@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}, address = {New York, NY}, 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{MeckMuellerAltherretal.2020, author = {Meck, Marvin M. and M{\"u}ller, Tim M. and Altherr, Lena and Pelz, Peter F.}, title = {Improving an industrial cooling system using MINLP, considering capital and operating costs}, series = {Operations Research Proceedings 2019}, booktitle = {Operations Research Proceedings 2019}, publisher = {Springer}, address = {Cham}, isbn = {978-3-030-48438-5 (Print)}, doi = {10.1007/978-3-030-48439-2_61}, pages = {505 -- 512}, year = {2020}, abstract = {The chemical industry is one of the most important industrial sectors in Germany in terms of manufacturing revenue. While thermodynamic boundary conditions often restrict the scope for reducing the energy consumption of core processes, secondary processes such as cooling offer scope for energy optimisation. In this contribution, we therefore model and optimise an existing cooling system. The technical boundary conditions of the model are provided by the operators, the German chemical company BASF SE. In order to systematically evaluate different degrees of freedom in topology and operation, we formulate and solve a Mixed-Integer Nonlinear Program (MINLP), and compare our optimisation results with the existing system.}, language = {en} } @inproceedings{MuellerAltherrLeiseetal.2020, author = {M{\"u}ller, Tim M. and Altherr, Lena and Leise, Philipp and Pelz, Peter F.}, title = {Optimization of pumping systems for buildings: Experimental validation of different degrees of model detail on a modular test rig}, series = {Operations Research Proceedings 2019}, booktitle = {Operations Research Proceedings 2019}, publisher = {Springer}, address = {Cham}, isbn = {978-3-030-48438-5}, doi = {10.1007/978-3-030-48439-2_58}, pages = {481 -- 488}, year = {2020}, abstract = {Successful optimization requires an appropriate model of the system under consideration. When selecting a suitable level of detail, one has to consider solution quality as well as the computational and implementation effort. In this paper, we present a MINLP for a pumping system for the drinking water supply of high-rise buildings. We investigate the influence of the granularity of the underlying physical models on the solution quality. Therefore, we model the system with a varying level of detail regarding the friction losses, and conduct an experimental validation of our model on a modular test rig. Furthermore, we investigate the computational effort and show that it can be reduced by the integration of domain-specific knowledge.}, language = {en} } @inproceedings{AlhwarinFerreinScholl2018, author = {Alhwarin, Faraj and Ferrein, Alexander and Scholl, Ingrid}, title = {CRVM: Circular Random Variable-based Matcher - A Novel Hashing Method for Fast NN Search in High-dimensional Spaces}, series = {Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2018}, booktitle = {Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2018}, isbn = {978-989-758-276-9}, doi = {10.5220/0006692802140221}, pages = {214 -- 221}, year = {2018}, language = {en} } @inproceedings{AlhwarinSchifferFerreinetal.2018, author = {Alhwarin, Faraj and Schiffer, Stefan and Ferrein, Alexander and Scholl, Ingrid}, title = {Optimized KinectFusion Algorithm for 3D Scanning Applications}, series = {Proceedings of the 11th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 2: BIOIMAGING}, booktitle = {Proceedings of the 11th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 2: BIOIMAGING}, isbn = {978-989-758-278-3}, doi = {10.5220/0006594700500057}, pages = {50 -- 57}, year = {2018}, language = {en} } @inproceedings{HofmannMatareSchifferetal.2018, author = {Hofmann, Till and Matar{\´e}, Victor and Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard}, title = {Constraint-based online transformation of abstract plans into executable robot actions}, series = {Proceedings of the 2018 AAAI Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy}, booktitle = {Proceedings of the 2018 AAAI Spring Symposium on Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy}, pages = {549 -- 553}, year = {2018}, language = {en} } @inproceedings{FerreinSchifferKallweit2018, author = {Ferrein, Alexander and Schiffer, Stefan and Kallweit, Stephan}, title = {The ROSIN Education Concept - Fostering ROS Industrial-Related Robotics Education in Europe}, series = {ROBOT 2017: Third Iberian Robotics