TY  - JOUR
A1  - Kirstein, Simon
A1  - Müller, Karsten
A1  - Walecki-Mingers, Mark
A1  - Deserno, Thomas M.
T1  - Robust adaptive flow line detection in sewer pipes
JF  - Automation in construction
N2  - As part of a novel approach to automatic sewer inspection, this paper presents a robust algorithm for automatic flow line detection. A large image repository is obtained from about 50,000 m sewers to represent the high variability of real world sewer systems. Automatic image processing combines Canny edge detection, Hough transform for straight lines and cost minimization using Dijkstra's shortest path algorithm. Assuming that flow lines are mostly smoothly connected horizontal structures, piecewise flow line delineation is reduced to a process of selecting adjacent line candidates. Costs are derived from the gap between adjacent candidates and their reliability. A single parameter α enables simple control of the algorithm. The detected flow line may precisely follow the segmented edges (α = 0.0) or minimize gaps at joints (α = 1.0). Both, manual and ground truth-based analysis indicate that α = 0.8 is optimal and independent of the sewer's material. The algorithm forms an essential step to further automation of sewer inspection.
Y1  - 2012
U6  - https://doi.org/10.1016/j.autcon.2011.05.009
SN  - 1872-7891 (E-Journal) ; 0926-5805 (Print)
IS  - 21
SP  - 24
EP  - 31
PB  - Elsevier
CY  - Amsterdam
ER  - 
TY  - CHAP
A1  - Kirsch, Maximilian
A1  - Mataré, Victor
A1  - Ferrein, Alexander
A1  - Schiffer, Stefan
T1  - Integrating golog++ and ROS for Practical and Portable High-level Control
T2  - Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2
N2  - The field of Cognitive Robotics aims at intelligent decision making of autonomous robots. It has matured over the last 25 or so years quite a bit. That is, a number of high-level control languages and architectures have emerged from the field. One concern in this regard is the action language GOLOG. GOLOG has been used in a rather large number of applications as a high-level control language ranging from intelligent service robots to soccer robots. For the lower level robot software, the Robot Operating System (ROS) has been around for more than a decade now and it has developed into the standard middleware for robot applications. ROS provides a large number of packages for standard tasks in robotics like localisation, navigation, and object recognition. Interestingly enough, only little work within ROS has gone into the high-level control of robots. In this paper, we describe our approach to marry the GOLOG action language with ROS. In particular, we present our architecture on inte grating golog++, which is based on the GOLOG dialect Readylog, with the Robot Operating System. With an example application on the Pepper service robot, we show how primitive actions can be easily mapped to the ROS ActionLib framework and present our control architecture in detail.
Y1  - 2020
U6  - https://doi.org/10.5220/0008984406920699
N1  - Proceedings of the 12th International Conference on Agents and Artificial Intelligence: ICAART 2020, Valletta, Malta
SP  - 692
EP  - 699
PB  - SciTePress
CY  - Setúbal, Portugal
ER  - 
TY  - CHAP
A1  - Kirsch, Ansgar
A1  - Marcher, Thomas
T1  - Numerical prediction of time-dependent rock swelling based on an example of a major tunnel project in Ontario/Canada
T2  - Numerical methods in geotechnical engineering : (NUMGE 2010) : proceedings of the seventh European Conference on Numerical Methods in Geotechnical Engineering, Trondheim, Norway, 2 - 4 June 2010 / ed. by Thomas Benz ...
Y1  - 2010
SN  - 978-0-415-59239-0
SP  - 297
EP  - 302
PB  - Taylor and Francis
CY  - London
ER  - 
TY  - CHAP
A1  - Kirsch, Ansgar
A1  - Felber, W.
A1  - Marcher, Thomas
A1  - Fuchs, W.
T1  - Geotechnical challenges during design and construction of a ski resort in Azerbaijan
T2  - Geotechnics of roads and railways : proceedings of the 15th Danube - European Conference on Geotechnical Engineering : 9-11 September 2014, Vienna, Austria
Y1  - 2014
SN  - 978‐3‐902593‐01‐6
SP  - 757
EP  - 762
PB  - ÖIAV - Österreichischer Ingenieur- und Architekten-Verein
CY  - Wien
ER  - 
TY  - CHAP
A1  - Kirsch, Ansgar
A1  - Blioumi, A.
