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arXiv 2023年

作者： Deutschmann-Olek, Andreas Schrom, Katharina Würkner, Nikolaus Schmiedmayer, Jörg Erne, Sebastian Kugi, Andreas Complex Dynamical Systems Group Automation and Control Institute TU Wien Vienna Austria Vienna Center for Quantum Science and Technology Atominstitut TU Wien Vienna Austria Center for Vision Automation & Control Austrian Institute of Technology Vienna Austria

In this paper, we investigate the manipulation of quasi-1D Bose gases that are trapped in a highly elongated potential by optimal control methods. The effective mean-field dynamics of the gas can be described by a one-dimensional non-polynomial Schrödinger equation. We extend the indirect optimal control method for the Gross-Pitaevskii equation by Winckel and Borzì (2008) to obtain necessary optimality conditions for state and energy cost functionals. This approach is then applied to optimally compress a quasi-1D Bose gase in an (optical) box potential, i.e., to find a so-called short-cut to adiabaticity, by solving the optimality conditions numerically. The behavior of the proposed method is finally analyzed and compared to simple direct optimization strategies using reduced basis functions. Simulations results demonstrate the feasibility of the proposed approach. © 2023, CC BY.

关键词： Gallium compounds

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Active Learning with Alternating Acquisition Functions: Balancing the Exploration-Exploitation Dilemma

Active Learning with Alternating Acquisition Functions: Bala...

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IEEE International Conference on Big Data

作者： Cédric Jung Shirin Salehi Anke Schmeink Automation and Control Institute (ACIN) Technische Universität Wien (TUW) Vienna Austria Center for Vision Automation & Control AIT Austrian Institute of Technology GmbH Vienna Austria Chair of Information Theory and Data Analytics (INDA) RWTH Aachen University Aachen Germany

ISBN: (数字)9798350362480

ISBN: (纸本)9798350362497

Active learning (AL) is a machine learning technique that aims to reduce annotation costs by selectively choosing the most informative samples for labeling. This process relies on acquisition functions, which can be broadly categorized into two types: representativity-based and uncertainty-based. Representativity-based functions focus on exploring the dataset, while uncertainty-based functions refine decision boundaries. This creates a trade-off known as the exploration-exploitation dilemma. To address this challenge, we propose a novel approach that alternates between these two types of acquisition functions. Our method employs an adaptive feedback-driven selection mechanism, an annealing-based approach, or a baseline random criterion to guide the alternation process. This strategy helps mitigate common AL issues, such as batch mode inefficiency and cold start problems. Our experiments demonstrate that the alternating approach enhances both the accuracy and robustness of the AL process. Additionally, we consider the balance between accuracy and energy consumption, contributing to the development of more sustainable AI systems. By evaluating our criterion across various models and datasets, we show its potential to reduce computational costs while maintaining or even improving accuracy. Notably, alternating between the BALD and BADGE acquisition functions yields particularly robust results.

关键词： Energy consumption Accuracy Costs Computational modeling Active learning Machine learning Big Data Robustness Computational efficiency Labeling

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Scheduling Multiple Groups of Jobs for a Multi-Line Steel Hot Rolling Mill

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IFAC-PapersOnLine 2022年第21期55卷 168-173页

作者： M. Kowalski A. Steinboeck A. Kugi Automation and Control Institute TU Wien Gußhausstraße 27-29 1040 Vienna Austria Center for Vision Automation & Control Austrian Institute of Technology (AIT) Giefinggasse 4 1210 Vienna Austria

This work addresses the optimal scheduling for a multi-line steel hot rolling mill with two parallel production lines. Groups of products are manufactured at one of these lines in an alternate sequence. An optimal schedule minimizes the sum of the required setup times between all products and optimally fills up retooling times necessary at one line by processing a group of products at the other line. This requires both sequence optimization and, for some groups, the optimal selection of jobs. The optimization problem is a combination of traveling salesman and orienteering problems and considers all groups simultaneously. To iteratively solve the combined problem, an algorithm consisting of a heuristic simulated annealing and a local search procedure is employed. The effectiveness of the algorithm is analyzed in a case study.

关键词： Production planning control multi-line hot rolling mill job shop sequence dependent setup times traveling salesman problem orienteering problem heuristic algorithm simulated annealing

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Live Demo: E2P-Events to Polarization Reconstruction from PDAVIS Events

Live Demo: E2P-Events to Polarization Reconstruction from PD...

