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Recently published nonlinear model-based control
approaches achieve impressive performances in complex real-
world applications. However, due to model-plant mismatches
and unforeseen disturbances, the model-based controller’s per-
formance is limited in full-scale applications. In most applica-
tions, low-level control loops mitigate the model-plant mismatch
and the sensitivity to disturbances. But what is the influence
of these low-level control loops? In this paper, we present
the model predictive path integral (MPPI) control of a self-
balancing vehicle and investigate the influence of subordinate
control loops on closed-loop performance. Therefore, simulation
and full-scale experiments are performed and analyzed. Subor-
dinate control loops empower the MPPI controller because they
dampen the influence of disturbances, and thus improve the
model’s accuracy. This is the basis for the successful application
of model-based control approaches in real-world systems. All
in all, a model is used to design a low-level controller, then
its closed-loop behavior is determined, and this model is used
within the superimposed MPPI control loop – modeling for
control and vice versa.
Code-based cryptosystems are promising candidates for post-quantum cryptography. Recently, generalized concatenated codes over Gaussian and Eisenstein integers were proposed for those systems. For a channel model with errors of restricted weight, those q-ary codes lead to high error correction capabilities. Hence, these codes achieve high work factors for information set decoding attacks. In this work, we adapt this concept to codes for the weight-one error channel, i.e., a binary channel model where at most one bit-error occurs in each block of m bits. We also propose a low complexity decoding algorithm for the proposed codes. Compared to codes over Gaussian and Eisenstein integers, these codes achieve higher minimum Hamming distances for the dual codes of the inner component codes. This property increases the work factor for a structural attack on concatenated codes leading to higher overall security. For comparable security, the key size for the proposed code construction is significantly smaller than for the classic McEliece scheme based on Goppa codes.
The growing error rates of triple-level cell (TLC) and quadruple-level cell (QLC) NAND flash memories have led to the application of error correction coding with soft-input decoding techniques in flash-based storage systems. Typically, flash memory is organized in pages where the individual bits per cell are assigned to different pages and different codewords of the error-correcting code. This page-wise encoding minimizes the read latency with hard-input decoding. To increase the decoding capability, soft-input decoding is used eventually due to the aging of the cells. This soft-decoding requires multiple read operations. Hence, the soft-read operations reduce the achievable throughput, and increase the read latency and power consumption. In this work, we investigate a different encoding and decoding approach that improves the error correction performance without increasing the number of reference voltages. We consider TLC and QLC flashes where all bits are jointly encoded using a Gray labeling. This cell-wise encoding improves the achievable channel capacity compared with independent page-wise encoding. Errors with cell-wise read operations typically result in a single erroneous bit per cell. We present a coding approach based on generalized concatenated codes that utilizes this property.
With the high resolution of modern sensors such as multilayer LiDARs, estimating the 3D shape in an extended object tracking procedure is possible. In recent years, 3D shapes have been estimated in spherical coordinates using Gaussian processes, spherical double Fourier series or spherical harmonics. However, observations have shown that in many scenarios only a few measurements are obtained from top or bottom surfaces, leading to error-prone estimates in spherical coordinates. Therefore, in this paper we propose to estimate the shape in cylindrical coordinates instead, applying harmonic functions. Specifically, we derive an expansion for 3D shapes in cylindrical coordinates by solving a boundary value problem for the Laplace equation. This shape representation is then integrated in a plain greedy association model and compared to shape estimation procedures in spherical coordinates. Since the shape representation is only integrated in a basic estimator, the results are preliminary and a detailed discussion for future work is presented at the end of the paper.
Nowadays, most digital modulation schemes are based on conventional signal constellations that have no algebraic group, ring, or field properties, e.g. square quadrature-amplitude modulation constellations. Signal constellations with algebraic structure can enhance the system performance. For instance, multidimensional signal constellations based on dense lattices can achieve performance gains due to the dense packing. The algebraic structure enables low-complexity decoding and detection schemes. In this work, signal constellations with algebraic properties and their application in spatial modulation transmission schemes are investigated. Several design approaches of two- and four-dimensional signal constellations based on Gaussian, Eisenstein, and Hurwitz integers are shown. Detection algorithms with reduced complexity are proposed. It is shown, that the proposed Eisenstein and Hurwitz constellations combined with the proposed suboptimal detection can outperform conventional two-dimensional constellations with ML detection.
