@article{MaasVosLagemaatetal.2014, author = {Maas, Marnix C. and Vos, Eline K. and Lagemaat, Miriam W. and Bitz, Andreas and Orzada, Stephan and Kobus, Thiele and Kraff, Oliver and Maderwald, Stefan and Ladd, Mark E. and Scheenen, Tom W. J.}, title = {Feasibility of T₂-weighted turbo spin echo imaging of the human prostate at 7 tesla}, series = {Magnetic Resonance in Medicine}, volume = {71}, journal = {Magnetic Resonance in Medicine}, number = {5}, publisher = {Wiley-VCH}, address = {Weinheim}, issn = {1522-2594}, doi = {10.1002/mrm.24818}, pages = {1711 -- 1719}, year = {2014}, abstract = {Purpose To demonstrate that high quality T₂-weighted (T2w) turbo spin-echo (TSE) imaging of the complete prostate can be achieved routinely and within safety limits at 7 T, using an external transceive body array coil only. Methods Nine healthy volunteers and 12 prostate cancer patients were scanned on a 7 T whole-body system. Preparation consisted of B₀ and radiofrequency shimming and localized flip angle calibration. T₁ and T₂ relaxation times were measured and used to define the T2w-TSE protocol. T2w imaging was performed using a TSE sequence (pulse repetition time/echo time 3000-3640/71 ms) with prolonged excitation and refocusing pulses to reduce specific absorption rate. Results High quality T2w TSE imaging was performed in less than 2 min in all subjects. Tumors of patients with gold-standard tumor localization (MR-guided biopsy or prostatectomy) were well visualized on 7 T imaging (n = 3). The number of consecutive slices achievable within a 10-g averaged specific absorption rate limit of 10 W/kg was ≥28 in all subjects, sufficient for full prostate coverage with 3-mm slices in at least one direction. Conclusion High quality T2w TSE prostate imaging can be performed routinely and within specific absorption rate limits at 7 T with an external transceive body array.}, language = {en} } @article{LagemaatVosMaasetal.2014, author = {Lagemaat, Miriam W. and Vos, Eline K. and Maas, Marnix C. and Bitz, Andreas and Orzada, Stephan and Uden, Mark J. van and Kobus, Thiele and Heerschap, Arend and Scheenen, Tom W. J.}, title = {Phosphorus magnetic resonance spectroscopic imaging at 7 T in patients with prostate cancer}, series = {Investigative Radiology}, volume = {49}, journal = {Investigative Radiology}, number = {5}, publisher = {Lippincott Williams \& Wilkins}, address = {Philadelphia, Pa.}, issn = {1536-0210}, doi = {10.1097/RLI.0000000000000012}, pages = {363 -- 372}, year = {2014}, abstract = {Objectives The aim of this study was to identify characteristics of phosphorus (³¹P) spectra of the human prostate and to investigate changes of individual phospholipid metabolites in prostate cancer through in vivo ³¹P magnetic resonance spectroscopic imaging (MRSI) at 7 T. Materials and Methods In this institutional review board-approved study, 15 patients with biopsy-proven prostate cancer underwent T₂-weighted magnetic resonance imaging and 3-dimensional ³¹P MRSI at 7 T. Voxels were selected at the tumor location, in normal-appearing peripheral zone tissue, normal-appearing transition zone tissue, and in the base of the prostate close to the seminal vesicles. Phosphorus metabolite ratios were determined and compared between tissue types. Results Signals of phosphoethanolamine (PE) and phosphocholine (PC) were present and well resolved in most ³¹P spectra in the prostate. Glycerophosphocholine signals were observable in 43\% of the voxels in malignant tissue, but in only 10\% of the voxels in normal-appearing tissue away from the seminal vesicles. In many spectra, independent of tissue type, 2 peaks resonated in the chemical shift range of inorganic phosphate, possibly representing 2 separate pH compartments. The PC/PE ratio in the seminal vesicles was highly elevated compared with the prostate in 5 patients. A considerable overlap of ³¹P metabolite ratios was found between prostate cancer and normal-appearing prostate tissue, preventing direct discrimination of these tissues. The only 2 patients with high Gleason scores tumors (≥4+5) presented with high PC and glycerophosphocholine levels in their cancer lesions. Conclusions Phosphorus MRSI at 7 T shows distinct features of phospholipid metabolites in the prostate gland and its surrounding structures. In this exploratory study, no differences in ³¹P metabolite ratios were observed between prostate cancer and normal-appearing prostate tissue possibly because of the partial volume effects of small tumor foci in large MRSI voxels.