Design and analysis of robust controllers for directional drilling tools

Directional drilling is a very important tool for the development of oil and gas deposits. Attitude control which enables directional drilling for the efficient placement of the directional drilling tools in petroleum producing zones is reviewed along with the various engineering requirements or constraints. This thesis explores a multivariable attitude governing plant model as formulated in Panchal et al. (2010) which is used for developing robust control techniques. An inherent input and measurement delay which accounts for the plant's dead-time is included in the design of the controllers. A Smith Predictor controller is developed for reducing the effect of this dead-time. The developed controllers are compared for performance and robustness using structured singular value analysis and also for their performance indicated by the transient response of the closed loop models. Results for the transient non-linear simulation of the proposed controllers are also presented. The results obtained indicate that the objectives are satisfactorily achieved

3rd Many-core Applications Research Community (MARC) Symposium. (KIT Scientific Reports ; 7598)

This manuscript includes recent scientific work regarding the Intel Single Chip Cloud computer and describes approaches for novel approaches for programming and run-time organization

Emerging research directions in computer science : contributions from the young informatics faculty in Karlsruhe

In order to build better human-friendly human-computer interfaces, such interfaces need to be enabled with capabilities to perceive the user, his location, identity, activities and in particular his interaction with others and the machine. Only with these perception capabilities can smart systems ( for example human-friendly robots or smart environments) become posssible. In my research I\u27m thus focusing on the development of novel techniques for the visual perception of humans and their activities, in order to facilitate perceptive multimodal interfaces, humanoid robots and smart environments. My work includes research on person tracking, person identication, recognition of pointing gestures, estimation of head orientation and focus of attention, as well as audio-visual scene and activity analysis. Application areas are humanfriendly humanoid robots, smart environments, content-based image and video analysis, as well as safety- and security-related applications. This article gives a brief overview of my ongoing research activities in these areas

The augmented tonoscope towards a deeper understanding of the interplay between sound and image in visual music

This thesis presents the theoretical, technical and aesthetic concerns in realising a harmonic complementarity and more intimate perceptual connection between music and moving image. It explores the inspirations and various processes involved in creating a series of artistic works - attached as a portfolio and produced as the research. This includes the Cymatic Adufe (v1.1) - a sound-responsive, audiovisual installation; Stravinsky Rose (v2.0) - an audiovisual short in Dome format; and the live performance works of Whitney Triptych (v1.2), Moiré Modes (v1.1) and Stravinsky Rose (v3.0). The thesis outlines an approach towards realising a deeper understanding of the interplay between sound and image in Visual Music - through applying: the Differential Dynamics of pioneering, computer-aided, experimental animator John Whitney Sr.; alternate musical tunings based on harmonic consonance and the Pythagorean laws of harmony; and sound’s ability to induce physical form and flow via Cymatics - the study of wave phenomena and vibration - a term coined by Dr. Hans Jenny for his seminal research into these effects in the 1960s and 70s, using a device of his own design - the ʻtonoscopeʼ. The thesis discusses the key method for this artistic investigation through the design, fabrication and crafting of a hybrid analogue/digital audiovisual instrument - a contemporary version of Jenny’s sound visualisation tool - The Augmented Tonoscope. It details the developmental process which has realised a modular performance system integrating sound making, sound analysis, analogue outputs, virtual systems, musical interface and recording and sequencing. Finally, the thesis details the impact of this system on creating audiovisualisation of a distinct quality through: a formalist, minimal, decluttered aesthetic; a direct, elemental and real-time correspondence between sound and image; a mirroring of music’s innate movement and transition within the visual domain; and an underlying concord or harmony between music and moving image

