6 Technik, Medizin, angewandte Wissenschaften
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Infradar-Localization: single-chip infrared- and radar-based Monte Carlo localization. This paper proposes a novel approach for indoor robot localization that leverages a fusion of information from single-chip infrared (Time-of-Flight) and radar sensors. The aim of our research is the development of a cost-effective and lightweight system that can achieve high-precision robot localization. Unlike traditional localization methods based on LiDARs or cameras, our proposed system uses single-chip infrared and radar sensors to overcome the limitations of high cost and bulky hardware. Specifically, we employ a Doppler radar-based velocity motion model for the estimation of the robot's ego-motion, eliminating the need for additional sensors such as IMU or wheel encoders. Next, we describe a hybrid sensor model for single-chip infrared and radar sensors that provides robust and accurate environmental perception with dynamic outlier removal. Finally, we integrate these components into a Monte Carlo localization framework to generate accurate real-time estimation of the robot's position and orientation. This is the first time a single-chip infrared and radar fusion based framework has been applied to robot localization, to the best of our knowledge. Through a comprehensive experimental evaluation, we demonstrate the system's high accuracy and efficiency, achieving an average localization error of 9 cm in diverse indoor environments. This remarkable performance, combined with the low-cost and lightweight nature of our proposed solution, positions it as a highly promising alternative for a wide range of applications, including robotics, smart homes, and autonomous vehicles. The significant advancements of this novel approach offer vast potential to revolutionize the field of localization, enabling more precise and cost-effective navigation systems.
Capability of scheduled maintenance to detect electromagnetic and lightning protection degradation
(2022)
Due to the growing use of low-conductivity composite materials for airframes and skin, the shielding effectiveness of aircraft has been weakened within recent years. As a result, the importance of electromagnetic hazards and associated effects on flight safety have increased dramatically. Especially high intensity electromagnetic fields are likely to interfere with sensitive avionic systems, while lightning strikes produce high-energetic charges and currents which might cause physical damages and induced transients on onboard wirings and equipment-internal circuits. To ensure safe flight and landing conditions, additional protection measures are required to be introduced in aircraft design. However, aging and degradation effects of mentioned electromagnetic and lightning protection features can't be avoided, thus, specific scheduled maintenance actions within appropriate intervals must be defined during certification process to retain every single aircraft in a serviceable condition. As there's a lack of database to validate expected preliminary degradation and aging behavior until the first scheduled inspection, most maintenance definitions just rely on in-service and maintenance experience of similar aicraft.
Hence, within this thesis, current regulations and practical implementations of lightning and electromagnetic protection on Airbus rotorcraft shall be investigated in order to perform 3D simulations for determination of the correlation of electromagnetic protection failure and wiring-induced transients. As a final aim, maintenance improvements for minimization of adverse degradation impact on helicopter safety can be achieved.
The time available to bring a new product to market is getting shorter and shorter. To keep up, virtual prototypes have become an essential part in the product development cycle. We wanted to create a configuration interface to allow for a fast and easy configuration of said prototypes. We want to evaluate how the created interface performs when used with valid or invalid data and how accurately the requirements for the software were met. As a basis for this analysis we have created an approach to develop a user interface (UI) based on the existing Vivifly application and have extended it with some functionality. We used the approach to perform a set of software tests to evaluate its functionality. The tests focus on the behaviour of the UI and its output, when the user interacts with it. This is done by either testing the UI as it was intended or with inputs, that usually would not be entered. The results of the software tests show that although a large part of the requirements have been implemented, some special cases have not yet been considered and need additional information. Out of the 22 test cases seven did encounter a problem while performing them.
Upgrading hundreds of thousands of already available CPAP home therapy machines to function as BIPAP/Bilevel machines may help to mitigate the current global threat of a shortage of ventilators. The concept may help to prevent the scenario that soon potentially thousands of COVID-19 patients will not be able to receive the necessary and sometimes life-saving respiratory support. This solution could be made available in very short time, because it is purely software based.
A shorter product life cycle and therefore, reduced
project duration is the major success factor for machinery and
plant engineering today. One use case for Virtual Commission-
ing (VC) is the early software test without an existing plant.
The primary effort of VC lies in the manual creation of the
plant model. There are various simulation tools with different
advantages available. Selecting one tool has consequences for
the whole engineering process. The exchange of models across
different tools is not possible or discouraged by the respective
vendors due to various reasons. This paper describes a concept to
exchange behavior models via the table-based import interfaces
for an automated model generation within common simulation
tools. The concept utilizes an approach to exchange the behavior
of components using the vendor-neutral and standardized pro-
gramming language PLCopenXML containing all IEC 61131-3
programming languages. This removes the main obstacle for a
broader industrial application of VC, as it minimizes the manual
effort for creating and exchanging behavior models through the
use of standardized library elements and existing interfaces.
The algorithm described in [ 1 ], [ 2 ] and [ 3 ] is originally intended for integer vectors. Therefore, the programming language Python is well suited to represent large integers. In the following two Python source codes „EightPoints03.txt“ and „EightPoints03-graph.txt“ an example is discribed. The algorithm is derived exclusively from position and displacement vectors. In this example eight points are pairwise coupled so that four bivectors emerge. Within the bivectors the points are displaced by the step width h. The bivectors are coupled by charges. For the displacement step width pull caused by the charges shall apply
1 << pull << h.
This is described by the reciprocal coupling factor reci:
h = reci * pull.
If one chooses reci close to 1, the coupling is so strong that chaos can be caused. If reci >> 100 is chosen, the coupling between the bivectors is very weak, so that the interactions are very slow.
[ 1 ] https://opus4.kobv.de/opus4-ohm/frontdoor/index/index/docId/34
[ 2 ] https://opus4.kobv.de/opus4-ohm/frontdoor/index/index/docId/126
[ 3 ] https://opus4.kobv.de/opus4-ohm/frontdoor/index/index/docId/253