@inproceedings{FerreinSchollNeumannetal.2019, author = {Ferrein, Alexander and Scholl, Ingrid and Neumann, Tobias and Kr{\"u}ckel, Kai and Schiffer, Stefan}, title = {A system for continuous underground site mapping and exploration}, doi = {10.5772/intechopen.85859}, pages = {16 Seiten}, year = {2019}, language = {en} } @inproceedings{SchifferFerrein2017, author = {Schiffer, Stefan and Ferrein, Alexander}, title = {A System Layout for Cognitive Service Robots}, series = {Cognitive Robot Architectures. Proceedings of EUCognition 2016}, booktitle = {Cognitive Robot Architectures. Proceedings of EUCognition 2016}, issn = {1613-0073}, pages = {44 -- 45}, year = {2017}, language = {en} } @inproceedings{EvansBraunUlmeretal.2022, author = {Evans, Benjamin and Braun, Sebastian and Ulmer, Jessica and Wollert, J{\"o}rg}, title = {AAS implementations - current problems and solutions}, series = {20th International Conference on Mechatronics - Mechatronika (ME)}, booktitle = {20th International Conference on Mechatronics - Mechatronika (ME)}, publisher = {IEEE}, address = {New York, NY}, isbn = {978-1-6654-1040-3}, doi = {10.1109/ME54704.2022.9982933}, pages = {6 Seiten}, year = {2022}, abstract = {The fourth industrial revolution presents a multitude of challenges for industries, one of which being the increased flexibility required of manufacturing lines as a result of increased consumer demand for individualised products. One solution to tackle this challenge is the digital twin, more specifically the standardised model of a digital twin also known as the asset administration shell. The standardisation of an industry wide communications tool is a critical step in enabling inter-company operations. This paper discusses the current state of asset administration shells, the frameworks used to host them and their problems that need to be addressed. To tackle these issues, we propose an event-based server capable of drastically reducing response times between assets and asset administration shells and a multi-agent system used for the orchestration and deployment of the shells in the field.}, language = {en} } @inproceedings{UlmerBraunChengetal.2021, author = {Ulmer, Jessica and Braun, Sebastian and Cheng, Chi-Tsun and Dowey, Steve and Wollert, J{\"o}rg}, title = {Adapting augmented reality systems to the users' needs using gamification and error solving methods}, series = {Procedia CIRP - 54th CIRP CMS 2021 - Towards Digitalized Manufacturing 4.0}, volume = {104}, booktitle = {Procedia CIRP - 54th CIRP CMS 2021 - Towards Digitalized Manufacturing 4.0}, publisher = {Elsevier}, address = {Amsterdam}, issn = {2212-8271}, doi = {10.1016/j.procir.2021.11.024}, pages = {140 -- 145}, year = {2021}, abstract = {Animations of virtual items in AR support systems are typically predefined and lack interactions with dynamic physical environments. AR applications rarely consider users' preferences and do not provide customized spontaneous support under unknown situations. This research focuses on developing adaptive, error-tolerant AR systems based on directed acyclic graphs and error resolving strategies. Using this approach, users will have more freedom of choice during AR supported work, which leads to more efficient workflows. Error correction methods based on CAD models and predefined process data create individual support possibilities. The framework is implemented in the Industry 4.0 model factory at FH Aachen.}, language = {en} } @inproceedings{MarcoFerrein2017, author = {Marco, Heather G. and Ferrein, Alexander}, title = {AGNES: The African-German Network of Excellence in Science}, series = {Proceedings of the 2nd Developing World Robotics Forum, Workshop at IEEE AFRICON 2017}, booktitle = {Proceedings of the 2nd Developing World Robotics Forum, Workshop at IEEE AFRICON 2017}, pages = {1 -- 2}, year = {2017}, language = {en} } @inproceedings{AlhwarinFerreinScholl2019, author = {Alhwarin, Faraj and Ferrein, Alexander and Scholl, Ingrid}, title = {An Efficient Hashing Algorithm for NN Problem in HD Spaces}, series = {Lecture Notes in Computer Science}, booktitle = {Lecture Notes in Computer Science}, isbn = {978-303005498-4}, doi = {10.1007/978-3-030-05499-1_6}, pages = {101 -- 115}, year = {2019}, language = {en} } @inproceedings{ZugNiemuellerHochgeschwenderetal.2017, author = {Zug, Sebastian and Niemueller, Tim and Hochgeschwender, Nico and Seidensticker, Kai and Seidel, Martin and Friedrich, Tim and Neumann, Tobias and Karras, Ulrich and Kraetzschmar, Gerhard K. and Ferrein, Alexander}, title = {An Integration Challenge to Bridge the Gap Among Industry-Inspired RoboCup Leagues}, series = {RoboCup 2016: Robot World Cup XX. RoboCup 2016.