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On-orbit verification of RL-based APC calibrations for micrometre level microwave ranging system
(2023)
Micrometre level ranging accuracy between satellites on-orbit relies on the high-precision calibration of the antenna phase center (APC), which is accomplished through properly designed calibration maneuvers batch estimation algorithms currently. However, the unmodeled perturbations of the space dynamic and sensor-induced uncertainty complicated the situation in reality; ranging accuracy especially deteriorated outside the antenna main-lobe when maneuvers performed. This paper proposes an on-orbit APC calibration method that uses a reinforcement learning (RL) process, aiming to provide the high accuracy ranging datum for onboard instruments with micrometre level. The RL process used here is an improved Temporal Difference advantage actor critic algorithm (TDAAC), which mainly focuses on two neural networks (NN) for critic and actor function. The output of the TDAAC algorithm will autonomously balance the APC calibration maneuvers amplitude and APC-observed sensitivity with an object of maximal APC estimation accuracy. The RL-based APC calibration method proposed here is fully tested in software and on-ground experiments, with an APC calibration accuracy of less than 2 mrad, and the on-orbit maneuver data from 11–12 April 2022, which achieved 1–1.5 mrad calibration accuracy after RL training. The proposed RL-based APC algorithm may extend to prove mass calibration scenes with actions feedback to attitude determination and control system (ADCS), showing flexibility of spacecraft payload applications in the future.
In this thesis, we are interested in numerically preserving stationary solutions of balance laws. We start by developing finite volume well-balanced schemes for the system of Euler equations and the system of MHD equations with gravitational source term. Since fluid models and kinetic models are related, this leads us to investigate AP schemes for kinetic equations and their ability to preserve stationary solutions. Kinetic models typically have a stiff term, thus AP schemes are needed to capture good solutions of the model. For such kinetic models, equilibrium solutions are reached after large time. Thus we need a new technique to numerically preserve stationary solutions for AP schemes. We find a criterion for SP schemes for kinetic equations which states, that AP schemes under a particular discretization are also SP. In an attempt to mimic our result for kinetic equations in the context of fluid models, for the isentropic Euler equations we developed an AP scheme in the limit of the Mach number going to zero. Our AP scheme is proven to have a SP property under the condition that the pressure is a function of the density and the latter is obtained as a solution of an elliptic equation. The properties of the schemes we developed and its criteria are validated numerically by various test cases from the literature.
This paper concerns the an intelligent mobile application for spatial design support and security domain. Mobility has two aspects in our research: The first one is the usage of mobile robots for 3D mapping of urban areas and for performing some specific tasks. The second mobility aspect is related with a novel Software as a Service system that allows access to robotic functionalities and data over the Ethernet, thus we demonstrate the use of the novel NVIDIA GRID technology allowing to virtualize the graphic processing unit. We introduce Complex Shape Histogram, a core component of our artificial intelligence engine, used for classifying 3D point clouds with a Support Vector Machine. We use Complex Shape Histograms also for loop closing detection in the simultaneous localization and mapping algorithm. Our intelligent mobile system is built on top of the Qualitative Spatio-Temporal Representation and Reasoning framework. This framework defines an ontology and a semantic model, which are used for building the intelligent mobile user interfaces. We show experiments demonstrating advantages of our approach. In addition, we test our prototypes in the field after the end-user case studies demonstrating a relevant contribution for future intelligent mobile systems that merge mobile robots with novel data centers.
Given points in the plane, connect them using minimum ink. Though the task seems simple, it turns out to be very time consuming. In fact, scientists believe that computers cannot efficiently solve it. So, do we have to resign? This book examines such NP-hard network-design problems, from connectivity problems in graphs to polygonal drawing problems on the plane. First, we observe why it is so hard to optimally solve these problems. Then, we go over to attack them anyway. We develop fast algorithms that find approximate solutions that are very close to the optimal ones. Hence, connecting points with slightly more ink is not hard.