A1  - Fellin, Wolfgang
A1  - Kolymbas, Dimitrios
T1  - Modelling anisotropic squeezing as a process in time
T2  - ECCOMAS Thematic Conference on Computational Methods in Tunneling ; August 27 - 29, 2007, Vienna, Austria : EURO:TUN 2007 : proceedings
Y1  - 2007
SN  - 3-9501554-7-3 ; 978-3-9501554-7-1
CY  - Wien
ER  - 
TY  - CHAP
A1  - Kirsch, Ansgar
T1  - Numerical investigation of the face stability of shallow tunnels in sand
T2  - Numerical methods in geotechnical engineering : (NUMGE 2010) : proceedings of the seventh European Conference on Numerical Methods in Geotechnical Engineering, Trondheim, Norway, 2 - 4 June 2010 / ed. by Thomas Benz ...
Y1  - 2010
SN  - 978-0-415-59239-0
SP  - 779
EP  - 784
PB  - Taylor and Francis
CY  - London
ER  - 
TY  - CHAP
A1  - Kirsch, Ansgar
T1  - Experimental and numerical investigation of the face stability of shallow tunnels in sand
T2  - Safe tunnelling for the city and environment : proceedings of the World Tunnel Congress 2009, Budapest, Hungary, 23 to 28 September 2009 / organised by International Tunnelling and Underground Space Association ...
Y1  - 2009
SP  - 1
EP  - 8
PB  - Hungarian Tunnelling Association
CY  - Budapest
ER  - 
TY  - JOUR
A1  - Kirsch, Ansgar
T1  - Experimental investigation of the face stability of shallow tunnels in sand
JF  - Acta Geotechnica
N2  - Various models have been proposed for the prediction of the necessary support pressure at the face of a shallow tunnel. To assess their quality, the collapse of a tunnel face was modelled with small-scale model tests at single gravity. The development of the failure mechanism and the support force at the face in dry sand were investigated. The observed displacement patterns show a negligible influence of overburden on the extent and evolution of the failure zone. The latter is significantly influenced, though, by the initial density of the sand: in dense sand a chimney-wedge-type collapse mechanism developed, which propagated towards the soil surface. Initially, loose sand did not show any discrete collapse mechanism. The necessary support force was neither influenced by the overburden nor the initial density. A comparison with quantitative predictions by several theoretical models showed that the measured necessary support pressure is overestimated by most of the models. Those by Vermeer/Ruse and Léca/Dormieux showed the best agreement to the measurements.
Y1  - 2010
U6  - https://doi.org/10.1007/s11440-010-0110-7
SN  - 1861-1125
VL  - 5
IS  - 1
SP  - 43
EP  - 62
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Kirchner, Patrick
A1  - Reisert, Steffen
A1  - Schöning, Michael Josef
T1  - Calorimetric gas sensors for hydrogen peroxide monitoring in aseptic food processes
T2  - Gas sensing fundamentals. (Springer Series on Chemical Sensors and Biosensors ; 15)
N2  - For the sterilisation of aseptic food packages it is taken advantage of the microbicidal properties of hydrogen peroxide (H2O2). Especially, when applied in vapour phase, it has shown high potential of microbial inactivation. In addition, it offers a high environmental compatibility compared to other chemical sterilisation agents, as it decomposes into oxygen and water, respectively. Due to a lack in sensory detection possibilities, a continuous monitoring of the H2O2 concentration was recently not available. Instead, the sterilisation efficacy is validated using microbiological tests. However, progresses in the development of calorimetric gas sensors during the last 7 years have made it possible to monitor the H2O2 concentration during operation. This chapter deals with the fundamentals of calorimetric gas sensing with special focus on the detection of gaseous hydrogen peroxide. A sensor principle based on a calorimetric differential set-up is described. Special emphasis is given to the sensor design with respect to the operational requirements under field conditions. The state-of-the-art regarding a sensor set-up for the on-line monitoring and secondly, a miniaturised sensor for in-line monitoring are summarised. Furthermore, alternative detection methods and a novel multi-sensor system for the characterisation of aseptic sterilisation processes are described.
