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  • Fachbereich Informatik (22)
  • Institut für Technik, Ressourcenschonung und Energieeffizienz (TREE) (21)
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  • 3D design (1)
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Tracking and grasping of moving objects: a behaviour-based approach (1991)
Asteroth, Alexander ; Fischer, Mark Sebastian ; Möller, Knut ; Schnepf, Uwe
EthoLab - a system for the configuration and evaluation of behavioural sythesis in autonomous Systems (1992)
Schnepf, Uwe ; Asteroth, Alexander ; Fischer, Mark Sebastian
Tracking and grasping of moving objects - a behaviour-based approach - (1992)
Asteroth, Alexander ; Fischer, Mark Sebastian ; Möller, Knut ; Schnepf, Uwe
Behaviour-based robotics (cf. Brooks [2]) has mainly been applied to the domain of autonomous systems and mobile robots. In this paper we show how this approach to robot programming can be used to design a flexible and robust controller for a five degrees of freedom (DOF) robot arm. The implementation of the robot controller to be presented features the sensor and motor patterns necessary to tackle a problem we consider to be hard to solve for traditional controllers. These sensor and motor patterns are linked together forming various behaviours. The global control structure based on Brooks' subsumption architecture will be outlined. It coordinates the individual behaviours into goal-directed behaviour of the robot without the necessity to program this emerging global behaviour explicitly and in advance. To conclude, some shortcomings of the current implementation are discussed and future work, especially in the field of reinforcement learning of individual behaviours, is sketched.
Robot Arm Programming - A Behaviour-Based Approach (1994)
Asteroth, Alexander ; Fischer, Mark Sebastian ; Möller, Knut ; Schnepf, Uwe
Über geeignete Repräsentationen der Q-Funktion beim Q-Lernen (1995)
Asteroth, Alexander
Adaptive Control in Anaesthesia (1997)
Asteroth, Alexander ; Möller, Knut ; Schwilden, Helmut
Model based characterization of microgravity induced alterations of CVS-regulation (1998)
Asteroth, Alexander ; Frings, Jens ; Möller, Knur ; Beck, Luis ; Drescher, Jürgen
A concept called model individualization is presented. It is used to modify computer based models to reproduce observed individual behavior. During D2-, MIR97- and Neurolab-missions tilt-table and LBNP-experiments were carried out. Physiological data describing the cardiovascular reactions of the astronauts were recorded. The appropriateness of the rheoretical principles is demonstrated with MIR97 tilt-table experiments. Finally the resulting individualized model is investigated to propose hypotheses on probable alterations in the cardiovascular system induced by microgravity.
Zur Individualisierung von Kreislaufmodellen (1998)
Asteroth, Alexander ; Frings, Jens ; Möller, Knut ; Beck, Luis ; Drescher, Jürgen
Model based classification of cardiovascular response patterns (1999)
Asteroth, Alexander ; Frings, Jens ; Möller, Knur ; Beck, Luis ; Drescher, Jürgen
A comprehensive analysis of cardiovascular control (CVC) patterns with multiple subjects is presented. It became feasible by recent methodological advances. Simple computer models were generated automatically, reproducing only factors of the true model that are relevant to the focus if investigation. These models?named aspect-models?could in turn be used in model individualization, thus reducing the necessary computational amount. The achieved speedup by a factor of more than three thousand and the high numerical stability of the resulting method allows the unsupervised identification of a large body of experimental data. The analysis of tilt table experiments of 18 subjects revealed a remarkable variety of reaction patterns. Closer examination yielded different classes of subjects. Two main groups corresponding to basic types of CVC were observed. Three outliers could be assigned to the specific situation of some subjects.
Parameter Identification Using Aspects (1999)
Asteroth, Alexander ; Frings-Naberschulte, Jens ; Möller, Knut
Identification of Individualized Models of the Human Cardiovascular System (1999)
Asteroth, Alexander ; Möller, Knut
The human cardiovascular system (CVS) is a complex dynamical system. The determination of models for individual subjects/astronauts is of particular interest in (space) medicine. CVS models' complexity and the large number of free parameters cause standard system identification methods to fail.
