Suchergebnis: Katalogdaten im Herbstsemester 2016
Maschineningenieurwissenschaften Master | ||||||
Kernfächer | ||||||
Robotics, Systems and Control | ||||||
Nummer | Titel | Typ | ECTS | Umfang | Dozierende | |
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151-0104-00L | Uncertainty Quantification for Engineering & Life Sciences Findet dieses Semester nicht statt. Number of participants limited to 60. | W | 4 KP | 3G | P. Koumoutsakos | |
Kurzbeschreibung | Quantification of uncertainties in computational models pertaining to applications in engineering and life sciences. Exploitation of massively available data to develop computational models with quantifiable predictive capabilities. Applications of Uncertainty Quantification and Propagation to problems in mechanics, control, systems and cell biology. | |||||
Lernziel | The course will teach fundamental concept of Uncertainty Quantification and Propagation (UQ+P) for computational models of systems in Engineering and Life Sciences. Emphasis will be placed on practical and computational aspects of UQ+P including the implementation of relevant algorithms in multicore architectures. | |||||
Inhalt | Topics that will be covered include: Uncertainty quantification under parametric and non-parametric modelling uncertainty, Bayesian inference with model class assessment, Markov Chain Monte Carlo simulation, prior and posterior reliability analysis. | |||||
Skript | The class will be largely based on the book: Data Analysis: A Bayesian Tutorial by Devinderjit Sivia as well as on class notes and related literature that will be distributed in class. | |||||
Literatur | 1. Data Analysis: A Bayesian Tutorial by Devinderjit Sivia 2. Probability Theory: The Logic of Science by E. T. Jaynes 3. Class Notes | |||||
Voraussetzungen / Besonderes | Fundamentals of Probability, Fundamentals of Computational Modeling | |||||
151-0107-20L | High Performance Computing for Science and Engineering (HPCSE) I | W | 4 KP | 4G | M. Troyer, P. Chatzidoukas | |
Kurzbeschreibung | This course gives an introduction into algorithms and numerical methods for parallel computing for multi and many-core architectures and for applications from problems in science and engineering. | |||||
Lernziel | Introduction to HPC for scientists and engineers Fundamental of: 1. Parallel Computing Architectures 2. MultiCores 3. ManyCores | |||||
Inhalt | Programming models and languages: 1. C++ threading (2 weeks) 2. OpenMP (4 weeks) 3. MPI (5 weeks) Computers and methods: 1. Hardware and architectures 2. Libraries 3. Particles: N-body solvers 4. Fields: PDEs 5. Stochastics: Monte Carlo | |||||
Skript | Link Class notes, handouts | |||||
151-0532-00L | Nonlinear Dynamics and Chaos I | W | 4 KP | 2V + 2U | G. Haller, F. Kogelbauer | |
Kurzbeschreibung | Basic facts about nonlinear systems; stability and near-equilibrium dynamics; bifurcations; dynamical systems on the plane; non-autonomous dynamical systems; chaotic dynamics. | |||||
Lernziel | This course is intended for Masters and Ph.D. students in engineering sciences, physics and applied mathematics who are interested in the behavior of nonlinear dynamical systems. It offers an introduction to the qualitative study of nonlinear physical phenomena modeled by differential equations or discrete maps. We discuss applications in classical mechanics, electrical engineering, fluid mechanics, and biology. A more advanced Part II of this class is offered every other year. | |||||
Inhalt | (1) Basic facts about nonlinear systems: Existence, uniqueness, and dependence on initial data. (2) Near equilibrium dynamics: Linear and Lyapunov stability (3) Bifurcations of equilibria: Center manifolds, normal forms, and elementary bifurcations (4) Nonlinear dynamical systems on the plane: Phase plane techniques, limit sets, and limit cycles. (5) Time-dependent dynamical systems: Floquet theory, Poincare maps, averaging methods, resonance | |||||
