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Feature-Based Proposal Density Optimization for Nonlinear Model Predictive Path Integral Control
No full textThis paper presents a novel feature-based sampling strategy for nonlinear Model Predictive Path Integral (MPPI) control. In MPPI control, the optimal control is calculated by solving a stochastic optimal control problem online using the weighted inference of stochastic trajectories. While the algorithm can be excellently parallelized the closed- loop performance is dependent on the information quality of the drawn samples. Because these samples are drawn using a proposal density, its quality is crucial for the solver and thus the controller performance. In classical MPPI control, the explored state-space is strongly constrained by assumptions that refer to the control value variance, which are necessary for transforming the Hamilton-Jacobi-Bellman (HJB) equation into a linear second-order partial differential equation. To achieve excellent performance even with discontinuous cost-functions, in this novel approach, knowledge-based features are used to determine the proposal density and thus, the region of state- space for exploration. This paper addresses the question of how the performance of the MPPI algorithm can be improved using a feature-based mixture of base densities. Further, the developed algorithm is applied on an autonomous vessel that follows a track and concurrently avoids collisions using an emergency braking feature
Unternehmenskultur
No full textUnternehmenskultur als die zentrale informeller Steuerungsgröße von Organisationen spielt insbesondere bei der Verankerung ethischer Werte und Prinzipien in Unternehmen eine unverzichtbare Rolle. Warum dies so ist und welchen konkreten Beitrag eine bewusste Kulturentwicklung im Kontext angewandter Unternehmensethik leisten kann, ist Gegenstand des Artikels
Unternehmensberatung
No full textIm Kapitel "Unternehmensberatung" geht es um die Themen, inhaltlichen Schwerpunkte und möglichen Ansätze von Beratungsdienstleistungen im Kontext heutiger angewandter Unternehmensethik. Von der Gestaltung einer Unternehmenskultur der Integrität zur Prävention von Wirtschaftskriminalität bis zur Entwicklung eines ganzheitlichen unternehmerischen Verantwortungsmanagements, das neben Nachhaltigkeitsaspekten auch einen ethisch reflektierten Umgang mit Digitalisierung und KI umfasst
IT-Compliance in KMU – Experteninterviews zum Status quo
Get PDFDie digitale Transformation von Geschäftsprozessen und die stärkere Einbindung von IT-Systemen erzeugen bei kleinen und mittelständischen Unternehmen (KMU) Chancen und Risiken zugleich. Risiken, die insbesondere in einer fehlenden IT-Compliance resultieren können. Wie Studien zeigen, sind KMU in Bezug auf IT-Compliance-Maßnahmen im Vergleich zu kapitalmarktorientierten Unternehmen jedoch im Rückstand [1]. Im Beitrag wird mithilfe von Experteninterviews und einer qualitativen Datenanalyse der Frage nachgegangen, welcher Status quo an Maßnahmen aktuell implementiert und wie der empfundene Compliance-Reifegrad ist. Weiterhin werden die Gründe und Motive erörtert, die zu diesem Zustand geführt haben. Letztlich sind Treiber identifiziert worden, die zu einem höheren Bewusstsein in der Zukunft führen können. Die Arbeit zeigt interessante Erkenntnisse aus der Praxis, da die Experteninterviews Einblicke in den aktuellen Status quo in Bezug auf IT-Compliance liefern
Estimation of Sleep Stages Analyzing Respiratory and Movement Signals
No full textThe scoring of sleep stages is an essential part of sleep studies. The main objective of this research is to provide an algorithm for the automatic classification of sleep stages using signals that may be obtained in a non-obtrusive way. After reviewing the relevant research, the authors selected a multinomial logistic regression as the basis for their approach. Several parameters were derived from movement and breathing signals, and their combinations were investigated to develop an accurate and stable algorithm. The algorithm was implemented to produce successful results: the accuracy of the recognition of Wake/NREM/REM stages is equal to 73%, with Cohen's kappa of 0.44 for the analyzed 19324 sleep epochs of 30 seconds each. This approach has the advantage of using the only movement and breathing signals, which can be recorded with less effort than heart or brainwave signals, and requiring only four derived parameters for the calculations. Therefore, the new system is a significant improvement for non-obtrusive sleep stage identification compared to existing approaches
Managers as knowledge carriers – Explaining firms’ internationalization success with manager mobility
No full textWhile managerial mobility is ubiquitously seen as an integral part of the success in firms’ internationalization, discerning its empirical merits has been impaired by the paucity of quasi-experimental evidence, or adequate instrumental variables. To overcome these objective limitations, this paper proposes a novel identification strategy, which uses a control function based on on-the-job search theory to correct estimates for the presence of self-selected mobility flows. Our analysis confirms the finding that managers’ specific market experience matters for firms’ internationalization, especially when it derives from longer tenures at the former jobs.
Regarding the attributes of managerial knowledge, our results reveal that on-the-job earned experience is at least as effective for firms’ internationalization as in born knowledge (i.e. origins) and that managers’ personal network of customers is an important asset in managers’ fund of expertise for the expansion into new markets
Concatenated Codes Based on the Plotkin Construction and Their Soft-Input Decoding
No full textReed-Muller (RM) codes have recently regained some interest in the context of low latency communications and due to their relation to polar codes. RM codes can be constructed based on the Plotkin construction. In this work, we consider concatenated codes based on the Plotkin construction, where extended Bose-Chaudhuri-Hocquenghem (BCH) codes are used as component codes. This leads to improved code parameters compared to RM codes. Moreover, this construction is more flexible concerning the attainable code rates. Additionally, new soft-input decoding algorithms are proposed that exploit the recursive structure of the concatenation and the cyclic structure of the component codes. First, we consider the decoding of the cyclic component codes and propose a low complexity hybrid ordered statistics decoding algorithm. Next, this algorithm is applied to list decoding of the Plotkin construction. The proposed list decoding approach achieves near-maximum-likelihood performance for codes with medium lengths. The performance is comparable to state-of-the-art decoders, whereas the complexity is reduced
