TY - JOUR A1 - Hoffmann, Andreas A1 - Uhl, Matthias A1 - Ceblin, Maximilian A1 - Rohrbach, Felix A1 - Bansmann, Joachim A1 - Mallah, Marcel A1 - Heuermann, Holger A1 - Jacob, Timo A1 - Kuehne, Alexander J.C. T1 - Atmospheric pressure plasma-jet treatment of PAN-nonwovens—carbonization of nanofiber electrodes JF - C - Journal of Carbon Research N2 - Carbon nanofibers are produced from dielectric polymer precursors such as polyacrylonitrile (PAN). Carbonized nanofiber nonwovens show high surface area and good electrical conductivity, rendering these fiber materials interesting for application as electrodes in batteries, fuel cells, and supercapacitors. However, thermal processing is slow and costly, which is why new processing techniques have been explored for carbon fiber tows. Alternatives for the conversion of PAN-precursors into carbon fiber nonwovens are scarce. Here, we utilize an atmospheric pressure plasma jet to conduct carbonization of stabilized PAN nanofiber nonwovens. We explore the influence of various processing parameters on the conductivity and degree of carbonization of the converted nanofiber material. The precursor fibers are converted by plasma-jet treatment to carbon fiber nonwovens within seconds, by which they develop a rough surface making subsequent surface activation processes obsolete. The resulting carbon nanofiber nonwovens are applied as supercapacitor electrodes and examined by cyclic voltammetry and impedance spectroscopy. Nonwovens that are carbonized within 60 s show capacitances of up to 5 F g⁻¹. Y1 - 2022 U6 - http://dx.doi.org/10.3390/c8030033 SN - 2311-5629 N1 - This article belongs to the Collection "Nanoporous Carbon Materials for Advanced Technological Applications" VL - 8 IS - 3 PB - MDPI CY - Basel ER - TY - JOUR A1 - Hoffmann, Andreas A1 - Rohrbach, Felix A1 - Uhl, Matthias A1 - Ceblin, Maximilian A1 - Bauer, Thomas A1 - Mallah, Marcel A1 - Jacob, Timo A1 - Heuermann, Holger A1 - Kuehne, Alexander J. C. T1 - Atmospheric pressure plasma-jet treatment of polyacrylonitrile-nonwovens—Stabilization and roll-to-roll processing JF - Journal of Applied Polymer Science N2 - Carbon nanofiber nonwovens represent a powerful class of materials with prospective application in filtration technology or as electrodes with high surface area in batteries, fuel cells, and supercapacitors. While new precursor-to-carbon conversion processes have been explored to overcome productivity restrictions for carbon fiber tows, alternatives for the two-step thermal conversion of polyacrylonitrile precursors into carbon fiber nonwovens are absent. In this work, we develop a continuous roll-to-roll stabilization process using an atmospheric pressure microwave plasma jet. We explore the influence of various plasma-jet parameters on the morphology of the nonwoven and compare the stabilized nonwoven to thermally stabilized samples using scanning electron microscopy, differential scanning calorimetry, and infrared spectroscopy. We show that stabilization with a non-equilibrium plasma-jet can be twice as productive as the conventional thermal stabilization in a convection furnace, while producing electrodes of comparable electrochemical performance. KW - batteries and fuel cells KW - electrospinning KW - fibers KW - irradiation KW - porous materials Y1 - 2022 U6 - http://dx.doi.org/10.1002/app.52887 SN - 0021-8995 (Print) SN - 1097-4628 (Online) N1 - Weitere Informationen: Bundesministerium für Bildung und Forschung, Fördernummer: 13XP5036E. Deutsche Forschungsgemeinschaft, Fördernummern: 390874152, 441209207, 327886311 VL - 139 IS - 37 SP - 1 EP - 9 PB - Wiley ER - TY - JOUR A1 - Förster, Arnold A1 - Rosenauer, A. A1 - Oberst, W. A1 - Gerthsen, D. T1 - Atomic scale analysis of the indium distribution in InGaAs/GaAs (001) heterostructures: segregation, lateral indium redistribution and the effect of growth interruptions. Rosenauer, A. ; Oberst, W. ; Gerthsen, D. ; Förster, A. JF - Thin Solid Films. 