Skript | The class lecture notes will be posted electronically after each lecture. Students should not rely on these but prepare their own notes during the lecture. | |||||
Voraussetzungen / Besonderes | - Prerequisites: Analysis, linear algebra and a basic course in differential equations. - Exam: two-hour written exam in English. - Homework: A homework assignment will be due roughly every other week. Hints to solutions will be posted after the homework due dates. | |||||
151-0563-01L | Dynamic Programming and Optimal Control | W | 4 KP | 2V + 1U | R. D'Andrea | |
Kurzbeschreibung | Introduction to Dynamic Programming and Optimal Control. | |||||
Lernziel | Covers the fundamental concepts of Dynamic Programming & Optimal Control. | |||||
Inhalt | Dynamic Programming Algorithm; Deterministic Systems and Shortest Path Problems; Infinite Horizon Problems, Bellman Equation; Deterministic Continuous-Time Optimal Control. | |||||
Literatur | Dynamic Programming and Optimal Control by Dimitri P. Bertsekas, Vol. I, 3rd edition, 2005, 558 pages, hardcover. | |||||
Voraussetzungen / Besonderes | Requirements: Knowledge of advanced calculus, introductory probability theory, and matrix-vector algebra. | |||||
151-0567-00L | Engine Systems | W | 4 KP | 3G | C. Onder | |
Kurzbeschreibung | Einführung in heutige und zukünftige Verbrennungsmotorsysteme, insbesondere deren elektronische Steuerungen und Regelungen | |||||
Lernziel | Moderne Methoden der Systemoptimierung und Regelung am Beispiel "Verbrennungsmotor" kennenlernen und an realen Motoren einüben. Aufbau und Funktionsweise von Antriebssystemen verstehen und quantitativ beschreiben können. | |||||
Inhalt | Physikalische Phänomene und mathematische Modelle von Komponenten und Systemen (Gemischbildung, Laststeuerung, Aufladung, Emissionen, Antriebsstrangkomponenten, etc.). Fallstudien zum Thema modellbasierte optimale Auslegung und Steuerung / Regelung von Motorsystemen mit dem Ziel, Verbrauch und Schadstoffemissionen zu minimieren. | |||||
Skript | Introduction to Modeling and Control of Internal Combustion Engine Systems Guzzella Lino, Onder Christopher H. 2010, Second Edition, 354 p., hardbound ISBN: 978-3-642-10774-0 | |||||
Voraussetzungen / Besonderes | Kombinierte Haus- und Laborübung Motoren (Lambda- oder Leerlaufdrehzahlregelung), in Gruppen | |||||
151-0569-00L | Vehicle Propulsion Systems | W | 4 KP | 3G | C. Onder, P. Elbert | |
Kurzbeschreibung | Einführung in heutige und zukünftige Fahrzeugantriebssysteme, insbesondere in elektronische Steuerungen und Regelungen der Längsdynamik | |||||
Lernziel | Moderne Methoden der Systemoptimierung und Regelung am Beispiel "Fahrzeug" kennenlernen. Aufbau und Funktionsweise von konventionellen und neuen Antriebssystemen verstehen und quantitativ beschreiben können | |||||
Inhalt | Physikalische Phänomene und mathematische Modelle von Komponenten und Systemen (Schalt-, Automaten- und kontinuierliche Getriebe, unkonventionelle Energiespeicher, Elektroantriebe, Batterien, Hybridantriebe, Brennstoffzellensysteme, Rad/Strasse-Schnittstellen, automatische Bremssysteme (ABS), etc.). Mathematische Methoden, CAE-Tools und Fallstudien zum Thema modellbasierte Auslegung und Steuerung / Regelung von Fahrzeugsystemen mit dem Ziel, Verbrauch und Schadstoffemissionen zu minimieren. | |||||
Skript | Vehicle Propulsion Systems -- Introduction to Modeling and Optimization Guzzella Lino, Sciarretta Antonio 2013, X, 409 p. 202 illus., Geb. ISBN: 978-3-642-35912-5 | |||||
Voraussetzungen / Besonderes | Vorlesungen von Dr. Ch. Onder auch in Deutsch möglich | |||||
151-0573-00L | Systemmodellierung | W | 4 KP | 2V + 2U | G. Ducard, C. Onder | |
