{ "types" : { "Bookmark" : { "pluralLabel" : "Bookmarks" }, "Publication" : { "pluralLabel" : "Publications" }, "GoldStandardPublication" : { "pluralLabel" : "GoldStandardPublications" }, "GoldStandardBookmark" : { "pluralLabel" : "GoldStandardBookmarks" }, "Tag" : { "pluralLabel" : "Tags" }, "User" : { "pluralLabel" : "Users" }, "Group" : { "pluralLabel" : "Groups" }, "Sphere" : { "pluralLabel" : "Spheres" } }, "properties" : { "count" : { "valueType" : "number" }, "date" : { "valueType" : "date" }, "changeDate" : { "valueType" : "date" }, "url" : { "valueType" : "url" }, "id" : { "valueType" : "url" }, "tags" : { "valueType" : "item" }, "user" : { "valueType" : "item" } }, "items" : [ { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/21d508f0413d1e5c14216ad16510deea0/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-10","selected" ], "intraHash" : "1d508f0413d1e5c14216ad16510deea0", "interHash" : "e1a9fb67eb7c58d105866d8ec38e8d41", "label" : "The role of identification in data-driven policy iteration: A system theoretic study", "user" : "testusersimtech", "description" : "", "date" : "2024-08-09 07:49:09", "changeDate" : "2024-08-09 07:49:09", "count" : 8, "pub-type": "article", "journal": "International Journal of Robust and Nonlinear Control", "year": "2024", "url": "https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.7475", "author": [ "Bowen Song","Andrea Iannelli" ], "authors": [ {"first" : "Bowen", "last" : "Song"}, {"first" : "Andrea", "last" : "Iannelli"} ], "volume": "n/a","number": "n/a","abstract": "The goal of this article is to study fundamental mechanisms behind so-called indirect and direct data-driven control for unknown systems. Specifically, we consider policy iteration applied to the linear quadratic regulator problem. Two iterative procedures, where data collected from the system are repeatedly used to compute new estimates of the desired optimal controller, are considered. In indirect policy iteration, data are used to obtain an updated model estimate through a recursive identification scheme, which is used in a certainty-equivalent fashion to perform the classic policy iteration update. By casting the concurrent model identification and control design as a feedback interconnection between two algorithmic systems, we provide a closed-loop analysis that shows convergence and robustness properties for arbitrary levels of excitation in the data. In direct policy iteration, data are used to approximate the value function and design the associated controller without requiring the intermediate identification step. After proposing an extension to a recently proposed scheme that overcomes potential identifiability issues, we establish under which conditions this procedure is guaranteed to deliver the optimal controller. Based on these analyses we are able to compare the strengths and limitations of the two approaches, highlighting aspects such as the required samples, convergence properties, and excitation requirement. Simulations are also provided to illustrate the results.", "eprint" : "https://onlinelibrary.wiley.com/doi/pdf/10.1002/rnc.7475", "doi" : "https://doi.org/10.1002/rnc.7475", "bibtexKey": "https://doi.org/10.1002/rnc.7475" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/245a549fe7223c9f710ef82907f19d3ed/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-9","selected" ], "intraHash" : "45a549fe7223c9f710ef82907f19d3ed", "interHash" : "288ffbbd64255838561f88f5b30218f1", "label" : "Modeling and Experimental Validation of High\u2010Flow Fluid\u2010Driven Membrane Valves for Hyperactuated Soft Robots", "user" : "testusersimtech", "description" : "", "date" : "2024-07-19 15:07:18", "changeDate" : "2024-07-19 15:07:18", "count" : 6, "pub-type": "article", "journal": "Advanced Intelligent Systems","publisher":"Wiley", "year": "2024", "url": "http://dx.doi.org/10.1002/aisy.202300864", "author": [ "Tianxiang Dai","Nikola Velimirović","Philipp Zalles","Daniel Bruder","Keith Buffinton","R. Brent Gillespie","C. David Remy" ], "authors": [ {"first" : "Tianxiang", "last" : "Dai"}, {"first" : "Nikola", "last" : "Velimirović"}, {"first" : "Philipp", "last" : "Zalles"}, {"first" : "Daniel", "last" : "Bruder"}, {"first" : "Keith", "last" : "Buffinton"}, {"first" : "R. Brent", "last" : "Gillespie"}, {"first" : "C. David", "last" : "Remy"} ], "issn" : "2640-4567", "doi" : "10.1002/aisy.202300864", "bibtexKey": "Dai_2024" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2ddc3180b22743d1eacc1719b1088a53b/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-2(II)","curated","selected" ], "intraHash" : "ddc3180b22743d1eacc1719b1088a53b", "interHash" : "369968f5e812172020622a217c2d7187", "label" : "Robust