This thesis is devoted to Bernoulli Stochastics, which was initiated by Jakob Bernoulli more than 300 years ago by his master piece 'Ars conjectandi', which can be translated as 'Science of Prediction'. Thus, Jakob Bernoulli's Stochastics focus on prediction in contrast to the later emerging disciplines probability theory, statistics and mathematical statistics. Only recently Jakob Bernoulli's focus was taken up von Collani, who developed a unified theory of uncertainty aiming at making reliable and accurate predictions. In this thesis, teaching material as well as a virtual classroom are developed for fostering ideas and techniques initiated by Jakob Bernoulli and elaborated by Elart von Collani. The thesis is part of an extensively construed project called 'Stochastikon' aiming at introducing Bernoulli Stochastics as a unified science of prediction and measurement under uncertainty. This ambitious aim shall be reached by the development of an internet-based comprehensive system offering the science of Bernoulli Stochastics on any level of application. So far it is planned that the 'Stochastikon' system (http://www.stochastikon.com/) will consist of five subsystems. Two of them are developed and introduced in this thesis. The first one is the e-learning programme 'Stochastikon Magister' and the second one 'Stochastikon Graphics' that provides the entire Stochastikon system with graphical illustrations. E-learning is the outcome of merging education and internet techniques. E-learning is characterized by the facts that teaching and learning are independent of place and time and of the availability of specially trained teachers. Knowledge offering as well as knowledge transferring are realized by using modern information technologies. Nowadays more and more e-learning environments are based on the internet as the primary tool for communication and presentation. E-learning presentation tools are for instance text-files, pictures, graphics, audio and videos, which can be networked with each other. There could be no limit as to the access to teaching contents. Moreover, the students can adapt the speed of learning to their individual abilities. E-learning is particularly appropriate for newly arising scientific and technical disciplines, which generally cannot be presented by traditional learning methods sufficiently well, because neither trained teachers nor textbooks are available. The first part of this dissertation introduces the state of the art of e-learning in statistics, since statistics and Bernoulli Stochastics are both based on probability theory and exhibit many similar features. Since Stochastikon Magister is the first e-learning programme for Bernoulli Stochastics, the educational statistics systems is selected for the purpose of comparison and evaluation. This makes sense as both disciplines are an attempt to handle uncertainty and use methods that often can be directly compared. The second part of this dissertation is devoted to Bernoulli Stochastics. This part aims at outlining the content of two courses, which have been developed for the anticipated e-learning programme Stochastikon Magister in order to show the difficulties in teaching, understanding and applying Bernoulli Stochastics. The third part discusses the realization of the e-learning programme Stochastikon Magister, its design and implementation, which aims at offering a systematic learning of principles and techniques developed in Bernoulli Stochastics. The resulting e-learning programme differs from the commonly developed e-learning programmes as it is an attempt to provide a virtual classroom that simulates all the functions of real classroom teaching. This is in general not necessary, since most of the e-learning programmes aim at supporting existing classroom teaching. The forth part presents two empirical evaluations of Stochastikon Magister. The evaluations are performed by means of comparisons between traditional classroom learning in statistics and e-learning of Bernoulli Stochastics. The aim is to assess the usability and learnability of Stochastikon Magister. Finally, the fifth part of this dissertation is added as an appendix. It refers to Stochastikon Graphics, the fifth component of the entire Stochastikon system. Stochastikon Graphics provides the other components with graphical representations of concepts, procedures and results obtained or used in the framework of Bernoulli Stochastics. The primary aim of this thesis is the development of an appropriate software for the anticipated e-learning environment meant for Bernoulli Stochastics, while the preparation of the necessary teaching material constitutes only a secondary aim used for demonstrating the functionality of the e-learning platform and the scientific novelty of Bernoulli Stochastics. To this end, a first version of two teaching courses are developed, implemented and offered on-line in order to collect practical experiences. The two courses, which were developed as part of this projects are submitted as a supplement to this dissertation. For the time being the first experience with the e-learning programme Stochastikon Magister has been made. Students of different faculties of the University of Würzburg, as well as researchers and engineers, who are involved in the Stochastikon project have obtained access to Stochastikon Magister via internet. They have registered for Stochastikon Magister and participated in the course programme. This thesis reports on two assessments of these first experiences and the results will lead to further improvements with respect to content and organization of Stochastikon Magister.
Simulations (MASim) and non-rational behaviour. This non-rational behaviour is here based on the Prospect Theory [KT79] (PT), which is compared to the rational behaviour in the Expected Utility Theory [vNM07] (EUT). This model was used to design a modified Q-Learning [Wat89, WD92] algorithm. The PT based Q-Learning was then integrated into a proposed agent architecture. Because much attention is given to a limited interpretation of Simon's definition of bounded-rationality, this interpretation is broadened here. Both theories, rationality and the non-rationality, are compared and the discordance in their results discussed. The main contribution of this work is to show that an alternative is available to the EUT that is more suitable for human decision-makers modelling. The evidences show that rationality is not appropriated for modelling persons. Therefore, instead of fine-tuning the existent model the use of another one is proposed and evaluated. To tackle this, the route choice problem was adopted to perform the experiments. To evaluate the proposed model three traffic scenarios are simulated and their results analysed.
