Inst. Energie- und Automatisierungstechnik

203 Items

Recent Submissions
Berlin Robust Orientation Estimation Assessment Dataset (BROAD)

Laidig, Daniel (2021-06-11)

Data files and example code for the BROAD benchmark for inertial orientation estimation. For more details, see the following publication: D. Laidig, M. Caruso, A. Cereatti, T. Seel. BROAD -- A Benchmark for Robust Inertial Orientation Estimation. Submitted to Data. A copy of this dataset is also available at

Second life assessment of Lithium-ion cells obtained from portable electronics

Salinas, Felipe (2021)

In the last decade, repurposing batteries obtained from electric vehicles as stationary energy storages has gained attention motivated by the life extension of lithium-ion batteries before recycling. This interest is also observed in initiatives which have downscaled this concept for batteries obtained from portable electronics, accounting today for most batteries sent to recycling. Independent...

Analysis of the Accuracy of Ten Algorithms for Orientation Estimation Using Inertial and Magnetic Sensing under Optimal Conditions: One Size Does Not Fit All

Caruso, Marco ; Sabatini, Angelo Maria ; Laidig, Daniel ; Seel, Thomas ; Knaflitz, Marco ; Della Croce, Ugo ; Cereatti, Andrea (2021-04-05)

The orientation of a magneto and inertial measurement unit (MIMU) is estimated by means of sensor fusion algorithms (SFAs) thus enabling human motion tracking. However, despite several SFAs implementations proposed over the last decades, there is still a lack of consensus about the best performing SFAs and their accuracy. As suggested by recent literature, the filter parameters play a central r...

The effect of assuming static or dynamic gaze behaviour on the estimated background luminance of drivers

Winter, Jan ; Fotios, Steve ; Völker, Stephan (2018-02-15)

Application of the Commission Internationale de l’Eclairage system for mesopic photometry requires that an estimate is made of the observers’ state of luminance adaptation. This paper addresses an assumption made when estimating background luminance, a component of adaptation luminance. Specifically, using spatial sampling of the visual field we compare background luminances determined from ass...

Smart electric motor: Evaluation of business potential for digitalisation in the large electric motor industry

Costello, Timothy Joe ; Strunz, Kai ; Müller‐Kirchenbauer, Joachim (2021-01-28)

Digitalisation is seen to have contributed to the demise of 50% of the Fortune 500 companies since 2000. The large electric motor segment is not immune to this changing business landscape and must evolve to survive. This sector is experiencing declining revenues as traditional hardware‐sales‐focused business models have proved inadequate to address a reduction in profitability. New business mod...

Model decomposition of timed event graphs under periodic partial synchronization: application to output reference control

Trunk, Johannes ; Cottenceau, Bertrand ; Hardouin, Laurent ; Raisch, Jörg (2020-05-27)

Timed Event Graphs (TEGs) are a graphical model for decision free and time-invariant Discrete Event Systems (DESs). To express systems with time-variant behaviors, a new form of synchronization, called partial synchronization (PS), has been introduced for TEGs. Unlike exact synchronization, where two transitions t 1 , t 2 can only fire if both transitions are simultaneously enabled, PS of trans...

Road surface reconstruction by stereo vision

Brunken, Hauke ; Gühmann, Clemens (2020-11-18)

Diese Arbeit behandelt die Rekonstruktion von Straßenoberflächen aus stereoskopischen Bildern, welche von hinter der Windschutzscheibe eines Fahrzeugs montierten Kameras während der Fahrt aufgenommen wurden. Basierend auf dem Plane-Sweep-Ansatz und Semi-global Matching wurde dazu ein spezieller Algorithmus entwickelt. Für den Vergleich von Pixeln wurden drei verschiedene Ähnlichkeitsmaße ausgew...

Refinements of behavioural abstractions for the supervisory control of hybrid systems

Yang, Jung-Min ; Moor, Thomas ; Raisch, Jörg (2020-04-22)

A common approach to controller synthesis for hybrid systems is to first establish a discrete-event abstraction and then to use methods from supervisory control theory to synthesise a controller. In this paper, we consider behavioural abstractions of hybrid systems with a prescribed discrete-event input/output interface. We discuss a family of abstractions based on so called experiments which c...

Dataset to the thesis "Second life assessment of Lithium-ion cells obtained from portable electronics"

Salinas, Felipe (2021-02-23)

This dataset belongs to the thesis "Second life assessment of Lithium-ion cells obtained from portable electronics". It contains a characterization of 29 features for 100 cells, for which the performance was tested for 100 cycles and the results grouped through k-means algorithm. It was used to provide an example of a novel methodology to grade second life batteries.

A CMOS-based electrochemical bio molecule detection microarray

Laifi, Anouar (2021)

This work presents an electrochemical DNA sensor microarray which supports the detection principles cyclic voltammetry (CV) and Coulometry. The three-electrode system needed for these detection methods is post-processed on the solid-state 5.5 mm x 3 mm CMOS-based chip, which is realized in a 180 nm, 1.8 V and 3.3 V standard CMOS technology. The constellation of an array of 109 working electrode...

