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Wissenschaftliches Rechnen
(1999)
Ein mathematisches Modell zur schiffahrtsbezogenen Wasserstandsvorhersage am Beispiel des Rheins
(1996)
The numerical solution of implicit ordinary differential equations arising in vehicle dynamic
(1988)
Communicating Sequential Processes (CSP) [7] is a calculus for concurrent systems that has been the basis of subject-oriented business process management (S-BPM) [4]. We use CSPm -- a machine readable dialect of CSP -- to create a sequence of models for a case study on an "Automated Teller Machine" [1]. We use the refinement checker FDR2 to prove that certain models are correct implementations of specifications.
Die Vielzahl der Möglichkeiten, um mit Kunden in den Dialog zu treten, ist erheblich gestiegen. Unternehmen sind deshalb gefordert, die verschiedenen Kontaktkanäle mit ihren Kunden systematisch zu managen. Im Mittelpunkt steht dabei der Informations- und Entscheidungsprozess des Kunden, der als Customer Journey bezeichnet wird. Diese Journey ist definiert als Prozess zwischen dem ersten Kaufimpuls und der Kaufentscheidung. Dieser Prozess ist charakterisiert von der Nutzung verschiedener Medien bzw. Kontaktkanäle. Kunden nutzen die Kontaktkanäle, die ihnen in der aktuellen Situation als sehr einfach bzw. bequem erscheinen und zu ihren spezifischen Anliegen (Fragen zum Produkt, Bestellung etc.) passen. Erfahrungen zeigen, dass sich zwar Grundmuster identifizieren lassen, ansonsten die Wege der Kunden jedoch sehr individuell sein können.
We present GEM-NI -- a graph-based generative-design tool that supports parallel exploration of alternative designs. Producing alternatives is a key feature of creative work, yet it is not strongly supported in most extant tools. GEM-NI enables various forms of exploration with alternatives such as parallel editing, recalling history, branching, merging, comparing, and Cartesian products of and for alternatives. Further, GEM-NI provides a modal graphical user interface and a design gallery, which both allow designers to control and manage their design exploration. We conducted an exploratory user study followed by in-depth one-on-one interviews with moderately and highly skills participants and obtained positive feedback for the system features, showing that GEM-NI supports creative design work well.
An Empirical Evaluation of the Received Signal Strength Indicator for fixed outdoor 802.11 links
(2015)
For the evaluation of the received signal strength indication (RSSI) a different methodology compared to previous publications is introduced in this paper by exploiting a spectral scan feature of recent Qualcomm Atheros WiFi NICs. This method is compared to driver reports and to an industrial grade spectrum analyzer. During the conducted outdoor experiments a decreased scattering of the RSSI compared to previous publications is observed. By applying well-known mathematical tests for normality it is possible to show that the RSSI does not follow a normal distribution in a line-of-sight outdoor environment. The evaluated spectral scan features offers additional possibilities to develop interference classifiers which is an important step for frequency allocation in long-distance 802.11 networks.
GMD-Robots
(2002)
Die Rückkehr ins Erwerbsleben (Return to Work, RTW) wird für onkologische Rehabilitanden zunehmend zum zentralen Behandlungsziel, wodurch auch die Bereitstellung spezifischer berufsorientierter Maßnahmen an Bedeutung gewinnt (z. B. Mehnert, Koch, 2012). Die Überprüfung der Behandlungsergebnisse solcher Maßnahmen stellt einen wichtigen Baustein des Qualitätsmanagements der Rehabilitationseinrichtungen dar. Im Rahmen der „Reha-QM-Outcome-Studie“ des Qualitätsverbundes Gesundheit und der Deutschen Rentenversicherung Baden-Württemberg (Nübling et al., 2014) wurde daher ein besonderes Augenmerk auf das Outcome und die RTW-Quote der onkologischen Patienten, auch im Vergleich zu anderen Hauptindikationen, gelegt.
Work in progress: Starter-project for first semester students to survey their engineering studies
(2015)
The ability to track moving people is a key aspect of autonomous robot systems in real-world environments. Whilst for many tasks knowing the approximate positions of people may be sufficient, the ability to identify unique people is needed to accurately count people in the real world. To accomplish the people counting task, a robust system for people detection, tracking and identification is needed.