357 (1999) Y1 - 1999 SN - 0040-6090 SP - 18 EP - 21 ER - TY - JOUR A1 - Förster, Arnold A1 - Rosenauer, A. A1 - Remmele, T. T1 - Atomic scale strain measurements by the digital analysis of transmission electron microscopic lattice images / A. Rosenauer ; T. Remmele ; D. Gerthsen ... A. Förster JF - Optik : international journal for light and electron optics. 105 (1997), H. 3 Y1 - 1997 SN - 0030-4026 SP - 99 EP - 107 ER - TY - JOUR A1 - Beverungen, Daniel A1 - Eggert, Mathias A1 - Voigt, Matthias A1 - Rosemann, Michael T1 - Augmenting Analytical CRM Strategies with Social BI JF - International Journal of Business Intelligence Research (IJBIR) Y1 - 2013 U6 - http://dx.doi.org/10.4018/ijbir.2013070103 SN - 1947-3591 VL - 4 IS - 3 SP - 32 EP - 49 PB - IGI Global CY - Hershey ER - TY - JOUR A1 - Pietsch, Wolfram T1 - Augmenting voice of the customer analysis by analysis of belief JF - QFD-Forum Y1 - 2015 SN - 1431-6951 IS - 30 SP - 1 EP - 5 ER - TY - JOUR A1 - Schwabedal, Justus T. C. A1 - Sippel, Daniel A1 - Brandt, Moritz D. A1 - Bialonski, Stephan T1 - Automated Classification of Sleep Stages and EEG Artifacts in Mice with Deep Learning N2 - Sleep scoring is a necessary and time-consuming task in sleep studies. In animal models (such as mice) or in humans, automating this tedious process promises to facilitate long-term studies and to promote sleep biology as a data-driven f ield. We introduce a deep neural network model that is able to predict different states of consciousness (Wake, Non-REM, REM) in mice from EEG and EMG recordings with excellent scoring results for out-of-sample data. Predictions are made on epochs of 4 seconds length, and epochs are classified as artifactfree or not. The model architecture draws on recent advances in deep learning and in convolutional neural networks research. In contrast to previous approaches towards automated sleep scoring, our model does not rely on manually defined features of the data but learns predictive features automatically. We expect deep learning models like ours to become widely applied in different fields, automating many repetitive cognitive tasks that were previously difficult to tackle. Y1 - 2018 U6 - http://dx.doi.org/10.48550/arXiv.1809.08443 ER - TY - JOUR A1 - Gorzalka, Philip A1 - Schmiedt, Jacob Estevam A1 - Schorn, Christian T1 - Automated Generation of an Energy Simulation Model for an Existing Building from UAV Imagery JF - Buildings N2 - An approach to automatically generate a dynamic energy simulation model in Modelica for a single existing building is presented. It aims at collecting data about the status quo in the preparation of energy retrofits with low effort and costs. The proposed method starts from a polygon model of the outer building envelope obtained from photogrammetrically generated point clouds. The open-source tools TEASER and AixLib are used for data enrichment and model generation. A case study was conducted on a single-family house. The resulting model can accurately reproduce the internal air temperatures during synthetical heating up and cooling down. Modelled and measured whole building heat transfer coefficients (HTC) agree within a 12% range. A sensitivity analysis emphasises the importance of accurate window characterisations and justifies the use of a very simplified interior geometry. Uncertainties arising from the use of archetype U-values are estimated by comparing different typologies, with best- and worst-case estimates showing differences in pre-retrofit heat demand of about ±20% to the average; however, as the assumptions made are permitted by some national standards, the method is already close to practical applicability and opens up a path to quickly estimate possible financial and energy savings after refurbishment. KW - Modelica KW - heat transfer coefficient KW - heat demand KW - building energy modelling KW - building energy simulation Y1 - 2021 U6 - http://dx.doi.org/10.3390/buildings11090380 SN - 2075-5309 N1 - This article belongs to the Special Issue "Application of Computer Technology in Buildings" VL - 11 IS - 9 PB - MDPI CY - Basel ER - TY - JOUR A1 - Neu, Eugen A1 - Janser, Frank A1 - Khatibi, Akbar A. A1 - Orifici, Adrian C. T1 - Automated modal parameter-based anomaly detection under varying wind excitation JF - Structural Health Monitoring N2 - Wind-induced operational variability is one of the major challenges for structural health monitoring of slender engineering structures like aircraft wings or wind turbine blades. Damage sensitive features often show an even bigger sensitivity to operational variability. In this study a composite cantilever was subjected to multiple mass configurations, velocities and angles of attack in a controlled wind tunnel environment. A small-scale impact damage was introduced to the specimen and the structural response measurements were repeated. The proposed damage detection methodology is based on automated operational modal analysis. A novel baseline preparation procedure is described that reduces the amount of user interaction to the provision of a single consistency threshold. The procedure starts with an indeterminate number of operational modal analysis identifications from a large number of datasets and returns a complete baseline matrix of natural frequencies and damping ratios that is suitable for subsequent anomaly detection. Mahalanobis distance-based anomaly detection is then applied to successfully detect the damage under varying severities of operational variability and with various degrees of knowledge about the present operational conditions. The damage detection capabilities of the proposed methodology were found to be excellent under varying velocities and angles of attack. Damage detection was less successful under joint mass and wind variability but could be significantly improved through the provision of the currently encountered operational conditions. Y1 - 2016 U6 - http://dx.doi.org/10.1177/1475921716665803 SN - 1475-9217 VL - 15 IS - 6 SP - 1 EP - 20 PB - Sage CY - London ER - TY - JOUR A1 - Grieger, Niklas A1 - Schwabedal, Justus T. C. A1 - Wendel, Stefanie A1 - Ritze, Yvonne A1 - Bialonski, Stephan T1 - Automated scoring of pre-REM sleep in mice with deep learning JF - Scientific Reports N2 - Reliable automation of the labor-intensive manual task of scoring animal sleep can facilitate the analysis of long-term sleep studies. In recent years, deep-learning-based systems, which learn optimal features from the data, increased scoring accuracies for the classical sleep stages of Wake, REM, and Non-REM. Meanwhile, it has been recognized that the statistics of transitional stages such as pre-REM, found between Non-REM and REM, may hold additional insight into the physiology of sleep and are now under vivid investigation. We propose a classification system based on a simple neural network architecture that scores the classical stages as well as pre-REM sleep in mice. When restricted to the classical stages, the optimized network showed state-of-the-art classification performance with an out-of-sample F1 score of 0.95 in male C57BL/6J mice. When unrestricted, the network showed lower F1 scores on pre-REM (0.5) compared to the classical stages. The result is comparable to previous attempts to score transitional stages in other species such as transition sleep in rats or N1 sleep in humans. Nevertheless, we observed that the sequence of predictions including pre-REM typically transitioned from Non-REM to REM reflecting sleep dynamics observed by human scorers. Our findings provide further evidence for the difficulty of scoring transitional sleep stages, likely because such stages of sleep are under-represented in typical data sets or show large inter-scorer variability. We further provide our source code and an online platform to run predictions with our trained network. Y1 - 2021 U6 - http://dx.doi.org/10.1038/s41598-021-91286-0 SN - 2045-2322 N1 - Corresponding author: Stephan Bialonski VL - 11 IS - Art. 12245 PB - Springer Nature CY - London 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 ; KW - Basis Reduktion KW - konvexe Optimierung KW - FEM KW - Druckgeräte KW - Basis reduction KW - Convex optimization KW - FEM KW - Shakedown analysis Y1 - 2000 ER - TY - JOUR A1 - Biselli, Manfred A1 - Thömmes, J. A1 - Kula, M.