TY - JOUR A1 - Salamat, Babak A1 - Yaghmaei, Abolfazl A1 - Elsbacher, Gerhard A1 - Tonello, Andrea M. A1 - Yazdanpanah, Mohammad Javad T1 - An Innovative Control Design Procedure for Under-Actuated Mechanical Systems: Emphasizing Potential Energy Shaping and Structural Preservation JF - IEEE Open Journal of Control Systems N2 - In this paper, we propose a procedure to solve the controlled design for a class of underactuated mechanical systems. Our proposed method can be viewed as a sub-method of the IDA-PBC or Controlled Lagrangian approaches, with a particular focus on shaping the potential energy. By emphasizing potential energy shaping, we can effectively tackle the bottleneck presented by the matching equation in these approaches. Moreover, our method leverages a suitable coordinate transformation that is inspired by the physics of the system, further enhancing its efficacy. Therefore, our design procedure is based on a coordinate transformation plus potential energy shaping in the new coordinates, and its existence and possibility of potential energy shaping can be verified via some algebraic calculations, making it constructive. To illustrate the results, we consider the cart-pole system and a recently introduced underactuated mechanical system named swash mass pendulum (SMP) [1]. The SMP consists of a pendulum made of a rigid shaft connected to a pair of cross-shafts where two swash masses can move under the action of servo-mechanisms. UR - https://doi.org/10.1109/OJCSYS.2023.3320512 KW - Controller design KW - under-actuated mechanical systems KW - Euler-Lagrange dynamics KW - potential matching equation Y1 - 2023 UR - https://doi.org/10.1109/OJCSYS.2023.3320512 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-40295 SN - 2694-085X VL - 2 SP - 356 EP - 365 PB - IEEE CY - New York ER - TY - JOUR A1 - Salamat, Babak A1 - Olzem, Sebastian-Sven A1 - Elsbacher, Gerhard A1 - Tonello, Andrea M. T1 - Global Multi-Phase Path Planning Through High-Level Reinforcement Learning JF - IEEE Open Journal of Control Systems N2 - In this paper, we introduce the Global Multi-Phase Path Planning ( GMP3 ) algorithm in planner problems, which computes fast and feasible trajectories in environments with obstacles, considering physical and kinematic constraints. Our approach utilizes a Markov Decision Process (MDP) framework and high-level reinforcement learning techniques to ensure trajectory smoothness, continuity, and compliance with constraints. Through extensive simulations, we demonstrate the algorithm's effectiveness and efficiency across various scenarios. We highlight existing path planning challenges, particularly in integrating dynamic adaptability and computational efficiency. The results validate our method's convergence guarantees using Lyapunov’s stability theorem and underscore its computational advantages. UR - https://doi.org/10.1109/OJCSYS.2024.3435080 Y1 - 2024 UR - https://doi.org/10.1109/OJCSYS.2024.3435080 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-52776 SN - 2694-085X VL - 3 SP - 405 EP - 415 PB - IEEE CY - Piscataway ER - TY - CHAP A1 - Rodríguez-Arozamena, Mario A1 - Matute, Jose A1 - Pérez, Joshué A1 - Ozbay, Burcu A1 - Tezcan, Deryanur A1 - Begecarslan, Enes A1 - Mutlukaya, Irem A1 - Mayer, Kevin A1 - Volkersdorfer, Tina A1 - Hof, Hans-Joachim ED - McNally, Ciaran ED - Carroll, Páraic ED - Martinez-Pastor, Beatriz ED - Ghosh, Bidisha ED - Efthymiou, Marina ED - Valantasis-Kanellos, Nikolaos T1 - A Fail-Safe Decision Architecture for CCAM Applications T2 - Transport Transitions: Advancing Sustainable and Inclusive Mobility, Proceedings of the 10th TRA Conference, 2024 Dublin, Ireland - Volume 6: Connected Mobility Ecosystems N2 - In the context of Connected, Cooperative, and Automated Mobility (CCAM), precise ego-vehicle positioning and environmental status assessment are crucial. However, these tasks can be susceptible to sensor failures, misuse, and cyberattacks. Automation disengagements and system redundancy are common strategies to achieve Minimum Risk Conditions when failures occur. This paper presents a Fail-Safe decision architecture formulated within the framework of the SELFY project (https://selfy-project.eu/). The main aim is to reduce inaccuracies in GNSS-derived positioning through the incorporation of sensor fusion, AI-guided situational assessment, trajectory planning, and mode decision components. Additionally, the architecture has been designed to enable real-time updates and communication with external entities, including the Vehicle Security Operations Centre. UR - https://doi.org/10.1007/978-3-032-06763-0_104 Y1 - 2025 UR - https://doi.org/10.1007/978-3-032-06763-0_104 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-65868 SN - 978-3-032-06763-0 SP - 731 EP - 737 PB - Springer CY - Cham ER - TY - CHAP A1 - Nieto, Marcos A1 - Otaegui, Oihana A1 - Panou, Maria A1 - Birkner, Christian A1 - Vaculin, Ondrej A1 - Rodríguez, Ariadna ED - McNally, Ciaran ED - Carroll, Páraic ED - Martinez-Pastor, Beatriz ED - Ghosh, Bidisha