{"05521838af0755456e8aaf166804e4e6bjoernschembera":{"DOI":"","ISBN":"","ISSN":"","URL":"https://www.simtech2023.uni-stuttgart.de/documents/Theme-4/Schembera-Bjoern.pdf","abstract":"","annote":"","author":[{"family":"Schembera","given":"Björn"},{"family":"Riethmüller","given":"Cedric"},{"family":"Göddeke","given":"Dominik"}],"citation-label":"schemberaenabling","collection-editor":[],"collection-title":"","container-author":[],"container-title":"","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2023"]],"literal":"2023"},"event-place":"","id":"05521838af0755456e8aaf166804e4e6bjoernschembera","interhash":"60de695d3ccfa35041e24826acd4c078","intrahash":"05521838af0755456e8aaf166804e4e6","issue":"","issued":{"date-parts":[["2023"]],"literal":"2023"},"keyword":"cmcs hpc mathematik metadata myown ontoloties simtech simulation","misc":{"eventtitle":"Simtech 2023","venue":"University of Stuttgart"},"note":"","number":"","page":"","page-first":"","publisher":"","publisher-place":"","status":"","title":"Enabling FAIR Data in Computational Science, Engineering and Mathematics through Knowledge Graphs","type":"speech","username":"bjoernschembera","version":"","volume":""},"a03a6622849de0365a970884422b75d6isw-bibliothek":{"DOI":"","ISBN":"","ISSN":"","URL":"","abstract":"","annote":"","author":[{"family":"Zürn","given":"Manuel"},{"family":"Wnuk","given":"Markus"},{"family":"Schneider","given":"Anja"},{"family":"Lechler","given":"Armin"},{"family":"Verl","given":"Alexander"}],"citation-label":"zurn2022localization","collection-editor":[],"collection-title":"","container-author":[],"container-title":"Proceedings of the 54th International Symposium on Robotics (ISR)","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2022"]],"literal":"2022"},"event-place":"","id":"a03a6622849de0365a970884422b75d6isw-bibliothek","interhash":"a17d194e82d3af518dc8ffa92e7fa61c","intrahash":"a03a6622849de0365a970884422b75d6","issue":"","issued":{"date-parts":[["2022"]],"literal":"2022"},"keyword":"DataCon SimTech Soft-Tissue-Robotics control grk2198 isw myown simulation","note":"","number":"","number-of-pages":"8","page":"17-25","page-first":"17","publisher":"","publisher-place":"","status":"","title":"Localization and Tracking of Deformable Linear Objects with Self Organizing Maps","type":"paper-conference","username":"isw-bibliothek","version":"","volume":""},"0caf0d4c1fa0a22e9cb09d879747d915isw-bibliothek":{"DOI":"10.1109/IECON43393.2020.9254923","ISBN":"","ISSN":"2577-1647","URL":"https://ieeexplore.ieee.org/document/9254923/","abstract":"The handling of deformable linear objects (DLOs), such as cables or hoses, with industrial robots is hardly industrially automated due to the underactuated material behavior. Increasing computing power and decreasing cost of processors over the last decades are now allowing the online computation of more complex handling processes. Within this paper, DLOs are approximated as a multibody chain with a finite number of degrees of freedom. Based on that model, a nonlinear, partially IO-linearizing controller is derived to control an underactuated end point on a trajectory when grasped by a robot arm at the other end. The controller is verified in simulation for high dynamics and shown to significantly reduce the tracking error. A practical evaluation finally shows the qualitative suitability of the multibody approximation and is used to validate the functionality of the controller in an open-loop