TY - JOUR A1 - Thomessen, Karolin A1 - Thoma, Andreas A1 - Braun, Carsten T1 - Bio-inspired altitude changing extension to the 3DVFH* local obstacle avoidance algorithm JF - CEAS Aeronautical Journal N2 - 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. KW - UAV KW - Obstacle avoidance KW - Autonomy KW - Local path planning Y1 - 2023 U6 - https://doi.org/10.1007/s13272-023-00691-w SN - 1869-5590 (Online) SN - 1869-5582 (Print) N1 - Corresponding author: Karolin Thomessen PB - Springer CY - Wien ER - TY - JOUR A1 - Thoma, Andreas A1 - Gardi, Alessandro A1 - Fisher, Alex A1 - Braun, Carsten T1 - Improving local path planning for UAV flight in challenging environments by refining cost function weights JF - CEAS Aeronautical Journal N2 - 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%. KW - Bio-inspired systems KW - Path planning KW - Obstacle avoidance KW - Unmanned aerial vehicles Y1 - 2024 U6 - https://doi.org/10.1007/s13272-024-00741-x SN - 1869-5590 (eISSN) SN - 1869-5582 N1 - Corresponding author: Andreas Thoma PB - Springer CY - Wien ER - TY - JOUR A1 - Stollenwerk, Dominik A1 - Reinkensmeier, Sebastian A1 - Georg, Jörg Heiner A1 - Jungbluth, Christian T1 - „Smartes“ Laden an öffentlich zugänglichen Ladesäulen – Teil 2: USER-Verhalten und -Erwartungen JF - Energiewirtschaftliche Tagesfragen : et ; Zeitschrift für Energiewirtschaft, Recht, Technik und Umwelt Y1 - 2021 SN - 0720-6240 SN - 0013-743X VL - 71 IS - 3 SP - 38 EP - 42 PB - ETV Energieverlag CY - Essen ER - TY - JOUR A1 - Starck, Andreas T1 - Projektsteuerung contra Architektengrundleistung oder wer steuert das Baugeschehen? N2 - Sieht man sich die umfangreichen Betätigungsfelder für einen Projektsteuerer in den Publikationen der einschlägigen Verbände und der Anbieter etwas genauer an, so wird man feststellen, das nach der eigentlichen Projektvorbereitungsphase mit Wirtschaftlichkeitsberechnungen und Sicherstellung der Finanzierung erhebliche Überschneidungen zu den in der HOAI ausgewiesenen Tätigkeiten der weiteren Planungsbeteiligten, insbesondere des Gebäudeplaners, also des Architekten bestehen. Geht man nun davon aus, dass der Bauherr diese Leistungen nicht doppelt bezahlen will, wäre die logische Konsequenz aus der vollumfänglichen Beauftragung eines Projektsteuerers die Verminderung des Auftragsumfangs an den Architekten, verbunden mit einer Honorarminderung für den Architekten. Damit bricht dem Architekten bei eingehender Betrachtung am Ende mehr als die Hälfte seiner Tätigkeit und damit seiner Grundlage zur Honorarerzielung weg. Der Bauherr muss in erster Linie seine Wünsche definieren und sein Budget bestimmen. Er beauftragt die Planungsbeteiligten und nimmt deren Leistungen entgegen. Sein Problem dabei ist, dass er diese Leistung nicht beurteilen kann, weder in Bezug auf deren Vollständigkeit, noch in Bezug auf deren Inhalt. Hier steht der Projektsteuerer im eigentlichen Sinne. Er muss wissen, was die Planungsbeteiligten für ihr Geld zu leisten haben und wie er diese Leistungen durchsetzen kann. Letztendlich sorgt er dann aber auch dafür, das die Architektenleistungen, also Planung und Ausschreibungsunterlagen vom Bauherrn verstanden werden. Warum aber kann der Architekt selbst seine Leistungen und damit den Nachweis der Leistungserfüllung nicht selbst dem Bauherrn verständlich und damit glaubhaft machen? Es liegt also letztlich in der Hand der Architekten, ob ihr Betätigungsfeld weiter durch in die Planung und Gestaltung eingreifende, zusätzliche Projektsteuerer und Generalunternehmer eingeengt oder sogar weggenommen werden kann. Die Frage, wer das Baugeschehen steuert und lenkt bleibt solange ungeklärt, wie die Architekten dieses Tätigkeitsfeld des Architekten im Baubetrieb weiterhin nur unzulänglich ausfüllen können und wollen. Y1 - 2007 ER - TY - JOUR A1 - Staat, Manfred A1 - Heitzer, M. T1 - Limit and Shakedown Analysis Using a General Purpose Finite Element Code JF - Proceedings of NAFEMS World Congress '97 on Design, Simulation & Optimisation : reliability & applicability of computational methods ; Stuttgart, Germany, 9 - 11 April 1997 Y1 - 1997 SN - 1-87437-620-4 SP - 522 EP - 533 PB - NAFEMS CY - Glasgow ER - TY - JOUR A1 - Staat, Manfred A1 - Ballmann, J. T1 - Computation of impacts on elastic solids by methods of bicharacteristics JF - Computational Mechanics '88 : theory and applications ; proceedings of the International Conference on Computational Engineering Science April 10-14, 1988, Atlanta, GA, USA ; vol. 2 N2 - Shock waves, explosions, impacts or cavitation bubble collapses may generate stress waves in solids causing cracks or unexpected dammage due to