}, booktitle = {RoboCup 2016: Robot World Cup XX. RoboCup 2016.}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-68792-6}, doi = {10.1007/978-3-319-68792-6_13}, pages = {157 -- 168}, year = {2017}, language = {en} } @inproceedings{EngemannWiesenKallweitetal.2018, author = {Engemann, Heiko and Wiesen, Patrick and Kallweit, Stephan and Deshpande, Harshavardhan and Schleupen, Josef}, title = {Autonomous mobile manipulation using ROS}, series = {Advances in Service and Industrial Robotics}, booktitle = {Advances in Service and Industrial Robotics}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-61276-8}, doi = {10.1007/978-3-319-61276-8_43}, pages = {389 -- 401}, year = {2018}, language = {en} } @incollection{EngemannDuKallweitetal.2020, author = {Engemann, Heiko and Du, Shengzhi and Kallweit, Stephan and Ning, Chuanfang and Anwar, Saqib}, title = {AutoSynPose: Automatic Generation of Synthetic Datasets for 6D Object Pose Estimation}, series = {Machine Learning and Artificial Intelligence. Proceedings of MLIS 2020}, booktitle = {Machine Learning and Artificial Intelligence. Proceedings of MLIS 2020}, publisher = {IOS Press}, address = {Amsterdam}, isbn = {978-1-64368-137-5}, doi = {10.3233/FAIA200770}, pages = {89 -- 97}, year = {2020}, abstract = {We present an automated pipeline for the generation of synthetic datasets for six-dimension (6D) object pose estimation. Therefore, a completely automated generation process based on predefined settings is developed, which enables the user to create large datasets with a minimum of interaction and which is feasible for applications with a high object variance. The pipeline is based on the Unreal 4 (UE4) game engine and provides a high variation for domain randomization, such as object appearance, ambient lighting, camera-object transformation and distractor density. In addition to the object pose and bounding box, the metadata includes all randomization parameters, which enables further studies on randomization parameter tuning. The developed workflow is adaptable to other 3D objects and UE4 environments. An exemplary dataset is provided including five objects of the Yale-CMU-Berkeley (YCB) object set. The datasets consist of 6 million subsegments using 97 rendering locations in 12 different UE4 environments. Each dataset subsegment includes one RGB image, one depth image and one class segmentation image at pixel-level.}, language = {en} } @article{SchulteTiggesFoersterNikolovskietal.2022, author = {Schulte-Tigges, Joschua and F{\"o}rster, Marco and Nikolovski, Gjorgji and Reke, Michael and Ferrein, Alexander and Kaszner, Daniel and Matheis, Dominik and Walter, Thomas}, title = {Benchmarking of various LiDAR sensors for use in self-driving vehicles in real-world environments}, series = {Sensors}, volume = {22}, journal = {Sensors}, number = {19}, publisher = {MDPI}, address = {Basel}, issn = {1424-8220}, doi = {10.3390/s22197146}, pages = {20 Seiten}, year = {2022}, abstract = {Abstract In this paper, we report on our benchmark results of the LiDAR sensors Livox Horizon, Robosense M1, Blickfeld Cube, Blickfeld Cube Range, Velodyne Velarray H800, and Innoviz Pro. The idea was to test the sensors in different typical scenarios that were defined with real-world use cases in mind, in order to find a sensor that meet the requirements of self-driving vehicles. For this, we defined static and dynamic benchmark scenarios. In the static scenarios, both LiDAR and the detection target do not move during the measurement. In dynamic scenarios, the LiDAR sensor was mounted on the vehicle which was driving toward the detection target. We tested all mentioned LiDAR sensors in both scenarios, show the results regarding the detection accuracy of the targets, and discuss their usefulness for deployment in self-driving cars.