}, language = {en} } @article{TheysohnKraffEilersetal.2014, author = {Theysohn, Jens M. and Kraff, Oliver and Eilers, Kristina and Andrade, Dorian and Gerwig, Marcus and Timmann, Dagmar and Schmitt, Franz and Ladd, Mark E. and Ladd, Susanne C. and Bitz, Andreas}, title = {Vestibular effects of a 7 Tesla MRI examination compared to 1.5 T and 0 T in healthy volunteers}, series = {PLoS one}, volume = {9}, journal = {PLoS one}, number = {3}, publisher = {PLOS}, address = {San Francisco}, issn = {1932-6203}, doi = {10.1371/journal.pone.0092104}, pages = {e92104}, year = {2014}, abstract = {Ultra-high-field MRI (7 Tesla (T) and above) elicits more temporary side-effects compared to 1.5 T and 3 T, e.g. dizziness or "postural instability" even after exiting the scanner. The current study aims to assess quantitatively vestibular performance before and after exposure to different MRI scenarios at 7 T, 1.5 T and 0 T. Sway path and body axis rotation (Unterberger's stepping test) were quantitatively recorded in a total of 46 volunteers before, 2 minutes after, and 15 minutes after different exposure scenarios: 7 T head MRI (n = 27), 7 T no RF (n = 22), 7 T only B₀ (n = 20), 7 T in \& out B₀ (n = 20), 1.5 T no RF (n = 20), 0 T (n = 15). All exposure scenarios lasted 30 minutes except for brief one minute exposure in 7 T in \& out B₀. Both measures were documented utilizing a 3D ultrasound system. During sway path evaluation, the experiment was repeated with eyes both open and closed. Sway paths for all long-lasting 7 T scenarios (normal, no RF, only B₀) with eyes closed were significantly prolonged 2 minutes after exiting the scanner, normalizing after 15 minutes. Brief exposure to 7 T B₀ or 30 minutes exposure to 1.5 T or 0 T did not show significant changes. End positions after Unterberger's stepping test were significantly changed counter-clockwise after all 7 T scenarios, including the brief in \& out B₀ exposure. Shorter exposure resulted in a smaller alteration angle. In contrast to sway path, reversal of changes in body axis rotation was incomplete after 15 minutes. 1.5 T caused no rotational changes. The results show that exposure to the 7 Tesla static magnetic field causes only a temporary dysfunction or "over-compensation" of the vestibular system not measurable at 1.5 or 0 Tesla. Radiofrequency fields, gradient switching, and orthostatic dysregulation do not seem to play a role.}, language = {en} } @article{LagemaatMaasVosetal.2015, author = {Lagemaat, Miriam W. and Maas, Marnix C. and Vos, Eline K. and Bitz, Andreas and Orzada, Stephan and Weiland, Elisabeth and Uden, Mark J. van and Kobus, Thiele and Heerschap, Arend and Scheenen, Tom W. J.}, title = {(31) P MR spectroscopic imaging of the human prostate at 7 T: T1 relaxation times, Nuclear Overhauser Effect, and spectral characterization}, series = {Magnetic Resonance in Medicine}, volume = {73}, journal = {Magnetic Resonance in Medicine}, number = {3}, publisher = {Wiley}, address = {Weinheim}, issn = {1522-2594}, doi = {10.1002/mrm.25209}, pages = {909 -- 920}, year = {2015}, language = {en} } @article{VosLagemaatBarentszetal.2014, author = {Vos, E. K. and Lagemaat, M. W. and Barentsz, J. O. and F{\"u}tterer, J. J. and Zamecnik, P. and Roozen, H. and Orzada, S. and Bitz, Andreas and Maas, M. C. and Scheenen, T. W. J.}, title = {Image quality and cancer visibility of T2-weighted Magnetic Resonance Imaging of the prostate at 7 Tesla}, series = {European Radiology}, volume = {24}, journal = {European Radiology}, number = {8}, publisher = {Springer}, address = {Cham}, issn = {1432-1084}, doi = {10.1007/s00330-014-3234-6}, pages = {1950 -- 1958}, year = {2014}, abstract = {Objectives To assess the image quality of T2-weighted (T2w) magnetic resonance imaging of the prostate and the visibility of prostate cancer at 7 Tesla (T). Materials \& methods Seventeen prostate cancer patients underwent T2w imaging at 7T with only an external transmit/receive array coil. Three radiologists independently scored images for image quality, visibility of anatomical structures, and presence of artefacts. Krippendorff's alpha and weighted kappa statistics were used to assess inter-observer agreement. Visibility of prostate cancer lesions was assessed by directly linking the T2w images to the confirmed location of prostate cancer on histopathology. Results T2w imaging at 7T was achievable with 'satisfactory' (3/5) to 'good' (4/5) quality. Visibility of anatomical structures was predominantly scored as 'satisfactory' (3/5) and 'good' (4/5). If artefacts were present, they were mostly motion artefacts and, to a lesser extent, aliasing artefacts and noise. Krippendorff's analysis revealed an α = 0.44 between three readers for the overall image quality scores. Clinically significant cancer lesions in both peripheral zone and transition zone were visible at 7T. Conclusion T2w imaging with satisfactory to good quality can be routinely acquired, and cancer lesions were visible in patients with prostate cancer at 7T using only an external transmit/receive body array coil.