
Philipp AdeltPaderborn University | UPB · Cooperative Computing and Communication Laboratory (C-LAB)
Philipp Adelt
Dipl.-Inform.
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17
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Introduction
Publications
Publications (17)
Mechatronic systems are a relatively new class of technical systems. The integration of electro-mechanical systems with hard- and software enables systems that adapt to changing operation conditions and externally defined objective functions. To gain superior system performance from this ability, sophisticated decision making processes are required...
Self-optimization is a concept for mechatronic systems to leave open the choice among system objectives as a degree of freedom until runtime to allow better adaptation to changing system and environment conditions. Demonstration and knowledge transfer of the concept is not easy as the effects of it in mechatronic systems are hard to see in a comple...
Embedded systems in robotics or mechatronics need flexibility since they are working in dynamic environments. We consider an embedded modular multi-microcontroller system. Each module includes a microcontroller and special purpose hardware like a motor driver. Usually a change of the embedded software necessitates a direct access to all the devices...
Hybrid planning is an approach to couple continuous domains commonly found in mechatronic systems with discrete planning problems. An ongoing effort to bring self-optimization as a design means of improved overall system operation quality to mechatronic systems is the overall frame that this approach is embedded in. An innovative rail-bound vehicle...
In the presented work, a hybrid planner is used to adjust the active suspension system of a novel railway vehicle to upcoming situations. The hybrid planner uses the results from a model based multi objective optimization as a basis for discrete planning in continuous domains. The optimization works on a hierarchically organized set of mechatronic...
In mechatronic systems a lot of components above the controller level are needed for the development towards self-optimizing systems. Among them a hybrid planning architecture integrating discrete and continuous domains is of major importance to support the permanent determination of system objectives and their implementation during the course of a...
A railbound autonomous system depending on a linear motor uses a hybrid planning component to choose a path along track sections and to evaluate actuator trajectories for an air gap adjustment system using physical and fuzzy models of the system. The plan quality is improved by optimizing the choice of track sections after an analysis of the percei...
For railbound autonomous systems a hybrid planner chooses a path along track sections. The vehicle's propulsion uses a linear motor that needs trajectories for an air gap adjustment system. To model these, physical and fuzzy models as well as historical data of the air gap are used to predict the course of the air gap. The planner uses simulation t...
Imitation is not only a powerful means to drastically downsize the exploration space when learning behavior. It also helps
to align the learning efforts of a robot group towards a common goal. However, one prerequisite in imitation, the decision
of which robot to imitate, is often factored out in current research.
In our work we address this quest...
Digital storage demand is growing with the increasing use of digital artifacts from media files to business documents. Regulatory frameworks ask for unaltered, durable storage of business communications. In this paper we consider the problem of getting reliable evidence of the integrity and existence of some data from a storage service even if the...
Distribution of functionality among nodes is a contemporary research issue for embedded systems, e.g. in the field of autonomous
mobile robot groups. In such groups, the concept of distribution is mainly used to achieve flexibility and robustness that
could not be reached by a single robot. Here it will be used as a design-paradigm for a robot’s in...
Above the controller level a lot of components are needed in mechatronic systems for the development towards self-optimizing systems. One of these components is a hybrid planning architecture. This architecture integrating discrete and continuous domains is of major importance to support the permanent determination of system objectives and their im...
The Paderkickers are a heterogenuous robot soccer team that makes heavy use of automotive technology like C167 microcontrollers or communication over CAN bus. All sensor data is processed on these decentralized embedded nodes for better reliability and hardware layer abstraction. In this paper we present how we integrate and process the extracted r...
As part of an ongoing effort to bring self-optimization to mechatronic systems, hybrid planning is an approach to couple continuous domains with discrete planning problems. An innovative rail-bound vehicle system propelled by a linear motor employs an Air Gap Adjustment System to control the air gap between the two motor parts. Interval optimizatio...
Zusammenfassung Ein neuartiges schienengebundenes Fahrzeug "RailCab" ist mit einem doppelt gespeis-ten Linearmotor und verschiedenen neuartigen Teilsystemen mit inhärenter Teilintelli-genz ausgestattet, dessen Betriebsparameter in Abhängigkeit von Umweltbedingungen und Eigenschaften der befahrenen Strecke eingestellt werden müssen. Wir stellen die...