-R. A1 - Wandrey, Christian T1 - Batch kinetic data of hybridoma growth and productivity as a basis for the simulation of antibody production in various culture systems / Thömmes, J. ; Biselli, M. ; Kula, M.-R. ; Wandrey, C. JF - Animal cell technology : products of today, prospects for tomorrow ; ESACT, European Society for Animal Cell Technology, the 12th meeting / Ed. R. E. Spier Y1 - 1994 SN - 0750618450 N1 - Meeting / European Society for Animal Cell Technology ; 12 SP - 513 EP - 517 PB - Butterworth-Heinemann CY - Oxford ER - TY - JOUR A1 - Buniatyan, V. A1 - Huck, Christina A1 - Poghossian, Arshak A1 - Aroutiounian, V. M. A1 - Schöning, Michael Josef T1 - BaxSr1-x TiO3/pc-Si heterojunction JF - Armenian journal of physics Y1 - 2013 SN - 1829-1171 VL - 6 IS - 4 SP - 177 EP - 187 PB - National Academy of Sciences of Armenia CY - Yerevan ER - TY - JOUR A1 - Buniatyan, V. A1 - Huck, Christina A1 - Poghossian, Arshak A1 - Aroutiounian, V. M. A1 - Schöning, Michael Josef T1 - BaxSr1-x TiO3/pc-Si heterojunction capacitance JF - Armenian journal of physics Y1 - 2013 SN - 1829-1171 VL - 6 IS - 4 SP - 188 EP - 197 PB - National Academy of Sciences of Armenia CY - Yerevan ER - TY - JOUR A1 - Biener, Ernst A1 - Rouvé, G. T1 - Behaviour and maintenance of some old masonry gravity dams JF - Safety of dams : proceedings of the International Conference on Safety of Dams, Coimbra, 23-28 April 1984 / ed. by J. Laginha Serafim. - [Hauptbd.] Y1 - 1984 SN - 90-6191-522-8 N1 - International Conference on Safety of Dams <1984, Coimbra> ; ISBN Set: 90-6191-521-X SP - 101 EP - 106 PB - Rotterdam [u.a.] CY - Balkema ER - TY - JOUR A1 - Gspandl, Stephan A1 - Pill, Ingo A1 - Reip, Michael A1 - Steinbauer, Gerald A1 - Ferrein, Alexander T1 - Belief Management for High-Level Robot Programs JF - Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence [electronic resource] : Barcelona, Catalonia, Spain, 16 - 22 July 2011 / sponsored by International Joint Conferences on Artificial Intelligence (IJCAI) and the Association for the Advancement of Artificial Intelligence (AAAI). Ed. by Toby Walsh Y1 - 2011 N1 - International Joint Conference on Artificial Intelligence ; (22 : ; 2011.07.16-22 : ; Barcelona, Spain) ; IJCAI ; (22 : ; 2011.07.16-22 : ; Barcelona, Spain) SP - 900 EP - 905 ER - TY - JOUR A1 - Rens, Gavin A1 - Ferrein, Alexander T1 - Belief-node condensation for online POMDP algorithms N2 - Slightly extended version of the paper accepted at the Robotics and Artificial Intelligence Workshop, a special track of IEEE AFRICON-2013, held in Mauritius, 9-12 September 2013 Y1 - 2013 SP - 1 EP - 7 PB - IEEE CY - New York ER - TY - JOUR A1 - Schulte-Tigges, Joschua A1 - Förster, Marco A1 - Nikolovski, Gjorgji A1 - Reke, Michael A1 - Ferrein, Alexander A1 - Kaszner, Daniel A1 - Matheis, Dominik A1 - Walter, Thomas T1 - Benchmarking of various LiDAR sensors for use in self-driving vehicles in real-world environments JF - Sensors N2 - Abstract In this paper, we report on our benchmark results of the LiDAR sensors Livox Horizon, Robosense M1, Blickfeld Cube, Blickfeld Cube Range, Velodyne Velarray H800, and Innoviz Pro. The idea was to test the sensors in different typical scenarios that were defined with real-world use cases in mind, in order to find a sensor that meet the requirements of self-driving vehicles. For this, we defined static and dynamic benchmark scenarios. In the static scenarios, both LiDAR and the detection target do not move during the measurement. In dynamic scenarios, the LiDAR sensor was mounted on the vehicle which was driving toward the detection target. We tested all mentioned LiDAR sensors in both scenarios, show the results regarding the detection accuracy of the targets, and discuss their usefulness for deployment in self-driving cars. KW - Lidar KW - Benchmark KW - Self-driving Y1 - 2022 U6 - http://dx.doi.org/10.3390/s22197146 