TY  - CHAP
A1  - Schwarte, Rudolf
A1  - Heinol, Horst-Guenther
A1  - Buxbaum, Bernd
A1  - Ringbeck, Thorsten
A1  - [u.a.], 
ED  - Jähne, Bernd
T1  - Principles of three-dimensional imaging techniques
T2  - Sensors and imaging. - (Handbook of computer vision and applications ; Vol. 1)
Y1  - 1999
SN  - 0-12-379771-3 (Einzelbd.)
SN  - 0-12-379770-5 (Gesamtwerk)
SP  - 463
EP  - 485
PB  - Academic Press
CY  - San Diego
ER  - 
TY  - CHAP
A1  - Gligorevic, Snjezana
A1  - Epple, Ulrich
A1  - Schnell, Michael
T1  - The LDACS1 physical layer design
T2  - Future aeronautical communications
Y1  - 2011
SN  - 978-953-307-625-6
SP  - 317
EP  - 332
PB  - Intech
CY  - London
ER  - 
TY  - CHAP
A1  - Pulini, Paola
A1  - Gligorevic, Snjezana
T1  - WIMAX performance in the airport environment
T2  - Multi-carrier systems & solutions 2009. (Lecture notes in electrical engineering ; 41)
N2  - In this paper, the multicarrier physical layers of WiMAX are evaluated in the context of airport data links. The orthogonal frequency-division multiplexing (OFDM) and orthogonal frequency-division multiple-access (OFDMA) cases are applied to the forward link (FL) and reverse link (RL), respectively. The performance of the so called parking and taxi scenarios is presented for airport communications in C-band. Numerical results show that the proposed scheme brings good performance for both the FL and the RL. For the OFDMA case a structure changing called double-tile is also proposed to improve the system performance.
Y1  - 2009
SN  - 978-90-481-2529-6 (Print) ; 978-90-481-2530-2 (Online)
SP  - 301
EP  - 310
PB  - Springer
CY  - Berlin [u.a.]
ER  - 
TY  - CHAP
A1  - Priede, Gareth
A1  - Ferrein, Alexander
T1  - Towards passive walking for the fully-actuated biped robot Nao
T2  - Emerging trends in computing, informatics, systems sciences, and engineering. (Lecture notes in electrical engineering : vol. 151)
N2  - Many biped robots deploy a form of gait that follows the zero moment point (ZMP) approach, that is, the robot is in a stable position at any point in time. This requires the robot to be fully actuated. While very stable, the draw-backs of this approach are a fairly slow gait and high energy consumption. An alternative approach is the so-called passive-dynamic walking, where the gait makes use of the inertia and dynamic stability of the robot. In this paper we describe our ongoing work of combining the principles of passive-dynamic walking on the fully-actuated biped robot Nao, which is also deployed for robotic soccer applications. We present a simple controller that allows the robot to stably rock sidewards, showing a closed limit-cycle. We discuss first results of superimposing a forward motion on the sidewards motion. Based on this we expect to endow the Nao with a fast, robust, and stable passive-dynamic walk on the fully-actuated Nao in the future.
Y1  - 2013
SN  - 978-1-4614-3557-0 ; 978-1-4614-3558-7
U6  - http://dx.doi.org/10.1007/978-1-4614-3558-7_18
SP  - 225
EP  - 236
PB  - Springer
CY  - New York, NY
ER  - 
TY  - CHAP
A1  - Niemüller, Tim
A1  - Ewert, Daniel
A1  - Reuter, Sebastian
A1  - Ferrein, Alexander
A1  - Jeschke, Sabina
A1  - Lakemeyer, Gerhard
T1  - RoboCup logistics league sponsored by festo: A competitive factory automation testbed
T2  - RoboCup 2013: Robot World Cup XVII :  Eindhoven; Netherlands; 1 July 2013 through 1 July 2013. (Lecture notes in computer science ; 8371)
N2  - A new trend in automation is to deploy so-called cyber-physical systems (CPS) which combine computation with physical processes. The novel RoboCup Logistics League Sponsored by Festo (LLSF) aims at such CPS logistic scenarios in an automation setting. A team of robots has to produce products from a number of semi-finished products which they have to machine during the game. Different production plans are possible and the robots need to recycle scrap byproducts. This way, the LLSF is a very interesting league offering a number of challenging research questions for planning, coordination, or communication in an application-driven scenario. In this paper, we outline the objectives of the LLSF and present steps for developing the league further towards a benchmark for logistics scenarios for CPS. As a major milestone we present the new automated referee system which helps in governing the game play as well as keeping track of the scored points in a very complex factory scenario.