Kurzbeschreibung | Methoden der theoretischen und experimentellen Modellbildung für regelungstechnische Zwecke. Modellparametrierung und Parameteridentifikationsmethoden. Analyse von linearen Systemen, Modellskalierung, Linearisierung, Ordnungsreduktion und Balancing. Grundlegende Analysemöglichkeiten für nichtlineare Systeme. | |||||
Lernziel | Vermitteln der Grundkenntnisse der Modellbildung in der Regelungstechnik. Analyse und Optimierung linearer und nichtlinearer Systeme. Parameteridentifikation. Erfahrungen sammeln an konkreten Fallstudien. | |||||
Inhalt | Methoden der theoretischen und experimentellen Modellbildung für regelungstechnische Zwecke. Beispiele: mechatronische, thermodynamische, chemische, fluiddynamische, energie- und verfahrenstechnische Systeme. Modellskalierung, Linearisierung, Ordnungsreduktion und Balancing. Identifikationstechniken (Methode der kleinsten Quadrate). Fallstudien in der Vorlesung: Lautsprecher, Wasserrakete, geostationäre Satelliten, etc. | |||||
Skript | Das Skript in englischer Sprache wird in der ersten Lektion verkauft. | |||||
Literatur | Eine Literaturliste ist im Skript enthalten. | |||||
151-0593-00L | Embedded Control Systems | W | 4 KP | 6G | J. S. Freudenberg, M. Schmid Daners, C. Onder | |
Kurzbeschreibung | This course provides a comprehensive overview of embedded control systems. The concepts introduced are implemented and verified on a microprocessor-controlled haptic device. | |||||
Lernziel | Familiarize students with main architectural principles and concepts of embedded control systems. | |||||
Inhalt | An embedded system is a microprocessor used as a component in another piece of technology, such as cell phones or automobiles. In this intensive two-week block course the students are presented the principles of embedded digital control systems using a haptic device as an example for a mechatronic system. A haptic interface allows for a human to interact with a computer through the sense of touch. Subjects covered in lectures and practical lab exercises include: - The application of C-programming on a microprocessor - Digital I/O and serial communication - Quadrature decoding for wheel position sensing - Queued analog-to-digital conversion to interface with the analog world - Pulse width modulation - Timer interrupts to create sampling time intervals - System dynamics and virtual worlds with haptic feedback - Introduction to rapid prototyping | |||||
Skript | Lecture notes, lab instructions, supplemental material | |||||
Voraussetzungen / Besonderes | Prerequisite courses are Control Systems I and Informatics I. This course is restricted to 33 students due to limited lab infrastructure. Interested students please contact Marianne Schmid (E-Mail: Link) After your reservation has been confirmed please register online at Link. Detailed information can be found on the course website Link | |||||
151-0601-00L | Theory of Robotics and Mechatronics | W | 4 KP | 3G | P. Korba, S. Stoeter, B. Nelson | |
Kurzbeschreibung | This course provides an introduction and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. It’s a requirement for the Robotics Vertiefung and for the Masters in Mechatronics and Microsystems. | |||||
Lernziel | Robotics is often viewed from three perspectives: perception (sensing), manipulation (affecting changes in the world), and cognition (intelligence). Robotic systems integrate aspects of all three of these areas. This course provides an introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. This course is a requirement for the Robotics Vertiefung and for the Masters in Mechatronics and Microsystems. | |||||
Inhalt | An introduction to the theory of robotics, and covers the fundamentals of the field, including rigid motions, homogeneous transformations, forward and inverse kinematics of multiple degree of freedom manipulators, velocity kinematics, motion planning, trajectory generation, sensing, vision, and control. | |||||
