@inproceedings{SteinbauerFerrein2019, author = {Steinbauer, Gerald and Ferrein, Alexander}, title = {CogRob 2018 : Cognitive Robotics Workshop. Proceedings of the 11th Cognitive Robotics Workshop 2018 co-located with 16th International Conference on Principles of Knowledge Representation and Reasoning (KR 2018). Tempe, AZ, USA, October 27th, 2018.}, series = {CEUR workshop proceedings}, booktitle = {CEUR workshop proceedings}, number = {Vol-2325}, issn = {1613-0073}, pages = {46 Seiten}, year = {2019}, language = {en} } @inproceedings{SchifferBragard2019, author = {Schiffer, Fabian and Bragard, Michael}, title = {Cascaded LQ and Field-Oriented Control of a Mobile Inverse Pendulum (Segway) with Permanent Magnet Synchronous Machines}, series = {2019 20th International Conference on Research and Education in Mechatronics (REM)}, booktitle = {2019 20th International Conference on Research and Education in Mechatronics (REM)}, isbn = {978-1-5386-9257-8}, doi = {10.1109/REM.2019.8744101}, pages = {1 -- 8}, year = {2019}, language = {en} } @inproceedings{BragardSubeSchneideretal.2019, author = {Bragard, Michael and Sube, Maike and Schneider, Maike and Jungemann, Christoph}, title = {Introducing a Cross-University Bachelor's Programme with Orientation Semester - Enabling a Permeable Academic Education System}, series = {2019 20th International Conference on Research and Education in Mechatronics (REM)}, booktitle = {2019 20th International Conference on Research and Education in Mechatronics (REM)}, isbn = {978-1-5386-9257-8}, doi = {10.1109/REM.2019.8744132}, pages = {1 -- 6}, year = {2019}, language = {en} } @inproceedings{WiegnerVolkerMainzetal.2022, author = {Wiegner, Jonas and Volker, Hanno and Mainz, Fabian and Backes, Andreas and L{\"o}ken, Michael and H{\"u}ning, Felix}, title = {Wiegand-effect-powered wireless IoT sensor node}, series = {ITG-Fb. 303: Sensoren und Messsysteme}, booktitle = {ITG-Fb. 303: Sensoren und Messsysteme}, publisher = {VDE Verlag GmbH}, address = {Berlin}, isbn = {978-3-8007-5835-7}, pages = {255 -- 260}, year = {2022}, abstract = {In this article we describe an Internet-of-Things sensing device with a wireless interface which is powered by the oftenoverlooked harvesting method of the Wiegand effect. The sensor can determine position, temperature or other resistively measurable quantities and can transmit the data via an ultra-low power ultra-wideband (UWB) data transmitter. With this approach we can energy-self-sufficiently acquire, process, and wirelessly transmit data in a pulsed operation. A proof-of-concept system was built up to prove the feasibility of the approach. The energy consumption of the system is analyzed and traced back in detail to the individual components, compared to the generated energy and processed to identify further optimization options. Based on the proof-of-concept, an application demonstrator was developed. Finally, we point out possible use cases.}, language = {en} } @inproceedings{LorenzAltherrPelz2020, author = {Lorenz, Imke-Sophie and Altherr, Lena and Pelz, Peter F.}, title = {Assessing and Optimizing the Resilience of Water Distribution Systems Using Graph-Theoretical Metrics}, series = {Operations Research Proceedings 2019}, booktitle = {Operations Research Proceedings 2019}, editor = {Neufeld, Janis S. and Buscher, Udo and Lasch, Rainer and M{\"o}st, Dominik and Sch{\"o}nberger, J{\"o}rn}, publisher = {Springer}, address = {Cham}, isbn = {978-3-030-48439-2}, doi = {10.1007/978-3-030-48439-2_63}, pages = {521 -- 527}, year = {2020}, abstract = {Water distribution systems are an essential supply infrastructure for cities. Given that climatic and demographic influences will pose further challenges for these infrastructures in the future, the resilience of water supply systems, i.e. their ability to withstand and recover from disruptions, has recently become a subject of research. To assess the resilience of a WDS, different graph-theoretical approaches exist. Next to general metrics characterizing the network topology, also hydraulic and technical restrictions have to be taken into account. In this work, the resilience of an exemplary water distribution network of a major German city is assessed, and a Mixed-Integer Program is presented which allows to assess the impact of capacity adaptations on its resilience.}, language = {en} } @inproceedings{LeiseSimonAltherr2020, author = {Leise, Philipp and Simon, Nicolai and Altherr, Lena}, title = {Comparison of Piecewise Linearization Techniques to Model Electric Motor Efficiency Maps: A Computational Study}, series = {Operations Research Proceedings 2019}, booktitle = {Operations Research Proceedings 2019}, publisher = {Springer}, address = {Cham}, isbn = {978-3-030-48439-2}, doi = {10.1007/978-3-030-48439-2_55}, pages = {457 -- 463}, year = {2020}, abstract = {To maximize the travel distances of battery electric vehicles such as cars or buses for a given amount of stored energy, their powertrains are optimized energetically. One key part within optimization models for electric powertrains is the efficiency map of the electric motor. The underlying function is usually highly nonlinear and nonconvex and leads to major challenges within a global optimization process. To enable faster solution times, one possibility is the usage of piecewise linearization techniques to approximate the nonlinear efficiency map with linear constraints. Therefore, we evaluate the influence of different piecewise linearization modeling techniques on the overall solution process and compare the solution time and accuracy for methods with and without explicitly used binary variables.}, language = {en} } @inproceedings{MuellerSchmittLeiseetal.2021, author = {M{\"u}ller, Tim M. and Schmitt, Andreas and Leise, Philipp and Meck, Tobias and Altherr, Lena and Pelz, Peter F. and Pfetsch, Marc E.}, title = {Validation of an optimized resilient water supply system}, series = {Uncertainty in Mechanical Engineering}, booktitle = {Uncertainty in Mechanical Engineering}, publisher = {Springer}, address = {Cham}, isbn = {978-3-030-77255-0}, doi = {10.1007/978-3-030-77256-7_7}, pages = {70 -- 80}, year = {2021}, abstract = {Component failures within water supply systems can lead to significant performance losses. One way to address these losses is the explicit anticipation of failures within the design process. We consider a water supply system for high-rise buildings, where pump failures are the most likely failure scenarios. We explicitly consider these failures within an early design stage which leads to a more resilient system, i.e., a system which is able to operate under a predefined number of arbitrary pump failures. We use a mathematical optimization approach to compute such a resilient design. This is based on a multi-stage model for topology optimization, which can be described by a system of nonlinear inequalities and integrality constraints. Such a model has to be both computationally tractable and to represent the real-world system accurately. We therefore validate the algorithmic solutions using experiments on a scaled test rig for high-rise buildings. The test rig allows for an arbitrary connection of pumps to reproduce scaled versions of booster station designs for high-rise buildings. We experimentally verify the applicability of the presented optimization model and that the proposed resilience properties are also fulfilled in real systems.}, language = {en} } @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} }