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Kampke T.,InMach Intelligente Maschinen GmbH
International Journal of Adaptive Control and Signal Processing | Year: 2011

Real-valued data are quantized according to the magnitude of their fluctuations around regional mean values or around a given, real-valued signal. Quantization does not require any parameter or threshold value except the desired number of regions. By the introduction of suitable fluctuation measures and a so-called change point graph, the determination of a minimum quantization is transformed to the computation of the shortest path with a prescribed number of intermediate nodes. Such shortest paths are shown to be computable by dynamic programming and by a variation of the Dijkstra algorithm. Evaluations and extensions of the approach are included. Copyright © 2011 John Wiley & Sons, Ltd. Source


Kampke T.,InMach Intelligente Maschinen GmbH
International Journal of Electric and Hybrid Vehicles | Year: 2012

Information on energy demand and traversal times along segments of a route is used to operate a fuel cell of an automotive drive in order to minimise fuel consumption. The buffering capacity of a battery is exploited to proactively leave the fuel cell idle or run it as close as possible to its maximum efficiency power level. Additionally, recuperation energy is buffered. Shortest paths in so-called power graphs correspond to approximately optimal fuel cell operation along a given route. In principle, minimum consumption routes can be computed in the same way. The approach targets planning rather than control. Copyright © 2012 Inderscience Enterprises Ltd. Source


Kampke T.,InMach Intelligente Maschinen GmbH
Informatica (Slovenia) | Year: 2012

The motion of water or the atmosphere that surrounds or supports a mobile platform affects the motion of the platform in a favorable or unfavorable way. Exploiting and compensating the ambient field is investigated for different motion objectives like the classical point to point motion, observation motion, exploration motion and so-called survival motion. Time and energy optimal trajectories in the presence of fields are formalized and shown to be computable by means of discrete optimization. Source


Kampke T.,InMach Intelligente Maschinen GmbH | Kluge B.,InMach Intelligente Maschinen GmbH | Strobel M.,InMach Intelligente Maschinen GmbH
Springer Tracts in Advanced Robotics | Year: 2012

The potential of RFID (radio frequency identification) technology is analyzed in the context of service robots. Various concepts that differ by operation frequency (LF, HF, UHF) and, thus, by range are analyzed. Typically, the service robot application which is to be supported by RFID, preselects the frequency band by range requirements. Within the DESIRE project, RFID was investigated for platform localization in large operation areas as well as for object identification at small distances. To enable this investigation, an electronic system was designed, built and integrated into the DESIRE platform that supports multiple antenna control. Detection zones of objects, equipped with UHF-RFID tags, were estimated under lab conditions and for onboard scenarios. In particular, strengths and weaknesses of UHF-RFID object identification at far distances and in the presence of interfering signals are discussed. This lead to one scenario in which the robot grasps an object, moves and rotates it in reading distance to the antenna mounted at the robot torso. The service robot can thus perceive object information that complements information from other sensor modalities like vision. © 2012 Springer-Verlag GmbH Berlin Heidelberg. Source


Kampke T.,InMach Intelligente Maschinen GmbH | Kluge B.,InMach Intelligente Maschinen GmbH | Strobel M.,InMach Intelligente Maschinen GmbH
Springer Tracts in Advanced Robotics | Year: 2012

Service robots for everyday use must maneuver accurately and repeatably throughout their work space. For large work spaces this, today still, requires some sort of devices like landmarks from which robot positions can be inferred. Here, trilateration is considered which means that robot positions are inferred from distances between landmarks and the robot. While robot localization calls for precision and, hence, for many landmarks, commercial issues call for few landmarks. The issue of their suitable placement prevails in both cases. The predominant Gauss-Newton algorithm will be made robust against getting stuck in local minima by multi-start initialization. The approach is free of external parameters and, so, ideally suited for on-board robot use. Complementary, landmarks should be placed so that computed robot positions suffer least from measurement errors. Dilution of precision (DOP) is adopted as a measure of quality for landmark positions. The dilution of precision can be shown to be proportional to the size of the error ellipses in two dimensions and increasing in the size of error ellipsoids in three dimensions. In both cases, the standard deviation of the position error is approximately proportional to the standard deviation of the measurements and the DOP. Though DOP minimization over the robot workspace is too complex for an automatic approach, it is well suited for simulation. Interactive planning support for the number and the positions of the landmarks becomes feasible. © 2012 Springer-Verlag GmbH Berlin Heidelberg. Source

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