Skript | available. | |||||
Voraussetzungen / Besonderes | The course will be taught in English. | |||||
151-0604-00L | Microrobotics Findet dieses Semester nicht statt. | W | 4 KP | 3G | B. Nelson | |
Kurzbeschreibung | Microrobotics is an interdisciplinary field that combines aspects of robotics, micro and nanotechnology, biomedical engineering, and materials science. The aim of this course is to expose students to the fundamentals of this emerging field. Throughout the course students are expected to submit assignments. The course concludes with an end-of-semester examination. | |||||
Lernziel | The objective of this course is to expose students to the fundamental aspects of the emerging field of microrobotics. This includes a focus on physical laws that predominate at the microscale, technologies for fabricating small devices, bio-inspired design, and applications of the field. | |||||
Inhalt | Main topics of the course include: - Scaling laws at micro/nano scales - Electrostatics - Electromagnetism - Low Reynolds number flows - Observation tools - Materials and fabrication methods - Applications of biomedical microrobots | |||||
Skript | The powerpoint slides presented in the lectures will be made available in hardcopy and as pdf files. Several readings will also be made available electronically. | |||||
Voraussetzungen / Besonderes | The lecture will be taught in English. | |||||
151-0623-00L | ETH Zurich Distinguished Seminar in Robotics, Systems and Controls Students for other Master's programmes in Department Mechanical and Process Engineering cannot use the credit in the category Core Courses | W | 1 KP | 1S | B. Nelson, J. Buchli, M. Chli, R. Gassert, M. Hutter, W. Karlen, R. Riener, R. Siegwart | |
Kurzbeschreibung | This course consists of a series of seven lectures given by researchers who have distinguished themselves in the area of Robotics, Systems, and Controls. | |||||
Lernziel | Obtain an overview of various topics in Robotics, Systems, and Controls from leaders in the field. Please see Link for a list of upcoming lectures. | |||||
Inhalt | This course consists of a series of seven lectures given by researchers who have distinguished themselves in the area of Robotics, Systems, and Controls. MSc students in Robotics, Systems, and Controls are required to attend every lecture. Attendance will be monitored. If for some reason a student cannot attend one of the lectures, the student must select another ETH or University of Zurich seminar related to the field and submit a one page description of the seminar topic. Please see Link for a suggestion of other lectures. | |||||
Voraussetzungen / Besonderes | Students are required to attend all seven lectures to obtain credit. If a student must miss a lecture then attendance at a related special lecture will be accepted that is reported in a one page summary of the attended lecture. No exceptions to this rule are allowed. | |||||
151-0632-00L | Vision Algorithms for Mobile Robotics Maximale Teilnehmerzahl: 50 | W | 4 KP | 2V + 2U | D. Scaramuzza | |
Kurzbeschreibung | For a robot to be autonomous, it has to perceive and understand the world around it. This course introduces you to the fundamental computer vision algorithms used in mobile robotics, in particular: feature extraction, multiple view geometry, dense reconstruction, object tracking, image retrieval, event-based vision, and visual-inertial odometry (the algorithm behind Google Tango). | |||||
Lernziel | Learn the fundamental computer vision algorithms used in mobile robotics, in particular: feature extraction, multiple view geometry, dense reconstruction, object tracking, image retrieval, event-based vision, and visual-inertial odometry (the algorithm behind Google Tango). | |||||
