components. Proper representation and maintenance of robot knowledge is crucial to enable the use of robot knowledge for planning, user-interaction, etc. This paper identifies some of the main issues related to the representation, maintenance and querying of robot knowledge based on discrete asynchronous events such as event-history management and synchronization, and introduces a language for simplifying developers’ job at making a suitable representation of robot knowledge. [less ▲]

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See detailPosition identification in force-guided peg-in-hole assembly tasks
Ibrahim, Jasim; Plapper, Peter UL; Voos, Holger UL

in Procedia CIRP (2014), 23

Position uncertainty is inevitable in many force-guided robotic assembly tasks. Such uncertainty can cause a significant delay, extra energy expenditure, and may even results in detriments to the mated ... [more ▼]

Position uncertainty is inevitable in many force-guided robotic assembly tasks. Such uncertainty can cause a significant delay, extra energy expenditure, and may even results in detriments to the mated parts or the robot itself. This article suggests a strategy for identifying the accurate hole position in force-guided robotic peg-in-hole assembly tasks through employing only the captured wrench (the Cartesian forces and torques) signals of the manipulated. In the framework of using the Contact-State (CS) modeling for such robotic tasks, the identification of the hole position is realized through detecting the CS that corresponds for the phase of the peg-on-hole, that is the phase in which the peg is located precisely on the hole. Expectation Maximization-based Gaussian Mixtures Model (EM-GMM) CS modeling scheme is employed in detecting the CS corresponding for the peg-on-hole phase. Only the wrench signals are used in modeling and detecting the phases of the assembly process. The considered peg-in-hole assembly process starts from free space and as soon as the peg touches the environment with missing the hole, a spiral search path is followed that would survey the whole environment surface. When the CS of the peg-on-hole is detected, the hole position is identified. Experiments are conducted on a KUKA Lightweight Robot (LWR) doing typical peg-in-hole assembly tasks. Multiple hole positions are considered and excellent performance of the proposed identification strategy is shown. [less ▲]

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See detailH_∞ decentralized dynamic-observer-based control design for large-scale nonlinear intercon-nected systems
Gao, Nan; Darouach, Mohamed; Alma, Marouane et al

in Transaction on IoT and Cloud Computing (2014), 2(3), 46-66

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See detailSetting up a testbed for UAV vision based control using V-REP amp; ROS: A case study on aerial visual inspection
Olivares Mendez, Miguel Angel UL; Kannan, Somasundar UL; Voos, Holger UL

in Unmanned Aircraft Systems (ICUAS), 2014 International Conference on (2014)

This paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) working in parallel for design, test, and tuning of a vision based control ... [more ▼]

This paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) working in parallel for design, test, and tuning of a vision based control system to command an Unmanned Aerial Vehicle (UAV). Here, is presented how to configure the V-REP and ROS to work in parallel, and the developed software in ROS for the pose estimation based on vision and for the design and use of a fuzzy logic control system. It is also explained how to interact with a virtual and a real quadrotor (QR) to command it for the specific task of aerial visual inspection task. The control system approach presented in this work is based on three fuzzy logic controllers (FLC) working in parallel on an external control loop based on the visual information. The three controllers were designed and tuned to command the vertical, longitudinal and lateral velocities of the UAV. The task to accomplish by the control system is to modify the position of the UAV in real time for the visual inspection of an object or specific parts of a structure. The virtual environment of the V-REP was used to tune manually the control system. Finally, the behavior of the tuned controllers was validated by a set of tests in a real environment with a quadrotor. [less ▲]

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See detailThe NOAH Project: Giving a Chance to Threatened Species in Africa with UAVs
Olivares Mendez, Miguel Angel UL; Bissyandé, Tegawendé; Somasundar, Kannan et al

in Bissyandé, Tegawendé F.; van Stam, Gertjan (Eds.) e-Infrastructure and e-Services for Developing Countries (2014)

Organized crime now targets one of the most precious wealth in Africa, the wild life. The most affected by the poaching are the Big 5, whose survival requires attention and efforts from everyone, in ... [more ▼]

Organized crime now targets one of the most precious wealth in Africa, the wild life. The most affected by the poaching are the Big 5, whose survival requires attention and efforts from everyone, in accordance to his own expertise. Just as Noah (A patriarchal character in Abrahamic religions) was tasked to save every species from the Genesis flood, we envision the NOAH Project to (re)make natural parks as a safe haven. This endeavor requires efficient and effective surveillance which is now facilitated by the use of UAVs. We take this approach further by proposing the use of ICT algorithms to automate surveillance. The proposed intelligent system could inspect a bigger area, recognize potential threats and be manage by non-expert users, reducing the expensive resources that are needed by developing countries to address the problem. [less ▲]