focussing, physical nonlinearity or interaction with existing cracks. There is a growing interest in wave propagation, which poses many novel problems to experimentalists and theorists. KW - Bicharakteristikenverfahren KW - Elastizität KW - elastic solids KW - bicharacteristics Y1 - 1988 SP - 1719 EP - 1722 ER - TY - JOUR A1 - Staat, Manfred T1 - Local and global collapse pressure of longitudinally flawed pipes and cylindrical vessels N2 - Limit loads can be calculated with the finite element method (FEM) for any component, defect geometry, and loading. FEM suggests that published long crack limit formulae for axial defects under-estimate the burst pressure for internal surface defects in thick pipes while limit loads are not conservative for deep cracks and for pressure loaded crack-faces. Very deep cracks have a residual strength, which is modelled by a global collapse load. These observations are combined to derive new analytical local and global collapse loads. The global collapse loads are close to FEM limit analyses for all crack dimensions. KW - Finite-Elemente-Methode KW - Grenzwertberechnung KW - Axialbelastung KW - FEM KW - Grenzwertberechnung KW - Axialbelastung KW - Traglastanalyse KW - Limit analysis KW - Global and local collapse KW - Axially cracked pipe KW - Pressure loaded crack-face Y1 - 2005 ER - TY - JOUR A1 - Staat, Manfred T1 - Plastic collapse analysis of longitudinally flawed pipes and vessels N2 - Improved collapse loads of thick-walled, crack containing pipes and vessels are suggested. Very deep cracks have a residual strength which is better modelled by a global limit load. In all burst tests, the ductility of pressure vessel steels was sufficiently high whereby the burst pressure could be predicted by limit analysis with no need to apply fracture mechanics. The relative prognosis error increases however, for long and deep defects due to uncertainties of geometry and strength data. KW - Druckbehälter KW - Stahl KW - Druckbelastung KW - Druckbeanspruchung KW - Rohr KW - Rohrbruch KW - Druckbehälter KW - Stahl KW - Druckbelastung KW - Druckbeanspruchung KW - Rohrbruch KW - Fehlerstellen KW - pipes KW - vessels KW - load limit KW - burst tests KW - burst pressure KW - flaw Y1 - 2004 ER - TY - JOUR A1 - Staat, Manfred T1 - Shakedown and ratchetting under tension-torsion loadings: analysis and experiments N2 - Structural design analyses are conducted with the aim of verifying the exclusion of ratchetting. To this end it is important to make a clear distinction between the shakedown range and the ratchetting range. The performed experiment comprised a hollow tension specimen which was subjected to alternating axial forces, superimposed with constant moments. First, a series of uniaxial tests has been carried out in order to calibrate a bounded kinematic hardening rule. The load parameters have been selected on the basis of previous shakedown analyses with the PERMAS code using a kinematic hardening material model. It is shown that this shakedown analysis gives reasonable agreement between the experimental and the numerical results. A linear and a nonlinear kinematic hardening model of two-surface plasticity are compared in material shakedown analysis. KW - Einspielen KW - Einspielen KW - Ratchetting KW - Zug-Druck Belastung KW - shakedown KW - ratchetting KW - tension–torsion loading Y1 - 2003 ER - TY - JOUR A1 - Staat, Manfred T1 - Direct finite element route for design-by-analysis of pressure components N2 - In the new European standard for unfired pressure vessels, EN 13445-3, there are two approaches for carrying out a Design-by-Analysis that cover both the stress categorization method (Annex C) and the direct route method (Annex B) for a check against global plastic deformation and against progressive plastic deformation. This paper presents the direct route in the language of limit and shakedown analysis. This approach leads to an optimization problem. Its solution with Finite Element Analysis is demonstrated for mechanical and thermal actions. One observation from the examples is that the so-called 3f (3Sm) criterion fails to be a reliable check against progressive plastic deformation. Precise conditions are given, which greatly restrict the applicability of the 3f criterion. KW - Einspielen KW - Plastizität KW - Deformation KW - Analytischer Zulaessigkeitsnachweis KW - Einspiel-Analyse KW - fortschreitende plastische Deformation KW - alternierend Verformbarkeit KW - Einspiel-Kriterium KW - Design-by-analysis KW - Shakedown analysis KW - Progressive plastic deformation KW - Alternating plasticity KW - Shakedown criterion Y1 - 2005 ER -