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Institute
- Institut für Systemdynamik - ISD (17) (remove)
Kapitel 2 der vorliegenden Arbeit beschreibt die theoretischen Grundlagen optimaler Regelung und die unterschiedlichen Methoden des Pfadintegral Frameworks zur Reglersynthese. Zudem wird ein Ansatz zur Erweiterung des stochastischen NMPC dargestellt, sodass eine Adaption an eine real vorliegende Systemdynamik erfolgt. Weiter wird eine Methode entwickelt und beschrieben, welche die Effizienz des Algorithmus stark erhöht.
In Kapitel 3 wird aufgezeigt, wie die Pfadintegral Regelung dazu genutzt wird ein Furuta Pendel aufzuschwingen.
In Kapitel 4 werden die Algorithmen zur Lösung unterschiedlicher Problemstellungen im Kontext eines Forschungsboot appliziert. So wird unter anderem gezeigt, wie ein Pfadintegral Regelungsalgorithmus genutzt werden kann, um autonom mit dem Forschungsboot Solgenia am Steg der HTWG Konstanz anzulegen.
Abschließend wird in Kapitel 5 ein Fazit aus den Ergebnissen gezogen, diese eingeordnet und ein Ausblick auf weitere mögliche Arbeiten gegeben.
This paper describes the development of a control system for an industrial heating application. In this process a moving substrate is passing through a heating zone with variable speed. Heat is applied by hot air to the substrate with the air flow rate being the manipulated variable. The aim is to control the substrate’s temperature at a specific location after passing the heating zone. First, a model is derived for a point attached to the moving substrate. This is modified to reflect the temperature of the moving substrate at the specified location. In order to regulate the temperature a nonlinear model predictive control approach is applied using an implicit Euler scheme to integrate the model and an augmented gradient based optimization approach. The performance of the controller has been validated both by simulations and experiments on the physical plant. The respective results are presented in this paper.
Trajectory Tracking of a Fully-actuated Surface Vessel using Nonlinear Model Predictive Control
(2021)
The trajectory tracking problem for a fully-actuated real-scaled surface vessel is addressed in this paper. The unknown hydrodynamic and propulsion parameters of the vessel’s dynamic model were identified using an experimental maneuver-based identification process. Then, a nonlinear model predictive control (NMPC) scheme is designed and the controller’s performance is assessed through the variation of NMPC parameters and constraints tightening for tracking a curved trajectory.
In this paper, a systematic comparison of three different advanced control strategies for automated docking of a vessel is presented. The controllers are automatically tuned offline by applying an optimization process using simulations of the whole system including trajectory planner and state and disturbance observer. Then investigations are conducted subject to performance and robustness using Monte Carlos simulation with varying model parameters and disturbances. The control strategies have also been tested in full scale experiments using the solar research vessel Solgenia. The investigated control strategies all have demonstrated very good performance in both, simulation and real world experiments. Videos are available under https://www.htwg-konstanz.de/forschung-und-transfer/institute-und-labore/isd/regelungstechnik/videos/
In multi-extended object tracking, parameters (e.g., extent) and trajectory are often determined independently. In this paper, we propose a joint parameter and trajectory (JPT) state and its integration into the Bayesian framework. This allows processing measurements that contain information about parameters and states. Examples of such measurements are bounding boxes given from an image processing algorithm. It is shown that this approach can consider correlations between states and parameters. In this paper, we present the JPT Bernoulli filter. Since parameters and state elements are considered in the weighting of the measurement data assignment hypotheses, the performance is higher than with the conventional Bernoulli filter. The JPT approach can be also used for other Bayes filters.
List decoding for concatenated codes based on the Plotkin construction with BCH component codes
(2021)
Reed-Muller codes are a popular code family based on the Plotkin construction. Recently, these codes have regained some interest due to their close relation to polar codes and their low-complexity decoding. We consider a similar code family, i.e., the Plotkin concatenation with binary BCH component codes. This construction is more flexible regarding the attainable code parameters. In this work, we consider a list-based decoding algorithm for the Plotkin concatenation with BCH component codes. The proposed list decoding leads to a significant coding gain with only a small increase in computational complexity. Simulation results demonstrate that the Plotkin concatenation with the proposed decoding achieves near maximum likelihood decoding performance. This coding scheme can outperform polar codes for moderate code lengths.
