Ces dernières décennies, la recherche et l'application de l'automatique dans les domaines de l'automobile, a contribué fortement dans les aspects sécurité, confort des usagers, économie d'énergie et aide au pilotage.Dans ce contexte, l'objectif principal de cette thèse est le développement d'observateurs par modes de glissement pour l'estimation des états dynamiques, les paramètres dynamiques ainsi que les attributs de la route (dévers de la route), considérés comme des entrées inconnues. Ce type d'observateur est basé sur la théorie des systèmes à structures variables et par l'utilisation d'un modèle représentant de façon réaliste le comportement dynamique du véhicule. A cet effet une proposition de découpage de modèle dynamique complet du véhicule en trois sous-systèmes basé sur le théorie de la passivité a été proposé. Toutes les approches développées ont été validées sur les deux simulateurs de véhicules SCANeRstudio et SIMK106N. / The general framework of the research is the application of the nonlinear control tools (Robust control, Sliding mode Observer, Algebric approach,...) in order to improve the security of vehicle. The estimation of tire road force has become an intensive research area as the interest in information technology in vehicles grows. More and more new safety technologies and approaches are introduced in the automotive environment. Therefore, the problem of traction control for ground vehicles is of enormous importance to automotive industry.We split the dynamic model of vehicle into five subsystems regrouped in three blocks and then show and justify the rationale behind the successful splitting. Thesubsystems and the overall system obey to the passivity property. Robust observer are proposed to estimate the road features.

在本論文中，我們設計了一個以運動計畫演算法為基礎的自動導覽系統，讓使用者能透過計畫程式的輔助輕鬆地瀏覽虛擬場景。這系統包括一個我們稱之為智慧型觀察者的照相機模組，而這個模組便是本論文的研究焦點。其包含了三個主要功能：第一、追蹤導覽員（目標物），在任何時刻都要看到移動中的導覽員；第二、當使用者對照相機（觀察者）的路徑不滿意時，可以線上進行即時修改，而系統能保證其不與障礙物碰撞；第三、允許設定慣用動作(Idiom)，以豐富導覽活動。我們實作了這個自動導覽系統，並且根據二維以及三維空間的特性，提出有效率的搜尋演算法，以解決智慧型觀察者追蹤目標物的問題，並讓搜尋的時間能符合線上計算的需求。另外針對線上即時修改路徑和設定慣用動作的部分，我們也提出了線上累進的搜尋方法以及內插權重參數的方式，並以實驗證明了這些設計的有效性。我們相信此類智慧型觀察者的研究，能有效地應用在自動導覽系統或其他應用中，提供使用者以方便的介面瀏覽虛擬環境。 / In this thesis, we have designed an automatic tour-guiding system based on motion planning algorithms to assist users in navigating a virtual environment. This system includes a camera module that was called intelligent observer, which is the focus of this thesis. This module includes three main functions as follows. First, the camera must be able to track the moving tour guide (target) at any time. Second, when a user is not satisfied with the camera’s (observer’s) path, he/she can choose to modify the path on-the-fly without letting the camera collide with the environmental obstacles. Third, it incorporates Cinematographic idioms to enrich tour activities. We have proposed and implemented efficient search algorithms in this system to solve the motion-tracking problem according to the characteristics of the 2D and 3D workspaces. Our experiments show that the performance of this planning system is satisfactory for our on-line application. Moreover, for the parts of modifying paths on-line and

本研究主要目的，為透過操弄自我聚焦注意來探討高社交焦慮者在社交評估情境中的心像反應，並釐清心像內涵與形成視野以及對焦慮情緒的影響。過去對於高社會焦慮者的負向自我心像，究竟是在社會威脅情境下，就會自發性的發生；還是只有在高社會焦慮者具有自我聚焦注意時，才會發生，目前尚未有實徵研究的探討，此為本研究最主要的研究目的。 本研究篩選出高社交焦慮組37人與低社交焦慮組36人參加實驗，受試者在接受所分派的自我聚焦注意操弄後，進行社交評估作業，並針對內在心像的內容進行進一步的調查。 研究結果發現，接受自我聚焦注意操弄的高社交焦慮者，其心像內容明顯充滿較高比例的負向訊息，且在實驗前後的焦慮情緒改變也相對較高，而未接受自我聚焦注意操弄的高社交焦慮組，以及兩組低社交焦慮組皆未觀察到較高的負向心像內容，在呈現形式以及焦慮情緒上亦無顯著的差別。 高社交焦慮者的自我心像會受到當下注意力投注狀態的影響，當越處於自我聚焦的狀態下，其心像的內容也充滿越多的負面訊息，心像呈現的方式也越傾向以被他人所觀察的形式。由於自我聚焦注意在社交焦慮症狀發展與維持上扮演相當重要的角色，故在釐清高社交焦慮者在自我聚焦注意下的心像內容，有助於選擇適當的治療策略，協助高社交焦慮者因應環境中的威脅。 / This study aimed to explore the imagery of high social anxious individuals in the social-evaluative context by manipulating self-focused attention , and also attempted to clarify the content of the imagery, the perspective formed by the context, and the influence on the anxiety emotion. The past studies on the issues of whether the negative self-imagery of high social anxious individuals spontaneously occurred in a social threat context or only occurred in the self-focused attention have not carried out any empirical research so far, and thus it is the main research purpose of this study. In this study, 37 high and 36 low social anxious individuals were selected to conduct the experiment. After being manipulated the self-focused attention according to the groups to which they had been assigned, the participants had to engage in a social evaluation task, and a further investigation would be undertaken according to their content of inner imagery obtained in the task. The research results showed that high social anxious individuals being manipulated the self-focused attention apparently had a higher proportion of negative messages in their content of imagery and also had a relatively higher change in their anxiety emotion before and after the experiment. On the contrast, no higher proportion of negative messages in the content of imagery was observed in the group of high social anxious individuals that were not being manipulated the self-focused attention and in other two groups of low social anxious individuals. Similarly, there were no significant differences in the forms presented and the anxiety emotion in those groups as well. The inner imagery of high social anxious individuals would be influenced by the present status of the focus of attention. While in a higher self-focused attention, the content of imagery tends to be more negative, and tends to be observer perspective.

<p>Avgasmängden som bensindrivna fordon tillåts släppa ut minskas hela tiden. Ett sätt att möta framtida krav, är att förbättra katalysatorns effektivitet. För att göra detta kan luft-bränsle-förhållandet regleras med avseende på syrelagringen i katalysatorn, istället för som idag, reglera mot stökiometriskt blandningsförhållande. Eftersom syrelagringen inte går att mäta med en givare behövs en modell som beskriver katalysatorns dynamiska egenskaper. Tre sådana modeller har undersökts, utvärderats och jämförts.</p><p>Två av modellerna har implementerats i Matlab/Simulink och anpassats till mätningar från en experimentuppställning. För att kunna observera syrelagringen online valdes slutligen en av modellerna ut, och implementerades i ett Extended Kalman filter.</p><p>Ytterligare arbete behöver läggas ner på den mest lovande modellen, och detsamma gäller för Kalmanfiltret, men på sikt förväntas resultaten kunna bli bra.</p> / <p>The legal amount of emissions that vehicles with spark ignited engines are allowed to produce are steadily reduced over time. To meet future emission requirements it is desirable to make the catalytic converter work in a more efficient way. One way to do this is to control the air-fuel-ratio according to the oxygen storage level in the converter, instead of, as is done today, always trying to keep it close to stoichiometric. The oxygen storage level cannot be measured by a sensor. Hence, a model describing the dynamic behaviors of the converter is needed to observe this level. Three such models have been examined, validated, and compared.</p><p>Two of these models have been implemented in Matlab/Simulink and adapted to measurements from an experimental setup. Finally, one of the models was chosen to be incorporated in an extended Kalman filter (EKF), in order to make it possible to observe the oxygen storage level online.</p><p>The model that shows best potential needs further work, and the EKF is working with flaws, but overall the results are promising.</p>

In this study, accurate target tracking for bearings-only tracking problem is investigated. A new tracking filter for this nonlinear problem is designed where both range parameterization and Rao-Blackwellized (marginalized) particle filtering techniques are used in a Gaussian mixture formulation to track both constant velocity and maneuvering targets. The idea of using target turn rate in the state equation in such a way that marginalization is possible is elaborated. Addition to nonlinear nature, unobservability is a major problem of bearings-only tracking. Observer trajectory generation to increase the observability of the bearings-only tracking problem is studied. Novel formulation of observability measures based on mutual information between the state and the measurement sequences are derived for the problem. These measures are used as objective functions to improve observability. Based on the results obtained better understanding of the required observer trajectory for accurate bearings-only target tracking is developed.

