Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft
No abstract provided
Brockers, Roland↗
Engineering topics
Siegwart, Roland
Publications and source records attributed to Siegwart, Roland.
Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired from a sequence of monocular images by a Structure-from-Motion approach into a local, robot-centric, multi-resolution elevation map of the overflown terrain, which fuses depth measurements according to their lateral surface resolution (pixel-footprint) in a probabilistic framework based on the concept of dynamic Level of Detail. Map aggregation only requires depth maps and the associated poses, which are obtained from an on-board Visual Odometry algorithm. An efficient landing site detection method then exploits the features of the underlying multi-resolution map to detect safe landing sites based on the slope, roughness, and quality of the reconstructed terrain surface. The evaluation of the performance of the mapping and landing site detection modules are analyzed independently and jointly in simulated and realworld experiments in order to establish the efficacy of the proposed approach.
Brockers, Roland↗
High performance data acquisition, identification, and monitoring for active magnetic bearings
Future active magnetic bearing systems (AMB) must feature easier on-site tuning, higher stiffness and damping, better robustness with respect to undesirable vibrations in housing and foundation, and enhanced monitoring and identification abilities. To get closer to these goals we developed a fast parallel link from the digitally controlled AMB to Matlab, which is used on a host computer for data processing, identification, and controller layout. This enables the magnetic bearing to take its frequency responses without using any additional measurement equipment. These measurements can be used for AMB identification.
Herzog, Raoul↗
Control concepts for active magnetic bearings
Active Magnetic Bearings (AMB) are becoming increasingly significant for various industrial applications. Examples are turbo-compressors, centrifuges, high speed milling and grinding spindles, vibration isolation, linear guides, magnetically levitated trains, vacuum and space applications. Thanks to the rapid progress and drastic cost reduction in power- and micro-electronics, the number of AMB applications is growing very rapidly. Industrial uses of AMBs leads to new requirements for AMB-actuators, sensor systems, and rotor dynamics. Especially desirable are new and better control concepts to meet demand such as low cost AMB, high stiffness, high performance, high robustness, high damping up to several kHz, vibration isolation, force-free rotation, and unbalance cancellation. This paper surveys various control concepts for AMBs and discusses their advantages and disadvantages. Theoretical and experimental results are presented.
Siegwart, Roland↗