Inhalt | For a robot to be autonomous, it has to perceive and understand the world around it. This course introduces you to the fundamental computer vision algorithms used in mobile robotics, in particular: feature extraction, multiple view geometry, dense reconstruction, object tracking, image retrieval, event-based vision, and visual-inertial odometry (the algorithm behind Google Tango). | |||||
Skript | Lecture slides will be available after each lecture on the course official website: Link | |||||
Literatur | [1] Computer Vision: Algorithms and Applications, by Richard Szeliski, Springer, 2010. [2] Robotics Vision and Control: Fundamental Algorithms, by Peter Corke 2011. | |||||
Voraussetzungen / Besonderes | Basics of algebra and geomertry, matrix calculus. | |||||
151-0655-00L | Skills for Creativity and Innovation | W | 4 KP | 3G | I. Goller, C. Kobe, M. Meboldt | |
Kurzbeschreibung | This lecture aims to enhance the knowledge and competency of students regarding their innovation capability. An overview on prerequisites of and different skills for creativity and innovation in individual & team settings is given. The focus of this lecture is clearly on building competencies - not just acquiring knowledge. | |||||
Lernziel | - Basic knowledge about creativity and skills - Knowledge about individual prerequisites for creativity - Development of individual skills for creativity - Knowledge about teams - Development of team-oriented skills for creativity - Knowledge and know-how about transfer to idea generation teams | |||||
Inhalt | Basic knowledge about creativity and skills: - Introduction into creativity & innovation: definitions and models Knowledge about individual prerequisites for creativity: - Personality, motivation, intelligence Development of individual skills for creativity: - Focus on creativity as problem analysis & solving - Individual skills in theoretical models - Individual competencies: exercises and reflection Knowledge about teams: - Definitions and models - Roles in innovation processes Development of team-oriented skills for creativity: - Idea generation and development in teams - Cooperation & communication in innovation teams Knowledge and know-how about transfer to idea generation teams: - Self-reflection & development planning - Methods of knowledge transfer | |||||
Skript | Slides, script and other documents will be distributed via moodle.ethz.ch (access only for students registered to this course) | |||||
Literatur | Please refer to lecture script. | |||||
151-0727-00L | Fertigungstechnisches Kolloquium | W | 4 KP | 3K | K. Wegener, F. Kuster | |
Kurzbeschreibung | Weiterbildungsveranstaltung zu ausgewählten aktuellen Themen der Fertigungstechnik. Pro Nachmittag wird ein ausgewähltes Thema in mehreren Vorträgen, mehrheitlich durch Referenten aus der Industrie, vorgestellt und diskutiert. Die Studierenden erstellen eine Zusammenfassung der Vorträge und bereiten sich auf die Prüfung mit Hilfe dieser Aufzeichnungen und eigenen Recherchen vor. | |||||
Lernziel | Ständige Weiterbildung zu aktuellen Themen der Fertigungstechnik. Wissens- und Erfahrungsaustausch mit der Industrie und anderen Hochschulen. | |||||
Inhalt | Ausgewählte aktuelle Themen der Fertigungstechnik, d.h. ständig wechselnder Inhalt. | |||||
Skript | kein Skript | |||||
Voraussetzungen / Besonderes | - Studierende müssen die Kurse Fertigungstechnik I, Produktionsmaschinen I und Umformtechnik III - Umformtechnische Verfahren besucht und abgeschlossen haben. - Weiterbildungsveranstaltung mit Fachvorträgen und grosser Beteiligung aus der Industrie. | |||||
151-0851-00L | Robot Dynamics | W | 4 KP | 2V + 1U | M. Hutter, R. Siegwart, T. Stastny | |
Kurzbeschreibung | We will provide an overview on how to kinematically and dynamically model typical robotic systems such as robot arms, legged robots, rotary wing systems, or fixed wing. | |||||
