| [1] | Henneges, C. and Huster, S. and Zell, A.. An artificial t cell immune system for predicting MHC-II binding
peptides. In IEEE Symposium on Artificial Life. ALife '09., pages 163 -170,32009-april2, 2009. Bibtex@INPROCEEDINGS{Henneges2009,author = {Henneges, C. and Huster, S. and Zell, A.}, title = {An artificial t cell immune system for predicting MHC-II binding peptides}, booktitle = {IEEE Symposium on Artificial Life. ALife '09.}, year = {2009}, pages = {163 -170}, month = {32009-april2}, doi = {10.1109/ALIFE.2009.4937708}, keywords = {MHC-II binding peptides;T lymphocytes;artificial T cell immune system;biological immune system;immunization;machine learning;natural immune systems;artificial immune systems;learning (artificial intelligence);pattern classification;}, project = {abt_zell, bioinformatics}, } |
| [2] | Dräger, Andreas and Kronfeld, Marcel and Ziller, Michael J. and
Supper, Jochen and Planatscher, Hannes and Magnus, J{\o}rgen B. and
Oldiges, Marco and Kohlbacher, Oliver and Zell, Andreas. {Modeling metabolic networks in \emph{C.~glutamicum}: a comparison
of rate laws in combination with various parameter optimization strategies}. , pages 5,jan, 2009. [pdf , url]Bibtex@ARTICLE{Draeger2009a,author = {Dräger, Andreas and Kronfeld, Marcel and Ziller, Michael J. and Supper, Jochen and Planatscher, Hannes and Magnus, J{\o}rgen B. and Oldiges, Marco and Kohlbacher, Oliver and Zell, Andreas}, title = {{Modeling metabolic networks in \emph{C.~glutamicum}: a comparison of rate laws in combination with various parameter optimization strategies}}, journal = {BMC Systems Biology}, year = {2009}, volume = {3}, pages = {5}, number = {5}, month = {jan}, abstract = {Background: To understand the dynamic behavior of cellular systems, mathematical modeling is often necessary and comprises three steps: (1) experimental measurement of participating molecules, (2) assignment of rate laws to each reaction, and (3) parameter calibration with respect to the measurements. In each of these steps the modeler is confronted with a plethora of alternative approaches, e.g., the selection of approximative rate laws in step two as specific equations are often unknown, or the choice of an estimation procedure with its specific settings in step three. This overall process with its numerous choices and the mutual influence between them makes it hard to single out the best modeling approach for a given problem. Results: We investigate the modeling process using multiple kinetic equations together with various parameter optimization methods for a well-characterized example network, the biosynthesis of valine and leucine in \emph{C.~glutamicum}. For this purpose, we derive seven dynamic models based on generalized mass action, Michaelis-Menten and convenience kinetics as well as the stochastic Langevin equation. In addition, we introduce two modeling approaches for feedback inhibition to the mass action kinetics. The parameters of each model are estimated using eight optimization strategies. To determine the most promising modeling approaches together with the best optimization algorithms, we carry out a two-step benchmark: (1) coarse-grained comparison of the algorithms on all models and (2) fine-grained tuning of the best optimization algorithms and models. To analyze the space of the best parameters found for each model, we apply clustering, variance, and correlation analysis. Conclusion: A mixed model based on the convenience rate law and the Michaelis-Menten equation, in which all reactions are assumed to be reversible, is the most suitable deterministic modeling approach followed by a reversible generalized mass action kinetics model. A Langevin model is advisable to take stochastic effects into account. To estimate the model parameters, three algorithms are particularly useful: For first attempts the settings-free Tribes algorithm yields valuable results. Particle swarm optimization and differential evolution provide significantly better results with appropriate settings.}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/mitarb/draeger/publications/Draeger2009a.html}, doi = {10.1186/1752-0509-3-5}, pdf = {http://www.biomedcentral.com/content/pdf/1752-0509-3-5.pdf}, project = {abt_zell, bioinformatics, eva2}, url = {http://www.biomedcentral.com/1752-0509/3/5}, } |
| [3] | Fechner, Nikolas and Jahn, Andreas and Hinselmann, Georg and Zell,
Andreas. Atomic local neighborhood flexibility incorporation into a structured
similarity measure for QSAR. , pages 549-560,mar, 2009. Bibtex@ARTICLE{2009_12,author = {Fechner, Nikolas and Jahn, Andreas and Hinselmann, Georg and Zell, Andreas}, title = {Atomic local neighborhood flexibility incorporation into a structured similarity measure for QSAR}, journal = {Journal of Chemical Information and Modeling}, year = {2009}, volume = {49}, pages = {549-560}, number = {3}, month = {mar}, abstract = {In this work, we introduce a new method to regard the geometry in a structural similarity measure by approximating the conformational space of a molecule. Our idea is to break down the molecular conformation into the local conformations of neighbor atoms with respect to core atoms. This local geometry can be implicitly accessed by the trajectories of the neighboring atoms, which are emerge by rotatable bonds. In our approach, the physicochemical atomic similarity, which can be used in structured similarity measures, is augmented by a local flexibility similarity, which gives a rough estimate of the similarity of the local conformational space. We incorporated this new type of encoding the flexibility into the optimal assignment molecular similarity approach, which can be used as a pseudokernel in support vector machines. The impact of the local flexibility was evaluated on several published QSAR data sets. This lead to an improvement of the model quality on 9 out of 10 data sets compared to the unmodified optimal assignment kernel.}, keywords = {Models, Molecular *Molecular Structure Quantitative Structure-Activity Relationship}, project = {abt_zell, cheminformatics}, } |
| [4] | Kiattisin Kanjanawanishkul. Formation Control of Omnidirectional Mobile Robot using Distributed
Model Predictive Control. In Proceedings of Second International Conference on Robot Communication
