Refine
Document Type
- Conference Proceeding (64)
- Article (27)
- Doctoral Thesis (8)
- Master's Thesis (2)
- Patent (1)
- Report (1)
Keywords
- 360-degree coverage (1)
- 3D Extended Object Tracking (1)
- 3D Extended Object Tracking (EOT) (2)
- 3D shape tracking (1)
- Actuators (2)
- Adaptive (1)
- Adaptive birth density (1)
- Aerobic fermentation (1)
- Automated Docking of Vessels (1)
- Autonomous vessels (1)
- Backstepping control (2)
- Beobachterentwurf (1)
- Bernoulli filter (1)
- Binary codes (1)
- Birth Density (1)
- Block codes (1)
- Bounded uncertainty (2)
- Bounding boxes (1)
- Channel Coding (1)
- Channel capacity (1)
- Channel coding (1)
- Channel estimation (2)
- Channel fading (1)
- Chaotische Systeme (1)
- Code-based cryptography (1)
- Code-based cryptosystem (1)
- Coded modulation (1)
- Codes over Gaussian integers (1)
- Collision avoidance (1)
- Computational complexity (2)
- Computer Science Applications (1)
- Computer hardware (1)
- Computer security (1)
- Concatenated codes (2)
- Continuous-discrete time observer (1)
- Control and Real-Time Applications (1)
- Cyberphysische Produkte (1)
- DO control (1)
- Data Fusion (1)
- Data compression algorithms (1)
- Data encryption (Computer science) (1)
- Data retention time (1)
- Decoding (2)
- Decoding attack (1)
- Differential flatness (1)
- Digital and Analog Signal Processing, Automation (1)
- Digital arithmetic (1)
- Digital modulation (1)
- Distributed Parameter Systems (1)
- Distributed parameter systems (1)
- Docking Experiments (1)
- Downsampling (1)
- Eddy currents (2)
- Electrical and Electronic Engineering (1)
- Electromagnetic actuators (1)
- Ellipsoidal enclosures (1)
- Ellipsoidal state estimation (1)
- Elliptic Cone (1)
- Elliptic Cylinder (1)
- Elliptic curve cryptography (2)
- Elliptic curve point multiplication (2)
- Encoding (1)
- Error correction codes (2)
- Error correction coding (1)
- Extended object tracking (5)
- Extension estimation (3)
- Extent estimation (1)
- Fault diagnosis (1)
- Feed-forward control (1)
- Flash Memories (1)
- Flash memories (1)
- Flatness-based field-oriented control (FOC) (1)
- Fluidics and Thermodynamics (1)
- Fourier-Chebyshev double series (1)
- Fully-actuated autonomous surface vessels (2)
- Furniture production (1)
- Gaussian integers (3)
- Gaussian mixture (2)
- Gaussian processes (2)
- Generalized Concatenated Code (1)
- Generalized concatenated codes (1)
- Generalized multi-stream spatial modulation (1)
- Generalized multistream spatial modulation (1)
- Hardware and Architecture (1)
- Harmonic Functions (1)
- Heat conduction (1)
- Human-Computer Interaction (1)
- Hurwitz integers (1)
- Index modulation (IM) (1)
- Industrial heating process (1)
- Industrie 4.0 (1)
- Information-set decoding (1)
- Integrated circuit modeling (1)
- Integrated circuit reliability (1)
- Interior permanent magnet synchronous machine (IPMSM) (1)
- Internet of Things (1)
- Laser sensor (2)
- Lattices (1)
- Lean Production (1)
- LiDAR (2)
- Lidar (3)
- Low-complexity detection (2)
- MEMS microphones (1)
- MVDR beamforming (1)
- Magnetaktoren (1)
- Maritime Systeme (1)
- Maritime systems (2)
- Maximum likelihood decoding (1)
- Maximum-likelihood detection (1)
- McEliece cryptosystem (3)
- Microprocessors (1)
- Model Predictive Control (1)
- Model predictive control (1)
- Modellprädiktive Pfadintergral Regelung (1)
- Mont-gomery modular reduction (1)
- Monte Carlo Simulations (1)
- Monte Carlo methods (1)
- Montgomery modular multiplication (1)
- Montgomery modular reduction (1)
- Motion planning (1)
- Multi Bernoulli Filter (1)
- Multi extended object tracking (1)
- Multi-extended object tracking (1)
- Multi-object tracking (1)
- Multichannel Wiener filter (1)
- Multiple-input/multiple-output (MIMO) (1)
- Multistage detection (2)
- Multivariable MPC algorithm (1)
- Multivariable control systems (1)
- Nichtlineare Modellprädiktive Regelung (1)
- Niederreiter cryptosystem (1)
- Noise measurement (1)
- Non-volatile memory (1)
- Nonlinear Control Design (1)
- Nonlinear control systems (1)
- Nonlinear machine dynamics (1)
- Nonlinear model predictive control (2)
- Nonlinear observers (1)
- Nonlinear output feedback (1)
