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The field of Cognitive Robotics aims at intelligent decision making of autonomous robots. It has matured over the last 25 or so years quite a bit. That is, a number of high-level control languages and architectures have emerged from the field. One concern in this regard is the action language GOLOG. GOLOG has been used in a rather large number of applications as a high-level control language ranging from intelligent service robots to soccer robots. For the lower level robot software, the Robot Operating System (ROS) has been around for more than a decade now and it has developed into the standard middleware for robot applications. ROS provides a large number of packages for standard tasks in robotics like localisation, navigation, and object recognition. Interestingly enough, only little work within ROS has gone into the high-level control of robots. In this paper, we describe our approach to marry the GOLOG action language with ROS. In particular, we present our architecture on inte grating golog++, which is based on the GOLOG dialect Readylog, with the Robot Operating System. With an example application on the Pepper service robot, we show how primitive actions can be easily mapped to the ROS ActionLib framework and present our control architecture in detail.
IASSE-2004 - 13th International Conference on Intelligent and Adaptive Systems and Software Engineering eds. W. Dosch, N. Debnath, pp. 245-250, ISCA, Cary, NC, 1-3 July 2004, Nice, France We introduce a UML-based model for conceptual design support in civil engineering. Therefore, we identify required extensions to standard UML. Class diagrams are used for elaborating building typespecific knowledge: Object diagrams, implicitly contained in the architect’s sketch, are validated against the defined knowledge. To enable the use of industrial, domain-specific tools, we provide an integrated conceptual design extension. The developed tool support is based on graph rewriting. With our approach architects are enabled to deal with semantic objects during early design phase, assisted by incremental consistency checks.
Effective training requires high muscle forces potentially leading to training-induced injuries. Thus, continuous monitoring and controlling of the loadings applied to the musculoskeletal system along the motion trajectory is required. In this paper, a norm-optimal iterative learning control algorithm for the robot-assisted training is developed. The algorithm aims at minimizing the external knee joint moment, which is commonly used to quantify the loading of the medial compartment. To estimate the external knee joint moment, a musculoskeletal lower extremity model is implemented in OpenSim and coupled with a model of an industrial robot and a force plate mounted at its end-effector. The algorithm is tested in simulation for patients with varus, normal and valgus alignment of the knee. The results show that the algorithm is able to minimize the external knee joint moment in all three cases and converges after less than seven iterations.
Lightning protection design of a renewable energy hybrid-system without power mains connection
(2001)
In the year 2000 a direct lightning strike to the hybridsystem without power mains connection VATALI on the Greek island Crete results in the destruction and damage of some mechanical and electrical components. The hybrid-system VATALI was not lightning protected at that time. The hardware damage costs are approx. 60,000 €. The exposed site of the hybrid-system on top of a mountain was and still is the reason for a high risk of lightning strikes. Also in the future further lightning strikes have to be taken into consideration. In the paper a fundamental lightning protection design concept for renewable energy hybrid-systems without power mains connection and protection measures against direct strikes and overvoltages are shown in detail. The design concept was realized exemplarily for the hybrid-system VATALI. The hardware costs for the protection measures were about 15,000 €. About 50% of the costs are due to protection measures against direct strikes, 50% are due to overvoltage protection. Future extensions, new installations, or modifications have to be included into the lightning protection design concept of the hybrid-system.
In the paper a lightning protection design concept for renewable energy hybrid-systems without power mains connection is described. Based on a risk analysis protection measures against direct strikes and overvoltages are shown in an overview. The design concept is realized exemplarily for the hybrid-system VATALI on the Greek island Crete. VATALI, not lightning protected at that time, was a victim of a lightning strike in the year 2000 causing destructions and damages of some mechanical and electrical components with costs of approx. 60.000 €. The hardware costs for the protection measures were about 15.000 €: about 50% of the costs are due to protection measures against direct strikes, 50% are due to overvoltage protection.
For typical cases of non-isolated lightning protection systems (LPS) the impulse currents are investigated which may flow through a human body directly touching a structural part of the LPS. Based on a basic LPS model with conventional down-conductors especially the cases of external and internal steel columns and metal façades are considered and compared. Numerical simulations of the line quantities voltages and currents in the time domain are performed with an equivalent circuit of the entire LPS.
As a result it can be stated that by increasing the number of conventional down-conductors and external steel columns the threat for a human being can indeed be reduced, but not down to an acceptable limit. In case of internal steel columns used as natural down-conductors the threat can be reduced sufficiently, depending on the low-resistive connection of the steel columns to the lightning equipotential bonding or the earth termination system, resp. If a metal façade is used the threat for human beings touching is usually very low, if the façade is sufficiently interconnected and multiply connected to the lightning equipotential bonding or the earth termination system, resp.
In the paper the results obtained from experiments at a modelled reinforced building in case of a direct lightning strike are compared with calculations. The comparison includes peak values of the magnetic field Hmax, its derivative (dH/dt)max and of induced voltages umax in typical cable routings. The experiments are performed at a 1:6 scaled building and the results are extrapolated using the similarity relations theory. The calculations are based on the approximate formulae given in IEC 62305-4 and have to be supplemented by a rough estimation of the additional shielding effect of a second reinforcement layer. The comparison shows, that the measured peak values of the magnetic field and its derivative are mostly lower than the calculated. The induced voltages are in good agreement. Hence, calculations of the induced voltages based on IEC 62305-4 are a good method for lightning protection studies of buildings, where the reinforcement is used as a grid-like electromagnetic shield.