}, language = {en} } @article{LagemaatBreukelsVosetal.2016, author = {Lagemaat, Miriam W. and Breukels, Vincent and Vos, Eline K. and B., Adam and Uden, Mark J. van and Orzada, Stephan and Bitz, Andreas and Maas, Marnix C. and Scheenen, Tom W. J.}, title = {¹H MR spectroscopic imaging of the prostate at 7T using spectral-spatial pulses}, series = {Magnetic Resonance in Medicine}, volume = {75}, journal = {Magnetic Resonance in Medicine}, number = {3}, publisher = {International Society for Magnetic Resonance in Medicine}, issn = {1522-2594}, doi = {10.1002/mrm.25569}, pages = {933 -- 945}, year = {2016}, abstract = {Purpose To assess the feasibility of prostate ¹H MR spectroscopic imaging (MRSI) using low-power spectral-spatial (SPSP) pulses at 7T, exploiting accurate spectral selection and spatial selectivity simultaneously. Methods A double spin-echo sequence was equipped with SPSP refocusing pulses with a spectral selectivity of 1 ppm. Three-dimensional prostate ¹H-MRSI at 7T was performed with the SPSP-MRSI sequence using an 8-channel transmit array coil and an endorectal receive coil in three patients with prostate cancer and in one healthy subject. No additional water or lipid suppression pulses were used. Results Prostate ¹H-MRSI could be obtained well within specific absorption rate (SAR) limits in a clinically feasible time (10 min). Next to the common citrate signals, the prostate spectra exhibited high spermine signals concealing creatine and sometimes also choline. Residual lipid signals were observed at the edges of the prostate because of limitations in spectral and spatial selectivity. Conclusion It is possible to perform prostate ¹H-MRSI at 7T with a SPSP-MRSI sequence while using separate transmit and receive coils. This low-SAR MRSI concept provides the opportunity to increase spatial resolution of MRSI within reasonable scan times.}, language = {en} } @article{NoureddineBitzLaddetal.2015, author = {Noureddine, Yacine and Bitz, Andreas and Ladd, Mark E. and Th{\"u}rling, Markus and Ladd, Susanne C. and Schaefers, Gregor and Kraff, Oliver}, title = {Experience with magnetic resonance imaging of human subjects with passive implants and tattoos at 7 T: a retrospective study}, series = {Magnetic Resonance Materials in Physics, Biology and Medicine}, volume = {28}, journal = {Magnetic Resonance Materials in Physics, Biology and Medicine}, number = {6}, publisher = {Springer}, address = {Berlin}, issn = {1352-8661}, doi = {10.1007/s10334-015-0499-y}, pages = {577 -- 590}, year = {2015}, language = {en} } @article{BankOrzadaSmitsetal.2015, author = {Bank, Bart L. van de and Orzada, Stephan and Smits, Frits and Lagemaat, Miriam W. and Rodgers, Christopher T. and Bitz, Andreas and Scheenen, Tom W. J.}, title = {Optimized (31) P MRS in the human brain at 7 T with a dedicated RF coil setup}, series = {NMR in Biomedicine}, volume = {28}, journal = {NMR in Biomedicine}, number = {11}, publisher = {Wiley}, address = {Weinheim}, issn = {1099-1492}, doi = {10.1002/nbm.3422}, pages = {1570 -- 1578}, year = {2015}, language = {en} } @article{SchmidtForkmannSinkeetal.2016, author = {Schmidt, K. and Forkmann, K. and Sinke, C. and Gratz, M. and Bitz, Andreas and Bingel, U.}, title = {The differential effect of trigeminal vs. peripheral pain stimulation on visual processing and memory encoding is influenced by pain-related fear}, series = {NeuroImage}, volume = {134}, journal = {NeuroImage}, publisher = {Elsevier}, address = {Amsterdam}, issn = {1053-8119}, doi = {10.1016/j.neuroimage.2016.03.026}, pages = {386 -- 395}, year = {2016}, abstract = {Compared to peripheral pain, trigeminal pain elicits higher levels of fear, which is assumed to enhance the interruptive effects of pain on concomitant cognitive processes. In this fMRI study we examined the behavioral and neural effects of trigeminal (forehead) and peripheral (hand) pain on visual processing and memory encoding. Cerebral activity was measured in 23 healthy subjects performing a visual categorization task