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See detailA model predictive approach for cyber-attack detection and mitigation in control systems
Rosich, Albert UL; Voos, Holger UL; Li, Yumei et al

in 52nd IEEE Conference on Decision and Control CDC 2013, Florence, Italy, Dec. 2013 (2013, December 13)

The paper presents a new approach for control security. Specifically, cyber-attacks on the controller are investigated by means of optimization techniques in order to determine the worst-case scenario ... [more ▼]

The paper presents a new approach for control security. Specifically, cyber-attacks on the controller are investigated by means of optimization techniques in order to determine the worst-case scenario. Then, a novel attack detector based on limit checking is introduced. The particularity of this detector is that no specific controller knowledge is necessary. Hence, the vulnerability of the detector can be reduced since no reconfiguration is required (limited accessibility). Finally, the paper shows that the effect of the attacks on the system can be significantly mitigated by applying proper optimal control laws. [less ▲]

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See detailA model predictive approach for cyber-attack detection and mitigation in control systems
Voos, Holger UL; Li, Yumei UL; Darouach, Mohamed

in The 52nd IEEE Conference on Decision and Control (2013, December 10)

The paper presents a new approach for control security. Specifically, cyber-attacks on the controller are in- vestigated by means of optimization techniques in order to determine the worst-case scenario ... [more ▼]

The paper presents a new approach for control security. Specifically, cyber-attacks on the controller are in- vestigated by means of optimization techniques in order to determine the worst-case scenario. Then, a novel attack detector based on limit checking is introduced. The particularity of this detector is that no specific controller knowledge is necessary. Hence, the vulnerability of the detector can be reduced since no reconfiguration is required (limited accessibility). Finally, the paper shows that the effect of the attacks on the system can be significantly mitigated by applying proper optimal control laws [less ▲]

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See detailTowards a Robot Perception Specification Language
Hochgeschwender, Nico; Schneider, Sven; Voos, Holger UL et al

in 4th International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-13), Tokyo, Japan, Nov. 2013 (2013, November)

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See detailModeling and Control of Aerial Manipulation Vehicle with Visual sensor
Kannan, Somasundar UL; Olivares Mendez, Miguel Angel UL; Voos, Holger UL

in Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013) (2013, November)

Modeling and control of a Quadrotor with robotic arm which uses vision sensor is discussed. A quadrotor model coupled with a two link manipulator is first developed and then the integrated control ... [more ▼]

Modeling and control of a Quadrotor with robotic arm which uses vision sensor is discussed. A quadrotor model coupled with a two link manipulator is first developed and then the integrated control mechanism is investigated. An Image Based Visual Servo system is introduced and then used with the aerial manipulator to successfully perform specific tasks of positioning and stabilization during manipulation. [less ▲]

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See detailGeneralized H_infinity observers design for systems with unknown inputs
Darouach, Mohamed; Gao, Nan; Voos, Holger UL et al

in 2nd International Conference on Control and Fault-Tolerant Systems SysTol'13, Nice, France, Oct. 2013 (2013, October)

A generalized H_infinity observer design is proposed for linear systems with unknown inputs. It generalizes the existing results concerning the proportional observer (PO) design and the proportional ... [more ▼]

A generalized H_infinity observer design is proposed for linear systems with unknown inputs. It generalizes the existing results concerning the proportional observer (PO) design and the proportional integral observer (PIO) design. The approach is based on the solutions of the algebraic constraints obtained from the unbiasedness conditions of the estimation error. The observer design is obtained from the solutions of linear matrix inequalities (LMIs). A numerical example is given to illustrate our approach. [less ▲]

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See detailSafety oriented software engineering process for autonomous robots
Gribov, Vladislav UL; Voos, Holger UL

in 18th IEEE Int. Conference on Emerging Technologies and Factory Automation ETFA 2013, Cagliari, Italy, Sept. 2013 (2013, September)

In this paper, a safety oriented model based software engineering process for autonomous robots is proposed. Herein, the main focus is on the modeling of the safety case based on the standard ISO/DIS ... [more ▼]

In this paper, a safety oriented model based software engineering process for autonomous robots is proposed. Herein, the main focus is on the modeling of the safety case based on the standard ISO/DIS 13482. Combined with a safe multilayer robot software architecture it allows to trace the safety requirements and to model safety relevant properties on the early design stages in order to build a reliable chain of evidence. The introduced engineering processes consist of the Domain Engineering, which is dealing with the development of a set of interlinked formalized safety cases and software components. Finally, the proposed engineering process is demonstrated on the example of the assembly assistant robot and ROS (Robot Operating System). [less ▲]

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See detailMultiagent-Based Flexible Automation of Microproduction Systems Including Mobile Transport Robots
Voos, Holger UL; Wangmanaopituk, Suparchoek

in 18th IEEE Int. Conference on Emerging Technologies and Factory Automation ETFA 2013, Cagliari, Sept. 2013 (2013, September)

