TY  - CHAP
A1  - Rens, Gavin
A1  - Varzinczak, Ivan
A1  - Meyer, Thomas
A1  - Ferrein, Alexander
T1  - A Logic for Reasoning about Actions and Explicit Observations
T2  - AI 2010: Advances in Artificial Intelligence
N2  - We propose a formalism for reasoning about actions based on multi-modal logic which allows for expressing observations as first-class objects. We introduce a new modal operator, namely [o |α], which allows us to capture the notion of perceiving an observation given that an action has taken place. Formulae of the type [o |α]ϕ mean ’after perceiving observation o, given α was performed, necessarily ϕ’. In this paper, we focus on the challenges concerning sensing with explicit observations, and acting with nondeterministic effects. We present the syntax and semantics, and a correct and decidable tableau calculus for the logic
Y1  - 2010
U6  - https://doi.org/10.1007/978-3-642-17432-2_40
N1  - 23rd Australasian Joint Conference, Adelaide, Australia, December 7-10, 2010
SP  - 395
EP  - 404
PB  - Springer
CY  - Berlin
ER  - 
TY  - JOUR
A1  - Ferrein, Alexander
T1  - Robot controllers for highly dynamic environments with real-time constraints
JF  - Künstliche Intelligenz : KI
N2  - In this extended abstract we describe the robot programming and planning language READYLOG, a GOLOG dialect which was developed to support the decision making of robots acting in dynamic real-time domains like robotic soccer. The formal framework of READYLOG, which is based on the situation calculus, features imperative control structures like loops and procedures, allows for decision-theoretic planning, and accounts for a continuously changing world. We developed high-level controllers in READYLOG for our soccer robots in RoboCup’s Middle-size league, but also for service robots and for autonomous agents in interactive computer games.
Y1  - 2010
U6  - https://doi.org/10.1007/s13218-010-0041-3
SN  - 1610-1987
VL  - 24
IS  - 2
SP  - 175
EP  - 178
PB  - Springer
CY  - Heidelberg
ER  - 
TY  - CHAP
A1  - Niemüller, Tim
A1  - Ferrein, Alexander
A1  - Beck, Daniel
A1  - Lakemeyer, Gerhard
T1  - Design principles of the component-based robot software framework Fawkes
T2  - Simulation, Modeling, and Programming for Autonomous Robots
N2  - The idea of component-based software engineering was proposed more that 40 years ago, yet only few robotics software frameworks follow these ideas. The main problem with robotics software usually is that it runs on a particular platform and transferring source code to another platform is crucial. In this paper, we present our software framework Fawkes which follows the component-based software design paradigm by featuring a clear component concept with well-defined communication interfaces. We deployed Fawkes on several different robot platforms ranging from service robots to biped soccer robots. Following the component concept with clearly defined communication interfaces shows great benefit when porting robot software from one robot to the other. Fawkes comes with a number of useful plugins for tasks like timing, logging, data visualization, software configuration, and even high-level decision making. These make it particularly easy to create and to debug productive code, shortening the typical development cycle for robot software.
Y1  - 2010
U6  - https://doi.org/10.1007/978-3-642-17319-6_29
N1  - Second International Conference, SIMPAR 2010, Darmstadt, Germany, November 15-18, 2010
SP  - 300
EP  - 311
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Niemüller, Tim
A1  - Ferrein, Alexander
A1  - Lakemeyer, Gerhard
T1  - A Lua-based behavior engine for controlling the humanoid robot Nao
T2  - RoboCup 2009: Robot Soccer World Cup XIII
N2  - The high-level decision making process of an autonomous robot can be seen as an hierarchically organised entity, where strategical decisions are made on the topmost layer, while the bottom layer serves as driver for the hardware. In between is a layer with monitoring and reporting functionality. In this paper we propose a behaviour engine for this middle layer which, based on formalism of hybrid state machines (HSMs), bridges the gap between high-level strategic decision making and low-level actuator control. The behaviour engine has to execute and monitor behaviours and reports status information back to the higher level. To be able to call the behaviours or skills hierarchically, we extend the model of HSMs with dependencies and sub-skills. These Skill-HSMs are implemented in the lightweight but expressive Lua scripting language which is well-suited to implement the behaviour engine on our target platform, the humanoid robot Nao.
Y1  - 2010
U6  - https://doi.org/10.1007/978-3-642-11876-0_21
N1  - 13th RoboCup International Symposium, Graz, Austria, June/July, 2009
SP  - 240
EP  - 251
PB  - Springer
CY  - Berlin
ER  - 
TY  - JOUR
A1  - Ferrein, Alexander
A1  - Siebel, Nils T.
A1  - Steinbauer, Gerald
T1  - Hybrid control for autonomous systems — Integrating learning, deliberation and reactive control
JF  - Robotics and Autonomous Systems
Y1  - 2010
U6  - https://doi.org/10.1016/j.robot.2010.06.003
SN  - 0921-8890
VL  - 58
IS  - 9
SP  - 1037
EP  - 1038
PB  - Elsevier
CY  - Amsterdam
ER  - 
TY  - JOUR
A1  - Leimena, W.
