Refine
H-BRS Bibliography
- no (16) (remove)
Document Type
- Conference Object (16) (remove)
Year of publication
Has Fulltext
- no (16)
Cosynthesis in CASTLE
(1995)
Dual Dynamics (DD) is a mathematical model of a behavior control system for mobile autonomous robots. Behaviors are specified through differential equations; forming a global dynamical system made of behavior subsystems which interact in a number of ways. DD models can be directly compiled into executable code. The article (i) explains the model; (ii) sketches the Dual Dynamics Designer (DDD) environment that we use for the design; simulation; implementation and documentation; and (iii) illustrates our approach with the example of kicking a moving ball into a goal.
A way of combining a relatively new sensor-technology, that is optical analog VLSI devices, with a standard digital omni-directional vision system is investigated. The sensor used is a neuromorphic analog VLSI sensor that estimates the global visual image motion. The sensor provides two analog output voltages that represent the components of the global optical flow vector. The readout is guided by an omni-directional mirror that maps the location of the ball and directs the robot to align its position so that a sensor-actuator module that includes the analog VLSI optical flow sensor can be activated. The purpose of the sensor-actuator module is to operate with a higher update rate than the standard vision system and thus increase the reactivity of the robot for very specific situations. This paper will demonstrate an application example where the robot is a goalkeeper with the task of defending the goal during a penalty kick.
Ein gebräuchliche Methodik beim Entwurf eingebetteter Systeme, in Anwendung besonders bei kleinen- und mittleren Unternehmen, geht folgendermaßen vor: Man nehme das bereits existierende Mikrokontroller Entwicklungspaket und bereits vorhandene Funktionen aus einer alten Systemrealisierung, variiere bzw. passe sie an die neue Aufgabe an und teste dann durch Emulation, ob die Spezifikation erfüllt ist.
GMD-Robots
(2001)
GMD-Robots
(2002)