@article{StiemerThomaBraun2023, author = {Stiemer, Luc Nicolas and Thoma, Andreas and Braun, Carsten}, title = {MBT3D: Deep learning based multi-object tracker for bumblebee 3D flight path estimation}, series = {PLoS ONE}, volume = {18}, journal = {PLoS ONE}, number = {9}, publisher = {PLOS}, address = {San Fancisco}, issn = {1932-6203}, doi = {10.1371/journal.pone.0291415}, pages = {e0291415}, year = {2023}, abstract = {This work presents the Multi-Bees-Tracker (MBT3D) algorithm, a Python framework implementing a deep association tracker for Tracking-By-Detection, to address the challenging task of tracking flight paths of bumblebees in a social group. While tracking algorithms for bumblebees exist, they often come with intensive restrictions, such as the need for sufficient lighting, high contrast between the animal and background, absence of occlusion, significant user input, etc. Tracking flight paths of bumblebees in a social group is challenging. They suddenly adjust movements and change their appearance during different wing beat states while exhibiting significant similarities in their individual appearance. The MBT3D tracker, developed in this research, is an adaptation of an existing ant tracking algorithm for bumblebee tracking. It incorporates an offline trained appearance descriptor along with a Kalman Filter for appearance and motion matching. Different detector architectures for upstream detections (You Only Look Once (YOLOv5), Faster Region Proposal Convolutional Neural Network (Faster R-CNN), and RetinaNet) are investigated in a comparative study to optimize performance. The detection models were trained on a dataset containing 11359 labeled bumblebee images. YOLOv5 reaches an Average Precision of AP = 53, 8\%, Faster R-CNN achieves AP = 45, 3\% and RetinaNet AP = 38, 4\% on the bumblebee validation dataset, which consists of 1323 labeled bumblebee images. The tracker's appearance model is trained on 144 samples. The tracker (with Faster R-CNN detections) reaches a Multiple Object Tracking Accuracy MOTA = 93, 5\% and a Multiple Object Tracking Precision MOTP = 75, 6\% on a validation dataset containing 2000 images, competing with state-of-the-art computer vision methods. The framework allows reliable tracking of different bumblebees in the same video stream with rarely occurring identity switches (IDS). MBT3D has much lower IDS than other commonly used algorithms, with one of the lowest false positive rates, competing with state-of-the-art animal tracking algorithms. The developed framework reconstructs the 3-dimensional (3D) flight paths of the bumblebees by triangulation. It also handles and compares two alternative stereo camera pairs if desired.}, language = {en} } @article{ElsenKraiss1999, author = {Elsen, Ingo and Kraiss, Karl-Friedrich}, title = {System concept and realization of a scalable neurocomputing architecture}, series = {Systems Analysis Modelling Simulation}, volume = {35}, journal = {Systems Analysis Modelling Simulation}, number = {4}, publisher = {Gordon and Breach Science Publishers}, address = {Amsterdam}, issn = {0232-9298}, pages = {399 -- 419}, year = {1999}, abstract = {This paper describes the realization of a novel neurocomputer which is based on the concepts of a coprocessor. In contrast to existing neurocomputers the main interest was the realization of a scalable, flexible system, which is capable of computing neural networks of arbitrary topology and scale, with full independence of special hardware from the software's point of view. On the other hand, computational power should be added, whenever needed and flexibly adapted to the requirements of the application. Hardware independence is achieved by a run time system which is capable of using all available computing power, including multiple host CPUs and an arbitrary number of neural coprocessors autonomously. The realization of arbitrary neural topologies is provided through the implementation of the elementary operations which can be found in most neural topologies.