Conference}, booktitle = {ROBOT 2017: Third Iberian Robotics Conference}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-70836-2}, doi = {10.1007/978-3-319-70836-2_31}, pages = {370 -- 381}, year = {2018}, language = {en} } @inproceedings{HofmannMatareNeumannetal.2018, author = {Hofmann, Till and Matar{\´e}, Victor and Neumann, Tobias and Sch{\"o}nitz, Sebastian and Henke, Christoph and Limpert, Nicolas and Niemueller, Tim and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard}, title = {Enhancing Software and Hardware Reliability for a Successful Participation in the RoboCup Logistics League 2017}, publisher = {Springer}, address = {Cham}, isbn = {978-3-030-00308-1}, doi = {10.1007/978-3-030-00308-1_40}, pages = {486 -- 497}, year = {2018}, language = {en} } @inproceedings{EssingholtMeyerKuhnetal.2018, author = {Essingholt, Felix and Meyer, Frederic and Kuhn, Peter and Schmidt, Philip and Benkner, Thorsten and Grabmaier, Anton}, title = {Non-invasive heart beat measurement using microwave resonators}, series = {Proceedings, Vol. 2, Eurosensors 2018 Conference, Graz, Austria, 9-12 September 2018}, booktitle = {Proceedings, Vol. 2, Eurosensors 2018 Conference, Graz, Austria, 9-12 September 2018}, publisher = {MDPI}, address = {Basel}, issn = {2504-3900}, doi = {10.3390/proceedings2131002}, pages = {1002}, year = {2018}, 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}, address = {New York, NY}, isbn = {978-2-87487-061-3}, doi = {10.1109/EuRAD48048.2021.00030}, pages = {73 -- 76}, year = {2021}, abstract = {This article introduces a new maritime search and rescue system based on S-band illumination harmonic radar (HR). Passive and active tags have been developed and tested attached to life jackets and a rescue boat. This system was able to detect and range the active tags up to a range of 5800 m in tests on the Baltic Sea with an antenna input power of only 100 W. All electronic GHz components of the system, excluding the S-band power amplifier, were custom developed for this purpose. Special attention is given to the performance and conceptual differences between passive and active tags used in the system and integration with a maritime X-band navigation radar is demonstrated.}, 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}, abstract = {The Robot Operating System (ROS) is the current de-facto standard in robot middlewares. The steadily increasing size of the user base results in a greater demand for training as well. User groups range from students in academia to industry professionals with a broad spectrum of developers in between. To deliver high quality training and education to any of these audiences, educators need to tailor individual curricula for any such training. In this paper, we present an approach to ease compiling curricula for ROS trainings based on a taxonomy of the teaching contents. The instructor can select a set of dedicated learning units and the system will automatically compile the teaching material based on the dependencies of the units selected and a set of parameters for a particular training. We walk through an example training to illustrate our work.}, 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 = {2020 23rd International Conference on Electrical Machines and Systems (ICEMS)}, booktitle = {2020 23rd International Conference on Electrical Machines and Systems (ICEMS)}, publisher = {IEEE}, address = {New York, NY}, doi = {10.23919/ICEMS50442.2020.9290928}, pages = {1117 -- 1122}, year = {2020}, abstract = {Control engineering theory is hard to grasp for undergraduates during the first semesters, as it deals with the dynamical behavior of systems also in combination with control strategies on an abstract level. Therefore, operational amplifier (OpAmp) processes are reasonable and very effective systems to connect mathematical description with actual system's behavior. In this paper, we present an experiment for a laboratory session in which an embedded system, driven by a LabVIEW human machine interface (HMI) via USB, controls the analog circuits.With this setup we want to show the possibility of firstly, analyzing a first order process and secondly, designing a P-and PI-controller. Thereby, the theory of control engineering is always applied to the empirical results in order to break down the abstract level for the students.