# Wiki source code of [REAKT] Project REAKTOR

Last modified by Alexander Schulz-Rosengarten on 2024/10/09 15:19
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author | version | line-number | content
--- | --- | --- | ---
|  | 1 | The REAKT project (https://reakt.sh/ & https://www.schiene-m-l.de/) aims at developing new mobility concepts to reactivate rural rail lines. This project will evolve around developing an autonomous rail vehicle, the **REAKTOR**, to flexibly provide on-demand service on single track lines. A prototype will be built in 1:32 scale for 45 mm gauge, as well as a full scale version for the railway track Malente-Lütjenburg.
|  | 2 |
|  | 3 | [[image:image-20240912102452-3.jpeg||height="219" width="292"]][[image:image-20240912102840-4.jpeg||height="217" width="264"]]
|  | 4 |
|  | 5 | //(left) a railbike, the foundation of the upcoming autonomous draisine & (right) a stripped down [[LGB>>https://www.lgb.de/lp/20/willkommen-bei-lgb]] engine for a 45mm model track.//
|  | 6 |
|  | 7 | {{info}}
|  | 8 | Kick-off meeting on Monday 7th Oct. at 10am in room 1115 CAP4
|  | 9 | {{/info}}
|  | 10 |
|  | 11 | == Overview of topics (WIP) ==
|  | 12 |
|  | 13 | **The solutions in all topics should be scalable for both demonstrators!**
|  | 14 |
|  | 15 | ~1. An end-user app and management system for on-demand train service **[already assigned (App part only)]**
|  | 16 | // This topic may be split up into two theses/project participants (app & management)//
|  | 17 |
|  | 18 | * A mobile app to call a train to a desired location and communicate desired destination
|  | 19 | * Locations drawn from GNSS and appropriate abstraction for 1:32 scale for station-less entry or predefined locations
|  | 20 | * Management of multiple on-demand trains on a single track line
|  | 21 | * Schedules for cooperative passenger pick up
|  | 22 | * Provisions for passenger transfer on open track ("Begegnungsverkehr", see concept art [[here>>https://cloud.rz.uni-kiel.de/index.php/s/ZMZSoLTerJCJi7L]])
|  | 23 | * The inter train communication concept maybe based on a central or decentralized structure
|  | 24 |
|  | 25 | 2. An autonomous train controller with risk analysis using STPA **[already assigned]**
|  | 26 |
|  | 27 | * Control of an autonomous passenger train model (conceptually working for both demonstrators)
|  | 28 | * Capability for passenger transfer on open track (safe docking procedure; "Begegnungsverkehr", see concept art [[here>>https://cloud.rz.uni-kiel.de/index.php/s/ZMZSoLTerJCJi7L]])
|  | 29 | * Risk analysis for the controller using STPA ([[http:~~/~~/psas.scripts.mit.edu/home/get_file.php?name=STPA_handbook.pdf>>url:http://psas.scripts.mit.edu/home/get_file.php?name=STPA_handbook.pdf]])
|  | 30 | * Safe behavior model generation using PASTA ([[https:~~/~~/marketplace.visualstudio.com/items?itemName=kieler.pasta>>https://marketplace.visualstudio.com/items?itemName=kieler.pasta]])
|  | 31 | * Assumes preprocessed sensor input and destination determination (see other topics)
|  | 32 |
|  | 33 | 3. AI-based obstacle detection for autonomous train control using image recognition **[already assigned]**
|  | 34 | // This topic will be jointly advised with the AG Distributed Systems//
|  | 35 |
|  | 36 | * Sensor processing of a train-mounted camera to detect objects (potential obstacles)
|  | 37 | * Tasks will involve:
|  | 38 | ** Sensor mounting on the demonstrator
|  | 39 | ** Collection of data (images, videos)
|  | 40 | ** Labeling of data to enable training (esp. for small scale model)
|  | 41 | ** Training of AI
|  | 42 | ** Evaluation of quality
|  | 43 | ** Live testing
|  | 44 | * Step-wise evaluation of the influence of vehicle speed on the detection quality
|  | 45 | * Evaluate applicability and influence of training data due to different environments for the demonstrators (i.e. indoors vs. outdoors)
|  | 46 | * (Optional) Trajectory detection to categorize safety threads of moving obstacles
|  | 47 | * (Optional) Evaluate performance on different hardware, e.g. Rasberry Pi vs. AI hardware
|  | 48 | * (Optional) Test and evaluate on the edge deployment
|  | 49 | * For interfacing with the controller, the sensor should provide an assessment how safe the area in front of the train is, such that the controller can adjust its speed.