A1  - Artmann, Gerhard
A1  - Dachwald, Bernd
A1  - Temiz Artmann, Aysegül
A1  - Gossmann, Matthias
A1  - Digel, Ilya
T1  - Feasibility of an in-situ microbial decontamination of an ice-melting probe
JF  - Eurasian Chemico-Technological Journal
N2  - Autonomous robotic systems for penetrating thick ice shells with simultaneous collecting of scientific data are very promising devices in both terrestrial (glacier, climate research) and extra-terrestrial applications. Technical challenges in development of such systems are numerous and include 3D-navigation, an appropriate energy source, motion control, etc. Not less important is the problem of forward contamination of the pristine glacial environments with microorganisms and biomolecules from the surface of the probe. This study was devoted to establishing a laboratory model for microbial contamination of a newly constructed ice-melting probe called IceMole and to analyse the viability and amount of the contaminating microorganisms as a function of distance. The used bacterial strains were Bacillus subtilis (ATCC 6051) and Escherichia coli (ATCC 11775). The main objective was development of an efficient and reliable in-situ decontamination method of the melting probe. Therefore, several chemical substances were tested in respect of their efficacy to eliminate bacteria on the surface of the melting probe at low temperature (0 - 5 °C) and at continuous dilution by melted water. Our study has shown that at least 99.9% decontamination of the IceMole can be successfully achieved by the injection of 30% (v/v) hydrogen peroxide and 3% (v/v) sodium hypochlorite into the drilling site. We were able to reproduce this result in both time-dependent and depth-dependent experiments. The sufficient amount of 30% (v/v) H₂O₂ or 3% (v/v) NaClO has been found to be approximately 18 L per cm² of the probe’s surface.
Y1  - 2010
SN  - 1562-3920
U6  - https://doi.org/10.18321/ectj37
VL  - 12
IS  - 2
SP  - 145
EP  - 150
PB  - Institute of Combustion Problems
CY  - Almaty
ER  - 
TY  - GEN
A1  - Behbahani, Mehdi
A1  - Mai, A.
A1  - Waluga, C.
A1  - Bergmann, B.
A1  - Tran, L.
A1  - Vonderstein, K.
A1  - Behr, Marek
A1  - Mottaghy, K.
T1  - Numerical Modeling of Flow-Related Thrombus Formation under Physiological and Non-Physiological Flow Conditions
T2  - Acta Physiologica
N2  - Aims: Thrombotic complications due to activation of platelets and plasmatic clotting factors belong still to the most investigated topics in the field of study of patho-physiological mechanisms. Mathematical modeling of thrombotic reactions is established and validated in test cases. Aim of this study is to experimentally evaluate and computationally simulate platelets under the influence of well-defined shear flow conditions. Platelet behaviour and reactions are experimentally reproduced, measured and used for validation of the numerical simulation. Methods: A mathematical model of platelet activation, adhesion and aggregation has been implemented into a finite element CFD (Computational Fluid Dynamics) code. The approach is based on the advective and diffusive transport equations for resting platelets, activated platelets and platelet released agonists. Adhesion rates for the reactive surfaces depend on the hemocompatibility properties of the surface and the local shear rate. Experiments with citrate-anticoagulated freshly-drawn whole blood are performed in a perfusion flow chamber as well as in a system of rotating cylinders for Couette and Taylor-vortex flow. Different biomaterials are used. The activation, drop of platelet concentration, adhesion and aggregation are quantified using scanning electron microscopy (SEM) and flow cytometry. Results: Regions and flow conditions with a high potential for thrombus growth could be identified. The experiments clearly show the influence of the blood contacting material and flow properties. By means of SEM diverse platelet adhesion patterns are observed. Numerical analysis can explain the patterns and the degree of thrombus formation. Conclusion: The numerical method shows good agreement with experimental data indicating a possible prediction of initiation of activation and detection of the local adhesion areas in connection with the role of Von-Willebrand-Factor.
Y1  - 2010
SN  - 1748-1716
N1  - Joint Congress of the Scandinavian and German Physiological Societies, Copenhagen, Denmark, March 27-30, 2010
VL  - 198
IS  - Supplement 677
SP  - 185
PB  - Wiley-Blackwell
CY  - Oxford
ER  - 
TY  - JOUR
A1  - Behbahani, Mehdi
A1  - Mai, A.
A1  - Bergmann, B.
A1  - Waluga, C.
A1  - Behr, Marek
A1  - Tran, L.
A1  - Vonderstein, K.
A1  - Mottaghy, K.
T1  - Modeling and Numerical Simulation of Blood Damage
Y1  - 2010
N1  - Posterpresentation ; Umbrella Symposium "Modelling and Simulation in Medicine, Engineering and Sciences", Forschungszentrum Jülich, January 18-20, 2010
ER  - 
TY  - JOUR
A1  - Behbahani, Mehdi
A1  - Probst, M.
A1  - Mai, A.
A1  - Behr, Marek
A1  - Tran, L.
A1  - Vonderstein, K.
A1  - Mottaghy, K.
T1  - Numerical Prediction of Blood Damage in Biomedical Devices
Y1  - 2010
N1  - Biomedica: The Life Science Summit, Aachen, Germany , 2010-03-17 - 2010-03-18
ER  - 
TY  - JOUR
A1  - Probst, M.
A1  - Behbahani, Mehdi
A1  - Borrmann, E.
A1  - Elgeti, S.
A1  - Nicolai, M.
A1  - Behr, Marek
T1  - Hemodynamic Modeling for Numerical Analysis and Design of Medical Devices
Y1  - 2010
N1  - Posterpresentation ; NIC Symposium 2010 ; 24 - 25 February 2010 Jülich, Germany
ER  -