and Coordination (ROBOCOMM-2009), Odense, Denmark,March 31-April 2, 2009. [url]Bibtex@INPROCEEDINGS{kanjanaw_ROBOCOMM2009,author = {Kiattisin Kanjanawanishkul}, title = {Formation Control of Omnidirectional Mobile Robot using Distributed Model Predictive Control}, booktitle = {Proceedings of Second International Conference on Robot Communication and Coordination (ROBOCOMM-2009)}, year = {2009}, address = {Odense, Denmark}, month = {March 31-April 2}, abstract = {This paper presents experimental results of formation control problems of omnidirectional mobile robots using distributed nonlinear model predictive control (NMPC). Two main objectives are (i) to maintain a desired flexible formation pattern and (ii) to follow a reference path. Both pose errors and formation errors are included into a local objective function, which is minimized at each update time. In the formation control, the curvilinear abscissa s has been used as a coupling term with neighboring robots. The strategy in such a way that the exchange of the most recent optimal state trajectory between coupled subsystems has been employed. The distinct features of NMPC are that constraints can be explicitly accommodated, as well as nonlinear and time-varying systems can be easily handled. Experiments with three omnidirectional mobile robots are presented to illustrate the validity of our proposed method.}, project = {abt_zell, robotics}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/kanjanaw2009robocomm.pdf}, } |
| [5] | Komma, Philippe and Weiss, Christian and Zell, Andreas. Improved Vibration based Terrain Classification Using Temporal Coherence. In 40th International Symposium on Robotics (ISR), pages 359-364,, Barcelona, Spain,mar, 2009. Bibtex@INPROCEEDINGS{komma09a,author = {Komma, Philippe and Weiss, Christian and Zell, Andreas}, title = {Improved Vibration based Terrain Classification Using Temporal Coherence}, booktitle = {40th International Symposium on Robotics (ISR)}, year = {2009}, pages = {359-364}, address = {Barcelona, Spain}, month = {mar}, project = {abt_zell, robotics}, } |
| [6] | John Shutty and Wolfgang Wenzel and Philippe Komma. Control Strategy Optimization for Hybrid {EGR} Engines. In 9. Internationales Stuttgarter Symposium 2009 - Automobil- und Motorentechnik, Stuttgart, Germany,mar, 2009. Bibtex@INPROCEEDINGS{2009_238,author = {John Shutty and Wolfgang Wenzel and Philippe Komma}, title = {Control Strategy Optimization for Hybrid {EGR} Engines}, booktitle = {9. Internationales Stuttgarter Symposium 2009 - Automobil- und Motorentechnik}, year = {2009}, address = {Stuttgart, Germany}, month = {mar}, project = {abt_zell}, } |
| [7] | Dräger, Andreas and Planatscher, Hannes and Wouamba, Dieudonn{\'e}
Motsou and Schröder, Adrian and Hucka, Michael and Endler, Lukas
and Golebiewski, Martin and Müller, Wolfgang and Zell, Andreas. {SBML2\LaTeX: Conversion of SBML files into human-readable reports}. , pages 1455--1456,apr, 2009. [pdf , url]Bibtex@ARTICLE{Draeger2009b,author = {Dräger, Andreas and Planatscher, Hannes and Wouamba, Dieudonn{\'e} Motsou and Schröder, Adrian and Hucka, Michael and Endler, Lukas and Golebiewski, Martin and Müller, Wolfgang and Zell, Andreas}, title = {{SBML2\LaTeX: Conversion of SBML files into human-readable reports}}, journal = {Bioinformatics}, year = {2009}, volume = {25}, pages = {1455--1456}, number = {11}, month = {apr}, abstract = {SUMMARY: The XML-based Systems Biology Markup Language (SBML) has emerged as a standard for storage, communication and interchange of models in systems biology. As a machine-readable format XML is difficult for humans to read and understand. Many tools are available that visualize the reaction pathways stored in SBML files, but many components, e.g., unit declarations, complex kinetic equations or links to MIRIAM resources, are often not made visible in these diagrams. For a broader understanding of the models, support in scientific writing and error detection, a human-readable report of the complete model is needed. We present SBML2\LaTeX, a Java-based stand-alone program to fill this gap. A convenient web service allows users to directly convert SBML to various formats, including DVI, \LaTeX{} and PDF, and provides many settings for customization. AVAILABILITY: Source code, documentation and a web service are freely available at \url{http://www.cogsys.cs.uni-tuebingen.de/software/SBML2LaTeX}.}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/mitarb/draeger/publications/Draeger2009b.html}, doi = {10.1093/bioinformatics/btp170}, pdf = {http://bioinformatics.oxfordjournals.org/cgi/reprint/25/11/1455.pdf}, project = {abt_zell, bioinformatics, NGFNplus, HepatoSys, Bioinformatik-Grid, SBML2LaTeX, Spher4Sys}, url = {http://dx.doi.org/10.1093/bioinformatics/btp170}, } |
| [8] | Hinselmann, Georg and Jahn, Andreas and Fechner, Nikolas and Zell,
Andreas. Chronic Rat Toxicity Prediction of Chemical Compounds Using Kernel
Machines. In Evolutionary Computation, Machine Learning and Data Mining in Bioinformatics:
7th European Conference (EvoBio 2009), pages 25-36,, Tübingen, Germany,apr, 2009. [url]Bibtex@INPROCEEDINGS{2009_34,author = {Hinselmann, Georg and Jahn, Andreas and Fechner, Nikolas and Zell, Andreas}, title = {Chronic Rat Toxicity Prediction of Chemical Compounds Using Kernel Machines}, booktitle = {Evolutionary Computation, Machine Learning and Data Mining in Bioinformatics: 7th European Conference (EvoBio 2009)}, year = {2009}, volume = {5483}, pages = {25-36}, address = {Tübingen, Germany}, month = {apr}, publisher = {Springer}, project = {abt_zell, cheminformatics}, url = {http://www.springerlink.com/content/1830j78741430154/?p=75793a94ffac4731856613ab7511d24c&pi=2}, } |
| [9] | Komma, Philippe and Zell, Andreas. Towards Real-Time and Memory Efficient Predictions of Valve States
in Diesel Engines. In IEEE Workshop on Computational Intelligence in Vehicles and Vehicular
Systems (CIVVS 2009), pages 8-15,, Nashville, TN, USA,apr, 2009. [url]Bibtex@INPROCEEDINGS{komma09c,author = {Komma, Philippe and Zell, Andreas}, title = {Towards Real-Time and Memory Efficient Predictions of Valve States in Diesel Engines}, booktitle = {IEEE Workshop on Computational Intelligence in Vehicles and Vehicular Systems (CIVVS 2009)}, year = {2009}, pages = {8-15}, address = {Nashville, TN, USA}, month = {apr}, project = {abt_zell}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/komma2009civvs-valve.pdf}, } |