Diese Dissertation befasst sich mit der sensorgeführten Regelung von Industrierobotern zur Konturverfolgung. Beispiele dafür sind das robotergestützte Nähen, Entgraten oder das Auftragen von Dichtmasse entlang von Schweißnähten. Beim Nähen und Entgraten müssen während der Verfolgung der Kontur bestimmte Kontaktkräfte an möglicherweise nachgiebigen Werkstücken eingehalten werden. Dabei ist es in modernen Fertigungsprozessen wichtig, die Bewegung des Roboters mit wenig Einrichtaufwand vorzugeben. Dazu werden Sensorsysteme eingesetzt, die Bildinformationen und Kraftmessungen verarbeiten, um den Roboter mit gewünschter Kontaktkraft entlang sichtbarer Konturen eines Werkstückes zu führen. Der Fokus dieser Arbeit ist die Fusion der Sensordaten, um die Vorteile der einzelnen Sensoren in einer Aufgabe zu vereinen. Es werden Messwerte eines Kraft-Momenten Sensors, einer Kamera, eines Beschleunigungssensors und der kartesischen Position und Orientierung des Roboters verwendet. Zuerst wird die Berechnung der kartesischen Roboterposition untersucht. Es wird ein Beobachter vorgestellt, um unter Verwendung eines Beschleunigungssensors die Präzision des Positionssignales zu erhöhen. Anschließend wird das Kamerasystem untersucht und ein Verfahren vorgestellt, um Geschwindigkeit, Position und Orientierung des robotergeführten Werkzeuges entlang der Kontur vorzugeben. Danach wird auf die Ermittlung von Kontaktkräften eingegangen, wobei die Kompensation von Trägheitskräften mittels Beschleunigungssensoren untersucht wird. Der letzte Abschnitt befasst sich mit der Verbindung von bildgestützter Konturverfolgung und Kraftregelung an nachgiebigen Werkstücken. Durch die Nachgiebigkeit des Werkstückmaterials verformt sich die Kontur bei Kontakt. Durch bildgestützte Konturverfolgung wird eine Anpassung an diese Verformung vorgenommen -- somit besteht über die Verformbarkeit des Werkstückes eine Kopplung zwischen den beiden Regelkreisen. Diese Kopplung wird gelöst, indem auf Basis eines dynamischen Modells der Umgebung eine Kompensation der Werkstückverformung berechnet wird. Die Modellparameter zur Kompensation werden durch online Identifikation ermittelt. / This thesis focuses on the sensor-guided control of industrial robots for contour-following. Examples include the robot-guided sewing, grinding or the application of sealant along weld seams. Grinding and sewing require a certain contact force while following a countour of a workpiece, whereas the worpieces might be compliant. Modern production processes require a fast and simple way to set up the motion of the robot for the required task. Therefore sensor systems are used, which process visual and tactile information to guide the tool at a desired contact force along visible contours of a workpiece. The focus of this work is the fusion of sensor data, used to benefit from the advantages of each of the individual sensors in one control scheme. I combine the measurements of a force-torque sensor, a camera, an acceleration sensor and of the Cartesian position of the robot. First, I introduce details on the calculation of the Cartesian robot position. I present an observer-based structure that uses an acceleration sensor to improve the precision of the robot position signal. Then, I analyze the camera system and present a control structure that adapts the position, orientation and velocity of the robot-guided tool along the contour. Thereafter, I show details of force measurement, whereas I compensate for inertial forces using an acceleration sensor. The last chapter addresses the combination of visual contour-following and force control on compliant workpieces. Under a certain contact force, the workpiece deforms due to its compliance. The position and orientation then is adapted to this deformed contour by visual control -- hence, there is a coupling between force and visual control. This coupling is solved by compensating for workpiece deformation using a dynamic model of the environment. The environmental parameters for compensation are identified online.