In many industrial applications a workpiece is continuously fed through a heating zone in order to reach a desired temperature to obtain specific material properties. Many examples of such distributed parameter systems exist in heavy industry and also in furniture production such processes can be found. In this paper, a real-time capable model for a heating process with application to industrial furniture production is modeled. As the model is intended to be used in a Model Predictive Control (MPC) application, the main focus is to achieve minimum computational runtime while maintaining a sufficient amount of accuracy. Thus, the governing Partial Differential Equation (PDE) is discretized using finite differences on a grid, specifically tailored to this application. The grid is optimized to yield acceptable accuracy with a minimum number of grid nodes such that a relatively low order model is obtained. Subsequently, an explicit Runge-Kutta ODE (Ordinary Differential Equation) solver of fourth order is compared to the Crank-Nicolson integration scheme presented in Weiss et al. (2022) in terms of runtime and accuracy. Finally, the unknown thermal parameters of the process are estimated using real-world measurement data that was obtained from an experimental setup. The final model yields acceptable accuracy while at the same time shows promising computation time, which enables its use in an MPC controller.
Reed-Muller (RM) codes have recently regained some interest in the context of low latency communications and due to their relation to polar codes. RM codes can be constructed based on the Plotkin construction. In this work, we consider concatenated codes based on the Plotkin construction, where extended Bose-Chaudhuri-Hocquenghem (BCH) codes are used as component codes. This leads to improved code parameters compared to RM codes. Moreover, this construction is more flexible concerning the attainable code rates. Additionally, new soft-input decoding algorithms are proposed that exploit the recursive structure of the concatenation and the cyclic structure of the component codes. First, we consider the decoding of the cyclic component codes and propose a low complexity hybrid ordered statistics decoding algorithm. Next, this algorithm is applied to list decoding of the Plotkin construction. The proposed list decoding approach achieves near-maximum-likelihood performance for codes with medium lengths. The performance is comparable to state-of-the-art decoders, whereas the complexity is reduced.
In this letter, we present an approach to building a new generalized multistream spatial modulation system (GMSM), where the information is conveyed by the two active antennas with signal indices and using all possible active antenna combinations. The signal constellations associated with these antennas may have different sizes. In addition, four-dimensional hybrid frequency-phase modulated signals are utilized in GMSM. Examples of GMSM systems are given and computer simulation results are presented for transmission over Rayleigh and deep Nakagami- m flat-fading channels when maximum-likelihood detection is used. The presented results indicate a significant improvement of characteristics compared to the best-known similar systems.
The trajectory tracking problem for a fully-actuated real-scaled surface vessel is addressed in this paper by designing a backstepping controller with a multivariable integral action, considering the thruster allocation problem. The performance and robustness of this controller are evaluated in simulation, taking into account environmental disturbance forces and modeling mismatch, using a docking maneuver as a reference trajectory. Furthermore, a comparison between the backstepping controller and a nonlinear position PID-Control with flatness based-feedforward is also analyzed.
This paper presents a modeling approach of an industrial heating process where a stripe-shaped workpiece is heated up to a specific temperature by applying hot air through a nozzle. The workpiece is moving through the heating zone and is considered to be of infinite length. The speed of the substrate is varying over time. The derived model is supposed to be computationally cheap to enable its use in a model-based control setting. We start by formulating the governing PDE and the corresponding boundary conditions. The PDE is then discretized on a spatial grid using finite differences and two different integration schemes, explicit and implicit, are derived. The two models are evaluated in terms of computational effort and accuracy. It turns out that the implicit approach is favorable for the regarded process. We optimize the grid of the model to achieve a low number of grid nodes while maintaining a sufficient amount of accuracy. Finally, the thermodynamical parameters are optimized in order to fit the model's output to real-world data that was obtained by experiments.