KW  - Calorimetric gas sensor
KW  - Hydrogen peroxide
KW  - Multi-sensor system
Y1  - 2014
SN  - 978-3-642-54518-4 (Print) ; 978-3-642-54519-1 (Online)
U6  - https://doi.org/10.1007/5346_2013_51
SP  - 279
EP  - 309
PB  - Springer
CY  - Heidelberg
ER  - 
TY  - JOUR
A1  - Kirchner, Patrick
A1  - Reisert, Steffen
A1  - Pütz, Patrick
A1  - Keusgen, Michael
A1  - Schöning, Michael Josef
T1  - Characterisation of polymeric materials as passivation layer for calorimetric H2O2 gas sensors
JF  - Physica Status Solidi (a)
N2  - Calorimetric gas sensors for monitoring the H₂O₂ concentration at elevated temperatures in industrial sterilisation processes have been presented in previous works. These sensors are built up in form of a differential set-up of a catalytically active and passive temperature-sensitive structure. Although, various types of catalytically active dispersions have been studied, the passivation layer has to be established and therefore, chemically as well as physically characterised. In the present work, fluorinated ethylene propylene (FEP), perfluoralkoxy (PFA) and epoxy-based SU-8 photoresist as temperature-stable polymeric materials have been investigated for sensor passivation in terms of their chemical inertness against H₂O₂, their hygroscopic properties as well as their morphology. The polymeric materials were deposited via spin-coating on the temperature-sensitive structure, wherein spin-coated FEP and PFA show slight agglomerates. However, they possess a low absorption of humidity due to their hydrophobic surface, whereas the SU-8 layer has a closed surface but shows a slightly higher absorption of water. All of them were inert against gaseous H₂O₂ during the characterisation in H₂O₂ atmosphere that demonstrates their suitability as passivation layer for calorimetric H₂O₂ gas sensors.
Y1  - 2012
U6  - https://doi.org/10.1002/pssa.201100773
SN  - 1862-6319
VL  - 209
IS  - 5
SP  - 859
EP  - 863
PB  - Wiley-VCH
CY  - Weinheim
ER  - 
TY  - JOUR
A1  - Kirchner, Patrick
A1  - Oberländer, Jan
A1  - Suso, Henri-Pierre
A1  - Rysstad, Gunnar
A1  - Keusgen, Michael
A1  - Schöning, Michael Josef
T1  - Towards a wireless sensor system for real-time H2O2 monitoring in aseptic food processes
JF  - Physica status solidi (a)
N2  - A wireless sensor system based on the industrial ZigBee standard for low-rate wireless networking was developed that enables real-time monitoring of gaseous H2O2 during the package sterilization in aseptic food processes. The sensor system consists of a remote unit connected to a calorimetric gas sensor, which was already established in former works, and an external base unit connected to a laptop computer. The remote unit was built up by an XBee radio frequency (RF) module for data communication and a programmable system-on-chip controller to read out the sensor signal and process the sensor data, whereas the base unit is a second XBee RF module. For the rapid H2O2 detection on various locations inside the package that has to be sterilized, a novel read-out strategy of the calorimetric gas sensor was established, wherein the sensor response is measured within the short sterilization time and correlated with the present H2O2 concentration. In an exemplary measurement application in an aseptic filling machinery, the suitability of the new, wireless sensor system was demonstrated, wherein the influence of the gas velocity on the H2O2 distribution inside a package was determined and verified with microbiological tests.
KW  - calorimetric gas sensor;hydrogen peroxide;wireless sensor system
Y1  - 2013
U6  - https://doi.org/10.1002/pssa.201200920
SN  - 1862-6319
VL  - 210
IS  - 5
SP  - 877
EP  - 883
PB  - Wiley
CY  - Weinheim
ER  - 
TY  - JOUR
A1  - Kirchner, Patrick
A1  - Oberländer, Jan
A1  - Suco, Henri-Pierre
A1  - Rysstad, Gunnar
A1  - Schöning, Michael Josef
T1  - Monitoring the microbicidal effectiveness of gaseous hydrogen peroxide in sterilisation processes by means of a calorimetric gas sensor
JF  - Food control
N2  - In the present work, a novel method for monitoring sterilisation processes with gaseous H2O2 in combination with heat activation by means of a specially designed calorimetric gas sensor was evaluated. Therefore, the sterilisation process was extensively studied by using test specimens inoculated with Bacillus atrophaeus spores in order to identify the most influencing process factors on its microbicidal effectiveness. Besides the contact time of the test specimens with gaseous H2O2 varied between 0.2 and 0.5 s, the present H2O2 concentration in a range from 0 to 8% v/v (volume percent) had a strong influence on the microbicidal effectiveness, whereas the change of the vaporiser temperature, gas flow and humidity were almost negligible. Furthermore, a calorimetric H2O2 gas sensor was characterised in the sterilisation process with gaseous H2O2 in a wide range of parameter settings, wherein the measurement signal has shown a linear response against the H2O2 concentration with a sensitivity of 4.75 °C/(% v/v). In a final step, a correlation model by matching the measurement signal of the gas sensor with the microbial inactivation kinetics was established that demonstrates its suitability as an efficient method for validating the microbicidal effectiveness of sterilisation processes with gaseous H2O2.