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2023 IEEE/CVF Conference on Computer vision and Pattern Recognition Workshops, CVPRW 2023

作者： Delbruck, Tobi Wang, Zuowen Mei, Haiyang Haessig, Germain Joubert, Damien Haque, Justin Chen, Yingkai Milde, Moritz B. Gruev, Viktor Univ. of Zurich and ETH Zurich Sensors Group Institute of Neuroinformatics Switzerland Center for Vision Automation & Control High-Performance Vision Systems AIT Austrian Institute of Technology Vienna Austria Western Sydney University Intl. Centre for Neuromorphic Systems The MARCS Institute Sydney Australia University of Illinois at Urbana-Champaign Dept. of Electrical and Computer Engineering UrbanaIL United States

This demonstration shows live operation of of PDAVIS polarization event camera reconstruction by the E2P DNN reported in the main CVPR conference paper Deep Polarization Reconstruction with PDAVIS Events (paper 9149 [... 详细信息

ISBN: (纸本)9798350302493

关键词： Polarization

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Flight control of a Multicopter using Reinforcement Learning

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IFAC-PapersOnLine 2021年第13期54卷 251-255页

作者： Francesco d’Apolito Christoph Sulzbachner AIT - Austrian Institute of Technology Center for Vision Automation and Control

Machine Learning, and in particular Reinforcement Learning, is a persistent trend in automation and robotics in recent years. Many researchers worldwide are developing intelligent controllers using Reinforcement Learning techniques. This paper aims to present a proof-of-concept Reinforcement Learning flight controller for a multicopter. The agent has been trained in the Airsim simulation environment to achieve stable flight conditions by controlling its roll, pitch, yaw and throttle. After training, the agent has been tested on the same environment to prove its ability to maintain stable flight conditions while following a determined route.

关键词： Artificial Intelligence Applications Intelligent Systems Robotics Handling Devices Models Simulation Mechatronic Systems

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Measurement-based Command and control Radio Channel Characterization for UAVs

Measurement-based Command and Control Radio Channel Characte...

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IEEE Conference on Wireless Communications and Networking

作者： Laura Bernadó David Löschenbrand Christoph Sulzbachner Felix Bruckmüller Thomas Zemen Center for Digital Safety and Security AIT Austrian Institute of Technology GmbH Vienna Austria Center for Vision Automation and Control AIT Austrian Institute of Technology GmbH Vienna Austria

In recent years, the amount of unmanned aerial vehicle (UAV) based applications has strongly increased. In order to fly the UAVs safely, their command and control link needs a reliable and robust communication channel. A line of sight (LOS) between the UAV operator and UAV is, at the moment, an essential requirement to guarantee an error-free communication. However, even in LOS conditions, the reception of a constant signal level is not assured. In this paper, we present the results of a measurement campaign with a UAV and a drone moving on the ground that were electronically tracked with simultaneous dedicated beams at 3.2 GHz coming from a 10 element antenna array. Small software-defined-radio modules were integrated in the drones to record the strength of the received signal when moving. The instantaneous GPS coordinates of the UAV were transmitted via a 4G link to a ground station that translated them into spherical coordinates used at the antenna array side. We show that the UAV itself and its flying inclination produce around 10 dB fluctuations in the received power, even in LOS conditions, and therefore shadowing cannot be ignored.

关键词： Antenna measurements Command and control systems Transmitting antennas Receiving antennas Autonomous aerial vehicles Real-time systems Frequency measurement

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Application of Monte Carlo Method for Probabilistic Robust control Performance Assessment

Application of Monte Carlo Method for Probabilistic Robust C...

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International Conference on System Reliability and Science (ICSRS)

作者： Markus Gurtner Patrik Zips Adrian Trachte Andreas Kugi Center for Vision Automation & Control AIT Austrian Institute of Technology GmbH Vienna Austria Robert Bosch GmbH Stuttgart Germany Automation and Control Institute Vienna Austria

When designing control loops for nonlinear systems, the selection of a suitable control strategy and the appropriate parametrization is a key challenge. If, in addition to the nominal control performance, the robustness with respect to parameter uncertainties has to be taken into account, this task becomes even more challenging and analytical approaches often get infeasible. Therefore, this paper shows the application of randomized algorithms to enable a statistical assessment of the closed-loop control performance. This approach provides probabilistic bounds for the worst-case behavior and is capable of quantifying the expected violation of given performance limits. Two use cases, namely a highway lane change scenario and an electro-hydraulic valve, are discussed to demonstrate the interpretation of these numerical analyses and how to use these results for choosing the preferable control strategy among two candidates.

