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 - TY - JOUR A1 - Vogt, Anna A1 - Mueller, Ralph A1 - Kampa, Thomas A1 - Stark, Rainer A1 - Großmann, Daniel T1 - Concept and architecture for information exchange between digital twins of the product (CPS) and the production system (CPPS) JF - Procedia CIRP N2 - The Digital Twin concept and CPS- and IIoT-based approaches are increasingly important topics concerning future Industry 4.0 architectures. They offer high potential for dynamical aspects in intelligent production planning and control as well as part traceability and documentation. Standardized information exchange is an upcoming requirement among the whole supply chain. This paper presents a concept for a Digital Twin architecture based on motor production in the automotive industry. The key aspect is an information exchange structure for Digital Twins of products and production systems that are combined using principles of Dynamic Aggregation. UR - https://doi.org/10.1016/j.procir.2021.11.217 KW - digital twin KW - cyber physical system KW - production system KW - information model KW - information exchange KW - intelligent production systems KW - smart production Y1 - 2021 UR - https://doi.org/10.1016/j.procir.2021.11.217 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-16642 SN - 2212-8271 SP - 1292 EP - 1297 PB - Elsevier CY - Amsterdam ER - TY - INPR A1 - Dönmez, Ömer A1 - Tejero de la Piedra, Ricardo A1 - Klose, Simona A1 - Riolet, Matthieu A1 - Rozek, Lukas A1 - Vaculin, Ondrej A1 - Hach, Christian T1 - Approach for Passive Safety Assessment of Rearward-Sitting Occupants N2 - The introduction of highly automated vehicles (HAVs) will allow vehicle occupants to take advantage of new seating configurations, such as sitting rearward in the first row. One critical aspect of assessing occupant safety during high-speed impacts is the lack of a dedicated safety framework for rearward-facing passengers in the first row. This paper introduces a method to develop new assessment criteria for these novel seat configurations. Thus, this research presents some preliminary results of rearward-facing occupant injury biomechanics analyses carried out employing a variety of anthropomorphic test devices (ATDs) and the VIVA+ 50M human body model (HBM), restrained with different belt configurations and considering different seat typologies. It reviews the suitability of 50th percentile male ATDs to capture a biofidelic engagement with the seat structure and belt system and evaluates the reaction loads on the occupant, along with the energy management resulting from seat back rotational stiffness and energy-absorbing foams layered behind the seat cushion. Based on the results, the THOR-AV-50M is a suitable candidate for further biofidelity analysis. Torso occupant loads can be effectively reduced utilizing seat back rotation but pelvis load management requires further studies. UR - https://doi.org/10.5281/zenodo.18338626 Y1 - 2026 UR - https://doi.org/10.5281/zenodo.18338626 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-66254 PB - Zenodo CY - Genf ER - TY - JOUR A1 - Mayr, Thomas A1 - Knollmeyer, Simon A1 - Jeknic, Isidora A1 - Fink, Leon A1 - Hensel, Ralph A1 - Huber, Marco F. A1 - Großmann, Daniel T1 - Enhancing Process Planning in the Automotive Industry: Extracting Procedural Knowledge from Assembly Operation Descriptions using Large Language Models JF - Procedia CIRP N2 - The non-standardized, human-written assembly descriptions have been a long-standing obstacle in the automotive assembly industry, making it difficult to use these data in the planning stage. The paper presents a standardization method based on Large Language Models (LLMs), focusing on consistency and clarity. This approach does not only streamline the planning processes but also facilitates the benchmarking of productivity and process quality across different individual parts and assembly lines, thus enabling comprehensive efficiency analysis and ultimately leading to more informed decision-making. Our method was evaluated at a German OEM in the automotive sector, demonstrating its practical applicability and effectiveness. UR - https://doi.org/10.1016/j.procir.2026.01.137 Y1 - 2026 UR - https://doi.org/10.1016/j.procir.2026.01.137 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-66843 SN - 2212-8271 VL - 2026 IS - 138 SP - 797 EP - 802 PB - Elsevier CY - Amsterdam ER - TY - CHAP A1 - Reum, Tobias A1 - Schmitt, David A1 - Summ, Thorsten A1 - Schrag, Tobias ED - Fink, Christian ED - Brunner, Christoph T1 - Energetic Potential of Parallel Operation of Two Heat Sources in a Dual-Source Heat Pump T2 - International Sustainable Energy Conference - Proceedings N2 - Dual-source heat pumps can mitigate disadvantages of single source heat pumps: They have fewer geological requirements compared to ground-source heat pumps while having higher efficiencies compared to air-source heat pumps. Parallel operation of two heat sources can also make electric heaters for peak loads obsolete, leading to economic benefits in the operational costs. Parallel operation has not been analysed thoroughly at different evaporation temperature gradients. To address this gap in research, four possible interconnections of two heat sources were analysed using a refrigerant cycle simulation, two with similar and two with separate evaporation pressures. The energetic potential of each interconnection is evaluated and compared to single source operation with an air-source and a ground-source heat pump. The results showed that only the interconnections with separate evaporation pressure allowed significant reduction in evaporation power from the ground source. As expected, the efficiency – compared to single air-source operation – increased for all parallel interconnections but decreased compared to ground-source operation. Efficient peak load coverage with small ground-source collectors therefore requires a more complex interconnection of completely split evaporator branches at different evaporation pressures. While the efficiency and heating power compared to single ground-source operation decreased slightly (by 4% and 6%, respectively), the power load on the GSHX and ASHX reduced to about 54% and 66% compared to the corresponding single-source operation, respectively. This allows high efficiency at reduced GSHX size and ASHX noise emission. Additionally, this interconnection also allows increased flexibility for improved heat source management. UR - https://doi.org/10.52825/isec.v1i.1158 Y1 - 2024 UR - https://doi.org/10.52825/isec.v1i.1158 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-58147 SN - 2976-2030 PB - TIB Open Publishing CY - Hannover ER -