| [10] | Ran Liu and Hua Zhang and Manlu Liu and Xianfeng Xia and Tianlian
Hu. Stereo Cameras Self-Calibration Based on SIFT. In Proceedings of the 2009 International Conference on Measuring Technology
and Mechatronics Automation (ICMTMA '09), pages 352--355,, Zhangjiajie, Hunan,April, 2009. Bibtex@INPROCEEDINGS{Liu2009:Stereo,author = {Ran Liu and Hua Zhang and Manlu Liu and Xianfeng Xia and Tianlian Hu}, title = {Stereo Cameras Self-Calibration Based on SIFT}, booktitle = {Proceedings of the 2009 International Conference on Measuring Technology and Mechatronics Automation (ICMTMA '09)}, year = {2009}, volume = {1}, pages = {352--355}, address = {Zhangjiajie, Hunan}, month = {April}, abstract = {At present, a new algorithm of feature matching-SIFT has become a hot topic in the feature matching field, whose matching ability is strong, and could process the matching problems with translation, rotation and affine transformation among different images, and to a certain extent is with more stable feature matching ability for images which are captured from random different angles.In this paper, single camera is first calibrated using plane chessboard based on OpenCV,in order to overcome shortcomings in traditional and previous self-calibration methods, SIFT algorithm is proposed to calibrate stereo cameras after two cameras intrinsic parameters are calibrated. Fundamentalmatrix is gained through several matching points in two images using SIFT feature matching method, combined with intrinsic parameters, we can compute essential matrix. Translation matrix and the rotation matrix of stereo cameras can be resolved through SVD of essential matrix known as Huang- Faugeras constrains. Experiment results show that our method can calibrate relationship of stereo cameras accurately, and be able to calibrate two cameras in any circumstances. The algorithm has strong adaptability and robustness, but the expense time needs to be further improved.}, acmid = {1606062}, days = {11-12}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/LiteraturDB/details.html?Liu2009:Stereo}, doi = {http://dx.doi.org/10.1109/ICMTMA.2009.338}, isbn = {978-0-7695-3583-8}, keywords = {SIFT, Self-calibration, OpenCV, SVD, Huang- Faugeras' constrains}, numpages = {4}, project = {extern}, } |
| [11] | Kanjanawanishkul, Kiattisin and Zell, Andreas. Path Following for an Omnidirectional Mobile Robot Based on Model
Predictive Control. In IEEE International Conference on Robotics and Automation (ICRA 2009), pages 3341-3346,, Kobe, Japan,May 12-17, 2009. [url]Bibtex@INPROCEEDINGS{kanjanaw_ICRA2009,author = {Kanjanawanishkul, Kiattisin and Zell, Andreas}, title = {Path Following for an Omnidirectional Mobile Robot Based on Model Predictive Control}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2009)}, year = {2009}, pages = {3341-3346}, address = {Kobe, Japan}, month = {May 12-17}, publisher = {IEEE}, project = {abt_zell, robotics}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/kanjanaw2009icra.pdf}, } |
| [12] | Komma, Philippe and Weiss, Christian and Zell, Andreas. Adaptive {B}ayesian Filtering for Vibration-Based Terrain Classification. In IEEE/RSJ International Conference on Robotics and Automation (ICRA
2009), pages 3307-3313,, Kobe, Japan,may, 2009. [url]Bibtex@INPROCEEDINGS{komma09b,author = {Komma, Philippe and Weiss, Christian and Zell, Andreas}, title = {Adaptive {B}ayesian Filtering for Vibration-Based Terrain Classification}, booktitle = {IEEE/RSJ International Conference on Robotics and Automation (ICRA 2009)}, year = {2009}, pages = {3307-3313}, address = {Kobe, Japan}, month = {may}, project = {abt_zell, robotics}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/komma2009icra_bayes.pdf}, } |
| [13] | Tscherneck, Stephanie and Strunk, Sarah and Schmidt, Christian and
Hammer, Paul and Amberg, Ronny and Wang, Chong and Gillert, Rainer
and Krause, Antje and Petznick, Gabriele and Beyerlein, Peter. {On the Mutual Information Between Interaction Perplexity and Function
of Proteins}. In IEEE International Workshop on Genomic Signal Processing and Statistics, pages 1--4,, Minneapolis, MN, USA,may, 2009. [url]Bibtex@INPROCEEDINGS{Tscherneck2009b,author = {Tscherneck, Stephanie and Strunk, Sarah and Schmidt, Christian and Hammer, Paul and Amberg, Ronny and Wang, Chong and Gillert, Rainer and Krause, Antje and Petznick, Gabriele and Beyerlein, Peter}, title = {{On the Mutual Information Between Interaction Perplexity and Function of Proteins}}, booktitle = {IEEE International Workshop on Genomic Signal Processing and Statistics}, year = {2009}, pages = {1--4}, address = {Minneapolis, MN, USA}, month = {may}, organization = {IEEE}, abstract = {We are exploring a novel information theory based approach to analyse the relation of the number of protein interactions (interaction perplexity) and protein function. The interaction perplexity is translated into a smooth sigmoid function, indicating if the protein is a hub candidate or not (hub likelihood). The overall mutual information between the hub likelihood and the protein function exhibits a clear maximum at an interaction perplexity of 21. Moreover the conditional probability of observing a certain protein function given the hub likelihood shows discriminative power. In addition our findings support that the mutual information between hub likelihood and protein function depends upon the cell compartment under investigation, it's maximum ranging up to 29\,\% of the achievable information value at interaction perplexities, ranging from 15 to 50.}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/LiteraturDB/details.html?Tscherneck2009b}, doi = {10.1109/GENSIPS.2009.5174359}, isbn = {978-1-4244-4761-9}, project = {extern, bioinformatics}, url = {http://dx.doi.org/10.1109/GENSIPS.2009.5174359}, } |
| [14] | Supper, Jochen and Spangenberg, Luc\'{i}a and Planatscher, Hannes and