Robots, which are able to carry out their tasks robustly in real world environments, are not only desirable but necessary if we want them to be more welcome for a wider audience. But very often they may fail to execute their actions successfully because of insufficient information about behaviour of objects used in the actions.
This work describes extensions to the well-known Distributed Coordination Function (DCF) model to account for IEEE802.11n point-to-point links. The developed extensions cover adaptions to the throughput and delay estimation for this type of link as well peculiarities of hardware and implementations within the Linux Kernel. Instead of using simulations, the approach was extensively verified on real-world deployments at various link distances. Additionally, trials were conducted to optimize the CWmin values and the number of retries to maximize throughput and minimize delay. The results of this work can be used to estimate the properties of long-distance 802.11 links beforehand, allowing the network to be planned more accurately.
Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach
(2013)
Robots interacting in complex and cluttered environments may face unexpected situations referred to as external faults which prohibit the successful completion of their tasks. In order to function in a more robust manner, robots need to recognise these faults and learn how to deal with them in the future. We present a simulation-based technique to avoid external faults occurring during execusion releasing actions of a robot. Our technique utilizes simulation to generate a set of labeled examples which are used by a histogram algorithm to compute a safe region. A safe region consists of a set of releasing states of an object that correspond to successful performances of the action. This technique also suggests a general solution to avoid the occurrence of external faults for not only the current, observable object but also for any other object of the same shape but different size.
We developed a scene text recognition system with active vision capabilities, namely: auto-focus, adaptive aperture control and auto-zoom. Our localization system is able to delimit text regions in images with complex backgrounds, and is based on an attentional cascade, asymmetric adaboost, decision trees and Gaussian mixture models. We think that text could become a valuable source of semantic information for robots, and we aim to raise interest in it within the robotics community. Moreover, thanks to the robot’s pan-tilt-zoom camera and to the active vision behaviors, the robot can use its affordances to overcome hindrances to the performance of the perceptual task. Detrimental conditions, such as poor illumination, blur, low resolution, etc. are very hard to deal with once an image has been captured and can often be prevented. We evaluated the localization algorithm on a public dataset and one of our own with encouraging results. Furthermore, we offer an interesting experiment in active vision, which makes us consider that active sensing in general should be considered early on when addressing complex perceptual problems in embodied agents.
The work presented in this paper focuses on the comparison of well-known and new techniques for designing robust fault diagnosis schemes in the robot domain. The main challenge for fault diagnosis is to allow the robot to effectively cope not only with internal hardware and software faults but with external disturbances and errors from dynamic and complex environments as well.
In the realm of service robots recovery from faults is indispensable to foster user acceptance. Here fault is to be understood not in the sense of robot internal, rather as interaction faults while situated in and interacting with an environment (aka ex-ternal faults). We reason along the most frequent failures in typical scenarios which we observed during real-world demonstrations and competitions using our Care-O-bot III 1 robot. They take place in an apartment-like environments which is known as closed world. We suggest four different -for now adhoc -fault categories caused by disturbances, imperfect per-ception, inadequate planning or chaining of action sequences. The fault are categorized and then mapped to a handful of partly known, partly extended fault handling techniques. Among them we applied qualitative reasoning, use of simu-lation as oracle, learning for planning (aka en-hancement of plan operators) or -in future -case-based reasoning. Having laid out this frame we mainly ask open questions related to the applicability of the pre-sented approach. Amongst them: how to find new categories, how to extend them, how to as-sure disjointness, how to identify old and label new faults on the fly.
This paper presents an approach to estimate theego-motion of a robot while moving. The employed sensor is aTime-of-Flight (ToF) camera, the SR3000 from Mesa Imaging.ToF cameras provide depth and reflectance data of the scene athigh frame rates.The proposed method utilizes the coherence of depth andreflectance data of ToF cameras by detecting image features onreflectance data and estimating the motion on depth data. Themotion estimate of the camera is fused with inertial measure-ments to gain higher accuracy and robustness.The result of the algorithm is benchmarked against referenceposes determined by matching accurate 2D range scans. Theevaluation shows that fusing the pose estimate with the datafromthe IMU improves the accuracy and robustness of the motionestimate against distorted measurements from the sensor.