ED - Efthymiou, Marina ED - Valantasis-Kanellos, Nikolaos T1 - AWARE2ALL: Human Centric Interaction and Safety Systems for Increasing the Share of Automated Vehicles T2 - Transport Transitions: Advancing Sustainable and Inclusive Mobility, Proceedings of the 10th TRA Conference, 2024, Dublin, Ireland-Volume 1: Safe and Equitable Transport N2 - The AWARE2ALL project is designed to address the new challenges of Highly Automated Vehicles (HAVs) from a human-centric perspective. These vehicles will allow occupants to engage in non-driving activities, rising research questions about occupant behavior, activities, and Human-Machine Interfaces (HMI) to keep them aware of the situation and the automation mode. The project aims to ensure safe operation of HAVs by developing safety and HMI systems that provide a holistic understanding of the scene. This includes continuous monitoring of the interior situation and advanced passive safety systems for occupant safety, as well as a surround perception system and external HMI for the safety of Human Road Users (HRUs). AWARE2ALL is paving the way for HAV deployment by effectively addressing changes in road safety and interactions between different road users caused by the emergence of HAVs. It is developing innovative technologies, assessment tools, and methodologies to adapt to new scenarios in mixed traffic. The project builds on previous research and aims to mitigate new safety risks associated with the introduction of HAVs. UR - https://doi.org/10.1007/978-3-031-88974-5_112 Y1 - 2025 UR - https://doi.org/10.1007/978-3-031-88974-5_112 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-62356 SN - 978-3-031-88974-5 SP - 779 EP - 785 PB - Springer CY - Cham ER - TY - BOOK A1 - Fleischmann, Albert A1 - Schmidt, Werner A1 - Stary, Christian A1 - Obermeier, Stefan A1 - Börger, Egon T1 - Subject-Oriented Business Process Management N2 - Activities performed in organizations are coordinated via communication between the people involved. The sentences used to communicate are naturally structured by subject, verb, and object. The subject describes the actor, the verb the action and the object what is affected by the action. Subject-oriented Business Process Management (S-BPM) as presented in this book is based on this simple structure which enables process-oriented thinking and process modeling. S-BPM puts the subject of a process at the center of attention and thus deals with business processes and their organizational environment from a new perspective, meeting organizational requirements in a much better way than traditional approaches. Subjects represent agents of an action in a process, which can be either technical or human (e.g. a thread in an IT system or a clerk). A process structures the actions of each subject and coordinates the required communication among the subjects. S-BPM provides a coherent procedural framework to model and analyze business processes: its focus is the cooperation of all stakeholders involved in the strategic, tactical, and operational issues, sharing their knowledge in a networked structure. The authors illustrate how each modeling activity through the whole development lifecycle can be supported through the use of appropriate software tools. The presentation style focuses on professionals in industry, and on students specializing in process management or organizational modeling. Each chapter begins with a summary of key findings and is full of examples, hints, and possible pitfalls. An interpreter model, a toolbox, and a glossary summarizing the main terms complete the book. UR - https://doi.org/10.1007/978-3-642-32392-8 Y1 - 2012 UR - https://doi.org/10.1007/978-3-642-32392-8 SN - 978-3-642-32392-8 PB - Springer CY - Berlin ER - TY - JOUR A1 - Gelner, Alexander A1 - Rothe, Dieter A1 - Kykal, Carsten A1 - Irwin, Martin A1 - Sommer, Alessandro A1 - Pastoetter, Christian A1 - Härtl, Martin A1 - Jaensch, Malte A1 - Wachtmeister, Georg T1 - Particle emissions of a heavy-duty engine fueled with polyoxymethylene dimethyl ethers (OME) JF - Environmental Science: Atmospheres N2 - Polyoxymethylene dimethyl ethers (OME) are promising substitutes for fossil diesel fuel. Besides the possibility of closing the carbon cycle, OME also feature soot-free combustion. Although this has been demonstrated sufficiently, nanoparticle emission in OME exhaust is mainly unknown. Many studies provide information about the particle size distribution (PSD) in the exhaust of OME-fueled diesel engines, but lack a distinction between solid particles and particles of a volatile nature. This distinction is necessary in order to evaluate the potential of OME regarding Euro VI and the Euro VII exhaust gas legislation being discussed. This study investigates the PSD of fossil diesel and the OME exhaust of a heavy-duty engine with and without removal of the volatile fraction via a catalytic stripper, by means of a purpose-built sampling system based on proposals from the Particle Measurement Programme (PMP). The experiments