@article{ThomessenThomaBraun2023, author = {Thomessen, Karolin and Thoma, Andreas and Braun, Carsten}, title = {Bio-inspired altitude changing extension to the 3DVFH* local obstacle avoidance algorithm}, series = {CEAS Aeronautical Journal}, journal = {CEAS Aeronautical Journal}, publisher = {Springer}, address = {Wien}, issn = {1869-5590 (Online)}, doi = {10.1007/s13272-023-00691-w}, pages = {11 Seiten}, year = {2023}, abstract = {Obstacle avoidance is critical for unmanned aerial vehicles (UAVs) operating autonomously. Obstacle avoidance algorithms either rely on global environment data or local sensor data. Local path planners react to unforeseen objects and plan purely on local sensor information. Similarly, animals need to find feasible paths based on local information about their surroundings. Therefore, their behavior is a valuable source of inspiration for path planning. Bumblebees tend to fly vertically over far-away obstacles and horizontally around close ones, implying two zones for different flight strategies depending on the distance to obstacles. This work enhances the local path planner 3DVFH* with this bio-inspired strategy. The algorithm alters the goal-driven function of the 3DVFH* to climb-preferring if obstacles are far away. Prior experiments with bumblebees led to two definitions of flight zone limits depending on the distance to obstacles, leading to two algorithm variants. Both variants reduce the probability of not reaching the goal of a 3DVFH* implementation in Matlab/Simulink. The best variant, 3DVFH*b-b, reduces this probability from 70.7 to 18.6\% in city-like worlds using a strong vertical evasion strategy. Energy consumption is higher, and flight paths are longer compared to the algorithm version with pronounced horizontal evasion tendency. A parameter study analyzes the effect of different weighting factors in the cost function. The best parameter combination shows a failure probability of 6.9\% in city-like worlds and reduces energy consumption by 28\%. Our findings demonstrate the potential of bio-inspired approaches for improving the performance of local path planning algorithms for UAV.}, language = {en} } @article{ThomaGardiFisheretal.2024, author = {Thoma, Andreas and Gardi, Alessandro and Fisher, Alex and Braun, Carsten}, title = {Improving local path planning for UAV flight in challenging environments by refining cost function weights}, series = {CEAS Aeronautical Journal}, journal = {CEAS Aeronautical Journal}, publisher = {Springer}, address = {Wien}, issn = {1869-5590 (eISSN)}, doi = {10.1007/s13272-024-00741-x}, pages = {12 Seiten}, year = {2024}, abstract = {Unmanned Aerial Vehicles (UAV) constantly gain in versatility. However, more reliable path planning algorithms are required until full autonomous UAV operation is possible. This work investigates the algorithm 3DVFH* and analyses its dependency on its cost function weights in 2400 environments. The analysis shows that the 3DVFH* can find a suitable path in every environment. However, a particular type of environment requires a specific choice of cost function weights. For minimal failure, probability interdependencies between the weights of the cost function have to be considered. This dependency reduces the number of control parameters and simplifies the usage of the 3DVFH*. Weights for costs associated with vertical evasion (pitch cost) and vicinity to obstacles (obstacle cost) have the highest influence on the failure probability of the local path planner. Environments with mainly very tall buildings (like large American city centres) require a preference for horizontal avoidance manoeuvres (achieved with high pitch cost weights). In contrast, environments with medium-to-low buildings (like European city centres) benefit from vertical avoidance manoeuvres (achieved with low pitch cost weights). The cost of the vicinity to obstacles also plays an essential role and must be chosen adequately for the environment. Choosing these two weights ideal is sufficient to reduce the failure probability below 10\%.