MASKOR

@incollection{ Elsen:Ferrein:Schiffer_InTech2025_AnomalyDetection,
  author       = {Ingo Elsen and Alexander Ferrein and Stefan Schiffer},
  title        = {Anomaly Detection in Metal-Textile Industries},
  booktitle    = {Anomaly Detection - Methods, Complexities and Applications},
  publisher    = {IntechOpen},
  address      = {Rijeka},
  year         = {2025},
  editor       = {Dr. Miguel Delgado-Prieto},
  chapter      = {0},
  doi          = {10.5772/intechopen.1008411},
  url          = {https://doi.org/10.5772/intechopen.1008411},
  abstract     = {In this paper, we presented an approach to deploying
                  a student–teacher feature pyramid model (STFPM) for
                  anomaly detection metal-textile gas filters used in
                  automotive exhaust gas filtering at
                  GKD-Gebr. Kufferath AG. As the customer requires 100
                  percent quality of the delivered parts, an optical
                  inspection process of every produced filter is
                  required. This is very demanding for the human
                  inspection worker as she has to inspect many 100
                  parts in an 8 hours shift. On the other hand, a
                  fully vision-based system is not able to achieve the
                  required classification rates either. Therefore, we
                  propose a one-class anomaly detection process for
                  the gas filters where human and AI work together in
                  achieving the 100 percent pass rate. The STFPM model
                  deals with the large amount of clearly true positive
                  cases and automatedly classified them as PASS. Only
                  cases of doubt where an anomaly has been detected
                  are inspected by the human inspector. This way, the
                  work load of the inspection worker is reduced, and,
                  on the other hand, the hard to meet case of no
                  mis-classification of the AI system can be
                  avoided. We show the network architecture and the
                  integration into the quality inspection process of
                  the company GKD.},
}
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  2024
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

In this paper, we presented an approach to deploying a student–teacher feature pyramid model (STFPM) for anomaly detection metal-textile gas filters used in automotive exhaust gas filtering at GKD-Gebr. Kufferath AG. As the customer requires 100 percent quality of the delivered parts, an optical inspection process of every produced filter is required. This is very demanding for the human inspection worker as she has to inspect many 100 parts in an 8 hours shift. On the other hand, a fully vision-based system is not able to achieve the required classification rates either. Therefore, we propose a one-class anomaly detection process for the gas filters where human and AI work together in achieving the 100 percent pass rate. The STFPM model deals with the large amount of clearly true positive cases and automatedly classified them as PASS. Only cases of doubt where an anomaly has been detected are inspected by the human inspector. This way, the work load of the inspection worker is reduced, and, on the other hand, the hard to meet case of no mis-classification of the AI system can be avoided. We show the network architecture and the integration into the quality inspection process of the company GKD.

@InProceedings{Mersmann-etAl_ITSC2024_Towards-Application-ODD,
  author       = {Mersmann, Till and Betz, Friedrich and Eichenbaum, Julian and Hampel, Fabian and Klamt, Simon and Otten, Yannick and Scholl, Ingrid and Schindler, Christian},
  booktitle    = {2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)}, 
  title        = {Towards the Application of Operational Design Domain Based Scene Generation for Artificial Intelligence Training in Railway Automation},
  funding      = {The project “Rail Automation with Artificial
                  Intelligence for Detection of Exceptional
                  Situations” (RailAIxs) received funding in the mFUND
                  conveyor line by the German Federal Ministry for
                  Digital and Transport under the funding code
                  19FS2031A-D.}, 
  year         = {2024},
  month        = {Sep.},
  pages        = {3181--3188},
  abstract     = {For automated, driverless rail transportation
                  applications in open environments, Artificial
                  Intelligence (AI)-based methods are gaining
                  importance, especially in computer vision and
                  perception tasks. The safe operation of complex
                  automated systems requires validation processes. For
                  this purpose, the concept of Operational Design
                  Domains (ODDs), driven by recent developments in the
                  automotive industry, is gaining momentum, allowing
                  to describe different aspects of operating
                  conditions as scenes and scenarios. With regard to
                  safety and authorization using AI-based vision
                  systems, data coverage is needed, which can be
                  enhanced by employing virtual reality in different
                  forms. The creation of virtual scenes and sensor
                  models allows the generation of synthetic sensor
                  data and metadata that can be used as a database for
                  the training of the vision system.},
  keywords     = {Training; Solid modeling; Automation;Machine vision;
                  Virtual reality; Rail transportation; Safety;
                  Artificial intelligence; Standards; Synthetic data;
                  RailAIxs},
  doi          = {10.1109/ITSC58415.2024.10919732},
  ISSN         = {2153-0017},
}

For automated, driverless rail transportation applications in open environments, Artificial Intelligence (AI)-based methods are gaining importance, especially in computer vision and perception tasks. The safe operation of complex automated systems requires validation processes. For this purpose, the concept of Operational Design Domains (ODDs), driven by recent developments in the automotive industry, is gaining momentum, allowing to describe different aspects of operating conditions as scenes and scenarios. With regard to safety and authorization using AI-based vision systems, data coverage is needed, which can be enhanced by employing virtual reality in different forms. The creation of virtual scenes and sensor models allows the generation of synthetic sensor data and metadata that can be used as a database for the training of the vision system.

@InProceedings{borse2024ros2basednavigationsimulationstack,
  title        = {{A ROS~2-based Navigation and Simulation Stack for the Robotino}},
  author       = {Saurabh Borse and Tarik Viehmann and Alexander Ferrein and Gerhard Lakemeyer},
  booktitle    = {RoboCup Symposium 2024},
  year         = {2024},
  eprint       = {2411.09441},
  archivePrefix= {arXiv},
  primaryClass = {cs.RO},
  url          = {https://arxiv.org/abs/2411.09441},
  note         = {to appear},
}

@InProceedings{ Schiffer-etAl_KI2024HuMaIn_Look-AI-at-Work, 
  author       = {Stefan Schiffer and Anna Milena Rothermel and Alexander Ferrein and Astrid {Rosenthal-von der P{\"u}tten}},
  title        = {Look: AI at Work! - Analysing Key Aspects of AI-support at the Work Place},
  booktitle    = {Workshop on Human-Machine Interaction (HuMaIn) held at KI 2024},
  location     = {W{\"u}rzburg, Germany},
  OPTpages        = {--},
  year         = {2024},
  editor       = {Ivan Yamshchikov and Pascal Mei{\ss}ner and Sharwin Rezagholi},
  keywords     = {WIRKsam, artificial intelligence, AI, Work, Social Psychology},
  abstract     = {In this paper we present an analysis of
                  technological and psychological factors of applying
                  artificial intelligence (AI) at the work place. We
                  do so for a number of twelve application cases in
                  the context of a project where AI is integrated at
                  work places and in work systems of the future. From
                  a technological point of view we mainly look at the
                  areas of AI that the applications are concerned
                  with. This allows to formulate recommendations in
                  terms of what to look at in developing an AI
                  application and what to pay attention to with
                  regards to building AI literacy with different
                  stakeholders using the system. This includes the
                  importance of high-quality data for training
                  learning-based systems as well as the integration of
                  human expertise, especially with knowledge- based
                  systems. In terms of the psychological factors we
                  derive research questions to investigate in the
                  development of AI supported work systems and to
                  consider in future work, mainly concerned with
                  topics such as acceptance, openness, and trust in an
                  AI system.},
  note         = {to appear},
}

In this paper we present an analysis of technological and psychological factors of applying artificial intelligence (AI) at the work place. We do so for a number of twelve application cases in the context of a project where AI is integrated at work places and in work systems of the future. From a technological point of view we mainly look at the areas of AI that the applications are concerned with. This allows to formulate recommendations in terms of what to look at in developing an AI application and what to pay attention to with regards to building AI literacy with different stakeholders using the system. This includes the importance of high-quality data for training learning-based systems as well as the integration of human expertise, especially with knowledge- based systems. In terms of the psychological factors we derive research questions to investigate in the development of AI supported work systems and to consider in future work, mainly concerned with topics such as acceptance, openness, and trust in an AI system.

@InProceedings{ Eichenbaum-etAl_EuroSPI2024_Towards-Conceptually-Elevating-ODDs,
  author       = {Eichenbaum, Julian and Bracht, Leonard and Schulte-Tigges, Joschua and
                  Reke, Michael and Ferrein, Alexander and Scholl, Ingrid},
  editor       = "Yilmaz, Murat and Clarke, Paul and Riel, Andreas and
                  Messnarz, Richard and Greiner, Christian and Peisl, Thomas",
  title        = {{Towards Conceptually Elevating Modern Concepts of {O}perational {D}esign {D}omains
                  and Implications for Operating in Unstructured Environments}},
  booktitle    = "Systems, Software and Services Process Improvement (EuroSPI)",
  year         = "2024",
  publisher    = "Springer Nature Switzerland",
  address      = "Cham",
  pages        = "172--185",
  doi          = {10.1007/978-3-031-71142-8_13},
  url_springer = {https://link.springer.com/chapter/10.1007/978-3-031-71142-8_13},
  abstract     = "This paper explores the basic concepts of
                  Operational Design Domains (ODDs) in the field of
                  autonomous driving. We address the intricacies of
                  different scenario descriptions and promote the
                  communication of system requirements and operational
                  constraints in the context of Automated Driving
                  Systems (ADSs).
                  Ongoing standardization efforts highlight
		  the recognition of the importance of ODDs
                  as a tool to manage the complexity of an ADS in
                  accurately defining operational boundaries and
                  conditions, particularly in structured
                  environments. In line with this, our work explores
                  the conceptual integration of multiple ODDs within
                  an ADS to enable operation across different
                  domains. Drawing on the existing literature on ODD
                  extension concepts and leveraging insights from our
                  research efforts, we strive for exemplary adaptation
                  of operations in unstructured environments such as
                  hybrid mines. A key focus is the translation of a
                  solution that has been successfully tested in the
                  context of hybrid mines and structured terrain into
                  modern ODD frameworks. In particular, we focus on
                  taxonomy as a fundamental element of an ODD
                  framework. Through comparative analysis and
                  evaluation of existing taxonomies, we aim to provide
                  insights into the configuration of ODDs for both
                  structured and unstructured environments, thereby
                  contributing to their broader implementation in the
                  dynamic landscape of autonomous driving
                  technologies.",
  isbn         = "978-3-031-71142-8",
}

This paper explores the basic concepts of Operational Design Domains (ODDs) in the field of autonomous driving. We address the intricacies of different scenario descriptions and promote the communication of system requirements and operational constraints in the context of Automated Driving Systems (ADSs). Ongoing standardization efforts highlight the recognition of the importance of ODDs as a tool to manage the complexity of an ADS in accurately defining operational boundaries and conditions, particularly in structured environments. In line with this, our work explores the conceptual integration of multiple ODDs within an ADS to enable operation across different domains. Drawing on the existing literature on ODD extension concepts and leveraging insights from our research efforts, we strive for exemplary adaptation of operations in unstructured environments such as hybrid mines. A key focus is the translation of a solution that has been successfully tested in the context of hybrid mines and structured terrain into modern ODD frameworks. In particular, we focus on taxonomy as a fundamental element of an ODD framework. Through comparative analysis and evaluation of existing taxonomies, we aim to provide insights into the configuration of ODDs for both structured and unstructured environments, thereby contributing to their broader implementation in the dynamic landscape of autonomous driving technologies.

@inproceedings{Altepost-etAl_IEA2024_Conceptualization-of-Demonstrators,
  author       = {Andrea Altepost and Farah Elaroussi and Linda Hirsch and Wolfgang Merx and Leif Oppermann and Astrid {Rosenthal-von der P{\"u}tten} and Anna Milena Rothermel and Stefan Schiffer},
  title        = {Conceptualization of Demonstrators for Human-Technology Interaction with a Three-Layer Model},
  booktitle    = {Proceedings of the 22nd Triennial Congress of the International Ergonomics Association (IEA 2024)},
  OPTpages        = {},
  series       = {Springer Series in Design and Innovation},
  publisher    = {Springer Cham},
  OPTaddress      = {},
  year         = 2024,
  keywords     = {WIRKsam, Stakeholder Involvement, Demonstrators, Human-Technology Interaction, Artificial Intelligence, AI},
  abstract     = {We present a three-layer model of stakeholder
                  involvement, developed as part of the ongoing
                  WIRKsam project. WIRKsam creates or modifies
                  socio-technical work systems by integrating
                  artificial intelligence (AI) in a participatory
                  fashion and in such a way that all stakeholders
                  benefit from better conditions of labor. While the
                  technological elements of these changes are easy to
                  highlight to others, it is difficult to convey the
                  human-related and organizational changes and their
                  benefits. Therefore, we aim to develop demonstrators
                  in the field of human factors which should showcase
                  the transformation of work and not just technology,
                  using extended reality (XR) in a transdisciplinary
                  setting.},
  note         = {to appear},
}

We present a three-layer model of stakeholder involvement, developed as part of the ongoing WIRKsam project. WIRKsam creates or modifies socio-technical work systems by integrating artificial intelligence (AI) in a participatory fashion and in such a way that all stakeholders benefit from better conditions of labor. While the technological elements of these changes are easy to highlight to others, it is difficult to convey the human-related and organizational changes and their benefits. Therefore, we aim to develop demonstrators in the field of human factors which should showcase the transformation of work and not just technology, using extended reality (XR) in a transdisciplinary setting.

@InProceedings{ Scholl:etAl_HCII2024_VR-Enhanced-TeleOp,
  author       = "Scholl, Daniel and Meier, Jannis and Reke, Michael",
  editor       = "Chen, Jessie Y. C. and Fragomeni, Gino",
  title        = "{VR-Enhanced Teleoperation System for a Semi-autonomous Mulitplatform All-Terrain Exploration Vehicle}",
  booktitle    = "Virtual, Augmented and Mixed Reality",
  year         = "2024",
  publisher    = "Springer Nature Switzerland",
  address      = "Cham",
  pages        = "268--285",
  doi          = "10.1007/978-3-031-61047-9_18",
  url_springer = {https://link.springer.com/chapter/10.1007/978-3-031-61047-9_18},
  isbn         = "978-3-031-61047-9",
  abstract     = "This paper presents a research on the integration of
                  a virtual reality (VR) enhanced teleoperation system
                  within the semi-autonomous multi-platform
                  all-terrain exploration vehicle (MAEV). The main
                  objective is to improve the operator's control and
                  situational awareness when exploring difficult
                  terrain. The methodology includes an in-depth
                  analysis of the MAEV project, describing the
                  configuration of the teleoperation system and
                  careful VR integration processes.",
}

This paper presents a research on the integration of a virtual reality (VR) enhanced teleoperation system within the semi-autonomous multi-platform all-terrain exploration vehicle (MAEV). The main objective is to improve the operator's control and situational awareness when exploring difficult terrain. The methodology includes an in-depth analysis of the MAEV project, describing the configuration of the teleoperation system and careful VR integration processes.

@Incollection{ Altepost-etAl_2024_Transformation-of-Work,
  author       = "Altepost, Andrea and Hansen-Ampah, Adjan and
                  Merx, Wolfgang and Schiffer, Stefan and
                  Schmenk, Bernhard and Gries, Thomas",
  editor       = "Letmathe, Peter and Roll, Christine and Balleer, Almut
                  and B{\"o}schen, Stefan and Breuer, Wolfgang and
                  F{\"o}rster, Agnes and Gramelsberger, Gabriele and
                  Greiff, Kathrin and H{\"a}u{\ss}ling, Roger and
                  Lemme, Max and Leuchner, Michael and Paegert, Maren and
                  Piller, Frank T. and Seefried, Elke and Wahlbrink, Thorsten",
  title        = "Transformation of Work in the Textile Industry: Perspectives of Sustainable Innovation Processes",
  bookTitle    = "Transformation Towards Sustainability: A Novel Interdisciplinary Framework from RWTH Aachen University",
  year         = "2024",
  publisher    = "Springer International Publishing",
  address      = "Cham",
  pages        = "331--362",
  isbn         = "978-3-031-54700-3",
  doi          = "10.1007/978-3-031-54700-3_12",
  url          = "https://doi.org/10.1007/978-3-031-54700-3_12",
  abstract     = "What makes innovation processes in industry succeed? The
                  basic assumption of this paper is that not only
                  technological, but also social---especially
                  work-related---factors have a decisive impact. While
                  processes of sociotechnical system design are
                  established interdisciplinarily and have arrived at
                  least in many large companies, to the best of our
                  knowledge it still is a novelty in industrial
                  contexts to also add the concept of sustainability
                  to this perspective. Energy and circular economy as
                  well as a shortage of skilled workers dominate the
                  concerns of companies. At the same time,
                  technologies such as artificial intelligence (AI)
                  are traded as a beacon of hope to strengthen
                  competitiveness and contribute to more efficient,
                  resource-conserving economic activity (e.g., Lukic
                  et al., BCG 10.01.2023, 2023).). With the design of
                  AI-supported work systems in the textile and related
                  industries, the WIRKsam Competence Center for Work
                  Research wants to show how the use of artificial
                  intelligence, with appropriate work design, can
                  promote both innovative, human-centered work and
                  economic competitiveness, so that the two benefit
                  from each other. The project aims to strengthen the
                  industrial backbone of the Rhenish mining area and
                  to create attractive conditions and opportunities
                  for skilled workers. In this way, a sustainable
                  result of the various transformation levels in the
                  area of structural change, digitalization and the
                  future of work can be achieved, which lays the
                  foundation for shaping further future transformation
                  processes in an innovative way. In this paper, we
                  develop central questions originating from this
                  claim that need to be considered in the
                  aforementioned transformation processes in the areas
                  of people, technology and organization, because they
                  can be decisive for success.",
}

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  2023
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

What makes innovation processes in industry succeed? The basic assumption of this paper is that not only technological, but also social—especially work-related—factors have a decisive impact. While processes of sociotechnical system design are established interdisciplinarily and have arrived at least in many large companies, to the best of our knowledge it still is a novelty in industrial contexts to also add the concept of sustainability to this perspective. Energy and circular economy as well as a shortage of skilled workers dominate the concerns of companies. At the same time, technologies such as artificial intelligence (AI) are traded as a beacon of hope to strengthen competitiveness and contribute to more efficient, resource-conserving economic activity (e.g., Lukic et al., BCG 10.01.2023, 2023).). With the design of AI-supported work systems in the textile and related industries, the WIRKsam Competence Center for Work Research wants to show how the use of artificial intelligence, with appropriate work design, can promote both innovative, human-centered work and economic competitiveness, so that the two benefit from each other. The project aims to strengthen the industrial backbone of the Rhenish mining area and to create attractive conditions and opportunities for skilled workers. In this way, a sustainable result of the various transformation levels in the area of structural change, digitalization and the future of work can be achieved, which lays the foundation for shaping further future transformation processes in an innovative way. In this paper, we develop central questions originating from this claim that need to be considered in the aforementioned transformation processes in the areas of people, technology and organization, because they can be decisive for success.

@incollection{ Harlacher-etAl_EPAI2023_Identification-of-Requirements,
  chapter      = {7},
  title        = {Approach for the Identification of Requirements on the Design of AI-supported Work Systems (in Problem-based Projects)},
  author       = {Markus Harlacher and Andrea Altepost and Alexander Ferrein and Adjan Hansen-Ampah and Wolfgang Merx and Sina Niehues and Stefan Schiffer and Fatemeh Nasim Shahinfar},
  booktitle    = {AI in Business and Economics},
  editor       = {Isabel Lausberg and Michael Vogelsang},
  publisher    = {De Gruyter},
  address      = {Berlin, Boston},
  pages        = {87--100},
  doi          = {10.1515/9783110790320-007},
  url_doi      = {https://doi.org/10.1515/9783110790320-007},
  url_pdf      = {https://www.degruyter.com/document/doi/10.1515/9783110790320-007/pdf?licenseType=open-access},
  isbn         = {9783110790320},
  year         = {2024},
  keywords     = {WIRKsam, business understanding, requirements, process model, participation, implementation of AI-systems, Artificial Intelligence, AI},
  abstract     = {To successfully develop and introduce concrete
                  artificial intelligence (AI) solutions in
                  operational practice, a comprehensive process model
                  is being tested in the WIRKsam joint project. It is
                  based on a methodical approach that integrates
                  human, technical and organisational aspects and
                  involves employees in the process. The chapter
                  focuses on the procedure for identifying
                  requirements for a work system that is implementing
                  AI in problem-driven projects and for selecting
                  appropriate AI methods. This means that the use case
                  has already been narrowed down at the beginning of
                  the project and must be completely defined in the
                  following. Initially, the existing preliminary work
                  is presented. Based on this, an overview of all
                  procedural steps and methods is given. All methods
                  are presented in detail and good practice approaches
                  are shown. Finally, a reflection of the developed
                  procedure based on the application in nine companies
                  is given.},
}

To successfully develop and introduce concrete artificial intelligence (AI) solutions in operational practice, a comprehensive process model is being tested in the WIRKsam joint project. It is based on a methodical approach that integrates human, technical and organisational aspects and involves employees in the process. The chapter focuses on the procedure for identifying requirements for a work system that is implementing AI in problem-driven projects and for selecting appropriate AI methods. This means that the use case has already been narrowed down at the beginning of the project and must be completely defined in the following. Initially, the existing preliminary work is presented. Based on this, an overview of all procedural steps and methods is given. All methods are presented in detail and good practice approaches are shown. Finally, a reflection of the developed procedure based on the application in nine companies is given.

@InProceedings{Eichenbaum-etAl_CASE2023_Towards-Lifelong-Mapping,
  author       = {Eichenbaum, Julian and Nikolovski, Gjorgji and M{\"u}lhens, Leon
                  and Reke, Michael and Ferrein, Alexander and Scholl, Ingrid},
  title        = {Towards a Lifelong Mapping Approach Using Lanelet 2 for Autonomous Open-Pit Mine Operations}, 
  booktitle    = {19th IEEE International Conference on Automation Science and Engineering (CASE)}, 
  year         = {2023},
  month        = {Aug},
  day          = {26-30},
  location     = {Auckland, New Zealand},
  pages        = {1--8},
  doi          = {10.1109/CASE56687.2023.10260526},
  url_ieeexpl  = {https://ieeexplore.ieee.org/abstract/document/10260526},
  ISSN         = {2161-8089},
  keywords     = {Geometry;Shape;Navigation;Roads;Operating systems;Semantics;Object detection},
  abstract     = {Autonomous agents require rich environment models
                  for fulfilling their missions. High-definition maps
                  are a well-established map format which allows for
                  representing semantic information besides the usual
                  geometric information of the environment. These are,
                  for instance, road shapes, road markings, traffic
                  signs or barriers. The geometric resolution of HD
                  maps can be as precise as of centimetre level. In
                  this paper, we report on our approach of using HD
                  maps as a map representation for autonomous
                  load-haul-dump vehicles in open-pit mining
                  operations. As the mine undergoes constant change,
                  we also need to constantly update the
                  map. Therefore, we follow a lifelong mapping
                  approach for updating the HD maps based on
                  camera-based object detection and GPS data. We show
                  our mapping algorithm based on the Lanelet 2 map
                  format and show our integration with the navigation
                  stack of the Robot Operating System. We present
                  experimental results on our lifelong mapping
                  approach from a real open-pit mine.},
}

Autonomous agents require rich environment models for fulfilling their missions. High-definition maps are a well-established map format which allows for representing semantic information besides the usual geometric information of the environment. These are, for instance, road shapes, road markings, traffic signs or barriers. The geometric resolution of HD maps can be as precise as of centimetre level. In this paper, we report on our approach of using HD maps as a map representation for autonomous load-haul-dump vehicles in open-pit mining operations. As the mine undergoes constant change, we also need to constantly update the map. Therefore, we follow a lifelong mapping approach for updating the HD maps based on camera-based object detection and GPS data. We show our mapping algorithm based on the Lanelet 2 map format and show our integration with the navigation stack of the Robot Operating System. We present experimental results on our lifelong mapping approach from a real open-pit mine.