showed that most of the nuclei mode investigated in OME operation is of a volatile nature and that the solid particle number (PN) emission is below that of Euro VI diesel operation. Moreover, the results indicate that a state-of-the-art aftertreatment system removes most of the particle emission, regardless of whether it is volatile or solid. Selective catalytic reduction using aqueous urea dosing increases solid particle emission, especially in the sub-23 nm range. However, a PMP-conformant measurement of PN23 and PN10 during WHSC and WHTC runs demonstrated that the PN emission of an OME-fueled engine falls below the average immission level of urban and regional background in Germany. UR - https://doi.org/10.1039/D1EA00084E Y1 - 2022 UR - https://doi.org/10.1039/D1EA00084E UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-54799 SN - 2634-3606 VL - 2 IS - 2 SP - 291 EP - 304 PB - RSC CY - Cambridge ER - TY - JOUR A1 - Gelner, Alexander A1 - Pang, Genny A. A1 - Weber, Markus A1 - Haisch, Christoph A1 - Beck, Harald A. A1 - Pastoetter, Christian A1 - Härtl, Martin A1 - Jaensch, Malte A1 - Wachtmeister, Georg T1 - Gaseous emissions of a heavy-duty engine fueled with polyoxymethylene dimethyl ethers (OME) in transient cold-start operation and methods for after-treatment system heating JF - Environmental Science: Advances N2 - Polyoxymethylene dimethyl ethers (OME) are promising e-fuels for diesel engines, combining carbon-neutral production and low-emission engine operation by virtue of soot-free combustion. The emissions of diesel engines fueled with OME and in blends with diesel have been studied extensively using single-cylinder research engines under laboratory conditions. Emissions from a series engine using an exhaust after-treatment system (ATS) – especially in cold-start operation – are largely unexplored. This study presents investigations conducted using a heavy-duty engine with ATS in a transient driving cycle including cold-start operation. Measurements from a Fourier transform infrared spectrometer (FT-IR) showed that formaldehyde and formic acid form the largest proportion of the monitored tailpipe exhaust emissions due to incomplete combustion in cold-start operation, as long as the catalysts are below their light-off temperature. Non-target screening using a mass spectrometer for online characterization of both gaseous and aerosol exhaust revealed that unburned OME accounts for the majority of gaseous emissions of heavy species in raw exhaust, independent of cold- or hot-start. The ATS removes OME in the exhaust equally in the cold and the hot run. Additionally, this study presents results with specific measures taken for ATS heating such as electrical heating and fuel dosing – demonstrating that electrical heating in combination with an early start of fuel dosing reduces nitrogen oxide (NOx) emissions in the transient driving cycle by 64.9%, but at the cost of an increase in formaldehyde emission of 58.3%. A later start of fuel dosing avoids this increase and reduces NOx emissions by 61.8%. UR - https://doi.org/10.1039/D2VA00080F Y1 - 2022 UR - https://doi.org/10.1039/D2VA00080F UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-54800 SN - 2754-7000 VL - 1 IS - 4 SP - 470 EP - 482 PB - RSC CY - London ER - TY - JOUR A1 - Oetter, Nicolai A1 - Pröll, Jonas A1 - Sievert, Matti A1 - Goncalves, Miguel A1 - Rohde, Maximilian A1 - Nobis, Christopher-Philipp A1 - Knipfer, Christian A1 - Aubreville, Marc A1 - Pan, Zhaoya A1 - Breininger, Katharina A1 - Maier, Andreas A1 - Kesting, Marco A1 - Stelzle, Florian T1 - Oral mucosa - an examination map for confocal laser endomicroscopy within the oral cavity: an experimental clinical study JF - Clinical Oral Investigations N2 - Objectives Confocal laser endomicroscopy (CLE) is an optical method that enables microscopic visualization of oral mucosa. Previous studies have shown that it is possible to differentiate between physiological and malignant oral mucosa. However, differences in mucosal architecture were not taken into account. The objective was to map the different oral mucosal morphologies and to establish a “CLE map” of physiological mucosa as baseline for further application of this powerful technology. Materials and methods The CLE database consisted of 27 patients. The following spots were examined: (1) upper lip (intraoral) (2) alveolar ridge (3) lateral tongue (4) floor of the mouth (5) hard palate (6) intercalary line. All sequences were examined by two CLE experts for morphological differences and video quality. Results Analysis revealed clear differences in image quality and possibility of depicting tissue morphologies between the various localizations of oral mucosa: imaging of the alveolar ridge and hard palate showed visually most discriminative tissue morphology. Labial mucosa was also visualized well using CLE. Here, typical morphological features such as uniform cells with regular intercellular gaps and vessels could be clearly depicted. Image generation and evaluation was particularly