TY - JOUR A1 - Peterson, Leif Arne A1 - Röth, Thilo A1 - Uibel, Thomas T1 - Einsatz von Holzwerkstoffen in Fahrzeugstrukturen JF - Bauen mit Holz Y1 - 2017 SN - 0005-6545 N1 - gedruckt in der Bereichsbibliothek Bayernallee IS - 3 SP - 32 EP - 38 PB - Bruderverlag CY - Köln ER - TY - JOUR A1 - Pichler, A. A1 - George, A. A1 - Seiler, F. A1 - Srulijes, J. A1 - Havermann, Marc T1 - Doppler Picture Velocimetry (DPV) applied to hypersonics JF - Shock Waves [Elektronische Ressource] : 26th International Symposium on Shock Waves, Volume 1 / edited by Klaus Hannemann, Friedrich Seiler Y1 - 2009 SN - 978-3-540-85168-4 N1 - International Symposium on Shock Waves ; (26 ; 2007.07.15-20 ; Göttingen) ; ISSW ; (26 ; 2007.07.15-20 ; Göttingen) SP - 503 EP - 508 PB - Springer CY - Berlin ER - TY - JOUR A1 - Polaczek, Christa A1 - Henn, Gudrun T1 - Gute Vorkenntnisse verkürzen die Studienzeit JF - Mathematikinformation : eine Zeitschrift von Begabtenförderung Mathematik e.V. Y1 - 2008 SN - 1612-9156 VL - 2008 IS - 49 SP - 46 EP - 50 PB - Begabtenförderung Mathematik CY - Neubiberg ER - TY - JOUR A1 - Recker, Elmar A1 - Bosschaerts, Walter A1 - Wagemakers, Rolf A1 - Hendrick, Patrick A1 - Funke, Harald A1 - Börner, Sebastian T1 - Experimental study of a round jet in cross-flow at low momentum ratio JF - 15th International Symposium on Applications of Laser Techniques to Fluid Mechanics Lisbon, Portugal, 05-08 July, 2010 - 1 Y1 - 2010 SP - 1 EP - 13 ER - TY - JOUR A1 - Robinson, A. E. A1 - Funke, Harald A1 - Hendrick, P. T1 - Design and Testing of a Micromix Combustor With Recuperative Wall Cooling for a Hydrogen Fueled µ-Scale Gas Turbine JF - Journal of engineering for gas turbines and power Y1 - 2011 SN - 1528-8919 VL - 133 IS - 8 PB - ASME CY - New York ER - TY - JOUR A1 - Robinson, A. E. A1 - Funke, Harald A1 - Hendrick, P. A1 - Recker, E. A1 - Peirs, J. T1 - Development of a hydrogen fuelled 1 kW ultra micro gas turbine with special respect to designing, testing and mapping of the µ-scale combustor JF - IEEE International Conference on Sustainable Energy Technologies, 2008 : ICSET 2008 ; Singapore, 24 - 27 Nov. 2008. Y1 - 2008 SN - 978-1-4244-1887-9 SP - 656 EP - 660 PB - IEEE CY - Piscataway, NJ ER - TY - JOUR A1 - Robinson, A. E. A1 - Funke, Harald A1 - Wagemakers, R. A1 - Grossen, J. A1 - Bosschaerts, W. A1 - Hendrick, P. T1 - Numerical and Experimental Investigation of a Micromix Combustor for a Hydrogen Fuelled μ-Scale Gas Turbine JF - Proceedings of the ASME Turbo Expo 2009 : : presented at the 2009 ASME Turbo Expo, June 8 - 12, 2009, Orlando, Florida, USA / sponsored by the International Gas Turbine Institute Y1 - 2009 SN - 9780791848869 N1 - GT2009-60061 SP - 253 EP - 262 PB - ASME CY - New York, NY ER - TY - JOUR A1 - Robinson, A. E. A1 - Rönna, Uwe A1 - Funke, Harald T1 - Testing of a 10 kW diffusive micro-mix combustor for hydrogen-fuelled micro-scale gas turbines JF - International Workshop on Micro and Nanotechnology for Power Generation and Energy Conversion Applications <7, 2007, Freiburg, Breisgau> ; PowerMEMS ; 7 Y1 - 2007 SP - 225 EP - 228 ER - TY - JOUR A1 - Röth, Thilo A1 - Kern, Daniel A1 - Kirchner, Karsten A1 - Vietor, Thomas T1 - Flexbody : Baukastensystem für Karosseriestrukturen / Kern, Daniel ; Röth, Thilo ; Kirchner, Karsten ; Vietor, Thomas JF - Mobiles : Fachzeitschrift für Konstrukteure. 