Lernziel | The primary objective of this course is that the student deepens an applied understanding of how to model the most common robotic systems. The student receives a solid background in kinematics, dynamics, and rotations of multi-body systems. On the basis of state of the art applications, he/she will learn all necessary tools to work in the field of design or control of robotic systems. | |||||
Inhalt | The course consists of three parts: First, we will refresh and deepen the student's knowledge in kinematics, dynamics, and rotations of multi-body systems. In this context, the learning material will build upon the courses for mechanics and dynamics available at ETH, with the particular focus on their application to robotic systems. The goal is to foster the conceptual understanding of similarities and differences among the various types of robots. In the second part, we will apply the learned material to classical robotic arms as well as legged systems and discuss kinematic constraints and interaction forces. In the third part, focus is put on modeling fixed wing aircraft, along with related design and control concepts. In this context, we also touch aerodynamics and flight mechanics to an extent typically required in robotics. The last part finally covers different helicopter types, with a focus on quadrotors and the coaxial configuration which we see today in many UAV applications. Case studies on all main topics provide the link to real applications and to the state of the art in robotics. | |||||
Voraussetzungen / Besonderes | The contents of the following ETH Bachelor lectures or equivalent are assumed to be known: Mechanics and Dynamics, Control, Basics in Fluid Dynamics. | |||||
151-0917-00L | Mass Transfer | W | 4 KP | 2V + 2U | R. Büchel, S. E. Pratsinis | |
Kurzbeschreibung | Diese Vorlesung behandelt Grundlagen der Transportvorgänge, wobei das Hauptaugenmerk auf dem Stofftransport liegt. Die physikalische Bedeutung der Grundgesetze des Stofftransports wird dargestellt und quantitativ beschrieben. Des weiteren wird die Anwendung dieser Prinzipien am Beispiel relevanter ingenieurtechnischer Problemstellungen aufgezeigt. | |||||
Lernziel | Diese Vorlesung behandelt Grundlagen der Transportvorgänge, wobei das Hauptaugenmerk auf dem Stofftransport liegt. Die physikalische Bedeutung der Grundgesetze des Stofftransports wird dargestellt und quantitativ beschrieben. Des weiteren wird die Anwendung dieser Prinzipien am Beispiel relevanter ingenieurtechnischer Problemstellungen aufgezeigt. | |||||
Inhalt | Ficksche Gesetze; Anwendungen und Bedeutung von Stofftransport; Vergleich von Fickschen Gesetzen mit Newtonschen und Fourierschen Gesetzen; Herleitung des zweiten Fickschen Gesetzes; Diffusion in verdünnten und konzentrierten Lösungen; Rotierende Scheibe; Dispersion; Diffusionskoeffizient, Gasviskosität und Leitfähigkeit (Pr und Sc); Brownsche Bewegung; Stokes-Einstein-Gleichung; Stofftransportkoeffizienten (Nu und Sh-Zahlen); Stoffaustausch über Grenzflächen; Reynolds- und Chilton-Colburn-Analogien für Impuls-, Wärme- und Stofftransport in turbulenten Strömungen; Film-, Penetrations- und Oberflächenerneuerungstheorien; Gleichzeitiger Transport von Stoff und Wärme oder Impuls (Grenzschichten); Homogene und heterogene, reversible und irreversible. Anwendungen Reaktionen; "Diffusionskontrollierte" Reaktionen; Stofftransport und heterogene Reaktion erster Ordnung. | |||||
Literatur | Cussler, E.L.: "Diffusion", 2nd edition, Cambridge University Press, 1997. | |||||
Voraussetzungen / Besonderes | Es werden 2 Tests zur Vertiefung des Lernstoffs angeboten. Die Teilnahme ist obligatorisch. | |||||
151-1116-00L | Einführung in Flug- und Fahrzeugaerodynamik | W | 4 KP | 3G | J. Wildi | |
