Topic of this thesis is Dennett's criticism of the philosophical notion of qualia. First, the notion of qualia and the meaning it acquires within philosophy are introduced. Then, four thought experiments are presented to serve as an argument in favor of existence of qualia along with Dennett's reaction to these thought experiments. After that, Dennett's criticism of qualia as immediately apprehensible, ineffable, intrinsic and private properties of conscious mental states is introduced while one of the most common objections to this criticism is emphasized - Dennett's conception of qualia is too narrow and we can preserve it in a moderate way. Subsequently, the thesis outlines such a modest concept - the concept of phenomenal consciousness. This thesis attempts to show that there is no place for phenomenal consciousness in Dennett's heterophenomenology and Multiple Drafts model and that Dennett is as skeptical about this term as he is about the notion of qualia. In the end, the thesis asks the question whether it is really necessary to give up the concept of phenomenal consciousness if we want to study consciousness scientifically - from the third-person point of view.

The thesis presents a two pronged approach for predicting aerodynamics of air- foils/wings in the vicinity of the ground. The first approach is effectively a model for ground effect studies, employing an inexpensive Discrete Vortex Method for the 2D pre- dictions and the well known Numerical lifting line theory for the 3D predictions. The second one pertains to the dynamic ground effect analysis which employs the state of the art moving mesh methodology based time accurate CFD. In that sense, the thesis deals with two ends of spectrum in the ground effect analysis; one, a model to be used in the concept design phase and the other an advanced CFD tool for analysis. The proposed model for ground effect studies is based on the well known Discrete Vortex Method (DVM). An important aspect of this method is that it employs what is referred to as the Generalized Kutta Joukowski Theorem (GKJ), meant for interaction problems with multiple vortices, for predicting the lift (and drag) within a potential flow framework. After ascertaining the correctness of using the GKJ theorem for lift prediction for airfoils in ground effect, a modified DVM is presented as a model for ground effect predictions. As per this model, knowing the free stream lift and drag (either from an ex- periment or from a RANS computation) the aerodynamics of the section in ground effect can be predicted. The model is effectively built by constraining the DVM to produce the reference lift/drag in the free stream. The accuracy of the model, particularly for the more relevant high lift sections used during take-off and landing, is systematically estab- lished for a number of test cases. Knowing the sectional ground effect, the extension to 3D analysis is very simple and this is achieved through the well known Numerical Lifting Line theory. The efficacy of the proposed method for the 3D applications is demonstrated using a high lift wing in ground effect. It is worth noting that the proposed model predicts the lift and drag very accurately, practically at no computational cost as compared to modern RANS based CFD tools requiring over 40 or 50 million volumes at a high computational cost and intense human intervention for generating the grids for every ground clearance. The other aspect of the thesis pertains to what is referred to as the Dynamic Ground Effect. Normally the CFD computations mimic the ground effect experiments in simulat- ing the ground effect. These simulations do not maintain geometric similarity with the actual landing or take-off sequence of the aircrafts and this can only be achieved when the simulations are dynamic. Dynamics is also important in case of combat aircrafts (particularly their naval versions) with an aggressive landing and take-off. The dynamic ground effect simulations also provides a framework for simulating varied gust conditions. This dynamic simulation of the ground effect is accomplished using a novel sinking grid methodology, which allows the grids to sink in the ground as the aircraft approaches the ground along the glide path. These simulations make use of the state of the art, time accurate moving grid methods and therefore can be computationally expensive. Never- theless, the utility of such computations in terms of their ability to produce continuous data has been highlighted in the thesis. In that sense, these dynamic computations will be cheaper as compared to the static simulations to produce data at the same level of resolution.

This thesis deals with the MIMO system analysis, with a comparison of a different frequency charactersitics, and including singular values characteristic. The H2 and H norms are defined for signals and a MIMO systems. A MIMO optimal control using an LQG, an H2 and an H control is defined and described. Their general advantages, disadvantages and similarities are summed up. An H2 and an H state controller and state observer synthesis is implemented in a MATLAB using linear matrix inequalities. Control of an inverted pendulum is designed using the H optimal cascade control, the H2 state control and the H state control. The results are compared with each other. The theoretical possibility of same H2 and H optimal state controller design is presented.