In microproduction, i.e. in the production and assembly of micro-scale components and products, fully automated systems hardly exist so far. Besides the requirements of handling small parts with extreme ... [more ▼]

In microproduction, i.e. in the production and assembly of micro-scale components and products, fully automated systems hardly exist so far. Besides the requirements of handling small parts with extreme precision, small batch sizes of highly customized products are among the main challenges. Therefore, economic microproduction requires very flexible production systems with a high level of automation. This contribution proposes a new concept of such a system that provides two main innovations. First, the proposed concept integrates stationary production machines and mobile transport robots in order to configure rapidly changing production processes in real-time. Besides this distributed flexible system structure, also the overall automation system consisting of the Manufacturing Execution System (MES) and the shop floor control is designed in a distributed form as a multiagent system. This distributed automation system is especially suited to automate flexible production scheduling and resource allocation processes but also integrates the multi-robot transport system. [less ▲]

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See detailAn Efficient Nonlinear Model-Predictive Eco-Cruise Control for Electric Vehicles
Schwickart, Tim Klemens UL; Voos, Holger UL; Hadji-Minaglou, Jean-Régis UL et al

in 11th IEEE International Conference on Industrial Informatics, Bochum, Germany, 29-31 July 2013 (2013, July)

A nonlinear problem formulation of an energy-saving model-predictive eco-cruise controller for electric vehicles is presented. With regard to the intended application in real-world tests, the model has to ... [more ▼]

A nonlinear problem formulation of an energy-saving model-predictive eco-cruise controller for electric vehicles is presented. With regard to the intended application in real-world tests, the model has to include the specific properties of a serial electric vehicle such as energy-recovery and a discontinuous accelerator input giving rise to a binary control variable. These specific features and the nonlinearity of the system dynamics make it a challenging task to formulate the optimisation problem in a way that allows a fast computation in real-time application. The challenges are addressed by using a model of the vehicle dynamics that is formulated in terms of the vehicle position instead of time and by considering the kinetic energy instead of the velocity. Furthermore, various constraints on the input and state variables are introduced for a realistic representation of the vehicle characteristics. A special focus is put on the treatment of a binary input variable in the optimisation. Here, in order to avoid a mixed-integer formulation of the problem, a continuous variable is introduced which is forced to take only discrete values by a penalty term. Finally, first simulation results underline the feasibility of this control approach. [less ▲]

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See detailA Library for Event-Processing and Adaptable Component Interactions in Autonomous Robot Software
Ziafati, Pouyan UL; Voos, Holger UL; van der Torre, Leon UL et al

Poster (2013, May 06)

A light-weight framework-independent software library is introduced to facilitate a modular and systematic development of sensory management components for an autonomous robot. Such components are used to ... [more ▼]

A light-weight framework-independent software library is introduced to facilitate a modular and systematic development of sensory management components for an autonomous robot. Such components are used to implement complex eventprocessing tasks such as content-based filtering, integration and transformation of sensory data. In addition, they can be used as mediators to provide a number of high-level interaction mechanisms among a robot’s software components. To this end, they enable components with subscription to their events of interest, asynchronous reception of events, maintaining necessary histories of events and querying of the histories at runtime. [less ▲]

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See detailSwarm-based Evaluation of Nonparametric SysML Mechatronics System Design
Chami, Mohammad; Bou Ammar, Haitham; Voos, Holger UL et al

in IEEE International Conference on Mechatronics ICM 2013, Vicenza, Italy, Feb. 2013 (2013, February)

The design of a mechatronics system is considered one of the hardest challenges in industry. This is mainly due to the multidisciplinary nature of the design process that requires the knowledge ... [more ▼]

The design of a mechatronics system is considered one of the hardest challenges in industry. This is mainly due to the multidisciplinary nature of the design process that requires the knowledge integration of the participating disciplines. Previously, we have proposed SysDICE a framework that is capable of: (1) modeling the multidisciplinary information of mechatronics systems using SysML and (2) adopting a nonparametric technique for evaluating such a SysML model. In SysDICE the optimization that led to the determination of the best alternative combinations for satisfying the requirements was time-costly and discarded prohibited combinations. This paper contributes by: (1) proposing an effective method for restricting the set of possible alternative combinations and (2) employing a swarm intelligence based optimization scheme which significantly reduces the computational cost of SysDICE. [less ▲]

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See detailAgentenbasierte Koordination und Überwachung des Designs mechatronischer Systeme
Seemüller, Holger; Chami, Mohammad; Voos, Holger UL

in Göhner, Peter (Ed.) Agentensysteme in der Automatisierungstechnik (2013)

Der Entwicklungsprozess mechatronischer Produkte ist geprägt durch deren interdisziplinären Charakter und steigende Komplexität. Es gilt, diese Komplexität durch methodische Ansätze beherrschbar zu machen ... [more ▼]