@InProceedings{Braining-etAl_ITSC2023_Extraction-HD-Maps,
  author       = {Braining, Andreas and Nikolovski, Gjorgji and Reke, Michael and Ferrein, Alexander},
  title        = {Extraction of Semantically Rich High-Definition Maps from Spatial Representations of an Open Pit Mine}, 
  booktitle    = {26th IEEE International Conference on Intelligent Transportation Systems (ITSC)}, 
  pages        = {4032--4039},
  year         = {2023},
  month        = {Sep.},
  day          = {24-28},
  location     = {Bilbao, Spain},
  doi          = {10.1109/ITSC57777.2023.10422269},
  url_ieeexpl  = {https://ieeexplore.ieee.org/abstract/document/10422269},
  ISSN         = {2153-0017},
  keywords     = {Point cloud compression;Measurement;Navigation;Urban areas;Spatial databases;Optimization;Testing},
  abstract     = {Hauling of material by automated vehicles can be one
                  of the sustainable solutions for the increasing
                  economic and environmental challenges in the mining
                  industry. For this, vehicles of various sizes must
                  drive through an ever-changing environment, due to
                  the destructive nature of resource
                  extraction. Therefore, we show our solution to
                  create automatically semantically rich
                  high-definition maps, which can be used for
                  efficient and safe navigation within the mine. In
                  contrast to navigation on pure spatial
                  geometry-based data like point clouds,
                  high-definition maps have the advantage, that
                  semantic information is recognised by the navigation
                  system. But manually created high-definition maps
                  need frequent updates due to the terrain changes,
                  which makes them inflexible for most
                  applications. In this paper, we will show, how
                  Lanelet2- maps can be generated automatically from
                  point clouds with a multistep algorithm and how
                  these maps are adjusted to the long-term changes of
                  the environment. For evaluation, we present our
                  findings in some real-world examples and
                  synthetically generated point clouds of the main
                  edge-case situations.},
}

Hauling of material by automated vehicles can be one of the sustainable solutions for the increasing economic and environmental challenges in the mining industry. For this, vehicles of various sizes must drive through an ever-changing environment, due to the destructive nature of resource extraction. Therefore, we show our solution to create automatically semantically rich high-definition maps, which can be used for efficient and safe navigation within the mine. In contrast to navigation on pure spatial geometry-based data like point clouds, high-definition maps have the advantage, that semantic information is recognised by the navigation system. But manually created high-definition maps need frequent updates due to the terrain changes, which makes them inflexible for most applications. In this paper, we will show, how Lanelet2- maps can be generated automatically from point clouds with a multistep algorithm and how these maps are adjusted to the long-term changes of the environment. For evaluation, we present our findings in some real-world examples and synthetically generated point clouds of the main edge-case situations.

@InProceedings{ Schulte-Tigges-etAl_ITSC2023_Using-V2X-Comm,
  author       = {Schulte-Tigges, Joschua and Rondinone, Michele and Reke, Michael and Wachenfeld, Jan and Kaszner, Daniel},
  booktitle    = {26th IEEE International Conference on Intelligent Transportation Systems (ITSC)}, 
  title        = {Using {V2X} Communications for Smart {ODD} Management of Highly Automated Vehicles}, 
  year         = {2023},
  month        = {Sep.},
  day          = {24-28},
  location     = {Bilbao, Spain},
  pages        = {3317--3322},
  doi          = {10.1109/ITSC57777.2023.10422043},
  url_ieeexpl  = {https://ieeexplore.ieee.org/abstract/document/10422043},
  ISSN         = {2153-0017},
  keywords     = {Software architecture;Roads;Prototypes;Vehicle-to-everything;
                  Standards;Intelligent transportation systems;Vehicles},
  abstract     = {Hazardous events like stationary vehicles on the
                  carriageway, being in most cases unforeseeable and
                  not always easy to detect, pose serious challenges
                  to automated vehicles (AVs). When such events occur,
                  AVs have to determine within limited time and space
                  if permanence in their Operational Design Domain
                  (ODD) will be guaranteed or not, and how to react to
                  ensure passengers' safety and comfort. To cope with
                  such events more effectively and efficiently, in
                  this paper we present a software architecture and
                  logic for Connected AVs (CAVs) that takes into
                  account hazard notification and road signage
                  information from available standard V2X messages to
                  manage ODD-related decisions and reactions in an
                  anticipated way. Differently from earlier works,
                  focusing more on automated compliance to traffic
                  management suggestions by the connected road
                  infrastructure, the presented solution emphasises
                  the active role of the CAV logic in taking suitable
                  decisions based on individual and local
                  situations. We introduce a manoeuvre planner
                  implementing distinct state machines to react to
                  different types of received V2X information. In the
                  resulting procedures, where the driver can be also
                  involved, step goals for a motion planner and path
                  controller are generated. By means of simulations,
                  we demonstrate the benefits of the presented CAV
                  solution against a baseline AV model only relying on
                  on-board sensors. To prove its real-world
                  feasibility, we also report the results of
                  integrating the proposed logic into a CAV prototype
                  and running real-world test-track experiments.},
}

Hazardous events like stationary vehicles on the carriageway, being in most cases unforeseeable and not always easy to detect, pose serious challenges to automated vehicles (AVs). When such events occur, AVs have to determine within limited time and space if permanence in their Operational Design Domain (ODD) will be guaranteed or not, and how to react to ensure passengers' safety and comfort. To cope with such events more effectively and efficiently, in this paper we present a software architecture and logic for Connected AVs (CAVs) that takes into account hazard notification and road signage information from available standard V2X messages to manage ODD-related decisions and reactions in an anticipated way. Differently from earlier works, focusing more on automated compliance to traffic management suggestions by the connected road infrastructure, the presented solution emphasises the active role of the CAV logic in taking suitable decisions based on individual and local situations. We introduce a manoeuvre planner implementing distinct state machines to react to different types of received V2X information. In the resulting procedures, where the driver can be also involved, step goals for a motion planner and path controller are generated. By means of simulations, we demonstrate the benefits of the presented CAV solution against a baseline AV model only relying on on-board sensors. To prove its real-world feasibility, we also report the results of integrating the proposed logic into a CAV prototype and running real-world test-track experiments.

@InProceedings{ Schulte-Tigges-etAl_HCII2023_Demonstrating-V2X,
  author       = "Schulte-Tigges, Joschua and Matheis, Dominik and Reke, Michael and Walter, Thomas and Kaszner, Daniel",
  editor       = "Kr{\"o}mker, Heidi",
  title        = "Demonstrating a {V2X} Enabled System for Transition of Control and
                  Minimum Risk Manoeuvre When Leaving the Operational Design Domain",
  booktitle    = "HCI in Mobility, Transport, and Automotive Systems (HCII 2023)",
  year         = "2023",
  publisher    = "Springer Nature Switzerland",
  address      = "Cham",
  pages        = "200--210",
  series       = {Lecture Notes in Computer Science},
  volume       = {14048},
  url_springer = {https://link.springer.com/chapter/10.1007/978-3-031-35678-0_12},
  doi          = {10.1007/978-3-031-35678-0_12},
  abstract     = "Modern implementations of driver assistance systems
                  are evolving from a pure driver assistance to a
                  independently acting automation system. Still these
                  systems are not covering the full vehicle usage
                  range, also called operational design domain, which
                  require the human driver as fall-back
                  mechanism. Transition of control and potential
                  minimum risk manoeuvres are currently research
                  topics and will bridge the gap until full autonomous
                  vehicles are available. The authors showed in a
                  demonstration that the transition of control
                  mechanisms can be further improved by usage of
                  communication technology. Receiving the incident
                  type and position information by usage of
                  standardised vehicle to everything (V2X) messages
                  can improve the driver safety and comfort level. The
                  connected and automated vehicle's software framework
                  can take this information to plan areas where the
                  driver should take back control by initiating a
                  transition of control which can be followed by a
                  minimum risk manoeuvre in case of an unresponsive
                  driver. This transition of control has been
                  implemented in a test vehicle and was presented to
                  the public during the IEEE IV2022 (IEEE Intelligent
                  Vehicle Symposium) in Aachen, Germany.",
  isbn         = "978-3-031-35678-0"
}

Modern implementations of driver assistance systems are evolving from a pure driver assistance to a independently acting automation system. Still these systems are not covering the full vehicle usage range, also called operational design domain, which require the human driver as fall-back mechanism. Transition of control and potential minimum risk manoeuvres are currently research topics and will bridge the gap until full autonomous vehicles are available. The authors showed in a demonstration that the transition of control mechanisms can be further improved by usage of communication technology. Receiving the incident type and position information by usage of standardised vehicle to everything (V2X) messages can improve the driver safety and comfort level. The connected and automated vehicle's software framework can take this information to plan areas where the driver should take back control by initiating a transition of control which can be followed by a minimum risk manoeuvre in case of an unresponsive driver. This transition of control has been implemented in a test vehicle and was presented to the public during the IEEE IV2022 (IEEE Intelligent Vehicle Symposium) in Aachen, Germany.

@incollection{Ferrein:etAl_INTECH2023_Controlling-a-Fleet,
  author       = {Alexander Ferrein and Gjorgji Nikolovski and Nicolas Limpert
                  and Michael Reke and Stefan Schiffer and Ingrid Scholl},
  title        = {{Controlling a Fleet of Autonomous LHD Vehicles in Mining Operation}},
  booktitle    = {Multi-Robot Systems - New Advances},
  publisher    = {IntechOpen},
  address      = {Rijeka},
  year         = {2023},
  editor       = {Serdar K{\"u}{\c{c}}{\"u}k},
  chapter      = {4},
  doi          = {10.5772/intechopen.113044},
  url          = {https://doi.org/10.5772/intechopen.113044},
  url_intech   = {https://www.intechopen.com/chapters/88580},
  abstract     = {In this chapter, we report on our activities to
                  create and maintain a fleet of autonomous load haul
                  dump (LHD) vehicles for mining operations. The ever
                  increasing demand for sustainable solutions and
                  economic pressure causes innovation in the mining
                  industry just like in any other branch. In this
                  chapter, we present our approach to create a fleet
                  of autonomous special purpose vehicles and to
                  control these vehicles in mining operations. After
                  an initial exploration of the site we deploy the
                  fleet. Every vehicle is running an instance of our
                  ROS 2-based architecture. The fleet is then
                  controlled with a dedicated planning module. We also
                  use continuous environment monitoring to implement a
                  life-long mapping approach. In our experiments, we
                  show that a combination of synthetic, augmented and
                  real training data improves our classifier based on
                  the deep learning network Yolo v5 to detect our
                  vehicles, persons and navigation beacons. The
                  classifier was successfully installed on the NVidia
                  AGX-Drive platform, so that the abovementioned
                  objects can be recognised during the dumper
                  drive. The 3D poses of the detected beacons are
                  assigned to lanelets and transferred to an existing
                  map.},
}

In this chapter, we report on our activities to create and maintain a fleet of autonomous load haul dump (LHD) vehicles for mining operations. The ever increasing demand for sustainable solutions and economic pressure causes innovation in the mining industry just like in any other branch. In this chapter, we present our approach to create a fleet of autonomous special purpose vehicles and to control these vehicles in mining operations. After an initial exploration of the site we deploy the fleet. Every vehicle is running an instance of our ROS 2-based architecture. The fleet is then controlled with a dedicated planning module. We also use continuous environment monitoring to implement a life-long mapping approach. In our experiments, we show that a combination of synthetic, augmented and real training data improves our classifier based on the deep learning network Yolo v5 to detect our vehicles, persons and navigation beacons. The classifier was successfully installed on the NVidia AGX-Drive platform, so that the abovementioned objects can be recognised during the dumper drive. The 3D poses of the detected beacons are assigned to lanelets and transferred to an existing map.

@InProceedings{Nikolovski-etAl_IV2023_MPC-Nav-Mining,
  author       = {Nikolovski, Gjorgji and Limpert, Nicolas and Nessau, Hendrik and Reke, Michael and Ferrein, Alexander},
  booktitle    = {2023 IEEE Intelligent Vehicles Symposium (IV)}, 
  title        = {Model-predictive Control with Parallelised Optimisation for the Navigation of Autonomous Mining Vehicles}, 
  year         = {2023},
  month        = {June},
  day          = {04-07},
  pages        = {1--6},
  location     = {Anchorage, AK, USA},
  doi          = {10.1109/IV55152.2023.10186806},
  url_ieeexpl  = {https://ieeexplore.ieee.org/abstract/document/10186806},
  publisher    = {IEEE},
  ISSN         = {2642-7214},
  keywords     = {Navigation;Intelligent vehicles;Hydraulic
                  drives;Steering systems;Transportation;Hydraulic
                  systems;Minimization;mpc;control;path-following;navigation;automation},
  abstract     = {The work in modern open-pit and underground mines
                  requires the transportation of large amounts of
                  resources between fixed points. The navigation to
                  these fixed points is a repetitive task that can be
                  automated. The challenge in automating the
                  navigation of vehicles commonly used in mines is the
                  systemic properties of such vehicles. Many mining
                  vehicles, such as the one we have used in the
                  research for this paper, use steering systems with
                  an articulated joint bending the vehicle’s drive
                  axis to change its course and a hydraulic drive
                  system to actuate axial drive components or the
                  movements of tippers if available. To address the
                  difficulties of controlling such a vehicle, we
                  present a model-predictive approach for controlling
                  the vehicle. While the control optimisation based on
                  a parallel error minimisation of the predicted state
                  has already been established in the past, we provide
                  insight into the design and implementation of an MPC
                  for an articulated mining vehicle and show the
                  results of real-world experiments in an open-pit
                  mine environment.},
}

The work in modern open-pit and underground mines requires the transportation of large amounts of resources between fixed points. The navigation to these fixed points is a repetitive task that can be automated. The challenge in automating the navigation of vehicles commonly used in mines is the systemic properties of such vehicles. Many mining vehicles, such as the one we have used in the research for this paper, use steering systems with an articulated joint bending the vehicle’s drive axis to change its course and a hydraulic drive system to actuate axial drive components or the movements of tippers if available. To address the difficulties of controlling such a vehicle, we present a model-predictive approach for controlling the vehicle. While the control optimisation based on a parallel error minimisation of the predicted state has already been established in the past, we provide insight into the design and implementation of an MPC for an articulated mining vehicle and show the results of real-world experiments in an open-pit mine environment.

@inproceedings{ Altepost-etAl_GfA2023_Demonstrativ-aktiv-iterativ,
  author       = {Altepost, Andrea and Berlin, Florian and Ferrein, Alexander and Harlacher, Markus},
  title        = {{Demonstrativ-aktiv-iterativ: Arbeitssysteme mit K{\"u}nstlicher Intelligenz
                  an Demonstratoren im Reallabor vermitteln, erproben und weiterentwickeln}},
  booktitle    = {GfA (Hrsg) Nachhaltig Arbeiten und Lernen - Analyse und Gestaltung lern-
                  f{\"o}rderlicher und nachhaltiger Arbeitssysteme und Arbeits- und Lernprozesse.
	          Bericht zum 69. Arbeitswissenschaftlichen Kongress vom 01. – 03. März 2023},
  pages        = {1--6},
  OPTdoi       = {},
  number       = {C.6.2},
  year         = {2023},
  location     = {Gottfried Wilhelm Leibniz Universität Hannover},
  publisher    = {GfA Press},
  address      = {Sankt Augustin},
  url_RWTH     = {https://publications.rwth-aachen.de/record/972487},
  keywords     = {WIRKsam, Arbeitsgestaltung, Künstliche Intelligenz, Demonstratoren, Reallabor},
  abstract     = {Das Kompetenzzentrum WIRKsam gestaltet innovative
                  Arbeits- und Prozessabläufe mit Künstlicher
                  Intelligenz für und mit Unternehmen im Rheinischen
                  Braunkohlerevier. Neun unterschiedliche
                  Problemstellungen regionaler Unternehmen werden mit
                  maßgeschneiderten KI-Lösungen und Arbeitsgestaltung
                  basierend auf dem MTO-Ansatz (Strohm & Ulich 1997;
                  Ulich 2013) adressiert. Für das derzeit im Aufbau
                  befindliche WIRKsam-Reallabor sollen Demonstratoren,
                  die Erfahrungen aus den Anwendungsfällen aufgreifen,
                  erleb- und erprobbar machen.  Darüber hinaus sollen
                  sie interessierte Unternehmen dazu anregen, sich an
                  der Weiterentwicklung gezeigter Lösungen und der
                  Findung neuer Ansätze aktiv zu beteiligen, mit dem
                  Ziel, den Transfer in das eigene Unternehmen
                  vorzubereiten. In Workshops wurden von verschiedenen
                  Teilnehmendengruppen Anforderungen und
                  Gestaltungshinweise für die Entwicklung der
                  Demonstratoren erarbeitet.},
}

Das Kompetenzzentrum WIRKsam gestaltet innovative Arbeits- und Prozessabläufe mit Künstlicher Intelligenz für und mit Unternehmen im Rheinischen Braunkohlerevier. Neun unterschiedliche Problemstellungen regionaler Unternehmen werden mit maßgeschneiderten KI-Lösungen und Arbeitsgestaltung basierend auf dem MTO-Ansatz (Strohm & Ulich 1997; Ulich 2013) adressiert. Für das derzeit im Aufbau befindliche WIRKsam-Reallabor sollen Demonstratoren, die Erfahrungen aus den Anwendungsfällen aufgreifen, erleb- und erprobbar machen. Darüber hinaus sollen sie interessierte Unternehmen dazu anregen, sich an der Weiterentwicklung gezeigter Lösungen und der Findung neuer Ansätze aktiv zu beteiligen, mit dem Ziel, den Transfer in das eigene Unternehmen vorzubereiten. In Workshops wurden von verschiedenen Teilnehmendengruppen Anforderungen und Gestaltungshinweise für die Entwicklung der Demonstratoren erarbeitet.

@inproceedings{Arndt:etAl_PETRA2023_AnomalyDetection,
  author       = {Arndt, Tobias and Conzen, Max and Elsen, Ingo and
                  Ferrein, Alexander and Galla, Oskar and K{\"o}se,
                  Hakan and Schiffer, Stefan and Tschesche, Matteo},
  title        = {{Anomaly Detection in the Metal-Textile Industry for the
                  Reduction of the Cognitive Load of Quality Control Workers}},
  booktitle    = {Proceedings of the 16th International Conference on PErvasive Technologies Related to Assistive Environments},
  pages        = {535--542},
  numpages     = {8},
  year         = {2023},
  isbn         = {9798400700699},
  publisher    = {Association for Computing Machinery},
  address      = {New York, NY, USA},
  location     = {Corfu, Greece},
  series       = {PETRA '23},
  url          = {https://doi.org/10.1145/3594806.3596558},
  url_ACM_DL   = {https://dl.acm.org/doi/abs/10.1145/3594806.3596558},
  doi          = {10.1145/3594806.3596558},
  keywords     = {WIRKsam, Artificial Intelligence, anomaly detection, datasets, neural networks, process optimization, quality control},
  abstract     = {This paper presents an approach for reducing the
                  cognitive load for humans working in quality control
                  (QC) for production processes that adhere to the 6σ
                  -methodology. While 100\% QC requires every part to
                  be inspected, this task can be reduced when a
                  human-in-the-loop QC process gets supported by an
                  anomaly detection system that only presents those
                  parts for manual inspection that have a significant
                  likelihood of being defective. This approach shows
                  good results when applied to image-based QC for
                  metal textile products.},
  note         = {Best Workshop Paper - Runner Up},
}
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  Leistung und Entgelt Magazine issue on WIRKsam w/ my co-authorship
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

This paper presents an approach for reducing the cognitive load for humans working in quality control (QC) for production processes that adhere to the 6σ -methodology. While 100% QC requires every part to be inspected, this task can be reduced when a human-in-the-loop QC process gets supported by an anomaly detection system that only presents those parts for manual inspection that have a significant likelihood of being defective. This approach shows good results when applied to image-based QC for metal textile products.

@BOOK{ Leistung-und-Entgelt_2024_WIRKsam,
  editor       = {Jeske, Tim and Harlacher, Markus and Altepost, Andrea Anna
                  and Schmenk, Bernhard and Ferrein, Alexander and Schiffer, Stefan},
  title        = {{K}ompetenzzentrum {WIRK}sam - {W}irtschaftlicher {W}andel in der rheinischen
                      {T}extil- und {K}ohleregion mit {K}{\"u}nstlicher {I}ntelligenz gemeinsam gestalten},
  journal      = {Leistung \& Entgelt},
  volume       = {2023},
  number       = {2},
  issn         = {2510-0424},
  address      = {Bergisch Gladbach},
  publisher    = {Joh. Heider Verlag GmbH},
  pages        = {46 Seiten : Illustrationen},
  year         = {2023},
  month        = {6},
  subtyp       = {Brochure},
  key_RWTH     = {962619},
  url_RWTH     = {https://publications.rwth-aachen.de/record/962619},
  url_ifaa     = {https://www.arbeitswissenschaft.net/angebote-produkte/broschueren/leistung-und-entgelt-kompetenzzentrum-wirksam},
  url_PDF_ifaa = {https://www.arbeitswissenschaft.net/fileadmin/user_upload/Klein_Ende_24211_LundE_2_2023_finale_Version_fuer_Druckerei.pdf},
  keywords     = {WIRKsam},
  abstract     = {Das Kompetenzzentrum WIRKsam ist eines von acht
                  regionalen Kompetenzzentren der Arbeitsforschung mit
                  Fokus auf der Gestaltung neuer Arbeitsformen durch
                  Künstliche Intelligenz. Es hat seine regionale
                  Verankerung im Rheinischen Revier, das aufgrund des
                  Kohleausstiegs von einem starken Strukturwandel
                  betroffen ist. Gleichzeitig ist es Teil der
                  Rheinischen Textilregion, die sich in den letzten 50
                  Jahren stark verändert hat.  Künstliche Intelligenz
                  bietet umfassende Möglichkeiten, die Arbeitswelt mit
                  innovativen Arbeits- und Prozessabläufen zu
                  gestalten und Produkte zu verbessern. Sie hilft
                  Unter- nehmen dabei, im globalen Wettbewerb zu
                  bestehen und Wohlstand und Arbeitsplätze zu
                  sichern. Die Arbeiten im Kompetenzzentrum WIRKsam
                  zielen darauf ab, die Potenziale von KI für die
                  Unternehmen im Rheinischen Revier zu
                  erschließen. Der Kern der For- schungsaktivitäten
                  liegt in der prototypischen Entwicklung und
                  Einführung von KI-gestützten Systemen zur
                  Unterstützung von Arbeit in bislang neun
                  Anwendungsunternehmen. So entstehen Beispiele
                  guter Praxis, die anderen Unternehmen Orientierung
                  bieten sollen.  In dieser Ausgabe der "Leistung \&
                  Entgelt" werden das vom Bundesministerium für Bil-
                  dung und Forschung geförderte Projekt vorgestellt
                  und seine bisher neun Anwendungs- fälle
                  beschrieben.},
}


%%
%article{ Harlacher:Niehus_LuE2023WIRKsam_SystematisierungAWFs
%      pages        = {1--6},
%% AP 3
% 3-1_FEG
% 3-2_Essedea
% 3-3_Heusch
%% AP 4
% 4-1_AUNDE
% 4-2_R+F
% 4-3_neusser-fb
%% AP 5
% 5-1_GKD
% 5-2_Heimbach
% 5-3_Viethen
%%

Das Kompetenzzentrum WIRKsam ist eines von acht regionalen Kompetenzzentren der Arbeitsforschung mit Fokus auf der Gestaltung neuer Arbeitsformen durch Künstliche Intelligenz. Es hat seine regionale Verankerung im Rheinischen Revier, das aufgrund des Kohleausstiegs von einem starken Strukturwandel betroffen ist. Gleichzeitig ist es Teil der Rheinischen Textilregion, die sich in den letzten 50 Jahren stark verändert hat. Künstliche Intelligenz bietet umfassende Möglichkeiten, die Arbeitswelt mit innovativen Arbeits- und Prozessabläufen zu gestalten und Produkte zu verbessern. Sie hilft Unter- nehmen dabei, im globalen Wettbewerb zu bestehen und Wohlstand und Arbeitsplätze zu sichern. Die Arbeiten im Kompetenzzentrum WIRKsam zielen darauf ab, die Potenziale von KI für die Unternehmen im Rheinischen Revier zu erschließen. Der Kern der For- schungsaktivitäten liegt in der prototypischen Entwicklung und Einführung von KI-gestützten Systemen zur Unterstützung von Arbeit in bislang neun Anwendungsunternehmen. So entstehen Beispiele guter Praxis, die anderen Unternehmen Orientierung bieten sollen. In dieser Ausgabe der "Leistung & Entgelt" werden das vom Bundesministerium für Bil- dung und Forschung geförderte Projekt vorgestellt und seine bisher neun Anwendungs- fälle beschrieben.

