Program CADICS - NTU Workshop on Autonomy in Vehicular Systems

Outdoor mobile robots have potential applications in industries such as seaport container transportation, passengers’ transportation and entertainment etc. Autonomy of mobile robots requires integration of many enabling technologies such as localization, mobility, perception, path planning and obstacle avoidance, and health monitoring techniques. This presentation describes some of our mobile robot research activities. These research issues include developments of proper models of the mobile robot behaviors for the purposes of analysis, control, fault tolerant control, fault detection and isolation. The presentation will also describe solutions to problems such as convoying control, integrated positioning with high accuracy, estimation and compensation of side-slipping and skidding for precise motion, fault tolerant control in platooning formation, fault detection and isolation in vehicle steering system. Experimental results for these researches are shown to illustrate their effectiveness. Biography: Danwei Wang received his Ph.D and MSE degrees from the University of Michigan, Ann Arbor in 1989 and 1985, respectively. He received his B.E degree from the South China University of Technology, China in 1982. Since 1989, he has been with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore. Currently, he is professor and head, Division of Control and Instrumentation, School of EEE, and deputy director of the Robotics Research Center, NTU. He has served as general chairman, technical chairman and various positions in international conferences, such as International Conference on Control, Automation, Robotics and Vision (CARCVs) and Asian Conference on Computer Vision (ACCV). He served as an associate editor of Conference Editorial Board, IEEE Control Systems Society, is an associate editor of the International Journal of Humanoid Robotics, and Chairman of IEEE Singapore Robotics and Automation Chapter. He was a recipient of Alexander von Humboldt fellowship, Germany. His research interests include robotics, control theory and applications. He has published more than 250 technical articles in the areas of iterative learning control, robust control and adaptive control systems, manipulator and mobile robot dynamics, path planning, and control, as well as fault diagnosis and prognosis. 8:50 – 9:10 DyKnow: A Stream-Based Knowledge Processing Middleware