本文旨在探討在中文的日常生活對話當中，當說話者談論到他人過去事件時，語言與手勢的觀點表現。以McNeill曾經提到語言與手勢能夠共同表達觀點的說法作為根據，本研究也探討這些伴隨著語言的手勢是否和語言表達相同或者是不同的觀點。 本研究的架構根據Koven(2002)的說話者角色理論(speaker role inhabitance)和McNeill(1992)提出的事件當中人物的觀點(character viewpoint)和旁觀者的觀點(observer viewpoint)，定義了三中觀點—當下說話者觀點(speaker viewpoint)、事件當中人物觀點(character viewpoint)和旁觀者觀點(observer viewpoint)。而在手勢的分析上，本研究提出五個手勢特徵—手勢使用空間範圍，手勢使用單手或是雙手、手勢表達語意的stroke階段執行時間的長短、手勢stroke階段同一手部動作是否有重複的現象，以及手勢是否伴隨身體上其他的動作作為五個手勢觀點分析的關鍵指標。 量化研究發現，說話者在生活對話當中描述他人過去事件使用搭配語言的手勢，在每一種觀點的分布和語言上的表現不同。事件當中人物觀點在語言上雖然鮮少被採用，在手勢上卻是最常被表達的觀點。相反的，儘管當下說話者觀點在語言上也常出現，手勢上卻很罕見。另外，旁觀者觀點則在語言上和手勢上的分布都很頻繁。針對同一事件語言與手勢共同表達觀點的量化研究則發現，百分之六十四點七的手勢表達了和語言不同的觀點。因此，本研究說明儘管語言和手勢可以合作表達觀點，手勢卻更常表達和伴隨語言不同的觀點。 語言與手勢合作表達觀點的探討不僅說明語言與手勢如何互相協調組織要表達的訊息和觀點，更進一步引領我們去探討在人與人溝通時，語言與手勢展現的認知過程。本研究藉由兩個手勢產製的假說—the Lexical Semantics Hypothesis和the Interface Hypothesis，提供了針對本研究結果理論上的解釋。而每一個假說也都由相關的研究結果作為證據支持。另外，the Interface Hypothesis還可以針對語言與手勢在表達觀點時的分工現象提出合理的解釋。 / This thesis explores linguistic and gestural representations of viewpoints utilizing the descriptions of third-person past events within Chinese conversational discourse. Following McNeill’s idea that language and gesture are co-expressive in viewpoints, the present study also attempts to investigate whether speakers’ speech-accompanying gesture works in collaboration with language in expressing the same or different viewpoints. The framework of this study utilizes Koven’s (2002) framework of speaker role inhabitance and McNeill’s (1992) notion of character and observer viewpoint, and defines three viewpoints—speaker, character and observer viewpoint. In analyzing gestural viewpoints, the present study recognizes five gestural features—gestural space, handedness, stroke duration, frequency, and the involvement of other parts of the body as five distinctive criteria for use in identifying different viewpoints. Quantitative study of linguistic and gestural viewpoints shows that speech-accompanying gesture in the descriptions of third-person past events within conversational contexts displays different patterns from that of those found in language in the distributions of the three viewpoints. Character viewpoint, which is rarely adopted in language, is the most often conveyed viewpoint in gesture. On the other hand, despite the fact that speaker viewpoint is also commonly expressed in language, it rarely occurs in gesture. Observer viewpoint, in addition, is frequently seen in both the linguistic and gestural channels. With respect to the collaborative expressions of viewpoints in language and gesture concerning a description of the same event, quantitative study shows that 64.7% of all gestures produced in the current data represent a viewpoint different from that conveyed in language. Therefore, this study suggests that while language and gesture are co-expressive in terms of viewpoints, gesture more often collaborates with the accompanying speech in representing different viewpoints. The collaborative expressions of viewpoints in language and gesture suggest how speech and gesture coordinate with each other in organizing information and expressing different viewpoints also lead us to see the cognitive process that underlies both linguistic and gestural modalities within daily human communication. Two hypotheses—the Lexical Semantics and the Interface Hypothesis are referred to in order to provide theoretical accounts for the findings in this study. Each hypothesis is also supported by different pieces of evidence and percentages of gestures produced in the current data. The Interface Hypothesis can further provide an explanation concerning the division of labor between language and gesture in expressing viewpoints, which the Lexical Semantics Hypothesis cannot supply.