}, language = {en} } @article{ElsenKraissKrumbiegeletal.1999, author = {Elsen, Ingo and Kraiss, Karl-Friedrich and Krumbiegel, Dirk and Walter, Peter and Wickel, Jochen}, title = {Visual information retrieval for 3D product identification: a midterm report}, series = {KI - K{\"u}nstliche Intelligenz}, volume = {13}, journal = {KI - K{\"u}nstliche Intelligenz}, number = {1}, publisher = {Springer}, address = {Berlin}, issn = {1610-1987}, pages = {64 -- 67}, year = {1999}, language = {en} } @article{Esch2010, author = {Esch, Thomas}, title = {Trends in commercial vehicle powertrains}, series = {ATZautotechnology}, volume = {2010}, journal = {ATZautotechnology}, number = {10}, publisher = {Vieweg \& Sohn}, address = {Wiesbaden}, issn = {2192-886X}, doi = {10.1007/BF03247185}, pages = {26 -- 31}, year = {2010}, abstract = {Low emission zones and truck bans, the rising price of diesel and increases in road tolls: all of these factors are putting serious pressure on the transport industry. Commercial vehicle manufacturers and their suppliers are in the process of identifying new solutions to these challenges as part of their efforts to meet the EEV (enhanced environmentally friendly vehicle) limits, which are currently the most robust European exhaust and emissions standards for trucks and buses.}, language = {en} } @article{ElsenHartungHornetal.2001, author = {Elsen, Ingo and Hartung, Frank and Horn, Uwe and Kampmann, Markus and Peters, Liliane}, title = {Streaming technology in 3G mobile communication systems}, series = {Computer : innovative technology for computer professionals}, volume = {34}, journal = {Computer : innovative technology for computer professionals}, number = {9 Seiten}, editor = {Voas, Jeffrey}, publisher = {IEEE}, address = {New York}, issn = {0018-9162}, pages = {46 -- 52}, year = {2001}, abstract = {Third-generation mobile communication systems will combine standardized streaming with a range of unique services to provide high-quality Internet content that meets the specific needs of the rapidly growing mobile market.}, language = {en} } @article{FunkeEschRoosen2022, author = {Funke, Harald and Esch, Thomas and Roosen, Petra}, title = {Antriebssystemanpassungen zur Verwendung von LPG als Flugkraftstoff}, series = {Motortechnische Zeitschrift (MTZ)}, volume = {2022}, journal = {Motortechnische Zeitschrift (MTZ)}, number = {83}, publisher = {Springer Nature}, address = {Basel}, doi = {10.1007/s35146-021-0778-2}, pages = {58 -- 62}, year = {2022}, abstract = {Auch in der allgemeinen Luftfahrt w{\"a}re es w{\"u}nschenswert, die bereits vorhandenen Verbrennungsmotoren mit weniger CO₂-tr{\"a}chtigen Kraftstoffen als dem heute weit verbreiteten Avgas 100LL betreiben zu k{\"o}nnen. Es ist anzunehmen, dass im Vergleich die unter Normalbedingungen gasf{\"o}rmigen Kraftstoffe CNG, LPG oder LNG deutlich weniger Emissionen produzieren. Erforderliche Antriebssystemanpassungen wurden im Rahmen eines Forschungsprojekts an der FH Aachen untersucht.}, language = {de} } @article{FunkeEschRoosen2022, author = {Funke, Harald and Esch, Thomas and Roosen, Petra}, title = {Powertrain Adaptions for LPG Usage in General Aviation}, series = {MTZ worldwide}, volume = {2022}, journal = {MTZ worldwide}, number = {83}, publisher = {Springer Nature}, address = {Basel}, doi = {10.1007/s38313-021-0756-6}, pages = {58 -- 62}, year = {2022}, abstract = {In general aviation, too, it is desirable to be able to operate existing internal combustion engines with fuels that produce less CO₂ than Avgas 100LL being widely used today It can be assumed that, in comparison, the fuels CNG, LPG or LNG, which are gaseous under normal conditions, produce significantly lower emissions. Necessary propulsion system adaptations were investigated as part of a research project at Aachen University of Applied Sciences.}, language = {en} } @article{PfaffBabilon2023, author = {Pfaff, Raphael and Babilon, Katharina}, title = {Railway Challenge - moderne Auflage der Rainhill Trials?}, series = {Eisenbahntechnische Rundschau : ETR ; Impulsgeber f{\"u}r das System Bahn}, volume = {2023}, journal = {Eisenbahntechnische Rundschau : ETR ; Impulsgeber f{\"u}r das System Bahn}, number = {4}, publisher = {DVV Media Group}, address = {Hamburg}, issn = {0013-2845}, pages = {55 -- 58}, year = {2023}, abstract = {Die IMechE Railway Challenge wird j{\"a}hrlich in Stapleford, Großbritannien ausgetragen. Im Rahmen der Challenge entwickeln und bauen Studierende eine Lokomotive und vergleichen sich in verschiedenen Disziplinen, darunter eine automatisierte Zielbremsung, optimale Energier{\"u}ckgewinnung beim Bremsen und minimale Ger{\"a}uschemissionen. Neben diesen und weiteren technischen Wettbewerbsdisziplinen treten die Fahrzeuge und die Teams auch in nicht-technischen Disziplinen wie einer Business Case Challenge an.}, language = {de} } @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{Schueckhaus2020, author = {Sch{\"u}ckhaus, Ulrich}, title = {Die SkyCab-Erfinder im WFMG-Interview}, series = {Business in MG}, journal = {Business in MG}, number = {1}, pages = {6 -- 7}, year = {2020}, language = {de} }