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 - JOUR A1 - Rens, Gavin A1 - Varzinczak, Ivan A1 - Meyer, Thomas A1 - Ferrein, Alexander T1 - A Logic for Reasoning about Actions and Explicit Observations JF - AI 2010: Advances in Artificial Intelligence 23rd Australasian Joint Conference, Adelaide, Australia, December 7-10, 2010. Proceedings Y1 - 2010 U6 - https://doi.org/10.1007/978-3-642-17432-2_40 N1 - Lecture Notes in Computer Science ; 6464 SP - 395 EP - 404 PB - Springer CY - Berlin ER - TY - JOUR A1 - Funke, Harald A1 - Robinson, A. E. A1 - Hendrick, P. A1 - Wagemakers, R. T1 - Design and Testing of a Micromix Combustor With Recuperative Wall Cooling for a Hydrogen Fuelled µ-Scale Gas Turbine JF - Proceedings of the ASME Turbo Expo 2010 : presented at the 2010 ASME Turbo Expo, June 14 - 18, 2010, Glasgow, UK / sponsored by the International Gas Turbine Institute / Vol. 5: Industrial and cogeneration ; microturbines and small turbomachinery ; oil and gas applications ; wind turbine technology Y1 - 2010 SN - 978-0-7918-4400-7 N1 - GT2010-23453 ; ASME Turbo Expo ; (Glasgow) : 2010.06.14-18 SP - 587 EP - 596 PB - ASME CY - New York, NY ER - TY - JOUR A1 - Ferrein, Alexander T1 - golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems Y1 - 2010 SP - 20 EP - 28 PB - AAAI CY - Menlo Park 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 - JOUR A1 - Jansen, S. V. A1 - Behbahani, Mehdi A1 - Laumen, M. A1 - Kaufmann, T. A1 - Hormes, M. A1 - Behr, M. A1 - Schmitz-Rode, T. A1 - Steinseifer, U. T1 - Investigation of Steady Flow Through a Realistic Model of the Thoracic Human Aorta Using 3D Stereo PIV and CFD-Simulation JF - ASAIO Journal Y1 - 2010 U6 - https://doi.org/10.1097/01.mat.0000369377.65122.a3 N1 - American Society of Artificial Organs (ASAIO), Baltimore, USA, May 27-29, 2010 VL - 56 IS - 2 SP - 98 PB - Lippincott Williams & Wilkins CY - Philadelphia ER - TY - JOUR A1 - Behbahani, Mehdi A1 - Nam, J. A1 - Waluga, C. A1 - Behr, M. A1 - Pasquali, M. A1 - Mottaghy, K. T1 - Modeling and Numerical Analysis of Platelet Activation, Adhesion and Aggregation in Artificial Organs Y1 - 2010 U6 - https://doi.org/10.1097/01.mat.0000369377.65122.a3 N1 - Posterpresentation American Society of Artificial Organs (ASAIO), Baltimore, USA, May 27-29, 2010 VL - 56 IS - 2 SP - 85 PB - Lippincott Williams & Wilkins CY - Philadelphia 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 - Niemüller, Tim A1 - Ferrein, Alexander A1 - Lakemeyer, Gerhard T1 - A Lua-based behavior engine for controlling the humanoid robot Nao JF - RoboCup 2009: Robot Soccer World Cup XIII Y1 - 2010 U6 - https://doi.org/10.1007/978-3-642-11876-0_21 N1 - Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5949)) N1 - 13th RoboCup International Symposium, Graz, Austria, June/July, 2009 SP - 240 EP - 251 PB - Springer CY - Heidelberg ER - TY - JOUR A1 - Maiwald, Volker A1 - Dachwald, Bernd T1 - Mission design for a multiple-rendezvous mission to Jupiter's trojans N2 - In this paper, we will provide a feasible mission design for a multiple-rendezvous mission to Jupiter's Trojans. It is based on solar electric propulsion, as being currently used on the DAWN spacecraft, and other flight-proven technology. First, we have selected a set of mission objectives, the prime objective being the detection of water -especially subsurface water -to provide evidence for the Trojans' formation at large solar distances. Based on DAWN and other comparable missions, we have determined suitable payload instruments to achieve these objectives. Afterwards, we have designed a spacecraft that is able to carry the selected payload to the Trojan region and rendezvous successively with three target bodies within a maximum mission duration of 15 years. Accurate low-thrust trajectories have been obtained with a global low-thrust trajectory optimization program (InTrance). During the transfer from Earth to the first target, the spacecraft is propelled by two RIT-22 ion engines from EADS Astrium, whereas a single RIT-15 is used for transfers within the Trojan region to reduce the required power. For power generation, the spacecraft uses a multi-junction solar array that is supported by concentrators. To achieve moderate mission costs, we have restricted the launch mass to a maximum of 1600 kg, the maximum interplanetary injection capability of a Soyuz/Fregat launcher. Our final layout has a mass of 1400 kg, yielding a margin of about 14%. Nestor (a member of the L4-population) was determined as the first mission target. It can be reached within 4.6 years from launch. The fuel mass ratio for this transfer is about 35%. The stay time at Nestor is 1.2 years. Eurymedon was selected as the second target (transfer time 3.5 years, stay time 3.0 years) and Irus as the third target (transfer time 2.2 years). The transfers within the Trojan L4-population can be accomplished with fuel mass ratios of about 3% for each trajectory leg. Including the stay times in orbit around the targets, the mission can be accomplished within a total duration of about 14.5 years. According to our mission analysis, it is also feasible to fly to the L5-population with similar flight times. It has to be noted that -for a first analysis -we have taken only the named targets into account. Allowing also rendezvous with unnamed objects will very likely decrease the mission duration. Based on a scaling of DAWN's mission costs (due to comparable scientific instruments and mission objectives), and taking into account the longer mission duration and the potential re-use of already developed technology, we have estimated that these three rendezvous can be accomplished with a budget of about 250 Million Euros, i.e. about 25% of ROSETTA's budget. Y1 - 2010 N1 - 38th COSPAR Scientific Assembly. Held 18-15 July 2010,Bremen, Germany SP - 3 ER -