@ARTICLE{ Jeske:etAl_LuE2023WIRKsam_Projektvorstellung,
      author       = {Jeske, Tim and Harlacher, Markus and Altepost, Andrea Anna
                      and Schmenk, Bernhard and Ferrein, Alexander and Schiffer,
                      Stefan},
      title        = {{WIRK}sam : {P}rojektvorstellung},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07490},
      pages        = {7--12},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962599},
  keywords     = {WIRKsam},
}

@ARTICLE{ Harlacher:etAl_LuE2023WIRKsam_3-1_FEG,
      author       = {Harlacher, Markus and Neihues, Sina and Hansen-Ampah, Adjan
                      Troy and K{\"o}se, Hakan and Schiffer, Stefan and Ferrein,
                      Alexander and Rezaey, Arash and Dievernich, Axel},
      title        = {{M}ultikriterielle {KI}-basierte {P}rozesssteuerung und
                      {Q}ualifizierung f{\"u}r {M}edizinprodukte},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07491},
      pages        = {16--18},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962600},
  keywords     = {WIRKsam},
}

@ARTICLE{Harlacher:etAl_LuE2023WIRKsam_3-2_Essedea,
      author       = {Harlacher, Markus and Niehues, Sina and Merx, Wolfgang and
                      Roder, Simon and Schiffer, Stefan and Ferrein, Alexander and
                      Zohren, Marc and Rezaey, Arash},
      title        = {{KI}-{E}xpertensystem f{\"u}r lernf{\"o}rderliche {E}mpfehlungen
                      zur ma{\ss}getreuen {P}roduktion von 3{D}-{T}extilien mit
                      digital unterst{\"u}tzter {E}ingangswerterfassung},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07492},
      pages        = {19-21},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962601},
  keywords     = {WIRKsam},
}

@ARTICLE{Harlacher:etAl_LuE2023WIRKsam_3-3_Heusch,
      author       = {Harlacher, Alexander and Niehues, Sina and Hansen-Ampah,
                      Adjan Troy and Roder, Simon and Schiffer, Stefan and
                      Ferrein, Alexander and Zenker, Dieter},
      title        = {{KI}-basierte {U}nterst{\"u}tzung der {K}ompetenz- und
                      {F}ertigkeitsentwicklung f{\"u}r die {M}etallprofilbearbeitung},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07494},
      pages        = {22-24},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962604},
  keywords     = {WIRKsam},
}

@ARTICLE{Koese:etAl_LuE2023WIRKsam_4-1_AUNDE,
      author       = {K{\"o}se, Hakan and Schiffer, Stefan and Ferrein, Alexander
                      and Ramm, Gerda Maria and Harlacher, Markus and Merx,
                      Wolfgang and Zohren, Marc and Rezaey, Arash and Ernst, Leon
                      and Ntzemos, Emmanuil},
      title        = {{L}ernf{\"o}rderliches {KI}-{V}arianzmanagement f{\"u}r die
                      {P}roduktion von {G}eweben mit kundenspezifisch
                      ver{\"a}nderlich ausgepr{\"a}gten {P}r{\"u}fmerkmalen},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07495},
      pages        = {25-27},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962605},
  keywords     = {WIRKsam},
}

@ARTICLE{Tschesche:etAl_LuE2023WIRKsam_4-2_R+F,
      author       = {Tschesche, Matteo and Hennig, Mike and Schiffer, Stefan and
                      Ferrein, Alexander and Ramm, Gerda Maria and Harlacher,
                      Markus and Merx, Wolfgang and Zohren, Marc and Rezaey, Arash
                      and Kot, Aylin and Smekal, J{\"u}rgen},
      title        = {{KI}-{N}achfrageprognose zur {V}erringerung von
                      {L}agerbest{\"a}nden, {P}roduktionsschwankungen und damit
                      verbundener {B}esch{\"a}ftigungsbelastung},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07500},
      pages        = {28-30},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962613},
  keywords     = {WIRKsam},
}

@ARTICLE{Tschesche:etAl_LuE2023WIRKsam_4-3_neusser-fb,
      author       = {Tschesche, Matteo and Henning, Mike and Schiffer, Stefan
                      and Ferrein, Alexander and Ramm, Gerda Maria and Harlacher,
                      Markus and Merx, Wolfgang and Sahm, Joachim},
      title        = {{S}ituative {KI}-{E}ntscheidungsunterst{\"u}tzung zur
                      {A}bsch{\"a}tzung arbeitsorganisatorischer {F}olgen im {R}ahmen
                      des {S}hopfloor {M}anagements},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07501},
      pages        = {31-33},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962614},
  keywords     = {WIRKsam},
}

@ARTICLE{HansenAmpah:etAl_LuE2023WIRKsam_5-1_GKD,
      author       = {Hansen-Ampah, Adjan Troy and Boltersdorf, Christian Daniel
                      and K{\"o}se, Hakan and Schiffer, Stefan and Ferrein, Alexander
                      and Shahinfar, Fatemeh N. and Ramm, Gerda Maria and Zohren,
                      Marc and Herper, Dominik},
      title        = {{KI}-basierte {B}ildauswertung zur {Q}ualit{\"a}tsverbesserung
                      und {E}ntlastung von {B}esch{\"a}ftigten bei der {H}erstellung
                      von metallischen {F}ilterprodukten},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07503},
      pages        = {34-36},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962616},
  keywords     = {WIRKsam},
}

@ARTICLE{HansenAmpah:etAl_LuE2023WIRKsam_5-1_Heimbach,
      author       = {Hansen-Ampah, Adjan Troy and Arndt, Tobias and Schiffer,
                      Stefan and Ferrein, Alexander and Shahinfar, Fatemeh N. and
                      Ramm, Gerda Maria and Klopp, Kai},
      title        = {{U}nterst{\"u}tzung von {P}roduktentwicklung und
                      {Q}ualit{\"a}tssicherung durch {KI}-basierte {V}ergleiche von
                      {P}roduktkennwerten vor und nach dem {E}insatz an
                      {P}apiermaschinen},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07504},
      pages        = {37-39},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962617},
  keywords     = {WIRKsam},
}

@ARTICLE{HansenAmpah:etAl_LuE2023WIRKsam_5-1_Viethen,
      author       = {Hansen-Ampah, Adjan Troy and Backes, Sebastian Christoph
                      and Arndt, Tobias and Schiffer, Stefan and Ferrein,
                      Alexander and Shahinfar, Fatemeh N. and Ramm, Gerda Maria
                      and Viethen, Heinrich},
      title        = {{N}utzung einer {M}ensch-{R}oboter-{K}ollaboration zum
                      {E}rlernen komplexer motorischer {F}ertigkeiten f{\"u}r
                      {T}{\"a}tigkeiten in der {F}aserverbundherstellung},
      journal      = {Leistung \& Entgelt},
      volume       = {2023},
      number       = {2},
      issn         = {2510-0424},
      address      = {Bergisch-Gladbach},
      publisher    = {Joh. Heider Verlag GmbH},
      reportid     = {RWTH-2023-07505},
      pages        = {40-42},
      year         = {2023},
      url_RWTH     = {https://publications.rwth-aachen.de/record/962618},
  keywords     = {WIRKsam},
}

@InProceedings{ Ferrein-etAl_ICAART2023_Towards-a-Fleet,
  author       = {Alexander Ferrein and Michael Reke and Ingrid Scholl and Benjamin Decker
                  and Nicolas Limpert and Gjorgji Nikolovski and Stefan Schiffer},
  title        = {Towards a Fleet of Autonomous Haul-Dump Vehicles in Hybrid Mines},
  booktitle    = {Proceedings of the 15th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
  year         = {2023},
  pages        = {278--288},
  publisher    = {SciTePress},
  organization = {INSTICC},
  doi          = {10.5220/0011693600003393},
  url_sciteprs = {https://www.scitepress.org/Papers/2023/116936/},
  url_PDF      = {https://www.scitepress.org/Papers/2023/116936/116936.pdf},
  isbn         = {978-989-758-623-1},
  abstract     = {Like many industries, the mining industry is facing
                  major transformations towards more sustainable and
                  decarbonised operations with smaller environmental
                  footprints. Even though the mining industry, in
                  general, is quite conservative, key drivers for
                  future developments are digitalisation and
                  automation. Another direction forward is to mine
                  deeper and reduce the mine footprint at the
                  surface. This leads to so-called hybrid mines, where
                  part of the operation is open pit, and part of the
                  mining takes place underground. In this paper, we
                  present our approach to running a fleet of
                  autonomous hauling vehicles suitable for hybrid
                  mining operations. We present a ROS 2-based
                  architecture for running the vehicles. The fleet of
                  currently three vehicles is controlled by a
                  SHOP3-based planner which dispatches missions to the
                  vehicles. The basic actions of the vehicles are
                  realised as behaviour trees in ROS 2. We used a deep
                  learning network for detection and classification of
                  mining objects trained with a mixing of synthetic
                  and real world training images. In a life-long
                  mapping approach, we define lanelets and show their
                  integration into HD maps. We demonstrate a
                  proof-of-concept of the vehicles in operation in
                  simulation and in real-world experiments in a gravel
                  pit.},
}
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  2022
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

Like many industries, the mining industry is facing major transformations towards more sustainable and decarbonised operations with smaller environmental footprints. Even though the mining industry, in general, is quite conservative, key drivers for future developments are digitalisation and automation. Another direction forward is to mine deeper and reduce the mine footprint at the surface. This leads to so-called hybrid mines, where part of the operation is open pit, and part of the mining takes place underground. In this paper, we present our approach to running a fleet of autonomous hauling vehicles suitable for hybrid mining operations. We present a ROS 2-based architecture for running the vehicles. The fleet of currently three vehicles is controlled by a SHOP3-based planner which dispatches missions to the vehicles. The basic actions of the vehicles are realised as behaviour trees in ROS 2. We used a deep learning network for detection and classification of mining objects trained with a mixing of synthetic and real world training images. In a life-long mapping approach, we define lanelets and show their integration into HD maps. We demonstrate a proof-of-concept of the vehicles in operation in simulation and in real-world experiments in a gravel pit.

@InProceedings{Viehmann-etAl_RoboCup2022_Winning-the-RoboCup-Logistics-League,
  author       = "Viehmann, Tarik and Limpert, Nicolas and Hofmann, Till and Henning, Mike and Ferrein, Alexander and Lakemeyer, Gerhard",
  editor       = "Eguchi, Amy and Lau, Nuno and Paetzel-Pr{\"u}smann, Maike and Wanichanon, Thanapat",
  title        = "{Winning the RoboCup Logistics League with Visual Servoing and Centralized Goal Reasoning}",
  booktitle    = "RoboCup 2022: Robot World Cup XXV",
  year         = "2023",
  pages        = "300--312",
  series       = {Lecture Notes in Computer Science},
  volume       = {13561},
  publisher    = "Springer International Publishing",
  address      = "Cham",
  isbn         = "978-3-031-28469-4",
  doi          = {10.1007/978-3-031-28469-4_25},
  url          = {https://link.springer.com/chapter/10.1007/978-3-031-28469-4_25},
  keywords     = {RoboCup, Logistics League, RCLL},
  abstract     = "The RoboCup Logistics League (RCLL) is a robotics
                  competition in a production logistics scenario in
                  the context of a Smart Factory. In the competition,
                  a team of three robots needs to assemble products to
                  fulfill various orders that are requested online
                  during the game. This year, the Carologistics team
                  was able to win the competition with a new approach
                  to multi-agent coordination as well as significant
                  changes to the robot's perception unit and a
                  pragmatic network setup using the cellular network
                  instead of WiFi. In this paper, we describe the
                  major components of our approach with a focus on the
                  changes compared to the last physical competition in
                  2019.",
}

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  2021
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

The RoboCup Logistics League (RCLL) is a robotics competition in a production logistics scenario in the context of a Smart Factory. In the competition, a team of three robots needs to assemble products to fulfill various orders that are requested online during the game. This year, the Carologistics team was able to win the competition with a new approach to multi-agent coordination as well as significant changes to the robot's perception unit and a pragmatic network setup using the cellular network instead of WiFi. In this paper, we describe the major components of our approach with a focus on the changes compared to the last physical competition in 2019.

@Article{Schulte-Tigges-etAl_Sensors2022_Benchmarking-LIDAR-Sensors,
  AUTHOR       = {Schulte-Tigges, Joschua and F{\"o}rster, Marco and
                  Nikolovski, Gjorgji and Reke, Michael and
		  Ferrein, Alexander and Kaszner, Daniel and
		  Matheis, Dominik and Walter, Thomas},
  TITLE        = {Benchmarking of Various LiDAR Sensors for Use in Self-Driving Vehicles in Real-World Environments},
  JOURNAL      = {Sensors},
  VOLUME       = {22},
  YEAR         = {2022},
  NUMBER       = {19},
  ARTICLE-NUMBER = {7146},
  URL          = {https://www.mdpi.com/1424-8220/22/19/7146},
  PubMedID     = {36236247},
  ISSN         = {1424-8220},
  DOI          = {10.3390/s22197146},
  keywords     = {ADP; LiDAR; benchmark; self-driving},
  ABSTRACT     = {In this paper, we report on our benchmark results of
                  the LiDAR sensors Livox Horizon, Robosense M1,
                  Blickfeld Cube, Blickfeld Cube Range, Velodyne
                  Velarray H800, and Innoviz Pro. The idea was to test
                  the sensors in different typical scenarios that were
                  defined with real-world use cases in mind, in order
                  to find a sensor that meet the requirements of
                  self-driving vehicles. For this, we defined static
                  and dynamic benchmark scenarios. In the static
                  scenarios, both LiDAR and the detection target do
                  not move during the measurement. In dynamic
                  scenarios, the LiDAR sensor was mounted on the
                  vehicle which was driving toward the detection
                  target. We tested all mentioned LiDAR sensors in
                  both scenarios, show the results regarding the
                  detection accuracy of the targets, and discuss their
                  usefulness for deployment in self-driving cars.},
}

In this paper, we report on our benchmark results of the LiDAR sensors Livox Horizon, Robosense M1, Blickfeld Cube, Blickfeld Cube Range, Velodyne Velarray H800, and Innoviz Pro. The idea was to test the sensors in different typical scenarios that were defined with real-world use cases in mind, in order to find a sensor that meet the requirements of self-driving vehicles. For this, we defined static and dynamic benchmark scenarios. In the static scenarios, both LiDAR and the detection target do not move during the measurement. In dynamic scenarios, the LiDAR sensor was mounted on the vehicle which was driving toward the detection target. We tested all mentioned LiDAR sensors in both scenarios, show the results regarding the detection accuracy of the targets, and discuss their usefulness for deployment in self-driving cars.

@inproceedings{Ferrein-etAl_ADDITC2022_Holistic-AI-Dev,
  author       = "Ferrein, Alexander and Kufferath, Ingo and Shahinfar, Fatemeh and Altepost, Andrea",
  title        = "{Holistic AI development for the textile industry of the future}",
  booktitle    = "Aachen-Dresden-Denkendorf International Textile Conference",
  year         = "2022",
  OPTeditor       = "",
  url_program  = {https://www.aachen-dresden-denkendorf.de/fileadmin/user_upload/itc/programm/ADD-ITC_2022/Program_ADD-ITC_2022_update_2022-11-28.pdf},
  abstract     = "Forecasts about the future of work agree above all
                  that digitalisation, and, in particular, the
                  deployment of artificial intelligence, will
                  significantly change the future, and with it also
                  the future of work. When designing the future work
                  place, common mistakes such as including the
                  expertise of the employees in the technical design
                  only late in the process if at all and by that
                  reducing the user acceptance should be avoided. With
                  the competence center WIRKsam we aim at shaping the
                  future work place through AI following a human
                  centered design by along an MTO
                  (human-technology-organisation) approach for
                  introducing AI-based solutions. We report on the
                  goals of the competence centres WIRKsam, the
                  procedure model, and the results of deploying it for
                  the regional German company GKD.",
}

Forecasts about the future of work agree above all that digitalisation, and, in particular, the deployment of artificial intelligence, will significantly change the future, and with it also the future of work. When designing the future work place, common mistakes such as including the expertise of the employees in the technical design only late in the process if at all and by that reducing the user acceptance should be avoided. With the competence center WIRKsam we aim at shaping the future work place through AI following a human centered design by along an MTO (human-technology-organisation) approach for introducing AI-based solutions. We report on the goals of the competence centres WIRKsam, the procedure model, and the results of deploying it for the regional German company GKD.

@ARTICLE{ Coll-Perales-etAl_T-ITS2021_Prototyping-Evalution-ToC,
  author       = {Coll-Perales, Baldomero and Schulte-Tigges, Joschua
                  and Rondinone, Michele and Gozalvez, Javier and
                  Reke, Michael and Matheis, Dominik and Walter,
                  Thomas},
  title        = {Prototyping and Evaluation of Infrastructure-Assisted Transition of Control for Cooperative Automated Vehicles}, 
  journal      = {IEEE Transactions on Intelligent Transportation Systems}, 
  year         = {2022},
  volume       = {23},
  number       = {7},
  pages        = {6720--6736},
  url_ieeexpl  = {https://ieeexplore.ieee.org/abstract/document/9369993},
  doi          = {10.1109/TITS.2021.3061085},
  ISSN         = {1558-0016},
  month        = {July},
  keywords     = {ADP; Vehicles; Roads; Prototypes; Proposals;
                  Automation; Area measurement; Vehicle-to-everything;
                  Automated driving; automated vehicles; connected
                  automated vehicles; CAV; experimental evaluation;
                  field tests; minimum risk maneuver; MRM; prototype;
                  transition of control; ToC; take over request;
                  traffic management; V2X},
  abstract     = {Automated driving is now possible in diverse road and
                  traffic conditions. However, there are still
                  situations that automated vehicles cannot handle
                  safely and efficiently. In this case, a Transition
                  of Control (ToC) is necessary so that the driver
                  takes control of the driving. Executing a ToC
                  requires the driver to get full situation awareness
                  of the driving environment. If the driver fails to
                  get back the control in a limited time, a Minimum
                  Risk Maneuver (MRM) is executed to bring the vehicle
                  into a safe state (e.g., decelerating to full
                  stop). The execution of ToCs requires some time and
                  can cause traffic disruption and safety risks that
                  increase if several vehicles execute ToCs/MRMs at
                  similar times and in the same area. This study
                  proposes to use novel C-ITS traffic management
                  measures where the infrastructure exploits V2X
                  communications to assist Connected and Automated
                  Vehicles (CAVs) in the execution of ToCs. The
                  infrastructure can suggest a spatial distribution of
                  ToCs, and inform vehicles of the locations where
                  they could execute a safe stop in case of MRM. This
                  paper reports the first field operational tests that
                  validate the feasibility and quantify the benefits
                  of the proposed infrastructure-assisted ToC and MRM
                  management. The paper also presents the CAV and
                  roadside infrastructure prototypes implemented and
                  used in the trials. The conducted field trials
                  demonstrate that infrastructure-assisted traffic
                  management solutions can reduce safety risks and
                  traffic disruptions.},
}

Automated driving is now possible in diverse road and traffic conditions. However, there are still situations that automated vehicles cannot handle safely and efficiently. In this case, a Transition of Control (ToC) is necessary so that the driver takes control of the driving. Executing a ToC requires the driver to get full situation awareness of the driving environment. If the driver fails to get back the control in a limited time, a Minimum Risk Maneuver (MRM) is executed to bring the vehicle into a safe state (e.g., decelerating to full stop). The execution of ToCs requires some time and can cause traffic disruption and safety risks that increase if several vehicles execute ToCs/MRMs at similar times and in the same area. This study proposes to use novel C-ITS traffic management measures where the infrastructure exploits V2X communications to assist Connected and Automated Vehicles (CAVs) in the execution of ToCs. The infrastructure can suggest a spatial distribution of ToCs, and inform vehicles of the locations where they could execute a safe stop in case of MRM. This paper reports the first field operational tests that validate the feasibility and quantify the benefits of the proposed infrastructure-assisted ToC and MRM management. The paper also presents the CAV and roadside infrastructure prototypes implemented and used in the trials. The conducted field trials demonstrate that infrastructure-assisted traffic management solutions can reduce safety risks and traffic disruptions.

@InProceedings{ Chajan-etAl_IV2021_GPU-based-MPC,
  author       = {Chajan, Eduard and Schulte-Tigges, Joschua and Reke, Michael and Ferrein, Alexander and Matheis, Dominik and Walter, Thomas},
  booktitle    = {2021 IEEE Intelligent Vehicles Symposium (IV)}, 
  title        = {GPU based model-predictive path control for self-driving vehicles}, 
  year         = {2021},
  month        = {July},
  pages        = {1243--1248},
  doi          = {10.1109/IV48863.2021.9575619},
  url_ieeexpl  = {https://ieeexplore.ieee.org/abstract/document/9575619},
  keywords     = {ADP;Heuristic algorithms;Computational modeling;Graphics
                  processing units;Stochastic processes;Prediction
                  algorithms;Trajectory;Vehicle dynamics;autonomous
                  driving;GPU;model-predictive control;grid
                  search;path control;ROS2},
  abstract     = {One central challenge for self-driving cars is a
                  proper path-planning. Once a trajectory has been
                  found, the next challenge is to accurately and
                  safely follow the precalculated path. The
                  model-predictive controller (MPC) is a common
                  approach for the lateral control of autonomous
                  vehicles. The MPC uses a vehicle dynamics model to
                  predict the future states of the vehicle for a given
                  prediction horizon. However, in order to achieve
                  real-time path control, the computational load is
                  usually large, which leads to short prediction
                  horizons. To deal with the computational load, the
                  control algorithm can be parallelized on the
                  graphics processing unit (GPU). In contrast to the
                  widely used stochastic methods, in this paper we
                  propose a deterministic approach based on grid
                  search. Our approach focuses on systematically
                  discovering the search area with different levels of
                  granularity. To achieve this, we split the
                  optimization algorithm into multiple iterations. The
                  best sequence of each iteration is then used as an
                  initial solution to the next iteration. The
                  granularity increases, resulting in smooth and
                  predictable steering angle sequences. We present a
                  novel GPU-based algorithm and show its accuracy and
                  realtime abilities with a number of real-world
                  experiments.},
}

One central challenge for self-driving cars is a proper path-planning. Once a trajectory has been found, the next challenge is to accurately and safely follow the precalculated path. The model-predictive controller (MPC) is a common approach for the lateral control of autonomous vehicles. The MPC uses a vehicle dynamics model to predict the future states of the vehicle for a given prediction horizon. However, in order to achieve real-time path control, the computational load is usually large, which leads to short prediction horizons. To deal with the computational load, the control algorithm can be parallelized on the graphics processing unit (GPU). In contrast to the widely used stochastic methods, in this paper we propose a deterministic approach based on grid search. Our approach focuses on systematically discovering the search area with different levels of granularity. To achieve this, we split the optimization algorithm into multiple iterations. The best sequence of each iteration is then used as an initial solution to the next iteration. The granularity increases, resulting in smooth and predictable steering angle sequences. We present a novel GPU-based algorithm and show its accuracy and realtime abilities with a number of real-world experiments.