The complexity of membership problems for finite recurrent systems and minimal triangulations
(2006)
The dissertation thesis studies the complexity of membership problems. Generally, membership problems consider the question whether a given object belongs to a set. Object and set are part of the input. The thesis studies the complexity of membership problems for two special kinds of sets. The first problem class asks whether a given natural number belongs to a set of natural numbers. The set of natural numbers is defined via finite recurrent systems: sets are built by iterative application of operations, like union, intersection, complementation and arithmetical operations, to already defined sets. This general problem implies further problems by restricting the set of used operations. The thesis contains completeness results for well-known complexity classes as well as undecidability results for these problems. The second problem class asks whether a given graph is a minimal triangulation of another graph. A graph is a triangulation of another graph, if it is a chordal spanning supergraph of the second graph. If no proper supergraph of the first graph is a triangulation of the second graph, the first graph is a minimal triangulation of the second graph. The complexity of the membership problem for minimal triangulations of several graph classes is investigated. Restricted variants are solved by linear-time algorithms. These algorithms rely on appropriate characterisations of minimal triangulations.
In der vorliegenden Arbeit wird das Konzept und die praktische Umsetzung einer fehlertoleranten Volltextsuche vorgestellt, welche die unscharfe Recherche nach Suchmustern in umfangreichen, digitalen, enzyklopädischen Werken ermöglichen. Das dabei zur Anwendung kommende neue Verfahren, welches durch Gewichte gesteuert das ursprüngliche Benutzer-Suchmuster in seiner Gestalt verändert (Weighted Pattern Morphing, WPM) und anschließend mit einer nachgeschalteten exakten Volltextsuche sucht, konnte in zahlreichen kommerziellen Anwendungsfällen seine Praxistauglichkeit beweisen. Darunter ist die Anwendung zur unscharfen Suche in einer mittelalterlichen, handschriftlichen Chronik besonders interessant, da diese die frühneuhochdeutsche Sprache verwendet und es zur damaligen Zeit noch keine vereinheitlichte Rechtschreibung gab. Aber nicht nur bei der Endbenutzer-Suche kann WPM eingesetzt werden - auch im redaktionellen Umfeld konnten mit dem Verfahren noch mehrere hundert Tippfehler in einem bereits mehrfach lektorierten digitalen Lexikon gefunden werden. Dabei arbeitet das Verfahren deutlich schärfer, als die sonst zur unscharfen Suche (und damit zur Fehler-Suche) verwendete Edit-Distanz. Abschließend wird in der Arbeit noch ein Verfahren vorgestellt, mit dem aus einem 3D-Drahtgitter-Modell und den Faksimile-Scans einer mittelalterlichen Handschrift automatisch ein virtuelles Buch zum Durchblättern am PC erstellt wurde.
The success of diagnostic knowledge systems has been proved over the last decades. Nowadays, intelligent systems are embedded in machines within various domains or are used in interaction with a user for solving problems. However, although such systems have been applied very successfully the development of a knowledge system is still a critical issue. Similarly to projects dealing with customized software at a highly innovative level a precise specification often cannot be given in advance. Moreover, necessary requirements of the knowledge system can be defined not until the project has been started or are changing during the development phase. Many success factors depend on the feedback given by users, which can be provided if preliminary demonstrations of the system can be delivered as soon as possible, e.g., for interactive systems validation the duration of the system dialog. This thesis motivates that classical, document-centered approaches cannot be applied in such a setting. We cope with this problem by introducing an agile process model for developing diagnostic knowledge systems, mainly inspired by the ideas of the eXtreme Programming methodology known in software engineering. The main aim of the presented work is to simplify the engineering process for domain specialists formalizing the knowledge themselves. The engineering process is supported at a primary level by the introduction of knowledge containers, that define an organized view of knowledge contained in the system. Consequently, we provide structured procedures as a recommendation for filling these containers. The actual knowledge is acquired and formalized right from start, and the integration to runnable knowledge systems is done continuously in order to allow for an early and concrete feedback. In contrast to related prototyping approaches the validity and maintainability of the collected knowledge is ensured by appropriate test methods and restructuring techniques, respectively. Additionally, we propose learning methods to support the knowledge acquisition process sufficiently. The practical significance of the process model strongly depends on the available tools supporting the application of the process model. We present the system family d3web and especially the system d3web.KnowME as a highly integrated development environment for diagnostic knowledge systems. The process model and its activities, respectively, are evaluated in two real life applications: in a medical and in an environmental project the benefits of the agile development are clearly demonstrated.