Effiziente Identifikation parametrisierter Kreislaufmodelle (2000)
Asteroth, Alexander
In der vorliegenden Arbeit werden Verfahren vorgestellt, die geeignet sind, Modelle des menschlichen kardiovaskulären Systems an individuelle Kreislaufreaktionen anzupassen. Allgemeine Kreislaufmodelle des menschlichen kardiovaskulären Systems sind in der Regel nichtlineare Differentialgleichungssysteme, für die es keine effizienten Optimierungsverfahren gibt. Durch die Einschränkung auf relevante Aspekte (bzgl. der Individualisierungsaufgabe) wird ein solches Modell auf Modelle einfacherer Struktur projiziert, die eine Approximation durch Funktionsapproximatoren erlauben, für welche wiederum effiziente Optimierungsalgorithmen existieren. In Abhängigkeit von der Struktur der Individualisierungsaufgabe kommt zusätzlich ein modifiziertes BFGS-Verfahren zum Einsatz, das Approximationen solcher Modellaspekte verwendet um die Konvergenz der Modellindividualisierung zu verbessern.
Model Checking with Formula-Dependent Abstract Models (2001)
Asteroth, Alexander ; Baier, Christel ; Aßmann, Ulrich
We present a model checking algorithm for ∀CTL (and full CTL) which uses an iterative abstraction refinement strategy. It terminates at least for all transition systems M that have a finite simulation or bisimulation quotient. In contrast to other abstraction refinement algorithms, we always work with abstract models whose sizes depend only on the length of the formula θ (but not on the size of the system, which might be infinite).
Theoretische Informatik (2002)
Asteroth, Alexander ; Baier, Christel
Eine anschauliche Einführung in die klassischen Themenbereiche der Theoretischen Informatik für Studierende der Informatik im Haupt- und Nebenfach. Die Autoren wählen einen Ansatz, der durch zahlreiche ausgearbeitete Beispiele auch LeserInnen mit nur elementaren Mathematikkenntnissen den Zugang zu Berechenbarkeit, Komplexitätstheorie und formalen Sprachen ermöglicht. Die mathematischen Konzepte werden sowohl formal eingeführt als auch informell erläutert und durch grafische Darstellungen veranschaulicht. Das Buch umfasst den Lehrstoff einführender Vorlesungen in die Theoretische Informatik und bietet zahlreiche Übungsaufgaben zu jedem Kapitel an.
Safety Assessment of a Material Classifying Safety Sensor using ISO 13849-1 supplemented by Model Checking (2010)
Steiner, Holger ; Asteroth, Alexander ; Jung, Norbert ; Kamin, Volker ; Schwaneberg, Oliver
Microcontroller-based sensor systems offer great opportunities for the implementation of safety features for potentially dangerous machinery. However, in general they are difficult to assess with regard to their reliability and failure rate. This paper describes the safety assessment of hardware and software of a new and innovative sensor system. The hardware is assessed by standardized methods according to norm EN ISO 13849-1, while the use of model checking is presented as an approach to solve the problem of validating the software.
Validation of a software controlled Pedelec (2012)
Boeckhorst, Ralf ; Ginster, Daniel ; Asteroth, Alexander
This paper describes the development of a Pedelec controller whose performance level (PL) conforms to European standard on safety of machinery [9] and whose soft- ware is verified to conform to EPAC standard [6] by means of a software verification technique called model checking. In compliance with the standard [9] the hardware needs to implement the required properties corresponding to categories “C” and “D”. The latter is used if the breaks are not able to bring the velomobile with a broken motor controller to a full stop. Therefore the controller needs to implement a test unit, which verifies the functionality of the components and, in case of an emergency, shuts the whole hardware down to prevent injuries of the cyclist. The MTTFd can be measured through a failure graph, which is the result of a FMEA analysis, and can be used to proof that the Pedelec controller meets the regulations of the system specification. The analysis of the system in compliance with [9] usually treats the software as a black box thus ignoring its inner workings and validating its correctness by means of testing. In this paper we present a temporal logic specification according to [6], based on which the software for the Pedelec controller is implemented, and verify instead of only testing its functionality. By means of model checking [1] we proof that the software fulfills all requirements which are regulated by its specification.