The trajectory tracking problem for a real-scaled fully-actuated surface vessel is addressed in this paper. A nonlinear model predictive control (NMPC) scheme was designed to track a reference trajectory, considering state and input constraints, and environmental disturbances, which were assumed to be constant over the prediction horizon. The controller was tested by performing docking maneuvers using the real-scaled research vessel from the University of Applied Sciences Konstanz at the Rhine river in Germany. A comparison between the experimental results and the simulated ones was analyzed to validate the NMPC controller.
Code-based cryptography is a promising candidate for post-quantum public-key encryption. The classic McEliece system uses binary Goppa codes, which are known for their good error correction capability. However, the key generation and decoding procedures of the classic McEliece system have a high computation complexity. 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. For this channel, concatenated codes over Gaussian integers achieve a higher error correction capability than maximum distance separable (MDS) codes with bounded minimum distance decoding. This improves the work factor regarding decoding attacks based on information-set decoding. This work proposes an improved construction for codes over Gaussian integers. These generalized concatenated codes extent the rate region where the work factor is beneficial compared to MDS codes. They allow for shorter public keys for the same level of security as the classic Goppa codes. Such codes are beneficial for lightweight code-based cryptosystems.
Large-scale quantum computers threaten today's public-key cryptosystems. The code-based McEliece and Niederreiter cryptosystems are among the most promising candidates for post-quantum cryptography. Recently, a new class of q-ary product codes over Gaussian integers together with an efficient decoding algorithm were proposed for the McEliece cryptosystems. It was shown that these codes achieve a higher work factor for information-set decoding attacks than maximum distance separable (MDS) codes with comparable length and dimension. In this work, we adapt this q-ary product code construction to codes over Eisenstein integers. We propose a new syndrome decoding method which is applicable for Niederreiter cryptosystems. The code parameters and work factors for information-set decoding are comparable to codes over Gaussian integers. Hence, the new construction is not favorable for the McEliece system. Nevertheless, it is beneficial for the Niederreiter system, where it achieves larger message lengths. While the Niederreiter and McEliece systems have the same level of security, the Niederreiter system can be advantageous for some applications, e.g., it enables digital signatures. The proposed coding scheme is interesting for lightweight Niederreiter cryptosystems and embedded security due to the short code lengths and low decoding complexity.
In this paper, approximating the shape of a sailing boat using elliptic cones is investigated. Measurements are assumed to be gathered from the target's surface recorded by 3D scanning devices such as multilayer LiDAR sensors. Therefore, different models for estimating the sailing boat's extent are presented and evaluated in simulated and real-world scenarios. In particular, the measurement source association problem is addressed in the models. Simulated investigations are conducted with a static and a moving elliptic cone. The real-world scenario was recorded with a Velodyne Alpha Prime (VLP-128) mounted on a ferry of Lake Constance. Final results of this paper constitute the extent estimation of a single sailing boat using LiDAR data applying various measurement models.
Reliability Assessment of an Unscented Kalman Filter by Using Ellipsoidal Enclosure Techniques
(2022)
The Unscented Kalman Filter (UKF) is widely used for the state, disturbance, and parameter estimation of nonlinear dynamic systems, for which both process and measurement uncertainties are represented in a probabilistic form. Although the UKF can often be shown to be more reliable for nonlinear processes than the linearization-based Extended Kalman Filter (EKF) due to the enhanced approximation capabilities of its underlying probability distribution, it is not a priori obvious whether its strategy for selecting sigma points is sufficiently accurate to handle nonlinearities in the system dynamics and output equations. Such inaccuracies may arise for sufficiently strong nonlinearities in combination with large state, disturbance, and parameter covariances. Then, computationally more demanding approaches such as particle filters or the representation of (multi-modal) probability densities with the help of (Gaussian) mixture representations are possible ways to resolve this issue. To detect cases in a systematic manner that are not reliably handled by a standard EKF or UKF, this paper proposes the computation of outer bounds for state domains that are compatible with a certain percentage of confidence under the assumption of normally distributed states with the help of a set-based ellipsoidal calculus. The practical applicability of this approach is demonstrated for the estimation of state variables and parameters for the nonlinear dynamics of an unmanned surface vessel (USV).