Ziel der Arbeit ist die anschauliche Demonstration der Leistungsfähigkeit von Hardware- Systemen zur Regelung instabiler Systeme am Beispiel des Inversen Pendels. Dabei handelt es sich um das Balancieren eines Stabes, einem Standard-Problem der Regelungstechnik. Es wird die Konzeption und Implementierung einer Hardware-Regelung in einem FPGA-Prototypenboard zur Realisierung dieser Aufgabe beschrieben. Die Regelung basiert mit LQR-Entwurf und Kalman-Filter auf klassischen Methoden der Regelungstechnik. Zur Demonstration der Regelung wurde ein mechanischer Aufbau vorgenommen, an dem die Funktionsfähigkeit des Inversen Pendels praktisch gezeigt wurde.:1 Einleitung 11 1.1 Motivation.................................... 11 1.2 Analyse der Aufgabenstellung ......................... 11 1.3 Gliederung der Arbeit ............................. 12 2 Grundlagen 13 2.1 Referenzanwendung Inverses Pendel...................... 13 2.2 Aufbau des Regelsystems............................ 15 2.3 Verfahren zum Reglerentwurf ......................... 19 2.4 Verfahren zur Zustandsschätzung ....................... 22 2.5 Sensorik..................................... 26 2.6 Antrieb ..................................... 28 3 Inverse Pendel im Vergleich 33 3.1 Bauformen.................................... 33 3.2 Realisierungsbeispiele.............................. 34 3.3 Fazit der Recherche............................... 39 4 Elektromechanischer Aufbau 41 4.1 Mechanik .................................... 42 4.2 Sensorik..................................... 42 4.3 Antrieb ..................................... 44 4.4 FPGA-Board .................................. 47 5 Modellbildung 48 5.1 Herleitung der Systemgleichungen....................... 48 5.2 Anpassung an den Schrittmotor ........................ 51 5.3 Linearisiertes Modell im Zustandsraum.................... 51 5.4 Analyse der Modelleigenschaften........................ 52 6 Reglerentwurf 56 6.1 Einstellung des LQ-Reglers........................... 56 6.2 Einstellung des Kalman-Filters ........................ 57 6.3 Aufschwing- und Fangalgorithmus....................... 58 6.4 Simulation.................................... 60 6.5 Konsequenzen für die Realisierung....................... 63 7 Implementierung 65 7.1 Besonderheiten des Hardware-Entwurfs.................... 65 7.2 Systempartitionierung und Entwurfsstrategie . . . . . . . . . . . . . . . . . 66 7.3 Teilkomponenten ................................ 67 7.4 Modifizierung des Kalman-Filters ....................... 72 7.5 Probleme .................................... 78 8 Schluss 80 8.1 Zusammenfassung................................ 80 8.2 Ergebnisse.................................... 80 8.3 Ausblick..................................... 82 Literaturverzeichnis 84 A Details zum Projekt 87 A.1 Kurzdokumentation .............................. 87 A.2 Datei- und Verzeichnisstruktur......................... 88 A.3 Simulationsresultate .............................. 89

Szenarien mit Blended-Learning-Charakter sind Alltag an deutschen Hochschulen: Insbesondere durch die Verbreitung von Learning-Management- Systemen, in Sachsen namentlich „OPAL“, können Lehrveranstaltungen über die Präsenzveranstaltungen hinaus in nahezu allen Fachbereichen um computergestützte Lerneinheiten ergänzt werden. Nach der Etablierung von Web Based Trainings als typische digitale Ergänzungsmodule streben einige didaktische Konzepte die verstärkte Abstimmung von Präsenz- und Onlinephase an. In der jüngeren Zeit wurde vor allem die Idee des Flipped Classroom (auch Inverted Classroom genannt) diskutiert. Hierbei wird die traditionelle Aufteilung der Lehr-Lern-Aktivitäten, bei der die Wissensvermittlung in den Präsenzveranstaltungen und die Vertiefung des Gelernten in Übungen zu Hause stattfinden, vertauscht. Stattdessen erwerben die Studierenden das nötige Wissen online und im Vorfeld der Präsenzphase, in der dann mithilfe komplexer Beispiele und unter aktiver Einbeziehung der Studierenden das Verständnis gefestigt und durch den Lehrenden unterstützt angewendet werden kann. Auch die Großveranstaltung „Grundlagen der Wirtschaftsinformatik“ (GWI) an der TU Chemnitz soll im Übungsbetrieb durch ein Flipped-Classroom-Konzept verbessert werden. Hierfür werden bestehende Aufgaben mithilfe einer Fachlandkarte und der Bewertung der jeweiligen Lehrziele zu einem Online-Materialien-Pool aufgebaut. Die Präsenzphase soll zur stärkeren Einbeziehung der Studierenden in Form eines aktiven Plenums abgehalten werden.