data-driven control for nonlinear systems using the Koopman operator", "user" : "testusersimtech", "description" : "", "date" : "2024-07-19 15:07:18", "changeDate" : "2024-07-19 15:07:18", "count" : 8, "pub-type": "inproceedings", "booktitle": "Proc. 22nd IFAC World Congress", "year": "2023", "url": "", "author": [ "Robin Strässer","Julian Berberich","Frank Allgöwer" ], "authors": [ {"first" : "Robin", "last" : "Strässer"}, {"first" : "Julian", "last" : "Berberich"}, {"first" : "Frank", "last" : "Allgöwer"} ], "volume": "56","number": "2","pages": "2257-2262", "doi" : "https://doi.org/10.1016/j.ifacol.2023.10.1190", "bibtexKey": "ist:strasser23a" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2393c10d2ba974038c33a52b60956feb0/testusersimtech", "tags" : [ "EXC2075","PN4","darus" ], "intraHash" : "393c10d2ba974038c33a52b60956feb0", "interHash" : "c379a61ab4ddeb1c66e0d8763c959a21", "label" : "A Data Set for Research on Data-based Methods for an Omnidirectional Mobile Robot", "user" : "testusersimtech", "description" : "", "date" : "2024-07-03 10:45:48", "changeDate" : "2024-07-03 10:45:48", "count" : 6, "pub-type": "misc", "year": "2021", "url": "", "author": [ "Hannes Eschmann" ], "authors": [ {"first" : "Hannes", "last" : "Eschmann"} ], "abstract": "The intend of this data set is the cooperation within SimTech. It will be particularly interesting for data-based modeling and control which is a key area of the research of project network 4. We are proud to provide real-world data, which is essential for the benchmark of any data-based method. Additionally, we are able to provide reference solutions in order to evaluate the predictive quality of the methods tested. Finally, an example on how this data set can be used with Gaussian process (GP) regression in order to predict the systematic mismatches of the mobile robot is given. The data set contains input-output data of an omnidirectional mobile robot. The inputs to the mobile robots are the desired speeds in the plane as well as an angular velocity of the robot around its vertical axis. The corresponding outputs are the position in the plane and the robots orientation in an inertial frame of reference. The data set is provided in the Matlab *.mat format.", "affiliation" : "Eschmann, Hannes/Universität Stuttgart", "orcid-numbers" : "Eschmann, Hannes/0000-0001-8924-1908", "doi" : "10.18419/darus-1845", "bibtexKey": "eschmann2021research" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2571e60f37742bb502a1a08d4c78149cd/testusersimtech", "tags" : [ "EXC2075","PN4","darus" ], "intraHash" : "571e60f37742bb502a1a08d4c78149cd", "interHash" : "1616ff4e212ba8ce9f4887b6337cad1e", "label" : "Replication Data for: On the Accurate Estimation of Information-Theoretic Quantities from Multi-Dimensional Sample Data", "user" : "testusersimtech", "description" : "", "date" : "2024-07-03 10:45:48", "changeDate" : "2024-07-03 10:45:48", "count" : 6, "pub-type": "misc", "year": "2024", "url": "", "author": [ "Manuel Alvarez Chaves","Hoshin Gupta","Uwe Ehret","Anneli Guthke" ], "authors": [ {"first" : "Manuel", "last" : "Alvarez Chaves"}, {"first" : "Hoshin", "last" : "Gupta"}, {"first" : "Uwe", "last" : "Ehret"}, {"first" : "Anneli", "last" : "Guthke"} ], "note": "Related to: Álvarez Chaves, Manuel, Gupta, Hoshin V., Ehret, Uwe and Guthke, Anneli. On the Accurate Estimation of Information-Theoretic Quantities from Multi-Dimensional Sample Data. Entropy 2024, 26(5), 387. doi: 10.3390/e26050387","abstract": "Non-Parametric Estimation in Information Theory1. Introduction: This is a repository for our paper on: \"Evaluating Density- and Nearest Neighbor-based Methods to Accurately Estimate Information-Theoretic Quantities from Multi-Dimensional Sample Data\". Installation: Code was written in Python 3.11.5 but should be compatible with later and earlier versions of Python down to Python 3.6. Check the requirements.txt file for any dependency issues. Usage is recommended by cloning the repository to a local directory and setting up the required environment using venv and pip: python -m venv .venv, source .venv/Scripts/activate, pip install -r requirements.txt3. Generating Data: Initially data is generated and stored in the data_evaluation/data directory using the script in the data_generation/ directory. The data for the experiments is stored as an HDF5 database. From the root directory: python data_generation/data_generation.py. Note: as the data.hdf5 file is ~123 GB, it is recommended to be locally generated. This process takes about ~12 hrs in an Intel Xeon E5-26280 v2 but shouldn't vary too much in any modern CPU. 4. Conducting an Evaluation: The scripts in the directory data_evaluation/ are used to read the data and perform the experiments. Results are stored in the results/ directory.Again, from the root directory: python data_evaluation/eval_bin_entropy.py. All of the names of the scripts have the format eval_estimator_quantity.py. In total, 12 scripts must be run, tree for each estimator: binning, KDE, numerical integration of KDE and k-NN. The notebooks/ directory serves as an archive of the development of the workflow to test each estimator. The contents of each notebook are generally the same as the code in the scripts. Log files describe the history of the project. 5. Visualizing Results: The analysis_results directory contains a notebook to create the plots used in the paper, as well as a script to read the log files and calculate the time per iteration of the different experiments.The plots are generated using the results from the data_evaluation/results directory. Results are read from .hdf5 files. All results produced using the UNITE Toolbox.", "affiliation" : "Alvarez Chaves, Manuel/Universität Stuttgart, Gupta, Hoshin/The University of Arizona, Ehret, Uwe/Karlsruhe Institute of Technology, Guthke, Anneli/Universität Stuttgart", "orcid-numbers" : "Alvarez Chaves, Manuel/0009-0002-8990-3785, Gupta, Hoshin/0000-0001-9855-2839, Ehret, Uwe/0000-0003-3454-8755, Guthke, Anneli/0000-0003-2901-1603", "doi" : "10.18419/darus-4087", "bibtexKey": "alvarezchaves2024replication" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/22f49c54d5fdfb208d643d1c03ab119da/testusersimtech", "tags" : [ "EXC2075","PN4","darus" ], "intraHash" : "2f49c54d5fdfb208d643d1c03ab119da", "interHash" : "f5b3cb15f37ca659a8e4dce4cf811807", "label" : "Experiment Videos of the Force-Based Non-Prehensile Cooperative Transportation of Objects with Mobile Robots", "user" : "testusersimtech", "description" : "", "date" : "2024-07-03 10:45:48", "changeDate" : "2024-07-03 10:45:48", "count" : 4, "pub-type": "misc", "year": "2023", "url": "", "author": [ "Mario Rosenfelder","Henrik Ebel","Peter Eberhard" ], "authors": [ {"first" : "Mario", "last" : "Rosenfelder"}, {"first" : "Henrik", "last" : "Ebel"}, {"first" : "Peter", "last" : "Eberhard"} ], "note": "Related to: Rosenfelder, M., Ebel, H., Eberhard, P. (2023). A Force-Based Formation Synthesis Approach for the Cooperative Transportation of Objects. In: Petrič, T., Ude, A., Žlajpah, L. (eds) Advances in Service and Industrial Robotics. RAAD 2023. Mechanisms and Machine Science, vol 135. Springer, Cham. doi: 10.1007/978-3-031-32606-6_37","abstract": "The videos provided show two experimental results of cooperative object transportation using lightweight omnidirectional mobile robots. In particular, the mobile robots shall transport two different polygonal, but non-convex, objects along predefined paths. No central decision entity is employed; the tasks are accomplished in a purely distributed manner using inter-robot communication. Novelly, the formation synthesis relies on a force-based consideration that explicitly takes into account the physical limitations of the robotic agents. Due to this, if necessary, multiple robots are placed along one edge in order to exert the desired force acting on the object. This is exemplarily shown in the video and demonstrates one crucial advantage compared to purely position-based approaches. Furthermore, an underlying hybrid position-force controller is utilized to govern the individual pushing forces of the robots. The interacting force is measured by each agent using a self-designed onboard force-sensing unit. In the videos, the direction of the unilateral force sensor is indicated by white rectangles. Moreover, the measured force is visualized by the red rectangles superimposed onto the white ones.", "affiliation" : "Rosenfelder, Mario/Universität Stuttgart, Ebel, Henrik/Universität Stuttgart, Eberhard, Peter/Universität Stuttgart", "orcid-numbers" : "Rosenfelder, Mario/0000-0003-0460-0612, Ebel, Henrik/0000-0002-2632-6960, Eberhard, Peter/0000-0003-1809-4407", "doi" : "10.18419/darus-3331", "bibtexKey": "rosenfelder2023experiment" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2c06b14e2367463d6035f9391e7ad6fa8/testusersimtech", "tags" : [ "EXC2075","PN4","darus" ], "intraHash" : "c06b14e2367463d6035f9391e7ad6fa8", "interHash" : "c6fd673e22c25cac71c78a9a84f14fbf", "label" : "EHTM Code and