}, language = {en} } @article{ClaerFerreinSchiffer2019, author = {Claer, Mario and Ferrein, Alexander and Schiffer, Stefan}, title = {Calibration of a Rotating or Revolving Platform with a LiDAR Sensor}, series = {Applied Sciences}, volume = {Volume 9}, journal = {Applied Sciences}, number = {issue 11, 2238}, publisher = {MDPI}, address = {Basel}, issn = {2076-3417}, doi = {10.3390/app9112238}, pages = {18 Seiten}, year = {2019}, language = {en} } @inproceedings{DeyElsenFerreinetal.2021, author = {Dey, Thomas and Elsen, Ingo and Ferrein, Alexander and Frauenrath, Tobias and Reke, Michael and Schiffer, Stefan}, title = {CO2 Meter: a do-it-yourself carbon dioxide measuring device for the classroom}, series = {PETRA '21: Proceedings of the 14th Pervasive Technologies Related to Assistive Environments Conference}, booktitle = {PETRA '21: Proceedings of the 14th Pervasive Technologies Related to Assistive Environments Conference}, editor = {Makedon, Fillia}, publisher = {Association for Computing Machinery}, address = {New York}, isbn = {9781450387927}, doi = {10.1145/3453892.3462697}, pages = {292 -- 299}, year = {2021}, abstract = {In this paper we report on CO2 Meter, a do-it-yourself carbon dioxide measuring device for the classroom. Part of the current measures for dealing with the SARS-CoV-2 pandemic is proper ventilation in indoor settings. This is especially important in schools with students coming back to the classroom even with high incidents rates. Static ventilation patterns do not consider the individual situation for a particular class. Influencing factors like the type of activity, the physical structure or the room occupancy are not incorporated. Also, existing devices are rather expensive and often provide only limited information and only locally without any networking. This leaves the potential of analysing the situation across different settings untapped. Carbon dioxide level can be used as an indicator of air quality, in general, and of aerosol load in particular. Since, according to the latest findings, SARS-CoV-2 can be transmitted primarily in the form of aerosols, carbon dioxide may be used as a proxy for the risk of a virus infection. Hence, schools could improve the indoor air quality and potentially reduce the infection risk if they actually had measuring devices available in the classroom. Our device supports schools in ventilation and it allows for collecting data over the Internet to enable a detailed data analysis and model generation. First deployments in schools at different levels were received very positively. A pilot installation with a larger data collection and analysis is underway.}, language = {en} } @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{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{FerreinMaierMuehlbacheretal.2016, author = {Ferrein, Alexander and Maier, Christopher and M{\"u}hlbacher, Clemens and Niem{\"u}ller, Tim and Steinbauer, Gerald and Vassos, Stravros}, title = {Controlling logistics robots with the action-based language YAGI}, series = {Intelligent Robotics and Applications: 9th International Conference, ICIRA 2016, Tokyo, Japan, August 22-24, 2016, Proceedings, Part I}, volume = {9834}, booktitle = {Intelligent Robotics and Applications: 9th International Conference, ICIRA 2016, Tokyo, Japan, August 22-24, 2016, Proceedings, Part I}, publisher = {Springer}, isbn = {978-3-319-43505-3 (Print)}, doi = {10.1007/978-3-319-43506-0_46}, pages = {525 -- 537}, year = {2016}, language = {en} } @inproceedings{FerreinMaierMuehlbacheretal.2015, author = {Ferrein, Alexander and Maier, Christopher and M{\"u}hlbacher, Clemens and Niemueller, Tim and Steinbauer, Gerald and Vassos, Stravros}, title = {Controlling Logistics Robots with the Action-based Language YAGI}, series = {Proceedings of the 2015 IROS Workshop on Workshop on Task Planning for Intelligent Robots in Service and Manufacturing}, booktitle = {Proceedings of the 2015 IROS Workshop on Workshop on Task Planning for Intelligent Robots in Service and Manufacturing}, year = {2015}, language = {en} } @incollection{NiemuellerZwillingLakemeyeretal.2017, author = {Niemueller, Tim and Zwilling, Frederik and Lakemeyer, Gerhard and L{\"o}bach, Matthias and Reuter, Sebastian and Jeschke, Sabina and Ferrein, Alexander}, title = {Cyber-Physical System Intelligence}, series = {Industrial Internet of Things}, booktitle = {Industrial Internet of Things}, publisher = {Springer}, address = {Cham}, isbn = {978-3-319-42559-7}, doi = {10.1007/978-3-319-42559-7_17}, pages = {447 -- 472}, year = {2017}, abstract = {Cyber-physical systems are ever more common in manufacturing industries. Increasing their autonomy has been declared an explicit goal, for example, as part of the Industry 4.0 vision. To achieve this system intelligence, principled and software-driven methods are required to analyze sensing data, make goal-directed decisions, and eventually execute and monitor chosen tasks. In this chapter, we present a number of knowledge-based approaches to these problems and case studies with in-depth evaluation results of several different implementations for groups of autonomous mobile robots performing in-house logistics in a smart factory. We focus on knowledge-based systems because besides providing expressive languages and capable reasoning techniques, they also allow for explaining how a particular sequence of actions came about, for example, in the case of a failure.