- Nonlinear system identification (1)
- Nonlinear systems (2)
- Nonvolatile NAND flash (1)
- Object tracking (1)
- Observability (1)
- Observers (1)
- Occlusion (1)
- One Mannheim error correcting codes (OMEC) (1)
- Onvective heating (1)
- Optical fibre fabrication (1)
- Optimization (1)
- PDE Systems (1)
- PHD filter (2)
- Parameter identification (1)
- Partitioning algorithms (1)
- Point multiplication (1)
- Polar codes (1)
- Predictive control (3)
- Preventive maintenance (1)
- Probabilistic Data Association (1)
- Processor (1)
- Program/erase cycles (1)
- Public key cryptography (2)
- Public-key cryptography (4)
- Radar tracking (1)
- Random Matrices (1)
- Random matrices (4)
- Rapid Protoryping (1)
- Rauch-Tung-Striebel Recursion (1)
- Real-time (1)
- Reed-Muller (RM) codes (1)
- Reference model (2)
- Resource-constrained systems (1)
- Restricted error values (1)
- Runtime Reduction (1)
- Sailing Boat (1)
- Sample-based nonlinear model predictive control (1)
- Sampling methods (1)
- Self-sensing (1)
- Sensitivity matrix (1)
- Sensorlose Folgeregelung (1)
- Sets of trajectories (2)
- Shape Estimation and Tracking (1)
- Shape Tracking (1)
- Shape classification (1)
- Ships and offshore vessels (1)
- Signal constellations (2)
- Singular perturbations (1)
- Solenoids (1)
- Solinas primes (1)
- Spatial modulation (1)
- Spatial modulation (SM) (1)
- Spatial permutation modulation (SPM) (1)
- Speech signal processing (1)
- Spline extension model (2)
- Stability analysis (2)
- State and disturbance estimation (1)
- State and parameter estimation (1)
- Statistical data analysis (1)
- Stochastic system dynamics (1)
- Stochastic uncertainty (1)
- Stochastische Systeme (1)
- Target Tracking (1)
- Thermal model (1)
- Threshold calibration (1)
- Torque ripple compensation (1)
- Trajectory tracking (3)
- Transportation (1)
- Uncertainty modeling (1)
- Unmanned surface vehicles (1)
- Unscented Kalman Filter (1)
- Valves (1)
- Virtual measurement model (2)
- Wind noise reduction (1)
- concatenated codes (1)
- maximum distance separable codes (1)
Institute
- Institut für Systemdynamik - ISD (103) (remove)
A constructive method for the design of nonlinear observers is discussed. To formulate conditions for the construction of the observer gains, stability results for nonlinear singularly perturbed systems are utilised. The nonlinear observer is designed directly in the given coordinates, where the error dynamics between the plant and the observer becomes singularly perturbed by a high-gain part of the observer injection, and the information of the slow manifold is exploited to construct the observer gains of the reduced-order dynamics. This is in contrast to typical high-gain observer approaches, where the observer gains are chosen such that the nonlinearities are dominated by a linear system. It will be demonstrated that the considered approach is particularly suited for self-sensing electromechanical systems. Two variants of the proposed observer design are illustrated for a nonlinear electromagnetic actuator, where the mechanical quantities, i.e. the position and the velocity, are not measured
A constructive nonlinear observer design for self-sensing of digital (ON/OFF) single coil electromagnetic actuators is studied. Self-sensing in this context means that solely the available energizing signals, i.e., coil current and driving voltage are used to estimate the position and velocity trajectories of the moving plunger. A nonlinear sliding mode observer is considered, where the stability of the reduced error dynamics is analyzed by the equivalent control method. No simplifications are made regarding magnetic saturation and eddy currents in the underlying dynamical model. The observer gains are constructed by taking into account some generic properties of the systems nonlinearities. Two possible choices of the observer gains are discussed. Furthermore, an observer-based tracking control scheme to achieve sensorless soft landing is considered and its closed-loop stability is studied. Experimental results for observer-based soft landing of a fast-switching solenoid valve under dry conditions are presented to demonstrate the usefulness of the approach.