Dräger, Andreas and Schröder, Adrian and Zell, Andreas. {BowTieBuilder: modeling signal transduction pathways}. , pages 67,jun, 2009. [pdf , url]Bibtex@ARTICLE{Supper2009,author = {Supper, Jochen and Spangenberg, Luc\'{i}a and Planatscher, Hannes and Dräger, Andreas and Schröder, Adrian and Zell, Andreas}, title = {{BowTieBuilder: modeling signal transduction pathways}}, journal = {BMC Systems Biology}, year = {2009}, volume = {3}, pages = {67}, number = {1}, month = {jun}, abstract = {Background: Sensory proteins react to changing environmental conditions by transducing signals into the cell. These signals are integrated into core proteins that activate downstream target proteins such as transcription factors (TFs). This structure is referred to as a bow tie, and allows cells to respond appropriately to complex environmental conditions. Understanding this cellular processing of information, from sensory proteins (e.g., cell-surface proteins) to target proteins (e.g., TFs) is important, yet for many processes the signaling pathways remain unknown. Results: Here, we present BowTieBuilder for inferring signal transduction pathways from multiple source and target proteins. Given protein-protein interaction (PPI) data signaling pathways are assembled without knowledge of the intermediate signaling proteins while maximizing the overall probability of the pathway. To assess the inference quality, BowTieBuilder and three alternative heuristics are applied to several pathways, and the resulting pathways are compared to reference pathways taken from KEGG. In addition, BowTieBuilder is used to infer a signaling pathway of the innate immune response in humans and a signaling pathway that potentially regulates an underlying gene regulatory network. Conclusions: We show that BowTieBuilder, given multiple source and/or target proteins, infers pathways with satisfactory recall and precision rates and detects the core proteins of each pathway.}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/mitarb/draeger/publications/Supper2009.html}, doi = {10.1186/1752-0509-3-67}, pdf = {http://www.biomedcentral.com/content/pdf/1752-0509-3-67.pdf}, project = {abt_zell, bioinformatics, NGFNplus, HepatoSys, BowTieBuilder}, url = {http://www.biomedcentral.com/1752-0509/3/67}, } |
| [15] | Philipp Vorst and Bin Yang and Andreas Zell. Loop Closure and Trajectory Estimation with Long-Range Passive {RFID}
in Densely Tagged Environments. In 14th International Conference on Advanced Robotics (ICAR 2009), pages 1--6,, Munich, Germany,June 22-26, 2009. [url]Bibtex@INPROCEEDINGS{vorst2009icar,author = {Philipp Vorst and Bin Yang and Andreas Zell}, title = {Loop Closure and Trajectory Estimation with Long-Range Passive {RFID} in Densely Tagged Environments}, booktitle = {14th International Conference on Advanced Robotics (ICAR 2009)}, year = {2009}, pages = {1--6}, address = {Munich, Germany}, month = {June 22-26}, abstract = {In more and more commercial scenarios, radio frequency identification (RFID) is used to tag assets on a large scale. These given tag infrastructures offer themselves for the navigation of autonomous transport vehicles and service robots. In this paper we investigate loop closure for graph-based simultaneous localization and mapping (SLAM) and trajectory estimation in environments with such dense RFID infrastructures: We compare different methods of inferring that a place has been revisited, examine their robustness, and show how the trajectory of the robot can be reconstructed. Given this trajectory, a robot is able to map transponder positions or to localize itself with RFID and odometry alone and without a reference localization system. The accuracy of our approach is shown through a series of experiments with a mobile robot.}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/mitarb/vorst/publications/vorst2009icar.html}, isbn = {978-1-4244-4855-5}, project = {abt_zell, robotics, ambisense, rfid}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/vorst2009icar-loop-closure.pdf}, } |
| [16] | Komma, Philippe and Zell, Andreas. Posterior Probability Estimation Techniques Embedded in a {B}ayes
Filter for Vibration-based Terrain Classification. In 7th International Conference on Field and Service Robots (FSR 2009), pages 1-10,, MIT, Cambridge, Massachusetts, USA,jul, 2009. [url]Bibtex@INPROCEEDINGS{komma09d,author = {Komma, Philippe and Zell, Andreas}, title = {Posterior Probability Estimation Techniques Embedded in a {B}ayes Filter for Vibration-based Terrain Classification}, booktitle = {7th International Conference on Field and Service Robots (FSR 2009)}, year = {2009}, pages = {1-10}, address = {MIT, Cambridge, Massachusetts, USA}, month = {jul}, project = {abt_zell}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/komma2009fsr-prob_est.pdf}, } |
| [17] | Jahn, Andreas and Hinselmann, Georg and Fechner, Nikolas and Zell,
Andreas. Optimal Assignment Methods for Ligand-Based Virtual Screening. aug, 2009. [pdf , url]Bibtex@ARTICLE{jahn2009optimal,author = {Jahn, Andreas and Hinselmann, Georg and Fechner, Nikolas and Zell, Andreas}, title = {Optimal Assignment Methods for Ligand-Based Virtual Screening}, journal = {Journal of Cheminformatics}, year = {2009}, volume = {1}, number = {14}, month = {aug}, doi = {10.1186/1758-2946-1-14}, pdf = {http://www.jcheminf.com/content/pdf/1758-2946-1-14.pdf}, project = {abt_zell, cheminformatics}, url = {http://www.jcheminf.com/content/1/1/14}, } |
| [18] | Tscherneck, Stephanie. {Aufbau einer integrierten Wissensbasis zur quantitativen Modellierung
von Proteininteraktionen}. , Bahnhofstr. 1, 15745 Wildau (Germany),aug, 2009. Bibtex@Masterthesis{Tscherneck2009a,author = {Tscherneck, Stephanie}, title = {{Aufbau einer integrierten Wissensbasis zur quantitativen Modellierung von Proteininteraktionen}}, school = {Universtity of Applied Sciences Wildau (UASW)}, year = {2009}, address = {Bahnhofstr. 1, 15745 Wildau (Germany)}, month = {aug}, abstract = {{Öffentliche, biologische Online-Datenbanken ermöglichen schnelle Antworten auf Einzelabfragen. Komplexe Abfragen erfordern hingegen lange Wartezeiten. Eine lokale Installationen der Datenbanken würde diesem Problem entgegen wirken. Bestandteil dieser Arbeit ist die Schaffung eines Prototypen der integrativen Interaktions-Wissensbasis WINTER KB (Wildau INTERaction Knowledge Base). Hierfür wird öffentliches und proprietäres Wissen in einer lokalen, relationalen Datenbank zusammengefasst. PubMed, UniProt/SwissProt, IntAct, MINT,Entrez Gene, NCBI Taxonomy, Gene Ontology sowie die proprietäre Datenbank IPA finden ihre Verwendung. Mit Hilfe der darin enthaltenden Daten können DGL-Systeme f"ur Konzentrationsverläufe "uber die neu entwickelte Weboberfläche erstellt werden. Des Weiteren kann die \emph{Mutual Information} zwischen den Zufallsvariablen Protein, Hub und Funktion errechnet werden. Erwartungsgemäß ist die Mutual Information der integrierten proprietären Ingenuity\textregistered-Daten deutlich höher als die der integrierten öffentlichen Daten aus IntAct, MINT und UniProt/SwissProt.}}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/LiteraturDB/details.html?Tscherneck2009a}, project = {extern, bioinformatics}, } |