experiment.","annote":"","author":[{"family":"Hinze","given":"Christoph"},{"family":"Zürn","given":"Manuel"},{"family":"Wnuk","given":"Markus"},{"family":"Lechler","given":"Armin"},{"family":"Verl","given":"Alexander"}],"citation-label":"9254923","collection-editor":[],"collection-title":"","container-author":[],"container-title":"IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2020","oct"]],"literal":"2020"},"event-place":"","id":"0caf0d4c1fa0a22e9cb09d879747d915isw-bibliothek","interhash":"7ea6f821bac9b5e24f166f5f0e7cb3b9","intrahash":"0caf0d4c1fa0a22e9cb09d879747d915","issue":"","issued":{"date-parts":[["2020","oct"]],"literal":"2020"},"keyword":"EXC2075 SimTech control grk2198 myown simulation","misc":{"issn":"2577-1647","doi":"10.1109/IECON43393.2020.9254923"},"note":"","number":"","number-of-pages":"6","page":"310-316","page-first":"310","publisher":"","publisher-place":"","status":"","title":"Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation","type":"paper-conference","username":"isw-bibliothek","version":"","volume":""},"78feed56c1636b8fcbfd657450c145bdclausbraun":{"DOI":"","ISBN":"","ISSN":"","URL":"","abstract":"","annote":"","author":[{"family":"Braun","given":"Claus"}],"citation-label":"phd/dnb/Braun15","collection-editor":[],"collection-title":"","container-author":[],"container-title":"","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2015"]],"literal":"2015"},"event-place":"","genre":"PhD dissertation","id":"78feed56c1636b8fcbfd657450c145bdclausbraun","interhash":"f4aa6bff08e99d1685a2218270cadc80","intrahash":"78feed56c1636b8fcbfd657450c145bd","issue":"","issued":{"date-parts":[["2015"]],"literal":"2015"},"keyword":"ABFT GPGPU GPU SimTech algebra algorithm-based error error-detection fault fault-tolerance linear matrix-operations myown simulation","misc":{"ee":"http://d-nb.info/1075190916"},"note":"","number":"","page":"","page-first":"","publisher":"University of Stuttgart","publisher-place":"","status":"","title":"Algorithm-based fault tolerance for matrix operations on graphics processing units: analysis and extension to autonomous operation.","type":"thesis","username":"clausbraun","version":"","volume":""},"126f35b3dc5e36c0d63a461eb07e23c3clausbraun":{"DOI":"http://dx.doi.org/10.1109/ICCD.2012.6378642","ISBN":"","ISSN":"","URL":"","abstract":"Markov-Chain Monte-Carlo (MCMC) methods are an important class of simulation techniques, which execute a sequence of simulation steps, where each new step depends on the previous ones. Due to this fundamental dependency, MCMC methods are inherently hard to parallelize on any architecture. The upcoming generations of hybrid CPU/GPGPU architectures with their multi-core CPUs and tightly coupled many-core GPGPUs provide new acceleration opportunities especially for MCMC methods, if the new degrees of freedom are exploited correctly. \r\nIn this paper, the outcomes of an interdisciplinary collaboration are presented, which focused on the parallel mapping of a MCMC molecular simulation from thermodynamics to hybrid CPU/GPGPU computing systems. While the mapping is designed for upcoming hybrid architectures, the implementation of this approach on an NVIDIA Tesla system already leads to a substantial speedup of more than 87x despite the additional communication overheads.","annote":"","author":[{"family":"Braun","given":"Claus"},{"family":"Holst","given":"Stefan"},{"family":"Wunderlich","given":"Hans-Joachim"},{"family":"Castillo","given":"Juan Manuel"},{"family":"Gross","given":"Joachim"}],"citation-label":"BraunHWCG2012","collection-editor":[],"collection-title":"","container-author":[],"container-title":"Proceedings of the 30th IEEE International Conference on Computer Design (ICCD'12)","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2012"]],"literal":"2012"},"event-place":"","id":"126f35b3dc5e36c0d63a461eb07e23c3clausbraun","interhash":"8b3986f798c6d3bc3d644b3a4e79b147","intrahash":"126f35b3dc5e36c0d63a461eb07e23c3","issue":"","issued":{"date-parts":[["2012"]],"literal":"2012"},"keyword":"GPGPU