}, language = {en} } @article{StollenwerkReinkensmeierGeorgetal.2021, author = {Stollenwerk, Dominik and Reinkensmeier, Sebastian and Georg, J{\"o}rg Heiner and Jungbluth, Christian}, title = {„Smartes" Laden an {\"o}ffentlich zug{\"a}nglichen Lades{\"a}ulen - Teil 2: USER-Verhalten und -Erwartungen}, series = {Energiewirtschaftliche Tagesfragen : et ; Zeitschrift f{\"u}r Energiewirtschaft, Recht, Technik und Umwelt}, volume = {71}, journal = {Energiewirtschaftliche Tagesfragen : et ; Zeitschrift f{\"u}r Energiewirtschaft, Recht, Technik und Umwelt}, number = {3}, publisher = {ETV Energieverlag}, address = {Essen}, isbn = {0720-6240}, issn = {0013-743X}, pages = {38 -- 42}, year = {2021}, language = {de} } @article{Starck2007, author = {Starck, Andreas}, title = {Projektsteuerung contra Architektengrundleistung oder wer steuert das Baugeschehen?}, year = {2007}, abstract = {Sieht man sich die umfangreichen Bet{\"a}tigungsfelder f{\"u}r einen Projektsteuerer in den Publikationen der einschl{\"a}gigen Verb{\"a}nde und der Anbieter etwas genauer an, so wird man feststellen, das nach der eigentlichen Projektvorbereitungsphase mit Wirtschaftlichkeitsberechnungen und Sicherstellung der Finanzierung erhebliche {\"U}berschneidungen zu den in der HOAI ausgewiesenen T{\"a}tigkeiten der weiteren Planungsbeteiligten, insbesondere des Geb{\"a}udeplaners, also des Architekten bestehen. Geht man nun davon aus, dass der Bauherr diese Leistungen nicht doppelt bezahlen will, w{\"a}re die logische Konsequenz aus der vollumf{\"a}nglichen Beauftragung eines Projektsteuerers die Verminderung des Auftragsumfangs an den Architekten, verbunden mit einer Honorarminderung f{\"u}r den Architekten. Damit bricht dem Architekten bei eingehender Betrachtung am Ende mehr als die H{\"a}lfte seiner T{\"a}tigkeit und damit seiner Grundlage zur Honorarerzielung weg. Der Bauherr muss in erster Linie seine W{\"u}nsche definieren und sein Budget bestimmen. Er beauftragt die Planungsbeteiligten und nimmt deren Leistungen entgegen. Sein Problem dabei ist, dass er diese Leistung nicht beurteilen kann, weder in Bezug auf deren Vollst{\"a}ndigkeit, noch in Bezug auf deren Inhalt. Hier steht der Projektsteuerer im eigentlichen Sinne. Er muss wissen, was die Planungsbeteiligten f{\"u}r ihr Geld zu leisten haben und wie er diese Leistungen durchsetzen kann. Letztendlich sorgt er dann aber auch daf{\"u}r, das die Architektenleistungen, also Planung und Ausschreibungsunterlagen vom Bauherrn verstanden werden. Warum aber kann der Architekt selbst seine Leistungen und damit den Nachweis der Leistungserf{\"u}llung nicht selbst dem Bauherrn verst{\"a}ndlich und damit glaubhaft machen? Es liegt also letztlich in der Hand der Architekten, ob ihr Bet{\"a}tigungsfeld weiter durch in die Planung und Gestaltung eingreifende, zus{\"a}tzliche Projektsteuerer und Generalunternehmer eingeengt oder sogar weggenommen werden kann. Die Frage, wer das Baugeschehen steuert und lenkt bleibt solange ungekl{\"a}rt, wie die Architekten dieses T{\"a}tigkeitsfeld des Architekten im Baubetrieb weiterhin nur unzul{\"a}nglich ausf{\"u}llen k{\"o}nnen und wollen.}, language = {de} } @article{StaatHeitzer1997, author = {Staat, Manfred and Heitzer, M.}, title = {Limit and Shakedown Analysis Using a General Purpose Finite Element Code}, series = {Proceedings of NAFEMS World Congress '97 on Design, Simulation \& Optimisation : reliability \& applicability of computational methods ; Stuttgart, Germany, 9 - 11 April 1997}, journal = {Proceedings of NAFEMS World Congress '97 on Design, Simulation \& Optimisation : reliability \& applicability of computational methods ; Stuttgart, Germany, 9 - 11 April 1997}, publisher = {NAFEMS}, address = {Glasgow}, isbn = {1-87437-620-4}, pages = {522 -- 533}, year = {1997}, language = {en} } @article{StaatBallmann1988, author = {Staat, Manfred and Ballmann, J.}, title = {Computation of impacts on elastic solids by methods of bicharacteristics}, series = {Computational Mechanics '88 : theory and applications ; proceedings of the International Conference on Computational Engineering Science April 10-14, 1988, Atlanta, GA, USA ; vol. 2}, journal = {Computational Mechanics '88 : theory and applications ; proceedings of the International Conference on Computational Engineering Science April 10-14, 1988, Atlanta, GA, USA ; vol. 2}, pages = {1719 -- 1722}, year = {1988}, abstract = {Shock waves, explosions, impacts or cavitation bubble collapses may generate stress waves in solids causing cracks or unexpected dammage due to focussing, physical nonlinearity or interaction with existing cracks. There is a growing interest in wave propagation, which poses many novel problems to experimentalists and theorists.