Y1  - 2014
SN  - 978-3-662-44467-2 (Print) 978-3-662-44468-9 (Online)
SP  - 336
EP  - 347
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Alhwarin, Faraj
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - IR stereo kinect: improving depth images by combining structured light with IR stereo
T2  - PRICAI 2014: Trends in artificial intelligence : 13th Pacific Rim International Conference on Artificial Intelligence : Gold Coast, QLD, Australia, December 1-5, 2014 : proceedings. (Lecture notes in computer science ; vol. 8862)
N2  - RGB-D sensors such as the Microsoft Kinect or the Asus Xtion are inexpensive 3D sensors. A depth image is computed by calculating the distortion of a known infrared light (IR) pattern which is projected into the scene. While these sensors are great devices they have some limitations. The distance they can measure is limited and they suffer from reflection problems on transparent, shiny, or very matte and absorbing objects. If more than one RGB-D camera is used the IR patterns interfere with each other. This results in a massive loss of depth information. In this paper, we present a simple and powerful method to overcome these problems. We propose a stereo RGB-D camera system which uses the pros of RGB-D cameras and combine them with the pros of stereo camera systems. The idea is to utilize the IR images of each two sensors as a stereo pair to generate a depth map. The IR patterns emitted by IR projectors are exploited here to enhance the dense stereo matching even if the observed objects or surfaces are texture-less or transparent. The resulting disparity map is then fused with the depth map offered by the RGB-D sensor to fill the regions and the holes that appear because of interference, or due to transparent or reflective objects. Our results show that the density of depth information is increased especially for transparent, shiny or matte objects.
Y1  - 2014
SN  - 978-3-319-13559-5 (Print) ; 978-3-319-13560-1 (E-Book)
U6  - http://dx.doi.org/10.1007/978-3-319-13560-1_33
SP  - 409
EP  - 421
PB  - Springer
CY  - München
ER  - 
TY  - CHAP
A1  - Heuermann, Holger
A1  - Finger, Torsten
ED  - Günther, Michael
T1  - Microwave Spark Plug for Very High-Pressure Conditions
T2  - Ignition systems for gasoline engines
Y1  - 2014
SP  - 269
EP  - 282
PB  - DCM Druck
CY  - Meckenheim
ER  - 
TY  - CHAP
A1  - Rebel, Sören
A1  - Hüning, Felix
A1  - Scholl, Ingrid
A1  - Ferrein, Alexander
T1  - MQOne: Low-cost design for a rugged-terrain robot platform
T2  - Intelligent robotics and applications : 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part II (Lecture notes in computer science : vol. 9245)
N2  - Rugged terrain robot designs are important for field robotics missions. A number of commercial platforms are available, however, at an impressive price. In this paper, we describe the hardware and software component of a low-cost wheeled rugged-terrain robot. The robot is based on an electric children quad bike and is modified to be driven by wire. In terms of climbing properties, operation time and payload it can compete with some of the commercially available platforms, but at a far lower price.
