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This paper describes a novel approach to situation analysis at intersections using object-oriented Bayesian networks. The Bayesian network infers the collision probability for all vehicles approaching the intersection, while taking into account traffic rules, the digital street map, and the sensors' uncertainties. The environment perception is fused from communicated data, vehicles local perception and self-localization. Thus, a cooperatively validated set of data is obtained to characterize all objects involved in a situation (resolving occlusions). The system is tested with data, acquired by vehicles with heterogenic equipment (without/with perception). In a first step the probabilistic mapping of a vehicle onto a fixed set of traffic lanes and forward motion predictions is introduced. Second, criticality measures are evaluated for these motion predictions to infer the collision probability. In our test vehicle this probability is then used to warn the driver of a possible hazardous situation. It serves as a likelihood alarm parameter for deciding the intensity of HMI acoustic signals to direct the driver's attention. First results in various simulated and live real-time scenarios show, that a collision can be predicted up to two seconds before a possible impact by applying the developed Bayesian network. The extension of this network to further situation features is the content of ongoing research.
A new force control strategy improving the force control capabilities of standard industrial robots
(2013)
Vortrag
To provide a substrate for a mirror support, in which there still remains a high rigidity, despite a reduced weight. ;SOLUTION: In a substrate, particularly in a substrate for a mirror support, in which recesses are introduced in one surface, preferably in the back side of the substrate, as a result of which, in particular, bridging pieces are defined between the recesses, in order to achieve the situation in which despite a reduced weight, a high rigidity still remains, which means only a slight sagging after the correct take-in of the substrate in a holding device provided for it, at least one first position of the bridging pieces includes a width that is different from a second portion of the bridging pieces.
The space glass has a composition, in wt. % based on oxide content, of: SiO2, 5-65; B2O3, 0-40; Al2O3, 0-12; PbO, 25-50; Na2O 0-8; K2O, 0-20; Sigma alkali metal oxides, at least 0.25; and at least 0.1 wt. % of a total amount of three or more doping agents selected from CeO2, MoO3, Bi2O3, WO3, Ag2O, SnO2, Sb2O3 and As2O3. In addition, it contains one or more of the following doping agents in the following amounts: at most 1 wt. %, CeO2; at most 0.02 wt. %, As2O3; at most 0.3 wt. %, Sb2O3; and at most 0.5 wt. %, SnO2. Light-weight optical systems for space are made from it, because of its high radiation resistance. A preferred process for making space glass includes melting the oxide starting ingredients at 1050 DEG C. to 1200 DEG C. to form a melt and refining the melt at 1230 DEG C. to 1350 DEG C.
Classical short-time Fourier constructions lead to a signal decomposition with a fixed time-frequency resolution. However, having signals with varying features, such time-frequency decompositions are very restrictive. A more flexible and adaptive sampling of the time-frequency plane is achieved by the nonstationary Gabor transform. Here, the resolution can evolve over time or frequency, respectively, by using different windows for the different sampling positions in the time or frequency domain (Multiwindow-frames). This adaptivity in the time-frequency plane leads to a sparser signal representation.
In terms of audio inpainting, i.e., filling in blanks of a depleted audio signal, sparsity in some representation space profoundly influences the quality of the reconstructed signal. We will compare this quality using different nonstationary Gabor transforms and the regular Gabor transform with different types of audio signals.
Ever since the introduction of frames in 1952 [4], the connection between frame theory and decompositions of certain operators, particularly the identity operator, into rank-ones began to be elaborated. Abandoning the idea of restricting to tight frame-like expansions, with respect to systems arising from a single template function, one is led to the concept of resolutions of the identity, with respect to more general systems than the usual rank-one expansions of the identity.
In this study, we will investigate various notions of possible generalizations of optimality criterions for rank-M frames and corresponding multipliers. Explicitly, we will lay stress on continuous M-frames, arising from irreducible group representations of locally compact groups, have a look at its connection to time-frequency analysis and comment on adequate notions of optimality.
A New Approach to Collaborative Learning in Software Engineering Focussed on Embedded Systems
(2013)
Software Engineering is a very complex and abstract process and therefore hard to learn and hard to teach. Especially in mechatronics software engineering is not the main focus of the university studies. Therefore students have little understanding and low motivation to spend time on it. In this paper, we share some experiences on how we tried to give students a deeper understanding for software engineering, its processes and the complexity of software engineering projects. To that end, we chose a new didactical approach consisting of direct instruction and activating learning styles in parallel. The classical lectures were supplemented by a seminar and a project phase to allow students to apply their theoretical learned knowledge without delay in realistic settings. We combined active and passive learning styles to give students the opportunity to consolidate factual knowledge, foster soft skills (e.g. presentation and communication skills), improve team work and gain a deeper understanding of software engineering processes. The experiences of our courses in summer semesters 2010 and 2012 lead to a further development of our didactical approach in 2013. As a consequence, we tried further methods to spread needed information across the student working groups by using a wiki-system, a market of knowledge or mixing the groups between seminar and project phase. At the end of the seminar phase quality gates were implemented and also awards at the end of the project phase. Systematically evaluations at the end of the seminar phase and at the end of the project work show the learning outcomes and possible further improvements of our didactical approach.