Manual", "user" : "testusersimtech", "description" : "", "date" : "2024-07-03 10:45:48", "changeDate" : "2024-07-03 10:45:48", "count" : 4, "pub-type": "misc", "year": "2022", "url": "", "author": [ "Lennart Nölle","Patrick Lerge","Oleksandr Martynenko","Isabell Wochner","Fabian Kempter","Christian Kleinbach","Syn Schmitt","Jörg Fehr" ], "authors": [ {"first" : "Lennart", "last" : "Nölle"}, {"first" : "Patrick", "last" : "Lerge"}, {"first" : "Oleksandr", "last" : "Martynenko"}, {"first" : "Isabell", "last" : "Wochner"}, {"first" : "Fabian", "last" : "Kempter"}, {"first" : "Christian", "last" : "Kleinbach"}, {"first" : "Syn", "last" : "Schmitt"}, {"first" : "Jörg", "last" : "Fehr"} ], "note": "Related to: Kleinbach, C., Martynenko, O., Promies, J., Haeufle, D.F., Fehr, J., Schmitt, S., 2017. Implementation and validation of the extended hill-type muscle model with robust routing capabilities in LS-DYNA for active human body models. Biomedical engineering online 16, 109. doi: 10.1186/s12938-017-0399-7","abstract": "This Dataset contains the implementation of the four element Extended Hill-type Muscle (EHTM) model with serial damping and eccentric force\u2013velocity relation including Ca2+ dependent activation dynamics and internal methods for physiological muscle control for the finite-element solver LS-DYNA.", "affiliation" : "Nölle, Lennart/Universität Stuttgart, Lerge, Patrick/Universität Stuttgart, Martynenko, Oleksandr/Universität Stuttgart, Wochner, Isabell/Universität Stuttgart, Kempter, Fabian/Universität Stuttgart, Kleinbach, Christian/Universität Stuttgart, Schmitt, Syn/Universität Stuttgart, Fehr, Jörg/Universität Stuttgart", "orcid-numbers" : "Nölle, Lennart/0000-0001-8952-2486, Lerge, Patrick/0000-0001-6081-5226, Martynenko, Oleksandr/0000-0002-0420-0670, Wochner, Isabell/0000-0002-2820-5791, Kempter, Fabian/0000-0003-0702-2205, Kleinbach, Christian/0000-0001-9502-5910, Schmitt, Syn/0000-0002-7768-8961, Fehr, Jörg/0000-0003-2850-1440", "doi" : "10.18419/darus-1144", "bibtexKey": "nolle2022manual" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/22fd94b6fab5e1df7f0d54118fa8d8e58/testusersimtech", "tags" : [ "EXC2075","PN4","darus" ], "intraHash" : "2fd94b6fab5e1df7f0d54118fa8d8e58", "interHash" : "18a5159b753a721f1639235c49900903", "label" : "Motion and Motor-Current Data of a Four-Bar Linkage", "user" : "testusersimtech", "description" : "", "date" : "2024-07-03 10:45:48", "changeDate" : "2024-07-03 10:45:48", "count" : 4, "pub-type": "misc", "year": "2024", "url": "", "author": [ "Benedict Röder","Henrik Ebel","Peter Eberhard" ], "authors": [ {"first" : "Benedict", "last" : "Röder"}, {"first" : "Henrik", "last" : "Ebel"}, {"first" : "Peter", "last" : "Eberhard"} ], "abstract": "General: A hardware prototype of a four-bar linkage was constructed to generate the presented data set. The data consists of desired input currents supplied to a servo motor and the measured resulting velocities. The mechanism is portrayed in the lab_mechanism_x.jpg images. Further details of the mechanism can be found in the section \"Mechanism Setup\".For each input trajectory in the input/ folder, the experiment was performed three times. The corresponding measurement files are in the output_empty/ and output_honey/ folders identified by the extension output_xx, where xx is either 00, 01, or 02. For the measurements in the output_honey/ folder, a non-symmetrical stirrer was mounted to the mechanism and was moved through regular supermarket forest honey introducing additional viscous damping into the system. This also allows to supply higher currents for relevant amounts of time to the motor because the maximal motor velocity will not be reached as soon. For the files in the output_empty/ folder, no stirrer was mounted on the mechanism. File Setup: The input and output files are comma-separated text files. In the input files, the first line contains a column description (% Time [s], Prescribed Current [mA]) and the following lines indicate the input commands. In the input-command lines, the first value is a time marker in seconds, and the second value is a desired current that should be supplied to the motor from that time on until the time marker in the next line. The output files have a column description in the first line (% Time [s], Goal Current [mA], Present Current [mA], Present Voltage [V], Present Position [rad], Present Velocity [rad/s]) and the following lines are the measurements from the servo motor. It is important to note that the servo motor only has a granularity of 2.69 mA steps for the supplied currents. Hence, the