arXiv subjects

Thomas Auer

Publications and source records attributed to Thomas Auer.

5 recordsLinked to original sources

arXiv2024

On trajectory design from motion primitives for near time-optimal transitions for systems with oscillating internal dynamics

An efficient approach to compute near time-optimal trajectories for linear kinematic systems with oscillatory internal dynamics is presented. Thereby, kinematic constraints with respect to velocity, acceleration and jerk are taken into account. The trajectories are composed of several motion primitives, the most crucial of which is termed jerk segment. Within this contribution, the focus is put on the composition of the overall trajectories, assuming the required motion primitives to be readily available. Since the scheme considered is not time-optimal, even decreasing particular constraints can reduce the overall transition time, which is analysed in detail. This observation implies that replanning of the underlying jerk segments is required as an integral part of the motion planning scheme, further insight into which has been analysed in a complementary contribution. Although the proposed scheme is not time-optimal, it allows for significantly shorter transition times than established methods, such as zero-vibration shaping, while requiring significantly lower computational power than a fully time-optimal scheme.

eess.SY↗

arXiv2024

Calculation of time-optimal motion primitives for systems exhibiting oscillatory internal dynamics

An algorithm for planning near time-optimal trajectories for systems with an oscillatory internal dynamics has been developed in previous work. It is based on assembling a complete trajectory from motion primitives called jerk segments, which are the time-optimal solution to an optimization problem. To achieve the shortest overall transition time, it is advantageous to recompute these segments for different acceleration levels within the motion planning procedure. This publication presents a numerical calculation method enabling fast and reliable calculation. This is achieved by explicitly evaluating the optimality conditions that arise for the problem, and further by reducing the evaluation of these conditions to a line-search problem on a bounded interval. This reduction guarantees, that a valid solution if found after a fixed number of computational steps, making the calculation time constant and predictable. Furthermore, the algorithm does not rely on optimisation algorithms, which allowed its implementation on a laboratory system for measurements with the purpose of validating the approach.

eess.SY↗

arXiv2022

Software Testing, AI and Robotics (STAIR) Learning Lab

In this paper we presented the Software Testing, AI and Robotics (STAIR) Learning Lab. STAIR is an initiative started at the University of Innsbruck to bring robotics, Artificial Intelligence (AI) and software testing into schools. In the lab physical and virtual learning units are developed in parallel and in sync with each other. Its core learning approach is based the develop of both a physical and simulated robotics environment. In both environments AI scenarios (like traffic sign recognition) are deployed and tested. We present and focus on our newly designed MiniBot that are both built on hardware which was designed for educational and research purposes as well as the simulation environment. Additionally, we describe first learning design concepts and a showcase scenario (i.e., AI-based traffic sign recognition) with different exercises which can easily be extended.

cs.RO↗

arXiv2008

Manifestations of the hyperfine interaction between electron and nuclear spins in singly-charged (In,Ga)As/GaAs quantum dots

The nuclear spin fluctuations (NSF) as well as the dynamic nuclear polarization (DNP) and their effects on the electron spins in negatively charged (In,Ga)As/GaAs quantum dots have been studied by polarized pump-probe and photoluminescence spectroscopy techniques. The effective magnetic field of the NSF is about 30 mT at low excitation power. The NSF distribution becomes highly anisotropic at strong optical excitation by circularly polarized light with periodically alternating helicity. This phenomenon is attributed to a decrease of the nuclear spin entropy due to the hyperfine interaction with polarized electron spins. The DNP is limited to small values for intense, but short photoexcitation.

cond-mat.mes-hall↗

arXiv2003

Resummed effective action in the world-line formalism

Using the world-line method we resum the scalar one-loop effective action. This is based on an exact expression for the one-loop action obtained for a background potential and a Taylor expansion of the potential up to quadratic order in x-space. We thus reproduce results of Masso and Rota very economically. An alternative resummation scheme is suggested using ``center of mass'' based loops which is equivalent under the assumption of vanishing third and higher derivatives in the Taylor expansion but leads to simplified expressions. In an appendix some general issues concerning the relation between world-line integrals with fixed end points versus integrals with fixed center are clarified. We finally note that this method is also very valuable for gauge field effective actions where it is based on the Euler--Heisenberg type resummation.

hep-th↗