that was immediately followed by a surprise recognition task. During the categorization task subjects received concomitant noxious electrical stimulation on the forehead or hand. Our data show that fear ratings were significantly higher for trigeminal pain. Categorization and recognition performance did not differ between pictures that were presented with trigeminal and peripheral pain. However, object categorization in the presence of trigeminal pain was associated with stronger activity in task-relevant visual areas (lateral occipital complex, LOC), memory encoding areas (hippocampus and parahippocampus) and areas implicated in emotional processing (amygdala) compared to peripheral pain. Further, individual differences in neural activation between the trigeminal and the peripheral condition were positively related to differences in fear ratings between both conditions. Functional connectivity between amygdala and LOC was increased during trigeminal compared to peripheral painful stimulation. Fear-driven compensatory resource activation seems to be enhanced for trigeminal stimuli, presumably due to their exceptional biological relevance.}, language = {en} } @article{ChenSchoembergKraffetal.2016, author = {Chen, Bixia and Schoemberg, Tobias and Kraff, Oliver and Dammann, Philipp and Bitz, Andreas and Schlamann, Marc and Quick, Harald H. and Ladd, Mark E. and Sure, Ulrich and Wrede, Karsten H.}, title = {Cranial fixation plates in cerebral magnetic resonance imaging: a 3 and 7 Tesla in vivo image quality study}, series = {Magnetic Resonance Materials in Physics, Biology and Medicine}, volume = {29}, journal = {Magnetic Resonance Materials in Physics, Biology and Medicine}, number = {3}, publisher = {Springer}, address = {Berlin}, issn = {1352-8661}, doi = {10.1007/s10334-016-0548-1}, pages = {389 -- 398}, year = {2016}, abstract = {Objective This study assesses and quantifies impairment of postoperative magnetic resonance imaging (MRI) at 7 Tesla (T) after implantation of titanium cranial fixation plates (CFPs) for neurosurgical bone flap fixation. Materials and methods The study group comprised five patients who were intra-individually examined with 3 and 7 T MRI preoperatively and postoperatively (within 72 h/3 months) after implantation of CFPs. Acquired sequences included T₁-weighted magnetization-prepared rapid-acquisition gradient-echo (MPRAGE), T₂-weighted turbo-spin-echo (TSE) imaging, and susceptibility-weighted imaging (SWI). Two experienced neurosurgeons and a neuroradiologist rated image quality and the presence of artifacts in consensus reading. Results Minor artifacts occurred around the CFPs in MPRAGE and T2 TSE at both field strengths, with no significant differences between 3 and 7 T. In SWI, artifacts were accentuated in the early postoperative scans at both field strengths due to intracranial air and hemorrhagic remnants. After resorption, the brain tissue directly adjacent to skull bone could still be assessed. Image quality after 3 months was equal to the preoperative examinations at 3 and 7 T. Conclusion Image quality after CFP implantation was not significantly impaired in 7 T MRI, and artifacts were comparable to those in 3 T MRI.}, language = {en} } @article{OrzadaLaddBitz2016, author = {Orzada, Stephan and Ladd, Mark E. and Bitz, Andreas}, title = {A method to approximate maximum local SAR in multichannel transmit MR systems without transmit phase information}, series = {Magnetic Resonance in Medicine}, volume = {78}, journal = {Magnetic Resonance in Medicine}, number = {2}, publisher = {International Society for Magnetic Resonance in Medicine}, issn = {1522-2594}, doi = {10.1002/mrm.26398}, pages = {805 -- 811}, year = {2016}, abstract = {Purpose To calculate local specific absorption rate (SAR) correctly, both the amplitude and phase of the signal in each transmit channel have to be known. In this work, we propose a method to derive a conservative upper bound for the local SAR, with a reasonable safety margin without knowledge of the transmit phases of the channels. Methods The proposed method uses virtual observation points (VOPs). Correction factors are calculated for each set of VOPs that prevent underestimation of local SAR when the VOPs are applied with the correct amplitudes but fixed phases. Results The proposed method proved to be superior to the worst-case calculation based on the maximum eigenvalue of the VOPs. The mean overestimation for six coil setups could be reduced, whereas no underestimation of the maximum local SAR occurred. In