@article{ThomaThomessenGardietal.2023, author = {Thoma, Andreas and Thomessen, Karolin and Gardi, Alessandro and Fisher, A. and Braun, Carsten}, title = {Prioritising paths: An improved cost function for local path planning for UAV in medical applications}, series = {The Aeronautical Journal}, journal = {The Aeronautical Journal}, number = {First View}, publisher = {Cambridge University Press}, address = {Cambridge}, issn = {0001-9240 (Print)}, doi = {10.1017/aer.2023.68}, pages = {1 -- 18}, year = {2023}, abstract = {Even the shortest flight through unknown, cluttered environments requires reliable local path planning algorithms to avoid unforeseen obstacles. The algorithm must evaluate alternative flight paths and identify the best path if an obstacle blocks its way. Commonly, weighted sums are used here. This work shows that weighted Chebyshev distances and factorial achievement scalarising functions are suitable alternatives to weighted sums if combined with the 3DVFH* local path planning algorithm. Both methods considerably reduce the failure probability of simulated flights in various environments. The standard 3DVFH* uses a weighted sum and has a failure probability of 50\% in the test environments. A factorial achievement scalarising function, which minimises the worst combination of two out of four objective functions, reaches a failure probability of 26\%; A weighted Chebyshev distance, which optimises the worst objective, has a failure probability of 30\%. These results show promise for further enhancements and to support broader applicability.}, language = {en} } @incollection{HeimesKampkerKehreretal.2023, author = {Heimes, Heiner Hans and Kampker, Achim and Kehrer, Mario and D{\"u}nnwald, Simon and Heetfeld, Lennart and Polzenberg, Jens and Budde, Lucas and Keusen, Maximilian and Pandey, Rahul and R{\"o}th, Thilo}, title = {Fahrzeugstruktur}, series = {Elektromobilit{\"a}t: Grundlagen einer Fortschrittstechnologie}, booktitle = {Elektromobilit{\"a}t: Grundlagen einer Fortschrittstechnologie}, editor = {Kampker, Achim and Heimes, Heiner Hans}, publisher = {Springer Vieweg}, address = {Berlin}, isbn = {978-3-662-65811-6 (Print)}, doi = {10.1007/978-3-662-65812-3_5}, pages = {69 -- 106}, year = {2023}, abstract = {Um sowohl Treibhausgas-Emissionen zu verringern als auch Kraftstoffressourcen zu schonen, wird zunehmend an einer Transformation konventionell angetriebener Kraftfahrzeuge hin zu elektrifizierten Antriebskonzepten gearbeitet. Basierend auf herk{\"o}mmlichen Fahrzeugen mit Verbrennungsmotor wurde eine Vielzahl neuer Antriebssysteme mit verschiedenem Elektrifizierungsgrad entwickelt. Mitte der 1990er-Jahre kamen erste Fahrzeuge mit einem Hybridantrieb auf den Markt. Die Kombination aus Verbrennungs- und Elektromotor erlaubt eine Verbrauchsreduktion und Bremsenergier{\"u}ckgewinnung sowie lokal emissionsfreies Fahren.}, language = {de} } @incollection{HeimesKampkerDornetal.2023, author = {Heimes, Heiner Hans and Kampker, Achim and Dorn, Benjamin and Kehrer, Mario and D{\"u}nnwald, Simon and Badura, Dennis and Terren, Maximilian and R{\"o}th, Thilo}, title = {Produktionsprozesse der Fahrzeugstruktur}, series = {Elektromobilit{\"a}t: Grundlagen einer Fortschrittstechnologie}, booktitle = {Elektromobilit{\"a}t: Grundlagen einer Fortschrittstechnologie}, editor = {Kampker, Achim and Heimes, Heiner Hans}, publisher = {Springer Vieweg}, address = {Berlin}, isbn = {978-3-662-65811-6 (Print)}, doi = {10.1007/978-3-662-65812-3_13}, pages = {227 -- 247}, year = {2023}, language = {de} } @article{BaaderBoxbergChenetal.2023, author = {Baader, Fabian and Boxberg, Marc S. and Chen, Qian and F{\"o}rstner, Roger and Kowalski, Julia and Dachwald, Bernd}, title = {Field-test performance of an ice-melting probe in a terrestrial analogue environment}, series = {Icarus}, journal = {Icarus}, number = {409}, publisher = {Elsevier}, address = {Amsterdam}, doi = {10.1016/j.icarus.2023.115852}, pages = {Artikel 115852}, year = {2023}, abstract = {Melting probes are a proven tool for the exploration of thick ice layers and clean sampling of subglacial water on Earth. Their compact size and ease of operation also make them a key technology for the future exploration of icy moons in our Solar System, most prominently Europa and Enceladus. For both mission planning and hardware engineering, metrics such as efficiency and expected performance in terms of achievable speed, power requirements, and necessary heating power have to be known. Theoretical studies aim at describing thermal losses on the one hand, while laboratory experiments and field tests allow an empirical investigation of the true performance on the other hand. To investigate the practical value of a performance model for the operational performance in extraterrestrial environments, we first contrast measured data from terrestrial field tests on temperate