goal current will be the closest multiple of 2.69 below the desired current in the input file. The present position is denoted in rad, where the null position is with the left link in a horizontal position (parallel to the ground link) pointing to the right. The motor then actuates this link in counter-clockwise direction when viewed from the top. Mechanism Setup: The four-bar linkage consists of aluminum blocks connected by revolute joints. The joints of the three moving links are 10 mm apart from the edges of the aluminum blocks. The lengths of the moving links are the following (with joint distances denoted in brackets): left link / crank link: 50 mm (30 mm), top link / coupler link: 124 mm (104 mm), right link / rocker link: 80 mm (60 mm). The ground link can be freely adjusted between 45 mm and 120 mm, but was fixed to 95 mm in the conducted experiments. A stirrer can be mounted on the mechanism and can be moved through a liquid introducing viscous damping into the system. A Dynamixel XH430-W350-R servo motor actuates the left link. The servo motor has a built-in controller and can be supplied with a desired current signal to enforce a moment on the left link. The motor is controlled via a C++ program running under Ubuntu 20.04. The baud rate is set to the highest admissible value of 4.5 Mb/s and the USB latency is set to 1 ms. An accelerometer (Bosch BMA456) is mounted to the top of the mechanism but has not been used in the experiments.Python Notebook tutorial.ipynb: This Python 3 notebook visualizes the trajectories to get an intuition about the presented data set. It exemplifies how to load and extract values from the input and output files. Afterwards, it plots the input trajectories together with corresponding velocity measurements.", "affiliation" : "Röder, Benedict/Universität Stuttgart, Ebel, Henrik/Universität Stuttgart, Eberhard, Peter/Universität Stuttgart", "orcid-numbers" : "Röder, Benedict/0009-0006-0981-4395, Ebel, Henrik/0000-0002-2632-6960, Eberhard, Peter/0000-0003-1809-4407", "doi" : "10.18419/darus-4152", "bibtexKey": "roder2024motion" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/22a9ea2a2b5ec7e188c50b9e9218748a0/testusersimtech", "tags" : [ "EXC2075","PN4","darus" ], "intraHash" : "2a9ea2a2b5ec7e188c50b9e9218748a0", "interHash" : "91c7d557c8aceaf1d06a70a97b8fcfc1", "label" : "Experiment Videos of a Force-Based Organization and Control Scheme for the Non-Prehensile Cooperative Transportation of Objects", "user" : "testusersimtech", "description" : "", "date" : "2024-07-03 10:45:48", "changeDate" : "2024-07-03 10:45:48", "count" : 4, "pub-type": "misc", "year": "2023", "url": "", "author": [ "Mario Rosenfelder","Henrik Ebel","Peter Eberhard" ], "authors": [ {"first" : "Mario", "last" : "Rosenfelder"}, {"first" : "Henrik", "last" : "Ebel"}, {"first" : "Peter", "last" : "Eberhard"} ], "note": "Related to: Rosenfelder, M., Ebel, H., Eberhard, P. (2023). Force-based organization and control scheme for the non-prehensile cooperative transportation of objects. Robotica, pp. 1-14, 2023. doi: 10.1017/S0263574723001704","abstract": "The videos provided show experimental results of the cooperative object transportation using mobile robots with on-board force control. In particular, the mobile robots shall transport four different polygonal, but non-convex, objects along predefined paths. The distributed formation synthesis explicitly takes the robots' maximum pushing force into account such that a closed-set manipulation space in terms of a zonotope follows. This zonotopic manipulation space, following from the Minkoswki sum of the individual manipulation capabilities of the robots, is visualized in the fifth video (Visualization_Fig4a.mp4) using data from the corresponding hardware experiment (Rectangle_N4_square.mp4). Novelly, a lightweight quadratic program runs on each robot and determines in a decentralized manner the desirable individual pushing forces suitable to transport the object. These pushing forces are then governed by means of hybrid position-force controllers running at 100 Hz. As for formation finding, no central entity is used for control purposes. The tasks are accomplished in a purely distributed manner using inter-robot communication. For each robot, the pushing force is measured using a self-designed force-sensing unit mounted on board of each mobile robot. In the videos, the direction of the uniaxial and unilateral force sensor is indicated by white rectangles. Moreover, the measured force is visualized by red rectangles superimposed onto the white