Aktuelle Publikationen

Als Autor

Journal Articles

Stelzer, R.; Pröll, T. (2007): Autonomous Sailboat Navigation for Short Course Racing, submitted for publication.

Abstract: The paper presents a compact method to calculate a suitable route for a sailboat in order to reach a specified target. The calculation is based on the optimisation of the time-derivative of the distance between boat and target and features a hysteresis condition, which is of particular importance for beating to windward. The algorithm provides an answer to the perennial question when to tack on upwind courses. Further, it immediately adapts to varying wind conditions. The resulting routes for different conditions are analysed on the basis of a simulation featuring a mathematical boat model. Experiments have been carried out using an unmanned and autonomously controlled sail boat. The navigated route agrees well with the simulation results.

Conference Papers

Stelzer, R.; Jafarmadar, K. (2007): A Layered System Architecture to Control an Autonomous Sailboat, submitted for publication in TAROS 2007, Aberystwyth, UK.

Abstract: A four layered control architecture is presented for an autonomous sailboat combining both reactive and planner-based approaches. The system allows autonomous sailing, where routeing, navigation and carrying out the manoeuvres run automatically and directly on the boat. Various sensors observe the highly dynamic environment and provide measured data to the control system, which steers rudder and sails. The four layers are responsible for strategic long term routeing, short course routeing, manoeuvre execution, and reflexes in case of emergency. All four layers are executed in parallel. They access sensor data directly and generate prerequisites for the succeeding, subordinate layer. Experiments using a yacht model have been carried out to demonstrate feasibility and suitability of the presented approach. Detailed log data analysis from actual sailing trips show a steering behaviour as expected by sailing experts.

Stelzer, R.; Pröll, T.; John, R.I. (2007): Fuzzy Logic Control System for Autonomous Sailboats, accepted for publication in 2007 IEEE International Conference on Fuzzy Systems, London, UK.

Abstract: Sailing experts can explain basic sailing skills by rules about how to steer sails and rudder according to direction of target and wind. This paper describes how to transform the sailor’s knowledge into Mamdani type fuzzy inference systems. The proposed system controls two actuators – rudder and sails – even during tack and jibe. In combination with an automatic weather routeing system the sailboat is able to reach any target completely autonomously. Experiments on a demonstration sailboat have shown excellent results. Detailed log data analysis shows manoeuvres carried out as expected by sailing experts.

Stelzer, R.; Jafarmadar, K. (2007): Simple Communication Protocol for Rapid Robot Prototyping, accepted for publication in conference Humanoid and Service Robotics, Kosice, SK.

Abstract: Aim of the method presented in this paper is to provide a simple and unique communication protocol for a wide variety of sensors and actuators. All of the devices are equipped with a microcontroller in order to translate the proprietary device dependent protocol into the protocol presented here, named Simple Sensor Network (SSN). Due to the very simple commands to request data from a sensor respectively to send data to an actuator via RS232, it is an appropriate way for a novice to get in touch with robotics without the need of expert knowledge in electronics or programming. SSN makes a system easy to maintain, to adapt, and to extend.

Poster

Stelzer, R. (2007): RobotChallenge - A Successful Way to Motivate for Science and Technology, accepted for publication in Second Austrian RoboCup Workshop, 2007-05-30, University of Applied Sciences Technikum Wien, Vienna (Austria).

Abstract: The RobotChallenge is the biggest competition in Austria for self-made, autonomous, and mobile robots. This yearly, successful event takes place on a Saturday in March in Vienna since 2004. The basic idea of the competition is to inspire and motivate the creative forces in young people to become involved with innovative technology, research and science. Participants and audience are able to experience the fascinating ways, in which science can be practically applied.

Vorträge

Stelzer, R. (2007): Non RoboCup Austrian Robotics Initiatives, Second Austrian RoboCup Workshop, 2007-05-30, University of Applied Sciences Technikum Wien, Vienna (Austria).