}, language = {en} } @article{SchifferFerrein2016, author = {Schiffer, Stefan and Ferrein, Alexander}, title = {Decision-Theoretic Planning with Fuzzy Notions in GOLOG}, series = {International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems}, volume = {24}, journal = {International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems}, number = {Issue Suppl. 2}, publisher = {World Scientific}, address = {Singapur}, issn = {1793-6411}, doi = {10.1142/S0218488516400134}, pages = {123 -- 143}, year = {2016}, abstract = {In this paper we present an extension of the action language Golog that allows for using fuzzy notions in non-deterministic argument choices and the reward function in decision-theoretic planning. Often, in decision-theoretic planning, it is cumbersome to specify the set of values to pick from in the non-deterministic-choice-of-argument statement. Also, even for domain experts, it is not always easy to specify a reward function. Instead of providing a finite domain for values in the non-deterministic-choice-of-argument statement in Golog, we now allow for stating the argument domain by simply providing a formula over linguistic terms and fuzzy uents. In Golog's forward-search DT planning algorithm, these formulas are evaluated in order to find the agent's optimal policy. We illustrate this in the Diner Domain where the agent needs to calculate the optimal serving order.}, language = {en} } @incollection{NiemuellerReuterEwertetal.2015, author = {Niemueller, Tim and Reuter, Sebastian and Ewert, Daniel and Ferrein, Alexander and Jeschke, Sabina and Lakemeyer, Gerhard}, title = {Decisive Factors for the Success of the Carologistics RoboCup Team in the RoboCup Logistics League 2014}, series = {RoboCup 2014: Robot World Cup XVIII}, booktitle = {RoboCup 2014: Robot World Cup XVIII}, publisher = {Springer}, isbn = {978-3-319-18615-3}, pages = {155 -- 167}, year = {2015}, language = {en} } @inproceedings{SchulteTiggesMatheisRekeetal.2023, author = {Schulte-Tigges, Joschua and Matheis, Dominik and Reke, Michael and Walter, Thomas and Kaszner, Daniel}, title = {Demonstrating a V2X enabled system for transition of control and minimum risk manoeuvre when leaving the operational design domain}, series = {HCII 2023: HCI in Mobility, Transport, and Automotive Systems}, booktitle = {HCII 2023: HCI in Mobility, Transport, and Automotive Systems}, editor = {Kr{\"o}mker, Heidi}, publisher = {Springer}, address = {Cham}, isbn = {978-3-031-35677-3 (Print)}, doi = {10.1007/978-3-031-35678-0_12}, pages = {200 -- 210}, year = {2023}, abstract = {Modern implementations of driver assistance systems are evolving from a pure driver assistance to a independently acting automation system. Still these systems are not covering the full vehicle usage range, also called operational design domain, which require the human driver as fall-back mechanism. Transition of control and potential minimum risk manoeuvres are currently research topics and will bridge the gap until full autonomous vehicles are available. The authors showed in a demonstration that the transition of control mechanisms can be further improved by usage of communication technology. Receiving the incident type and position information by usage of standardised vehicle to everything (V2X) messages can improve the driver safety and comfort level. The connected and automated vehicle's software framework can take this information to plan areas where the driver should take back control by initiating a transition of control which can be followed by a minimum risk manoeuvre in case of an unresponsive driver. This transition of control has been implemented in a test vehicle and was presented to the public during the IEEE IV2022 (IEEE Intelligent Vehicle Symposium) in Aachen, Germany.}, language = {en} }