Experimental Validation of Ellipsoidal Techniques for State Estimation in Marine Applications
(2022)
A reliable quantification of the worst-case influence of model uncertainty and external disturbances is crucial for the localization of vessels in marine applications. This is especially true if uncertain GPS-based position measurements are used to update predicted vessel locations that are obtained from the evaluation of a ship’s state equation. To reflect real-life working conditions, these state equations need to account for uncertainty in the system model, such as imperfect actuation and external disturbances due to effects such as wind and currents. As an application scenario, the GPS-based localization of autonomous DDboat robots is considered in this paper. Using experimental data, the efficiency of an ellipsoidal approach, which exploits a bounded-error representation of disturbances and uncertainties, is demonstrated.
Extended Target Tracking With a Lidar Sensor Using Random Matrices and a Virtual Measurement Model
(2022)
Random matrices are widely used to estimate the extent of an elliptically contoured object. Usually, it is assumed that the measurements follow a normal distribution, with its standard deviation being proportional to the object’s extent. However, the random matrix approach can filter the center of gravity and the covariance matrix of measurements independently of the measurement model. This work considers the whole chain from data acquisition to the linear Kalman Filter with extension estimation as a reference plant. The input is the (unknown) ground truth (position and extent). The output is the filtered center of gravity and the filtered covariance matrix of the measurement distribution. A virtual measurement model emulates the behavior of the reference plant. The input of the virtual measurement model is adapted using the proposed algorithm until the output parameters of the virtual measurement model match the result of the reference plant. After the adaptation, the input to the virtual measurement model is considered an estimation for position and extent. The main contribution of this paper is the reference model concept and an adaptation algorithm to optimize the input of the virtual measurement model.
Automotive computing applications like AI databases, ADAS, and advanced infotainment systems have a huge need for persistent memory. This trend requires NAND flash memories designed for extreme automotive environments. However, the error probability of NAND flash memories has increased in recent years due to higher memory density and production tolerances. Hence, strong error correction coding is needed to meet automotive storage requirements. Many errors can be corrected by soft decoding algorithms. However, soft decoding is very resource-intensive and should be avoided when possible. NAND flash memories are organized in pages, and the error correction codes are usually encoded page-wise to reduce the latency of random reads. This page-wise encoding does not reach the maximum achievable capacity. Reading soft information increases the channel capacity but at the cost of higher latency and power consumption. In this work, we consider cell-wise encoding, which also increases the capacity compared to page-wise encoding. We analyze the cell-wise processing of data in triple-level cell (TLC) NAND flash and show the performance gain when using Low-Density Parity-Check (LDPC) codes. In addition, we investigate a coding approach with page-wise encoding and cell-wise reading.
Large persistent memory is crucial for many applications in embedded systems and automotive computing like AI databases, ADAS, and cutting-edge infotainment systems. Such applications require reliable NAND flash memories made for harsh automotive conditions. However, due to high memory densities and production tolerances, the error probability of NAND flash memories has risen. As the number of program/erase cycles and the data retention times increase, non-volatile NAND flash memories' performance and dependability suffer. The read reference voltages of the flash cells vary due to these aging processes. In this work, we consider the issue of reference voltage adaption. The considered estimation procedure uses shallow neural networks to estimate the read reference voltages for different life-cycle conditions with the help of histogram measurements. We demonstrate that the training data for the neural networks can be enhanced by using shifted histograms, i.e., a training of the neural networks is possible based on a few measurements of some extreme points used as training data. The trained neural networks generalize well for other life-cycle conditions.
The code-based McEliece cryptosystem is a promising candidate for post-quantum cryptography. The sender encodes a message, using a public scrambled generator matrix, and adds a random error vector. In this work, we consider q-ary codes and restrict the Lee weight of the added error symbols. This leads to an increased error correction capability and a larger work factor for information-set decoding attacks. In particular, we consider codes over an extension field and use the one-Lee error channel, which restricts the error values to Lee weight one. For this channel model, generalized concatenated codes can achieve high error correction capabilities. We discuss the decoding of those codes and the possible gain for decoding beyond the guaranteed error correction capability.