and polythermal glaciers with results from basic heat loss models and a melt trajectory model. For this purpose, we propose conventions for the determination of two different efficiencies that can be applied to both measured data and models. One definition of efficiency is related to the melting head only, while the other definition considers the melting probe as a whole. We also present methods to combine several sources of heat loss for probes with a circular cross-section, and to translate the geometry of probes with a non-circular cross-section to analyse them in the same way. The models were selected in a way that minimizes the need to make assumptions about unknown parameters of the probe or the ice environment. The results indicate that currently used models do not yet reliably reproduce the performance of a probe under realistic conditions. Melting velocities and efficiencies are constantly overestimated by 15 to 50 \% in the models, but qualitatively agree with the field test data. Hence, losses are observed, that are not yet covered and quantified by the available loss models. We find that the deviation increases with decreasing ice temperature. We suspect that this mismatch is mainly due to the too restrictive idealization of the probe model and the fact that the probe was not operated in an efficiency-optimized manner during the field tests. With respect to space mission engineering, we find that performance and efficiency models must be used with caution in unknown ice environments, as various ice parameters have a significant effect on the melting process. Some of these are difficult to estimate from afar.}, language = {en} } @article{UlmerBraunChengetal.2023, author = {Ulmer, Jessica and Braun, Carsten and Cheng, Chi-Tsun and Dowey, Steve and Wollert, J{\"o}rg}, title = {A human factors-aware assistance system in manufacturing based on gamification and hardware modularisation}, series = {International Journal of Production Research}, journal = {International Journal of Production Research}, publisher = {Taylor \& Francis}, issn = {0020-7543 (Print)}, doi = {10.1080/00207543.2023.2166140}, year = {2023}, abstract = {Assistance systems have been widely adopted in the manufacturing sector to facilitate various processes and tasks in production environments. However, existing systems are mostly equipped with rigid functional logic and do not provide individual user experiences or adapt to their capabilities. This work integrates human factors in assistance systems by adjusting the hardware and instruction presented to the workers' cognitive and physical demands. A modular system architecture is designed accordingly, which allows a flexible component exchange according to the user and the work task. Gamification, the use of game elements in non-gaming contexts, has been further adopted in this work to provide level-based instructions and personalised feedback. The developed framework is validated by applying it to a manual workstation for industrial assembly routines.}, language = {en} } @article{BoehnischBraunMuscarelloetal.2023, author = {B{\"o}hnisch, Nils and Braun, Carsten and Muscarello, Vincenzo and Marzocca, Pier}, title = {A sensitivity study on aeroelastic instabilities of slender wings with a large propeller}, series = {AIAA SCITECH 2023 Forum}, journal = {AIAA SCITECH 2023 Forum}, publisher = {AIAA}, doi = {10.2514/6.2023-1893}, pages = {1 -- 14}, year = {2023}, abstract = {Next-generation aircraft designs often incorporate multiple large propellers attached along the wingspan. These highly flexible dynamic systems can exhibit uncommon aeroelastic instabilities, which should be carefully investigated to ensure safe operation. The interaction between the propeller and the wing is of particular importance. It is known that whirl flutter is stabilized by wing motion and wing aerodynamics. This paper investigates the effect of a propeller onto wing flutter as a function of span position and mounting stiffness between the propeller and wing. The analysis of a comparison between a tractor and pusher configuration has shown that the coupled system is more stable than the standalone wing for propeller positions near the wing tip for both configurations. The wing fluttermechanism is mostly affected by the mass of the propeller and the resulting change in eigenfrequencies of the wing. For very weak mounting stiffnesses, whirl flutter occurs, which was shown to be stabilized compared to a standalone propeller due to wing motion. On the other hand, the pusher configuration is, as to be expected, the more critical configuration due to the attached mass behind the elastic axis.}, language = {de} } @inproceedings{ThomaStiemerBraunetal.2023, author = {Thoma, Andreas and Stiemer, Luc and Braun, Carsten and Fisher, Alex and Gardi, Alessandro G.