@INPROCEEDINGS{ Nikolovski:etAl_IV2021WS_ML3D-ObjDet,
  author       = {Nikolovski, Gjorgji and Reke, Michael and Elsen, Ingo and Schiffer, Stefan},
  booktitle    = {2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops)},
  title        = {{Machine learning based 3D object detection for navigation in unstructured environments}},
  year         = {2021},
  pages        = {236--242},
  abstract     = {In this paper we investigate the use of deep neural
                  networks for 3D object detection in uncommon,
                  unstructured environments such as in an open-pit
                  mine. While neural nets are frequently used for
                  object detection in regular autonomous driving
                  applications, more unusual driving scenarios aside
                  street traffic pose additional challenges. For one,
                  the collection of appropriate data sets to train the
                  networks is an issue. For another, testing the
                  performance of trained networks often requires
                  tailored integration with the particular domain as
                  well. While there exist different solutions for
                  these problems in regular autonomous driving, there
                  are only very few approaches that work for special
                  domains just as well. We address both the challenges
                  above in this work. First, we discuss two possible
                  ways of acquiring data for training and
                  evaluation. That is, we evaluate a semi-automated
                  annotation of recorded LIDAR data and we examine
                  synthetic data generation. Using these datasets we
                  train and test different deep neural network for the
                  task of object detection. Second, we propose a
                  possible integration of a ROS2 detector module for
                  an autonomous driving platform. Finally, we present
                  the performance of three state-of-the-art deep
                  neural networks in the domain of 3D object detection
                  on a synthetic dataset and a smaller one containing
                  a characteristic object from an open-pit mine.},
  keywords     = {ADP; ARTUS; UPNS4D; Deep learning; Training; Solid
                  modeling; Three-dimensional displays; Annotations;
                  Conferences; Neural networks; 3D object detection;
                  LiDAR; autonomous driving},
  doi          = {10.1109/IVWorkshops54471.2021.9669218},
  url_IEEExplore = {https://ieeexplore.ieee.org/abstract/document/9669218},
  ID_IEEE      = {9669218},
  month        = {July},
}

In this paper we investigate the use of deep neural networks for 3D object detection in uncommon, unstructured environments such as in an open-pit mine. While neural nets are frequently used for object detection in regular autonomous driving applications, more unusual driving scenarios aside street traffic pose additional challenges. For one, the collection of appropriate data sets to train the networks is an issue. For another, testing the performance of trained networks often requires tailored integration with the particular domain as well. While there exist different solutions for these problems in regular autonomous driving, there are only very few approaches that work for special domains just as well. We address both the challenges above in this work. First, we discuss two possible ways of acquiring data for training and evaluation. That is, we evaluate a semi-automated annotation of recorded LIDAR data and we examine synthetic data generation. Using these datasets we train and test different deep neural network for the task of object detection. Second, we propose a possible integration of a ROS2 detector module for an autonomous driving platform. Finally, we present the performance of three state-of-the-art deep neural networks in the domain of 3D object detection on a synthetic dataset and a smaller one containing a characteristic object from an open-pit mine.

@inproceedings{Dey:etAl_PETRA2021_CO2Meter,
  author       = {Dey, Thomas and Elsen, Ingo and Ferrein, Alexander and Frauenrath, Tobias and Reke, Michael and Schiffer, Stefan},
  title        = {{CO2 Meter}: A do-it-yourself carbon dioxide measuring device for the classroom},
  booktitle    = {Proceedings of the 14th PErvasive Technologies Related to Assistive Environments Conference},
  pages        = {292--299},
  numpages     = {8},
  keywords     = {sensor networks, information systems, embedded hardware, education, do-it-yourself},
  location     = {Corfu, Greece},
  series       = {PETRA '21},
  year         = {2021},
  isbn         = {9781450387927},
  publisher    = {Association for Computing Machinery},
  address      = {New York, NY, USA},
  url          = {https://doi.org/10.1145/3453892.3462697},
  url_ACM_DL   = {https://dl.acm.org/doi/abs/10.1145/3453892.3462697},
  doi          = {10.1145/3453892.3462697},
  abstract     = {In this paper we report on CO2 Meter, a
                  do-it-yourself carbon dioxide measuring device for
                  the classroom. Part of the current measures for
                  dealing with the SARS-CoV-2 pandemic is proper
                  ventilation in indoor settings. This is especially
                  important in schools with students coming back to
                  the classroom even with high incidents rates. Static
                  ventilation patterns do not consider the individual
                  situation for a particular class. Influencing
                  factors like the type of activity, the physical
                  structure or the room occupancy are not
                  incorporated. Also, existing devices are rather
                  expensive and often provide only limited information
                  and only locally without any networking. This leaves
                  the potential of analysing the situation across
                  different settings untapped. Carbon dioxide level
                  can be used as an indicator of air quality, in
                  general, and of aerosol load in particular. Since,
                  according to the latest findings, SARS-CoV-2 can be
                  transmitted primarily in the form of aerosols,
                  carbon dioxide may be used as a proxy for the risk
                  of a virus infection. Hence, schools could improve
                  the indoor air quality and potentially reduce the
                  infection risk if they actually had measuring
                  devices available in the classroom. Our device
                  supports schools in ventilation and it allows for
                  collecting data over the Internet to enable a
                  detailed data analysis and model generation. First
                  deployments in schools at different levels were
                  received very positively. A pilot installation with
                  a larger data collection and analysis is underway.},
}

In this paper we report on CO2 Meter, a do-it-yourself carbon dioxide measuring device for the classroom. Part of the current measures for dealing with the SARS-CoV-2 pandemic is proper ventilation in indoor settings. This is especially important in schools with students coming back to the classroom even with high incidents rates. Static ventilation patterns do not consider the individual situation for a particular class. Influencing factors like the type of activity, the physical structure or the room occupancy are not incorporated. Also, existing devices are rather expensive and often provide only limited information and only locally without any networking. This leaves the potential of analysing the situation across different settings untapped. Carbon dioxide level can be used as an indicator of air quality, in general, and of aerosol load in particular. Since, according to the latest findings, SARS-CoV-2 can be transmitted primarily in the form of aerosols, carbon dioxide may be used as a proxy for the risk of a virus infection. Hence, schools could improve the indoor air quality and potentially reduce the infection risk if they actually had measuring devices available in the classroom. Our device supports schools in ventilation and it allows for collecting data over the Internet to enable a detailed data analysis and model generation. First deployments in schools at different levels were received very positively. A pilot installation with a larger data collection and analysis is underway.

@inproceedings{Matare-etAl_ICAART2021_PortableHighLevelAgentCode,
  author       = {Victor Matar{\'e} and Tarik Viehmann and Till Hofmann and Gerhard Lakemeyer and Alexander Ferrein and Stefan Schiffer},
  title        = {{Portable High-level Agent Programming with golog++}},
  booktitle    = {Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
  year         = {2021},
  pages        = {218--227},
  publisher    = {SciTePress},
  organization = {INSTICC},
  doi          = {10.5220/0010253902180227},
  url_scitepress = {https://www.scitepress.org/Papers/2021/102539/},
  isbn         = {978-989-758-484-8},
  keywords     = {ConTrAkt, high-level programming, golog, agent programming},
  abstract     = {We present golog++, a high-level agent programming
                  and interfacing framework that offers a temporal
                  constraint language to explicitly model
                  layer-penetrating contingencies in low-level
                  platform behavior. It can be used to maintain a
                  clear separation between an agent’s domain model and
                  certain quirks of its execution platform that affect
                  problem solving behavior. Our system reasons about
                  the execution of an abstract (i.e. exclusively
                  domain-bound) plan on a particular execution
                  platform. This way, we avoid compounding the
                  complexity of the planning problem while improving
                  the modularity of both golog++ and the user code. On
                  a run-through example from the well-known
                  blocksworld domain, we demonstrate the entire
                  process from domain modeling and platform modeling
                  to plan transformation and platform-specific plan
                  execution.},
}
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  2020
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

We present golog++, a high-level agent programming and interfacing framework that offers a temporal constraint language to explicitly model layer-penetrating contingencies in low-level platform behavior. It can be used to maintain a clear separation between an agent’s domain model and certain quirks of its execution platform that affect problem solving behavior. Our system reasons about the execution of an abstract (i.e. exclusively domain-bound) plan on a particular execution platform. This way, we avoid compounding the complexity of the planning problem while improving the modularity of both golog++ and the user code. On a run-through example from the well-known blocksworld domain, we demonstrate the entire process from domain modeling and platform modeling to plan transformation and platform-specific plan execution.

@InProceedings{ Eltester-etAl_ICPS2020_SmartFactory,
  author       = {Niklas Sebastian {Eltester} and Alexander {Ferrein} and Stefan {Schiffer}},
  booktitle    = {2020 IEEE International Conference on Industrial Cyber Physical Systems (ICPS)},
  OPTeditor       = {},
  title        = {A Smart Factory Setup based on the RoboCup Logistics League}, 
  year         = {2020},
  month        = {June 10-12},
  location     = {Tampere, Finland - ONLINE},
  pages        = {297--302},
  abstract     = {In this paper we present Smart-fACtory, a setup for
                  a research and teaching facility in industrial
                  robotics that is based on the RoboCup Logistics
                  League. It is driven by the need for developing and
                  applying solutions for digital production.
                  Digitization receives constantly increasing
                  attention in many areas, especially in industry. The
                  common theme is to make things smart by using
                  intelligent computer technology. Especially in the
                  last decade there have been many attempts to improve
                  existing processes in factories, for example, in
                  production logistics, also with deploying
                  cyber-physical systems. An initiative that explores
                  challenges and opportunities for robots in such a
                  setting is the RoboCup Logistics League. Since its
                  foundation in 2012 it is an international effort for
                  research and education in an intra- warehouse
                  logistics scenario. During seven years of
                  competition a lot of knowledge and experience
                  regarding autonomous robots was gained. This
                  knowledge and experience shall provide the basis for
                  further research in challenges of future
                  production. The focus of our Smart-fACtory is to
                  create a stimulating envi- ronment for research on
                  logistics robotics, for teaching activities in
                  computer science and electrical engineering
                  programmes as well as for industrial users to study
                  and explore the feasibility of future
                  technologies. Building on a very successful history
                  in the RoboCup Logistics League we aim to provide
                  stakeholders with a dedicated facility oriented at
                  their individual needs.},
  keywords     = {logistics robotics, Industry 4.0, smart factory,
                  RoboCup Logistics League, RCLL},
  doi          = {10.1109/ICPHYS.2020.xxx},
}

In this paper we present Smart-fACtory, a setup for a research and teaching facility in industrial robotics that is based on the RoboCup Logistics League. It is driven by the need for developing and applying solutions for digital production. Digitization receives constantly increasing attention in many areas, especially in industry. The common theme is to make things smart by using intelligent computer technology. Especially in the last decade there have been many attempts to improve existing processes in factories, for example, in production logistics, also with deploying cyber-physical systems. An initiative that explores challenges and opportunities for robots in such a setting is the RoboCup Logistics League. Since its foundation in 2012 it is an international effort for research and education in an intra- warehouse logistics scenario. During seven years of competition a lot of knowledge and experience regarding autonomous robots was gained. This knowledge and experience shall provide the basis for further research in challenges of future production. The focus of our Smart-fACtory is to create a stimulating envi- ronment for research on logistics robotics, for teaching activities in computer science and electrical engineering programmes as well as for industrial users to study and explore the feasibility of future technologies. Building on a very successful history in the RoboCup Logistics League we aim to provide stakeholders with a dedicated facility oriented at their individual needs.

@INPROCEEDINGS{ Reke-etAl_RobMech2020_Self-Driving-Car-Arch-ROS2,
  author       = {M. {Reke} and D. {Peter} and J. {Schulte-Tigges} and
                  S. {Schiffer} and A. {Ferrein} and T. {Walter} and
                  D. {Matheis}},
  booktitle    = {2020 International SAUPEC/RobMech/PRASA Conference}, 
  title        = {A Self-Driving Car Architecture in {ROS2}}, 
  month        = {Jan},
  year         = {2020},
  pages        = {1--6},
  doi          = {10.1109/SAUPEC/RobMech/PRASA48453.2020.9041020},
  url_IEEEXpl  = {https://ieeexplore.ieee.org/abstract/document/9041020},
  ISBN         = {Electronic ISBN: 978-1-7281-4162-6, Print on Demand(PoD) ISBN: 978-1-7281-4163-3},
  keywords     = {ADP; UPNS4D; ARTUS; automobiles; control engineering
                  computing; mobile robots; safety-critical software;
                  autonomous driving; robotic software; self-driving
                  cars; automated real passenger car; self-driving car
                  architecture; Self-driving car; autonomous driving;
                  architecture; robot operating system; ROS; ROS2;
                  LKAS; V2X},
  abstract     = {In this paper we report on an architecture for a
                  self-driving car that is based on ROS2. Self-driving
                  cars have to take decisions based on their sensory
                  input in real-time, providing high reliability with
                  a strong demand in functional safety. In principle,
                  self-driving cars are robots. However, typical robot
                  software, in general, and the previous version of
                  the Robot Operating System (ROS), in particular,
                  does not always meet these requirements. With the
                  successor ROS2 the situation has changed and it
                  might be considered as a solution for automated and
                  autonomous driving. Existing robotic software based
                  on ROS was not ready for safety critical
                  applications like self-driving cars. We propose an
                  architecture for using ROS2 for a self-driving car
                  that enables safe and reliable real-time behaviour,
                  but keeping the advantages of ROS such as a
                  distributed architecture and standardised message
                  types. First experiments with an automated real
                  passenger car at lower and higher speed-levels show
                  that our approach seems feasible for autonomous
                  driving under the necessary real-time conditions.},
}

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  2019
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

In this paper we report on an architecture for a self-driving car that is based on ROS2. Self-driving cars have to take decisions based on their sensory input in real-time, providing high reliability with a strong demand in functional safety. In principle, self-driving cars are robots. However, typical robot software, in general, and the previous version of the Robot Operating System (ROS), in particular, does not always meet these requirements. With the successor ROS2 the situation has changed and it might be considered as a solution for automated and autonomous driving. Existing robotic software based on ROS was not ready for safety critical applications like self-driving cars. We propose an architecture for using ROS2 for a self-driving car that enables safe and reliable real-time behaviour, but keeping the advantages of ROS such as a distributed architecture and standardised message types. First experiments with an automated real passenger car at lower and higher speed-levels show that our approach seems feasible for autonomous driving under the necessary real-time conditions.

@incollection{Ferrein:etAl_InTechOpen2019_A-System-for-Continuous,
  author       = {Alexander Ferrein and Ingrid Scholl and Tobias Neumann and Kai Kr{\"u}ckel and Stefan Schiffer},
  title        = {{A System for Continuous Underground Site Mapping and Exploration}},
  booktitle    = {Unmanned Robotic Systems and Applications},
  publisher    = {IntechOpen},
  address      = {Rijeka},
  year         = {2019},
  editor       = {Mahmut Reyhanoglu and Geert De Cubber},
  chapter      = {4},
  doi          = {10.5772/intechopen.85859},
  url          = {https://doi.org/10.5772/intechopen.85859},
  url_InTech   = {https://www.intechopen.com/chapters/67435},
  keywords     = {UPNS4D},
  abstract     = {3D mapping becomes ever more important not only in
                  industrial mobile robotic applications for AGV and
                  production vehicles but also for search and rescue
                  scenarios. In this chapter we report on our work of
                  mapping and exploring underground mines. Our
                  contribution is two-fold: First, we present our
                  custom-built 3D laser range platform SWAP and
                  compare it against an architectural laser
                  scanner. The advantages are that the mapping vehicle
                  can scan in a continuous mode and does not have to
                  do stop-and-go scanning. The second contribution is
                  the mapping tool mapit which supports and automates
                  the registration of large sets of point clouds. The
                  idea behind mapit is to keep the raw point cloud
                  data as a basis for any map generation and only
                  store all operations executed on the point
                  clouds. This way the initial data do not get lost,
                  and improvements on low-level date (e.g. improved
                  transforms through loop closure) will automatically
                  improve the final maps. Finally, we also present
                  methods for visualization and interactive
                  exploration of such maps.},
}

3D mapping becomes ever more important not only in industrial mobile robotic applications for AGV and production vehicles but also for search and rescue scenarios. In this chapter we report on our work of mapping and exploring underground mines. Our contribution is two-fold: First, we present our custom-built 3D laser range platform SWAP and compare it against an architectural laser scanner. The advantages are that the mapping vehicle can scan in a continuous mode and does not have to do stop-and-go scanning. The second contribution is the mapping tool mapit which supports and automates the registration of large sets of point clouds. The idea behind mapit is to keep the raw point cloud data as a basis for any map generation and only store all operations executed on the point clouds. This way the initial data do not get lost, and improvements on low-level date (e.g. improved transforms through loop closure) will automatically improve the final maps. Finally, we also present methods for visualization and interactive exploration of such maps.

@article{Claer:Ferrein:Schiffer_ApplSci2019_Calibration,
  author       = {Claer, Mario and Ferrein, Alexander and Schiffer, Stefan},
  title        = {Calibration of a {{Rotating}} or {{Revolving Platform}} with a {{LiDAR Sensor}}},
  journal      = {Applied Sciences},
  year         = {2019},
  month        = jan,
  volume       = {9},
  number       = {11},
  pages        = {2238},
  ARTICLE-NUMBER = {2238},
  doi          = {10.3390/app9112238},
  URL          = {https://www.mdpi.com/2076-3417/9/11/2238},
  ISSN         = {2076-3417},
  language     = {en},
  copyright    = {http://creativecommons.org/licenses/by/3.0/},
  keywords     = {UPNS4D,ARTUS,calibration,extrinsic parameter,LiDAR,LRF},
  abstract     = {Perceiving its environment in 3D is an important
                  ability for a modern robot. Today, this is often
                  done using LiDARs which come with a strongly limited
                  field of view (FOV), however. To extend their FOV,
                  the sensors are mounted on driving vehicles in
                  several different ways. This allows 3D perception
                  even with 2D LiDARs if a corresponding localization
                  system or technique is available. Another popular
                  way to gain most information of the scanners is to
                  mount them on a rotating carrier platform. In this
                  way, their measurements in different directions can
                  be collected and transformed into a common frame, in
                  order to achieve a nearly full spherical
                  perception. However, this is only possible if the
                  kinetic chains of the platforms are known exactly,
                  that is, if the LiDAR pose w.r.t. to its rotation
                  center is well known. The manual measurement of
                  these chains is often very cumbersome or sometimes
                  even impossible to do with the necessary
                  precision. Our paper proposes a method to calibrate
                  the extrinsic LiDAR parameters by decoupling the
                  rotation from the full six degrees of freedom
                  transform and optimizing both separately. Thus, one
                  error measure for the orientation and one for the
                  translation with known orientation are minimized
                  subsequently with a combination of a consecutive
                  grid search and a gradient descent. Both error
                  measures are inferred from spherical calibration
                  targets. Our experiments with the method suggest
                  that the main influences on the calibration results
                  come from the the distance to the calibration
                  targets, the accuracy of their center point
                  estimation and the search grid resolution. However,
                  our proposed calibration method improves the
                  extrinsic parameters even with unfavourable
                  configurations and from inaccurate initial pose
                  guesses.},
}

Perceiving its environment in 3D is an important ability for a modern robot. Today, this is often done using LiDARs which come with a strongly limited field of view (FOV), however. To extend their FOV, the sensors are mounted on driving vehicles in several different ways. This allows 3D perception even with 2D LiDARs if a corresponding localization system or technique is available. Another popular way to gain most information of the scanners is to mount them on a rotating carrier platform. In this way, their measurements in different directions can be collected and transformed into a common frame, in order to achieve a nearly full spherical perception. However, this is only possible if the kinetic chains of the platforms are known exactly, that is, if the LiDAR pose w.r.t. to its rotation center is well known. The manual measurement of these chains is often very cumbersome or sometimes even impossible to do with the necessary precision. Our paper proposes a method to calibrate the extrinsic LiDAR parameters by decoupling the rotation from the full six degrees of freedom transform and optimizing both separately. Thus, one error measure for the orientation and one for the translation with known orientation are minimized subsequently with a combination of a consecutive grid search and a gradient descent. Both error measures are inferred from spherical calibration targets. Our experiments with the method suggest that the main influences on the calibration results come from the the distance to the calibration targets, the accuracy of their center point estimation and the search grid resolution. However, our proposed calibration method improves the extrinsic parameters even with unfavourable configurations and from inaccurate initial pose guesses.

@inproceedings{Donner-etAl_2019_Extraktion-bergbaulich,
  author    = {Ralf Donner and Matthias Rabel and Ingrid Scholl
               and Alexander Ferrein and Marc Donner and Andreas Geier
	       and Andr{\'e} John and Christian K{\"o}hler and Sebastian Varga},
  title     = {Die Extraktion bergbaulich relevanter Merkmale aus 3D-Punktwolken eines untertagetauglichen mobilen Multisensorsystems},
  booktitle = {Tagungsband Geomonitoring},
  pages     = {91 -- 110},
  doi       = {10.15488/4515},
  year      = {2019},
}

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  2019
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@proceedings{2018cogrob,
  editor    = {Gerald Steinbauer and
               Alexander Ferrein},
  title     = {Proceedings of the 11th Cognitive Robotics Workshop 2018, co-located
               with 16th International Conference on Principles of Knowledge Representation
               and Reasoning, CogRob@KR 2018, Tempe, AZ, USA, October 27th, 2018},
  series    = {{CEUR} Workshop Proceedings},
  volume    = {2325},
  publisher = {CEUR-WS.org},
  year      = {2019},
  url       = {http://ceur-ws.org/Vol-2325},
  urn       = {urn:nbn:de:0074-2325-7},
  timestamp = {Tue, 28 May 2019 16:23:42 +0200},
  biburl    = {https://dblp.org/rec/bib/conf/kr/2018cogrob},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}



%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2018
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@inproceedings{AlhwarinFS18a,
  author    = {Faraj Alhwarin and
               Alexander Ferrein and
               Ingrid Scholl},
  title     = {An Efficient Hashing Algorithm for {NN} Problem in {HD} Spaces},
  booktitle = {Pattern Recognition Applications and Methods - 7th International Conference,
               {ICPRAM} 2018, Funchal, Madeira, Portugal, January 16-18, 2018, Revised
               Selected Papers},
  pages     = {101--115},
  year      = {2018},
  editor    = {Maria {De Marsico} and
               Gabriella Sanniti di Baja and
               Ana L. N. Fred},
  series    = {Lecture Notes in Computer Science},
  volume    = {11351},
  publisher = {Springer},
  year      = {2019},
}

@proceedings{TRROS2018,
  booktitle    = {Workshop on Teaching Robotics with ROS (held at the European Robotics Forum) (TRROS2018)},
  title        = {Proceedings of the Workshop on Teaching Robotics with ROS (held at ERF 2018) (TRROS2018)},
  year         = 2018,
  editor       = {Stefan Schiffer and Alexander Ferrein and Mukunda Bharatheesha and Carlos Hern{\'a}ndez Corbato},
  number       = 2329,
  series       = {CEUR Workshop Proceedings},
  address      = {Aachen},
  issn         = {1613-0073},
  url          = {http://ceur-ws.org/Vol-2329/},
  venue        = {Tampere, Finland},
  eventdate    = {2018-03-15},
  keywords     = {ROSin},
}

@inproceedings{Matare:EtAl:CogRob2018:gologpp,
  title     = {golog++ : An Integrative System Design},
  author    = {Victor Matar{\'{e}} and Stefan Schiffer and Alexander Ferrein},
  pages     = {29--35},
  booktitle = {Proceedings of the 11th Cognitive Robotics Workshop 2018 (CogRob),
               co-located with the 16th International Conference on
	       Principles of Knowledge Representation and Reasoning, CogRob@KR 2018},
  year      = 2018,
  location  = {Tempe, AZ, USA},
  editor    = {Gerald Steinbauer and Alexander Ferrein},
  volume    = {2325},
  publisher = {CEUR-WS.org},
  series    = {CEUR Workshop Proceedings},
  address   = {Aachen},
  issn      = {1613-0073},
  url       = {http://ceur-ws.org/Vol-2325/#paper-06},
  url_proc  = {http://ceur-ws.org/Vol-2325/},
  venue     = {Tempe, AZ, USA},
  eventdate = {2018-10-27},
  keywords     = {ConTrAkt, high-level programming, golog, agent programming},
  abstract     = {Golog is a language family with great untapped
                  potential. We argue that it could become a practical
                  and widely usable high-level control language, if
                  only it had an implementation that is usable in a
                  production environment. In this paper, we do not
                  specify another Golog interpreter, but an extensible
                  C++ framework that defines a coherent grammar,
                  developer tool support, internal/external
                  consistency checking with clean error handling, and
                  a simple, portable platform interface. The framework
                  specifically does not implement language
                  semantics. For this purpose we can simply hook into
                  any of the many existing implementations that do
                  very well in implementing language semantics, but
                  fall short in regards to interfacing, portability,
                  usability and practicality in general.},
}

Golog is a language family with great untapped potential. We argue that it could become a practical and widely usable high-level control language, if only it had an implementation that is usable in a production environment. In this paper, we do not specify another Golog interpreter, but an extensible C++ framework that defines a coherent grammar, developer tool support, internal/external consistency checking with clean error handling, and a simple, portable platform interface. The framework specifically does not implement language semantics. For this purpose we can simply hook into any of the many existing implementations that do very well in implementing language semantics, but fall short in regards to interfacing, portability, usability and practicality in general.