| [19] | Karsten Bohlmann and Peter Biber and Andreas Zell. Using Geographical Data and Sonar to Improve {GPS} Localization
for Mobile Robots. In 4th European Conference on Mobile Robots (ECMR 2009), pages 55--60,, Mlini/Dubrovnik, Croatia,sep, 2009. [url]Bibtex@INPROCEEDINGS{bohlmann2009ecmr,author = {Karsten Bohlmann and Peter Biber and Andreas Zell}, title = {Using Geographical Data and Sonar to Improve {GPS} Localization for Mobile Robots}, booktitle = {4th European Conference on Mobile Robots (ECMR 2009)}, year = {2009}, pages = {55--60}, address = {Mlini/Dubrovnik, Croatia}, month = {sep}, abstract = {Internet technology and the availability of large public knowledge bases should enable future autonomous systems to drastically improve their perceptual and cognitive capabilities with only inexpensive sensors. In this paper we investigate this aspect with respect to robot self-localization. We present a method to improve GPS-based localization of mobile robots using geographic data from a public database. From a cadastral map a basic map of a robot's working area is automatically created. A mobile robot is equipped with a low-cost GPS receiver and ultrasonic sensors. Then, a particle filter is used to fuse GPS position values and odometry data and to match sonar scan data with the a priori geodata map. The map is also updated with previously unknown environment features. The algorithm was tested in an outdoor environment with uneven terrain. Experimental results show considerable improvements in position estimation compared to using GPS alone.}, affiliation = {Chair of Cognitive Systems, University of Tuebingen, Department of Computer Science, Sand 1, 72076 Tuebingen, Germany}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/LiteraturDB/details.html?bohlmann2009ecmr}, project = {abt_zell, robotics}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/bohlmann2009ecmr-geographical-data.pdf}, } |
| [20] | Kiattisin Kanjanawanishkul and Marius Hofmeister and Andreas Zell. Smooth Reference Tracking of a Mobile Robot using Nonlinear Model
Predictive Control. In 4th European Conference on Mobile Robots (ECMR), pages 161-166,, Mlini/Dubrovnik, Croatia,sep, 2009. [url]Bibtex@INPROCEEDINGS{kanjanaw_ECMR2009,author = {Kiattisin Kanjanawanishkul and Marius Hofmeister and Andreas Zell}, title = {Smooth Reference Tracking of a Mobile Robot using Nonlinear Model Predictive Control}, booktitle = {4th European Conference on Mobile Robots (ECMR)}, year = {2009}, pages = {161-166}, address = {Mlini/Dubrovnik, Croatia}, month = {sep}, publisher = {KoREMA, Zagreb}, isbn = {978-953-6037-54-4}, project = {abt_zell, robotics, ctbots}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/kanjanaw2009ecmr.pdf}, } |
| [21] | Kronfeld, Marcel and Dräger, Andreas and Aschoff, Moritz and Zell,
Andreas. {On the Benefits of Multimodal Optimization for Metabolic Network
Modeling}. In German Conference on Bioinformatics (GCB 2009), pages 191--200,, Halle (Saale), Germany,sep, 2009. [pdf , url]Bibtex@INPROCEEDINGS{Kron09NichingGCB,author = {Kronfeld, Marcel and Dräger, Andreas and Aschoff, Moritz and Zell, Andreas}, title = {{On the Benefits of Multimodal Optimization for Metabolic Network Modeling}}, booktitle = {German Conference on Bioinformatics (GCB 2009)}, year = {2009}, editor = {Grosse, Ivo and Neumann, Steffen and Posch, Stefan and Schreiber, Falk and Stadler, Peter}, volume = {P-157}, number = {978-3-88579-251-2}, series = {Lecture Notes in Informatics}, pages = {191--200}, address = {Halle (Saale), Germany}, month = {sep}, publisher = {German Informatics Society}, abstract = {The calibration of complex models of biological systems requires numerical simulation and optimization procedures to infer undetermined parameters and fit measured data. The optimization step typically employs heuristic global optimization algorithms, but due to measurement noise and the many degrees of freedom, it is not guaranteed that the identified single optimum is also the most meaningful parameter set. Multimodal optimization allows for identifying multiple optima in parallel. We consider high-dimensional benchmark functions and a realistic metabolic network model from systems biology to compare evolutionary and swarm-based multimodal methods. We show that an extended swarm based niching algorithm is able to find a considerable set of solutions in parallel, which have significantly more explanatory power. As an outline of the information gain, the variations in the set of high-quality solutions are contrasted to a state-of-the-art global sensitivity analysis.}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/mitarb/draeger/publications/Kron09NichingGCB.html}, pdf = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/Kron09NichingFinal.pdf}, project = {abt_zell, optimization, eva2}, url = {http://www.gcb2009.de/program.php}, } |
| [22] | Karsten Rohweder and Philipp Vorst and Andreas Zell. Improved Mapping of {RFID} Tags by Fusion with Spatial Structure. In Proceedings of the 4th European Conference on Mobile Robots (ECMR
2009), pages 247--252,, Mlini/Dubrovnik, Croatia,sep, 2009. [url]Bibtex@INPROCEEDINGS{rohweder2009ecmr,author = {Karsten Rohweder and Philipp Vorst and Andreas Zell}, title = {Improved Mapping of {RFID} Tags by Fusion with Spatial Structure}, booktitle = {Proceedings of the 4th European Conference on Mobile Robots (ECMR 2009)}, year = {2009}, editor = {Ivan Petrovi\'c and Achim J. Lilienthal}, pages = {247--252}, address = {Mlini/Dubrovnik, Croatia}, month = {sep}, publisher = {KoREMA, Zagreb, Croatia}, abstract = {This paper shows how to exploit knowledge about the spatial structure of an environment in order to obtain more accurate position estimates of passive RFID tags. Such labels are increasingly used as electronic product codes and are originally aimed at identifying goods. Estimating the positions of labeled products, however, is difficult because passive tags only reveal their presence and neither bearings nor distances to them. Previous related work showed that tag detection rates yield decent tag position estimates. Our method combines these solely RFID-based methods with structural information. Indoor experiments with a mobile robot show increased accuracy as compared to mapping purely based on RFID measurements.}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/mitarb/vorst/publications/rohweder2009ecmr.html}, isbn = {978-953-6037-54-4}, project = {abt_zell, robotics, ambisense, rfid}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/rohweder2009ecmr-mapping-rfid.pdf}, } |