Y1  - 2015
SN  - 978-3-319-22875-4 (print) ; 978-3-319-22876-1 (E-Book)
U6  - http://dx.doi.org/10.1007/978-3-319-22876-1_19
SP  - 209
EP  - 221
PB  - Springer
CY  - Cham
ER  - 
TY  - CHAP
A1  - Rahier, Michael
A1  - Ritz, Thomas
A1  - Wallenborn, Ramona
T1  - Information and communication technology for integrated mobility concepts such as E-carsharing
T2  - E-Mobility in Europe : trends and good practice
N2  - During the past decade attitude towards sharing things has changed extremely. Not just personal data is shared (e.g. in social networks) but also mobility. Together with the increased ecological awareness of the recent years, new mobility concepts have evolved. E-carsharing has become a symbol for these changes of attitude. The management of a shared car fleet, the energy management of electric mobility and the management of various carsharing users with individual likes and dislikes are just some of the major challenges of e-carsharing. Weaving it into integrated mobility concepts, this raises complexity even further. These challenges can only be overcome by an appropriate amount of well-shaped information available at the right place and time. In order to gather, process and share the required information, fleet cars have to be equipped with modern information and communication technology (ICT) and become so-called fully connected cars. Ensuring the usability of these ICT systems is another challenge that is often neglected, even though it is usability that makes carsharing comfortable, attractive and supports users’ new attitudes. By means of an integrated and consistent concept for human-machine interaction (HMI), the usability of such systems can be raised tremendously.
KW  - Information and communication technology
KW  - Fully connected car
KW  - E-carsharing
KW  - Mobility management
KW  - Integrated mobility
Y1  - 2015
SN  - 978-3-319-13193-1
U6  - http://dx.doi.org/10.1007/978-3-319-13194-8_17
SP  - 311
EP  - 326
PB  - Springer
CY  - Cham [u.a.]
ER  - 
TY  - CHAP
A1  - Kümmell, Steffen
A1  - Hillgärtner, Michael
T1  - Inductive charging comfortable and nonvisible charging stations for urbanised areas
T2  - E-Mobility in Europe : trends and good practice
N2  - For a wide acceptance of E-Mobility, a well-developed charging infrastructure is needed. Conductive charging stations, which are today’s state of the art, are of limited suitability for urbanised areas, since they cause a significant diversification in townscape. Furthermore, they might be destroyed by vandalism. Besides for those urbanistic reasons, inductive charging stations are a much more comfortable alternative, especially in urbanised areas. The usage of conductive charging stations requires more or less bulky charging cables. The handling of those standardised charging cables, especially during poor weather conditions, might cause inconvenience, such as dirty clothing etc. Wireless charging does not require visible and vandalism vulnerable charge sticks. No wired connection between charging station and vehicle is needed, which enable the placement below the surface of parking spaces or other points of interest. Inductive charging seems to be the optimal alternative for E-Mobility, as a high power transfer can be realised with a manageable technical and financial effort. For a well-accepted and working public charging infrastructure in urbanised areas it is essential that the infrastructure fits the vehicles’ needs. Hence, a well-adjusted standardisation of the charging infrastructure is essential. This is carried out by several IEC (International Electrotechnical Commission) and national standardisation committees. To ensure an optimised technical solution for future’s inductive charging infrastructures, several field tests had been carried out and are planned in near future.
KW  - E-mobility
KW  - Inductive charging
KW  - Charging stations
KW  - Urban areas
Y1  - 2015
SN  - 978-3-319-13193-1
U6  - http://dx.doi.org/10.1007/978-3-319-13194-8_16
SP  - 297
EP  - 309
PB  - Springer
CY  - Cham [u.a.]
ER  - 
TY  - CHAP
A1  - Niemueller, Tim
A1  - Reuter, Sebastian
A1  - Ewert, Daniel
A1  - Ferrein, Alexander
A1  - Jeschke, Sabina
A1  - Lakemeyer, Gerhard
T1  - Decisive Factors for the Success of the Carologistics RoboCup Team in the RoboCup Logistics League 2014
T2  - RoboCup 2014: Robot World Cup XVIII
Y1  - 2015
SN  - 978-3-319-18615-3
N1  - Lecture Notes in Computer Science ; 8992
SP  - 155
EP  - 167
PB  - Springer
ER  - 
TY  - CHAP
A1  - Goeckel, Tom
A1  - Schiffer, Stefan
A1  - Wagner, Hermann
A1  - Lakemeyer, Gerhard
T1  - The Video Conference Tool Robot ViCToR
T2  - Intelligent Robotics and Applications : 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part II
N2  - We present a robotic tool that autonomously follows a conversation to enable remote presence in video conferencing. When humans participate in a meeting with the help of video conferencing tools, it is crucial that they are able to follow the conversation both with acoustic and visual input. To this end, we design and implement a video conferencing tool robot that uses binaural sound source localization as its main source to autonomously orient towards the currently talking speaker. To increase robustness of the acoustic cue against noise we supplement the sound localization with a source detection stage. Also, we include a simple onset detector to retain fast response times. Since we only use two microphones, we are confronted with ambiguities on whether a source is in front or behind the device. We resolve these ambiguities with the help of face detection and additional moves. We tailor the system to our target scenarios in experiments with a four minute scripted conversation. In these experiments we evaluate the influence of different system settings on the responsiveness and accuracy of the device.