ones.", "affiliation" : "Rosenfelder, Mario/Universität Stuttgart, Ebel, Henrik/Universität Stuttgart, Eberhard, Peter/Universität Stuttgart", "orcid-numbers" : "Rosenfelder, Mario/0000-0003-0460-0612, Ebel, Henrik/0000-0002-2632-6960, Eberhard, Peter/0000-0003-1809-4407", "doi" : "10.18419/darus-3611", "bibtexKey": "rosenfelder2023experiment" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2096de0b9c50dde009cdaee2197b3fa82/testusersimtech", "tags" : [ "EXC2075","PN4","darus" ], "intraHash" : "096de0b9c50dde009cdaee2197b3fa82", "interHash" : "9b847b4ad1d4947d2faebea4e35eeb56", "label" : "NMTVis - Neural Machine Translation Visualization System", "user" : "testusersimtech", "description" : "", "date" : "2024-07-03 10:45:48", "changeDate" : "2024-07-03 10:45:48", "count" : 6, "pub-type": "misc", "year": "2021", "url": "", "author": [ "Tanja Munz","Dirk Väth","Paul Kuznecov","Ngoc Thang Vu","Daniel Weiskopf" ], "authors": [ {"first" : "Tanja", "last" : "Munz"}, {"first" : "Dirk", "last" : "Väth"}, {"first" : "Paul", "last" : "Kuznecov"}, {"first" : "Ngoc Thang", "last" : "Vu"}, {"first" : "Daniel", "last" : "Weiskopf"} ], "note": "Related to: T. Munz, D. Väth, P. Kuznecov, N. T. Vu, and D. Weiskopf. \"Visual-Interactive Neural Machine Translation\". Graphics Interface. 2021","abstract": "NMTVis is a web-based visual analytics system to analyze, understand, and correct translations generated with neural machine translation. First, a document can be translated using a neural machine translation model (we support an LSTM-based and the Transformer architecture). Afterward, users can find mistranslated sentences, explore and correct these sentences and retrain the model to generate a better translation for the whole document. Our approach targets the correction of domain-specific documents.", "affiliation" : "Munz, Tanja/University of Stuttgart, Väth, Dirk/University of Stuttgart, Kuznecov, Paul/University of Stuttgart, Vu, Ngoc Thang/University of Stuttgart, Weiskopf, Daniel/University of Stuttgart", "orcid-numbers" : "Munz, Tanja/0000-0003-3960-3290, Weiskopf, Daniel/0000-0003-1174-1026", "doi" : "10.18419/darus-1849", "bibtexKey": "munz2021nmtvis" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/22eac0426a08944626165295018120faf/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-2","preprint","unclear" ], "intraHash" : "2eac0426a08944626165295018120faf", "interHash" : "fda7c62c738e20bd2790758d85ee2884", "label" : "Data-driven system analysis of nonlinear systems using polynomial approximation", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 8, "pub-type": "article", "booktitle": "IEEE Trans. Automat. Control (accepted)", "year": "2022", "url": "", "author": [ "T. Martin","F. Allgöwer" ], "authors": [ {"first" : "T.", "last" : "Martin"}, {"first" : "F.", "last" : "Allgöwer"} ], "bibtexKey": "ist:martin22b" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/27d04c498b70266d344b6e1f07863a1ee/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-4(II)" ], "intraHash" : "7d04c498b70266d344b6e1f07863a1ee", "interHash" : "b112441e64b9afde1dd371d717f0c836", "label" : "Note on the Predictive Control of Non-Holonomic Systems and Underactuated Vehicles in the Presence of Drift", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 5, "pub-type": "article", "journal": "Proceedings in Applied Mathematics and Mechanics", "year": "2023", "url": "", "author": [ "Henrik Ebel","Mario Rosenfelder","Peter Eberhard" ], "authors": [ {"first" : "Henrik", "last" : "Ebel"}, {"first" : "Mario", "last" : "Rosenfelder"}, {"first" : "Peter", "last" : "Eberhard"} ], "volume": "23","number": "4","pages": "e202300022", "doi" : "10.1002/pamm.202300022", "bibtexKey": "ebel2023predictive" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2ee589d77eaadeb152fd9d9b6ea0ad9cb/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-3(II)" ], "intraHash" : "ee589d77eaadeb152fd9d9b6ea0ad9cb", "interHash" : "655d76bf3751e6fa4376550f1cad279d", "label" : "Combining Prior Knowledge and Data for Robust Controller Design", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 6, "pub-type": "article", "year": "2020", "url": "https://arxiv.org/abs/2009.05253", "author": [ "Julian Berberich","Carsten W. Scherer","Frank Allgöwer" ], "authors": [ {"first" : "Julian", "last" : "Berberich"}, {"first" : "Carsten W.", "last" : "Scherer"}, {"first" : "Frank", "last" : "Allgöwer"} ], "abstract": "We present a framework for systematically combining data of an unknown linear time-invariant system with prior knowledge on the system matrices or on the uncertainty for robust