ACTUATED CAR DOORS:
Simulation and Control of Actuated Car Doors:
In a joint cooperation with BMW AG, we investigated the simulation and control of actuated car door (more information: project description, publications). The videos show some of the work in the development of the control of actuated car doors with more than one degree-of-freedom.
VIDEO1 VIDEO2
size1/2 : 2.5MB ; 0.77MB ; date:29.03.2009
ACTUATED CAR DOOR WITH TWO DOF:
Prototype of an Actuated Car Door with Two Degrees-of-Freedom:
In MechaTUM, a joint cooperation between BMW AG and TU München, we investigated the control of an actuated car door with two DOF. The videos show some of the features that have been realized:
VIDEO1 : "Egress": Superior comfort due to actuated 2 DOF kinematics, resulting in a large area for placing feet; human motion is additionally supported by seat
(our contribution: automatic door and seat operation; thanks to MiMed and LfE for development of door and seat mechanisms)
VIDEO2 : "Obstacle": In case of obstacles in the workspace of the car door, the door can automatically be opened to the maximum collision-free configuration
(our contribution: automatic door operation with collision avoidance and path planning; thanks to RCS for development of obstacle detection system)
VIDEO3 : "Spring": During a manual operation of the actuated car door, collisions with obstacles in the workspace are prevented by spring-like reaction forces
(our contribution: haptically augmented door operation with collision avoidance; thanks to RCS for development of obstacle detection system)
COGNITIVE FACTORY:
Animation of the Cognitive Factory with Virtual Reality toolbox in Simulink:
The cognitive factory demonstrator is implemented in the Virtual Reality toolbox in Simulink for testing an adaptive/productive control scheme to be applied to the real system (http://www.iwb.tum.de/), afterwards.
VIDEO1 VIDEO2
size1/2 : 8.48MB ; 8.68MB ; date:25.09.2008
Cognitive Manufacturing System (CMS):
Real System:
A CMS consists of different working stations with adaptive and intelligent controllers and the stations are connected by a transportation system. The main features of adaptivity are: 1) parallel manufacturing of different products by the same plant, 2) alternative transport routes in the plant, 3) different working stations with partially redundant function, 4) changing product specifications require online generation of production plans and control trajectories.
size:8.28MB ; date:25.09.2008
Cognitive Manufacturing System (CMS):
Animation of a Cognitive Manufacturing System (CMS) with Virtual Reality toolbox in Simulink :
An animation for the Cognitive Manufacturing System (CMS) is implemented with the Virtual Reality toolbox in Simulink, to consider e.g. scenarios of human-robot-interaction and new product specifications. Distributed local controllers, i.e. PLCs and a robot controller, are designed in Stateflow/Simulink or proprietary Matlab algorithms for each module of the CMS.
VIDEO1 VIDEO2
size1/2: 10.6MB ; 1.03MB ; date:25.09.2008
Gazebo Simulation for a Car Assembly Scenario:
A cognitive safety controller including an operational controller (OC) and a strategic controller (SC) is applied to a car assembly scenario. The standard controllers as well as the OC are implemented on WinAC. An OPC server is used for data management. For adaptability, the SC is implemented in Matlab directly.
size:12.1MB; date:25.09.2008