This work presents a person independent pointing gesture recognition application. It uses simple but effective features for the robust tracking of the head and the hand of the user in an undefined environment. The application is able to detect if the tracking is lost and can be reinitialized automatically. The pointing gesture recognition accuracy is improved by the proposed fingertip detection algorithm and by the detection of the width of the face. The experimental evaluation with eight different subjects shows that the overall average pointing gesture recognition rate of the system for distances up to 250 cm (head to pointing target) is 86.63% (with a distance between objects of 23 cm). Considering just frontal pointing gestures for distances up to 250 cm the gesture recognition rate is 90.97% and for distances up to 194 cm even 95.31%. The average error angle is 7.28◦.
Understanding the Internet of Things: A Conceptualisation of Business-to-Thing (B2T) Interactions
(2015)
Exemplarische Untersuchungen zum Potenzial von LTE zur Breitbandversorgung ländlicher Regionen
(2010)
Anhand von Funkfeldmessungen in mehreren ausgewählten Orten im Hochsauerlandkreis wird die Frage diskutiert, welchen Beitrag der Aufbau eines LTE-Netzes zur Breitbandversorgung von bisher unterversorgten Gebieten im ländlichen Raum liefern kann - und dies unter Verwendung bestehender GSM-Basisstationsstandorte und dem Frequenzbereich der Digitalen Dividende. Für verschiedene Szenarien werden Empfangspegelstatistiken mit geforderten Empfängerempfindlichkeiten verglichen, Statistiken zur zu erwartenden Datenraten abgeleitet und Netzkapazitäten abgeschätzt. Dabei zeigt sich, dass i. A. sowohl der Empfangspegel als auch die Netzkapazität ausreichen, um mittels LTE eine genügende Zahl von Anschlüssen mit einer Downlink-Datenrate von mindestens 1 Mbit/s in den untersuchten Ortschaften bereit zu stellen. Hohe Versorgungsgrade mit Datenraten von 50 Mbit/s sind jedoch nicht zu erwarten. Durch eine Außeninstallation der Endgeräteantennen lassen sich auch bei 2600 MHz nahezu optimale Empfangsbedingungen erzielen. Insofern scheint ein Mischbetrieb mit Frequenzen im 800- und im 2600-MHz-Bereich geeignet, die Netzkapazität auch im ländlichen Raum zu erhöhen.
A way of combining a relatively new sensor-technology, that is optical analog VLSI devices, with a standard digital omni-directional vision system is investigated. The sensor used is a neuromorphic analog VLSI sensor that estimates the global visual image motion. The sensor provides two analog output voltages that represent the components of the global optical flow vector. The readout is guided by an omni-directional mirror that maps the location of the ball and directs the robot to align its position so that a sensor-actuator module that includes the analog VLSI optical flow sensor can be activated. The purpose of the sensor-actuator module is to operate with a higher update rate than the standard vision system and thus increase the reactivity of the robot for very specific situations. This paper will demonstrate an application example where the robot is a goalkeeper with the task of defending the goal during a penalty kick.
GMD-Robots
(2001)
Dual Dynamics (DD) is a mathematical model of a behavior control system for mobile autonomous robots. Behaviors are specified through differential equations; forming a global dynamical system made of behavior subsystems which interact in a number of ways. DD models can be directly compiled into executable code. The article (i) explains the model; (ii) sketches the Dual Dynamics Designer (DDD) environment that we use for the design; simulation; implementation and documentation; and (iii) illustrates our approach with the example of kicking a moving ball into a goal.
Mit dem Projekt METHPRO werden die Entwicklung und der Einsatz einer Methodik verfolgt, mit deren Hilfe Softwareanwender sowie -anbieter die organisatorischen und technischen Prozesse zur integrierten Planung und Steuerung von Produktion (PPS), Instandhaltung (IPS) und Qualitätsmanagement (QM) gestalten und individuell anpassen können. Der Beitrag zeigt, wie ein objektorientierter Prototyp entwickelt wird, der diese integrierten Prozesse unterstützt.