|  | 50 | * Potential hardware (subject to changes):
|  | 51 | ** [[https:~~/~~/www.raspberrypi.com/documentation/accessories/camera.html>>https://www.raspberrypi.com/documentation/accessories/camera.html]]
|  | 52 | ** (((
|  | 53 | [[https:~~/~~/www.axis.com/de-de/products/axis-p1455-le>>https://www.axis.com/de-de/products/axis-p1455-le]]
|  | 54 | )))
|  | 55 |
|  | 56 | 4. Classic and AI-based distance sensing for autonomous train control using different sensors
|  | 57 | // This topic will be jointly advised with the AG Distributed Systems//
|  | 58 |
|  | 59 | * Explore and evaluate different sensors and processing techniques for distance measuring in rail vehicles
|  | 60 | * Compare quality, ranges, and reliability w.r.t speed and size (demonstrator)
|  | 61 | * Sensors and approaches:
|  | 62 | *1. Ultrasonic sensor
|  | 63 | *1. Single camera with AI image recognition
|  | 64 | *1. (Multiple cameras)
|  | 65 | *1. (LiDAR)
|  | 66 | *1. (Sensorfusion)
|  | 67 | * Potential hardware (subject to changes):
|  | 68 | ** [[https:~~/~~/www.elektronik-kompendium.de/sites/praxis/bauteil_ultrasonic-hcsr04p.htm>>https://www.elektronik-kompendium.de/sites/praxis/bauteil_ultrasonic-hcsr04p.htm]]
|  | 69 | ** [[https:~~/~~/www.pi-shop.ch/lidar-ld06-lidar-module-with-bracket-entwicklungskit-fuer-raspberry-pi-sbc>>https://www.pi-shop.ch/lidar-ld06-lidar-module-with-bracket-entwicklungskit-fuer-raspberry-pi-sbc]]
|  | 70 | ** (((
|  | 71 | [[https:~~/~~/www.blickfeld.com/de/produkte/cube-1/>>https://www.blickfeld.com/de/produkte/cube-1/]]
|  | 72 | )))
|  | 73 |
|  | 74 | 5. A digital twin for an autonomous on-demand train service **[already assigned]**
|  | 75 | // Note: Tight interfacing with other topics//
|  | 76 |
|  | 77 | * A digital twin for an autonomous passenger train
|  | 78 | * A virtual rebuild of the track using an 3D engine (i.e. [[Unreal Engine>>https://www.unrealengine.com]])
|  | 79 | * Simulation capabilities to test and replay behavior (virtual environment)
|  | 80 | * (Optional) Monitoring system for the state and location of the real vehicle
|  | 81 | * (Optional) Monitoring and economic analysis of on-demand service operation (//integration/interfacing of management system//)
|  | 82 | * (Optional) Reliability analysis/statistics to ensure transparency of autonomous operation
|  | 83 |
|  | 84 | 6. Remote control for rail vehicles **[already assigned]**
|  | 85 | //This topic will be jointly advised with the AG Distributed Systems//
|  | 86 | //Note: Tight interfacing with other topics//
|  | 87 |
|  | 88 | * Remote control of speed and brakes //(interfacing with controller)//
|  | 89 | * Live streaming of camera data and other sensors
|  | 90 | * Evaluation and setup of a wireless communication network with a high reliability
|  | 91 | * (Optional) Construction of a [[remote control panel>>https://cloud.rz.uni-kiel.de/index.php/s/jCxitwKzddqEctD]]
|  | 92 | * (Optional) Augmented reality integration to simulate training scenarios
|  | 93 |
|  | 94 | 7. A standalone sensor box for monitoring rail vehicles **[already assigned]**
|  | 95 | //This prototype will be tested (only) using the full-scale demonstrator and is intended for monitoring non-autonomous vehicles (not the REAKTOR)//
|  | 96 |
|  | 97 | * Development of a sensor array to monitor rail vehicle operation
|  | 98 | * It should serve as a plugin solution inside the train's cockpit for monitoring operation and as preparation for autonomous control
|  | 99 | * Design for wireless communication of collected data
|  | 100 | * Possible sensors:
|  | 101 | ** GPS
|  | 102 | ** Accelerometer
|  | 103 | ** Camera
|  | 104 | * Analysis of data for autonomous driving
|  | 105 | * Potential integration into digital twin infrastructure
|  | 106 |
|  | 107 | == Goals ==
|  | 108 |
|  | 109 | * TBA for each topic individually
|  | 110 |
|  | 111 | == Scope ==
|  | 112 |
|  | 113 | Bachelor's or Master's Thesis, or Master's Project, with varying requirements to scientific scope.
|  | 114 |
|  | 115 | == Related Work/Literature ==
|  | 116 |
|  | 117 | * https://reakt.sh/
|  | 118 | * [[https:~~/~~/www.schiene-m-l.de/>>https://www.schiene-m-l.de/)]]
|  | 119 |
|  | 120 | == Involved Languages/Technologies ==
|  | 121 |
|  | 122 | * TBA for each topic individually
|  | 123 |
|  | 124 | == Supervised by ==
|  | 125 |
|  | 126 | Alexander Schulz-Rosengarten
|  | 127 | [[als@informatik.uni-kiel.de>>mailto:als@informatik.uni-kiel.de]]

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