}, title = {Potential of hybrid neural network local path planner for small UAV in urban environments}, series = {AIAA SCITECH 2023 Forum}, booktitle = {AIAA SCITECH 2023 Forum}, publisher = {AIAA}, doi = {10.2514/6.2023-2359}, pages = {13 Seiten}, year = {2023}, abstract = {This work proposes a hybrid algorithm combining an Artificial Neural Network (ANN) with a conventional local path planner to navigate UAVs efficiently in various unknown urban environments. The proposed method of a Hybrid Artificial Neural Network Avoidance System is called HANNAS. The ANN analyses a video stream and classifies the current environment. This information about the current Environment is used to set several control parameters of a conventional local path planner, the 3DVFH*. The local path planner then plans the path toward a specific goal point based on distance data from a depth camera. We trained and tested a state-of-the-art image segmentation algorithm, PP-LiteSeg. The proposed HANNAS method reaches a failure probability of 17\%, which is less than half the failure probability of the baseline and around half the failure probability of an improved, bio-inspired version of the 3DVFH*. The proposed HANNAS method does not show any disadvantages regarding flight time or flight distance.}, language = {en} } @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{HeinEubanksLingametal.2022, author = {Hein, Andreas M. and Eubanks, T. Marshall and Lingam, Manasvi and Hibberd, Adam and Fries, Dan and Schneider, Jean and Kervella, Pierre and Kennedy, Robert and Perakis, Nikolaos and Dachwald, Bernd}, title = {Interstellar now! Missions to explore nearby interstellar objects}, series = {Advances in Space Research}, volume = {69}, journal = {Advances in Space Research}, number = {1}, publisher = {Elsevier}, address = {Amsterdam}, issn = {0273-1177}, doi = {10.1016/j.asr.2021.06.052}, pages = {402 -- 414}, year = {2022}, abstract = {The recently discovered first hyperbolic objects passing through the Solar System, 1I/'Oumuamua and 2I/Borisov, have raised the question about near term missions to Interstellar Objects. In situ spacecraft exploration of these objects will allow the direct determination of both their structure and their chemical and isotopic composition, enabling an entirely new way of studying small bodies from outside our solar system. In this paper, we map various Interstellar Object classes to mission types, demonstrating that missions to a range of Interstellar Object classes are feasible, using existing or near-term technology. We describe flyby, rendezvous and sample return missions to interstellar objects, showing various ways to explore these bodies characterizing their surface, dynamics, structure and composition. Their direct exploration will constrain their formation and history, situating them within the dynamical and chemical evolution of the Galaxy. These mission types also provide the opportunity to explore solar system bodies and perform measurements in the far outer solar system.}, language = {en} } @incollection{HebelHerrmannRitzetal.2022, author = {Hebel, Christoph and Herrmann, Ulf and Ritz, Thomas and R{\"o}th, Thilo and Anthrakidis, Anette and B{\"o}ker, J{\"o}rg and Franzke, Till and Grodzki, Thomas and Merkens, Torsten and Sch{\"o}ttler, Mirjam}, title = {FlexSHARE - Methodisches Framework zur innovativen Gestaltung der urbanen Mobilit{\"a}t durch Sharing- Angebote}, series = {Transforming Mobility - What Next?}, booktitle = {Transforming Mobility - What Next?}, publisher = {Springer Gabler}, address = {Wiesbaden}, isbn = {978-3-658-36429-8}, doi = {10.1007/978-3-658-36430-4_10}, pages = {153 -- 169}, year = {2022}, abstract = {Das Ziel des INTERREG-Projektes „SHAREuregio" (FKZ: 34.EFRE-0300134) ist es, grenz{\"u}berschreitende Mobilit{\"a}t in der Euregio Rhein-Maas-Nord zu erm{\"o}glichen und zu f{\"o}rdern. Dazu soll ein elektromobiles Car- und Bikesharing- System entwickelt und in der Stadt M{\"o}nchengladbach, im Kreis Viersen sowie in den Gemeinden Roermond und Venlo (beide NL) zusammen mit den Partnern Wirtschaftsf{\"o}rderung M{\"o}nchengladbach, Wirtschaftsf{\"o}rderung f{\"u}r den Kreis Viersen, NEW AG, Goodmoovs (NL), Greenflux (NL) und der FH Aachen implementiert werden. Zun{\"a}chst richtet sich das Angebot, bestehend aus 40 Elektroautos und 40 Elektrofahrr{\"a}dern, an Unternehmen und wird nach einer Erprobungsphase, mit einer gr{\"o}ßeren Anzahl an Fahrzeugen, auch f{\"u}r Privatpersonen verf{\"u}gbar gemacht werden. Die Fahrzeuge stehen bei den jeweiligen Anwendungspartnern in Deutschland und den Niederlanden. Im Rahmen dieses Projektes hat die FH Aachen „FlexSHARE" entwickelt - ein methodisches Framework zur innovativen Gestaltung urbaner Sharing- Angebote. Das Framework erm{\"o}glicht es, anhand von messbaren Kenngr{\"o}ßen, bedarfsgerechte und auf die Region abgestimmte Sharing-Systeme zu entwickeln.}, language = {de} }