35 (2009), H. 2009/2010 Y1 - 2009 SP - 73 EP - 75 PB - Hochsch. für Angewandte Wiss. CY - Hamburg ER - TY - JOUR A1 - Röth, Thilo A1 - Nowack, N. A1 - Baumeister, E. T1 - Numerische Lösungsansätze zur Auslegung von Stahl-Leichtmetall-Hybriden aus Verbundguss für zukünftige Fahrzeugstrukturen / Nowack, N. ; Röth, T. ; Baumeister, E. JF - Berechnung und Simulation im Fahrzeugbau. Bd. 1 : Tagung Würzburg, 27. und 28. September 2006 = Numerical analysis and simulation in vehicle engineering / VDI-Gesellschaft Fahrzeug- und Verkehrstechnik Y1 - 2006 SN - 3-18-091967-1 N1 - VDI-Berichte ; 1967 SP - 363 EP - 368 PB - VDI-Verl. CY - Düsseldorf ER - TY - JOUR A1 - Röth, Thilo A1 - Nowack, Niels A1 - Oberschelp, Christian A1 - Lao, Bin T1 - Gute Perspektiven für Stahl-Alumnium-Hybride im Automotivebereich / Nowack, Niels ; Oberschelp, Christian ; Lao, Bin ; Klaus, Gerald ; Bührig-Polaczek, Andreas ; Röth, Thilo JF - Giesserei : die Zeitschrift für Technik, Innovation und Management. 96 (2009), H. 5 Y1 - 2009 SN - 0016-9765 SP - 110 EP - 123 ER - TY - JOUR A1 - Röth, Thilo A1 - Pielen, Michael A1 - Wolff, Klaus A1 - Lüdiger, Thomas T1 - Urbane Fahrzeugkonzepte für die Shared Mobility JF - Automobiltechnische Zeitschrift - ATZ N2 - Urbane Mobilitätskonzepte der Zukunft erfordern neue Unternehmensformen, idealerweise aus Old Economy und New Economy, sowie eine enge Anbindung an die gesellschaftsrelevante Zukunftsforschung. Für neue Fahrzeugkonzepte des Carsharing bedeutet dies, dass alle kostenverursachenden Faktoren erfasst und analysiert werden müssen. Die FH Aachen, share2drive und FEV geben einen Ausblick auf die zukünftige Fahrzeugklasse der Personal Public Vehicles als „Rolling Device“. Y1 - 2018 U6 - https://doi.org/10.1007/s35148-017-0176-8 SN - 0001-2785 VL - 120 IS - 1 SP - 18 EP - 23 PB - Springer Vieweg CY - Wiesbaden ER - TY - JOUR A1 - Röth, Thilo A1 - Schreiber, Harold T1 - CAKE (Computer Aided Kinematic Engineering) im Karrosseriebau und in der passiven Fahrzeugsicherheit / Schreiber , Harold ; Röth, Thilo JF - Mobiles. 2002/2003 (2003), H. 33 Y1 - 2003 N1 - in der Bibliothek Eupener Str. vorhanden SP - 65 EP - 67 ER - TY - JOUR A1 - Saffe, P. A1 - Lodewiks, J. A1 - Haas, H.-J. A1 - Feigel, H.-J. A1 - Ulrich, H. A1 - Mauer, J. A1 - Ortwig, H. A1 - Dahmann, Peter A1 - Rotthäuser, S. A1 - Tao, J. A1 - Ohlischläger, O. A1 - Scholz, D. A1 - Bergmann, M. A1 - Anders, P. T1 - Neues von ASB Antreiben – Steuern – Bewegen JF - Ölhydraulik und Pneumatik. Vol. 33 (1989), H. 7 Y1 - 1989 SN - 0341-2660 SP - 550 EP - 572 ER - TY - JOUR A1 - Saretzki, Charlotte A1 - Bergmann, Ole A1 - Dahmann, Peter A1 - Janser, Frank A1 - Keimer, Jona A1 - Machado, Patricia A1 - Morrison, Audry A1 - Page, Henry A1 - Pluta, Emil A1 - Stübing, Felix A1 - Küpper, Thomas T1 - Are small airplanes safe with regards to COVID-19 transmission? JF - Journal of Travel Medicine Y1 - 2021 U6 - https://doi.org/10.1093/jtm/taab105 SN - 1708-8305 VL - 28 IS - 7 PB - Oxford University Press CY - Oxford ER - TY - JOUR A1 - Schael, S. A1 - Atanasyan, A. A1 - Berdugo, J. A1 - Bretz, T. A1 - Czupalla, Markus A1 - Dachwald, Bernd A1 - Doetinchem, P. von A1 - Duranti, M. A1 - Gast, H. A1 - Karpinski, W. A1 - Kirn, T. A1 - Lübelsmeyer, K. A1 - Maña, C. A1 - Marrocchesi, P.S. A1 - Mertsch, P. A1 - Moskalenko, I.V. A1 - Schervan, T. A1 - Schluse, M. A1 - Schröder, K.