Y1  - 2015
SN  - 978-3-319-22876-1
U6  - http://dx.doi.org/10.1007/978-3-319-22876-1_6
N1  - Lecture Notes in Computer Science ; 9245
SP  - 61
EP  - 73
PB  - Springer
ER  - 
TY  - CHAP
A1  - Niemueller, Tim
A1  - Zwilling, Frederik
A1  - Lakemeyer, Gerhard
A1  - Löbach, Matthias
A1  - Reuter, Sebastian
A1  - Jeschke, Sabina
A1  - Ferrein, Alexander
T1  - Cyber-Physical System Intelligence
T2  - Industrial Internet of Things
N2  - 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.
KW  - Smart factory
KW  - Industry 4.0
KW  - Multi-robot systems
KW  - Autonomous mobile robots
KW  - RoboCup
Y1  - 2017
SN  - 978-3-319-42559-7
U6  - http://dx.doi.org/10.1007/978-3-319-42559-7_17
N1  - Springer Series in Wireless Technology
SP  - 447
EP  - 472
PB  - Springer
CY  - Cham
ER  - 
TY  - CHAP
A1  - Rao, Deepak
A1  - Pathrose, Plato
A1  - Hüning, Felix
A1  - Sid, Jithin
T1  - An Approach for Validating Safety of Perception Software in Autonomous Driving Systems
T2  - Model-Based Safety and Assessment: 6th International Symposium, IMBSA 2019, Thessaloniki, Greece, October 16–18, 2019, Proceedings
N2  - The increasing complexity of Advanced Driver Assistance Systems (ADAS) presents a challenging task to validate safe and reliable performance of these systems under varied conditions. The test and validation of ADAS/AD with real test drives, although important, involves huge costs and time. Simulation tools provide an alternative with the added advantage of reproducibility but often use ideal sensors, which do not reflect real sensor output accurately. This paper presents a new validation methodology using fault injection, as recommended by the ISO 26262 standard, to test software and system robustness. In our work, we investigated and developed a tool capable of inserting faults at different software and system levels to verify its robustness. The scope of this paper is to cover the fault injection test for the Visteon’s DriveCore™ system, a centralized domain controller for Autonomous driving which is sensor agnostic and SoC agnostic. With this new approach, the validation of safety monitoring functionality and its behavior can be tested using real-world data instead of synthetic data from simulation tools resulting in having better confidence in system performance before proceeding with in-vehicle testing.
KW  - Advanced driver assistance systems (ADAS/AD)
KW  - ISO 26262
KW  - Safety-critical systems validation
KW  - Safety of the intended functionality (SOTIF)
Y1  - 2019
SN  - 978-3-030-32872-6
U6  - http://dx.doi.org/10.1007/978-3-030-32872-6_20
SP  - 303
EP  - 316
PB  - Springer
CY  - Cham
ER  - 
TY  - CHAP
A1  - Altherr, Lena
A1  - Ederer, Thorsten
A1  - Lorenz, Ulf
A1  - Pelz, Peter F.
A1  - Pöttgen, Philipp
ED  - Lübbecke, Marco E.
ED  - Koster, Arie
ED  - Letmathe, Peter
ED  - Madlener, Reihard
ED  - Preis, Britta
ED  - Walther, Grit
T1  - Designing a feedback control system via mixed-integer programming
T2  - Operations Research Proceedings 2014: Selected Papers of the Annual International Conference of the German Operations Research
N2  - Pure analytical or experimental methods can only find a control strategy for technical systems with a fixed setup. In former contributions we presented an approach that simultaneously finds the optimal topology and the optimal open-loop control of a system via Mixed Integer Linear Programming (MILP). In order to extend this approach by a closed-loop control we present a Mixed Integer Program for a time discretized tank level control. This model is the basis for an extension by combinatorial decisions and thus for the variation of the network topology. Furthermore, one is able to appraise feasible solutions using the global optimality gap.