Der Entwicklungsprozess mechatronischer Produkte ist geprägt durch deren interdisziplinären Charakter und steigende Komplexität. Es gilt, diese Komplexität durch methodische Ansätze beherrschbar zu machen und, unter Berücksichtigung gegenseitiger Abhängigkeiten, die beteiligten Entwickler effizient zu koordinieren. Modellbasierte Ansätze zur Modellierung von System und Entwicklungsaktivitäten haben bereits erste Möglichkeiten hervorgebracht, den Entwicklungsprozess in diesem Sinne zu unterstützen. Dieser Beitrag stellt einen agentenbasierten Ansatz zur IT-unterstützten Koordination und Überwachung des Designs mechatronischer Produkte vor. Dabei werden Resultate modellbasierter Ansätze als Wissensbasen verwendet, um Informationen über System und Prozess zu erhalten und gegenseitige Abhängigkeiten zu überwachen. Der Beitrag stellt das Konzept sowie die Agentenarchitektur vor und zeigt dessen Anwendbarkeit anhand eines Anwendungsbeispiels. [less ▲]

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See detailH-infinity Static Output Feedback Control for a Fractional-Order Glucose-Insulin System
Ndoye, Ibrahima UL; Voos, Holger UL; Darouach, Mohamed et al

in 6th Workshop on Fractional Differentiation and Its Applications. Part of 2013 IFAC Joint Conference SSSC, TDS and FDA (2013), Grenoble, February 4-6, 2013 (2013)

This paper presents the H-infinity static output feedback control of nonlinear fractional-order glucose-insulin systems. In this paper, it is an attempt to incorporate fractional-order into the ... [more ▼]

This paper presents the H-infinity static output feedback control of nonlinear fractional-order glucose-insulin systems. In this paper, it is an attempt to incorporate fractional-order into the mathematical minimal model of glucose-insulin system dynamics and it is still an interesting challenge to show, how the order of a fractional di erential system a ects the dynamics of system in the presence of meal disturbance. A static output feedback control is considered for the problem. Su fficient conditions are derived in terms of linear matrix inequalities (LMIs) formulation by using the fractional Lyapunov direct method where the fractional-order \alpha belongs to 0<\alpha<1. Finally, numerical simulations are carried out to illustrate our proposed results and show that the nonlinear fractional-order glucose-insulin systems are as stable as their integer-order counterpart in the presence of exogenous glucose infusion or meal disturbance. [less ▲]

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See detailObserver-Based Approach for Fractional-Order Chaotic Synchronization and Secure Communication
Ndoye, Ibrahima UL; Voos, Holger UL; Darouach, Mohamed

in IEEE Journal on Emerging and Selected Topics in Circuits and Systems (2013), 3(3), 442-450

This paper presents a method based on the state observer design for constructing a chaotically synchronized systems. Fractional-order direct Lyapunov theorem is used to derive the closed-loop asymptotic ... [more ▼]

This paper presents a method based on the state observer design for constructing a chaotically synchronized systems. Fractional-order direct Lyapunov theorem is used to derive the closed-loop asymptotic stability. The gains of the observer and observer-based controller are obtained in terms of linear matrix inequalities (LMIs) formulation. The proposed approach is then applied to secure communications. The method combines chaotic masking and chaotic modulation, where the information signal is injected into the transmitter and simultaneously transmitted to the receiver. Chaotic synchronization and chaotic communication are achieved simultaneously via a state observer design technique. The fractional-order chaotic Lorenz and Lü systems are given to demonstrate the applicability of the proposed approach. [less ▲]

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See detailDesign of Unkown Input Fractional-Order Observers for Fractional-Order Systems
Ndoye, Ibrahima UL; Darouach, Mohamed; Voos, Holger UL et al

in International Journal of Applied Mathematics & Computer Science (2013), 23(3), 491-500

This paper considers a method to design fractional-order observers for continuous-time linear fractional-order systems with unknown inputs. The conditions for the existence of these observers are given ... [more ▼]

This paper considers a method to design fractional-order observers for continuous-time linear fractional-order systems with unknown inputs. The conditions for the existence of these observers are given. Sufficient conditions for the asymptotical stability of the fractional-order observer errors with the fractional-order \alpha satisfying 0<\alpha<2 are derived in terms of linear matrix inequalities. Two numerical examples are given to demonstrate the applicability of the proposed approach where the fractional-order \alpha belongs to 1<\alpha<2 and 0<\alpha<1 respectively. The stability analysis of the fractional-order error system is completed and it is shown that the fractional-order observers are as stable as their integer-order counterpart and guarantee better convergence of the estimation error. [less ▲]

Detailed reference viewed: 112 (6 UL)