-U. A1 - Schultz von Dratzig, A. A1 - Senatore, C. A1 - Spies, L. A1 - Wakely, S.P. A1 - Wlochal, M. A1 - Uglietti, D. A1 - Zimmermann, J. T1 - AMS-100: The next generation magnetic spectrometer in space – An international science platform for physics and astrophysics at Lagrange point 2 JF - Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment Y1 - 2019 U6 - https://doi.org/10.1016/j.nima.2019.162561 SN - 0168-9002 VL - 944 IS - 162561 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Schildt, Ph. A1 - Braun, Carsten A1 - Marzocca, P. T1 - Metric evaluating potentials of condition-monitoring approaches for hybrid electric aircraft propulsion systems JF - CEAS Aeronautical Journal Y1 - 2019 U6 - https://doi.org/10.1007/s13272-019-00411-3 SN - 1869-5590 SP - 1 EP - 14 PB - Springer CY - Berlin ER - TY - JOUR A1 - Schirra, Julian A1 - Bissonnette, William A1 - Bramesfeld, Götz T1 - Wake-model effects on induced drag prediction of staggered boxwings JF - Aerospace Y1 - 2018 U6 - https://doi.org/10.3390/aerospace5010014 SN - 2226-4310 VL - 5 IS - 1 ER - TY - JOUR A1 - Schirra, Julian A1 - Watmuff, Jonathan A1 - Bauschat, J.-Michael T1 - Highly non-planar lifting systems: a relative assessment of existing potential-methodologies to accurately estimate the induced drag JF - 32nd AIAA Applied Aerodynamics Conference 2014 : June, 16-20 2014, Atlanta, Ga. Y1 - 2014 SN - 978-1-62410-288-2 U6 - https://doi.org/10.2514/6.2014-2988 SP - Publ. online ER - TY - JOUR A1 - Schmitz, Günter T1 - Mechatronic Systems Simulation as an obligatory module for Mechatronic Master Students JF - Mechatronics & Robotics 2004 : Aachen, Germany, September 13 - 15, 2004 / [IEEE Industrial Electronics Society ...] P. Drews (ed.) Y1 - 2004 SN - 3-938153-50-X SP - 1278 PB - Eysoldt CY - Aachen ER - TY - JOUR A1 - Schmitz, Günter A1 - Altherr, M. A1 - Hofmann, O. A1 - Pischinger, M. (u.a.) T1 - Anwendung moderner Simulationstools für die Entwicklung eines elektromagnetischen Ventilaktuators JF - TransMechatronik : Entwicklung und Transfer von Entwicklungssystemen der Mechatronik / Aachener Workshop TransMechatronik 26. Mai 1998, Technologiezentrum am Europaplatz Y1 - 1998 SN - 3-931466-37-X SP - 55 EP - 74 PB - Heinz-Nixdorf-Inst, Univ.-GH Paderborn CY - Paderborn ER - TY - JOUR A1 - Schmitz, Günter A1 - Bartz, R. A1 - Böhnke, P. T1 - Neue Methoden zur Erkennung des ottomotorischen Klopfens JF - Motortechnische Zeitschrift : MTZ. 53 (1992), H. 6 Y1 - 1992 SN - 0024-8525 SP - 286 EP - 293 ER - TY - JOUR A1 - Schmitz, Günter A1 - Bartz, R. A1 - Hansen, W. T1 - Flexibles elektronisches Verbrennungsmotoren-Indiziersystem (FEVIS) JF - Vorträge und Kurzreferate : 13. und 14. November 1990, Congress Centrum, Magdeburg / Technische Universität "Otto von Guericke" Magdeburg, Fakultät für Thermischen Maschinenbau, Institut für Maschinenmeßtechnik, Kolbenmaschinen und Instandhaltung Y1 - 1991 N1 - ergänzter Nachdr., als Ms. gedr. SP - 485 EP - 491 CY - Magdeburg ER - TY - JOUR A1 - Schmitz, Günter A1 - Bartz, R. A1 - Hilger, U. A1 - Siedentop, M. T1 - Intelligent Alcohol Fuel Sensor Y1 - 1990 N1 - SAE- Paper-No.: 900231, SAE International Congress and Exposition, Detroit, Feb. 26 - March 2, 1990 ER - TY - JOUR A1 - Schmitz, Günter A1 - Damann, H. A1 - Schmit, H. J. T1 - Design and Analysis of a Waveguide Isolator with a Form-Birefringent Top Layer JF - ECOC '84 : Conference proceedings ; 10th European Conference on Optical Communication, September 3 - 6, 1984 Liederhalle Stuttgart, Federal Republic of Germany / Organized by Nachrichtentechn. Ges. im VDE (NTG). Y1 - 1984 SN - 3-8007-1383-7 SP - 42 PB - VDE-Verl. CY - Berlin [u.a.] ER - TY - JOUR A1 - Schmitz, Günter A1 - Oligschläger, U. A1 - Eifler, G. A1 - Lechner, H. T1 - Automated System for Optimized Calibration of Engine Management Systems