the best investigated case, the overestimation could be reduced from a factor of 3.3 to a factor of 1.7. Conclusion The upper bound for the local SAR calculated with the proposed method allows a fast estimation of the local SAR based on power measurements in the transmit channels and facilitates SAR monitoring in systems that do not have the capability to monitor transmit phases}, language = {en} } @article{FiedlerLaddBitz2017, author = {Fiedler, Thomas M. and Ladd, Mark E. and Bitz, Andreas}, title = {RF safety assessment of a bilateral four-channel transmit/receive 7 Tesla breast coil: SAR versus temperature limits}, series = {Medical Physics}, volume = {44}, journal = {Medical Physics}, number = {1}, doi = {10.1002/mp.12034}, pages = {143 -- 157}, year = {2017}, language = {en} } @article{NoureddineKraffLaddetal.2017, author = {Noureddine, Yacine and Kraff, Oliver and Ladd, Mark E. and Wrede, Karsten H. and Chen, Bixia and Quick, Harald H. and Schaefers, Gregor and Bitz, Andreas}, title = {In vitro and in silico assessment of RF-induced heating around intracranial aneurysm clips at 7 Tesla}, series = {Magnetic Resonance in Medicine}, journal = {Magnetic Resonance in Medicine}, number = {Early view}, publisher = {Wiley}, address = {Weinheim}, issn = {1522-2594}, doi = {10.1002/mrm.26650}, pages = {14 Seiten}, year = {2017}, language = {en} } @article{FiedlerLaddBitz2017, author = {Fiedler, Thomas M. and Ladd, Mark E. and Bitz, Andreas}, title = {SAR Simulations \& Safety}, series = {NeuroImage}, journal = {NeuroImage}, number = {Epub ahead of print}, publisher = {Elsevier}, address = {Amsterdam}, issn = {1053-8119}, doi = {10.1016/j.neuroimage.2017.03.035}, year = {2017}, language = {en} } @article{FerreinSteinbauer2016, author = {Ferrein, Alexander and Steinbauer, Gerald}, title = {20 Years of RoboCup - A Subjective Retrospection}, series = {KI - K{\"u}nstliche Intelligenz}, volume = {30}, journal = {KI - K{\"u}nstliche Intelligenz}, number = {3}, publisher = {Springer}, address = {Berlin}, issn = {1610-1987}, doi = {10.1007/s13218-016-0449-5}, pages = {225 -- 232}, year = {2016}, abstract = {This summer, RoboCup competitions were held for the 20th time in Leipzig, Germany. It was the second time that RoboCup took place in Germany, 10 years after the 2006 RoboCup in Bremen. In this article, we give an overview on the latest developments of RoboCup and what happened in the different leagues over the last decade. With its 20th edition, RoboCup clearly is a success story and a role model for robotics competitions. From our personal view point, we acknowledge this by giving a retrospection about what makes RoboCup such a success.}, language = {en} } @article{FerreinSchifferBooysenetal.2016, author = {Ferrein, Alexander and Schiffer, Stefan and Booysen, T. and Stopforth, R.}, title = {Why it is harder to run RoboCup in South Africa: Experiences from German South African collaborations}, series = {International Journal of Advanced Robotic Systems}, volume = {13}, journal = {International Journal of Advanced Robotic Systems}, number = {5}, issn = {1729-8806}, doi = {10.1177/1729881416662789}, pages = {1 -- 13}, year = {2016}, abstract = {Robots are widely used as a vehicle to spark interest in science and technology in learners. A number of initiatives focus on this issue, for instance, the Roberta Initiative, the FIRST Lego League, the World Robot Olympiad and RoboCup Junior. Robotic competitions are valuable not only for school learners but also for university students, as the RoboCup initiative shows. Besides technical skills, the students get some project exposure and experience what it means to finish their tasks on time. But qualifying students for future high-tech areas should not only be for students from developed countries. In this article, we present our experiences with research and education in robotics within the RoboCup initiative, in Germany and South Africa; we report on our experiences with trying to get the RoboCup initiative in South Africa going. RoboCup has a huge support base of academic institutions in Germany; this is not the case in South Africa. We present our 'north-south' collaboration initiatives in RoboCup between Germany and South Africa and discuss some of the reasons why we think it is harder to run RoboCup in South Africa.