GPU Markov-Chain Monte-Carlo SimTech architectures computer heterogeneous hybrid molecular myown parallel simulation thermodynamics","misc":{"file":"http://www.iti.uni-stuttgart.de/fileadmin/rami/files/publications/2012/ICCD_BraunHWCG2012.pdf","doi":"http://dx.doi.org/10.1109/ICCD.2012.6378642"},"note":"","number":"","number-of-pages":"5","page":"207--212","page-first":"207","publisher":"IEEE Computer Society","publisher-place":"","status":"","title":"Acceleration of Monte-Carlo Molecular Simulations on Hybrid Computing Architectures","type":"paper-conference","username":"clausbraun","version":"","volume":""},"92cad6c6d7a90044e7289f504f6f4cf7clausbraun":{"DOI":"http://dx.doi.org/10.1109/IOLTS.2013.6604090","ISBN":"","ISSN":"","URL":"","abstract":"Computer simulations drive innovations in science and industry, and they are gaining more and more importance. However, their high computational demand generates extraordinary challenges for computing systems. Typical highperformance computing systems, which provide sufficient performance and high reliability, are extremly expensive.\r\nModern GPUs offer high performance at very low costs, and they enable simulation applications on the desktop. However, they are increasingly prone to transient effects and other reliability threats. To fulfill the strict reliability requirements in scientific computing and simulation technology, appropriate fault tolerance measures have to be integrated into simulation applications for GPUs. Algorithm-Based Fault Tolerance on GPUs has the potential to meet these requirements.\r\nIn this work we investigate the efficiency and the efficacy of ABFT for matrix operations on GPUs. We compare ABFT against fault tolerance schemes that are based on redundant computations and we evaluate its error detection capabilities","annote":"","author":[{"family":"Wunderlich","given":"Hans-Joachim"},{"family":"Braun","given":"Claus"},{"family":"Halder","given":"Sebastian"}],"citation-label":"WundeBH2013","collection-editor":[],"collection-title":"","container-author":[],"container-title":"Proceedings of the IEEE International On-Line Testing Symposium (IOLTS'13)","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2013"]],"literal":"2013"},"event-place":"","id":"92cad6c6d7a90044e7289f504f6f4cf7clausbraun","interhash":"852ec5b9e00df1c4437700418d91759c","intrahash":"92cad6c6d7a90044e7289f504f6f4cf7","issue":"","issued":{"date-parts":[["2013"]],"literal":"2013"},"keyword":"ABFT GPGPU SimTech algorithm-based computing errors fault fault-tolerance myown scientific simulation","misc":{"file":"http://www.iti.uni-stuttgart.de/fileadmin/rami/files/publications/2013/IOLTS_WundeBH2013.pdf","doi":"http://dx.doi.org/10.1109/IOLTS.2013.6604090"},"note":"","number":"","number-of-pages":"3","page":"240--243","page-first":"240","publisher":"","publisher-place":"","status":"","title":"Efficacy and Efficiency of Algorithm-Based Fault Tolerance on GPUs","type":"paper-conference","username":"clausbraun","version":"","volume":""},"a102ad88594647037e1fc695a9f77c90clausbraun":{"DOI":"http://dx.doi.org/10.1109/BIBM.2012.6392661","ISBN":"","ISSN":"","URL":"","abstract":"Apoptosis, the programmed cell death, is a physiological process that handles the removal of unwanted or damaged cells in living organisms. The process itself is initiated by signaling through tumor necrosis factor (TNF) receptors and ligands, which form clusters on the cell membrane. The exact function of this process is not yet fully understood and currently subject of basic research. Different mathematical models have been developed to describe and simulate the apoptotic receptor-clustering.