| [23] | Lixing Jiang and Jin Hou and Zeng Chen and Dengsheng Zhang. Automatic image annotation based on decision tree machine learning. In IEEE International Conference on Cyber-Enabled Distributed Computing
and Knowledge Discovery (CyberC'09), pages 170-175,, Zhangijajie, China,October, 2009. [url]Bibtex@INPROCEEDINGS{jiang2009,author = {Lixing Jiang and Jin Hou and Zeng Chen and Dengsheng Zhang}, title = {Automatic image annotation based on decision tree machine learning}, booktitle = {IEEE International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery (CyberC'09)}, year = {2009}, pages = {170-175}, address = {Zhangijajie, China}, month = {October}, owner = {jiang}, project = {extern}, url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5342168&abstractAccess=no&userType=inst}, } |
| [24] | Philipp Vorst and Andreas Zell. Particle Filter-based Trajectory Estimation with Passive {UHF} {RFID}
Fingerprints in Unknown Environments. In Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS 2009), pages 395--401,, St. Louis, Missouri, USA,oct, 2009. [url]Bibtex@INPROCEEDINGS{vorst2009iros,author = {Philipp Vorst and Andreas Zell}, title = {Particle Filter-based Trajectory Estimation with Passive {UHF} {RFID} Fingerprints in Unknown Environments}, booktitle = {Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)}, year = {2009}, pages = {395--401}, address = {St. Louis, Missouri, USA}, month = {oct}, abstract = {In this paper we present a novel approach to estimating the trajectory of a robot by means of inexpensive passive RFID tags and odometry in unknown environments. We show how trajectory estimation, a prerequisite of mapping RFID transponder positions without a reference positioning system, can be achieved using a particle filter. The presented technique is based on a non-parametric model of spatial relationships between RFID measurements. It overcomes the noisy nature of RFID measurements and the absence of distance and bearing information. The accuracy of our method is investigated in a series of experiments with a mobile robot.}, citeseerurl = {http://www.cogsys.cs.uni-tuebingen.de/mitarb/vorst/publications/vorst2009iros.html}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/mitarb/vorst/publications/vorst2009iros.html}, doi = {10.1109/IROS.2009.5354627}, ee = {http://dx.doi.org/10.1109/IROS.2009.5354627}, project = {abt_zell, robotics, ambisense, rfid}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/vorst2009iros-traj-estimation.pdf}, } |
| [25] | Marius Hofmeister and Sara Erhard and Andreas Zell. Visual Self-Localization with Tiny Images. In Autonome Mobile Systeme 2009 - 21. Fachgespräch, pages 177--184,, Karlsruhe, Germany,dec, 2009. [url]Bibtex@INPROCEEDINGS{hofmeister2009tiny,author = {Marius Hofmeister and Sara Erhard and Andreas Zell}, title = {Visual Self-Localization with Tiny Images}, booktitle = {Autonome Mobile Systeme 2009 - 21. Fachgespräch}, year = {2009}, editor = {Rüdiger Dillmann and Jürgen Beyerer and Christoph Stiller}, pages = {177--184}, address = {Karlsruhe, Germany}, month = {dec}, publisher = {Springer-Verlag}, project = {abt_zell, robotics, ctbots}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/hofmeister2009ams_tinyImages.pdf}, } |
| [26] | Kiattisin Kanjanawanishkul and Marius Hofmeister and Andreas Zell. Coordinated Path Following for Mobile Robots. In Autonome Mobile Systeme 2009 - 21. Fachgespräch, pages 185-192,, Karlsruhe, Germany,dec, 2009. [url]Bibtex@INPROCEEDINGS{kanjanaw_AMS2009,author = {Kiattisin Kanjanawanishkul and Marius Hofmeister and Andreas Zell}, title = {Coordinated Path Following for Mobile Robots}, booktitle = {Autonome Mobile Systeme 2009 - 21. Fachgespräch}, year = {2009}, editor = {Rüdiger Dillmann and Jürgen Beyerer and Christoph Stiller}, pages = {185-192}, address = {Karlsruhe, Germany}, month = {dec}, publisher = {Springer-Verlag}, project = {abt_zell,robotics, ctbots}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/kanjanaw2009ams.pdf}, } |
| [27] | Karl Engelbert Wenzel and Andreas Zell. {Automatic Take Off, Hovering and Landing Control for Miniature Helicopters
with Low-Cost Onboard Hardware}. In Autonome Mobile Systeme 2009, pages 73-80,, Karlsruhe, Germany,December 3-4, 2009. [url]Bibtex@INPROCEEDINGS{Wenzel2009b,author = {Karl Engelbert Wenzel and Andreas Zell}, title = {{Automatic Take Off, Hovering and Landing Control for Miniature Helicopters with Low-Cost Onboard Hardware}}, booktitle = {Autonome Mobile Systeme 2009}, year = {2009}, pages = {73-80}, address = {Karlsruhe, Germany}, month = {December 3-4}, publisher = {KIT}, abstract = {This paper details experiments for autonomous take off, hovering above a landing place and autonomous landing. Our visual tracking approach differs from other methods by using an inexpensive Wii remote camera, i.e., commodity consumer hardware. All processing is done with an onboard microcontroller and the system does not require stationary sensors. The only requirements are a stationary pattern of four infrared spots at the start and landing site and a roll and pitch attitude estimation of sufficient quality, provided by an separate inertial measurement unit.}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/LiteraturDB/details.html?wenzel2009b}, isbn = {978-3642102837}, project = {abt_zell, robotics, uav, lowcost}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/wenzel2009_WiiStartLand.pdf}, } |
| [28] | My Vo Duc and Nitin Kumar Tripathi. The Integration of Support Vector Mahcine and 2-D Wavelet Analysis