}, language = {en} } @article{KoenigVoelkerWolfetal.2016, author = {K{\"o}nig, Johannes Alexander and V{\"o}lker, Veronika and Wolf, Martin and Schuba, Marko}, title = {Gamified Hacking Offence Simulation-based Training (GHOST)}, series = {Crisis Prevention}, volume = {2016}, journal = {Crisis Prevention}, number = {3}, publisher = {Beta}, address = {Bonn}, pages = {44 -- 46}, year = {2016}, language = {de} } @article{HaagZontarSchleupenetal.2014, author = {Haag, S. and Zontar, D. and Schleupen, Josef and M{\"u}ller, T. and Brecher, C.}, title = {Chain of refined perception in self-optimizing assembly of micro-optical systems}, series = {Journal of sensors and sensor systems}, volume = {3}, journal = {Journal of sensors and sensor systems}, number = {1}, publisher = {Copernicus Publ.}, address = {G{\"o}ttingen}, issn = {2194-878X}, doi = {10.5194/jsss-3-87-2014}, pages = {87 -- 95}, year = {2014}, abstract = {Today, the assembly of laser systems requires a large share of manual operations due to its complexity regarding the optimal alignment of optics. Although the feasibility of automated alignment of laser optics has been shown in research labs, the development effort for the automation of assembly does not meet economic requirements - especially for low-volume laser production. This paper presents a model-based and sensor-integrated assembly execution approach for flexible assembly cells consisting of a macro-positioner covering a large workspace and a compact micromanipulator with camera attached to the positioner. In order to make full use of available models from computer-aided design (CAD) and optical simulation, sensor systems at different levels of accuracy are used for matching perceived information with model data. This approach is named "chain of refined perception", and it allows for automated planning of complex assembly tasks along all major phases of assembly such as collision-free path planning, part feeding, and active and passive alignment. The focus of the paper is put on the in-process image-based metrology and information extraction used for identifying and calibrating local coordinate systems as well as the exploitation of that information for a part feeding process for micro-optics. Results will be presented regarding the processes of automated calibration of the robot camera as well as the local coordinate systems of part feeding area and robot base.}, language = {en} } @article{LeingartnerMaurerFerreinetal.2016, author = {Leingartner, Max and Maurer, Johannes and Ferrein, Alexander and Steinbauer, Gerald}, title = {Evaluation of Sensors and Mapping Approaches for Disasters in Tunnels}, series = {Journal of Field Robotics}, volume = {33}, journal = {Journal of Field Robotics}, number = {8}, publisher = {Wiley-VCH}, address = {Weinheim}, issn = {1556-4967}, doi = {10.1002/rob.21611}, pages = {1037 -- 1057}, year = {2016}, abstract = {Ground or aerial robots equipped with advanced sensing technologies, such as three-dimensional laser scanners and advanced mapping algorithms, are deemed useful as a supporting technology for first responders. A great deal of excellent research in the field exists, but practical applications at real disaster sites are scarce. Many projects concentrate on equipping robots with advanced capabilities, such as autonomous exploration or object manipulation. In spite of this, realistic application areas for such robots are limited to teleoperated reconnaissance or search. In this paper, we investigate how well state-of-the-art and off-the-shelf components and algorithms are suited for reconnaissance in current disaster-relief scenarios. The basic idea is to make use of some of the most common sensors and deploy some widely used algorithms in a disaster situation, and to evaluate how well the components work for these scenarios. We acquired the sensor data from two field experiments, one from a disaster-relief operation in a motorway tunnel, and one from a mapping experiment in a partly closed down motorway tunnel. Based on these data, which we make publicly available, we evaluate state-of-the-art and off-the-shelf mapping approaches. In our analysis, we integrate opinions and replies from first responders as well as from some algorithm developers on the usefulness of the data and the limitations of the deployed approaches, respectively. We discuss the lessons we learned during the two missions. These lessons are interesting for the community working in similar areas of urban search and rescue, particularly reconnaissance and search.}, language = {en} } @article{WolfAltgen2013, author = {Wolf, Martin and Altgen, Jannik}, title = {IT Service Management in der Region Aachen : White Paper}, pages = {1 -- 13}, year = {2013}, language = {de} }