The Latest Modeling and Implementation Techniques for an Extended Production Management System
(1998)
Das Aachener PPS-Modell
(1998)
Ein gebräuchliche Methodik beim Entwurf eingebetteter Systeme, in Anwendung besonders bei kleinen- und mittleren Unternehmen, geht folgendermaßen vor: Man nehme das bereits existierende Mikrokontroller Entwicklungspaket und bereits vorhandene Funktionen aus einer alten Systemrealisierung, variiere bzw. passe sie an die neue Aufgabe an und teste dann durch Emulation, ob die Spezifikation erfüllt ist.
This paper describes a codesign environment based on the WWW (World Wide Web) and its implementation. Tool invocations and their respective results are linked using hypertext documents. We show how to configure a WWW browser for spawning design tools and how frequent tasks like documentation generation and retrieval are facilitated. The design flow can be adopted to the given application very easily. In addition we introduce the concept of a work flow called ‘design by documentation’. A WWW link to the results is given and experience using it in a codesign project is described.
Cosynthesis in CASTLE
(1995)
Comparative analysis of US-American and German standard production planning and control systems
(1995)
[Context and motivation] Communication in distributed software development is usually supported by issue tracking systems. Within these systems, most of the communication is stored as unstructured natural language text. The natural language text, however, contains much information with respect to requirements management, e.g. discussion, clarification and prioritization of features, bugs, and refactorings. [Question] This paper investigates the information stored in the issue tracking systems of four different open-source projects. It categorizes the text and reports on the distribution of issue types and information types. [Principal ideas/results] A manual analysis of 80 issues, using a grounded approach, is conducted to derive a taxonomy of issue types and information types. Subsequently, the taxonomy is used as a codebook, to manually categorize and structure the text in another 120 issues. [Contribution] The first contribution of this paper is the taxonomy of issue and information types and the second contribution is an in-depth analysis of the natural language data and the communication. This analysis showed, for example, that information with respect to prioritization and scheduling can be found in natural language data, whether the ITS supports such tasks in a structured way or not.
Comparison of the subject-oriented and the Petri net based approach for business process automation
(2015)
The subject-oriented modelling approach [5] significally differs from the classic Petri net based approach of many business process modeling languages like EPC [9], Business Process Model and Notation (BPMN) [11], and also Yet Another Workflow Language (YAWL) [10]. In this work, we compare the two approaches by modeling a case study called "Procure to Pay"[3], a typical business process where some equipment for a construction site is rented and finally paid. The case study is not only modelled but also automated using the Metasonic Suite for the subject-oriented and YAWL for the Petri net based approach.
Perception is one of the most important cognitive capabilities of an entity since it determines how an entity perceives its environment. The presented work focuses on providing cost efficient but realistic perceptual processes for intelligent virtual agents (IVAs) or NPCs with the goal of providing a sound information basis for the entities' decision making processes. In addition, an agent-central perception process should rovide a common interface for developers to retrieve data from the IVAs' environment. The overall process is evaluated by applying it to a scenario demonstrating its benefits. The evaluation indicates, that such a realistically simulated perception process provides a powerful instrument to enhance the (perceived) realism of an IVA's simulated behavior.
Sustainability is a key issue in current research activities and programs. In this conjunction three major functions of research have been identified: Basic research, knowledge reservoirs, and knowledge transfer. With regard to a transmission to the private sector, knowledge transfer is the most important factor. In this process, universities of applied sciences can play an important part as they typically have a long-standing experience in linking science and business in their teaching and research. Another important agent in the process of knowledge transfer are networks and clusters. Their strength lies integrating the different competencies of its partners and using them to a mutual benefit.
The International Centre for Sustainable Development (IZNE) – with a major focus on responsible business and sustainable food – takes the advantage of being part of a University of Applied Sciences (Bonn-Rhein-Sieg, BRSU), and being a member of several regional and international clusters and networks. These co-operations aim to establish and strengthen linkages between science and business, in particular by investigating research needs for business and business relevant research activities. Moreover, IZNE established and expanded regional and international co-operations of its own to get more transparency about regional and international value-added chains in the food sector and the issue of responsible business.
In the field of domestic service robots, recovery from faults is crucial to promote user acceptance. In this context we focus in particular on some specific faults, which arise from the interaction of a robot with its real world environment. Even a well-modelled robot may fail to perform its tasks successfully due to unexpected situations, which occur while interacting. These situations occur as deviations of properties of the objects (manipulated by the robot) from their expected values. Hence, they are experienced by the robot as external faults.