for face detection. In IFToMM International Symposium on Robotics and Mechatronics2009. Bibtex@INPROCEEDINGS{voduc2009,author = {My Vo Duc and Nitin Kumar Tripathi}, title = {The Integration of Support Vector Mahcine and 2-D Wavelet Analysis for face detection}, booktitle = {IFToMM International Symposium on Robotics and Mechatronics}, year = {2009}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/LiteraturDB/details.html?voduc2009}, owner = {my}, project = {abt_zell, robotics}, } |
| [29] | Sara Erhard and Karl Engelbert Wenzel and Andreas Zell. Flyphone: {V}isual {S}elf-{L}ocalisation {U}sing a {M}obile {P}hone
as {O}nboard {I}mage {P}rocessor on a {Q}uadrocopter. In Proceedings of UAV'09 2nd International Symposium on Unmanned Aerial
Vehicles, pages 451--465,, Reno, Nevada, USA,2009. [url]Bibtex@INPROCEEDINGS{Erhard2009c,author = {Sara Erhard and Karl Engelbert Wenzel and Andreas Zell}, title = {Flyphone: {V}isual {S}elf-{L}ocalisation {U}sing a {M}obile {P}hone as {O}nboard {I}mage {P}rocessor on a {Q}uadrocopter}, booktitle = {Proceedings of UAV'09 2nd International Symposium on Unmanned Aerial Vehicles}, year = {2009}, pages = {451--465}, address = {Reno, Nevada, USA}, abstract = {An unmanned aerial vehicle (UAV) needs to orient itself in its operating environment to fly autonomously. Localisation methods based on visual data are independent of erroneous GPS measurements or imprecise inertial sensors. In our approach, a quadrocopter first etablishes an image database of the environment. Afterwards, the quadrocopter is able to locate itself by comparing a current image taken of the environment with earlier images in the database. Therefore, characteristic image features are extracted which can be compared efficiently. We analyse three feature extraction methods and five feature similarity measures. The evaluation is based on two datasets recorded under real conditions. The computations are performed on a Nokia N95 mobile phone, which is mounted on the quadrocopter. This lightweight, yet powerful device offers an integrated camera and serves as central processing unit. The mobile phone proved to be a good choice for visual localisation on a quadrocopter.}, project = {abt_zell, robotics, uav, lowcost}, timestamp = {2010.05.21}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/erhard2009_Flyphone.pdf}, } |
| [30] | Sara Erhard and Karl Engelbert Wenzel and Andreas Zell. Flyphone: {V}isual {S}elf-{L}ocalisation {U}sing a {M}obile {P}hone
as {O}nboard {I}mage {P}rocessor on a {Q}uadrocopter. , pages 451-465,2009. [url]Bibtex@ARTICLE{Erhard2009j,author = {Sara Erhard and Karl Engelbert Wenzel and Andreas Zell}, title = {Flyphone: {V}isual {S}elf-{L}ocalisation {U}sing a {M}obile {P}hone as {O}nboard {I}mage {P}rocessor on a {Q}uadrocopter}, journal = {Journal of Intelligent \& Robotic Systems}, year = {2009}, volume = {57}, pages = {451-465}, abstract = {An unmanned aerial vehicle (UAV) needs to orient itself in its operating environment to fly autonomously. Localisation methods based on visual data are independent of erroneous GPS measurements or imprecise inertial sensors. In our approach, a quadrocopter first etablishes an image database of the environment. Afterwards, the quadrocopter is able to locate itself by comparing a current image taken of the environment with earlier images in the database. Therefore, characteristic image features are extracted which can be compared efficiently. We analyse three feature extraction methods and five feature similarity measures. The evaluation is based on two datasets recorded under real conditions. The computations are performed on a Nokia N95 mobile phone, which is mounted on the quadrocopter. This lightweight, yet powerful device offers an integrated camera and serves as central processing unit. The mobile phone proved to be a good choice for visual localisation on a quadrocopter.}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/LiteraturDB/details.html?wenzel2009j}, project = {abt_zell, robotics, uav, lowcost}, publisher = {Springer}, timestamp = {2010.05.21}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/erhard2009_Flyphone.pdf}, } |
| [31] | Henneges, Carsten and Bullinger, D. and Fux, R. and Friese, N. and
Seeger, H. and Neubauer, H. and Laufer, S. and Gleiter, C. H. and
Schwab, M. and Zell, Andreas and Kammerer, B.. Prediction of breast cancer by profiling of urinary RNA metabolites
using Support Vector Machine-based feature selection. 2009. [url]Bibtex@ARTICLE{2009_15,author = {Henneges, Carsten and Bullinger, D. and Fux, R. and Friese, N. and Seeger, H. and Neubauer, H. and Laufer, S. and Gleiter, C. H. and Schwab, M. and Zell, Andreas and Kammerer, B.}, title = {Prediction of breast cancer by profiling of urinary RNA metabolites using Support Vector Machine-based feature selection}, journal = {BMC Cancer}, year = {2009}, volume = {9}, number = {104}, abstract = {BACKGROUND: Breast cancer belongs to the most frequent and severe cancer types in human. Since excretion of modified nucleosides from increased RNA metabolism has been proposed as a potential target in pathogenesis of breast cancer, the aim of the present study was to elucidate the predictability of breast cancer by means of urinary excreted nucleosides. METHODS: We analyzed urine samples from 85 breast cancer women and respective healthy controls to assess the metabolic profiles of nucleosides by a comprehensive bioinformatic approach. All included nucleosides/ribosylated metabolites were isolated by \emph{cis}-diol specific affinity chromatography and measured with liquid chromatography ion trap mass spectrometry (LC-ITMS). A valid set of urinary metabolites was selected by exclusion of all candidates with poor linearity and/or reproducibility in the analytical setting. The bioinformatic tool of Oscillating Search Algorithm for Feature Selection (OSAF) was applied to iteratively improve features for training of Support Vector Machines (SVM) to better predict breast cancer. RESULTS: After identification of 51 nucleosides/ribosylated metabolites in the urine of breast cancer women and/or controls by LC- ITMS coupling, a valid set of 35 candidates was selected for subsequent computational analyses. OSAF resulted in 44 pairwise ratios of metabolite features by iterative optimization. Based on this approach ultimately estimates for sensitivity and specificity of 83.5% and 90.6% were obtained for best prediction of breast cancer. The classification performance was dominated by metabolite pairs with SAH which highlights its importance for RNA methylation in cancer pathogenesis. CONCLUSION: Extensive RNA-pathway analysis based on mass spectrometric analysis of metabolites and subsequent bioinformatic feature selection allowed for the identification of significant metabolic features related to breast cancer pathogenesis. The combination of mass spectrometric analysis and subsequent SVM-based feature selection represents a promising tool for the development of a non-invasive prediction system.}, project = {abt_zell, bioinformatics}, url = {http://www.biomedcentral.com/1471-2407/9/104}, } |