Den Kern der vorliegenden Arbeit bilden sog. sensorgeführte Roboterbewegungen, d. h. die Nutzung von Informationen externer Sensoren zur Regelung des Roboters. Da gängige Industrierobotersysteme üblicherweise positionsgeregelt sind und seitens der Robotersteuerung lediglich der Zugriff zu den Sollwerten der Lageregelkreise erlaubt wird, kann auch der Regelkreis der sensorgeführten Roboterbewegung nur über den Lageregelkreis geschlossen werden. Aus diesem Grunde werden hier nur positionsbasierte Regelungsansätze verfolgt. Die Kraft-/ Momentregelung gilt als eine der wichtigsten Varianten sensorgeführter Roboterbewegungen. Dementsprechend widmet sich auch ein großer Teil dieser Arbeit dem Thema, mit dem Ziel durch innovative und übersichtliche Regelalgorithmen die Akzeptanz der Kraft-/ Momentregelung in industriellen Produktionsprozessen zu erhöhen. Beginnend mit der eindimensionalen Kraftregelung führt der Weg dabei über Konzepte zur Konturenverfolgung und kraft-/ momentgeregelten Montageaufgaben hin zur Kooperation von Robotern. In einem weiteren Teil wird ein Konzept zur Kollisionsvermeidung zwischen Robotern und Hindernissen präsentiert. Es basiert auf dem Ansatz der virtuellen Potential- bzw. Kraftfelder. Dabei ruft das künstliche Feld eine Bewegung des Roboters hervor, die vom Hindernis weg führt. Um das Feld zu erzeugen, wird die Methode der künstlichen Punktladungen entwickelt. Diese werden auf der Oberfläche eines Hindernisses platziert und generieren dann das virtuelle Kraftfeld. Die Platzierung kann z. B. mithilfe der CAD-Daten des Hindernisses erfolgen. Bei bewegten Objekten müssen alle Ladungspositionen ständig aktualisiert werden. Für Lehr- und Präsentationszwecke ist das sog. inverse Pendel eine oft genutzte Regelstrecke. Sein Aufrichten und Stabilisieren ist auch mit Hilfe eines Industrieroboters möglich. Dazu beschäftigt sich ein Kapitel dieser Arbeit mit Fragen zur Modellbildung der Kombination inverses Pendel und Industrieroboter und mit Regelungskonzepten für das Aufschwingen und Balancieren. Letztendlichen wird in diesem Zusammenhang noch ein Visual-Servoing System präsentiert, dass den Neigungswinkel des Pendels mit einer Kamera bestimmt. Alle hier vorgestellten Konzepte und Algorithmen werden Anhand von praktischen Experimenten verifiziert. / This work deals with so-called sensor guided robot motions, which means using the data of external sensors to control the robot. The control loop of the sensor guided robot motion can be only closed around the position control loop, because industrial robot systems usually work position controlled and only access to the desired positions is enabled. For this reason here only position based control approaches are regarded. Force/torque control is a very important type of sensor guided robot motions. According to this, a good portion of this work deals with the subject of force/torque control. Thus, the acceptance of force/torque control in industrial production processes should be increased, by using innovative and clear control algorithms. For this purpose force control in one degree of freedom, contour-following, force/torque controlled assembling tasks and the cooperation between robots are discussed here in different chapters. Thereafter, a concept to collision avoidance between robots and obstacles is presented. It uses the approach of virtual potential/force fields. In this case the artificial field induces a robot motion away from the obstacle. The method of artificial charges is developed to generate this field. For this purpose virtual charges are placed on the surface of the obstacles. Placing of the charges can be performed using e.g. CAD data of the obstacles. Having moving obstacles charge positions must be updated continuously. The inverted pendulum is commonly used teaching students in control theory. The swinging up and the stabilization of the pendulum also can be performed by an industrial robot. One chapter of this work deals with modelling of the robot mounted inverted pendulum and control algorithms for its swinging up and its stabilization. Finally, in combination with the inverted pendulum a visual-servoing system is presented, which measures the pendulum inclination angle by camera. All concepts introduced in this work are verified by practical experiments.