KW  - hydrogen peroxide
KW  - sterilisation
KW  - Bacillus atrophaeus
KW  - calorimetric gas sensor
Y1  - 2012
U6  - https://doi.org/10.1016/j.foodcont.2012.11.048
SN  - 0956-7135
VL  - 31
IS  - 2
SP  - 530
EP  - 538
PB  - Elsevier
CY  - Amsterdam
ER  - 
TY  - JOUR
A1  - Kirchner, Patrick
A1  - Oberländer, Jan
A1  - Friedrich, Peter
A1  - Rysstad, G.
A1  - Berger, J.
A1  - Keusgen, M.
A1  - Schöning, Michael Josef
T1  - Realization of a calorimetric gas sensor on polyimide foil for applications in aseptic food industry
JF  - Procedia Engineering. 5 (2010)
Y1  - 2010
SN  - 1877-7058
N1  - Eurosensor XXIV Conference
SP  - 264
EP  - 267
ER  - 
TY  - JOUR
A1  - Kirchner, Patrick
A1  - Oberländer, Jan
A1  - Friedrich, Peter
A1  - Berger, Jörg
A1  - Suso, Henri-Pierre
A1  - Kupyna, Andriy
A1  - Keusgen, Michael
A1  - Schöning, Michael Josef
T1  - Optimisation and fabrication of a calorimetric gas sensor built up on a polyimide substrate for H2O2 monitoring
JF  - Physica status solidi (a) : applications and material science. 208 (2011), H. 6
Y1  - 2011
SN  - 1862-6319
SP  - 1235
EP  - 1240
PB  - Wiley
CY  - Weinheim
ER  - 
TY  - JOUR
A1  - Kirchner, Patrick
A1  - Oberländer, Jan
A1  - Friedrich, Peter
A1  - Berger, Jörg
A1  - Rysstad, Gunnar
A1  - Schöning, Michael Josef
A1  - Keusgen, Michael
T1  - Realisation of a calorimetric gas sensor on polyimide foil for applications in aseptic food industry
JF  - Sensors and Actuators B: Chemical
N2  - A calorimetric gas sensor is presented for the monitoring of vapour-phase H2O2 at elevated temperature during sterilisation processes in aseptic food industry. The sensor was built up on a flexible polyimide foil (thickness: 25 μm) that has been chosen due to its thermal stability and low thermal conductivity. The sensor set-up consists of two temperature-sensitive platinum thin-film resistances passivated by a layer of SU-8 photo resist and catalytically activated by manganese(IV) oxide. Instead of an active heating structure, the calorimetric sensor utilises the elevated temperature of the evaporated H2O2 aerosol. In an experimental test rig, the sensor has shown a sensitivity of 4.78 °C/(%, v/v) in a H2O2 concentration range of 0%, v/v to 8%, v/v. Furthermore, the sensor possesses the same, unchanged sensor signal even at varied medium temperatures between 210 °C and 270 °C of the gas stream. At flow rates of the gas stream from 8 m3/h to 12 m3/h, the sensor has shown only a slightly reduced sensitivity at a low flow rate of 8 m3/h. The sensor characterisation demonstrates the suitability of the calorimetric gas sensor for monitoring the efficiency of industrial sterilisation processes.