}, subject = {Bicharakteristikenverfahren}, language = {en} } @article{Staat2004, author = {Staat, Manfred}, title = {Plastic collapse analysis of longitudinally flawed pipes and vessels}, year = {2004}, abstract = {Improved collapse loads of thick-walled, crack containing pipes and vessels are suggested. Very deep cracks have a residual strength which is better modelled by a global limit load. In all burst tests, the ductility of pressure vessel steels was sufficiently high whereby the burst pressure could be predicted by limit analysis with no need to apply fracture mechanics. The relative prognosis error increases however, for long and deep defects due to uncertainties of geometry and strength data.}, subject = {Druckbeh{\"a}lter}, language = {en} } @article{Staat2000, author = {Staat, Manfred}, title = {Direct FEM Limit and Shakedown Analysis with Uncertain Data}, year = {2000}, abstract = {The structural reliability with respect to plastic collapse or to inadaptation is formulated on the basis of the lower bound limit and shakedown theorems. A direct definition of the limit state function is achieved which permits the use of the highly effective first order reliability methods (FORM) is achieved. The theorems are implemented into a general purpose FEM program in a way capable of large-scale analysis. The limit state function and its gradient are obtained from a mathematical optimization problem. This direct approach reduces considerably the necessary knowledge of uncertain technological input data, the computing time, and the numerical error, leading to highly effective and precise reliability analyses.}, subject = {Finite-Elemente-Methode}, language = {en} } @article{Staat2001, author = {Staat, Manfred}, title = {Cyclic plastic deformation tests to verify FEM-based shakedown analyses}, year = {2001}, abstract = {Fatigue analyses are conducted with the aim of verifying that thermal ratcheting is limited. To this end it is important to make a clear distintion between the shakedown range and the ratcheting range (continuing deformation). As part of an EU-supported research project, experiments were carried out using a 4-bar model. The experiment comprised a water-cooled internal tube, and three insulated heatable outer test bars. The system was subjected to alternating axial forces, superimposed with alternating temperatures at the outer bars. The test parameters were partly selected on the basis of previous shakedown analyses. During the test, temperatures and strains were measured as a function of time. The loads and the resulting stresses were confirmed on an ongoing basis during performance of the test, and after it. Different material models were applied for this incremental elasto-plastic analysis using the ANSYS program. The results of the simulation are used to verify the FEM-based shakedown analysis.}, subject = {Materialerm{\"u}dung}, language = {en} } @article{Staat2005, author = {Staat, Manfred}, title = {Local and global collapse pressure of longitudinally flawed pipes and cylindrical vessels}, year = {2005}, abstract = {Limit loads can be calculated with the finite element method (FEM) for any component, defect geometry, and loading. FEM suggests that published long crack limit formulae for axial defects under-estimate the burst pressure for internal surface defects in thick pipes while limit loads are not conservative for deep cracks and for pressure loaded crack-faces. Very deep cracks have a residual strength, which is modelled by a global collapse load. These observations are combined to derive new analytical local and global collapse loads. The global collapse loads are close to FEM limit analyses for all crack dimensions.}, subject = {Finite-Elemente-Methode}, language = {en} }