Evolving look ahead controllers for energy optimal driving and path planning (2014)
Gaier, Adam ; Asteroth, Alexander
An evolved neural network controller is presented to solve the optimal control problem for energy optimal driving. A controller is produced which computes equivalent control commands to traditional graph searching approaches, while able to adapt to varied constraints and conditions. Furthermore, after training, trivial amounts of computation time and memory are required, making the approach applicable for embedded systems and path planning applications.
Evolution of optimal control for energy-efficient transport (2014)
Gaier, Adam ; Asteroth, Alexander
An evolutionary algorithm is presented to solve the optimal control problem for energy optimal driving. Results show that the algorithm computes equivalent strategies as traditional graph searching approaches like dynamic programming or A*. The algorithm proves to be time efficient while saving multiple orders of magnitude in memory compared to graph searching techniques. Thereby making it applicable in embedded applications such as eco-driving assistants or intelligent route planning.
Methodische Grundlegung für eine Strategie zum sukzessiven Ausbau der Ladeinfrastruktur für Elektromobilität in Bonn und dem Rhein-Sieg-Kreis (2015)
Hagg, Alexander ; Spieker, Helge ; Oslislo, Alexander ; Jacobs, Volker ; Asteroth, Alexander ; Meilinger, Stefanie
Aufgrund eines nahezu gleichlautenden Beschlusses des Kreistages im Rhein-Sieg-Kreis (RSK) und des Hauptausschusses der Stadt Bonn im Jahr 2011 wurden die jeweiligen Verwaltungen beauftragt, gemeinsam mit den Energieversorgern der Region ein Starthilfekonzept Elektromobilität zu entwickeln. In Folge dieses Beschlusses konstituierte sich Ende 2011 ein Arbeitskreis, der aus den Verwaltungen des Rhein-Sieg-Kreises und der Stadt Bonn, den Energieversorgern SWB Energie und Wasser, der Rhenag, den Stadtwerken Troisdorf, der Rheinenergie und den RWE besteht. Die inhaltlichen Schwerpunkte, die inzwischen in drei Arbeitskreisen behandelt werden, umfassen den Ausbau der Ladeinfrastruktur, die Öffentlichkeitsarbeit und die Bereitstellung von Strom aus regenerativen Quellen durch den Zubau entsprechender Anlagen in der Region. Während Maßnahmen zur Öffentlichkeitsarbeit und die Bereitstellung Grünen Stroms aus den Arbeitskreisen direkt bearbeitet und bewegt werden, ist dies aufgrund der Komplexität des Themas und der zahlreichen Einflussgrößen beim Ausbau der Ladeinfrastruktur nicht möglich. Daraus entstand die Überlegung einer Kooperation mit der Hochschule Bonn-Rhein-Sieg.
Successive evolution of charging station placement (2015)
Spieker, Helge ; Hagg, Alexander ; Asteroth, Alexander ; Meilinger, Stefanie ; Jacobs, Volker ; Oslislo, Alexander
An evolving strategy for a multi-stage placement of charging stations for electrical cars is developed. Both an incremental as well as a decremental placement decomposition are evaluated on this Maximum Covering Location Problem. We show that an incremental Genetic Algorithm benefits from problem decomposition effects of having multiple stages and shows greedy behaviour.