@Article{ Schiffer:Ferrein:MTI2018:ERiKA,
  author       = {Schiffer, Stefan and Ferrein, Alexander},
  title        = {{ERIKA} -- {Early Robotics Introduction at Kindergarten Age}},
  journal      = {Multimodal Technologies and Interaction},
  year         = {2018},
  volume       = {2},
  number       = {4},
  article-number = {64},
  url          = {http://www.mdpi.com/2414-4088/2/4/64},
  issn         = {2414-4088},
  abstract     = {In this work, we report on our attempt to design and
                  implement an early introduction to basic robotics
                  principles for children at kindergarten age. One of
                  the main challenges of this effort is to explain
                  complex robotics contents in a way that pre-school
                  children could follow the basic principles and ideas
                  using examples from their world of experience. What
                  sets apart our effort from other work is that part
                  of the lecturing is actually done by a robot itself
                  and that a quiz at the end of the lesson is done
                  using robots as well. The humanoid robot Pepper from
                  Softbank, which is a great platform for human-robot
                  interaction experiments, was used to present a
                  lecture on robotics by reading out the contents to
                  the children making use of its speech synthesis
                  capability. A quiz in a Runaround-game-show style
                  after the lecture activated the children to recap
                  the contents they acquired about how mobile robots
                  work in principle. In this quiz, two LEGO Mindstorm
                  EV3 robots were used to implement a strongly
                  interactive scenario. Besides the thrill of being
                  exposed to a mobile robot that would also react to
                  the children, they were very excited and at the same
                  time very concentrated. We got very positive
                  feedback from the children as well as from their
                  educators. To the best of our knowledge, this is one
                  of only few attempts to use a robot like Pepper not
                  as a tele-teaching tool, but as the teacher itself
                  in order to engage pre-school children with complex
                  robotics contents.},
  doi          = {10.3390/mti2040064},
}


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  2019
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  2019
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  LEGACY
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2019
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

In this work, we report on our attempt to design and implement an early introduction to basic robotics principles for children at kindergarten age. One of the main challenges of this effort is to explain complex robotics contents in a way that pre-school children could follow the basic principles and ideas using examples from their world of experience. What sets apart our effort from other work is that part of the lecturing is actually done by a robot itself and that a quiz at the end of the lesson is done using robots as well. The humanoid robot Pepper from Softbank, which is a great platform for human-robot interaction experiments, was used to present a lecture on robotics by reading out the contents to the children making use of its speech synthesis capability. A quiz in a Runaround-game-show style after the lecture activated the children to recap the contents they acquired about how mobile robots work in principle. In this quiz, two LEGO Mindstorm EV3 robots were used to implement a strongly interactive scenario. Besides the thrill of being exposed to a mobile robot that would also react to the children, they were very excited and at the same time very concentrated. We got very positive feedback from the children as well as from their educators. To the best of our knowledge, this is one of only few attempts to use a robot like Pepper not as a tele-teaching tool, but as the teacher itself in order to engage pre-school children with complex robotics contents.

@inproceedings{HofmannMNSHLNFJ18,
  author    = {Till Hofmann and Victor Matar{\'{e}} and Tobias Neumann
                  and Sebastian Sch{\"{o}}nitz and Christoph Henke and
                  Nicolas Limpert and Tim Niemueller and Alexander
                  Ferrein and Sabina Jeschke and Gerhard Lakemeyer},
  title     = {Enhancing Software and Hardware Reliability for a
                  Successful Participation in the RoboCup Logistics
                  League 2017},
  editor    = {Hidehisa Akiyama and Oliver Obst and Claude Sammut and
                  Flavio Tonidandel},
  booktitle = {RoboCup 2017: Robot World Cup {XXI}},
  pages     = {486--497},
  series    = {Lecture Notes in Computer Science},
  volume    = {11175},
  publisher = {Springer},
  year      = {2018},
  keywords  = {ConTrAkt},
}


%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2017
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@inproceedings{Ferrein0K17,
  author    = {Alexander Ferrein and Stefan Schiffer and Stephan
                  Kallweit},
  title     = {The {ROSIN} Education Concept - Fostering {ROS}
                  Industrial-Related Robotics Education in Europe},
  booktitle = {{ROBOT} 2017: Third Iberian Robotics Conference - Volume 2},
  pages     = {370--381},
  year      = {2017},
  editor    = {An{\'{\i}}bal Ollero and Alberto Sanfeliu and Luis
                  Montano and Nuno Lau and Carlos Cardeira},
  series    = {Advances in Intelligent Systems and Computing},
  volume    = {694},
  publisher = {Springer},
  year      = {2018},
  keywords  = {ROSin},
}


%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2016
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@InProceedings{ Scholl:Suder:Schiffer:BVM2018:MedicVR,
  title        = "{Direct Volume Rendering in Virtual Reality}",
  author       = "Scholl, Ingrid and Suder, Sebastian and Schiffer, Stefan",
  editor       = "Maier, Andreas and Deserno, Thomas M. and Handels, Heinz and Maier-Hein, Klaus Hermann and Palm, Christoph and Tolxdorff, Thomas",
  booktitle    = "Bildverarbeitung f{\"u}r die Medizin 2018",
  year         = "2018",
  month        = "March",
  day          = "10--12",
  publisher    = "Springer",
  address      = "Berlin, Heidelberg",
  pages        = "297--302",
  isbn         = "978-3-662-56537-7",
  doi          = "10.1007/978-3-662-56537-7_79",
  springerlink = "https://link.springer.com/chapter/10.1007/978-3-662-56537-7_79",
  abstract     = "Direct Volume Rendering (DVR) techniques are used to
                  visualize surfaces from 3D volume data sets, without
                  computing a 3D geometry. Several surfaces can be
                  classified using a transfer function by assigning
                  optical properties like color and opacity
                  (RGB$\alpha$) to the voxel data. Finding a good
                  transfer function in order to separate specific
                  structures from the volume data set, is in general a
                  manual and time-consuming procedure, and requires
                  detailed knowledge of the data and the image
                  acquisition technique. In this paper, we present a
                  new Virtual Reality (VR) application based on the
                  HTC Vive headset. Onedimensional transfer functions
                  can be designed in VR while continuously rendering
                  the stereoscopic image pair through massively
                  parallel GPUbased ray casting shader techniques. The
                  usability of the VR application is evaluated.",
}

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2017
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

Direct Volume Rendering (DVR) techniques are used to visualize surfaces from 3D volume data sets, without computing a 3D geometry. Several surfaces can be classified using a transfer function by assigning optical properties like color and opacity (RGB$α$) to the voxel data. Finding a good transfer function in order to separate specific structures from the volume data set, is in general a manual and time-consuming procedure, and requires detailed knowledge of the data and the image acquisition technique. In this paper, we present a new Virtual Reality (VR) application based on the HTC Vive headset. Onedimensional transfer functions can be designed in VR while continuously rendering the stereoscopic image pair through massively parallel GPUbased ray casting shader techniques. The usability of the VR application is evaluated.

@inproceedings{HofmannEtAl:AAAI-SS2018-SIRLE:ConTrAkt,
  author       = {Till Hofmann and Victor Matar{\'e} and Stefan Schiffer and Alexander Ferrein and Gerhard Lakemeyer},
  title        = {Constraint-based online transformation of abstract plans into executable robot actions},
  booktitle    = {Proceedings of the 2018 AAAI Spring Symposium on
                  Integrating Representation, Reasoning, Learning, and Execution for Goal Directed Autonomy},
  editor       = {Siddharth Srivastava and Shiqi Zhang and Nick Hawes and Erez Karpas
                  and George Konidaris and Matteo Leonetti and Mohan Sridharan and Jeremy Wyatt},
  year         = {2018},
  month        = {March},
  day          = {26--28},
  location     = {Stanford University, CA, USA},
  pages        = {549--553},
  url_Symposium = {http://siddharthsrivastava.net/sirle18/},
  url_Session  = {https://aaai.org/Symposia/Spring/sss18symposia.php#ss06},
  abstract     = {In this paper, we are concerned with making the
                  execution of abstract action plans for robotic
                  agents more robust. To this end, we propose to model
                  the internals of a robot system and its ties to the
                  actions that the robot can perform. Based on these
                  models, we propose an online transformation of an
                  abstract plan into executable actions conforming
                  with system specifics. With our framework we aim to
                  achieve two goals. For one, modeling the system
                  internals is beneficial in its own right in order to
                  achieve longer term autonomy as well as system
                  transparency and comprehensibility. For another,
                  separating the system details from determining the
                  course of action on an abstract level leverages the
                  use of planning for actual robotic systems.},
}

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2017
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2016
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

In this paper, we are concerned with making the execution of abstract action plans for robotic agents more robust. To this end, we propose to model the internals of a robot system and its ties to the actions that the robot can perform. Based on these models, we propose an online transformation of an abstract plan into executable actions conforming with system specifics. With our framework we aim to achieve two goals. For one, modeling the system internals is beneficial in its own right in order to achieve longer term autonomy as well as system transparency and comprehensibility. For another, separating the system details from determining the course of action on an abstract level leverages the use of planning for actual robotic systems.

@inproceedings{Alhwarin0FS18,
  author    = {Faraj Alhwarin and Stefan Schiffer and Alexander Ferrein and Ingrid Scholl},
  editor    = {Sheldon Wiebe and Hugo Gamboa and Ana L. N. Fred and Sergi Berm{\'{u}}dez i Badia},
  title     = {{Optimized KinectFusion Algorithm for 3D Scanning Applications}},
  booktitle = {Proceedings of the 11th International Joint Conference on Biomedical
               Engineering Systems and Technologies ({BIOSTEC} 2018) },
  volume       = {2: BIOIMAGING},
  pages     = {50--57},
  publisher = {SciTePress},
  isbn      = {978-989-758-278-3},
  year      = {2018},
  doi          = {10.5220/0006594700500057},
  url_scitepress = {http://www.scitepress.org/PublicationsDetail.aspx?ID=dZs8lGPb760=&t=1},
  note      = {Best Paper Candidate (Short Listed)},
  keywords  = {BodyScanner},
  abstract     = {KinectFusion is an effective way to reconstruct
                  indoor scenes. It takes a depth image stream and
                  uses the iterative closests point (ICP) method to
                  estimate the camera motion. Then it merges the
                  images in a volume to construct a 3D model. The
                  model accuracy is not satisfactory for certain
                  applications such as scanning a human body to
                  provide information about bone structure health. For
                  one reason, camera noise and noise in the ICP method
                  limit the accuracy. For another, the error in
                  estimating the global camera poses accumulates. In
                  this paper, we present a method to optimize
                  KinectFusion for 3D scanning in the above
                  scenarios. We aim to reduce the noise influence on
                  camera pose tracking. The idea is as follows: in our
                  application scenarios we can always assume that
                  either the camera rotates around the object to be
                  scanned or that the object rotates in front of the
                  camera. In both cases, the relative camera/object
                  pose is located on a 3D-circle. Therefore, camera
                  motion can be described as a rotation around a fixed
                  axis passing through a fixed point. Since the axis
                  and the center of rotation are always fixed, the
                  error averaging principle can be utilized to reduce
                  the noise impact and hence to enhance the 3D model
                  accuracy of scanned object.},
}

KinectFusion is an effective way to reconstruct indoor scenes. It takes a depth image stream and uses the iterative closests point (ICP) method to estimate the camera motion. Then it merges the images in a volume to construct a 3D model. The model accuracy is not satisfactory for certain applications such as scanning a human body to provide information about bone structure health. For one reason, camera noise and noise in the ICP method limit the accuracy. For another, the error in estimating the global camera poses accumulates. In this paper, we present a method to optimize KinectFusion for 3D scanning in the above scenarios. We aim to reduce the noise influence on camera pose tracking. The idea is as follows: in our application scenarios we can always assume that either the camera rotates around the object to be scanned or that the object rotates in front of the camera. In both cases, the relative camera/object pose is located on a 3D-circle. Therefore, camera motion can be described as a rotation around a fixed axis passing through a fixed point. Since the axis and the center of rotation are always fixed, the error averaging principle can be utilized to reduce the noise impact and hence to enhance the 3D model accuracy of scanned object.

@inproceedings{AlhwarinFS18,
  author    = {Faraj Alhwarin and Alexander Ferrein and Ingrid Scholl},
  title     = {{CRVM:} Circular Random Variable-based Matcher - {A} Novel Hashing
               Method for Fast {NN} Search in High-dimensional Spaces},
  booktitle = {Proceedings of the 7th International Conference on Pattern Recognition
               Applications and Methods, {ICPRAM} 2018},
  pages     = {214--221},
  year      = {2018},
  editor    = {Maria De Marsico and Gabriella Sanniti di Baja and Ana L. N. Fred},
  publisher = {SciTePress},
  year      = {2018},
  isbn      = {978-989-758-276-9},
}

@Proceedings{MarcoF17,
  title = 	 {AGNES: The African-German Network of Excellence in Science},
  year = 	 {2017},
  OPTbooktitle = {Proceedings of the 2nd Developing World Robotics
                  Forum, Workshop at IEEE AFRICON 2017},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@inproceedings{WalentaSFS17,
	Author = {R. Walenta and T. Schellekens and A. Ferrein and S. Schiffer},
	Booktitle = {2017 IEEE AFRICON},
	Date-Added = {2018-04-19 21:28:26 +0000},
	Date-Modified = {2018-04-19 21:28:26 +0000},
	Doi = {10.1109/AFRCON.2017.8095693},
	Journal = {2017 IEEE AFRICON},
	Journal1 = {2017 IEEE AFRICON},
	Keywords = {automatic guided vehicles; control engineering computing; decentralised control; industrial robots; materials handling; middleware; mobile robots; motion control; multi-robot systems; path planning; AGV; Robot Operating System; centralised controllers; conflict-free routing; current industrial state; decentralised control; decentralised system approach; dynamic path planning; industrial applications; intra-logistic applications; material transportation tasks; mobile robotics solutions; motion control; multiple automated guided vehicles; navigation algorithms; noncentralised control; predefined paths; robotics applications; robust path planning; system architecture; testing phase; traffic coordination; Navigation; Operating systems; Path planning; Robot kinematics; Service robots},
	Pages = {1436--1441},
	Title = {A decentralised system approach for controlling AGVs with ROS},
	Ty = {CONF},
	Year = {2017},
	Year1 = {18-20 Sept. 2017},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/AFRCON.2017.8095693}}

@InCollection{NiemuellerZLLRJF17,
  author = 	 {Tim Niemueller and Frederik Zwilling and Gerhard
                  Lakemeyer and Matthias L{\"o}bach and Sebastian
                  Reuter and Sabina Jeschke and Alexander Ferrein},
  title = 	 {{Cyber-Physical System Intelligence -- Knowledge-Based Mobile Robot Autonomy in an Industrial Scenario}},
  booktitle = 	 {Industrial Internet of Things --- Cybermanufacturing Systems},
  OPTcrossref =  {},
  OPTkey = 	 {},
  OPTpages = 	 {},
  publisher =    {Springer},
  year = 	 {2017},
  editor = 	 {Houbing Song and Sabina Jeschke and Christian
                  Brecher and Danda Rawat},
  pages="447--472",
  isbn="978-3-319-42559-7",

  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTtype = 	 {},
  OPTchapter = 	 {},
  OPTaddress = 	 {},
  OPTedition = 	 {},
  OPTmonth = 	 {},
  OPTannote = 	 {},
doi="doi:10.1007/978-3-319-42559-7_17",
url="http://dx.doi.org/10.1007/978-3-319-42559-7_17"
}

@inproceedings{ Suder:Scholl:Schiffer:GTC-Europe2017:ReVolVR,
  title        = {{ReVolVR} -- Rendering Volume Data in {VR} using {HTC Vive}},
  author       = {Sebastian Suder and Stefan Schiffer and Ingrid Scholl},
  booktitle    = {GTC Europe 2017},
  year         = {2017},
  month        = {October 10-12},
  location     = {Munich},
  ID           = {ID 23055},
  keywords     = {Virtual Reality, Volumen Rendering, HTC Vive},
  url          = {http://on-demand-gtc.gputechconf.com/gtc-quicklink/PzLIdd},
  abstract     = {ReVolVR is a new Virtual Reality (VR) volume
                  rendering application based on the HTC Vive VR
                  technique. The application uses the ray casting
                  algorithm for direct volume rendering. Ray casting
                  needs a transfer function to classify several
                  surfaces. To find a good transfer function is in
                  general a manual and time-consuming procedure and
                  requires detailed knowledge of the data. With
                  ReVolVr, the transfer function can be modified in
                  the virtual scene while continuously real-time
                  rendering the stereoscopic 3D volume through
                  GPU-based ray casting shader. All interactions are
                  designed to conveniently reflect to real movements
                  of the user.},
}

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2016
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2015
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2014
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2013
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2012
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2011
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

ReVolVR is a new Virtual Reality (VR) volume rendering application based on the HTC Vive VR technique. The application uses the ray casting algorithm for direct volume rendering. Ray casting needs a transfer function to classify several surfaces. To find a good transfer function is in general a manual and time-consuming procedure and requires detailed knowledge of the data. With ReVolVr, the transfer function can be modified in the virtual scene while continuously real-time rendering the stereoscopic 3D volume through GPU-based ray casting shader. All interactions are designed to conveniently reflect to real movements of the user.

@inproceedings{SchifferF16,
  author    = {Stefan Schiffer and Alexander Ferrein},
  title     = {A System Layout for Cognitive Service Robots},
  booktitle = {Cognitive Robot Architectures, Proceedings of
                  EUCognition 2016},
  pages     = {44--45},
  year      = {2016},
  editor    = {Ron Chrisley and Vincent C. M{\"{u}}ller and Yulia
                  Sandamirskaya and Markus Vincze},
  title     = {Cognitive Robot Architectures, Proceedings of EUCognition 2016 European
               Association for Cognitive Systems, Vienna, 8-9 December, 2016},
  series    = {{CEUR} Workshop Proceedings},
  volume    = {1855},
  publisher = {CEUR-WS.org},
  year      = {2017},
  url       = {http://ceur-ws.org/Vol-1855},
  urn       = {urn:nbn:de:0074-1855-C},
  timestamp = {Wed, 28 Jun 2017 09:23:18 +0200},
  biburl    = {https://dblp.org/rec/bib/conf/eucognition/2016},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

@inproceedings{StopforthF16,
	Abstract = {The design of robotic systems involves implementation of Mechatronic Engineering principles stemming from the integration of Mechanical, Electronic and Computer engineering. The diverse nature of this integration poses a challenge for established and novice researchers to specialize within these fields. Collaboration between researchers and institutes offers many advantages such as easy access to experience and specialization for the design of robotic systems, access to a wider spectrum of resources and shortened design times. A number of challenges exist that thwart collaborative efforts within institutions and across institutions both nationally and globally. This paper presents the advantages and challenges experienced with initiating a multi-national research collaboration entity between South Africa and More Economic Developed Countries (MEDCs). The impact of the initiative on robotics education in South Africa is also discussed.},
	Author = {R. Stopforth and S. Davrajh and A. Ferrein},
	Booktitle = {2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech)},
	Date-Added = {2018-04-19 21:36:19 +0000},
	Date-Modified = {2018-04-19 21:36:19 +0000},
	Doi = {10.1109/RoboMech.2016.7813144},
	Journal = {2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech)},
	Journal1 = {2016 Pattern Recognition Association of South Africa and Robotics and Mechatronics International Conference (PRASA-RobMech)},
	Keywords = {control engineering education; control system synthesis; mechatronics; research initiatives; robots; MEDC; More Economic Developed Countries; South African robotics entity; collaboration initiative; computer engineering; electronic engineering; mechanical engineering; mechatronic engineering; multinational research collaboration entity; robotic system design; robotics education; Autonomous systems; Collaboration; Education; Industries; International collaboration; Mechatronics; Robots; Mechatronics centre; Research collaboration; Robotics},
	Pages = {1--6},
	Title = {South African robotics entity for a collaboration initiative},
	Ty = {CONF},
	Year = {2016},
	Year1 = {Nov. 30 2016-Dec. 2 2016},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/RoboMech.2016.7813144}}

The design of robotic systems involves implementation of Mechatronic Engineering principles stemming from the integration of Mechanical, Electronic and Computer engineering. The diverse nature of this integration poses a challenge for established and novice researchers to specialize within these fields. Collaboration between researchers and institutes offers many advantages such as easy access to experience and specialization for the design of robotic systems, access to a wider spectrum of resources and shortened design times. A number of challenges exist that thwart collaborative efforts within institutions and across institutions both nationally and globally. This paper presents the advantages and challenges experienced with initiating a multi-national research collaboration entity between South Africa and More Economic Developed Countries (MEDCs). The impact of the initiative on robotics education in South Africa is also discussed.

