Automation and Control Electrical Engineering

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1 Automation and Control Electrical Engineering Technical University of Denmark DTU-Building 326 DK-2800 Kgs. Lyngby Denmark aut.elektro.dtu.dk Ole Ravn

2 Total students ~9.300 including Ph.D and Int. M.Sc Research publications Leiden Ranking 2013: no. 1 in Scandinavia no. 7 in Europe 2 DTU Electrical Engineering, Technical University of Denmark

3 At DTU Electrical Engineering We educate engineers within technologies of electrical engineering and biomedical engineering We conduct research in close collaboration with industry and research institutions Our mission is to advance knowledge and educate students within our fields to the benefit of society 3 DTU Electrical Engineering, Technical University of Denmark

4 Organisation AutomationDesign PLAY Automation and Control PowerLabDK NEVIC Center for Electric Power and Energy Electronics DTU-ESA Facillity Electromagnetic Systems CFU Biomedical Engineering CAHR Hearing Systems Acoustic Technology 4 DTU Electrical Engineering, Technical University of Denmark

5 Core competences and domains Feedback & Control Information Processing & Integration Systems Engineering & Modularity Areas/domains Production, Energy & Supply Systems Wind Turbine Intelligent grid/power Vehicles, Robotics & Service Systems Robotics Aerospace Engine Control Rail systems Health & People Care Devices Medico Wellfare 5 DTU Electrical Engineering, Technical University of Denmark

6 Feedback & Control Control theory is an interdisciplinary branch of engineering and mathematics, that deals with the behavior of dynamical systems. The desired output of a system is called the reference. When one or more output variables of a system need to follow a certain reference over time, a controller manipulates the inputs to a system to obtain the desired effect on the output of the system. (ref: wikipedia) 6 DTU Electrical Engineering, Technical University of Denmark

7 Information processing & integration Compressing Information Places / Situations A specific room, a meeting situation, Servicing / Reasoning Objects Doors, Humans, Coke bottle, car, Interaction Features Lines, Contours, Colors, Phonemes, Navigation Raw Data Vision, Laser, Sound, Smell, Functional / Contextual Relationships of Objects Imposed learned spatial / temporal/semantic Models / Semantics imposed learned Models imposed learned 7 DTU Electrical Engineering, Technical University of Denmark

8 Systems Engineering & Modularity Systems engineering is an interdisciplinary field of engineering focusing on how complex engineering projects should be designed and managed over their life cycles. As an approach, systems engineering is holistic and interdisciplinary in flavour. (ref: wikipedia) 8 DTU Electrical Engineering, Technical University of Denmark

9 Approach Work is done at all levels: Theory Methods Tools Prototypes Interaction with industry through AutomationDesign Center Experimental verification is an important element Cooperation with industry is well established at DTU IPR, etc. 9 DTU Electrical Engineering, Technical University of Denmark

10 Parametric resonance detection Parametric resonance detection, a novel method and world's first to detect the onset of parametric resonance of ships from signals readily available on board and without detailed hull models. Parametric roll resonance is a high risk phenomenon with exponential growth of roll angle that potentially can damage cargo and endanger stability (DTU, DNV, NTNU, Wallenius, Amarcon now ABB) Impact: Patent, papers, best paper award, industrial licensing Time [min] 10 DTU Electrical Engineering, Technical University of Denmark

11 Modular Playware Modular Playware, combining research in embodied artificial intelligence, modular robotics and playware to create intelligent hardware and software that creates play for children and elderly alike, exploiting modularity in real world play of these user groups. (DTU, LEGO, MIT Media Lab, Osaka, Tsukuba, TU/e, KU Health, Municipalities) Impact: Keynotes, Industry and society adoption, Invited implementations 11 DTU Electrical Engineering, Technical University of Denmark

12 Diagnosis and fault tolerant control Diagnosis and fault tolerant control where salient results include new theory for active fault diagnosis and change detection and architecture results for fault tolerant control. Applications include wind turbines, refrigeration systems and agriculture. (DTU, Danfoss, CLAAS. Vestas, Dong Energy, Maersk) Impact: Keynotes, Invited sessions, Papers, Patent, Industrial cooperation 12 DTU Electrical Engineering, Technical University of Denmark

13 Functional modeling of complex systems Functional modeling of complex systems, a modeling language originating in the group to aid automation design, decision support and Human Machine Interaction in supervision and control. The language has its roots in AI research on quantitative reasoning and supports implementation in knowledge based reasoning systems. (DTU, IFE Halden, Dong Energy, Harbin University, 3P Confiq, FL Schmidt, Energinet.dk) Impact: Industrial adoption, International academic cooperation, Papers, Keynotes) 13 DTU Electrical Engineering, Technical University of Denmark

14 Supervision, navigation and software framework for mobile robots Supervision, navigation and software framework for mobile robots where nonlinear state estimation methods were developed and used in mobile robot navigation. Research projects have demonstrated autonomous systems for agriculture. (DTU, DTI, KU, TU Munich, University of Hohenheim, Prevas, Danish Navy, Willow Garage) Impact: Licenses sold, Papers, Industrial cooperation, International academic cooperation) 14 DTU Electrical Engineering, Technical University of Denmark

15 Robot systems at AUT Robots are complex systems that should be able to operate safely and reliably in different environments and solve different tasks 15 DTU Electrical Engineering, Technical University of Denmark

16 Robot based cleaning Robot based cleaning of pig sties Intelligent sensor for localizing dirt (> 2mm ø) Results: prototypes, publications, practical experiments Patent possibilities From DTU: Elektro, IMM, Mek 16 DTU Electrical Engineering, Technical University of Denmark

17 Natty Bumpo 17 DTU Electrical Engineering, Technical University of Denmark

18 Natty Bumpo Sensor fusion Combine laser scanner and vision 18 DTU Electrical Engineering, Technical University of Denmark

19 Using combined sensors 19 DTU Electrical Engineering, Technical University of Denmark

20 Corridor and road features 20 DTU Electrical Engineering, Technical University of Denmark

21 21 DTU Electrical Engineering, Technical University of Denmark

22 Challenges for Robot in the Meat industry Same object Rigid object Force signature during grasping: failure detection Failure recovery strategy: drop and retry Varying object size, shape, surface Deformable object Force signature during grasping: not only for failure detection, but also for failure prediction Adjust hanging strategy or abort execution in the event of predicted failure Challenges for force learning and motion planning 22 DTU Electrical Engineering, Technical University of Denmark

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