SN - 1424-8220 N1 - This article belongs to the Special Issue "Sensor Fusion for Vehicles Navigation and Robotic Systems" VL - 22 IS - 19 PB - MDPI CY - Basel ER - TY - JOUR A1 - Burger, René A1 - Lindner, Simon A1 - Rumpf, Jessica A1 - Do, Xuan Tung A1 - Diehl, Bernd W.K. A1 - Rehahn, Matthias A1 - Monakhova, Yulia A1 - Schulze, Margit T1 - Benchtop versus high field NMR: Comparable performance found for the molecular weight determination of lignin JF - Journal of Pharmaceutical and Biomedical Analysis N2 - Lignin is a promising renewable biopolymer being investigated worldwide as an environmentally benign substitute of fossil-based aromatic compounds, e.g. for the use as an excipient with antioxidant and antimicrobial properties in drug delivery or even as active compound. For its successful implementation into process streams, a quick, easy, and reliable method is needed for its molecular weight determination. Here we present a method using 1H spectra of benchtop as well as conventional NMR systems in combination with multivariate data analysis, to determine lignin’s molecular weight (Mw and Mn) and polydispersity index (PDI). A set of 36 organosolv lignin samples (from Miscanthus x giganteus, Paulownia tomentosa and Silphium perfoliatum) was used for the calibration and cross validation, and 17 samples were used as external validation set. Validation errors between 5.6% and 12.9% were achieved for all parameters on all NMR devices (43, 60, 500 and 600 MHz). Surprisingly, no significant difference in the performance of the benchtop and high-field devices was found. This facilitates the application of this method for determining lignin’s molecular weight in an industrial environment because of the low maintenance expenditure, small footprint, ruggedness, and low cost of permanent magnet benchtop NMR systems. KW - NMR KW - PLS-regression KW - Molecular weight determination KW - Chemometrics KW - Biomass Y1 - 2022 SN - 0731-7085 U6 - http://dx.doi.org/10.1016/j.jpba.2022.114649 VL - 212 IS - Article number: 114649 PB - Elsevier CY - New York, NY ER - TY - JOUR A1 - Iding, Hans A1 - Dünnwald, Thomas A1 - Greiner, Lasse A1 - Liese, Andreas A1 - Müller, Michael A1 - Siegert, Petra A1 - Grötzinger, Joachim A1 - Demir, Ayhan S. A1 - Pohl, Martina T1 - Benzoylformate Decarboxylase from Pseudomonas putida as Stable Catalyst for the Synthesis of Chiral 2-Hydroxy Ketones JF - Chemistry - a European journal Y1 - 2000 SN - 1521-3765 (E-Journal); 0947-6539 (Print) VL - Vol. 6 IS - Iss. 8 SP - 1483 EP - 1495 ER - TY - JOUR A1 - Darmo, J. A1 - Schäffer, F. A1 - Förster, Arnold A1 - Kordos, P. T1 - Beryllium doped low-temperature-grown MBE GaAs: material for photomixing in the THz frequency range JF - ASDAM 2000 : conference proceedings / edited by Jozef Osvald ... [et al.] Y1 - 2000 SN - 0780359399 N1 - International Conference on Advanced Semiconductor Devices and Microsystems ; (3rd : ; 2000 : ; Smolenice, Slovakia) SP - 147 EP - 150 PB - IEEE CY - Piscataway, NJ ER - TY - JOUR A1 - Mayer, Claudia T1 - Between Resistance and Affirmation: Christa Wolf and German Unification JF - Canadian review of comparative literature : CRCL = Revue canadienne de littérature comparée / Canadian Comparative Literature Association. 22 (1995), H. 3-4 Y1 - 1995 SN - 0319-051X SP - 813 EP - 835 ER - TY - JOUR A1 - Mayer, Claudia T1 - Between Trans- and Interdisciplinarity. »Germanistik« and the Dialectic of Inclusion and Exclusion of the Other(s) JF - Language and literature today : proceedings of the XIXth triennal congress of the International Federation for Modern Languages and Literatures ; Brasília 22 - 30 August 1993. General ed. Neide de Faria. Y1 - 1993 SN - 85-230-0405-x N1 - Band 2 SP - 958 EP - 966 PB - Univ. CY - Brasilia ER - TY - JOUR A1 - Ziemons, Karl A1 - Bruyndonckx, P. A1 - Perez, J. M. A1 - Pietrzyk, U. A1 - Rato, P. A1 - Tavernier, S. T1 - Beyond ClearPET: Next Aims JF - 5th IEEE International Symposium on Biomedical Imaging: From Nano to Macro Symposium Proceedings