controller design. Our approach leads to linear matrix inequality (LMI) based feasibility criteria which guarantee stability and performance robustly for all closed-loop systems consistent with the prior knowledge and the available data. The design procedures rely on a combination of multipliers inferred via prior knowledge and learnt from measured data, where for the latter a novel and unifying disturbance description is employed. While large parts of the paper focus on linear systems and input-state measurements, we also provide extensions to robust output-feedback design based on noisy input-output data and against nonlinear uncertainties. We illustrate through numerical examples that our approach provides a flexible framework for simultaneously leveraging prior knowledge and data, thereby reducing conservatism and improving performance significantly if compared to black-box approaches to data-driven control.", "eprintclass" : "eess.SY", "eprinttype" : "arXiv", "eprint" : "2009.05253", "file" : ":BerSch20 - Combining Prior Knowledge and Data for Robust Controller Design.pdf:PDF", "bibtexKey": "BerSch20" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2acd8b0372d2389e5b6d4b2d4f5104086/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-4","preprint","unclear" ], "intraHash" : "acd8b0372d2389e5b6d4b2d4f5104086", "interHash" : "bbc6b98119e61d7dcb1b108760c38bec", "label" : "Time-Optimal Handover Trajectory Planning for Aerial Manipulators based on Discrete Mechanics and Complementarity Constraints", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 4, "pub-type": "preprint", "year": "2022", "url": "https://doi.org/10.48550/arXiv.2209.00533", "author": [ "Wei Luo","Jingshan Chen","Henrik Ebel","Peter Eberhard" ], "authors": [ {"first" : "Wei", "last" : "Luo"}, {"first" : "Jingshan", "last" : "Chen"}, {"first" : "Henrik", "last" : "Ebel"}, {"first" : "Peter", "last" : "Eberhard"} ], "bibtexKey": "luo2022timeoptimal" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2e59644d3fc28b48b5e4b2fd6832544ac/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-3","selected" ], "intraHash" : "e59644d3fc28b48b5e4b2fd6832544ac", "interHash" : "519ba68113b8d214584be8a8ea3fd1da", "label" : "Output-Feedback Synthesis for a Class of Aperiodic Impulsive Systems", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 20, "pub-type": "inproceedings", "journal": "IFAC-PapersOnline", "year": "2020", "url": "https://doi.org/10.1016/j.ifacol.2020.12.981", "author": [ "Tobias Holicki","Carsten W. Scherer" ], "authors": [ {"first" : "Tobias", "last" : "Holicki"}, {"first" : "Carsten W.", "last" : "Scherer"} ], "volume": "53","number": "2","pages": "7299-7304","abstract": "We derive novel criteria for designing stabilizing dynamic output-feedback controllers\nfor a class of aperiodic impulsive systems subject to a range dwell-time condition. Our synthesis conditions are formulated as clock-dependent linear matrix inequalities (LMIs) which can be solved numerically, e.g., by using matrix sum-of-squares relaxation methods. We show that our results allow us to design dynamic output-feedback controllers for aperiodic sample-data systems and illustrate the proposed approach by means of a numerical example.", "doi" : "10.1016/j.ifacol.2020.12.981", "bibtexKey": "holicki2019outputfeedback" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2b2b1e994c85763d116c822545de0f3d1/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-3" ], "intraHash" : "b2b1e994c85763d116c822545de0f3d1", "interHash" : "89d764a312061cf6eea415ca626da753", "label" : "Stabilizing Model Predictive Control Synthesis using Integral Quadratic Constraints and Full-Block Multipliers", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 25, "pub-type": "misc", "year": "2023", "url": "", "author": [ "Marcelo M. Morato","Tobias Holicki","Carsten W. Scherer" ], "authors": [ {"first" : "Marcelo M.", "last" : "Morato"}, {"first" : "Tobias", "last" : "Holicki"}, {"first" : "Carsten W.", "last" : "Scherer"} ], "abstract": "In this paper, we discuss how to synthesize stabilizing Model Predictive Control (MPC) algorithms based on convexly parameterized Integral Quadratic Constraints (IQCs), with the aid of general multipliers. Specifically, we consider Lur\u2019e systems subject to sector-bounded and slope-restricted nonlinearities. As the main novelty, we introduce point-wise IQCs with storage in order to accordingly generate the MPC terminal ingredients, thus enabling closed-loop stability, strict dissipativity with regard to the nonlinear feedback, and recursive feasibility of