KW  - Optimal Topology
KW  - Controller Parameter
KW  - Level Control System
KW  - Technical Operation Research
KW  - Optimal Closed Loop
Y1  - 2016
SN  - 978-3-319-28695-2
U6  - http://dx.doi.org/10.1007/978-3-319-28697-6_18
SP  - 121
EP  - 127
PB  - Springer
CY  - Cham
ER  - 
TY  - CHAP
A1  - Pfetsch, Marc E.
A1  - Abele, Eberhard
A1  - Altherr, Lena
A1  - Bölling, Christian
A1  - Brötz, Nicolas
A1  - Dietrich, Ingo
A1  - Gally, Tristan
A1  - Geßner, Felix
A1  - Groche, Peter
A1  - Hoppe, Florian
A1  - Kirchner, Eckhard
A1  - Kloberdanz, Hermann
A1  - Knoll, Maximilian
A1  - Kolvenbach, Philip
A1  - Kuttich-Meinlschmidt, Anja
A1  - Leise, Philipp
A1  - Lorenz, Ulf
A1  - Matei, Alexander
A1  - Molitor, Dirk A.
A1  - Niessen, Pia
A1  - Pelz, Peter F.
A1  - Rexer, Manuel
A1  - Schmitt, Andreas
A1  - Schmitt, Johann M.
A1  - Schulte, Fiona
A1  - Ulbrich, Stefan
A1  - Weigold, Matthias
T1  - Strategies for mastering uncertainty
T2  - Mastering uncertainty in mechanical engineering
N2  - This chapter describes three general strategies to master uncertainty in technical systems: robustness, flexibility and resilience. It builds on the previous chapters about methods to analyse and identify uncertainty and may rely on the availability of technologies for particular systems, such as active components. Robustness aims for the design of technical systems that are insensitive to anticipated uncertainties. Flexibility increases the ability of a system to work under different situations. Resilience extends this characteristic by requiring a given minimal functional performance, even after disturbances or failure of system components, and it may incorporate recovery. The three strategies are described and discussed in turn. Moreover, they are demonstrated on specific technical systems.
Y1  - 2021
SN  - 978-3-030-78353-2
U6  - http://dx.doi.org/10.1007/978-3-030-78354-9_6
N1  - Part of the Springer Tracts in Mechanical Engineering book series (STME)
SP  - 365
EP  - 456
PB  - Springer
CY  - Cham
ER  - 
TY  - CHAP
A1  - Leise, Philipp
A1  - Altherr, Lena
A1  - Simon, Nicolai
A1  - Pelz, Peter F.
T1  - Finding global-optimal gearbox designs for battery electric vehicles
T2  - Optimization of complex systems - theory, models, algorithms and applications : WCGO 2019
N2  - In order to maximize the possible travel distance of battery electric vehicles with one battery charge, it is mandatory to adjust all components of the powertrain carefully to each other. While current vehicle designs mostly simplify the powertrain rigorously and use an electric motor in combination with a gearbox with only one fixed transmission ratio, the use of multi-gear systems has great potential. First, a multi-speed system is able to improve the overall energy efficiency. Secondly, it is able to reduce the maximum momentum and therefore to reduce the maximum current provided by the traction battery, which results in a longer battery lifetime. In this paper, we present a systematic way to generate multi-gear gearbox designs that—combined with a certain electric motor—lead to the most efficient fulfillment of predefined load scenarios and are at the same time robust to uncertainties in the load. Therefore, we model the electric motor and the gearbox within a Mixed-Integer Nonlinear Program, and optimize the efficiency of the mechanical parts of the powertrain. By combining this mathematical optimization program with an unsupervised machine learning algorithm, we are able to derive global-optimal gearbox designs for practically relevant momentum and speed requirements.
