Changes for page [REAKT] Project REAKTOR

Last modified by Alexander Schulz-Rosengarten on 2024/10/09 15:19
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1 -[REAKT] Projecting Irregular Vehicle Positions on Tracks
1 +[REAKT] Project REAKTOR
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1 -# ![[image-20240226113213-1.png|image-20240226113213-1.png]]
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 build in 1:32 scale for 45 mm gauge, as well as a full scale version for the railway track Malente-Lütjenburg.
2 2  
3 -# Goals
3 +[[image:image-20240912102452-3.jpeg||height="219" width="292"]][[image:image-20240912102840-4.jpeg||height="217" width="264"]]
4 4  
5 -* Develop and implement and algorithm for computing a best-effort projection of a vehicle position on a track
6 -* Evaluate the algorithm (and potential variations) with the real-world data collected in the Malente-Lütjenburg track
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.//
7 7  
8 -### Consiterations for the Algorithm
7 +== Overview of topics (WIP) ==
9 9  
10 -* Errors in GPS data
11 -* Gaps in GPS data (missing network)
12 -* Different accuracy of tracking devices (Smartphones vs. dedicated Trackers)
13 -* Projection of expected movement or potential location areas
14 -* Handling inconsistencies
15 - * Unrealistic position jumps
16 - * Passing other vehicles (quickly) on single-lane track
17 - * Vehicles changing direction without stopping
9 +**The solutions in all topics must be scalable for both demonstrators!**
18 18  
19 -# Scope
11 +~1. An end-user app and management system for on-demand train service
12 +// This topic may be split up into two theses (app & management)//
20 20  
21 -Bachelor's Thesis
14 +* A mobile app to call a train to a desired location and communicate desired destination
15 +* Locations drawn from GNSS and appropriate abstraction for 1:32 scale for station-less entry or predefined locations
16 +* Management of multiple on-demand trains on a single track line
17 +* Schedules for cooperative passenger pick up
18 +* Provisions for passenger transfer on open track ("Begegnungsverkehr", see concept art [[here>>https://cloud.rz.uni-kiel.de/index.php/s/ZMZSoLTerJCJi7L]])
19 +* The inter train communication concept maybe based on a central or decentralized structure
22 22  
23 -# Related Work/Literature
21 +2. An autonomous train controller with risk analysis using STPA **[already reserved]**
24 24  
25 -*
23 +* Control of an autonomous passenger train model (conceptually working for both demonstrators)
24 +* 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]])
25 +* 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]])
26 +* Safe behavior model generation using PASTA ([[https:~~/~~/marketplace.visualstudio.com/items?itemName=kieler.pasta>>https://marketplace.visualstudio.com/items?itemName=kieler.pasta]])
27 +* Assumes preprocessed sensor input and destination determination (see other topics)
26 26  
27 -[https://reakt.sh/](https://reakt.sh/)
28 -*
29 +3. AI-based obstacle detection for autonomous train control using image recognition
30 +// This topic will be jointly advised with the AG Distributed Systems//
29 29  
30 -[https://github.com/kieler/RailTrail](https://github.com/kieler/RailTrail)
32 +* Sensor processing of a train mounted camera to detect objects (potential obstacles)
33 +* Tasks will involve:
34 +** Sensor mounting on the demonstrator
35 +** Collection of data (images, videos)
36 +** Labeling of data to enable training (esp. for small scale model)
37 +** Training of AI
38 +** Evaluation of quality
39 +* Step-wise evaluation of the influence of vehicle speed on the detection quality
40 +*
41 +*
42 +* Potential hardware (subject to changes):
43 +** [[https:~~/~~/www.raspberrypi.com/documentation/accessories/camera.html>>https://www.raspberrypi.com/documentation/accessories/camera.html]]
44 +** (((
45 +[[https:~~/~~/www.axis.com/de-de/products/axis-p1455-le>>https://www.axis.com/de-de/products/axis-p1455-le]]
46 +)))
31 31  
32 -# Involved Languages/Technologies
48 +4. AI-based sensor processing for autonomous train control
49 +// This topic will be jointly advised with the AG Distributed Systems//
33 33  
34 -*
51 +* Sensor processing of train mounted LiDAR or ultrasonic sensor
52 +* Potential hardware (subject to changes):
53 +** [[https:~~/~~/www.elektronik-kompendium.de/sites/praxis/bauteil_ultrasonic-hcsr04p.htm>>https://www.elektronik-kompendium.de/sites/praxis/bauteil_ultrasonic-hcsr04p.htm]]
54 +** [[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]]
55 +** (((
56 +[[https:~~/~~/www.blickfeld.com/de/produkte/cube-1/>>https://www.blickfeld.com/de/produkte/cube-1/]]
57 +)))
58 +* Obstacle detection at speeds up to 50 km/h
59 +* Distance measuring (ultrasonic sensor)
35 35  
36 -Python
61 +5. A digital twin for an autonomous on-demand train service **[already reserved]**
62 +// Note: Tight interfacing with other topics//
37 37  
38 -# Supervised by
64 +* A digital twin for an autonomous passenger train
65 +* Monitoring system for the state and location of the vehicle
66 +* Remote control capabilities //(interfacing with controller)//
67 +* Monitoring and economic analysis of on-demand service operation (//integration/interfacing of management system//)
68 +* Reliability analysis/statistics to ensure transparency of autonomous operation
39 39  
70 +6. A standalone sensor box for monitoring rail vehicles
71 + //This prototype will be tested (only) using the full-scale demonstrator and is intended for monitoring non-autonomous vehicles (not the REAKTOR)//
72 +
73 +* Development of a sensor array to monitor rail vehicle operation
74 +* It should serve as a plugin solution inside the train's cockpit for monitoring operation and as preparation for autonomous control
75 +* Design for wireless communication of collected data
76 +* Possible sensors:
77 +** GPS
78 +** Accelerometer
79 +** Camera
80 +* Analysis of data for autonomous driving
81 +* Potential integration into digital twin infrastructure
82 +
83 +== Goals ==
84 +
85 +* TBA for each topic individually
86 +
87 +== Scope ==
88 +
89 +Bachelor's or Master's Thesis, with varying requirements to scientific scope.
90 +
91 +== Related Work/Literature ==
92 +
93 +* https://reakt.sh/
94 +* [[https:~~/~~/www.schiene-m-l.de/>>https://www.schiene-m-l.de/)]]
95 +
96 +== Involved Languages/Technologies ==
97 +
98 +* TBA for each topic individually
99 +
100 +== Supervised by ==
101 +
40 40  Alexander Schulz-Rosengarten
41 -[[als@informatik.uni-kiel.de|path:mailto:als@informatik.uni-kiel.de]]
103 +[[als@informatik.uni-kiel.de>>mailto:als@informatik.uni-kiel.de]]
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