No description available.

<p>Convolutional Neural Networks have come a long way since  AlexNet. Each year the limits of the state of the art are being pushed to new  levels. EfficientNet pushed the performance metrics to a new high and EfficientNetV2 even more so. Even so, architectures for mobile applications can benefit from improved accuracy and reduced model footprint. The classic Inverted Residual block has been the foundation upon which most mobile networks seek to improve. EfficientNet architecture is built using the same Inverted Residual block. In this paper we experiment with Harmonious Bottlenecks in  place of the Inverted Residuals to observe a reduction in the number of parameters and improvement in accuracy. The designed network is then deployed on the NXP i.MX 8M Mini board for Image classification.</p>

Aim of this thesis is building of a simulator model of a rotary (Furuta) pendulum and design of appropriate regulators. This paper describes assembly of a nonlinear simulator model, using Matlab–Simulink and its library Simscape–Simmechanics. Furthermore the paper discuss linear discrete model obtained from the system response, using least squares method. This linear model serves as aproximation of the system for designing of two linear discrete state space regulators with sumator. These regulators are supported by a simple swing–up regulator and logics managing cooperation.

Geologic mapping in the Phil Pico Mountain quadrangle and analysis of the Carter Oil Company Carson Peak Unit 1 well have provided additional constraints on the erosional and uplift history of this section of the north flank of the Uinta Mountains. Phil Pico Mountain is largely composed of the conglomeratic facies of the early Eocene Wasatch and middle to late Eocene Bridger Formations. These formations are separated by the Henrys Fork fault which has thrust Wasatch Formation next to Bridger Formation. The Wasatch Formation is clearly synorogenic and contains an unroofing succession from the adjacent Uinta Mountains. On Phil Pico Mountain, the Wasatch Formation contains clasts eroded sequentially from the Permian Park City Formation, Permian Pennsylvanian Weber Sandstone, Pennsylvanian Morgan Formation, and the Pennsylvanian Round Valley and Mississippian Madison Limestones. Renewed uplift in the middle and late Eocene led to the erosion of Wasatch Formation and its redeposition as Bridger Formation on the down-thrown footwall of the Henrys Fork fault. Field observations and analysis of the cuttings and lithology log from Carson Peak Unit 1 well suggest that initial uplift along the Henrys Fork Fault occurred in the late early or early middle Eocene with the most active periods of uplift in the middle and late Eocene (Figure 8, Figure 24, Appendix 1). The approximate post-Paleocene throw of the Henrys Fork fault at Phil Pico Mountain is 2070 m (6800 ft). The Carson Peak Unit 1 well also reveals that just north of the Henrys Fork fault at Phil Pico Mountain the Bridger Formation (middle to late Eocene) is 520 m (1710 ft) thick; an additional 460 m (1500 ft) of Bridger Formation lies above the well on Phil Pico Mountain. Beneath the Bridger Formation are 400 m (1180 ft) of Green River Formation (early to middle Eocene), 1520 m (5010 ft) of Wasatch Formation (early Eocene), and 850 m (2800 ft) of the Fort Union Formation (Paleocene). Stratigraphic data from three sections located east to west across the Phil Pico Mountain quadrangle show that the Protero-zoic Red Pine Shale has substantially more sandstone and less shale in the eastern section of the quadrangle. Field observations suggest that the Red Pine Shale undergoes a facies change across the quadrangle. However, due to the lack of continuous stratigraphic exposures, the cause of this change is not known.