Comparison and Identifiability Analysis of Friction Models for the Dither Motion of a Solenoid
(2018)
In this paper, the mechanical subsystem of a proportional solenoid excited by a dither signal is considered. The objective is to find a suitable friction model that reflects the characteristic mechanical properties of the dynamic system. Several different friction models from the literature are compared. The friction models are evaluated with respect to their accuracy as well as their practical identifiability, the latter being quantified based on the Fisher information matrix.
This paper focuses on the multivariable control of a drawing tower process. The nature of the process together with the differences in measurement noise levels that affect the variables to be controlled motivated the development of a new MPC algorithm. An extension of a multivariable predictive control algorithm with separated prediction horizons is proposed. The obtained experimental results show the usefulness of the proposed algorithm..
This paper describes an early lumping approach for generating a mathematical model of the heating process of a moving dual-layer substrate. The heat is supplied by convection and nonlinearly distributed over the whole considered spatial extend of the substrate. Using CFD simulations as a reference, two different modelling approaches have been investigated in order to achieve the most suitable model type. It is shown that due to the possibility of using the transition matrix for time discretization, an equivalent circuit model achieves superior results when compared to the Crank-Nicolson method. In order to maintain a constant sampling time for the in-visioned-control strategies, the effect of variable speed is transformed into a system description, where the state vector has constant length but a variable number of non-zero entries. The handling of the variable transport speed during the heating process is considered as the main contribution of this work. The result is a model, suitable for being used in future control strategies.
Embodiments are generally related to the field of channel and source coding of data to be sent over a channel, such as a communication link or a data memory. Some specific embodiments are related to a method of encoding data for transmission over a channel, a corresponding decoding method, a coding device for performing one or both of these methods and a computer program comprising instructions to cause said coding device to perform one or both of said methods.
This work studies a wind noise reduction approach for communication applications in a car environment. An endfire array consisting of two microphones is considered as a substitute for an ordinary cardioid microphone capsule of the same size. Using the decomposition of the multichannel Wiener filter (MWF), a suitable beamformer and a single-channel post filter are derived. Due to the known array geometry and the location of the speech source, assumptions about the signal properties can be made to simplify the MWF beamformer and to estimate the speech and noise power spectral densities required for the post filter. Even for closely spaced microphones, the different signal properties at the microphones can be exploited to achieve a significant reduction of wind noise. The proposed beamformer approach results in an improved speech signal regarding the signal-to-noise-ratio and keeps the linear speech distortion low. The derived post filter shows equal performance compared to known approaches but reduces the effort for noise estimation.