}, language = {en} } @inproceedings{SchubaHoefkenLinzbach2022, author = {Schuba, Marko and H{\"o}fken, Hans-Wilhelm and Linzbach, Sophie}, title = {An ICS Honeynet for Detecting and Analyzing Cyberattacks in Industrial Plants}, series = {2021 International Conference on Electrical, Computer and Energy Technologies (ICECET)}, booktitle = {2021 International Conference on Electrical, Computer and Energy Technologies (ICECET)}, publisher = {IEEE}, isbn = {978-1-6654-4231-2}, doi = {10.1109/ICECET52533.2021.9698746}, pages = {6 Seiten}, year = {2022}, abstract = {Cybersecurity of Industrial Control Systems (ICS) is an important issue, as ICS incidents may have a direct impact on safety of people or the environment. At the same time the awareness and knowledge about cybersecurity, particularly in the context of ICS, is alarmingly low. Industrial honeypots offer a cheap and easy to implement way to raise cybersecurity awareness and to educate ICS staff about typical attack patterns. When integrated in a productive network, industrial honeypots may not only reveal attackers early but may also distract them from the actual important systems of the network. Implementing multiple honeypots as a honeynet, the systems can be used to emulate or simulate a whole Industrial Control System. This paper describes a network of honeypots emulating HTTP, SNMP, S7communication and the Modbus protocol using Conpot, IMUNES and SNAP7. The nodes mimic SIMATIC S7 programmable logic controllers (PLCs) which are widely used across the globe. The deployed honeypots' features will be compared with the features of real SIMATIC S7 PLCs. Furthermore, the honeynet has been made publicly available for ten days and occurring cyberattacks have been analyzed}, language = {en} } @inproceedings{ChristianMontagSchubaetal.2018, author = {Christian, Esser and Montag, Tim and Schuba, Marko and Allhof, Manuel}, title = {Future critical infrastructure and security - cyberattacks on charging stations}, series = {31st International Electric Vehicle Symposium \& Exhibition and International Electric Vehicle Technology Conference (EVS31 \& EVTeC 2018)}, booktitle = {31st International Electric Vehicle Symposium \& Exhibition and International Electric Vehicle Technology Conference (EVS31 \& EVTeC 2018)}, publisher = {Society of Automotive Engineers of Japan (JSAE)}, address = {Tokyo}, isbn = {978-1-5108-9157-9}, pages = {665 -- 671}, year = {2018}, language = {en} } @inproceedings{KoenigVoelkerWolf2018, author = {K{\"o}nig, Johannes Alexander and V{\"o}lker, Veronika and Wolf, Martin}, title = {The user-focused storybuilding framework for competence developing games - a design-framework considering the basics of an educational game's story}, series = {ACHI 2018 : The Eleventh International Conference on Advances in Computer-Human Interactions}, booktitle = {ACHI 2018 : The Eleventh International Conference on Advances in Computer-Human Interactions}, isbn = {978-1-61208-616-3}, pages = {98 -- 106}, year = {2018}, abstract = {During the development of a Competence Developing Game's (CDG) story it is indispensable to understand the target audience. Thereby, CDGs stories represent more than just the plot. The Story is about the Setting, the Characters and the Plot. As a toolkit to support the development of such a story, this paper introduces the UserFocused Storybuilding (short UFoS) Framework for CDGs. The Framework and its utilization will be explained, followed by a description of its development and derivation, including an empirical study. In addition, to simplify the Framework use regarding the CDG's target audience, a new concept of Nine Psychographic Player Types will be explained. This concept of Player Types provides an approach to handle the differences in between players during the UFoS Framework use. Thereby, this article presents a unique approach to the development of target group-differentiated CDGs stories.}, language = {en} } @inproceedings{DowidatKoenigWolf2017, author = {Dowidat, Linda and K{\"o}nig, Johannes Alexander and Wolf, Martin}, title = {The motivational competence developing game framework}, series = {Mensch und Computer 2017 - Tagungsband}, booktitle = {Mensch und Computer 2017 - Tagungsband}, publisher = {Gesellschaft f{\"u}r Informatik e.V.}, address = {Regensburg}, doi = {10.18420/muc2017-mci-0130}, pages = {15 -- 26}, year = {2017}, abstract = {Competence Developing Games (CDGs) are a new concept of how to think about games with serious intentions. In order to emphasize on this topic, a new framework has been developed. It basically relies on learning and motivation theories. This 'motivational Competence Developing Game Framework' demonstrates how it is possible to use these theories in a CDG development process. The theoretical derivation and use of the framework is explained in this paper.