关键词： Robust control Uncertain systems Uncertainty Monte Carlo methods Probabilistic logic Valves Robustness

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Automatic Yaw Rotation of Plates on Roller Tables

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IFAC-PapersOnLine 2021年第11期54卷 19-24页

作者： Andreas Waldmann Andreas Kugi Andreas Steinboeck Automation and Control Institute TU Wien Vienna Austria Center for Vision Automation & Control Austrian Institute of Technology Vienna Austria

Yaw rotations of plates are frequently required in heavy-plate rolling between roll passes in longitudinal and lateral plate direction. The primary objective are fast and accurate plate rotations to ensure a high throughput. This paper deals with automatic 90 ◦ yaw rotations of plates on a roller table with shouldered rolls spinning in opposite direction. A two-degrees-of-freedom control strategy is derived based on a mathematical model. The model also captures the friction forces between the roller table and the plate, which are essentially required for the rotation. Unknown parameters of the model are identified based on measurements from an industrial plant. Such measurements also serve for model validation. An infrared camera is used to track the current position of the plate on the roller table. Based on these measurements, a state observer estimates non-measurable process variables. Finally, the estimator and control design is tested in simulations based on the validated model.

关键词： Mathematical modelling heavy-plate rolling rotation of plates friction position control control of rotation infrared camera

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Singularity Avoidance with Application to Online Trajectory Optimization for Serial Manipulators

arXiv

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arXiv 2022年

作者： Beck, Florian Vu, Minh Nihat Hartl-Nesic, Christian Kugi, Andreas TU Wien Vienna Austria Center for Vision Automation and Control AIT Austrian Institute of Technology Vienna Austria

This work proposes a novel singularity avoidance approach for real-time trajectory optimization based on known singular configurations. The focus of this work lies on analyzing kinematically singular configurations for three robots with different kinematic structures, i.e., the Comau Racer 7-1.4, the KUKA LBR iiwa 14 R820, and the Franka Emika Panda, and exploiting these configurations in form of tailored potential functions for singularity avoidance. Monte Carlo simulations of the proposed method and the commonly used manipulability maximization approach are performed for comparison. The numerical results show that the average computing time can be reduced and shorter trajectories in both time and path length are obtained with the proposed approach. © 2022, CC BY-NC-ND.

关键词： Motion planning

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Sampling-based trajectory (re)planning for differentially flat systems: Application to a 3D gantry crane

arXiv

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arXiv 2022年

作者： Vu, Minh Nhat Schwegel, Michael Hartl-Nesic, Christian Kugi, Andreas TU Wien Vienna Austria Center for Vision Automation and Control AIT Austrian Institute of Technology Vienna Austria

In this paper, a sampling-based trajectory planning algorithm for a laboratory-scale 3D gantry crane in an environment with static obstacles and subject to bounds on the velocity and acceleration of the gantry crane system is presented. The focus is on developing a fast motion planning algorithm for differentially flat systems, where intermediate results can be stored and reused for further tasks, such as replanning. The proposed approach is based on the informed optimal rapidly exploring random tree algorithm (informed RRT*), which is utilized to build trajectory trees that are reused for replanning when the start and/or target states change. In contrast to state-of-the-art approaches, the proposed motion planning algorithm incorporates a linear quadratic minimum time (LQTM) local planner. Thus, dynamic properties such as time optimality and the smoothness of the trajectory are directly considered in the proposed algorithm. Moreover, by integrating the branch-and-bound method to perform the pruning process on the trajectory tree, the proposed algorithm can eliminate points in the tree that do not contribute to finding better solutions. This helps to curb memory consumption and reduce the computational complexity during motion (re)planning. Simulation results for a validated mathematical model of a 3D gantry crane show the feasibility of the proposed approach. © 2022, CC BY-NC-ND.

关键词： Trajectories

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