Generalised concatenated (GC) codes are well suited for error correction in flash memories for high-reliability data storage. The GC codes are constructed from inner extended binary Bose–Chaudhuri–Hocquenghem (BCH) codes and outer Reed–Solomon codes. The extended BCH codes enable high-rate GC codes and low-complexity soft input decoding. This work proposes a decoder architecture for high-rate GC codes. For such codes, outer error and erasure decoding are mandatory. A pipelined decoder architecture is proposed that achieves a high data throughput with hard input decoding. In addition, a low-complexity soft input decoder is proposed. This soft decoding approach combines a bit-flipping strategy with algebraic decoding. The decoder components for the hard input decoding can be utilised which reduces the overhead for the soft input decoding. Nevertheless, the soft input decoding achieves a significant coding gain compared with hard input decoding.
This work introduces new signal constellations based on Eisenstein integers, i.e., the hexagonal lattice. These sets of Eisenstein integers have a cardinality which is an integer power of three. They are proposed as signal constellations for representation in the equivalent complex baseband model, especially for applications like physical-layer network coding or MIMO transmission where the constellation is required to be a subset of a lattice. It is shown that these constellations form additive groups where the addition over the complex plane corresponds to the addition with carry over ternary Galois fields. A ternary set partitioning is derived that enables multilevel coding based on ternary error-correcting codes. In the subsets, this partitioning achieves a gain of 4.77 dB, which results from an increased minimum squared Euclidean distance of the signal points. Furthermore, the constellation-constrained capacities over the AWGN channel and the related level capacities in case of ternary multilevel coding are investigated. Simulation results for multilevel coding based on ternary LDPC codes are presented which show that a performance close to the constellation-constrained capacities can be achieved.
In the field of autonomously driving vehicles the environment perception containing dynamic objects like other road users is essential. Especially, detecting other vehicles in the road traffic using sensor data is of utmost importance. As the sensor data and the applied system model for the objects of interest are noise corrupted, a filter algorithm must be used to track moving objects. Using LIDAR sensors one object gives rise to more than one measurement per time step and is therefore called extended object. This allows to jointly estimate the objects, position, as well as its orientation, extension and shape. Estimating an arbitrary shaped object comes with a higher computational effort than estimating the shape of an object that can be approximated using a basic geometrical shape like an ellipse or a rectangle. In the case of a vehicle, assuming a rectangular shape is an accurate assumption.
A recently developed approach models the contour of a vehicle as periodic B-spline function. This representation is an easy to use tool, as the contour can be specified by some basis points in Cartesian coordinates. Also rotating, scaling and moving the contour is easy to handle using a spline contour. This contour model can be used to develop a measurement model for extended objects, that can be integrated into a tracking filter. Another approach modeling the shape of a vehicle is the so-called bounding box that represents the shape as rectangle.
In this thesis the basics of single, multi and extended object tracking, as well as the basics of B-spline functions are addressed. Afterwards, the spline measurement model is established in detail and integrated into an extended Kalman filter to track a single extended object. An implementation of the resulting algorithm is compared with the rectangular shape estimator. The implementation of the rectangular shape estimator is provided. The comparison is done using long-term considerations with Monte Carlo simulations and by analyzing the results of a single run. Therefore, both algorithms are applied to the same measurements. The measurements are generated using an artificial LIDAR sensor in a simulation environment.
In a real-world tracking scenario detecting several extended objects and measurements that do not originate from a real object, named clutter measurements, is possible. Also, the sudden appearance and disappearance of an object is possible. A filter framework investigated in recent years that can handle tracking multiple objects in a cluttered environment is a random finite set based approach. The idea of random finite sets and its use in a tracking filter is recapped in this thesis. Afterwards, the spline measurement model is included in a multi extended object tracking framework. An implementation of the resulting filter is investigated in a long-term consideration using Monte Carlo simulations and by analyzing the results of a single run. The multi extended object filter is also applied to artificial LIDAR measurements generated in a simulation environment.
The results of comparing the spline based and rectangular based extended object trackers show a more stable performance of the spline extended object tracker. Also, some problems that have to be addressed in future works are discussed. The investigation of the resulting multi extended object tracker shows a successful integration of the spline measurement model in a multi extended object tracker. Also, with these results some problems remain, that have to be solved in future works.