| [32] | Henneges, Carsten and Hinselmann, Georg and Jung, S and Madlung,
J and Schütz, W and Nordheim, A and Zell, Andreas. Ranking Methods for the Prediction of Frequent Top Scoring Peptides
from Proteomics Data. , pages 226-235,2009. [url]Bibtex@ARTICLE{2009_76,author = {Henneges, Carsten and Hinselmann, Georg and Jung, S and Madlung, J and Schütz, W and Nordheim, A and Zell, Andreas}, title = {Ranking Methods for the Prediction of Frequent Top Scoring Peptides from Proteomics Data}, journal = {Journal of Proteomics \& Bioinformatics}, year = {2009}, volume = {2}, pages = {226-235}, number = {5}, project = {abt_zell, bioinformatics}, url = {http://www.omicsonline.com/ArchiveJPB/2009/May/03/JPB2.226.php}, } |
| [33] | Hofmeister, Marius and Liebsch, Maria and Zell, Andreas. Visual Self-Localization for Small Mobile Robots with Weighted Gradient
Orientation Histograms. In 40th International Symposium on Robotics (ISR), pages 87--91,, Barcelona, Spain,2009. [url]Bibtex@INPROCEEDINGS{2009_229,author = {Hofmeister, Marius and Liebsch, Maria and Zell, Andreas}, title = {Visual Self-Localization for Small Mobile Robots with Weighted Gradient Orientation Histograms}, booktitle = {40th International Symposium on Robotics (ISR)}, year = {2009}, pages = {87--91}, address = {Barcelona, Spain}, project = {abt_zell, robotics, ctbots}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/hofmeister2009isr_vselflocalization.pdf}, } |
| [34] | de Paly, Michael and Zell, Andreas. Optimal Irrigation Scheduling with Evolutionary Algorithms. In Lecture Notes in Computer Science (EvoWorkshops 2009), pages 142-151,, Tübingen, Germany,2009. [url]Bibtex@INPROCEEDINGS{2009_236,author = {de Paly, Michael and Zell, Andreas}, title = {Optimal Irrigation Scheduling with Evolutionary Algorithms}, booktitle = {Lecture Notes in Computer Science (EvoWorkshops 2009)}, year = {2009}, volume = {5484}, pages = {142-151}, address = {Tübingen, Germany}, publisher = {Springer-Verlag Berlin Heidelberg}, project = {abt_zell, hydrogeo, eva2, optimization, irrigation}, url = {http://www.springerlink.com/content/8006865n7706l8qw/}, } |
| [35] | Karl Engelbert Wenzel and Paul Rosset and Andreas Zell. {Low-Cost Visual Tracking of a Landing Place and Hovering Flight
Control with a Microcontroller}. , pages 297-311,, Reno, USA,2009. [url]Bibtex@ARTICLE{Wenzel2009aj,author = {Karl Engelbert Wenzel and Paul Rosset and Andreas Zell}, title = {{Low-Cost Visual Tracking of a Landing Place and Hovering Flight Control with a Microcontroller}}, journal = {Journal of Intelligent \& Robotic Systems}, year = {2009}, volume = {57}, pages = {297-311}, abstract = {The growth of civil and military use has recently promoted the development of unmanned miniature aerial vehicles dedicated to surveillance tasks. These flying vehicles are often capable of carrying only a few dozen grammes of payload. To achieve autonomy for this kind of aircraft novel sensors are required, which need to cope with strictly limited onboard processing power. One of the key aspects in autonomous behaviour is target tracking. Our visual tracking approach differs from other methods by not using expensive cameras but a Wii remote camera, i.e. commodity consumer hardware. The system works without stationary sensors and all processing is done with an onboard microcontroller. The only assumptions are a good roll and pitch attitude estimation, provided by an inertial measurement unit and a stationary pattern of four infrared spots on the target or the landing spot. This paper details experiments for hovering above a landing place, but tracking a slowly moving target is also possible.}, address = {Reno, USA}, detailspage = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/LiteraturDB/details.html?wenzel2009aj}, editor = {Kimon P. Valavanis}, project = {abt_zell, robotics, uav, lowcost}, publisher = {Springer}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/wenzel2009_uav_wiitracking.pdf}, } |
| [36] | Karl Engelbert Wenzel and Paul Rosset and Andreas Zell. {Low-Cost Visual Tracking of a Landing Place and Hovering Flight
Control with a Microcontroller}. In Proceedings of UAV'09 2nd International Symposium on Unmanned Aerial
Vehicles, pages 1-15,, Reno, USA,2009. [url]Bibtex@INPROCEEDINGS{Wenzel2009ap,author = {Karl Engelbert Wenzel and Paul Rosset and Andreas Zell}, title = {{Low-Cost Visual Tracking of a Landing Place and Hovering Flight Control with a Microcontroller}}, booktitle = {Proceedings of UAV'09 2nd International Symposium on Unmanned Aerial Vehicles}, year = {2009}, pages = {1-15}, address = {Reno, USA}, publisher = {Kimon P. Valavanis}, abstract = {The growth of civil and military use has recently promoted the development of unmanned miniature aerial vehicles dedicated to surveillance tasks. These flying vehicles are often capable of carrying only a few dozen grammes of payload. To achieve autonomy for this kind of aircraft novel sensors are required, which need to cope with strictly limited onboard processing power. One of the key aspects in autonomous behaviour is target tracking. Our visual tracking approach differs from other methods by not using expensive cameras but a Wii remote camera, i.e. commodity consumer hardware. The system works without stationary sensors and all processing is done with an onboard microcontroller. The only assumptions are a good roll and pitch attitude estimation, provided by an inertial measurement unit and a stationary pattern of four infrared spots on the target or the landing spot. This paper details experiments for hovering above a landing place, but tracking a slowly moving target is also possible.}, project = {abt_zell, robotics, uav, lowcost}, url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/wenzel2009_uav_wiitracking.pdf}, } |