The encoding of antenna patterns with generalized spatial modulation as well as other index modulation techniques require w-out-of-n encoding where all binary vectors of length n have the same weight w. This constant-weight property cannot be obtained by conventional linear coding schemes. In this work, we propose a new class of constant-weight codes that result from the concatenation of convolutional codes with constant-weight block codes. These constant-weight convolutional codes are nonlinear binary trellis codes that can be decoded with the Viterbi algorithm. Some constructed constant-weight convolutional codes are optimum free distance codes. Simulation results demonstrate that the decoding performance with Viterbi decoding is close to the performance of the best-known linear codes. Similarly, simulation results for spatial modulation with a simple on-off keying show a significant coding gain with the proposed coded index modulation scheme.
Acoustic Echo Cancellation (AEC) plays a crucial role in speech communication devices to enable full-duplex communication. AEC algorithms have been studied extensively in the literature. However, device specific details like microphone or loudspeaker configurations are often neglected, despite their impact on the echo attenuation or near-end speech quality. In this work, we propose a method to investigate different loudspeaker-microphone configurations with respect to their contribution to the overall AEC performance. A generic AEC system consisting of an adaptive filter and a Wiener post filter is used for a fair comparison between different setups. We propose the near-end-to-residual-echo ratio (NRER) and the attenuation-of-near-end (AON) as quality measures for the full-duplex AEC performance.
Algorithms and Architectures for Cryptography and Source Coding in Non-Volatile Flash Memories
(2021)
In this work, algorithms and architectures for cryptography and source coding are developed, which are suitable for many resource-constrained embedded systems such as non-volatile flash memories. A new concept for elliptic curve cryptography is presented, which uses an arithmetic over Gaussian integers. Gaussian integers are a subset of the complex numbers with integers as real and imaginary parts. Ordinary modular arithmetic over Gaussian integers is computational expensive. To reduce the complexity, a new arithmetic based on the Montgomery reduction is presented. For the elliptic curve point multiplication, this arithmetic over Gaussian integers improves the computational efficiency, the resistance against side channel attacks, and reduces the memory requirements. Furthermore, an efficient variant of the Lempel-Ziv-Welch (LZW) algorithm for universal lossless data compression is investigated. Instead of one LZW dictionary, this algorithm applies several dictionaries to speed up the encoding process. Two dictionary partitioning techniques are introduced that improve the compression rate and reduce the memory size of this parallel dictionary LZW algorithm.
Error correction coding for optical communication and storage requires high rate codes that enable high data throughput and low residual errors. Recently, different concatenated coding schemes were proposed that are based on binary BCH codes with low error correcting capabilities. In this work, low-complexity hard- and soft-input decoding methods for such codes are investigated. We propose three concepts to reduce the complexity of the decoder. For the algebraic decoding we demonstrate that Peterson's algorithm can be more efficient than the Berlekamp-Massey algorithm for single, double, and triple error correcting BCH codes. We propose an inversion-less version of Peterson's algorithm and a corresponding decoding architecture. Furthermore, we propose a decoding approach that combines algebraic hard-input decoding with soft-input bit-flipping decoding. An acceptance criterion is utilized to determine the reliability of the estimated codewords. For many received codewords the stopping criterion indicates that the hard-decoding result is sufficiently reliable, and the costly soft-input decoding can be omitted. To reduce the memory size for the soft-values, we propose a bit-flipping decoder that stores only the positions and soft-values of a small number of code symbols. This method significantly reduces the memory requirements and has little adverse effect on the decoding performance.
Four-Dimensional Hurwitz Signal Constellations, Set Partitioning, Detection, and Multilevel Coding
(2021)
The Hurwitz lattice provides the densest four-dimensional packing. This fact has motivated research on four-dimensional Hurwitz signal constellations for optical and wireless communications. This work presents a new algebraic construction of finite sets of Hurwitz integers that is inherently accompanied by a respective modulo operation. These signal constellations are investigated for transmission over the additive white Gaussian noise (AWGN) channel. It is shown that these signal constellations have a better constellation figure of merit and hence a better asymptotic performance over an AWGN channel when compared with conventional signal constellations with algebraic structure, e.g., two-dimensional Gaussian-integer constellations or four-dimensional Lipschitz-integer constellations. We introduce two concepts for set partitioning of the Hurwitz integers. The first method is useful to reduce the computational complexity of the symbol detection. This suboptimum detection approach achieves near-maximum-likelihood performance. In the second case, the partitioning exploits the algebraic structure of the Hurwitz signal constellations. We partition the Hurwitz integers into additive subgroups in a manner that the minimum Euclidean distance of each subgroup is larger than in the original set. This enables multilevel code constructions for the new signal constellations.
