zwischenvortrag, polarpaper

diff --git a/.gitignore b/.gitignore
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+++ b/.gitignore
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+*.pdf
+*.toc
+*.aux
+*.bbl
+*.blg
+*.log
+*.nav
+*.out
+*.snm
+*.backup
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+*.toc

diff --git a/Zwischenvortrag/drehmessung.jpg b/Zwischenvortrag/drehmessung.jpg
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diff --git a/Zwischenvortrag/vortrag.kilepr b/Zwischenvortrag/vortrag.kilepr
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+[General]
+kileprversion=2
+kileversion=2.0.85
+name=Bachelorarbeit Zwischenvortrag

diff --git a/Zwischenvortrag/vortrag.tex b/Zwischenvortrag/vortrag.tex
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+%\documentclass[draft]{beamer}
+\documentclass{beamer}
+
+\usepackage[utf8]{inputenc}
+\usepackage[T1]{fontenc}
+\usepackage[ngerman]{babel}
+
+\usetheme{Boadilla}
+\usefonttheme{professionalfonts}
+\useinnertheme{circles}
+\useoutertheme[subsection=false,footline=empty]{miniframes}
+\setbeamertemplate{footline}[frame number]
+\usecolortheme{seahorse}
+
+\setbeamersize{text margin left=.7cm}
+\setbeamersize{text margin right=.7cm}
+
+\title{Fehlermodellierung eines autonomen, mobilen Roboters}
+\author{Roland Hieber}
+\date{\today}
+
+\begin{document}
+
+\begin{frame}
+\maketitle
+\end{frame}
+
+\begin{frame}{Inhalt}
+\tableofcontents
+\end{frame}
+
+\section{Motivation}
+\begin{frame}{Motivation}
+Die Odometrie eines mobilen Roboters ist ungenau:
+\begin{itemize}
+ \pause
+ \item Massenträgheit, Reibung
+ \pause
+ \item Beschränktheit der Sensoren
+ \pause
+ \item Implementierungsdetails der Steuerung (Timer, etc.)
+\end{itemize}
+\pause
+\begin{block}{Fragestellung}
+  \begin{itemize}
+   \pause
+   \item Wie groß ist die Ungenauigkeit?
+   \pause
+   \item Wie lässt sich die Genauigkeit verbessern?
+  \end{itemize}
+\end{block}
+
+
+\end{frame}
+
+\section{Reales Verhalten}
+\begin{frame}{Reales Verhalten}
+\begin{block}{Wir beschränken uns auf zwei Verhaltensweisen:}
+ \begin{itemize}
+  \pause
+  \item Drehen um die eigene Achse
+    \begin{center}
+      \includegraphics[width=0.4\textwidth]{drehmessung.jpg}
+    \end{center}
+  \pause
+  \item Fahren einer geraden Strecke
+ \end{itemize}
+\end{block}
+\end{frame}
+
+\begin{frame}{Messung des realen Verhaltens}
+\begin{enumerate}
+ \item Wert eingeben (Drehwinkel/Distanz, Geschwindigkeit)
+ \pause
+ \item Aktion ausführen (Drehen, Fahren)
+ \pause
+ \item Gemessenen Wert eingeben
+ \pause
+ \item Werte in ein Logfile schreiben
+ 
+\end{enumerate}
+\pause
+\begin{exampleblock}{}
+ $\Rightarrow$ Diagramme
+\end{exampleblock}
+\end{frame}
+
+\section{Ansätze zur Verbesserung}
+\begin{frame}{Ansätze zur Verbesserung}
+Vorerst zwei verschiedene Ansätze:
+\begin{itemize}
+ \item Mittelwertbildung aus Messdaten
+  \begin{enumerate}
+   \pause
+   \item Fit-Funktion finden
+   \pause
+   \item Anpassung der Eingabe
+  \end{enumerate}
+ \pause
+ \item Sanftes Anfahren
+\end{itemize}
+\pause
+\begin{exampleblock}{}
+ $\Rightarrow$ Diagramme
+\end{exampleblock}
+\pause
+\begin{block}{Aktuelles Ergebnis}
+ Fit-Funktion scheint sehr viel mehr zu bringen.
+\end{block}
+\end{frame}
+
+\section{Aussichten}
+\begin{frame}{Aussichten}
+Was ist noch zu tun?
+\begin{itemize}
+ \pause
+ \item Sanftes Anfahren und Mittelwertbildung kombinieren
+ \pause
+ \item Quadratische Fit-Funktion ausprobieren?
+ \pause
+ \item Gemeinsame Fit-Funktion für mehrere Bodenbeläge finden
+\end{itemize}
+\end{frame}
+
+\begin{frame}{Fragen?}
+\pause
+\begin{center}
+ Vielen Dank für eure Aufmerksamkeit!
+\end{center}
+
+\end{frame}
+
+\end{document}

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