Y1 - 1994 N1 - SAE International Congress and Exposition, Detroit, Feb. 28 - March 3 ; SAE- Paper-No.: 940151 ;  .24). Black participants demonstrated a smaller CRAE (158 ± 11 vs. 164 ± 11 MU, p < .001) compared to the white group, whereas CRVE was similar (p = .57). In response to FLIP, artery maximal dilation was greater in the black vs. white group (5.6 ± 2.1 vs. 3.3 ± 1.8%; p < .001). Conclusions Already at a young age, healthy black adults showed narrower retinal arteries relative to the white population. Follow-up studies are underway to show if this will be related to increased risk for hypertension development. The reason for the larger vessel dilation responses to FLIP in the black population is unclear and warrants further investigation. Y1 - 2020 U6 - https://doi.org/10.1016/j.mvr.2019.103937 SN - 0026-2862 VL - 128 IS - Article 103937 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Spietz, Peter A1 - Spröwitz, Tom A1 - Seefeldt, Patric A1 - Grundmann, Jan Thimo A1 - Jahnke, Rico A1 - Mikschl, Tobias A1 - Mikulz, Eugen A1 - Montenegro, Sergio A1 - Reershemius, Siebo A1 - Renger, Thomas A1 - Ruffer, Michael A1 - Sasaki, Kaname A1 - Sznajder, Maciej A1 - Tóth, Norbert A1 - Ceriotti, Matteo A1 - Dachwald, Bernd A1 - Macdonald, Malcolm A1 - McInnes, Colin A1 - Seboldt, Wolfgang A1 - Quantius, Dominik A1 - Bauer, Waldemar A1 - Wiedemann, Carsten A1 - Grimm, Christian D. A1 - Hercik, David A1 - Ho, Tra-Mi A1 - Lange, Caroline A1 - Schmitz, Nicole T1 - Paths not taken – The Gossamer roadmap’s other options JF - Advances in Space Research KW - Solar sail KW - Small spacecraft KW - DLR-ESTEC GOSSAMER roadmap for solar sailing KW - GOSSAMER-1 Y1 - 2021 U6 - https://doi.org/10.1016/j.asr.2021.01.044 SN - 0273-1177 VL - 67 IS - 9 SP - 2912 EP - 2956 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Stadler, Alexander Maximilian A1 - Garvey, Christopher J. A1 - Embs, Jan Peter A1 - Koza, Michael Marek A1 - Unruh, Tobias A1 - Artmann, Gerhard A1 - Zaccai, Guiseppe T1 - Picosecond dynamics in haemoglobin from different species: A quasielastic neutron scattering study JF - Biochimica et biophysica acta (BBA): General Subjects Y1 - 2014 U6 - https://doi.org/10.1016/j.bbagen.2014.06.007 SN - 1872-8006 (E-Journal); 0304-4165 (Print) VL - 1840 IS - 10 SP - 2989 EP - 2999 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Stiemer, Luc Nicolas A1 - Thoma, Andreas A1 - Braun, Carsten T1 - MBT3D: Deep learning based multi-object tracker for bumblebee 3D flight path estimation JF - PLoS ONE N2 - This work presents the Multi-Bees-Tracker (MBT3D) algorithm, a Python framework implementing a deep association tracker for Tracking-By-Detection, to address the challenging task of tracking flight paths of bumblebees in a social group. While tracking algorithms for bumblebees exist, they often come with intensive restrictions, such as the need for sufficient lighting, high contrast between the animal and background, absence of occlusion, significant user input, etc. Tracking flight paths of bumblebees in a social group is challenging. They suddenly adjust movements and change their appearance during different wing beat states while exhibiting significant similarities in their individual appearance. The MBT3D tracker, developed in this research, is an adaptation of an existing ant tracking algorithm for bumblebee tracking. It incorporates an offline trained appearance descriptor along with a Kalman Filter for appearance and motion matching. Different detector