The performance and reliability of non-volatile NAND flash memories deteriorate as the number of program/erase cycles grows. The reliability also suffers from cell to cell interference, long data retention time, and read disturb. These processes effect the read threshold voltages. The aging of the cells causes voltage shifts which lead to high bit error rates (BER) with fixed pre-defined read thresholds. This work proposes two methods that aim on minimizing the BER by adjusting the read thresholds. Both methods utilize the number of errors detected in the codeword of an error correction code. It is demonstrated that the observed number of errors is a good measure for the voltage shifts and is utilized for the initial calibration of the read thresholds. The second approach is a gradual channel estimation method that utilizes the asymmetrical error probabilities for the one-to-zero and zero-to-one errors that are caused by threshold calibration errors. Both methods are investigated utilizing the mutual information between the optimal read voltage and the measured error values.
Numerical results obtained from flash measurements show that these methods reduce the BER of NAND flash memories significantly.
The McEliece cryptosystem is a promising candidate for post-quantum public-key encryption. In this work, we propose q-ary codes over Gaussian integers for the McEliece system and a new channel model. With this one Mannheim error channel, errors are limited to weight one. We investigate the channel capacity of this channel and discuss its relation to the McEliece system. The proposed codes are based on a simple product code construction and have a low complexity decoding algorithm. For the one Mannheim error channel, these codes achieve a higher error correction capability than maximum distance separable codes with bounded minimum distance decoding. This improves the work factor regarding decoding attacks based on information-set decoding.
Generalized Concatenated Codes over Gaussian and Eisenstein Integers for Code-Based Cryptography
(2021)
The code-based McEliece and Niederreiter cryptosystems are promising candidates for post-quantum public-key encryption. Recently, q-ary concatenated codes over Gaussian integers were proposed for the McEliece cryptosystem together with the one-Mannheim error channel, where the error values are limited to Mannheim weight one. Due to the limited error values, the codes over Gaussian integers achieve a higher error correction capability than maximum distance separable (MDS) codes with bounded minimum distance decoding. This higher error correction capability improves the work factor regarding decoding attacks based on information-set decoding. The codes also enable a low complexity decoding algorithm for decoding beyond the guaranteed error correction capability. In this work, we extend this coding scheme to codes over Eisenstein integers. These codes have advantages for the Niederreiter system. Additionally, we propose an improved code construction based on generalized concatenated codes. These codes extent the rate region where the work factor is beneficial compared to MDS codes. Moreover, generalized concatenated codes are more robust against structural attacks than ordinary concatenated codes.
In this paper, a novel measurement model based on spherical double Fourier series (DFS) for estimating the 3D shape of a target concurrently with its kinematic state is introduced. Here, the shape is represented as a star-convex radial function, decomposed as spherical DFS. In comparison to ordinary DFS, spherical DFS do not suffer from ambiguities at the poles. Details will be given in the paper. The shape representation is integrated into a Bayesian state estimator framework via a measurement equation. As range sensors only generate measurements from the target side facing the sensor, the shape representation is modified to enable application of shape symmetries during the estimation process. The model is analyzed in simulations and compared to a shape estimation procedure using spherical harmonics. Finally, shape estimation using spherical and ordinary DFS is compared to analyze the effect of the pole problem in extended object tracking (EOT) scenarios.
A nonlinear mathematical model for the dynamics of permanent magnet synchronous machines with interior magnets is discussed. The model of the current dynamics captures saturation and dependency on the rotor angle. Based on the model, a flatness-based field-oriented closed-loop controller and a feed-forward compensation of torque ripples are derived. Effectiveness and robustness of the proposed algorithms are demonstrated by simulation results.
Modular arithmetic over integers is required for many cryptography systems. Montgomeryreduction is an efficient algorithm for the modulo reduction after a multiplication. Typically, Mont-gomery reduction is used for rings of ordinary integers. In contrast, we investigate the modularreduction over rings of Gaussian integers. Gaussian integers are complex numbers where the real andimaginary parts are integers. Rings over Gaussian integers are isomorphic to ordinary integer rings.In this work, we show that Montgomery reduction can be applied to Gaussian integer rings. Twoalgorithms for the precision reduction are presented. We demonstrate that the proposed Montgomeryreduction enables an efficient Gaussian integer arithmetic that is suitable for elliptic curve cryptogra-phy. In particular, we consider the elliptic curve point multiplication according to the randomizedinitial point method which is protected against side-channel attacks. The implementation of thisprotected point multiplication is significantly faster than comparable algorithms over ordinary primefields.