difficult in the area of the buccal mucosa, the lateral tongue and the floor of the mouth. Conclusion A physiological “CLE map” for the entire oral cavity could be created for the first time. Clinical relevance This will make it possible to take into account the existing physiological morphological features when differentiating between normal mucosa and oral squamous cell carcinoma in future work. UR - https://doi.org/10.1007/s00784-024-05664-9 KW - Confocal laser endomicroscopy KW - Oral cavity KW - Oral carcinoma KW - Optical methods KW - Oral cavity squamous cell carcinoma KW - Head and neck cancer Y1 - 2024 UR - https://doi.org/10.1007/s00784-024-05664-9 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-56000 SN - 1436-3771 VL - 28 IS - 5 PB - Springer CY - Berlin ER - TY - CHAP A1 - Mulic, Andrei A1 - Cepraga, Marcel A1 - Gavlitchii, Daniil T1 - Aplicarea inovațiilor în optimizarea gestiunii investițiilor la nivelul micro și macroeconomic T2 - Culegere de articole: Conferinţa știinţifică internaţională, "Paradigme moderne în dezvoltarea economiei naţionale şi mondiale" N2 - Actuality of the research topic is conditioned by the importance of investment management in the financial management of economic entities. Maintaining the dominant positions in the top of the best performing enterprises at national and international level can be achieved by applying innovations in improving investment management. The research topic aims are to define the models and principles of directing existing investments in world theory and practice and to implement innovations in investment management at the micro-economic level. The purpose and objectives of the research are to the concept of investment and their classification as well as to study the world practice of training and management of portfolio and capital investments. Determine the particularities of the formation of the optimal portfolio structure, the cost-effectiveness-risk relationship and the method of combating the risk of an investment portfolio. And applying innovations in solving the problems of training, management and combating investment risk. In order to achieve the purpose and objectives of the research, the methods of analysis and research that we have used: analysis, synthesis, induction, deduction, observation, generalization, the complex and systemic methodological approach of contemporary economic concepts. An important contribution was made by the experts Ulrike B. And Radeke J. From the German Economic team Moldova and the economists from Expert Group, who served as guidance and guidance point throughout the entire study, having at their core essential works that contributed enormously to the consolidation of the research level of that work. The results of the research would allow the identification and understanding of the functioning of a system of training and application of innovations in the process of improvement of the investment management of enterprises in the Republic of Moldova. T2 - Application of innovations in improving investment management at the micro-economic level UR - https://doi.org/10.5281/zenodo.7543601 Y1 - 2022 UR - https://doi.org/10.5281/zenodo.7543601 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-64918 SN - 978-9975-62-488-6 SP - 129 EP - 132 PB - CEP USM CY - Chișinău ER - TY - BOOK ED - Fleischmann, Albert ED - Schmidt, Werner ED - Stary, Christian T1 - S-BPM in the Wild BT - Practical Value Creation N2 - This is the first book to present field studies on the application of subject-oriented business process management (S-BPM). Each case presents a specific story and focuses on an essential modeling or implementation issue, and most end with implications or suggestions for further studies. Significant variables and success factors are identified that were discovered during the respective study and lead to suggesting S-BPM novelties. For each case, the authors explain step-by-step how the story develops, and provide readers guidance by detailing the respective rationale. UR - https://doi.org/10.1007/978-3-319-17542-3 Y1 - 2015 UR - https://doi.org/10.1007/978-3-319-17542-3 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-56730 SN - 978-3-319-17542-3 PB - Springer CY - Cham ER - TY - THES A1 - Feucht, Thilo T1 - Additive Fertigung von Anschlusselementen im Stahlbau mit dem Wire Arc Additive Manufacturing N2 - In dieser Arbeit wird untersucht, wie stahlbauübliche Anschlusselemente mittels Wire Arc Additive Manufacturing (WAAM) gefertigt werden können. Die Motivation liegt darin, die heutzutage weiterhin übliche händische und zeitaufwendige Baugruppenfertigung durch einen vollautomatisierten Produktionsschritt zu ersetzen, indem die Anschlusselemente direkt auf Stahlträger additiv gefertigt werden. Die Grundlagen und Besonderheiten des WAAM werden dafür erläutert und beschrieben. Zur Ermöglichung eines WAAM-gerechten Konstruierens werden Lehrsätze im Sinne einer wissenschaftlichen Aussage formuliert. Mit dem präsentierten 8-schrittigen Optimierungsprozess