}, language = {en} } @inproceedings{KoenigWolf2018, author = {K{\"o}nig, Johannes Alexander and Wolf, Martin}, title = {Cybersecurity awareness training provided by the competence developing game GHOST}, series = {ACHI 2018 : The Eleventh International Conference on Advances in Computer-Human Interactions}, booktitle = {ACHI 2018 : The Eleventh International Conference on Advances in Computer-Human Interactions}, isbn = {978-1-61208-616-3}, pages = {81 -- 87}, year = {2018}, abstract = {This paper introduces a Competence Developing Game (CDG) for the purpose of a cybersecurity awareness training for businesses. The target audience will be discussed in detail to understand their requirements. It will be explained why and how a mix of business simulation and serious game meets these stakeholder requirements. It will be shown that a tablet and touchscreen based approach is the most suitable solution. In addition, an empirical study will be briefly presented. The study was carried out to examine how an interaction system for a 3D-tablet based CDG has to be designed, to be manageable for non-game experienced employees. Furthermore, it will be explained which serious content is necessary for a Cybersecurity awareness training CDG and how this content is wrapped in the game}, language = {en} } @inproceedings{WalterElsenMuelleretal.1999, author = {Walter, Peter and Elsen, Ingo and M{\"u}ller, Holger and Kraiss, Karl-Friedrich}, title = {3D object recognition with a specialized mixtures of experts architecture}, series = {IJCNN'99. International Joint Conference on Neural Networks. Proceedings}, booktitle = {IJCNN'99. International Joint Conference on Neural Networks. Proceedings}, publisher = {IEEE}, address = {New York}, isbn = {0-7803-5529-6}, issn = {1098-7576}, doi = {10.1109/IJCNN.1999.836243}, pages = {3563 -- 3568}, year = {1999}, abstract = {Aim of the AXON2 project (Adaptive Expert System for Object Recogniton using Neuml Networks) is the development of an object recognition system (ORS) capable of recognizing isolated 3d objects from arbitrary views. Commonly, classification is based on a single feature extracted from the original image. Here we present an architecture adapted from the Mixtures of Eaqerts algorithm which uses multiple neuml networks to integmte different features. During tmining each neural network specializes in a subset of objects or object views appropriate to the properties of the corresponding feature space. In recognition mode the system dynamically chooses the most relevant features and combines them with maximum eficiency. The remaining less relevant features arz not computed and do therefore not decelerate the-recognition process. Thus, the algorithm is well suited for ml-time applications.}, language = {en} } @inproceedings{Elsen1998, author = {Elsen, Ingo}, title = {A pixel based approach to view based object recognition with self-organizing neural networks}, series = {IECON'98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society}, booktitle = {IECON'98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society}, publisher = {IEEE}, address = {New York}, isbn = {0-7803-4503-7}, doi = {10.1109/IECON.1998.724032}, pages = {2040 -- 2044}, year = {1998}, abstract = {This paper addresses the pixel based classification of three dimensional objects from arbitrary views. To perform this task a coding strategy, inspired by the biological model of human vision, for pixel data is described. The coding strategy ensures that the input data is invariant against shift, scale and rotation of the object in the input domain. The image data is used as input to a class of self organizing neural networks, the Kohonen-maps or self-organizing feature maps (SOFM). To verify this approach two test sets have been generated: the first set, consisting of artificially generated images, is used to examine the classification properties of the SOFMs; the second test set examines the clustering capabilities of the SOFM when real world image data is applied to the network after it has been preprocessed to be invariant against shift, scale and rotation. It is shown that the clustering capability of the SOFM is strongly dependant on the invariance coding of the images.}, language = {en} }