@inproceedings{ChajanSchulteTiggesRekeetal.2021, author = {Chajan, Eduard and Schulte-Tigges, Joschua and Reke, Michael and Ferrein, Alexander and Matheis, Dominik and Walter, Thomas}, title = {GPU based model-predictive path control for self-driving vehicles}, series = {IEEE Intelligent Vehicles Symposium (IV)}, booktitle = {IEEE Intelligent Vehicles Symposium (IV)}, publisher = {IEEE}, isbn = {978-1-7281-5394-0}, doi = {10.1109/IV48863.2021.9575619}, pages = {1243 -- 1248}, year = {2021}, abstract = {One central challenge for self-driving cars is a proper path-planning. Once a trajectory has been found, the next challenge is to accurately and safely follow the precalculated path. The model-predictive controller (MPC) is a common approach for the lateral control of autonomous vehicles. The MPC uses a vehicle dynamics model to predict the future states of the vehicle for a given prediction horizon. However, in order to achieve real-time path control, the computational load is usually large, which leads to short prediction horizons. To deal with the computational load, the control algorithm can be parallelized on the graphics processing unit (GPU). In contrast to the widely used stochastic methods, in this paper we propose a deterministic approach based on grid search. Our approach focuses on systematically discovering the search area with different levels of granularity. To achieve this, we split the optimization algorithm into multiple iterations. The best sequence of each iteration is then used as an initial solution to the next iteration. The granularity increases, resulting in smooth and predictable steering angle sequences. We present a novel GPU-based algorithm and show its accuracy and realtime abilities with a number of real-world experiments.}, language = {en} } @inproceedings{HueningWacheMagiera2021, author = {H{\"u}ning, Felix and Wache, Franz-Josef and Magiera, David}, title = {Redundant bus systems using dual-mode radio}, series = {Proceedings of Sixth International Congress on Information and Communication Technology}, booktitle = {Proceedings of Sixth International Congress on Information and Communication Technology}, publisher = {Springer}, address = {Singapore}, isbn = {978-981-16-2379-0}, doi = {10.1007/978-981-16-2380-6_73}, pages = {835 -- 842}, year = {2021}, abstract = {Communication via serial bus systems, like CAN, plays an important role for all kinds of embedded electronic and mechatronic systems. To cope up with the requirements for functional safety of safety-critical applications, there is a need to enhance the safety features of the communication systems. One measure to achieve a more robust communication is to add redundant data transmission path to the applications. In general, the communication of real-time embedded systems like automotive applications is tethered, and the redundant data transmission lines are also tethered, increasing the size of the wiring harness and the weight of the system. A radio link is preferred as a redundant transmission line as it uses a complementary transmission medium compared to the wired solution and in addition reduces wiring harness size and weight. Standard wireless links like Wi-Fi or Bluetooth cannot meet the requirements for real-time capability with regard to bus communication. Using the new dual-mode radio enables a redundant transmission line meeting all requirements with regard to real-time capability, robustness and transparency for the data bus. In addition, it provides a complementary transmission medium with regard to commonly used tethered links. A CAN bus system is used to demonstrate the redundant data transfer via tethered and wireless CAN.}, language = {en} } @inproceedings{HueningStuettgen2021, author = {H{\"u}ning, Felix and St{\"u}ttgen, Marcel}, title = {Work in Progress: Interdisciplinary projects in times of COVID-19 crisis - challenges, risks and chances}, series = {2021 IEEE Global Engineering Education Conference (EDUCON)}, booktitle = {2021 IEEE Global Engineering Education Conference (EDUCON)}, doi = {10.1109/EDUCON46332.2021.9454006}, pages = {1175 -- 1179}, year = {2021}, language = {en} } @inproceedings{HoegenDonckerBragardetal.2021, author = {Hoegen, Anne von and Doncker, Rik W. De and Bragard, Michael and Hoegen, Svenja von}, title = {Problem-Based Learning in Automation Engineering: Performing a Remote Laboratory Session Serving Various Educational Attainments}, series = {2021 IEEE Global Engineering Education Conference (EDUCON)}, booktitle = {2021 IEEE Global Engineering Education Conference (EDUCON)}, doi = {10.1109/EDUCON46332.2021.9453925}, pages = {1605 -- 1614}, year = {2021}, language = {en} } @inproceedings{FerreinMeessenLimpertetal.2021, author = {Ferrein, Alexander and Meeßen, Marcus and Limpert, Nicolas and Schiffer, Stefan}, title = {Compiling ROS Schooling Curricula via Contentual Taxonomies}, series = {Robotics in Education}, booktitle = {Robotics in Education}, editor = {Lepuschitz, Wilfried}, publisher = {Springer}, address = {Cham}, isbn = {978-3-030-67411-3}, doi = {10.1007/978-3-030-67411-3_5}, pages = {49 -- 60}, year = {2021}, language = {en} } @inproceedings{HeuermannHarzheimMuehmel2021, author = {Heuermann, Holger and Harzheim, Thomas and M{\"u}hmel, Marc}, title = {A maritime harmonic radar search and rescue system using passive and active tags}, series = {2020 17th European Radar Conference (EuRAD)}, booktitle = {2020 17th European Radar Conference (EuRAD)}, publisher = {IEEE}, isbn = {978-2-87487-061-3}, doi = {10.1109/EuRAD48048.2021.00030}, pages = {73 -- 76}, year = {2021}, language = {en} } @inproceedings{HoegenDonckerRuetters2020, author = {Hoegen, Anne von and Doncker, Rik W. De and R{\"u}tters, Ren{\´e}}, title = {Teaching Digital Control of Operational Amplifier Processes with a LabVIEW Interface and Embedded Hardware}, series = {The 23rd International Conference on Electrical Machines and Systems (ICEMS), Hamamatsu, Japan}, booktitle = {The 23rd International Conference on Electrical Machines and Systems (ICEMS), Hamamatsu, Japan}, doi = {10.23919/ICEMS50442.2020.9290928}, pages = {1117 -- 1122}, year = {2020}, language = {en} } @inproceedings{HofmannLimpertMatareetal.2019, author = {Hofmann, Till and Limpert, Nicolas and Matar{\´e}, Viktor and Ferrein, Alexander and Lakemeyer, Gerhard}, title = {Winning the RoboCup Logistics League with Fast Navigation, Precise Manipulation, and Robust Goal Reasoning}, series = {RoboCup 2019: Robot World Cup XXIII. RoboCup}, booktitle = {RoboCup 2019: Robot World Cup XXIII. RoboCup}, publisher = {Springer}, address = {Cham}, isbn = {978-3-030-35699-6}, doi = {10.1007/978-3-030-35699-6_41}, pages = {504 -- 516}, year = {2019}, language = {en} } @inproceedings{EltesterFerreinSchiffer2020, author = {Eltester, Niklas Sebastian and Ferrein, Alexander and Schiffer, Stefan}, title = {A smart factory setup based on the RoboCup logistics league}, series = {2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS)}, booktitle = {2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS)}, publisher = {IEEE}, doi = {10.1109/ICPS48405.2020.9274766}, pages = {297 -- 302}, year = {2020}, abstract = {In this paper we present SMART-FACTORY, a setup for a research and teaching facility in industrial robotics that is based on the RoboCup Logistics League. It is driven by the need for developing and applying solutions for digital production. Digitization receives constantly increasing attention in many areas, especially in industry. The common theme is to make things smart by using intelligent computer technology. Especially in the last decade there have been many attempts to improve existing processes in factories, for example, in production logistics, also with deploying cyber-physical systems. An initiative that explores challenges and opportunities for robots in such a setting is the RoboCup Logistics League. Since its foundation in 2012 it is an international effort for research and education in an intra-warehouse logistics scenario. During seven years of competition a lot of knowledge and experience regarding autonomous robots was gained. This knowledge and experience shall provide the basis for further research in challenges of future production. The focus of our SMART-FACTORY is to create a stimulating environment for research on logistics robotics, for teaching activities in computer science and electrical engineering programmes as well as for industrial users to study and explore the feasibility of future technologies. Building on a very successful history in the RoboCup Logistics League we aim to provide stakeholders with a dedicated facility oriented at their individual needs.}, language = {en} } @inproceedings{KirschMatareFerreinetal.2020, author = {Kirsch, Maximilian and Matar{\´e}, Victor and Ferrein, Alexander and Schiffer, Stefan}, title = {Integrating golog++ and ROS for Practical and Portable High-level Control}, series = {12th International Conference on Agents and Artificial Intelligence}, booktitle = {12th International Conference on Agents and Artificial Intelligence}, doi = {10.5220/0008984406920699}, year = {2020}, language = {en} }