Institut für Systemdynamik - ISD
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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.
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.
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.
This paper presents the integration of a spline based extension model into a probability hypothesis density (PHD) filter for extended targets. Using this filter the position and extension of each object as well as the number of present objects can jointly be estimated. Therefore, the spline extension model and the PHD filter are addressed and merged in a Gaussian mixture (GM) implementation. Simulation results using artificial laser measurements are used to evaluate the performance of the presented filter. Finally, the results are illustrated and discussed.
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.
Virtual measurement models (VMM) can be used to generate artificial measurements and emulate complex sensor models such as Lidar. The input of the VMM is an estimation and the output is the set of measurements this estimation would cause. A Kalman filter with extension estimation based on random matrices is used to filter mean and covariance of the real measurements. If these match the mean and covariance of the artificial measurements, then the given estimation is appropriate. The optimal input of the VMM is found using an adaptation algorithm. In this paper, the VMM approach is expanded for multi-extended object tracking where objects can be occluded and are only partially visible. The occlusion can be compensated if the extension estimation is performed for all objects together. The VMM now receives as input an estimation for the multi-object state and the output are the measurements that this multi-object state would cause.
This paper presents the swinging up and stabilization control of a Furuta pendulum using the recently published nonlinear Model Predictive Path Integral (MPPI) approach. This algorithm is based on a path integral over stochastic trajectories and can be parallelized easily. The controller parameters are tuned offline regarding the nonlinear system dynamics and simulations. Constraints in terms of state and input are taken into account in the cost function. The presented approach sequentially computes an optimal control sequence that minimizes this optimal control problem online. The control strategy has been tested in full-scale experiments using a pendulum prototype. The investigated MPPI controller has demonstrated excellent performance in simulation for the swinging up and stabilizing task. In order to also achieve outstanding performance in a real-world experiment using a controller with limited computing power, a linear quadratic controller (LQR) is designed for the stabilization task. In this paper, the determination of the controller parameters for the MPPI algorithm is described in detail. Further, a discussion treats the advantages of the nonlinear MPPI control.
This paper presents a new likelihood-based partitioning method of the measurement set for the extended object probability hypothesis density (PHD) filter framework. Recent work has mostly relied on heuristic partitioning methods that cluster the measurement data based on a distance measure between the single measurements. This can lead to poor filter performance if the tracked extended objects are closely spaced. The proposed method called Stochastic Partitioning (StP) is based on sampling methods and was inspired by a former work of Granström et. al. In this work, the StP method is applied to a Gaussian inverse Wishart (GIW) PHD filter and compared to a second filter implementation that uses the heuristic Distance Partitioning (DP) method. The performance is evaluated in Monte Carlo simulations in a scenario where two objects approach each other. It is shown that the sampling based StP method leads to an improved filter performance compared to DP.
Soft-input decoding of concatenated codes based on the Plotkin construction and BCH component codes
(2020)
Low latency communication requires soft-input decoding of binary block codes with small to medium block lengths.
In this work, we consider generalized multiple concatenated (GMC) codes based on the Plotkin construction. These codes are similar to Reed-Muller (RM) codes. In contrast to RM codes, BCH codes are employed as component codes. This leads to improved code parameters. Moreover, a decoding algorithm is proposed that exploits the recursive structure of the concatenation. This algorithm enables efficient soft-input decoding of binary block codes with small to medium lengths. The proposed codes and their decoding achieve significant performance gains compared with RM codes and recursive GMC decoding.
Error correction coding based on soft-input decoding can significantly improve the reliability of non-volatile flash memories. This work proposes a soft-input decoder for generalized concatenated (GC) codes. GC codes are well suited for error correction in flash memories for high reliability data storage. We propose GC codes constructed from inner extended binary Bose-Chaudhuri-Hocquenghem (BCH) codes and outer Reed-Solomon codes. The extended BCH codes enable an efficient hard-input decoding. Furthermore, a low-complexity soft-input decoding method is proposed. This bit-flipping decoder uses a fixed number of test patterns and an algebraic decoder for soft-decoding. An acceptance criterion for the final candidate codeword is proposed. Combined with error and erasure decoding of the outer Reed-Solomon codes, this acceptance criterion can improve the decoding performance and reduce the decoding complexity. The presented simulation results show that the proposed bit-flipping decoder in combination with outer error and erasure decoding can outperform maximum likelihood decoding of the inner codes.
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.
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.
Side Channel Attack Resistance of the Elliptic Curve Point Multiplication using Gaussian Integers
(2020)
Elliptic curve cryptography is a cornerstone of embedded security. However, hardware implementations of the elliptic curve point multiplication are prone to side channel attacks. In this work, we present a new key expansion algorithm which improves the resistance against timing and simple power analysis attacks. Furthermore, we consider a new concept for calculating the point multiplication, where the points of the curve are represented as Gaussian integers. Gaussian integers are subset of the complex numbers, such that the real and imaginary parts are integers. Since Gaussian integer fields are isomorphic to prime fields, this concept is suitable for many elliptic curves. Representing the key by a Gaussian integer expansion is beneficial to reduce the computational complexity and the memory requirements of a secure hardware implementation.
Side Channel Attack Resistance of the Elliptic Curve Point Multiplication using Eisenstein Integers
(2020)
Asymmetric cryptography empowers secure key exchange and digital signatures for message authentication. Nevertheless, consumer electronics and embedded systems often rely on symmetric cryptosystems because asymmetric cryptosystems are computationally intensive. Besides, implementations of cryptosystems are prone to side-channel attacks (SCA). Consequently, the secure and efficient implementation of asymmetric cryptography on resource-constrained systems is demanding. In this work, elliptic curve cryptography is considered. A new concept for an SCA resistant calculation of the elliptic curve point multiplication over Eisenstein integers is presented and an efficient arithmetic over Eisenstein integers is proposed. Representing the key by Eisenstein integer expansions is beneficial to reduce the computational complexity and the memory requirements of an SCA protected implementation.
In the past years, algorithms for 3D shape tracking using radial functions in spherical coordinates represented with different methods have been proposed. However, we have seen that mainly measurements from the lateral surface of the target can be expected in a lot of dynamic scenarios and only few measurements from the top and bottom parts leading to an error-prone shape estimate in the top and bottom regions when using a representation in spherical coordinates. We, therefore, propose to represent the shape of the target using a radial function in cylindrical coordinates, as these only represent regions of the lateral surface, and no information from the top or bottom parts is needed. In this paper, we use a Fourier-Chebyshev double series for 3D shape representation since a mixture of Fourier and Chebyshev series is a suitable basis for expanding a radial function in cylindrical coordinates. We investigate the method in a simulated and real-world maritime scenario with a CAD model of the target boat as a reference. We have found that shape representation in cylindrical coordinates has decisive advantages compared to a shape representation in spherical coordinates and should preferably be used if no prior knowledge of the measurement distribution on the surface of the target is available.
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.
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).
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.
The introduction of multi level cell (MLC) and triple level cell (TLC) technologies reduced the reliability of flash memories significantly compared with single level cell (SLC) flash. The reliability of the flash memory suffers from various errors causes. Program/erase cycles, read disturb, and cell to cell interference impact the threshold voltages. With pre-defined fixed read thresholds a voltage shift increases the bit error rate (BER). This work proposes a read threshold calibration method that aims on minimizing the BER by adapting the read voltages. The adaptation of the read thresholds is based on the number of errors observed in the codeword protecting a small amount of meta-data. Simulations based on flash measurements demonstrate that this method can significantly reduce the BER of TLC memories.
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.