In this thesis different control methods are applied to the beam and ball system. Test setup for the previous thesis is handled, circuit assemblies and hardware redesigned. As the system is controlled by the control law partitioning method by a computer, discrete time system model is created. The controllability and the observability of the system are analyzed and a nonlinear controller by using control law partitioning in other words computed torque is designed. State feedback control algorithm previously designed is repeated. In case of calculating the non measurable state variables two different reduced order observers are designed for these two different controllers, one for control law partitioning controller and the other for state-feedback controller. Two controller methods designed for the thesis study are tested in the computer environment using modeling and simulation tools (Also a different controller by using sliding mode controller is designed and tested in the computer environment using simulation tools). A controller software program is written for the designed controller algorithms and this software is tested on the test setup. It is observed that the system is stable when we apply either of the control algorithms.

This thesis tackles the visual tracking problem as a target contour estimation problem in the face of corrupted measurements. The major aim is to design robust recursive curve filters for accurate contour-based tracking. The state-space representation adopted comprises of a group component and a shape component describing the rigid motion and the non-rigid shape deformation respectively; filtering strategies on each component are then decoupled. The thesis considers two implicit curve descriptors, a classification probability field and the traditional signed distance function, and aims to develop an optimal probabilistic contour observer and locally optimal curve filters. For the former, introducing a novel probabilistic shape description simplifies the filtering problem on the infinite-dimensional space of closed curves to a series of point-wise filtering tasks. The definition and justification of a novel update model suited to the shape space, the derivation of the filtering equations and the relation to Kalman filtering are studied. In addition to the temporal consistency provided by the filtering, extensions involving distributed filtering methods are considered in order to maintain spatial consistency. For the latter, locally optimal closed curve filtering strategies involving curve velocities are explored. The introduction of a local, linear description for planar curve variation and curve uncertainty enables the derivation of a mechanism for estimating the optimal gain associated to the curve filtering process, given quantitative uncertainty levels. Experiments on synthetic and real sequences of images validate the filtering designs.