\r\nIn this interdisciplinary work, a previously introduced model of the apoptotic receptor-clustering has been extended by a new receptor type to allow a more precise description and simulation of the signaling process. Due to the high computational requirements of the model, an ef?cient algorithmic mapping to a modern many-core GPGPU architecture has been developed. Such architectures enable high-performance computing (HPC) simulation tasks on the desktop at low costs. The developed mapping reduces average simulation times from months to days (peak speedup of 256x), allowing the productive use of the model in research.","annote":"","author":[{"family":"Braun","given":"Claus"},{"family":"Daub","given":"Markus"},{"family":"Schöll","given":"Alexander"},{"family":"Schneider","given":"Guido"},{"family":"Wunderlich","given":"Hans-Joachim"}],"citation-label":"BraunDSSW2012","collection-editor":[],"collection-title":"","container-author":[],"container-title":"Proceedings of the IEEE International Conference on Bioinformatics and Biomedicine (BIBM'12)","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2012"]],"literal":"2012"},"event-place":"","id":"a102ad88594647037e1fc695a9f77c90clausbraun","interhash":"da3df25277c913d9e4301ee4eebe7f58","intrahash":"a102ad88594647037e1fc695a9f77c90","issue":"","issued":{"date-parts":[["2012"]],"literal":"2012"},"keyword":"GPGPU SimTech apoptosis modeling myown numerical parallel particle receptor-clustering simulation","misc":{"file":"http://www.iti.uni-stuttgart.de//fileadmin/rami/files/publications/2012/BIBM_BraunDSSW2012.pdf","doi":"http://dx.doi.org/10.1109/BIBM.2012.6392661"},"note":"","number":"","number-of-pages":"5","page":"1--6","page-first":"1","publisher":"","publisher-place":"","status":"","title":"Parallel Simulation of Apoptotic Receptor-Clustering on GPGPU Many-Core Architectures","type":"paper-conference","username":"clausbraun","version":"","volume":""},"b9d42307aff55f949dce3efdc063ee86clausbraun":{"DOI":"http://dx.doi.org/10.1109/BIBM.2014.6999195","ISBN":"","ISSN":"","URL":"","abstract":"Computational biology contributes important solutions for major biological challenges. Unfortunately, most applications in computational biology are highly computeintensive and associated with extensive computing times. Biological problems of interest are often not treatable with traditional simulation models on conventional multi-core CPU systems. This interdisciplinary work introduces a new multi-timescale simulation model for apoptotic receptor-clustering and a new parallel evaluation algorithm that exploits the computational performance of heterogeneous CPU-GPU computing systems. For this purpose, the different dynamics involved in receptor-clustering are separated and simulated on two timescales. Additionally, the time step sizes are adaptively refined on each timescale independently.\r\n This new approach improves the simulation performance significantly and reduces computing times from months to hours for observation times of several seconds.","annote":"","author":[{"family":"Schöll","given":"Alexander"},{"family":"Braun","given":"Claus"},{"family":"Daub","given":"Markus"},{"family":"Schneider","given":"Guido"},{"family":"Wunderlich","given":"Hans-Joachim"}],"citation-label":"SchoeBDSW2014","collection-editor":[],"collection-title":"","container-author":[],"container-title":"Proceedings of the IEEE International Conference on Bioinformatics and Biomedicine (BIBM'14)","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2014"]],"literal":"2014"},"event-place":"","id":"b9d42307aff55f949dce3efdc063ee86clausbraun","interhash":"8b3950b9a31a28b554ce868d67598d14","intrahash":"b9d42307aff55f949dce3efdc063ee86","issue":"","issued":{"date-parts":[["2014"]],"literal":"2014"},"keyword":"Euler-Maruyama