Modeling and Predicting the Human Heart Rate During Running Exercise (2015)
Füller, Matthias ; Meenakshi Sundaram, Ashok ; Ludwig, Melanie ; Asteroth, Alexander ; Prassler, Erwin
The positive influence of physical activity for people at all life stages is well known. Exercising has a proven therapeutic effect on the cardiovascular system and can counteract the increase of cardiovascular diseases in our aging society. An easy and good measure of the cardiovascular feedback is the heart rate. Being able to model and predict the response of a subject’s heart rate on work load input allows the development of more advanced smart devices and analytic tools. These tools can monitor and control the subject’s activity and thus avoid overstrain which would eliminate the positive effect on the cardiovascular system. Current heart rate models were developed for a specific scenario and evaluated on unique data sets only. Additionally, most of these models were tested in indoor environments, e.g. on treadmills and bicycle ergometers. However, many people prefer to do sports in outdoors environments and use their smart phone to record their training data. In this paper, we present an evaluation of existing heart rate models and compare their prediction performance for indoor as well as for outdoor running exercises. For this purpose, we investigate analytical models as well as machine learning approaches in two training sets: one indoor exercise set recorded on a treadmill and one outdoor exercise set recorded by a smart phone.
On modeling the cardiovascular system and predicting the human heart rate under strain (2015)
Ludwig, Melanie ; Sundaram, Ashok Meenakshi ; Füller, Matthias ; Asteroth, Alexander ; Prassler, Erwin
With the increasing average age of the population in many developed countries, afflictions like cardiovascular diseases have also increased. Exercising has a proven therapeutic effect on the cardiovascular system and can counteract this development. To avoid overstrain, determining an optimal training dose is crucial. In previous research, heart rate has been shown to be a good measure for cardiovascular behavior. Hence, prediction of the heart rate from work load information is an essential part in models used for training control. Most heart-rate-based models are described in the context of specific scenarios, and have been evaluated on unique datasets only. In this paper, we conduct a joint evaluation of existing approaches to model the cardiovascular system under a certain strain, and compare their predictive performance. For this purpose, we investigated some analytical models as well as some machine learning approaches in two scenarios: prediction over a certain time horizon into the future, and estimation of the relation between work load and heart rate over a whole training session.
Training plan evolution based on training models (2015)
Schaefer, David ; Asteroth, Alexander ; Ludwig, Melanie
Training models have been proposed to model the effect of physical strain on fitness. In this work we explore their use not only for analysis but also to generate training plans to achieve a given fitness goal. These plans have to include side constraints such as, e.g., maximal training loads. Therefore plan generation can be treated as a constraint satisfaction problem and thus can be solved by classical CSP solvers. We show that evolutionary algorithms such as differential evolution or CMA-ES produce comparable results while allowing for more flexibility and requiring less computational resources. Due to this flexibility, it is possible to include well known principles of training science during plan generation, resulting in reasonable training plans.
How to successfully apply genetic algorithms in practice: Representation and parametrization (2015)
Asteroth, Alexander ; Hagg, Alexander
Evolutionary computation and genetic algorithms (GAs) in particular have been applied very successfully to many real world application problems. However, the success or failure of applying Genetic Algorithms is highly dependent on how a problem is represented. Additionally, the number of free parameters makes applying these methods a science of its own, presenting a huge barrier to entry for beginners. This tutorial will give a summary on various representational aspects, discuss parametrization and their influence on the dynamics of GAs.
A Convolution Model for Heart Rate Prediction in Physical Exercise (2016)
Ludwig, Melanie ; Grohganz, Harald G. ; Asteroth, Alexander
During exercise, heart rate has proven to be a good measure in planning workouts. It is not only simple to measure but also well understood and has been used for many years for workout planning. To use heart rate to control physical exercise, a model which predicts future heart rate dependent on a given strain can be utilized. In this paper, we present a mathematical model based on convolution for predicting the heart rate response to strain with four physiologically explainable parameters. This model is based on the general idea of the Fitness-Fatigue model for performance analysis, but is revised here for heart rate analysis. Comparisons show that the Convolution model can compete with other known heart rate models. Furthermore, this new model can be improved by reducing the number of parameters. The remaining parameter seems to be a promising indicator of the actual subject’s fitness.
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