KW  - Sterilisation process
KW  - Hydrogen peroxide
KW  - Polyimide
KW  - Calorimetric gas sensor
Y1  - 2012
U6  - https://doi.org/10.1016/j.snb.2011.01.032
SN  - 0925-4005
N1  - Part of special issue "Eurosensors XXIV, 2010"
VL  - 170
SP  - 60
EP  - 66
PB  - Elsevier
CY  - Amsterdam
ER  - 
TY  - JOUR
A1  - Kirchner, Patrick
A1  - Li, Bin
A1  - Spelthahn, Heiko
A1  - Henkel, Hartmut
A1  - Schneider, Andreas
A1  - Friedrich, Peter
A1  - Kolstad, Jens
A1  - Keusgen, Michael
A1  - Schöning, Michael Josef
T1  - Thin-film calorimetric H2O2 gas sensor for the validation of germicidal effectivity in aseptic filling processes
JF  - Sensors and Actuators B: Chemical. 154 (2011), H. 2
Y1  - 2011
SN  - 1873-3077
N1  - EUROSENSORS XXIII
SP  - 257
EP  - 263
PB  - Elsevier
CY  - Amsterdam
ER  - 
TY  - JOUR
A1  - Kirchner, Patrick
A1  - Li, B.
A1  - Spelthahn, H.
A1  - Henkel, H.
A1  - Friedrich, P.
A1  - Kolstad, J.
A1  - Keusgen, M.
A1  - Schöning, Michael Josef
T1  - Thin-film calorimetric H2O2 gas sensor for the validation of germicidal effectivity in aseptic filling processes
JF  - Procedia Chemistry. 1 (2009), H. 1
Y1  - 2009
SN  - 1876-6196
N1  - Proceedings of the Eurosensors XXIII conference ; Eurosensors 23
SP  - 983
EP  - 986
ER  - 
TY  - CHAP
A1  - Kirchhof, M.
A1  - Kraft, Bodo
T1  - UML-based modeling of architectural knowledge and design
N2  - IASSE-2004 - 13th International Conference on Intelligent and Adaptive Systems and Software Engineering eds. W. Dosch, N. Debnath, pp. 245-250, ISCA, Cary, NC, 1-3 July 2004, Nice, France We introduce a UML-based model for conceptual design support in civil engineering. Therefore, we identify required extensions to standard UML. Class diagrams are used for elaborating building typespecific knowledge: Object diagrams, implicitly contained in the architect’s sketch, are validated against the defined knowledge. To enable the use of industrial, domain-specific tools, we provide an integrated conceptual design extension. The developed tool support is based on graph rewriting. With our approach architects are enabled to deal with semantic objects during early design phase, assisted by incremental consistency checks.
KW  - UML
KW  - UML
KW  - Unified Modeling Language
KW  - UML
KW  - Unified Modeling Language
Y1  - 2004
ER  - 
TY  - JOUR
A1  - Kilic, S. A.
A1  - Raatschen, Hans-Jürgen
A1  - Körfgen, B.
A1  - Apaydin, N. M.
A1  - Astaneh-Asl, A.
T1  - FE Model of the Fatih Sultan Mehmet Suspension Bridge Using Thin Shell Finite Elements
JF  - Arabian Journal for Science and Engineering
N2  - This paper presents the results of an eigenvalue analysis of the Fatih Sultan Mehmet Bridge. A high-resolution finite element model was created directly from the available design documents. All physical properties of the structural components were included in detail, so no calibration to the measured data was necessary. The deck and towers were modeled with shell elements. A nonlinear static analysis was performed before the eigenvalue calculation. The calculated natural frequencies and corresponding mode shapes showed good agreement with the available measured ambient vibration data. The calculation of the effective modal mass showed that nine modes had single contributions higher than 5 % of the total mass. They were in a frequency range up to 1.2 Hz. The comparison of the results for the torsional modes especially demonstrated the advantage of using thin shell finite elements over the beam modeling approach.
KW  - Suspension bridge
KW  - 3D nonlinear finite element model
KW  - Thin shell finite elements
KW  - Natural frequency
KW  - Effective modal mass
Y1  - 2017
U6  - https://doi.org/10.1007/s13369-016-2316-y
SN  - 2191-4281
VL  - 42
IS  - 3
SP  - 1103
EP  - 1116
PB  - Springer Nature
ER  - 
TY  - CHAP
A1  - Kilic, S. A.
A1  - Raatschen, Hans-Jürgen
A1  - Astaneh-Asl, A.
A1  - Apaydin, N. M.
T1  - Finite element modeling of the Fatih Sultan Mehmet Suspension Bridge
T2  - Multi-Span Large Bridges - Proceedings of the International Conference on Multi-Span Large Bridges
Y1  - 2015
SN  - 9781138027572
SP  - 1169
EP  - 1173
PB  - CRC Press
CY  - Leiden
ER  -