werden die Strukturen der Anschlusselemente ermittelt, sodass das Material statisch optimal ausgenutzt wird und gleichzeitig eine schnelle und fehlerfreie Fertigung gelingt. Im Optimierungsprozess werden die numerische Topologieoptimerung sowie die numerische Traglastanalyse genutzt. Drei Anschlusselemente (Trägerhaken, Lasteinleitungssteife, Spannelement) werden bespielhaft optimiert. Im darauffolgenden Kapitel werden für jene Anschlusselemente geeignete Fertigungsstrategien erarbeitet und die Fertigung mit dem WAAM beschrieben. Die Tragfähigkeit der Anschlusselemente wird in zerstörenden Versuchen ermittelt und abschließend in einem Auswertungskapitel mit den numerischen Tragfähigkeiten verglichen. N2 - In this thesis it is investigated how common connection-elements in steel-construction can be manufactured by means of Wire Arc Additive Manufacturing (WAAM). The idea was to replace the manual and time-consuming assembly process, which is still common today, by a fully-automated manufacturing-step through additively manufacturing the connection elements directly onto the steel beams. The basics and particularities of WAAM are explained and described. To enable WAAM-compatible design, theorems as science-based statements are formulated. With the 8-step optimization process presented in this work, the structures of the connection-elements are determined. This ensures that the material is statically optimally utilized while a fast and error-free manufacturing process is guaranteed. Numerical topology-optimization and numerical ultimate-load analysis are used in the optimization process. For practical demonstration, three connection elements (beam hook, load-introduction stiffener, clamping element) are optimized. In a following chapter, suitable manufacturing strategies for these connection elements are outlined. The manufacturing process with the WAAM is described. The ultimate load-capacity of the connection elements is determined via destructive tests. In an evaluation chapter, the outcomes of these tests are compared with the numerical ultimate load-capacities. T2 - Additive Manufacturing of Connection Elements in Steel Construction by means of Wire Arc Additive Manufacturing UR - https://doi.org/10.26083/tuprints-00024363 Y1 - 2023 UR - https://doi.org/10.26083/tuprints-00024363 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-57507 PB - Technische Universität Darmstadt CY - Darmstadt ER - TY - JOUR A1 - Ammeling, Jonas A1 - Ganz, Jonathan A1 - Rosbach, Emely A1 - Lausser, Ludwig A1 - Bertram, Christof A1 - Breininger, Katharina A1 - Aubreville, Marc T1 - Benchmarking Foundation Models for Mitotic Figure Classification JF - Machine Learning for Biomedical Imaging N2 - The performance of deep learning models is known to scale with data quantity and diversity. In pathology, as in many other medical imaging domains, the availability of labeled images for a specific task is often limited. Self-supervised learning techniques have enabled the use of vast amounts of unlabeled data to train large-scale neural networks, i.e., foundation models, that can address the limited data problem by providing semantically rich feature vectors that can generalize well to new tasks with minimal training effort increasing model performance and robustness. In this work, we investigate the use of foundation models for mitotic figure classification. The mitotic count, which can be derived from this classification task, is an independent prognostic marker for specific tumors and part of certain tumor grading systems. In particular, we investigate the data scaling laws on multiple current foundation models and evaluate their robustness to unseen tumor domains. Next to the commonly used linear probing paradigm, we also adapt the models using low-rank adaptation (LoRA) of their attention mechanisms. We compare all models against end-to-end-trained baselines, both CNNs and Vision Transformers. Our results demonstrate that LoRA-adapted foundation models provide superior performance to those adapted with standard linear probing, reaching performance levels close to 100 % data availability with only 10 % of training data. Furthermore, LoRA-adaptation of the most recent foundation models almost closes the out-of-domain performance gap when evaluated on unseen tumor domains. However, full fine-tuning of traditional architectures still yields competitive performance. UR - https://doi.org/10.59275/j.melba.2026-a3eb Y1 - 2026 UR - https://doi.org/10.59275/j.melba.2026-a3eb UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-66220 SN - 2766-905X VL - 3 IS - MELBA–BVM 2025 Special Issue SP - 38 EP - 55 PB - Melba editors CY - [s. l.] ER - TY - JOUR A1 - Mohan, Adithya A1 - Schön, Torsten T1 - Toward Robust Agents: A Survey of Adversarial Attacks and Defenses in Deep Reinforcement Learning JF - IEEE Access N2 - Deep Reinforcement Learning (DRL) has demonstrated remarkable success in autonomous decision-making across diverse domains, including robotics, autonomous driving, and game