Embodied interaction with guitars: instruments, embodied practices and ecologies

In this thesis I investigate the embodied performance preparation practices of guitarists to design and develop tools to support them. To do so, I employ a series of human-centred design methodologies such as design ethnography, participatory design, and soma design. The initial ethnographic study I conducted involved observing guitarists preparing to perform individually and with their bands in their habitual places of practice. I also interviewed these musicians on their preparation activities. Findings of this study allowed me to chart an ecology of tools and resources employed in the process, as well as pinpoint a series of design opportunities for augmenting guitars, namely supporting (1) encumbered interactions, (2) contextual interactions, and (3) connected interactions. Going forward with the design process I focused on remediating encumbered interactions that emerge during performance preparation with multimedia devices, particularly during instrumental transcription. I then prepared and ran a series of hands-on co-design workshops with guitarists to discuss five media controller prototypes, namely, instrument-mounted controls, pedal-based controls, voice-based controls, gesture-based controls, and “music-based” controls. This study highlighted the value that guitarists give to their guitars and to their existing practice spaces, tools, and resources by critically reflecting on how these interaction modalities would support or disturb their existing embodied preparation practices with the instrument. In parallel with this study, I had the opportunity to participate in a soma design workshop (and then prepare my own) in which I harnessed my first-person perspective of guitar playing to guide the design process. By exploring a series of embodied ideation and somatic methods, as well as materials and sensors across several points of contact between our bodies and the guitar, we collaboratively ideated a series of design concepts for guitar across both workshops, such as a series of breathing guitars, stretchy straps, and soft pedals. I then continued to develop and refine the Stretchy Strap concept into a guitar strap augmented with electronic textile stretch sensors to harness it as an embodied media controller to remediate encumbered interaction during musical transcription with guitar when using secondary multimedia resources. The device was subsequently evaluated by guitarists at a home practicing space, providing insights on nuanced aspects of its embodied use, such as how certain media control actions like play and pause are better supported by the bodily gestures enacted with the strap, whilst other actions, like rewinding the play back or setting in and out points for a loop are better supported by existing peripherals like keyboards and mice, as these activities do not necessarily happen in the flow of the embodied practice of musical transcription. Reflecting on the overall design process, a series of considerations are extracted for designing embodied interactions with guitars, namely, (1) considering the instrument and its potential for augmentation, i.e., considering the shape of the guitar, its material and its cultural identity, (2) considering the embodied practices with the instrument, i.e., the body and the subjective felt experience of the guitarist during their skilled embodied practices with the instrument and how these determine its expert use according to a particular instrumental tradition and/or musical practice, and (3) considering the practice ecology of the guitarist, i.e., the tools, resources, and spaces they use according to their practice

Embodied interaction with guitars: instruments, embodied practices and ecologies

In this thesis I investigate the embodied performance preparation practices of guitarists to design and develop tools to support them. To do so, I employ a series of human-centred design methodologies such as design ethnography, participatory design, and soma design. The initial ethnographic study I conducted involved observing guitarists preparing to perform individually and with their bands in their habitual places of practice. I also interviewed these musicians on their preparation activities. Findings of this study allowed me to chart an ecology of tools and resources employed in the process, as well as pinpoint a series of design opportunities for augmenting guitars, namely supporting (1) encumbered interactions, (2) contextual interactions, and (3) connected interactions. Going forward with the design process I focused on remediating encumbered interactions that emerge during performance preparation with multimedia devices, particularly during instrumental transcription. I then prepared and ran a series of hands-on co-design workshops with guitarists to discuss five media controller prototypes, namely, instrument-mounted controls, pedal-based controls, voice-based controls, gesture-based controls, and “music-based” controls. This study highlighted the value that guitarists give to their guitars and to their existing practice spaces, tools, and resources by critically reflecting on how these interaction modalities would support or disturb their existing embodied preparation practices with the instrument. In parallel with this study, I had the opportunity to participate in a soma design workshop (and then prepare my own) in which I harnessed my first-person perspective of guitar playing to guide the design process. By exploring a series of embodied ideation and somatic methods, as well as materials and sensors across several points of contact between our bodies and the guitar, we collaboratively ideated a series of design concepts for guitar across both workshops, such as a series of breathing guitars, stretchy straps, and soft pedals. I then continued to develop and refine the Stretchy Strap concept into a guitar strap augmented with electronic textile stretch sensors to harness it as an embodied media controller to remediate encumbered interaction during musical transcription with guitar when using secondary multimedia resources. The device was subsequently evaluated by guitarists at a home practicing space, providing insights on nuanced aspects of its embodied use, such as how certain media control actions like play and pause are better supported by the bodily gestures enacted with the strap, whilst other actions, like rewinding the play back or setting in and out points for a loop are better supported by existing peripherals like keyboards and mice, as these activities do not necessarily happen in the flow of the embodied practice of musical transcription. Reflecting on the overall design process, a series of considerations are extracted for designing embodied interactions with guitars, namely, (1) considering the instrument and its potential for augmentation, i.e., considering the shape of the guitar, its material and its cultural identity, (2) considering the embodied practices with the instrument, i.e., the body and the subjective felt experience of the guitarist during their skilled embodied practices with the instrument and how these determine its expert use according to a particular instrumental tradition and/or musical practice, and (3) considering the practice ecology of the guitarist, i.e., the tools, resources, and spaces they use according to their practice