architectures for upstream detections (You Only Look Once (YOLOv5), Faster Region Proposal Convolutional Neural Network (Faster R-CNN), and RetinaNet) are investigated in a comparative study to optimize performance. The detection models were trained on a dataset containing 11359 labeled bumblebee images. YOLOv5 reaches an Average Precision of AP = 53, 8%, Faster R-CNN achieves AP = 45, 3% and RetinaNet AP = 38, 4% on the bumblebee validation dataset, which consists of 1323 labeled bumblebee images. The tracker’s appearance model is trained on 144 samples. The tracker (with Faster R-CNN detections) reaches a Multiple Object Tracking Accuracy MOTA = 93, 5% and a Multiple Object Tracking Precision MOTP = 75, 6% on a validation dataset containing 2000 images, competing with state-of-the-art computer vision methods. The framework allows reliable tracking of different bumblebees in the same video stream with rarely occurring identity switches (IDS). MBT3D has much lower IDS than other commonly used algorithms, with one of the lowest false positive rates, competing with state-of-the-art animal tracking algorithms. The developed framework reconstructs the 3-dimensional (3D) flight paths of the bumblebees by triangulation. It also handles and compares two alternative stereo camera pairs if desired. Y1 - 2023 U6 - https://doi.org/10.1371/journal.pone.0291415 SN - 1932-6203 N1 - Corresponding author: Luc Nicolas Stiemer VL - 18 IS - 9 PB - PLOS CY - San Fancisco ER - TY - JOUR A1 - Tekin, Nurettin A1 - Ashikaga, Mitsugu A1 - Horikawa, Atsushi A1 - Funke, Harald T1 - Enhancement of fuel flexibility of industrial gas turbines by development of innovative hydrogen combustion systems JF - Gas for energy N2 - For fuel flexibility enhancement hydrogen represents a possible alternative gas turbine fuel within future low emission power generation, in case of hydrogen production by the use of renewable energy sources such as wind energy or biomass. Kawasaki Heavy Industries, Ltd. (KHI) has research and development projects for future hydrogen society; production of hydrogen gas, refinement and liquefaction for transportation and storage, and utilization with gas turbine / gas engine for the generation of electricity. In the development of hydrogen gas turbines, a key technology is the stable and low NOx hydrogen combustion, especially Dry Low Emission (DLE) or Dry Low NOx (DLN) hydrogen combustion. Due to the large difference in the physical properties of hydrogen compared to other fuels such as natural gas, well established gas turbine combustion systems cannot be directly applied for DLE hydrogen combustion. Thus, the development of DLE hydrogen combustion technologies is an essential and challenging task for the future of hydrogen fueled gas turbines. The DLE Micro-Mix combustion principle for hydrogen fuel has been in development for many years to significantly reduce NOx emissions. This combustion principle is based on cross-flow mixing of air and gaseous hydrogen which reacts in multiple miniaturized “diffusion-type” flames. The major advantages of this combustion principle are the inherent safety against flashback and the low NOx-emissions due to a very short residence time of the reactants in the flame region of the micro-flames. Y1 - 2018 IS - 2 PB - Vulkan-Verlag CY - Essen 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 - Thoma, Andreas A1 - Ravi, Sridhar T1 - Significance of parallel computing on the performance of Digital Image Correlation algorithms in MATLAB N2 - Digital Image Correlation (DIC) is a powerful tool used to evaluate displacements and deformations in a non-intrusive manner. By comparing two images, one of the undeformed reference state of a specimen and another of the deformed target state, the relative displacement between those two states is determined. DIC is well known and often used for post-processing analysis of in-plane displacements and deformation of specimen. Increasing the analysis speed to enable real-time DIC analysis will be beneficial and extend the field of use of this technique. Here we tested several combinations of the most common DIC methods in combination with different parallelization approaches in MATLAB and evaluated their performance to determine whether real-time analysis is possible with these methods. To reflect improvements in computing technology different hardware settings were also analysed. We found that implementation problems can reduce the efficiency of a theoretically superior algorithm such that it becomes practically slower than a suboptimal algorithm. The Newton-Raphson algorithm in combination with a modified Particle Swarm algorithm in parallel image computation was found to be most effective. This is contrary to theory, suggesting that the inverse-compositional Gauss-Newton algorithm is superior. As expected, the Brute Force Search algorithm is the least effective method. We also found that the correct choice of parallelization tasks is crucial to achieve improvements in computing speed. A poorly chosen parallelisation approach with high parallel overhead leads to inferior performance. Finally, irrespective of the computing mode the correct choice of combinations of integerpixel and sub-pixel search algorithms is decisive for an efficient analysis. Using currently available hardware realtime analysis at high framerates remains an aspiration. Y1 - 2019 SP - 1 EP - 17 ER - TY - JOUR A1 - Thoma, Andreas A1 - Thomessen, Karolin A1 - Gardi, Alessandro A1 - Fisher, A. A1 - Braun, Carsten T1 - Prioritising paths: An improved cost function for local path planning for UAV in medical applications JF - The Aeronautical Journal N2 - Even the shortest flight through unknown, cluttered environments requires reliable local path planning algorithms to avoid unforeseen obstacles. The algorithm must evaluate alternative flight paths and identify the best path if an obstacle blocks its way. Commonly, weighted sums are used here. This work shows that weighted Chebyshev distances and factorial achievement scalarising functions are suitable alternatives to weighted sums if combined with the 3DVFH* local path planning algorithm. Both methods considerably reduce the failure probability of simulated flights in various environments. The standard 3DVFH* uses a weighted sum and has a failure probability of 50% in the test environments. A factorial achievement scalarising function, which minimises the worst combination of two out of four objective functions, reaches a failure probability of 26%; A weighted Chebyshev distance, which optimises the worst objective, has a failure probability of 30%. These results show promise for further enhancements and to support broader applicability. KW - Path planning KW - Cost function KW - Multi-objective optimization Y1 - 2023 U6 - https://doi.org/10.1017/aer.2023.68 SN - 0001-9240 (Print) SN - 2059-6464 (Online) IS - First View SP - 1 EP - 18 PB - Cambridge University Press CY - Cambridge ER - 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 -