playing. However, recent studies have uncovered a critical vulnerability: DRL agents are highly susceptible to adversarial attacks that can significantly degrade their performance or lead to catastrophic failure. These attacks exploit different components of the learning pipeline observations, actions, rewards, and policies exposing new challenges unique to DRL compared to supervised learning. This survey provides a comprehensive examination of adversarial threats and corresponding defense mechanisms within the DRL paradigm. This also aims to serve as a foundational reference for researchers and practitioners seeking to understand and mitigate adversarial vulnerabilities in DRL. UR - https://doi.org/10.1109/ACCESS.2026.3657855 Y1 - 2026 UR - https://doi.org/10.1109/ACCESS.2026.3657855 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-66232 SN - 2169-3536 VL - 14 SP - 14481 EP - 14497 PB - IEEE CY - New York ER - TY - CHAP A1 - Sprogies, Marc A1 - Schmidt, Werner ED - Fleischmann, Albert ED - Schmidt, Werner ED - Stary, Christian T1 - Introducing S-BPM at an IT Service Providers T2 - S-BPM in the Wild: Practical Value Creation N2 - IT Service consumers have a clear idea of agile, flexible and transparent service processes to quickly get their needs satisfied. For an IT service provider like WK EDV GmbH this arises the challenge of designing its procedures adequately. For that reason WK decided to consolidate and optimize their service processes. It ran a pilot project to analyze, redesign and newly implement the software deployment process which is part of their overall Application Lifecycle Management (ALM) process. The project team applied Subject-oriented Business Process Management (S-BPM) as methodology and the Metasonic Suite as the respective software toolset in order to gain insights into and experience with the S-BPM environment. This contribution reports on the course of the project, the results and the learnings. UR - https://doi.org/10.1007/978-3-319-17542-3_4 Y1 - 2015 UR - https://doi.org/10.1007/978-3-319-17542-3_4 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-56712 SN - 978-3-319-17542-3 SP - 55 EP - 74 PB - Springer CY - Cham ER - TY - INPR A1 - Salamat, Babak A1 - Mattern, Dominik A1 - Olzem, Sebastian-Sven A1 - Elsbacher, Gerhard A1 - Seidel, Christian A1 - Tonello, Andrea M. T1 - GMP3: Learning-Driven, Bellman-Guided Trajectory Planning for UAVs in Real-Time on SE(3) N2 - We propose GMP3, a multiphase global path planning framework that generates dynamically feasible three-dimensional trajectories for unmanned aerial vehicles (UAVs) operating in cluttered environments. The framework extends traditional path planning from Euclidean position spaces to the Lie group SE(3), allowing joint learning of translational motion and rotational dynamics. A modified Bellman-based operator is introduced to support reinforcement learning (RL) policy updates while leveraging prior trajectory information for improved convergence. GMP3 is designed as a distributed framework in which agents influence each other and share policy information along the trajectory: each agent refines its assigned segment and shares with its neighbors via a consensus-based scheme, enabling cooperative policy updates and convergence toward a path shaped globally even under kinematic constraints. We also propose DroneManager, a modular ground control software that interfaces the planner with real UAV platforms via the MAVLink protocol, supporting real-time deployment and feedback. Simulation studies and indoor flight experiments validate the effectiveness of the proposed method in constrained 3D environments, demonstrating reliable obstacle avoidance and smooth, feasible trajectories across both position and orientation. The open-source implementation is available at https://github.com/Domattee/DroneManager. UR - https://doi.org/10.48550/arXiv.2509.21264 Y1 - 2025 UR - https://doi.org/10.48550/arXiv.2509.21264 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-64770 PB - arXiv CY - Ithaca ER - TY - JOUR A1 - Kreilinger, Laurens A1 - Zott, Stefan A1 - Hemmert, Werner A1 - Karg, Sonja T1 - Dry electrode impedance: a new approach towards improved characterization JF - Biomedical Physics & Engineering Express N2 - Electrode-skin impedance plays a crucial role in electrophysiological signal acquisition, influencing signal quality and measurement reliability. We designed a reproducibility measurement setup, using a membrane with a saline solution and a three-electrode Electrochemical Impedance Spectroscopy measurement setup (range 1 Hz–20 kHz), to mimic the electrode-skin impedance. The system allowed controlled application of pressure to the working electrode (WE) and measurement of all setup parameters. With this setup, reproducible results were achieved, with a standard deviation of 5.5% of the mean impedance across three builds. Potentiostatic and impedance analyzer measurements with six types of dry electrodes produced comparable results, with an average error of 10%. The