KW  - Powertrain
KW  - Gearbox
KW  - Optimization
KW  - BEV
KW  - WLTP
Y1  - 2019
SN  - 978-3-030-21802-7
U6  - http://dx.doi.org/10.1007/978-3-030-21803-4_91
SP  - 916
EP  - 925
PB  - Springer
CY  - Cham
ER  - 
TY  - CHAP
A1  - Stenger, David
A1  - Altherr, Lena
A1  - Abel, Dirk
T1  - Machine learning and metaheuristics for black-box optimization of product families: a case-study investigating solution quality vs. computational overhead
T2  - Operations Research Proceedings 2018
N2  - In product development, numerous design decisions have to be made. Multi-domain virtual prototyping provides a variety of tools to assess technical feasibility of design options, however often requires substantial computational effort for just a single evaluation. A special challenge is therefore the optimal design of product families, which consist of a group of products derived from a common platform. Finding an optimal platform configuration (stating what is shared and what is individually designed for each product) and an optimal design of all products simultaneously leads to a mixed-integer nonlinear black-box optimization model. We present an optimization approach based on metamodels and a metaheuristic. To increase computational efficiency and solution quality, we compare different types of Gaussian process regression metamodels adapted from the domain of machine learning, and combine them with a genetic algorithm. We illustrate our approach on the example of a product family of electrical drives, and investigate the trade-off between solution quality and computational overhead.
KW  - Product family optimization
KW  - Mixed-integer nonlinear black-box optimization
KW  - Engineering optimization
KW  - Machine learning
Y1  - 2019
SN  - 978-3-030-18499-5  (Print)
SN  - 978-3-030-18500-8 (Online)
U6  - http://dx.doi.org/10.1007/978-3-030-18500-8_47
SP  - 379
EP  - 385
PB  - Springer
CY  - Cham
ER  - 
TY  - CHAP
A1  - Müller, Tim M.
A1  - Altherr, Lena
A1  - Ahola, Marja
A1  - Schabel, Samuel
A1  - Pelz, Peter F.
T1  - Optimizing pressure screen systems in paper recycling: optimal system layout, component selection and operation
N2  - Around 60% of the paper worldwide is made from recovered paper. Especially adhesive contaminants, so called stickies, reduce paper quality. To remove stickies but at the same time keep as many valuable fibers as possible, multi-stage screening systems with several interconnected pressure screens are used. When planning such systems, suitable screens have to be selected and their interconnection as well as operational parameters have to be defined considering multiple conflicting objectives. In this contribution, we present a Mixed-Integer Nonlinear Program to optimize system layout, component selection and operation to find a suitable trade-off between output quality and yield.
KW  - Mixed-integer nonlinear problem
KW  - MINLP
KW  - Process engineering
KW  - Paper recycling
KW  - Multi-criteria optimization
Y1  - 2018
SN  - 978-3-030-18499-5
U6  - http://dx.doi.org/10.1007/978-3-030-18500-8_44
SP  - 355
EP  - 361
PB  - Springer
CY  - Cham
ER  - 
TY  - CHAP
A1  - Stenger, David
A1  - Altherr, Lena
A1  - Müller, Tankred
A1  - Pelz, Peter F.
T1  - Product family design optimization using model-based engineering techniques
T2  - Operations Research Proceedings 2017
N2  - Highly competitive markets paired with tremendous production volumes demand particularly cost efficient products. The usage of common parts and modules across product families can potentially reduce production costs. Yet, increasing commonality typically results in overdesign of individual products. Multi domain virtual prototyping enables designers to evaluate costs and technical feasibility of different single product designs at reasonable computational effort in early design phases. However, savings by platform commonality are hard to quantify and require detailed knowledge of e.g. the production process and the supply chain. Therefore, we present and evaluate a multi-objective metamodel-based optimization algorithm which enables designers to explore the trade-off between high commonality and cost optimal design of single products.
Y1  - 2018
SN  - 978-3-319-89919-0
U6  - http://dx.doi.org/10.1007/978-3-319-89920-6_66
SP  - 495
EP  - 502
PB  - Springer
CY  - Cham
ER  -