@InProceedings{DavrajhSF16,
  author = 	 {S. Davrajh and R. Stopforth and A. Ferrein},
  title = 	 {South African Robotics Entity for
North-South Collaboration Initiative},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {Proceedings of the 2016 PRASA-ROBMECH},
  OPTpages = 	 {},
  year = 	 {2016},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InProceedings{ZugEtAl16,
  author = 	 {Sebastian Zug and Tim Niemueller and Nico
                  Hochgeschwender and Kai Seidensticker and Martin
                  Seidel and Tim Friedrich and Tobias Neumann and
                  Ulrich Karras and Gerhard Kraetzschmar and Alexander
                  Ferrein},
  title = 	 {{An Integration Challenge to Bridge the Gap among
                  Industry-inspired RoboCup Leagues}},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {Proceedings of the RoboCup Symposium},
  OPTpages = 	 {},
  year = 	 {2016},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  optnote = 	 {to appear},
  OPTannote = 	 {}
}

@InProceedings{FerreinMMNSV16,
  author    = {Alexander Ferrein and Christopher Maier and Clemens
                  M{\"{u}}hlbacher and Tim Niemueller and Gerald
                  Steinbauer and Stavros Vassos},
  title     = {Controlling Logistics Robots with the Action-Based Language {YAGI}},
  booktitle = {{ICIRA} {(1)}},
  series    = {Lecture Notes in Computer Science},
  volume    = {9834},
  pages     = {525--537},
  publisher = {Springer},
  year      = {2016}
}

@Article{FerreinSBS16,
  author = 	 {Alexander Ferrein and Stefan Schiffer and Tracy
                  Booysen and Riaan Stopforth},
  title = 	 {Why it is harder to run RoboCup in South Africa: Experiences from German-South African Collaborations},
  journal = 	 {International Journal of Robotics and Autonomous Systems},
  year = 	 {2016},
  publisher =    {SAGE},
  OPTkey = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  pages = 	 {1--13},
  doi =          {0.1177/1729881416662789},
  OPTmonth = 	 {},
  OPTannote = 	 {}
}

@article{DBLP:journals/ki/FerreinS16b,
  author    = {Alexander Ferrein and
               Gerald Steinbauer},
  title     = {The Interplay of Aldebaran and RoboCup - Interview with
                  Rodolphe Gelin, Executive Vice President-Chief
                  Scientific Officer, Aldebaran Robotics},
  journal   = {{KI}},
  volume    = {30},
  number    = {3-4},
  pages     = {325--326},
  year      = {2016},
  doi = {doi:10.1007/s13218-016-0440-1},
  url = {http://link.springer.com/article/10.1007%2Fs13218-016-0440-1}
}

@article{DBLP:journals/ki/SteinbauerF16,
  author    = {Gerald Steinbauer and
               Alexander Ferrein},
  title     = {20 Years of RoboCup},
  journal   = {{KI}},
  volume    = {30},
  number    = {3-4},
  pages     = {221--224},
  year      = {2016}, 
  doi       ={doi:10.1007/s13218-016-0442-z},
  url       ={http://link.springer.com/article/10.1007%2Fs13218-016-0442-z} 
}

@article{DBLP:journals/ki/FerreinS16,
  author    = {Alexander Ferrein and
               Gerald Steinbauer},
  title     = {20 Years of RoboCup - {A} Subjective Retrospection},
  journal   = {{KI}},
  volume    = {30},
  number    = {3-4},
  pages     = {225--232},
  year      = {2016}, 
  doi       = {doi:10.1007/s13218-016-0449-5},
  url       = {http://link.springer.com/article/10.1007%2Fs13218-016-0449-5},
}

@article{DBLP:journals/ki/FerreinS16a,
  author    = {Alexander Ferrein and
               Gerald Steinbauer},
  title     = {Looking Back on 20 Years of RoboCup - Interview with Minoru Asada,
               Co-Founder of RoboCup},
  journal   = {{KI}},
  volume    = {30},
  number    = {3-4},
  pages     = {321--323},
  year      = {2016},
  doi = {doi:10.1007/s13218-016-0443-y},
  url = {http://link.springer.com/article/10.1007%2Fs13218-016-0443-y}
}

@article{DBLP:journals/ki/FerreinS16c,
  author    = {Alexander Ferrein and
               Gerald Steinbauer},
  title     = {Looking back on 20 Years of RoboCup - Interview with Hans-Arthur Marsiske,
               Writer and Journalist},
  journal   = {{KI}},
  volume    = {30},
  number    = {3-4},
  pages     = {327--331},
  year      = {2016},
  doi = {doi:10.1007/s13218-016-0441-0},
  url = {http://link.springer.com/article/10.1007%2Fs13218-016-0441-0}
}

@InCollection{NiemuellerLRJF16,
  author = 	 {Tim Niemueller and Gerhard Lakemeyer and Sebastian
                  Reuter and Sabina Jeschke and Alexander Ferrein},
  title = 	 {{Benchmarking of Cyber-Physical Systems in Industrial
                  Robotics -- The RoboCup Logistics League as a CPS Benchmark Blueprint}},
  booktitle = 	 {Cyber-Physical Systems: Foundations, Principles and Applications},
  OPTcrossref =  {},
  OPTkey = 	 {},
  OPTpages = 	 {},
  publisher =    {Elsevier},
  year = 	 {2016},
  editor = 	 {Houbing Song and Danda Rawat and Sabina Jeschke and Christian Brecher},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTtype = 	 {},
  OPTchapter = 	 {},
  OPTaddress = 	 {},
  OPTedition = 	 {},
  OPTmonth = 	 {},
  optnote = 	 {to appear},
  OPTannote = 	 {}, 

}

@inproceedings{NiemuellerRFJL16,
  author    = {Tim Niemueller and Sebastian Reuter and Alexander
                  Ferrein and Sabina Jeschke and Gerhard Lakemeyer},
  title     = {Evaluation of the RoboCup Logistics League and Derived Criteria for
               Future Competitions},
  editor    = {Luis Almeida and Jianmin Ji and Gerald Steinbauer and
                  Sean Luke},
  booktitle = {RoboCup 2015: Robot World Cup {XIX}},
  pages     = {31--43},
  year      = {2016},
  volume    = {9513},
  series    = {Lecture Notes in Computer Science},
  publisher = {Springer},
  url       = {http://dx.doi.org/10.1007/978-3-319-29339-4_3},
  doi       = {10.1007/978-3-319-29339-4_3},
}

@inproceedings{NiemuellerREFJL16,
  author    = {Tim Niemueller and Sebastian Reuter and Daniel Ewert
                  and Alexander Ferrein and Sabina Jeschke and Gerhard
                  Lakemeyer},
  title     = {The Carologistics Approach to Cope with the Increased
                  Complexity and New Challenges of the RoboCup
                  Logistics League 2015},
  booktitle = {RoboCup 2015: Robot World Cup {XIX}},
  editor    = {Luis Almeida and Jianmin Ji and Gerald Steinbauer and
                  Sean Luke},
  pages     = {47--59},
  year      = {2016},
  volume    = {9513},
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  url       = {http://dx.doi.org/10.1007/978-3-319-29339-4_4},
  doi       = {10.1007/978-3-319-29339-4_4},
}

@inproceedings{NiemuellerRF16,
  author    = {Tim Niemueller and Sebastian Reuter and Alexander
                  Ferrein},
  title     = {Fawkes for the RoboCup Logistics League},
  booktitle = {RoboCup 2015: Robot World Cup {XIX}},
  pages     = {365--373},
  editor    = {Luis Almeida and Jianmin Ji and Gerald Steinbauer and
                  Sean Luke},
  series    = {Lecture Notes in Computer Science},
  volume    = {9513},
  publisher = {Springer},
  year      = {2016},
  url       = {http://dx.doi.org/10.1007/978-3-319-29339-4_31},
  doi       = {10.1007/978-3-319-29339-4_31},
}



%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2015
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@article{DBLP:journals/jfr/LeingartnerMFS16,
  author    = {Max Leingartner and
               Johannes Maurer and
               Alexander Ferrein and
               Gerald Steinbauer},
  title     = {Evaluation of Sensors and Mapping Approaches for Disasters in Tunnels},
  journal   = {J. Field Robotics},
  volume    = {33},
  number    = {8},
  pages     = {1037--1057},
  year      = {2016},
  url       = {https://doi.org/10.1002/rob.21611},
  doi       = {10.1002/rob.21611},
  timestamp = {Sun, 28 May 2017 13:20:49 +0200},
  biburl    = {https://dblp.org/rec/bib/journals/jfr/LeingartnerMFS16},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

@Article{ Schiffer:KI2016:Integrating,
  author       = "Stefan Schiffer",
  title        = "Integrating Qualitative Reasoning and Human-Robot Interaction in Domestic Service Robotics",
  journal      = "KI - K{\"u}nstliche Intelligenz",
  year         = "2016",
  volume       = "30",
  number       = "3",
  pages        = "257--265",
  issn         = "1610-1987",
  doi          = "10.1007/s13218-016-0436-x",
  url          = "http://dx.doi.org/10.1007/s13218-016-0436-x",
  url_Springer = {https://link.springer.com/article/10.1007/s13218-016-0436-x},
  abstract     = "In this paper we discuss a system layout for
                  cognitive service robots and our implementation of
                  such a system. Our focus is on integrating
                  qualitative reasoning and human-robot
                  interaction. After introducing the domestic service
                  robotics domain with its challenges and the
                  RoboCup@Home initiative we present our robot
                  platform, its basic capabilities and its high-level
                  reasoning system. Then, we discuss a system layout
                  for a cognitive service robot in domestic domains,
                  and we show how components of our service robot
                  implement elements of such a system layout. We
                  discuss strengths and limitations of these
                  components and of the overall system.",
}

In this paper we discuss a system layout for cognitive service robots and our implementation of such a system. Our focus is on integrating qualitative reasoning and human-robot interaction. After introducing the domestic service robotics domain with its challenges and the RoboCup@Home initiative we present our robot platform, its basic capabilities and its high-level reasoning system. Then, we discuss a system layout for a cognitive service robot in domestic domains, and we show how components of our service robot implement elements of such a system layout. We discuss strengths and limitations of these components and of the overall system.

@Article{SchifferF16,
  author = 	 {Stefan Schiffer and Alexander Ferrein},
  title = 	 {Decision-Theoretic Planning with Fuzzy Notions in Golog},
  journal = 	 {International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems},
  year = 	 {2016},
  OPTkey = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTpages = 	 {},
  OPTmonth = 	 {},
  note = 	 {submitted},
  OPTannote = 	 {}
}

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2015
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@InProceedings{LimpertSF15,
  author = 	 {N. Limpert and S. Schiffer and A. Ferrein},
  title = 	 {A Local Planner for Ackermann-Driven Vehicles in ROS SBPL},
  booktitle =    {Proceedings of the International Conference on
                  Pattern Recognition Association of South Africa and
                  Robotics and Mechatronics (PRASA-RobMech-2015)},
  year = 	 {2015},
  pages={172-177},
  publisher = {IEEE},
}

@InProceedings{FerreinMMNSV15,
  author = 	 {Alexander Ferrein and Christopher Maier and Clemens
                  M{\"u}hlbacher and Tim Niemueller and Gerald
                  Steinbauer and Stavros Vassos},
  title = 	 {Controlling Logistics Robots with the Action-based Language YAGI},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {Proceedings of the 2015 IROS Workshop on Workshop on
                  Task Planning for Intelligent Robots in Service and
                  Manufacturing},
  OPTpages = 	 {},
  year = 	 {2015},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InProceedings{NiemuellerFRJL15,
  author = 	 {Tim Niemueller and Alexander Ferrein and Sebastian
                  Reuter and Sabina Jeschke and Gerhard Lakemeyer},
  title = 	 {The RoboCup Logistics League as a Holistic Multi-Robot Smart Factory Benchmark},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {Proceedings of the IROS 2015 Open forum on
                  evaluation of results, replication of experiments
                  and benchmarking in robotics research},
  OPTpages = 	 {},
  year = 	 {2015},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@inproceedings{RebelHSF15,
  author    = {S{\"{o}}ren Rebel and Felix H{\"{u}}ning and Ingrid
                  Scholl and Alexander Ferrein},
  title     = {MQOne: Low-Cost Design for a Rugged-Terrain Robot Platform},
  booktitle = {Intelligent Robotics and Applications - Proceedings of
                  the 8th International Conference,
               {ICIRA} },
  pages     = {209--221},
  editor    = {Honghai Liu and Naoyuki Kubota and Xiangyang Zhu and
                  R{\"{u}}diger Dillmann and Dalin Zhou},
  series    = {Lecture Notes in Computer Science},
  volume    = {9245},
  part     = {II},
  year      = {2015},
  optcrossref  = {DBLP:conf/icira/2015-2},
  url       = {http://dx.doi.org/10.1007/978-3-319-22876-1_19},
  doi       = {http://doi.dx.org/10.1007/978-3-319-22876-1_19},
  opttimestamp = {Fri, 21 Aug 2015 11:49:07 +0200},
  optbiburl    = {http://dblp.uni-trier.de/rec/bib/conf/icira/RebelHSF15},
  optbibsource = {dblp computer science bibliography, http://dblp.org}
}

@InProceedings{AlhwarinEtAl15,
  author = 	 {F. Alhwarin and A. Ferrein and A.  Gebhardt and
                  S. Kallweit and I. Scholl and O. Tedjasukmana},
  title = 	 {Improving Additive Manufacturing by Image Processing and Robotic Milling},
  booktitle =    {Proceedings of the 2015 IEEE International Conference on Automation Science and Engineering (CASE-15) },
  OPTpages = 	 {},
  year = 	 {2015},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  publisher = {IEEE},
  pages={924-929},
  doi={http://doi.dx.org/10.1109/CoASE.2015.7294217},
  optnote = 	 {to appear},
  OPTannote = 	 {}
}

@InProceedings{StopforthFS15,
  title = 	 {Europe and South African collaboration on the Mechatronics and Robotics
systems as part of the SA Robotics Centre},
  author = 	 {R. Stopforth and A. Ferrein and G. Steinbauer},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {ICRA 2015 Developing Countries Forum},
  OPTpages = 	 {},
  year = 	 {2015},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InProceedings{BooysenMKFSFG15,
  author = 	 {T. Booysen and Th. Mathew and G. Knox and W. Fong
                  and M. St{\"u}ttgen and A. Ferrein and G. Steinbauer},
  title = 	 {The Scarab Project},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {ICRA 2015 Developing Countries Forum},
  OPTpages = 	 {},
  year = 	 {2015},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InProceedings{NiemuellerLF15,
  author = 	 {T. Niemueller and G. Lakemeyer and A. Ferrein },
  title = 	 {The RoboCup Logistics League as a Benchmark for Planning in Robotics},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {Proceedings of the ICAPS5 Workshop on Planning in Robotics (PlanRob-15)},
  OPTpages = 	 {},
  year = 	 {2015},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InCollection{NiemuellerREFKL15,
  author = 	 {Tim Niemueller and Sebastian Reuter and  Daniel
                  Ewert and  Alexander Ferrein and  Sabina Jeschke and
                  Gerhard Lakemeyer},
  title = 	 {Decisive Factors for the Success of the
                  Carologistics RoboCup Team in the RoboCup Logistics
                  League 2014},
  booktitle = 	 {RoboCup 2014: Robot World Cup XVIII},
  publisher =    {Springer},
  year = 	 {2015},
  editor = 	 {Bianchi, R.A.C. and Akin, H.L. and  Ramamoorthy,
                  S. and  Sugiura, K. },
  OPTvolume = 	 {},
  number = 	 {8992},
  series = 	 {Lecture Notes in Artificial Intelligence},  
}

@InProceedings{EwertEtAl15,
  author = 	 {D. Ewert and A. Ferrein  and S. Jeschke and
                  G. Lakemeyer and T. Niemueller and S. Reuter},
  title = 	 {The RoboCup Logistics League as a Benchmark for Future Production Scenarios},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle = {Cognitive Robotics in future manufacturing
                  scenarios. Workshop at European Robotics Forum 2015 },
  OPTpages = 	 {},
  year = 	 {2015},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@inproceedings{KrueckelNFS15,
  author    = {Kai Kruckel and Florian Nolden and Alexander Ferrein
                  and Ingrid Scholl},
  title     = {Intuitive visual teleoperation for UGVs using free-look augmented
               reality displays},
  booktitle = {{IEEE} International Conference on Robotics and Automation, (ICRA-15)},
  pages     = {4412--4417},
  year      = {2015},
  url       = {http://dx.doi.org/10.1109/ICRA.2015.7139809},
  doi       = {http://doi.dx.org/10.1109/ICRA.2015.7139809},
  timestamp = {Mon, 13 Jul 2015 16:39:42 +0200},
  biburl    = {http://dblp.uni-trier.de/rec/bib/conf/icra/KruckelNFS15},
  bibsource = {dblp computer science bibliography, http://dblp.org},
  publisher = {IEEE},
  year      = {2015},
  keywords  = {UPNS},
}

@inproceedings{KallweitWG15,
  author    = {Stephan Kallweit and Robert Walenta and Michael
                  Gottschalk},
  title     = {{ROS} Based Safety Concept for Collaborative Robots in
                  Industrial Applications},
  booktitle = {Advances in Robot Design and Intelligent Control -
                  Proceedings of the 24th International Conference on
                  Robotics in Alpe-Adria-Danube Region, {RAAD} 2015,
                  Bucharest, Romania, 27-29 May 2015},
  pages     = {27--35},
  year      = {2015},
  series    = {Advances in Intelligent Systems and Computing},
  volume    = {371},
  publisher = {Springer},
  url       = {http://dx.doi.org/10.1007/978-3-319-21290-6_3},
  editor    = {Theodor Borangiu},
  doi       = {10.1007/978-3-319-21290-6_3},
  timestamp = {Mon, 10 Aug 2015 12:37:10 +0200},
  biburl    = {http://dblp.uni-trier.de/rec/bib/conf/raad/KallweitWG15},
  bibsource = {dblp computer science bibliography, http://dblp.org}
}

@InProceedings{SchifferF15,
  author = 	 {S. Schiffer and A. Ferrein },
  title = 	 {Decision-Theoretic Planning with Linguistic Terms in GOLOG},
  booktitle =    {Proceedings of the Workshop on Fuzzy Logic in AI
                  ({FLinAI-15}) co-located with the 24th International
                  Joint Conference on Artificial Intelligence ({IJCAI
                  2015})},
  year = 	 {2015},
  editor = 	 {Irene Diaz and Anca Ralescu and Stefan Schiffer},
  volume = 	 {1424},
  url =          {http://ceur-ws.org/Vol-1424/},
  series    = {{CEUR} Workshop Proceedings},  
}

@inproceedings{schiffer2015abstracting,
  title={Abstracting Away Low-Level Details in Service Robotics with Fuzzy Fluents},
  author={Schiffer, Stefan and Ferrein, Alexander and Lakemeyer, Gerhard},
  optbooktitle={Model-Driven Knowledge Engineering for Improved Software Modularity in Robotics and Automation. Workshop at European Robotics Forum 2015 Vienna, Austria, March 11-13, 2015.},
  booktitle={Model-Driven Knowledge Engineering for Improved Software Modularity in Robotics and Automation. Workshop at European Robotics Forum 2015},
  year={2015}
}

@INPROCEEDINGS{NeumannFKS14,
author={Tobias Neumann and Alexander Ferrein and Stephan Kallweit and
                  Ingrid Scholl},
booktitle={Proceedings of the 7th IEEE Robotics and Mechatronics Conference (RobMech-14)},
title={Towards a Mobile Mapping Robot for Underground Mines},
year={2014},
}

@inCollection{FS14b,
  author    = {Faraj Alhwarin and Alexander Ferrein and Ingrid Scholl},
  title     = {{IR} Stereo Kinect: Improving Depth Images by Combining Structured
               Light with {IR} Stereo},
  booktitle = {{PRICAI} 2014: Trends in Artificial Intelligence -
                  Proceedings of the 13th Pacific Rim International
                  Conference on Artificial Intelligence},
editor    = {Duc Nghia Pham and Seong{-}Bae Park},
  series    = {Lecture Notes in Computer Science},
  year      = {2014},
  pages     = {409--421},
  url       = {http://dx.doi.org/10.1007/978-3-319-13560-1_33},
  doi       = {http://doi.dx.org/10.1007/978-3-319-13560-1_33},
  volume    = {8862},
  publisher = {Springer},
  timestamp = {Fri, 14 Nov 2014 21:58:50 +0100},
  biburl    = {http://dblp.uni-trier.de/rec/bib/conf/pricai/AlhwarinFS14},
  bibsource = {dblp computer science bibliography, http://dblp.org},
  keywords  = {BodyScanner},
}

@InProceedings{AlhwarinFS14,
  author = 	 {Faraj Alhwarin and Alexander Ferrein and Ingrid Scholl},
  title = 	 {IR Stereo Kinect: Improving Depth Images by Combining Structured Light with IR Stereo},
  booktitle =    {RGB-D: Advanced Reasoning with Depth Cameras},
  year = 	 {2014},
  keywords  = {BodyScanner},
}

@inproceedings{NiemuellerERFJL14,
  author    = {Tim Niemueller and Daniel Ewert and Sebastian Reuter
                  and Alexander Ferrein and Sabina Jeschke and Gerhard
                  Lakemeyer},
  title     = {RoboCup Logistics League Sponsored by Festo: A Competitive
               Factory Automation Testbed},
  editor    = {Sven Behnke and Manuela M. Veloso and Arnoud Visser and
                  Rong Xiong},
  booktitle = {RoboCup 2013: Robot World Cup XVII },
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  volume    = {8371},
  year      = {2014},
  pages     = {336-347},
}

@InProceedings{KFSR14,
  author = 	 {Stephan Kallweit and Alexander Ferrein and Ingrid Scholl
                  and Walter Reichert},
  title = 	 {Mobile Autonome Systeme in der Lehre, am Beispiel der ROS Summer School},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {Tagungsband zur AALE-Tagung 2014: 11. Fachkonferenz},
  OPTpages = 	 {},
  year = 	 {2014},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  note = 	 {(in German)},
  OPTannote = 	 {}
}

@Misc{ZIMAntragBeck,
  OPTkey = 	 {},
  OPTauthor = 	 {D. Beck and J. Brockers and I. Scholl and
                  A. Ferrein},
  title = 	 {Entwicklung eines Systems zur standardisierten und
                  automatisierten Vermessung des menschlichen
                  K{\"o}rpers auf Basis eines aus Tiefenbildern
                  erstellten Oberfl\"achenmodells },
  howpublished = {Antrag auf F\"orderung beim BMWi (ZIM/AiF)},
  OPTmonth = 	 {},
  year = 	 {2013},
  note = 	 {submitted},
  OPTannote = 	 {}
}

@InProceedings{NiemuellerLREJFPK13,
  author = 	 {T. Niemueller and G. Lakemeyer and S. Reuter and
                  D. Ewert and S. Jeschke and A. Ferrein and D. Pensky
                  and U. Karras},
  title = 	 {{Proposal for Advancements to the LLSF in 2014 and
                  beyond}},
  booktitle =    {Proceedings of the 1st ICAR Workshop on Developments
                  in RoboCup Leagues (WDRL)},
  year = 	 {2013},
}

@InProceedings{LeingartnerMSF13,
  author = 	 {Max Leingartner and Johannes Maurer and Gerald
                  Steinbauer and Alexander Ferrein},
  title = 	 {Evaluation of Sensors and Mapping Approaches for Disasters in Tunnels},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {Proceedings of the 11th IEEE International Symposium
                  on Safety, Security and Rescue Robotics (SSRR-2013)},
  OPTpages = 	 {},
  year = 	 {2013},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  publisher =    {IEEE},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@inproceedings{FerreinN0L13,
  author    = {Alexander Ferrein and Tim Niemueller and Stefan
                  Schiffer and Gerhard Lakemeyer},
  title     = {Lessons Learnt from Developing the Embodied AI Platform
                  CAESAR for Domestic Service Robotics},
  booktitle = {AAAI Spring Symposium: Designing Intelligent Robots},
  year      = {2013},
  series    = {AAAI Technical Report},
  volume    = {SS-13-04},
  publisher = {AAAI},
  optfile       = {http://robotics.fh-aachen.de/images/Literatur/FerreinN0L13.pdf},
  optpdf       = {http://robotics.fh-aachen.de/images/Literatur/FerreinN0L13.pdf},
  url        = {http://www.aaai.org/ocs/index.php/SSS/SSS13/paper/view/5750p},
  optcrossref  = {DBLP:conf/aaaiss/2013-4},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@inproceedings{NiemuellerLF13a,
  author    = {Tim Niemueller and Gerhard Lakemeyer and Alexander
                  Ferrein},
  title     = {Incremental Task-Level Reasoning in a Competitive
                  Factory Automation Scenario},
  booktitle = {AAAI Spring Symposium: Designing Intelligent Robots},
  year      = {2013},
  publisher = {AAAI},
  series    = {AAAI Technical Report},
  volume    = {SS-13-04},
  url        = {http://www.aaai.org/ocs/index.php/SSS/SSS13/paper/view/5748},
  optcrossref  = {DBLP:conf/aaaiss/2013-4},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@inCollection{NiemuellerERKFJL13,
  author    = {Tim Niemueller and Daniel Ewert and Sebastian Reuter
                  and Ulrich Karras and Alexander Ferrein and Sabina
                  Jeschke and Gerhard Lakemeyer},
  title     = {Towards Benchmarking Cyber-Physical Systems in Factory
                  Automation Scenarios},
  booktitle  = {KI 2013: Advances in Artificial Intelligence - 36th Annual
               German Conference on AIs},
  year      = {2013},
  pages     = {296-299},
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  volume    = {8077},
  url        = {http://dx.doi.org/10.1007/978-3-642-40942-4_28},
  optcrossref  = {DBLP:conf/ki/2013},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@InProceedings{llsf-robocup-2013,
  author = 	 {Tim Niemueller and Daniel Ewert and Sebastian Reuter
                  and Alexander Ferrein and Sabina Jeschke and Gerhard Lakemeyer},
  title = 	 {RoboCup Logistics League Sponsored by Festo: A
                  Competitive Factory Automation Testbed},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {RoboCup Symposium 2013},
  OPTpages = 	 {},
  year = 	 {2013},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  note = 	 {in press},
  OPTannote = 	 {}
}

@InProceedings{RensF13,
  author = 	 {G. Rens and A. Ferrein},
  title = 	 {Belief-node Condensation for Online POMDP Algorithms},
 booktitle =     {Proceedings of the 2013 IEEE Region 8 AFRICON},
  year = 	 {2013},
}