ISBI 2008 N2 - The CRYSTAL CLEAR collaboration, in short CCC, is a consortium of 12 academic institutions, mainly from Europe, joining efforts in the area of developing instrumentation for nuclear medicine and medical imaging. In the framework of the CCC a high performance small animal PET system, called ClearPET, was developed by using new technologies in electronics and crystals in a phoswich arrangement combining two types of lutetium- based scintillator materials: LSO:Ce and LuYAP:Ce. Our next aim will be the development of hybrid image systems. Hybrid MR-PET imaging has many unique advantages for brain research. This has sparked a new research line within CCC for the development of novel MR-PET compatible technologies. MRI is not as sensitive as PET but PET has poorer spatial resolution than MRI. Two major advantages of PET are sensitivity and its ability to acquire metabolic information. To assess these innovations, the development of a 9.4T hybrid animal MR-PET scanner is proposed based on an existing 9.4T MR scanner that will be adapted to enable simultaneous acquisition of MR and PET data using cutting- edge technology for both MR and PET. Y1 - 2008 SN - 978-1-4244-2003-2 SP - 1421 EP - 1424 ER - TY - JOUR A1 - Damrau, Karin T1 - Beyond Solidity - Inventions, Spaces and Concepts for the Elements of Air and Water JF - Architectural design : AD. 69 (1999), H. 3-4 Y1 - 1999 SN - 0003-8504 SP - 22 EP - 33 ER - TY - JOUR A1 - Blome, Hans-Joachim A1 - Priester, W. T1 - Big Bounce in the very early Universe JF - Astronomy and Astrophysics. 250 (1991), H. 1 Y1 - 1991 SN - 0004-6361 SP - 43 EP - 49 ER - TY - JOUR A1 - Mansurov, Z. A1 - Digel, Ilya A1 - Biisenbaev, M. A1 - Savistkaya, I. A1 - Kistaubaeva, A. A1 - Akimbekov, N. A1 - Zhubanova, A. T1 - Bio-composite material on the basis of carbonized rice husk in biomedicine and environmental applications JF - Eurasian Chemico-Technological Journal Y1 - 2012 U6 - http://dx.doi.org/10.18321/ectj105 SN - 2522-4867 VL - 14 IS - 2 SP - 115 EP - 131 PB - Institute of Combustion Problems CY - Almaty ER - TY - JOUR A1 - Uysal, Karya A1 - Creutz, Till A1 - Firat, Ipek Seda A1 - Artmann, Gerhard A1 - Teusch, Nicole A1 - Temiz Artmann, Aysegül T1 - Bio-functionalized ultra-thin, large-area and waterproof silicone membranes for biomechanical cellular loading and compliance experiments JF - Polymers N2 - Biocompatibility, flexibility and durability make polydimethylsiloxane (PDMS) membranes top candidates in biomedical applications. CellDrum technology uses large area, <10 µm thin membranes as mechanical stress sensors of thin cell layers. For this to be successful, the properties (thickness, temperature, dust, wrinkles, etc.) must be precisely controlled. The following parameters of membrane fabrication by means of the Floating-on-Water (FoW) method were investigated: (1) PDMS volume, (2) ambient temperature, (3) membrane deflection and (4) membrane mechanical compliance. Significant differences were found between all PDMS volumes and thicknesses tested (p < 0.01). They also differed from the calculated values. At room temperatures between 22 and 26 °C, significant differences in average thickness values were found, as well as a continuous decrease in thicknesses within a 4 °C temperature elevation. No correlation was found between the membrane thickness groups (between 3–4 µm) in terms of deflection and compliance. We successfully present a fabrication method for thin bio-functionalized membranes in conjunction with a four-step quality management system. The results highlight the importance of tight regulation of production parameters through quality control. The use of membranes described here could also become the basis for material testing on thin, viscous layers such as polymers, dyes and adhesives, which goes far beyond biological applications. Y1 - 2022 SN - 2073-4360 VL - 14 IS - 11 SP - 2213 PB - MDPI CY - Basel 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 - http://dx.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 -