Kurzbeschreibung | Flugzeugaerodynamik: Atmosphäre; Aerodynamische Kräfte (Auftrieb: Profile, Flügel. Widerstand: Restwiderstand, induzierter Widerstand);Schub. Fahrzeugaerodynamik: Grundlagen: Luft- und Massenkräfte, Widerstand , Auftrieb. Aerodynamik und Fahrleistungen. Personenwagen; Nutzfahrzeuge; Rennfahrzeuge. | |||||
Lernziel | Einführung in die Grundlagen und Zusammenhänge der Flugzeug- und Fahrzeugaerodynamik vermitteln. Grundlegende Zusammenhänge der Entstehung aerodynamischer Kräfte (insbesondere Auftrieb, Widerstand) verstehen und diese für einfache Konfigurationen von Flugzeugen und Fahrzeugen berechnen können. Den Einfluss der Formgebung von Flugzeug- und Fahrzeugkomponenten auf die Grösse der aerodynamischen Kräfte erklären können. An Beispielen die wesentlichen Probleme und Resultate illustrieren. Möglichkeiten und Grenzen experimenteller und theoretischer Verfahren zeigen. | |||||
Inhalt | Flugzeugaerodynamik: Atmosphäre; Aerodynamische Kräfte (Auftrieb: Profile, Flügel. Widerstand: Restwiderstand, induzierter Widerstand);Schub (Übersicht der Antriebssysteme, Aerodynamik des Propellers), Einführung in statische Längsstabilität. Fahrzeugaerodynamik: Grundlagen: Luft- und Massenkräfte, Widerstand , Auftrieb. Aerodynamik und Fahrleistungen. Personenwagen; Nutzfahrzeuge; Rennfahrzeuge | |||||
Skript | 1.) Grundlagen der Flugtechnik 2.) Einführung in die Fahrzeugaerodynamik | |||||
Literatur | Flugtechnik: - Anderson Jr, John D: Introduction to Flight, Mc Graw Hill, Ed 06, 2007; ISBN: 9780073529394 - Mc Cormick, B.W.: Aerodynamics, Aeronautics and Flight Mechanics, John Wiley and Sons, 1979 - Wilcox, David C, Basic Fluid Mechanics. DCW Industries, Inc., 1997 - Schlichting,H. und truckenbrodt, E: Aerodynamik des Flugzeuges (Bd I und II), Springer Verlag, 1960 - Abbott, I. and van Doenhoff, A.: Theory of Wing Sections, McGraw-Hill Book Company, Inc., 1949 - Hoerner, S.F.: Fluid Dynamic Drag, Hoerner Fluid Dynamics, 1951/1965 - Hoerner, S.F.: Fluid Dynamic Lift, Hoerner Fluid Dynamics, 1975 - Perkins, C.D. and Hage, R.E.: Airplane Performance, Stability and Control, John Wiley ans Sons, 1949 Fahrzeugaerodynamik - Hucho, Wolf-Heinrich: Aerodynamik des Automobils, VDI Verlag, 1994 - Gillespi, Thomas D: Fundamentals of Vehicle Dynamics, SAE, 1992 - Katz Joseph: New Directions in Race Car Aerodynamics, Robert Bentley Publishers, 1995 | |||||
227-0225-00L | Linear System Theory | W | 6 KP | 5G | M. Kamgarpour | |
Kurzbeschreibung | The class is intended to provide a comprehensive overview of the theory of linear dynamical systems, their use in control, filtering, and estimation and their applications to areas ranging from avionics to systems biology. | |||||
Lernziel | By the end of the class students should be comfortable with the fundamental results in linear system theory and the mathematical tools used to derive them. | |||||
Inhalt | - Rings, fields and linear spaces, normed linear spaces and inner product spaces. - Ordinary differential equations, existence and uniqueness of solutions. - Continuous and discrete time, time varying linear systems. Time domain solutions. Time invariant systems treated as a special case. - Controllability and observability, canonical forms, Kalman decomposition. Time invariant systems treated as a special case. - Stability and stabilization, observers, state and output feedback, separation principle. - Realization theory. | |||||
Skript | F.M. Callier and C.A. Desoer, "Linear System Theory", Springer-Verlag, 1991. | |||||
Voraussetzungen / Besonderes | Prerequisites: Control Systems I (227-0103-00) or equivalent and sufficient mathematical maturity. | |||||
227-0447-00L | Image Analysis and Computer Vision | W | 6 KP | 3V + 1U | L. Van Gool, O. Göksel, E. Konukoglu | |