@InProceedings{NiemuellerLF13b,
  author = 	 {T. Niemueller and G. Lakemeyer and A. Ferrein },
  title = 	 {Aspects of Integrating Diverse Software into Robotic Systems},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {Proceedings of the 8th Workshop on Software Development
                  and Integration in Robotics at ICRA 2013},
  OPTpages = 	 {},
  year = 	 {2013},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InCollection{PriedeF13,
  author = 	 {G. Priede and A. Ferrein},
  title = 	 {Towards Passive Walking for the Fully-actuated Biped
                  Robot Nao},
  booktitle =   {Emerging Trends in Computing, Informatics, Systems
                  Sciences, and Engineering },
  year = 	 {2013},
  editor = 	 {Tarek Sobh and Khaled Elleithy},
  series = 	 {Lecture Notes in Electrical Engineering},
  publisher =    {Springer},
  volumne =      {151},
  pages =        {225-236},
}

@InProceedings{K2013a,
  author = 	 {Kallweit, Stephan and Tedjasukmana, O.  and Korculanin, O.},
  title = 	 {{Adaption und Implementierung eines 3D-PIV Algorithmus auf massiv paralleler Hardware}},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle = {	Lasermethoden in der Strömungsmesstechnik : 21. Fachtagung},
  year = 	 {2013},
}


	

@InProceedings{StarkeHK13,
  author = 	 {G. Starke and D. Hahn and Th. Kunkel},
  title = 	 {Flexible Collaboration and Control of Heterogeneous
                  Mechatronic Devices and Systems by Means of an
                  Event-driven, SoA-based Automation Concept},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle = {2013 IEEE International Conference on Industrial
                  Technologies  (ICIT-13)},
  OPTpages = 	 {},
  year = 	 {2013},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}


%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2018
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@article{FerreinM12,
  author    = {Alexander Ferrein and
               Thomas Meyer},
  title     = {{A Brief Overview of Artificial Intelligence in South
                  Africa}},
  journal   = {AI Magazine},
  volume    = {33},
  number    = {1},
  year      = {2012},
  ee        = {http://www.aaai.org/ojs/index.php/aimagazine/article/view/2357},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@InProceedings{FerreinSV12,
  author = 	 {A. Ferrein and G. Steinbauer and S. Vassos},
  title = 	 {Action-Based Imperative Programming with {YAGI}},
  booktitle =    {Proceedings of the 8th International Conference on
                  Cognitive Robotics},
  year = 	 {2012},
  publisher =    {AAAI Press},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InProceedings{ReipSF12,
  author = 	 {Michael Reip and Gerald Steinbauer and Alexander Ferrein},
  title = 	 {Improving Belief Management for High-Level Robot
                  Programs by Using Diagnosis Templates},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {Proceedings of the 23rd International Workshop on
                  the Principles of Diagnosis (DX-12)},
  OPTpages = 	 {},
  year = 	 {2012},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  optnote = 	 {to appear},
  OPTannote = 	 {}
}

@InProceedings{FerreinKL12,
  author = 	 {A. Ferrein and S. Kallweit and M. Lautermann},
  title = 	 {Towards an Autonomous Pilot System for a Tunnel Boring Machine},
  booktitle =    {Proceeding of the 5th IEEE Robotics and Mechatronics Conference of South Africa},
  OPTpages = 	 {},
  year = 	 {2012},
  OPTeditor = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  OPTpublisher = {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InProceedings{K2012a,
  author = 	 {Kallweit, Stephan},
  title = 	 {{Pandaboard, TurtleBot, Kinect und Co. : Low-Cost Hardware im Lehreinsatz für die mobile Robotik}},
  booktitle = {Tagungsband zur AALE-Tagung 2012 : 9. Fachkonferenz},
  year = 	 {2012},
  pages = {229 - 238},
}


	

@InProceedings{K2012b,
  author = 	 {Ferrein, Alexander and Kallweit, Stephan and Lautermann, Mark},
  title = 	 {Towards an autonomous pilot system for a tunnel boring machine},
  booktitle = {5th Robotics and Mechatronics Conference of South Africa (ROBMECH)},
  year = 	 {2012},
}

@InProceedings{K2012c,
  author = 	 {Hartmann, Axel and Kallweit, Stephan and Feldusen, Antje and Schröder, Wolfgang},
  title = 	 {Detection of upstream propagating sound waves at buffet flow using high-speed PIV},
  booktitle = {Proc. International Symposium on Applications of Laser Techniques to Fluid Mechanics},
  year = 	 {2012},
}

@article{SchifferFL12,
  author    = {Stefan Schiffer and Alexander Ferrein and Gerhard
                  Lakemeyer},
  title     = {Caesar: an intelligent domestic service robot},
  journal   = {Intelligent Service Robotics},
  volume    = {5},
  number    = {4},
  year      = {2012},
  pages     = {259-273},
  ee        = {http://dx.doi.org/10.1007/s11370-012-0118-y},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@article{SchifferFLFL12,
  author    = {Stefan Schiffer and Alexander Ferrein and Gerhard
                  Lakemeyer},
  title     = {Reasoning with Qualitative Positional Information for Domestic
               Domains in the Situation Calculus},
  journal   = {Journal of Intelligent and Robotic Systems},
  volume    = {66},
  number    = {1-2},
  year      = {2012},
  pages     = {273-300},
  ee        = {http://dx.doi.org/10.1007/s10846-011-9606-0},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@InProceedings{gspandl11PRSF,
  author = 	 {Stephan Gspandl and Ingo Pill and Michael Reip and
                  Gerald Steinbauer and Alexander Ferrein},
  title = 	 {Belief Management for High-Level Robot Programs},
   booktitle     = {Proceedings of the 22nd International Joint
               Conference on Artificial Intelligence, (IJCAI-11)},
  publisher = {IJCAI/AAAI},
  year      = {2011},
  editor    = {Toby Walsh},
 isbn      = {978-1-57735-516-8},
}

@InCollection{niemueller10,
  author = 	 {Tim Niem{\"u}ller and Alexander Ferrein and Gerhard
                  Eckel and David Pirro and Patrick Podbregar and
                  Tobias Kellner and Christof Rath and Gerald
                  Steinbauer},
  title = 	 {Providing Ground-truth Data for the Nao Robot
                  Platform},
  booktitle	= "{Robot Soccer World Cup {XIV}}",
  publisher =    {Springer},
  series =       {Lecture Notes in Artificial Intelligence},
  year = 	 {2011},
  volume =       { 6556 },
  editor = 	 {Ruiz-del-Solar J and Chown E and Pl{\"o}ger P and Matsumoto A},
  pages =        {133--144},
}

@inproceedings {Booysen11,
	title = {Towards Inexpensive Robots for  Science \& Technology Teaching and Education in Africa},
	booktitle = {IEEE Region 8 Africon 2011},
	year = {2011},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Tracy Booysen and Michael Rieger and Alexander Ferrein}}

@INPROCEEDINGS{FerreinMPG11,
  author =	 {Ferrein, A. and Marais, S. and Potgieter, A. and
                  Steinbauer, G.},
  booktitle =	 {Proceedings of the IEEE Region 8 {AFRICON} },
  title =	 {RoboCup Junior: A vehicle for S\&T education in
                  Africa?},
  year =	 2011,
  publisher =	 {IEEE},
  organization = {IEEE},
}

@InProceedings{K2011,
  author = 	 {Kallweit, S. and Korculanin, O. and Fröhlig, F. and Gabi, M. and Mattern, P},
  title = 	 {Photogrammetrische Rekonstruktion von Partikelpositionen mittels Rückprojektion für 3D-PIV},
  booktitle = {Lasermethoden in der Strömungsmesstechnik : 19. Fachtagung},
  year = 	 {2011},
}

@article{Schubert:2011:CGM:1938207.1938212,
 author = {Schubert, Nicole and Scholl, Ingrid},
 title = {Comparing GPU-based Multi-volume Ray Casting Techniques},
 journal = {Comput. Sci.},
 issue_date = {February  2011},
 volume = {26},
 number = {1-2},
 month = feb,
 year = {2011},
 issn = {1865-2034},
 pages = {39--50},
 numpages = {12},
 url = {http://dx.doi.org/10.1007/s00450-010-0141-1},
 doi = {10.1007/s00450-010-0141-1},
 acmid = {1938212},
 publisher = {Springer-Verlag New York, Inc.},
 address = {Secaucus, NJ, USA},
 keywords = {CUDA, GPU-based visualization, Multi-volume rendering, Ray casting, Volume rendering},
} 

@article{Scholl:2011:CMI:1938207.1938216,
 author = {Scholl, Ingrid and Aach, Til and Deserno, Thomas M. and Kuhlen, Torsten},
 title = {Challenges of Medical Image Processing},
 journal = {Comput. Sci.},
 issue_date = {February  2011},
 volume = {26},
 number = {1-2},
 month = feb,
 year = {2011},
 issn = {1865-2034},
 pages = {5--13},
 numpages = {9},
 url = {http://dx.doi.org/10.1007/s00450-010-0146-9},
 doi = {10.1007/s00450-010-0146-9},
 acmid = {1938216},
 publisher = {Springer-Verlag New York, Inc.},
 address = {Secaucus, NJ, USA},
 keywords = {Bioimaging, Content-based image retrieval (CBIR), Giga-Voxel, Graphics processing unit (GPU) programming, Grid computing, Medical imaging, Neuroimaging, Parallel algorithm, Picture archiving and communication systems (PACS), Tera-Voxel, Virtual reality (VR), Visualization},
} 

@article{Deserno:2011:AMI:1938207.1938218,
 author = {Deserno, Thomas M. and Aach, Til and Amunts, Katrin and Hillen, Walter and Kuhlen, Torsten and Scholl, Ingrid},
 title = {Advances in Medical Image Processing},
 journal = {Comput. Sci.},
 issue_date = {February  2011},
 volume = {26},
 number = {1-2},
 month = feb,
 year = {2011},
 issn = {1865-2034},
 pages = {1--3},
 numpages = {3},
 url = {http://dx.doi.org/10.1007/s00450-010-0142-0},
 doi = {10.1007/s00450-010-0142-0},
 acmid = {1938218},
 publisher = {Springer-Verlag New York, Inc.},
 address = {Secaucus, NJ, USA},
 keywords = {Biomedical imaging, Computational intelligence, Computer-assisted diagnosis, Computer-assisted radiology, Medical image computing},
} 

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2010
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2009
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@inproceedings{SchifferFL11,
  author    = {Stefan Schiffer and Alexander Ferrein and Gerhard
                  Lakemeyer},
  title     = {Fuzzy Representations and Control for Domestic Service
                  Robots in Golog},
  booktitle     = {Proceedings of the 4th International Conference on
                  Intelligent Robotics and Applications (ICIRA 2011)}, 
  publisher = {Springer},
  year      = {2011},
  series    = {Lecture Notes in Computer Science},
  volume    = {7102},
  pages     = {241-250},
  editor    = {Sabina Jeschke and Honghai Liu and Daniel Schilberg},
}

@Article{ferreinki10,
  author = 	 {Alexander Ferrein},
  title = 	 {Robot Controllers for Highly Dynamic Environments with Real-time Constraints},
  journal = 	 {{K\"unstliche Intelligenz}},
  year = 	 {2010},
  number =       {2},
  volume =       {24},
  pages =        {175-178}
}

@Article{ferreinss10,
  author = 	 {Alexander Ferrein and Nils T. Siebel and G. Steinbauer},
  title = 	 {{Editorial: Hybrid control for autonomous systems --
                  Integrating learning, deliberation and reactive
                  control}},
  journal = 	 {Robotics and Autonomous Systems},
  year = 	 {2010},
  volume = 	 {54},
  number = 	 {9},
  pages = 	 {1037-1038},
}

@InCollection{rensvmf10,
  author = 	 {Gavin Rens and Ivan Varzinczak and Thomas Meyer and
                  Alexander Ferrein},
  editor    = {Jiuyong Li},

  title = 	 {A Specification Logic for Reasoning about Actions
                  and Explicit Observations },
  booktitle =    {AI 2010: Advances in Artificial Intelligence -
                  Proceedings of the 23rd Australasian Joint
                  Conference on Artificial Intelligence},
  year = 	 {2010},
  series    = {Lecture Notes in Computer Science},
  volume    = {6464},
  publisher = {Springer},
  pages     = {395-404},


}

@InCollection{FerreinS10a,
  author = 	 {Alexander Ferrein and Gerald Steinbauer},
  title = 	 {On the Way to High-Level Programming for
                  Resource-Limited Embedded Systems with Golog },
  booktitle = 	 {Simulation, Modeling, and Programming for Autonomous
                  Robots Proceedings of the 2nd International
                  Conference on Simulation, Modeling and Programming
                  for Autonomous Robots (SIMPAR 2010)},
  series =       {Lecture Notes in Computer Science},
  volume =       {6472},
  editor =       {N. Ando and S. Balakirsky and Th. Hemker M. Reggiani and O. von Stryk},
  publisher =    {Springer},
  year = 	 {2010},
  pages =        {229-240}
}

@InCollection{niemuellerfbg10,
  author = 	 {Tim Niem{\"u}ller and Alexander Ferrein and Daniel
                  Beck and Gerhard Lakemeyer},
  title = 	 {Design Principles of the Component-Based Robot
                  Software Framework FawkeS},
  booktitle = 	 {Simulation, Modeling, and Programming for Autonomous
                  Robots Proceedings of the 2nd International
                  Conference on Simulation, Modeling and Programming
                  for Autonomous Robots (SIMPAR 2010)},
  series =       {Lecture Notes in Computer Science},
  volume =       {6472},
  editor =       {N. Ando and S. Balakirsky and Th. Hemker M. Reggiani and O. von Stryk},
  publisher =    {Springer},
  year = 	 {2010},
  pages =        {300-311}
}

@InProceedings{ferreindgs10,
  author =	{Alexander Ferrein},
  title =	{golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems},
  booktitle =	{Cognitive Robotics},
  year =	{2010},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  number =	{10081},
  series =	{Dagstuhl Seminar Proceedings},
  ISSN =	{1862-4405},
  publisher =	{Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, Germany},
  address =	{Dagstuhl, Germany},
  URL =		{http://drops.dagstuhl.de/opus/volltexte/2010/2631},
  annote =	{Keywords: Action and change, high-level control, robotics}
}

@InProceedings{ferreinaaai10,
  author = 	 {Alexander Ferrein},
  title = 	 {golog.lua: Towards a Non-Prolog Implementation of
                  Golog for Embedded Systems},
  booktitle =    {Proceedings of the AAAI Spring Symposium on Embedded
                  Reasoning},
  year = 	 {2010},
  editor = 	 {Gabe Hoffmann},
  series = 	 {(SS-10-04)},
  publisher =    {AAAI Press},
}

@Incollection{NiemuellerFL09,
  author    = {Tim Niem{\"u}ller and Alexander Ferrein and Gerhard
                  Lakemeyer},
  title     = {A Lua-based Behavior Engine for Controlling the
                  Humanoid Robot Nao},
  booktitle	= "{RoboCup 2009: Robot Soccer World Cup {XIII}}",
  editor    = {Jacky Baltes and Michail G. Lagoudakis and Tadashi
                  Naruse and Saeed Shiry Ghidary},
  publisher	= "Springer",
  series    = {Lecture Notes in Computer Science},
  volume    = {5949},
  year      = {2010},
  pages     = {240-251},
}

@InCollection{FerreinBSL09,
  author    = {Stefan Jacobs and Alexander Ferrein and Stefan Schiffer
                  and Daniel Beck and Gerhard Lakemeyer},
  title     = {Robust Collision Avoidance in Unknown Domestic Environments},
  pages     = {116-127},
  editor    = {Jacky Baltes and Michail G. Lagoudakis and Tadashi
                Naruse and Saeed Shiry Ghidary},
  booktitle = {RoboCup 2009: Robot Soccer World Cup XIII},
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  volume    = {5949},
  year      = {2010},
}

@inproceedings{scholl09,
	author={Ingrid Scholl and Nicole Schubert and Patrick Ziener and Uwe Pietrzyk},
	editor={Hans-Peter Meinzer and Thomas Martin Deserno and Heinz Handels and Thomas Tolxdorff},
	address={Berlin},
	location={Aachen},
	booktitle={{Bildverarbeitung f{\"u}r die Medizin}},
	title={{GPU basiertes Volumenrendering von multimodalen medizinischen Bilddaten in Echtzeit}},
	year={2010}
}

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  earlier
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@InProceedings{SchifferFL10,
  author = 	 {S. Schiffer and A. Ferrein and G. Lakemeyer},
  title = 	 {Fuzzy Representations and Control for Domestic
                  Service Robots in Golog },
  booktitle =    {Proceedings of the SIMPAR 2010 Workshop on Domestic Service Robots in the Real World},
  year = 	 {2010},
}

@inproceedings{ FerreinSL09,
  author      = "Alexander Ferrein and Stefan Schiffer and Gerhard Lakemeyer",
  affiliation = "RWTH Aachen University, Germany",
  title       = "Embedding Fuzzy Controllers in Golog",
  booktitle   = "Proceedings of the IEEE International Conference on Fuzzy Systems (FUZZ-IEEE'09)",
  pages       = "498--509",
  year        = "2009",
  publisher   = "IEEE Press"
}

@InProceedings {Rens09,
	author = {Gavin Rens and Alexander Ferrein and Etienne van der Poel},
	title = {A BDI Agent Architecture for a POMDP Planner},
	booktitle = {Proceedings of the Nineth International Symposium on Logical Formalizations of Commonsense Reasoning},
	year = {2009},
        editors = {Gerhard Lakemeyer  and Leora Morgenstern  and Mary-Anne Williams},
        publisher = {UTSePress}
}

@InProceedings{beck08robocup,
  author = 	 {D. Beck and A. Ferrein and G. Lakemeyer},
  title = 	 {Landmark-based Representations for Navigating
                  Holonomic Soccer Robots},
  editor    = {Luca Iocchi and Hitoshi Matsubara and Alfredo
                  Weitzenfeld and Changjiu Zhou},
  booktitle     = {RoboCup 2008: Robot Soccer World Cup XII},
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  volume    = {5399},
  year      = {2009},
  isbn      = {978-3-642-02920-2},
}

@inproceedings{DBLP:conf/robocup/BeckFL08,
  author    = {Daniel Beck and
               Alexander Ferrein and
               Gerhard Lakemeyer},
  title     = {Landmark-Based Representations for Navigating Holonomic
               Soccer Robots},
  editor    = {Luca Iocchi and
               Hitoshi Matsubara and
               Alfredo Weitzenfeld and
               Changjiu Zhou},
  booktitle     = {RoboCup 2008: Robot Soccer World Cup XII},
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  volume    = {5399},
  year      = {2009},
  isbn      = {978-3-642-02920-2},
}

@InProceedings{ferrein09hycas,
  author = 	 {A. Ferrein and A. Potgieter and G. Steinbauer},
  title = 	 {Self-Aware Robots - What do we need from Learning, Deliberation, and Reactive Control?},
  OPTcrossref =  {},
  OPTkey = 	 {},
  booktitle =    {IJCAI-09 Workshop on Hybrid Control for Autonomous Systems (HYCAS-09)},
  OPTpages = 	 {},
  year = 	 {2009},
  editor = 	 {A. Ferrein and J. Pauli  and N.T. Siebel and G. Steinbauer},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  OPTseries = 	 {},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTorganization = {},
  publisher =    {AAAI Press},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InProceedings{Starke09a,
  author = 	 {G. Starke},
  title = 	 {Sensors in Welding Automation},
  booktitle =    {Proceedings of the EUROJOIN 07 Conference},
  year = 	 {2009},
}

@Misc{Starke09b,
  OPTkey = 	 {},
  author = 	 {G. Starke},
  title = 	 {{RoboTOOL - Ziele und Aufgaben}},
  howpublished = {RoboTOOL-Abschlussveranstaltung, TU Berlin},
  OPTmonth = 	 {},
  year = 	 {2009},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@Article{StarkeABMSSK09,
  author = 	 {Starke, G. and Ahlbehrendt, N. and Bischoff, R. and Melzer,
                  H. and Sieber, S. and Senk, B. and Kramarczyk, P. },
  title = 	 {{RoboTOOL-Technologien für den ortsflexiblen Einsatz
                  von Robotern bei temporären Arbeitsaufgaben in der
                  Fertigung}},
  journal = 	 {wt-Werkstatttechnik online},
  year = 	 {2009},
  volume = 	 {99},
  number = 	 {9},
}

@Misc{Starke09c,
  OPTkey = 	 {},
  author = 	 {G. Starke},
  OPTtitle = 	 {Robotertechnik für individuelle Automatisierungslösungen und unter-schiedlichste Prozessanwendungen},
  howpublished = {Messebericht 2009, N25-N26, Schweißen und Schneiden
                  12/2009, Schweißen und Schneiden},
  year = 	 {2009},
}

@Article{ferrein08villach,
  author = 	 {A. Ferrein},
  title = 	 {Towards Applying Soccer Moves in the RoboCup Standard League},
  journal = 	 {{{\"O}GAI-Journal}},
  year = 	 {2008},
  volume = 	 {27},
  number = 	 {3},
  OPTpages = 	 {},
  OPTmonth = 	 {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InCollection{rens08,
  author = 	 {G. Rens and A. Ferrein and E. van der Poel},
  title = 	 { Extending {DTGolog} to Deal with {POMDPs}},
  booktitle = 	 {Proceedings of the Nineteenth Annual Symposium of the Pattern Recognition Association of South Africa (PRASA 2008)},
  editor = 	 {F. Nicolls},
  year   =       {2008},
}

@InCollection{beck2007,
  key = "B1",
  author = 	 {D. Beck and A. Ferrein and G. Lakemeyer},
  title = 	 {{A Simulation Environment for Middle-size Robots with Multi-level Abstraction}},
  booktitle = 	 {{RoboCup 2007: Robot Soccer World Cup XI}},
  editor    = {Ubbo Visser and Fernando Ribeiro and Takeshi Ohashi and
                  Frank Dellaert},
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  volume    = {5001},
  year      = {2008},
  isbn      = {978-3-540-68846-4},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@InCollection{	  soccer08,
  author	= "F. Dylla and A. Ferrein and G. Lakemeyer
		  and J. Murray and O. Obst and Th. R{\"{o}}fer and
		  S. Schiffer and F. Stolzenburg and U. Visser and
		  Th. Wagner",
  title		= "Approaching a Formal Soccer Theory from Behaviour
		  Specifications in Robotic Soccer",
  optcrossref	= "dabnicki07",
  editor	= "P. Dabnicki and A. Baca",
  booktitle	= "Computer in Sports",
  publisher	= "WIT Press",
  year		= "2008",
  pages		= "161--185",

}

@InProceedings{ferrein08icira,
  author = 	 {A. Ferrein and S. Schiffer  and  G. Lakemeyer},
  title = 	 {A Fuzzy Set Semantics for Qualitative Fluents in the Situation Calculus},
  booktitle = {Proceedings of the International Conference on Intelligent Robotics and Applications},
  pages = 	 {498-509},
 editor    = {Caihua Xiong and Honghai Liu and Yongan Huang and Youlun
                  Xiong},
  publisher = {Springer},
  series    = {Lecture Notes in Computer Science},
  volume    = {5314},
  year      = {2008},
  isbn      = {978-3-540-88512-2},
}

@article{ferrein08ras,
 author = {Alexander Ferrein and Gerhard Lakemeyer},
 title = {Logic-based robot control in highly dynamic domains},
  journal = 	 {Robotics and Autonomous Systems, Special Issue on Semantic Knowledge in Robotics},
 volume = {56},
 number = {11},
 year = {2008},
 issn = {0921-8890},
 pages = {980--991},
 doi = {http://dx.doi.org/10.1016/j.robot.2008.08.010},
 publisher = {North-Holland Publishing Co.},
 address = {Amsterdam, The Netherlands, The Netherlands},
 }

@InCollection{mies08ki,
  author = 	 {Ch. Mies and A. Ferrein and G. Lakemeyer},
  title = 	 { Repairing Decision-Theoretic Policies Using Goal-Oriented Planning},
  OPTeditor =       {A. R. Dengel et al.},
  booktitle = 	 {KI 2008: Advances in Artificial Intelligence},
  pages = 	 {267-275},
  publisher =    {Springer Verlag},
  year = 	 {2008},
  volume = 	 {5243/2008},
  series = 	 {Lecture Notes in Computer Science},