six dry electrode types exhibited impedance variations of up to a factor of 10,000 at low frequencies, depending on material and geometry. Ag/AgCl-coated electrodes exhibited an impedance reduction by a factor of 100 at 1 Hz compared to their uncoated counterparts. The proposed setup provides a standardized and reproducible approach for characterizing electrode impedance across different materials, coatings, and geometries. UR - https://doi.org/10.1088/2057-1976/ae3e9c Y1 - 2026 UR - https://doi.org/10.1088/2057-1976/ae3e9c UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-66800 SN - 2057-1976 VL - 12 IS - 2 PB - IOP Publishing CY - Bristol ER - TY - CHAP A1 - Jimenez, Victor A1 - Reyes de los Mozos, Mario A1 - Perea Paños, Pau A1 - Fritzsche, Paula Cecilia A1 - Mayer, Kevin A1 - Volkersdorfer, Tina A1 - Hof, Hans-Joachim A1 - Couturier, Christophe A1 - Ernst, Thierry A1 - Zhang, Miao A1 - Saied Mohamed, Mohamed A1 - Rodríguez-Arozamena, Mario A1 - Aranguren-Mendieta, Iñigo A1 - Pérez, Joshué A1 - Jousse, Adrien A1 - Murguia, Carlos A1 - van de Wouw, Nathan A1 - Bellessort, Romain A1 - Salami, Behzad A1 - Jevtić, Aleksandar A1 - Bannour, Boutheina A1 - Rodríguez Recasens, Manel A1 - Ropero, Isaac A1 - Ozbay, Burcu A1 - Eren, Ali A1 - Bektas, Mustafa A1 - Tezcan, Deryanur A1 - Pilz, Christoph A1 - Haas, Sarah A1 - Lenz, Gernot ED - McNally, Ciaran ED - Carroll, Páraic ED - Martinez-Pastor, Beatriz ED - Ghosh, Bidisha ED - Efthymiou, Marina ED - Valantasis-Kanellos, Nikolaos T1 - SELFY - Self Assessment, Protection and Healing Tools for a Trustworthy and Resilient CCAM T2 - Transport Transitions: Advancing Sustainable and Inclusive Mobility, Proceedings of the 10th TRA Conference, 2024 Dublin, Ireland - Volume 6: Connected Mobility Ecosy N2 - SELFY envisions an agnostic toolbox for the self-management of security and resilience of the CCAM (Connected, Cooperative and Automated Mobility) ecosystem, which can be easily deployed to extend the current Operational Design Domain (ODD), providing self-awareness, self-resilience and self-healing mechanisms and enhancing trust between stakeholders. SELFY is based on four pillars: Situational awareness, Resilience, Secure Data Sharing and Trust and provides three groups of tools. SACP (Situational Awareness and Collaborative Perception) tools aim at providing all CCAM actors with a comprehensive understanding of their environment, i.e., the perception of objects, such as other traffic participants and stationary objects. CRHS (Cooperative Resilience and Healing System) tools enable self-protection actions whenever a compromising situation is detected in relation to assets, vehicles, operations, or the system itself. TDMS (Trust and Data Management System) tools establish a secure and trusted environment for data in a collaborative and cooperative context, both for infrastructure and assets, as well as for citizen’s data, such as drivers or pedestrians with special attention to privacy considerations. By defining a collaborative environment between the different tools to respond to new threats, risks and attacks SELFY facilitates the comprehension of new challenges in the cybersecurity aspect of CCAMs. UR - https://doi.org/10.1007/978-3-032-06763-0_106 Y1 - 2025 UR - https://doi.org/10.1007/978-3-032-06763-0_106 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-66819 SN - 978-3-032-06763-0 SP - 745 EP - 751 PB - Springer CY - Cham ER - TY - CHAP A1 - Jimenez, Victor A1 - Reyes de los Mozos, Mario A1 - Perea Paños, Pau A1 - Fritzsche, Paula Cecilia A1 - Mayer, Kevin A1 - Volkersdorfer, Tina A1 - Hof, Hans-Joachim A1 - Couturier, Christophe A1 - Ernst, Thierry A1 - Zhang, Miao A1 - Saied Mohamed, Mohamed A1 - Rodríguez-Arozamena, Mario A1 - Aranguren-Mendieta, Iñigo A1 - Pérez, Joshué A1 - Jousse, Adrien A1 - Murguia, Carlos A1 - van de Wouw, Nathan A1 - Bellessort, Romain A1 - Salami, Behzad A1 - Jevtić, Aleksandar A1 - Bannour, Boutheina A1 - Rodríguez Recasens, Manel A1 - Ropero, Isaac A1 - Ozbay, Burcu A1 - Eren, Ali A1 - Bektas, Mustafa A1 - Tezcan, Deryanur A1 - Pilz, Christoph A1 - Haas, Sarah A1 - Lenz, Gernot T1 - SELFY - Self Assessment, Protection & Healing Tools for a Trustworthy and Resilient CCAM T2 - Proceedings of the Transport Research Arena (TRA2024) Conference N2 - SELFY envisions an agnostic toolbox for the self-management of se-curity and resilience of the CCAM (Connected, Cooperative and Automated Mo-bility) ecosystem, which can be easily deployed to extend the current Operational Design Domain (ODD), providing self-awareness, self-resilience and self-heal-ing mechanisms and enhancing trust between stakeholders. SELFY is based on four pillars: Situational awareness, Resilience, Secure Data Sharing and Trust and provides three groups of tools. SACP (Situational Awareness and Collabo-rative Perception) tools aim at providing all CCAM actors with a comprehensive understanding of their environment, i.e., the perception of objects, such as other traffic participants and stationary objects. CRHS (Cooperative Resilience and Healing System) tools enable self-protection actions whenever a compromising situation is detected in relation to assets, vehicles, operations, or the system itself. TDMS (Trust and Data Management System) tools establish a secure and trusted environment for data in a collaborative and cooperative context, both for infra-structure and assets, as well as for citizen's data, such as drivers or pedestrians with special attention to privacy considerations. By defining a collaborative en-vironment between the different tools to respond to new threats, risks and attacks SELFY facilitates the comprehension of new challenges in the cybersecurity as-pect of CCAMs. UR - https://doi.org/10.5281/zenodo.10978183 Y1 - 2024 UR - https://doi.org/10.5281/zenodo.10978183 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-53724 PB - Zenodo CY - Genf ER - TY - JOUR A1 - Gleißner, Christian A1 - Kotonski, Julia T1 - The classification of rigid torus quotients with canonical singularities in dimension three JF - Rendiconti Lincei: Matematica e Applicazioni N2 - We provide a fine classification of rigid 3-dimensional torus quotients with isolated canonical singularities, up to biholomorphism and diffeomorphism. This complements the classification of Calabi–Yau 3-folds of type III0​, which are those quotients with Gorenstein singularities. UR - https://doi.org/10.4171/RLM/1070 Y1 - 2025 UR - https://doi.org/10.4171/RLM/1070 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-64657 SN - 1720-0768 VL - 36 IS - 2 SP - 315 EP - 352 PB - EMS Press CY - Berlin ER - TY - CHAP A1 - Radtke, Maximilian-Peter A1 - Huber, Marco F. A1 - Bock, Jürgen ED - Kulkarni, Chetan S. ED - Roychoudhury, Indranil T1 - Increasing Robustness of Data-Driven Fault Diagnostics with Knowledge Graphs T2 - Proceedings of the Annual Conferenceof the PHM Society 2023 N2 - In the realm of prognostics and health management (PHM), it is common to possess not only process data but also domain knowledge, which, if integrated into data-driven algorithms, can aid in solving specific tasks. This paper explores the integration of knowledge graphs (KGs) into deep learning models to develop a more resilient approach capable of handling domain shifts, such as variations in machine operating conditions. We present and assess a KG-enhanced deep learning approach in a representative PHM use case, demonstrating its effectiveness by incorporating domain-invariant knowledge through the KG. Furthermore, we provide guidance for constructing a comprehensive hierarchical KG representation that preserves semantic information while facilitating numerical representation. The experimental results showcase the improved performance and domain shift robustness of the KG-enhanced approach in fault diagnostics. UR - https://doi.org/10.36001/phmconf.2023.v15i1.3552 Y1 - 2023 UR - https://doi.org/10.36001/phmconf.2023.v15i1.3552 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-43307 PB - PHM Society CY - Rochester ER - TY - JOUR A1 - Da Silva Junior, Amauri A1 - Müller, Steffen A1 - Birkner, Christian A1 - Jazar, Reza A1 - Marzbani, Hormoz T1 - Fault Tolerant Control With Reinforcement Learning for Evasive Maneuvers Using a Scaled Vehicle JF - IEEE Access N2 - Autonomous vehicle controllers are responsible for handling the vehicle at all times in any situation, including emergency conditions. An emergency might arise from, e.g., adverse weather conditions, short-time detection, and system faults. In this paper, we develop a fault-tolerant controller to handle actuator faults for an over-actuated autonomous vehicle based on reinforcement learning. A worst-case scenario is selected for the controller development, involving short-time detection of the preceding objects, high velocity, and dry to wet road conditions. The design of the vehicle controller is performed in three steps. First, a robust controller based on sliding mode control with lateral and longitudinal coupled strategy was built to ensure stability in emergency scenarios. Secondly, a strategy was proposed to identify the most critical vehicle faults that might lead to a crash. Building on these foundations, this study extends the vehicle controller to handle vehicle faults with a reinforcement learning strategy, enabling adaptive and robust fault handling in complex fault scenarios. The vehicle controller is designed and optimized in IPG-Carmaker®, and proof of concept is carried out in a scaled 1:3.33 test vehicle. The results demonstrate the robustness of the proposed controller in an emergency single-lane change with a velocity of up to 130 km/h. Tests in the scaled vehicle demonstrate the vehicle controller’s accuracy against simulation, with the application of reinforcement learning strategy in real-case scenarios. UR - https://doi.org/10.1109/ACCESS.2026.3661179 Y1 - 2026 UR - https://doi.org/10.1109/ACCESS.2026.3661179 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-66839 SN - 2169-3536 VL - 14 SP - 21353 EP - 21383 PB - IEEE CY - New York ER -