A Novel IMU Extrinsic Calibration Method for Mass Production Land Vehicles

Rodrigo Marco, Vicent ; Kalkkuhl, Jens ; Raisch, Jörg ; Seel, Thomas (2020-12-22)

Multi-modal sensor fusion has become ubiquitous in the field of vehicle motion estimation. Achieving a consistent sensor fusion in such a set-up demands the precise knowledge of the misalignments between the coordinate systems in which the different information sources are expressed. In ego-motion estimation, even sub-degree misalignment errors lead to serious performance degradation. The prese...

A challenge: Support of standing balance in assistive robotic devices

Lippi, Vittorio ; Mergner, Thomas (2020-07-29)

Neurological patients using a powered lower-body exoskeleton for rehabilitation of standing and walking skills in an upright body pose face the safety challenge of postural instability and fall. Current research, therefore, develops exoskeletons with self-balancing functions. This study suggests basing the exoskeleton’s stabilization of standing posture on a human-derived postural control mecha...

Inertial-Robotic Motion Tracking in End-Effector-Based Rehabilitation Robots

Passon, Arne ; Schauer, Thomas ; Seel, Thomas (2020-11-27)

End-effector-based robotic systems provide easy-to-set-up motion support in rehabilitation of stroke and spinal-cord-injured patients. However, measurement information is obtained only about the motion of the limb segments to which the systems are attached and not about the adjacent limb segments. We demonstrate in one particular experimental setup that this limitation can be overcome by augmen...

Überwachung hydrodynamischer Gleitlager basierend auf der Körperschallanalyse

Mokhtari Molk Abadi, Noushin (2020)

Bei Getrieben der Luftfahrt ist die Schadensfrüherkennung von Verschleißkomponenten unerlässlich. Jedoch stellt die zuverlässige und effektive Überwachung hydrodynamischer Gleitlager die Luftfahrt-Industrie vor große Herausforderungen. Die in den meisten Anwendungen zum Einsatz kommenden Messgrößen sind entweder nicht ausreichend sensitiv oder erfüllen nicht die Anforderungen an begrenztem Baur...

Adaptive multichannel FES neuroprosthesis with learning control and automatic gait assessment

Müller, Philipp ; Ama, Antonio J. del ; Moreno, Juan C. ; Schauer, Thomas (2020-02-28)

Background FES (Functional Electrical Stimulation) neuroprostheses have long been a permanent feature in the rehabilitation and gait support of people who had a stroke or have a Spinal Cord Injury (SCI). Over time the well-known foot switch triggered drop foot neuroprosthesis, was extended to a multichannel full-leg support neuroprosthesis enabling improved support and rehabilitation. However,...

Jahresbericht 2019/2020


Die Schriftenreihe des Fachgebietes Lichttechnik wurde mit dem Jahresbericht 2012 begonnen. Hierüber werden auch Dissertationen, herausragende Abschlussarbeiten, Monografien, Tagungsbände sowie Forschungsberichte des Fachgebietes Lichttechnik veröffentlicht. Die Jahresberichte des Fachgebietes Lichttechnik lassen sich zurückverfolgen bis in das Jahr 1971. Sie informieren über Lehrveranstaltung...

Robust Plug-and-Play Joint Axis Estimation Using Inertial Sensors

Olsson, Fredrik ; Kok, Manon ; Seel, Thomas ; Halvorsen, Kjartan (2020-06-22)

Inertial motion capture relies on accurate sensor-to-segment calibration. When two segments are connected by a hinge joint, for example in human knee or finger joints as well as in many robotic limbs, then the joint axis vector must be identified in the intrinsic sensor coordinate systems. Methods for estimating the joint axis using accelerations and angular rates of arbitrary motion have been ...

Modular finger and hand motion capturing system based on inertial and magnetic sensors

Valtin, Markus ; Salchow-Hömmen, Christina ; Seel, Thomas ; Laidig, Daniel ; Schauer, Thomas (2017-03-08)

The assessment of hand posture and kinematicsis increasingly important in various fields. This includesthe rehabilitation of stroke survivors with restricted handfunction. This paper presents a modular, ambulatory mea-surement system for the assement of the remaining handfunction and for closed-loop controlled therapy. The de-vice is based on inertial sensors and utilizes up to fiveinterchangea...

Intention recognition for FES in a grasp-and-release task using volitional EMG and inertial sensors

Salchow-Hömmen, Christina ; Dorn, Andreas ; Valtin, Markus ; Schauer, Thomas (2017-09-07)

Functional Electrical Stimulation (FES) facilitates the motor recovery of the hand function after stroke. The integration of biofeedback and other strategies to actively involve a patient in the therapy is important for the rehabilitation progress. We introduce a combined control approach for a FES-driven neuroprosthesis using volitional electromyo-graphy (vEMG) and motion capturing via a novel...

A new semi-automatic approach to find suitable virtual electrodes in arrays using an interpolation strategy

Salchow-Hömmen, Christina ; Valtin, Markus ; Seel, Thomas ; Schauer, Thomas (2016-06-13)

Functional Electrical Stimulation via electrode arrays enables the user to form virtual electrodes (VEs) of dynamic shape, size, and position. We developed a feedback-control-assisted manual search strategy which allows the therapist to conveniently and continuously modify VEs to find a good stimulation area. This works for applications in which the desired movement consists of at least two deg...