}

@InProceedings{mies08cogrob,
  author = 	 {Ch. Mies and A. Ferrein and G. Lakemeyer},
  title = 	 {Repairing Decision-Theoretic Policies Using Goal-Oriented Planning },
  booktitle =    {Proceedings of the 2008 Cognitive Robotics Workshop},
  year = 	 {2008},
  publisher =    {ECAI},
  ISBN = {978-960-6843-09-9.}
}

@InProceedings{K2008a,
  author = 	 {Kallweit, S. and Kisife, F. and Utzenrad, M. and Weber, J.},
  title = 	 {Hispeed Scanning Stereo PIV hinter einer künstlichen Herzklappe},
  booktitle = {Lasermethoden in der Strömungsmesstechnik : 16. Fachtagung,},
  year = 	 {2008},
}

@InProceedings{K2008b,
  author = 	 {Kallweit, Stephan and Willert, Chris and Dues,
                  Michael and Müller, Ulrich and Lederer, Thomas},
  title = 	 {PIV for Volume Flow Metering},
  booktitle = {Proc.	14th International Symposium on Applications of Laser Techniques to Fluid Mechanics},
  year = 	 {2008},
}

@Article{K2008c,
  author = 	 {Kaminsky, Radoslav and Kallweit, Stephan and Rossi, Massimiliano and Morbiducci, Umberto and Scalise, Lorenzo},
  title = 	 {PIV Measurements of Flows in Artificial Heart Valves},
  journal = 	 {Particle Image Velocimetry - New Developments and Recent Applications},
  year = 	 {2008},
  OPTkey = 	 {},
  OPTvolume = 	 {},
  OPTnumber = 	 {},
  pages = 	 {55 - 72},
  OPTmonth = 	 {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@InProceedings{	  allemaniacs2006tdp,
  author	= "A. Ferrein and G. Lakemeyer and S. Schiffer",
  title		= "Allemani{AC}s 2006 Team Description",
  optyear	= "2006",
  ps		= "allemaniacs2004tdp.ps.gz",
  optcrossref	= "robocup/2006",
  editor	= "Gerhard Lakemeyer and Elizabeth Sklar and Domenico
		  Sorrenti and Tomoichi Takahashi",
  booktitle	= "RoboCup 2006: Robot Soccer WorldCup {X}",
  year		= "2007",
  publisher	= "Springer Verlag",
  series	= "Lecture Notes in Computer Science"
}

@InProceedings{	  allemaniacs2006tdphome,
  author	= "A. Ferrein and G. Lakemeyer and S. Schiffer",
  title		= "Allemani{AC}s@Home 2006 Team Description",
  optyear	= "2006",
  optcrossref	= "robocup/2006",
  editor	= "Gerhard Lakemeyer and Elizabeth Sklar and Domenico
		  Sorrenti and Tomoichi Takahashi",
  booktitle	= "RoboCup 2006: Robot Soccer WorldCup {X}",
  year		= "2007",
  publisher	= "Springer Verlag",
  series	= "Lecture Notes in Computer Science"
}

@InCollection{ Boehnstedt07,
  author = 	 {L. B{\"o}hnstedt and A. Ferrein and G. Lakemeyer},
  title = 	 {Options in Readylog Reloaded -- Generating Decision-Theoretic Plan Libraries in Golog},
  booktitle = 	 {KI 2007: Advances in Artificial Intelligence},
  pages = 	 {352-366},
  publisher =    {Springer Verlag},
  year = 	 {2007},
  volume = 	 {4667/2007},
  series = 	 {Lecture Notes in Computer Science}
}

@PhdThesis{ferrein08,
  author = 	 {A. Ferrein},
  title = 	 {{Robot Controllers for Highly Dynamic Environments
                  with Real-time Constraints}},
  school = 	 {RWTH Aachen University, Germany},
  year = 	 {2007},
  type = 	 {Doctoral Dissertation},
}

@Article{K2007a,
  author = 	 {Kaminsky, Radoslav and Kallweit, Stephan and Weber, Hans-Joachim and Claessens, Tom and Jozwik, Krzystof and Verdonck, Pascal},
  title = 	 {Flow visualization through two types of aortic prosthetic heart valves using stereoscopic high-speed particle image velocimetry},
  journal = 	 {Artificial organs.},
  year = 	 {2007},
  volume = 	 {31},
  pages = 	 {869-879},
}

@InProceedings{K2007b,
  author = 	 {Kallweit, Stephan and Dues, Michael and Müller,
                  Ulli and Lederer, Thomas and Schroll, Michael and
                  Willert, Christian},
  title = 	 {Einsatz der Particle Image Velocimetry zur
                  Untersuchung von Rohrströmungen},
  booktitle = {Lasermethoden in der Strömungsmesstechnik: 15. Fachtagung},
  year = 	 {2007},
}

@InProceedings{K2007c,
  author = 	 {Kallweit, S. and Kaminsky, R. and Canneyt, C. van and Eloot, S.},
  title = 	 {High-Speed und Stereo-PIV in einem künstlichen Blutgefäß},
  booktitle =    {Lasermethoden in der Strömungsmesstechnik: 15. Fachtagung},
  year = 	 {2007},
}

@InProceedings{K2007d,
  author = 	 {Vanlanduit, S. and Vanherzeele, J. and Kallweit,
                  S. and Brouns, M. and Guillaume, P.},
  title = 	 {Time resolved PIV reconstruction of periodic flows},
  booktitle = {Proc. 7th International Symposium on Particle Image
                  Velocimetry (PIV'07)},
  pages = 	 {1 - 14},
  year = 	 {2007},
}

@InProceedings{	  allemaniacs2005tdp,
  author	= "A. Ferrein and C. Fritz and G. Lakemeyer",
  title		= "Allemani{AC}s 2005 Team Description",
  optyear	= "2005",
  ps		= "allemaniacs2005tdp.ps.gz",
  optcrossref	= "robocup/2005",
  editor	= "Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and
		  Yasutake Takahashi",
  booktitle	= "RoboCup 2005: Robot Soccer World Cup {IX}",
  publisher	= "Springer Verlag",
  series	= "Lecture Notes in Computer Science",
  volume	= "4020",
  year		= "2006"
}

@Misc{		  allemaniacshp,
  author	= "S. Schiffer and T. Niemueller and A. Ferrein",
  title		= "Allemani{AC}s",
  howpublished	= "http://robocup.rwth-aachen.de",
  year		= "2006"
}

@InCollection{	  ferrein06comparing,
  author	= "A. Ferrein and L. Hermanns and G. Lakemeyer",
  title		= "Comparing Sensor Fusion Techniques for Ball Position
		  Estimation.",
  pages		= "154--165",
  editor	= "Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and
		  Yasutake Takahashi",
  booktitle	= "{RoboCup 2005: Robot Soccer World Cup {IX}}",
  publisher	= "Springer Verlag",
  series	= "Lecture Notes in Computer Science",
  volume	= "4020",
  year		= "2006"
}

@InCollection{	  strack06,
  author	= "A. Strack and A. Ferrein and G.
		  Lakemeyer",
  title		= "Laser-Based Localization with Sparse Landmarks.",
  pages		= "569--576",
  editor	= "Ansgar Bredenfeld and Adam Jacoff and Itsuki Noda and
		  Yasutake Takahashi",
  booktitle	= "RoboCup 2005: Robot Soccer World Cup {IX}",
  publisher	= "Springer Verlag",
  series	= "Lecture Notes in Computer Science",
  volume	= "4020",
  year		= "2006"
}

@Article{	  ferrein06foren,
  author	= "A. Ferrein and G. Lakemeyer",
  title		= "Fu{\ss{}}ballroboter -- {W}issenschaft, die auch {S}pa{\ss} macht",
  journal	= "RWTH Themen",
  publisher     = "RWTH Aachen",
  number	= "2",
  OPTvolume	= "\NA",
  year		= "2006",
  note		= "(in German)",
  pages		= "36--39"
}

@Article{	  ferrein06rwth,
  author	= "L. Calmes and A. Ferrein and G. Lakemeyer and H. Wagner",
  title		= "{Von Schleiereulen und fu{\ss}ballspielenden Roboter}",
  journal	= "RWTH Themen",
  publisher	= "RWTH Aachen",
  number	= "1",
  year		= "2006",
  note		= "(in German)",
  OPTvolume	= "\NA",
  pages		= "30--33"
}

@Article{K2006a,
  author = 	 {Kaminsky, Radoslav and Kallweit, Stephan and Weber,
                  Hans-Joachim and Simons, Antoine and Kramm, K. and
                  Jazwik, K. and Moll, J. and Verdonck, P.},
  title = 	 {3D high speed piv assessment of a new aortic heart valve prototype},
  journal = 	 {Journal of biomechanics},
  year = 	 {2006},
  volume = 	 {39},
  pages = 	 {304--305},
}

@InProceedings{K2006b,
  author = 	 {Rado Kaminsky and Stephan Kallweit and Hans Weber and Antoine
                  Simons and Pascal Verdonck},
  title = 	 {Stereo high speed PIV measurements behind two
                  different artificial heart valves},
  booktitle =    {Proc. International Symposium on Applications of
                  Laser Techniques to Fluid Mechanic },
  year = 	 {2006},
}

@InProceedings{	  schiffer06pcar,
  author	= "S. Schiffer and A. Ferrein and G. Lakemeyer",
  title		= "Football is Coming Home",
  optcrossref	= "PCAR06",
  editor	= "Xiaoping Chen and Wei Liu and Mary-Anne Williams",
  booktitle	= "Proceedings of the 2006 International Symposium on Practical Cognitive Agents and Robots (PCAR-06)",
  year		= "2006",
  publisher	= "ACM",
  pages         = "39--50"
}

@InProceedings{	  schifferfl06kiqcc,
  author	= "S. Schiffer and A. Ferrein and G.
		  Lakemeyer",
  title		= "Qualitative World Models for Soccer Robots",
  booktitle	= "Qualitative Constraint Calculi, Workshop at KI 2006,
		  Bremen",
  pages		= "3--14",
  year		= "2006",
  editor	= "Stefan W{\"{o}}fl and Till Mossakowski",
  isbn		= "3-88722-666-6",
  status	= "Reviewed"
}

@InProceedings{	  allemaniacs2004tdp,
  author	= "A. Ferrein and C. Fritz and G. Lakemeyer",
  title		= "Allemani{AC}s 2004 Team Description",
  optyear	= "2004",
  ps		= "allemaniacs2004tdp.ps.gz",
  optcrossref	= "robocup/2004",
  editor	= "Daniele Nardi and Martin Riedmiller and Claude Sammut and
		  Jos{\'e} Santos-Victor",
  booktitle	= "RoboCup 2004: Robot Soccer World Cup {VIII}",
  publisher	= "Springer Verlag",
  series	= "Lecture Notes in Computer Science",
  volume	= "3276",
  year		= "2005"
}

@InCollection{	  dylla05,
  author	= "F. Dylla and A. Ferrein and G. Lakemeyer
		  and J. Murray and O. Obst and Th. R{\"{o}}fer and
		  F. Stolzenburg and U. Visser and Th. Wagner",
  title		= "Towards a {L}eague-{I}ndependent {Q}ualitative {S}occer
		  {T}heory for {R}oboCup",
  optcrossref	= "robocup/2004",
  editor	= "Daniele Nardi and Martin Riedmiller and Claude Sammut and
		  Jos{\'e} Santos-Victor",
  booktitle	= "RoboCup 2004: Robot Soccer World Cup {VIII}",
  publisher	= "Springer Verlag",
  series	= "Lecture Notes in Computer Science",
  volume	= "3276",
  year		= "2005"
}

@InCollection{	  ferrein05rwthbuch,
  author	= "A. Ferrein and G. Lakemeyer",
  title		= "{Wie Roboter die Welt sehen}",
  optcrossref	= "RWTHBuch05",
  editor	= "Andreas Beyer and Markus Lohoff",
  booktitle	= "Bild und Erkenntnis -- Formen und Funktion des Bildes in
		  Wissenschaft und Technik",
  publisher	= "Deutscher Kunstverlag und RWTH Aachen",
  year		= "2005",
  note		= "(in German)",
  pages         = "342--343"
}

@Article{	  ferreinki05,
  author	= "A. Ferrein and Ch. Fritz and G.
		  Lakemeyer",
  title		= "Using Golog for Deliberation and Team Coordination in
		  Robotic Soccer.",
  journal	= "KI",
  volume	= "19",
  number	= "1",
  year		= "2005",
  pages		= "24--30",
  ee		= "http://www.kuenstliche-intelligenz.de/index.php?id=no-6423{\&}tx_ki_pi1[showUid]=1056{\&}cHash=50221fbd77"
		  ,
  bibsource	= "DBLP, http://dblp.uni-trier.de"
}

@InProceedings{	  jacobs2005controlling,
  author	= "S. Jacobs and A. Ferrein and G. Lakemeyer",
  title		= "Controlling Unreal Tournament 2004 Bots with the
		  Logic-based Action Language Golog",
  booktitle	= "Proceedings of the First AAAI Conference on Artificial
		  Intelligence and Interactive Digital Entertainment
		  (AIIDE-05)",
  pages     = {151-152},
  year		= "2005",
  publisher = {AAAI Press}

}

@InProceedings{	  jacobs2005unreal,
  author	= "S. Jacobs and A. Ferrein and G. Lakemeyer",
  title		= "Unreal {G}olog Bots",
  booktitle	= "IJCAI-05 WS on Reasoning, Representation, and Learning in
		  Computer Games",
  editor        = "David W. Aha and Hector Munoz and Michael van Lent",
  year		= "2005",
  publisher     = "Navy Center for Applied Research in Artifical Intelligence, Washington, DC",
  pages         = "31--36"
}

@Article{K2005a,
  author = 	 {Kaminsky, Randolph and Weber, Hans-Joachim and
                  Simons, Antoine and Kallweit, Stephan and Kramm,
                  K. and Verdonck, Pascale},
  title = 	 { Comparison of the flow downstream two prototypes of
                  a new monoleaflet artificial aortic heart valve by
                  means of PIV visualization},
  journal =     {Computer methods in biomechanics and biomedical
                  engineering},
  volume = 	 {8},
  year = 	 {2005},
  pages =        {159--160},
}

@InProceedings{K2005b,
  author = 	 {Weber, Hans-Joachim and Kaminsky, Radoslav and
                  Kallweit, Stephan and Simons, Antoine},
  title = 	 {PIV measurements with high temporal resolution
                  behind artificial heart valves},
  booktitle =    {Proc. International Symposium on Particle Image
                  Velocimetry },
  year = 	 {2005},
}

@Article{K2005c,
  author = 	 {Kaminsky, R. and Rossi, M. and Morbiducci, U. and
                  Scalise, L. and Catellini, P. and Kallweit, S. and
                  Verdonck, P. and Grigioni, M.},
  title = 	 {Time resolved PIV technique for high temporal
                  resolution measurements of prosthetic heart valves
                  fluid dynamics },
  journal = 	 {The International Journal of Artificial Organs},
  year = 	 {2005},
  volume = 	 {28},
  pages = 	 {946},
}

@Article{K2005d,
  author = 	 {Kaminsky, R. and Kramm, K. and Weber, H. J. and
                  Simons, A. P. and Kallweit, S. and Verdonck, P. R.},
  title = 	 {2D PIV Study of the flow downstream : Two prototypes
                  of a ney monoleaflet artificial aortic heart valve
                  prosthesis},
  journal = 	 {The International Journal of Artificial Organs.},
  year = 	 {2005},
  volume = 	 {28},
  pages = 	 {921},
}

@Article{K2005e,
  author = 	 {Kaminsky, R. and Rossi, M. and Morbiducci, U. and
                  Scalise, L. and Castellini, P. and Kallweit, S. and
                  Verdonck, P. and Grigioni, M.},
  title = 	 {3D PIV measurements of prosthetic heart valve
                  dynamics },
  journal = 	 { The International Journal of Artificial Organs.},
  year = 	 {2005},
  volume = 	 {28},
  pages = 	 {868},
}

@InProceedings{K2005f,
  author = 	 {Kaminsky, R. and Rossi, M. and Scalise, L. and
                  Kallweit, S. and Verdonck, P.},
  title = 	 {PIV Measurements with high temporal Resolution
                  behind Artificial Heart Valves},
  booktitle =   {Proceedings of the 6th International Symposium on
                  Particle Image Velocimetry},
  year = 	 {2005},
}

@Article{	  ferrein04linux,
  author	= "A. Ferrein",
  title		= "Planned economy",
  journal	= "Linux Magazin",
  publisher     = "Linux New Media AG",
  year		= "2004",
  number	= "7",
  OPTvolume	= "\NA",
  note		= "(in German)",
  pages		= "50--53"
}

@InProceedings{	  ferrein2004specifyinggolog,
  author	= "A. Ferrein",
  title		= "Specifying Soccer Moves with Golog",
  booktitle	= "Proceedings of the 5th Conference dvs-Section Computer
		  Science in Sport",
  year		= "2004",
  pages         = "6 pages"
}

@InCollection{	  ferreinfl04,
  author	= "A. Ferrein and Ch. Fritz and G.
		  Lakemeyer",
  title		= "On-Line Decision-Theoretic Golog for Unpredictable
		  Domains.",
  pages		= "322--336",
  editor	= "Susanne Biundo and Thom W. Fr{\"u}hwirth and G{\"u}nther
		  Palm",
  booktitle	= "{{KI} 2004: Advances in Artificial Intelligence,
		  Proceedings of the Twenty-Seventh Annual German Conference
		  on Artificial Intelligence, ({KI}-04)}",
  publisher	= "Springer Verlag",
  series	= "Lecture Notes in Computer Science",
  volume	= "3238",
  year		= "2004"
}

@InProceedings{	  konur2004learning,
  author	= "S. Konur and A. Ferrein and G. Lakemeyer",
  title		= "Learning Decision Trees for Action Selection in Soccer
		  Agents",
  booktitle	= "Proceedings of ECAI-04 Workshop on Agents in
                  dynamic and real-time environments",
  year		= "2004",
  pages         = "6 pages",
  publisher =    "IOS Press",
 
}

@Misc{		  allemaniacs2003tdp,
  author	= "F. Dylla and A. Ferrein and G. Lakemeyer",
  title		= "Allemani{AC}s 2004 Team Description",
  year		= "2003",
  ps		= "allemaniacs2004tdp.ps.gz"
}

@InProceedings{	  dylla03specifying,
  author	= "F. Dylla and A. Ferrein and G. Lakemeyer",
  title		= "Specifying Multirobot Coordination in {ICPG}olog -- From
		  Simulation towards Real Robots",
  booktitle	= "Proceedings of the Workshop on Issues in Designing
		  Physical Agents for Dynamic Real-Time Environments: World
		  modeling, planning, learning, and communicating",
  publisher	= "IJCAI-03",
  year		= "2003",
  pages         = "6 pages"
}

@InProceedings{	  ferreinFL03,
  author	= "A. Ferrein and Ch. Fritz and G.
		  Lakemeyer",
  title		= "Extending {DTGOLOG} with Options.",
  editor	= "Georg Gottlob and Toby Walsh",
  booktitle	= "Proceedings of the Eighteenth International Joint
		  Conference on Artificial Intelligence ({IJCAI}-03)",
  publisher	= "Morgan Kaufmann",
  pages         = "1394--1395",
  year		= "2003"
}

@InProceedings{K2003a,
  author = 	 {Schimpf, Axel and Kallweit, Stephan},
  title = 	 {Photogrammetric Particle Image Velocimetry},
  booktitle = {Proc. of the 2 Workshop on Particle image velocimetry: recent improvementsand},
  pages = 	 {295},
  year = 	 {2003},
}

@InProceedings{	  dylla02,
  author	= "F. Dylla and A. Ferrein and G. Lakemeyer",
  title		= "Acting and Deliberating using {G}olog in Robotic Soccer
		  --~{A} Hybrid Architecture",
  booktitle	= "Proceedings of the 2nd Cognitive Robotics Workshop
		  (CogRob-02)",
  year		= "2002",
  publisher	= "AAAI Press",
}

@MastersThesis{Ferrein01,
  author = 	 {A. Ferrein },
  title = 	 {Entwurf und Implementierung eines Mehrrobotersteuerungssystems},
  school = 	 {RWTH Aachen University, Germany},
  year = 	 {2001},
  OPTkey = 	 {},
  type = 	 {Diplomarbeit},
  OPTaddress = 	 {},
  OPTmonth = 	 {},
  OPTnote = 	 {},
  OPTannote = 	 {}
}

@Article{K1998a,
  author = 	 {Uchiyama, R. and Kallweit, S. and Siekmann, H.},
  title = 	 {Fault Diagnostic Method for Pump Running Conditions
                  Based on Process Modeling and Neural Network },
  journal = {International Journal of Rotating Machinery},
  pages = 	 {49--59},
  year = 	 {1998},
  volume = 	 {4},
}

@Article{K1994a,
  author = 	 {Dues, Michael and Kallweit, Stephan and Radke,
                  Michael},
  title = 	 {{Möglichkeiten und Grenzen laseroptischer Verfahren
                  zur Untersuchung hydraulischer Strömungsmaschinen}},
  journal = 	 {Forschung im Ingenieurwesen},
  year = 	 {1994},
  volume = 	 {60},
  pages =        {332--336}
}

@InProceedings{K1994b,
  author = 	 {Dues, M. and Kallweit, S. and Siekmann, H.},
  title = 	 {Particle-Image-Velocimetry (PIV) in rotierenden
                  Maschinen},
  booktitle = {Lasermethoden in der Strömungsmesstechnik, 3. Fachtagung der Deutschen Gesellschaft für Laser-Anemometrie (GALA)},
  year = 	 {1994},
}

@InProceedings{K1994c,
  author = 	 {Abromeit, W. and Dues, M. and Siekmann, H. and
                  Kallweit, S.},
  title = 	 {Anwendung der LDA zur Untersuchung der instationären
                  Strömung im Nachleitrad einer axialen
                  Kreiselpumpenstufe},
  booktitle = {Lasermethoden in der Strömungsmesstechnik,
                  3. Fachtagung der Deutschen Gesellschaft für
                  Laser-Anemometrie (GALA),},
  year = 	 {1994},
}

@InProceedings{K1994d,
  author = 	 {Dues, M. W. and Kallweit, S. D. and Siekmann, H. E.},
  title = 	 {Spectral Analysis of Pressure Fluctuations and
                  Velocity Fields as Investigated on Propeller Pumps},
  OPTbooktitle = {Preprints : Fifth International Symposium on
                  Transport Phenomena and Dynamics of Rotating
                  Machinery (ISROMAC-5) },
  year = 	 {1994},
}

@InProceedings{K1994e,
  author = 	 {Helbing, M. and Orglmeister, R. and Kallweit, S. and
                  Siekmann, H. E. and Dues, M. and Cronemeyer, J.},
  title = 	 {Image Processing Techniques with Neural Networks for
                  Flow Visualization in Rotating Machinery},
  booktitle = {FLUCOME '94 : the 4th Triennial International
                  Symposium on Fluid Control, Measurement and
                  Visualization },
  year = 	 {1994},
}

@InProceedings{K1993a,
  author = 	 {Dues, M. and Gebhardt, Andreas and Kallweit, Stephan
                  and Scheffler, T. and Siekmann, H. and Uchiyama, T.},
  title = 	 { Flow Visualization in a Cavitating Flow},
  OPTbooktitle = { Proceedings of the German-Japanese Symposium on
                  Multi-Phase Flow},
  year = 	 {1993},
}

@InProceedings{K1993b,
  author = 	 {Anwendung des Laserlichtschnitt-Verfahrens zur qualitativen Untersuchung der Durchströmung von Kreiselpumpen},
  title = 	 {Ebinger, G. and Kallweit, S. and Dues, M. and
                  Siekmann, H.},
  booktitle = {Lasermethoden in der Strömungsmesstechnik,
                  2. Fachtagung der Deutschen Gesellschaft für
                  Laser-Anemometrie (GALA)},
  year = 	 {1993},
}

%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%  2018
%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

@patent{lotse1,
  title = {Lotsenroboter f{\"u}r Tunnelvortriebsmaschinen},
  author = {Alexander Ferrein and Stephan Kallweit},
  number = {DE 3582~12},
  type = {Patent},
  note = {angemeldet 2012-11-26}}