Johannes Reuter
Eaton Corporation
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Featured researches published by Johannes Reuter.
international conference on robotics and automation | 2000
Johannes Reuter
The aim of the paper is to make a contribution to the mobile robot self-localization problem, when the initial position is unknown. It is assumed that a simple map of the environment, consisting of a list of 2D-edge coordinates is available. These are regarded as natural or artificial landmarks. It is further assumed that the position of edges can be detected by a sensor in the local coordinate frame of the robot. From every pair of feature measures and map-landmarks, hypotheses of the robot-pose are constructed. These are regarded as measurement inputs into the probabilistic data association using Bayesian formulation (PDAB) approach. The presented first results demonstrates that the suggested method in combination with low level features is a promising approach for self-localization in unstructured and sparse modeled environments.
intelligent robots and systems | 1998
Johannes Reuter
We consider the problem of generating smooth trajectories for a fast moving mobile robot in a cluttered environment, when online path updating is performed. The well-known smoothing methods using clothoids, cubic spirals or polynominal curves are extended by taking into account the conditions for a continuously differentiable path update. We use the Hamilton-Jacobi framework to create a continuously differentiable interpolation of an existing path of straight lines and arcs of circles. The smoothing approach is combined with the generation of an appropriate velocity profile along the path. The results are compared to those obtained by more classical smoothing methods and to the polynominal approach implemented on the car-like robot MoViLaR of our institute. Finally an embedding of this method into the robots hierarchical control structure is presented.
IFAC Proceedings Volumes | 2014
Michael Schuster; Michael Blaich; Johannes Reuter
Abstract Collision avoidance for vessels highly depends on a robust obstacle detection. This is commonly achieved by use of high precision radar sensing. For smaller vessels however, the use of low-cost sensors is typical. The idea of this work is to improve the robustness of collision avoidance by integrating a sensor model together with the collision avoidance algorithm in order to consider the accuracy of the measurements. Furthermore, a target tracking algorithm based on an interacting Multi-Model Filter (IMM) is used for robust obstacle detection.
international conference on methods and models in automation and robotics | 2013
Stefan Wirtensohn; Johannes Reuter; Michael Blaich; Michael Schuster
In this paper, the process and results of a parameter identification task for a maritime unmanned surface vehicle are presented. The system has been modeled using state of the art methodology, and the parameters have been estimated via a weighted least square optimization approach. The required measurement data have been taken from various maneuvre trials. For solving the optimization problem, a Particle Swarm programming approach has been used, which has reliably found the global minimum of the cost function. The results show excellent agreement between measured and simulated data.
international conference on methods and models in automation and robotics | 2012
Michael Blaich; Michael Rosenfelder; Michael Schuster; Oliver Bittel; Johannes Reuter
In this work a real-time grid based collision avoidance algorithm for vessels in maritime environments is presented. Most grid based collision avoidance approaches use Lees algorithm to find an optimal collision-free path. The drawback of this algorithm is the long runtime for large grids. To reduce this runtime, in this work the A* search is used instead of Lees algorithm. The algorithm additionally regards the physical constrains of the vessel and pays attention to the COLREGs. The runtime and the resulting path of Lees algorithm and the A* search are compared in computational experiments. Furthermore, the performance of the collision avoidance on a real vessel on the Lake Constance is presented.
International journal of fluid power | 2010
Johannes Reuter; Sebastian Maerkl; Matthias Jaekle
ABSTRACT In this paper, the effects of different strategies for energizing solenoid valves are studied. These strategies are chosen subject to obtain soft-landing and concurrently minimization of power dissipation. A lumped parameter reluctance model is used to reflect the electrical and magnetic properties of a dual coil high-speed solenoid digital valve. This model is validated by stationary and transient experiments. The data from the model are in good agreement with the measurements. It is shown that retarded magnetic flux increase and spatial field diffusion phenomena are the major limiting factors for the feasible switching frequency of the spool motion. Thus, it is proposed to match the control strategy to these effects in order to reduce power dissipation in the coil as well as in the magnetic core. A control strategy that minimizes the power losses is obtained within a trajectory generating framework where the differential flatness property is used as a key enabler for efficient optimization schemes. The validity of the proposed hypothesis is demonstrated in several simulations, where the method using voltage profiles is compared against state of the art boost and hold energizing schemes.
SAE 2004 World Congress & Exhibition | 2004
Johannes Reuter; Utz-Jens Beister; Ning Liu; Dave Reuter; Bill Eybergen; Mohan Radhamohan; Alan John Hutchenreuther
Fuel cell systems emerge as a new technology, which is expected to play an important role for future powertrain applications. To enable this technology’s entrance into the market, new developments to improve robustness, cost efficiency and maintainability are necessary. Besides the stack itself, several subsystems are required to operate a fuel cell system. The technical challenges for developing and optimizing these subsystems are comparable to the challenges in the stack development itself. The air delivery system is considered to have a major impact, subject to overall efficiency, noise emissions and costs. These properties are determined not only by the system hardware, but also by the chosen control strategy. This paper describes an intelligent model based control strategy, which enables the system to use optimal operation points of compressor and motor. The quantities to be controlled are air mass flow and pressure. The precise achievement of the desired values is crucial for proper stack functionality and stack lifetime. The controlled parameters are the compressor speed/torque and the opening of the return manifold pressure valve. The paper considers all aspects of the controller development and the implementation of such a system including controller hardware and hardware-inthe-loop simulation. The results presented in this paper were achieved in simulations and on a real system.
international conference on methods and models in automation and robotics | 2012
Felix Prauße; Johannes Reuter
In this paper, a model reference adaptive system (MRAS) approach is applied for estimating the armature position in electromagnetic actuators. Two different MRAS strategies are carried out. The first applies a Lyapunov approach in order to derive the adaptation law, the second uses hyperstability theory. The results are compared to a state-of-the-art position estimation method, and the MRAS approach shows better performance, in particular at higher speed. Some problems in regard to the hyperstability approach are analyzed as well, and the next steps towards a robust and practical feasible approach are addressed.
IFAC Proceedings Volumes | 2012
Michael Blaich; Michael Rosenfelder; Michael Schuster; Oliver Bittel; Johannes Reuter
Abstract In this work a grid based collision avoidance algorithm which considers the physical constrains of a vessel is presented. For this purpose a new geometry neighbourhood is introduced and explained in detail. The collision avoidance algorithm pays attention to the COLREGs and provides a collision-free path. To find this path, Lees algorithm is used.
TransNav: International Journal on Marine Navigation and Safety of Sea Transportation | 2015
Sascha Hornauer; Axel Hahn; Michael Blaich; Johannes Reuter
The problem of vessel collisions or near-collision situations on sea, often caused by human error due to incomplete or overwhelming information, is becoming more and more important with rising maritime traffic. Approaches to supply navigators and Vessel Traffic Services with expert knowledge and suggest trajectories for all vessels to avoid collisions, are often aimed at situations where a single planner guides all vessels with perfect information. In contrast, the authors suggest a two-part procedure which plans trajectories using a specialised A* and negotiates trajectories until a solution is found, which is acceptable for all vessels. The solution obeys collision avoidance rules, includes a dynamic model of all vessels and negotiates trajectories to optimise globally without a global planner and extensive information disclosure. The procedure combines all components necessary to solve a multi-vessel encounter and is tested currently in simulation and on several test beds. The first results show a fast converging optimisation process which after a few negotiation rounds already produce feasible, collision free trajectories.