Stelzer, R. (2007): Roboat - World's Leading Autonomous Sailboat, International Robotic Competition RobotChallenge, 2007-03-24, Austrian Association for Innovative Computer Science, Vienna (Austria).

Stelzer, R. (2006): How the Autonomous Sailboat Roboat won the Microtransat, Robotic Holidays, 2006-09-05, Slovak University of Technology, Bratislava (Slovakia).

Stelzer, R. (2006): Concepts Behind the Autonomous Sailboat 'roboat', First Microtransat Conference, 2006-06-08, ENSICA, Toulouse (France).

Stelzer, R. (2006): RobotChallenge - Austria's Biggest International Robotics Contest, Istrobot, 2006-04-26, Slovak University of Technology, Bratislava (Slovakia).

Stelzer, R. (2006): Microtransat - Autonomous Sailing, Theme Party of the Austrian Association for Innovative Computer Science, 2006-01-12, Netbase, Vienna (Austria).

Stelzer, R.; Jafarmadar K. (2005): Modular Sensorics and Its Application to Robotics, Symposium at Roboexotica - Festival for Cocktail-Robotics, 2005-11-17, Museumsquartier, Vienna (Austria).

Stelzer, R.; Jafarmadar K. (2005): Modulare Sensorik mit SSN, Theme Party of the Austrian Assiciation for Innovative Computer Science, 2005-10-06, Museumsquartier, Vienna (Austria).

Stelzer, R.; Jafarmadar K. (2005): Simple Sensor Network - A Robot Prototype, Robotic Day, Slovak University of Technology, 2005-09-09, Bratislava (Slovakia).

Stelzer, R. (2004): Web-basierte Entwicklung von Fuzzy-Logic-Systemen für Mikrocontroller, Universität Wien, Institut für Experimentalphysik, Vienna (Austria).

Diplomarbeiten

Stelzer, R. (2004): Autonome Roboternavigation mittels Methoden der künstlichen Intelligenz, Diplomarbeit für die Standesbezeichnung Dipl.-HTL-Ing., BM für Wirtschaftliche Angelegenheiten, Vienna (Austria).
wiki.atrox.at/images/1/19/TrafficSignRobot.pdf

Stelzer, R. (2003): FuzzyWeb - A Web-Based Approach to Fuzzy System Design, Final Year Project in Computer Science at the University of Derby, School of Mathematics and Computing, Derby (UK).
wiki.atrox.at/images/d/d2/FYP_REPORT.pdf

Studienarbeiten

Stelzer, R.; Müller, L.; Halter, B. (2003): Autonomous Robot Navigation Using Fuzzy Logic and Artificial Neural Nets, Assignment for the Module Artificial Neural Nets and Expert Systems, University of Derby, 2003.

Stelzer, R. (2003): Digital Eye for Neuro-Fuzzy Robot Navigation, Assignment for the Module Artificial Neural Nets and Expert Systems, University of Derby.

Holzer, S.; Stelzer, R. (2003): Self-Learning Computer Game Tic-Tac-Toe Based on Multi Layer Perceptron, Assignment for the Module Artificial Neural Nets and Expert Systems, University of Derby, 2002.

Stelzer, R. (2002): Fuzzy Web - Web Based Fuzzy Shell with Perl Code Generator, Assignment for the Module Fuzzy Logic, University of Derby, 2002.

Als Betreuer

Wendy, K. (2006): Study of Artificial Intelligence in Route Optimisation for Gliders, Final Year Project in Computer Science at the University of Derby, School of Mathematics and Computing, Derby (UK).

Münster, A. (2005): Evaluierung und Weiterentwicklung eines zentralen System- und Performancekonzeptes im Umfeld einer heterogenen SAP-R/3 Systemlandschaft für den R/3-Basisbetrieb, Diploma Thesis in Information and Communication Systems at the University of Applied Sciences Technikum Vienna, Vienna (Austria).

Müller, L. (2004): Digi Skipper - Artificial Intelligence and Image Analysis, Final Year Project in Computer Science at the University of Derby, School of Mathematics and Computing, Derby (UK).