GPU SimTech adaptive aggregation approximation computing heterogeneous ligand-receptor-model multi-timescale myown parallel particle simulation","misc":{"file":"http://www.iti.uni-stuttgart.de/fileadmin/rami/files/publications/2014/BIBM_SchoeBDSW2014.pdf","doi":"http://dx.doi.org/10.1109/BIBM.2014.6999195"},"note":"","number":"","number-of-pages":"7","page":"424--431","page-first":"424","publisher":"","publisher-place":"","status":"","title":"Adaptive Parallel Simulation of a Two-Timescale-Model for Apoptotic Receptor-Clustering on GPUs","type":"paper-conference","username":"clausbraun","version":"","volume":""},"3cb76c9c4fa78fe612366f03f4ec164aisw-bibliothek":{"DOI":"","ISBN":"","ISSN":"","URL":"","abstract":"","annote":"","author":[{"family":"Tempel","given":"Philipp"},{"family":"Pott","given":"Andreas"}],"citation-label":"tempel2017simtech","collection-editor":[],"collection-title":"","container-author":[],"container-title":"","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2017"]],"literal":"2017"},"event-place":"","id":"3cb76c9c4fa78fe612366f03f4ec164aisw-bibliothek","interhash":"cfab908573e336fc437dbc74b54ae2f7","intrahash":"3cb76c9c4fa78fe612366f03f4ec164a","issue":"","issued":{"date-parts":[["2017"]],"literal":"2017"},"keyword":"cable-driven cable-robot cdpr expo2015 isw pn3-7 simtech simulation xtl","note":"","number":"","page":"","page-first":"","publisher":"","publisher-place":"","status":"","title":"Expo 2015 - A SimTech Success Story","type":"webpage","username":"isw-bibliothek","version":"","volume":""},"fbeb56e8a40742662454342b11801a86isw-bibliothek":{"DOI":"","ISBN":"","ISSN":"","URL":"","abstract":"","annote":"","author":[{"family":"Tempel","given":"Philipp"},{"family":"Pott","given":"Andreas"}],"citation-label":"tempel2016cabledriven","collection-editor":[],"collection-title":"","container-author":[],"container-title":"","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2016","11","25"]],"literal":"2016"},"event-place":"","id":"fbeb56e8a40742662454342b11801a86isw-bibliothek","interhash":"15b1d9b40429e829ac6c70aa8706068f","intrahash":"fbeb56e8a40742662454342b11801a86","issue":"","issued":{"date-parts":[["2016","11","25"]],"literal":"2016"},"keyword":"cable-driven cable-robot cdpr isw pn3-7 simtech simulation","note":"","number":"","page":"","page-first":"","publisher":"","publisher-place":"","status":"","title":"Cable-Driven Parallel Robots: Expo 2015 - Forth and Back Again","type":"speech","username":"isw-bibliothek","version":"","volume":""},"05fd2ffa5804ac56fea71e5ef0ed31a8isw-bibliothek":{"DOI":"","ISBN":"","ISSN":"","URL":"","abstract":"","annote":"","author":[{"family":"Tempel","given":"Philipp"},{"family":"Pott","given":"Andreas"}],"citation-label":"tempel2016simtech","collection-editor":[],"collection-title":"","container-author":[],"container-title":"","documents":[],"edition":"","editor":[],"event-date":{"date-parts":[["2016","11","25"]],"literal":"2016"},"event-place":"","id":"05fd2ffa5804ac56fea71e5ef0ed31a8isw-bibliothek","interhash":"5210e374b047d1bd0fda855b1079d727","intrahash":"05fd2ffa5804ac56fea71e5ef0ed31a8","issue":"","issued":{"date-parts":[["2016","11","25"]],"literal":"2016"},"keyword":"cable-driven cable-robot cdpr isw pn3-7 simtech simulation xtl","note":"","number":"","page":"","page-first":"","publisher":"","publisher-place":"","status":"","title":"SimTech Status Seminar 2016 - Status Update: Improved Modeling of Cables for Kinematics and Dynamics of Light-weight Robots","type":"speech","username":"isw-bibliothek","version":"","volume":""}}