In dieser Arbeit werden lineare zeitinvariante endlichdimensionale Systeme (LTI-Systeme) mit m &amp;gt; 1 Eingängen und p &amp;gt; 1 Ausgängen untersucht (MIMO-Systeme). Diese lassen sich darstellen durch lineare Gleichungen mit Matrizen, deren Einträge Polynome im Ableitungsoperator d/dt sind. Bei Nutzung der Laplace-Transformation handelt es sich um Polynome in s. Algebraisch bilden diese einen Euklidischen Ring. Durch Überführung der Matrizen in die Hermitesche Normalform werden m Basisgrößen definiert. Die Verläufe oder Trajektorien der Basisgrößen lassen sich frei vorgegeben. Damit werden die Trajektorien sämtlicher übrigen Signale, insbesondere die der erforderlichen Eingangssignale, festgelegt und können ohne Integration berechnet werden. Ein linksteilerfremdes (auch steuerbar genanntes) Modell ist dabei nicht zwingend erforderlich. Damit eignen sich die Basisgrößen besonders zur Planung von Trajektorien. Genauer untersucht wird die Planung mit Polynomen in der Zeit als Ansatzfunktionen und die Planung von Trajektorien, die ein quadratisches Kostenfunktional minimieren. In der technischen Praxis werden die Systeme stets von den geplanten Trajektorien abweichen. Insbesondere bei instabilen Regelstrecken ist deshalb ein stabilisierender Folgeregler unentbehrlich. Die Struktur der Folgeregelung wird eingeführt und es wird deutlich gemacht, dass jede Methode zum Entwurf linearer Regler angewendet werden kann. Die Nullstellenzuweisung durch dynamische Ausgangsrückführung mit Reglern vorgegebener möglichst geringer dynamischer Ordnung wird detailliert untersucht und eine neue Lösungsmöglichkeit aufgezeigt. Durch Nutzung der modifizierten z-Transformation lässt sich die Theorie auf ein hybrides System, bestehend aus einer zeitkontinuierlichen Regelstrecke und einer zeitdiskreten digitalen Steuerung und Regelung, ausdehnen. Dabei werden die Verläufe der Signale zwischen den Abtastzeitpunkten in die Planung einbezogen. Zum Schluss werden die linearen Beobachter im Licht der polynomialen Matrizendarstellung neu untersucht. Es wird gezeigt, dass die polynomiale Matrizendarstellung einen theoretischen Rahmen bietet, in dem sich sämtliche linearen Beobachter mit einer Methode entwerfen lassen. - (Die Dissertation ist veröffentlicht in der Reihe Fortschritt-Berichte VDI, Reihe 8 - Mess-, Steuerungs- und Regelungstechnik, Band 1164 im VDI Verlag GmbH, Düsseldorf, ISBN 978-3-18-516408-8) / In this thesis linear time invariant lumped systems (LTI-systems) with m&amp;gt;1 inputs and p &amp;gt; 1 outputs (MIMO-systems) are investigated. These systems can be represented by linear equations with matrices, whose entries are polynomials in the differential operator d/dt. If Laplace-transform is employed, the polynomials are in s. Algebraically polynomials form a Euclidean ring. The conversion of the matrices to the Hermite form leads to defining m basic variables. The trajectories of the basis variables may be chosen arbitrarily. With that choice the trajectories of all remaining variables and especially the input variables are determined and can be calculated without integration. A left coprime (also called controllable) model is not required. Hence basis variables are particularly useful for planning trajectories. Special attention is paid to planning trajectories with polynomials in time as basic functions and planning trajectories which minimise a quadratic functional of costs. In engineering practice the systems will always differ from the planed trajectories. Especially with unstable plants a stabilising tracking controller is compulsory. The structure of the tracking control is introduced. It becomes apparent that every linear theory for the design of closed loop controllers is suitable. Pole assignment by dynamic output feedback with low order controllers of a fixed structure is looked at in more detail. A new approach to this problem is presented. Using the modified z-transform the theory is extended to hybrid systems consisting of a digital or discrete time controller and a plant in continuous time. Thereby the course of the signals between the sampling moments is taken into account. Finally linear observers are reinvestigated using the polynomial matrix representation. It is shown that the polynomial matrix representation provides a theoretical framework in which all linear observers can be designed.