the optimization. Specifically, we consider formulations involving both static and dynamic multipliers, and provide corresponding algorithms for the synthesis procedures. The major benefit of the proposed approach resides in the flexibility of the IQC framework, which is capable to deal with many classes of uncertainties and nonlinearities. Moreover, for the considered class of nonlinearities, our method yields larger regions of attraction of the synthesized predictive controllers (with reduced conservatism) if compared to the standard approach to deal with sector constraints from the literature.", "doi" : "10.22541/au.167731929.92691723/v1", "bibtexKey": "morato2023stabilizing" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/292c1e04c8d8147cb735f9a491ec90bc0/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-3","selected" ], "intraHash" : "92c1e04c8d8147cb735f9a491ec90bc0", "interHash" : "0d4bcef5834e1ce865f708187791380d", "label" : "Algorithm Design and Extremum Control: Convex Synthesis due to Plant Multiplier Commutation", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 16, "pub-type": "inproceedings", "booktitle": "Proc. 60th IEEE Conf. Decision and Control", "year": "2021", "url": "https://doi.org/10.1109/CDC45484.2021.9683012", "author": [ "T. Holicki","C. W. Scherer" ], "authors": [ {"first" : "T.", "last" : "Holicki"}, {"first" : "C. W.", "last" : "Scherer"} ], "pages": "3249-3256","abstract": "A novel convex state-space solution to the robust output-feedback synthesis problem based on dynamic integral quadratic constraints for a particular class of systems is\npresented. Convexification rests upon the assumption that the control-to-uncertainty block in the generalized plant commutes with the off-diagonal block of the multiplier. We demonstrate that this commutation property is valid for several by themselves interesting concrete scenarios, such as in extremum control, a generalization of the convex design of first-order optimization algorithms involving filtered gradient evaluations.", "doi" : "10.1109/CDC45484.2021.9683012", "bibtexKey": "noauthororeditor" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2576fe877c1b24c628bdb7c4501950f7e/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-3","preprint","unclear" ], "intraHash" : "576fe877c1b24c628bdb7c4501950f7e", "interHash" : "28cbb2cf325d693fb90b3c813383bd3c", "label" : "Dissipativity and Integral Quadratic Constraints, Tailored computational robustness tests for complex interconnections", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 16, "pub-type": "article", "journal": "IEEE Control Systems Magazine (to appear)", "year": "2022", "url": "https://arxiv.org/abs/2105.07401", "author": [ "Carsten Scherer" ], "authors": [ {"first" : "Carsten", "last" : "Scherer"} ], "eprint" : "2105.07401", "archiveprefix" : "arXiv", "primaryclass" : "math.OC", "bibtexKey": "Sch22" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/26e67f4c2234806b25935b799c277d6fe/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-3","selected" ], "intraHash" : "6e67f4c2234806b25935b799c277d6fe", "interHash" : "f9e3cf8fcf8646d3b378c87a7014ccf5", "label" : "A Scalings Approach to $H_2$-Gain-Scheduling Synthesis without Elimination", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 12, "pub-type": "inproceedings", "booktitle": "IFAC-PapersOnLine", "year": "2019", "url": "https://doi.org/10.1016/j.ifacol.2019.12.347", "author": [ "Christian A. Rösinger","Carsten W. Scherer" ], "authors": [ {"first" : "Christian A.", "last" : "Rösinger"}, {"first" : "Carsten W.", "last" : "Scherer"} ], "volume": "52","number": "28","pages": "50-57", "doi" : "10.1016/j.ifacol.2019.12.347", "bibtexKey": "rosinger2019scalings" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2508502fd95146f56fe1f282acc6f49b9/testusersimtech", "tags" : [ "EXC2075","PN4","PN4-4" ], "intraHash" : "508502fd95146f56fe1f282acc6f49b9", "interHash" : "63071cd3b8b1c38a6ce931f367a06c0a", "label" : "Model Predictive Control of Non-Holonomic Vehicles: Beyond Differential-Drive", "user" : "testusersimtech", "description" : "", "date" : "2024-06-21 15:02:15", "changeDate" : "2024-06-21 15:02:15", "count" : 4, "pub-type": "preprint", "year": "2022", "url": "https://arxiv.org/abs/2205.11400", "author": [ "Mario Rosenfelder","Henrik Ebel","Jasmin Krauspenhaar","Peter Eberhard" ], "authors": [ {"first" : "Mario", "last" : "Rosenfelder"}, {"first" : "Henrik", "last" : "Ebel"}, {"first" : "Jasmin", "last" : "Krauspenhaar"}, {"first" : "Peter", "last" : "Eberhard"} ], "bibtexKey": "rosenfelder2022model" } ] }