Kurzbeschreibung | Light and perception. Digital image formation. Image enhancement and feature extraction. Unitary transformations. Color and texture. Image segmentation and deformable shape matching. Motion extraction and tracking. 3D data extraction. Invariant features. Specific object recognition and object class recognition. | |||||
Lernziel | Overview of the most important concepts of image formation, perception and analysis, and Computer Vision. Gaining own experience through practical computer and programming exercises. | |||||
Inhalt | The first part of the course starts off from an overview of existing and emerging applications that need computer vision. It shows that the realm of image processing is no longer restricted to the factory floor, but is entering several fields of our daily life. First it is investigated how the parameters of the electromagnetic waves are related to our perception. Also the interaction of light with matter is considered. The most important hardware components of technical vision systems, such as cameras, optical devices and illumination sources are discussed. The course then turns to the steps that are necessary to arrive at the discrete images that serve as input to algorithms. The next part describes necessary preprocessing steps of image analysis, that enhance image quality and/or detect specific features. Linear and non-linear filters are introduced for that purpose. The course will continue by analyzing procedures allowing to extract additional types of basic information from multiple images, with motion and depth as two important examples. The estimation of image velocities (optical flow) will get due attention and methods for object tracking will be presented. Several techniques are discussed to extract three-dimensional information about objects and scenes. Finally, approaches for the recognition of specific objects as well as object classes will be discussed and analyzed. | |||||
Skript | Course material Script, computer demonstrations, exercises and problem solutions | |||||
Voraussetzungen / Besonderes | Prerequisites: Basic concepts of mathematical analysis and linear algebra. The computer exercises are based on Linux and C. The course language is English. | |||||
227-0517-00L | Electrical Drive Systems II | W | 6 KP | 4G | P. Steimer, G. Scheuer, C. A. Stulz | |
Kurzbeschreibung | In "Antriebssysteme II" werden die Leistungshalbleiter repetiert. Der Aufbau von Umrichtern durch die Kombination von Schaltern/Zellen mit Topologien wird erläutert. Der 3-Punkt-Pulsumrichters mit seinen Schalt- und Transferfunktionen wird vertieft betrachtet. Weitere Schwerpunkte sind die Regelung der Synchronmaschine, von netzseitigen Stromrichtern und Probleme von umrichtergespeisten Maschinen | |||||
Lernziel | Die Studierenden erwerben ein vertieftes Verständnis in Bezug auf die Auslegung der Hauptkomponenten eines kompletten Antriebssystemes, der wesentlichen Interaktionen mit dem Netz bzw. der elektrischen Maschine sowie der dazugehörigen Regelung. | |||||
Inhalt | Umrichtertopologien (Schalter oder Zellen basiert), höherpulsige Diodengleichrichter; Systemaspekte Transformer und elektrische Maschine; 3-Punkt-Pulsumrichter und seine Schalt- und Transferfunktionen; Netzrückwirkungen; Modellierung und Regelung der Synchronmaschine (auch Permanentmagneterregte); Regelung des netzseitigen Stromrichters; Reflexionseffekte beim Einsatz von Leistungskabeln, Isolations- und Lagerbeanspruchung. Exkursion zu ABB Semiconductors. | |||||
Skript | Wird zu Beginn der Vorlesung verkauft oder kann von Ilias geladen werden. | |||||
Literatur | Vorlesungsskript; Fachliteratur wird im Skript erwähnt. | |||||
Voraussetzungen / Besonderes | Voraussetzungen: Elektrische Antriebssysteme I (empfohlen), Grundlagen in Elektrotechnik, Leistungselektronik, Automatik und Mechatronik. |
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