Wiki source code of [REAKT] Project REAKTOR
Version 31.4 by Alexander Schulz-Rosengarten on 2024/09/19 14:18
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25.1 | 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. |
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1.1 | 2 | |
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23.2 | 3 | [[image:image-20240912102452-3.jpeg||height="219" width="292"]][[image:image-20240912102840-4.jpeg||height="217" width="264"]] |
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25.1 | 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.// |
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23.3 | 6 | |
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17.1 | 7 | == Overview of topics (WIP) == |
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4.1 | 8 | |
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25.1 | 9 | **The solutions in all topics must be scalable for both demonstrators!** |
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17.2 | 10 | |
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24.1 | 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)// | ||
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17.2 | 13 | |
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24.1 | 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 | ||
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17.2 | 17 | * Schedules for cooperative passenger pick up |
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24.1 | 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 | ||
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17.2 | 20 | |
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27.2 | 21 | 2. An autonomous train controller with risk analysis using STPA **[already reserved]** |
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17.1 | 22 | |
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17.2 | 23 | * Control of an autonomous passenger train model (conceptually working for both demonstrators) |
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24.1 | 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]]) | ||
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17.2 | 27 | * Assumes preprocessed sensor input and destination determination (see other topics) |
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31.2 | 29 | 3. AI-based obstacle detection for autonomous train control using image recognition |
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24.1 | 30 | // This topic will be jointly advised with the AG Distributed Systems// |
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17.2 | 31 | |
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31.4 | 32 | * Sensor processing of a train-mounted camera to detect objects (potential obstacles) |
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31.2 | 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 | ||
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31.3 | 39 | ** Live testing |
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31.2 | 40 | * Step-wise evaluation of the influence of vehicle speed on the detection quality |
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31.4 | 41 | * Evaluate applicability and influence of training data due to different environments for the demonstrators (i.e. indoors vs. outdoors) |
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31.3 | 42 | * (Optional) Trajectory detection to categorize safety threads of moving obstacles |
| 43 | * (Optional) Evaluate performance on different hardware, e.g. Rasberry Pi vs. AI hardware | ||
| 44 | * (Optional) Test and evaluate on the edge deployment | ||
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31.4 | 45 | * 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. |
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24.1 | 46 | * Potential hardware (subject to changes): |
| 47 | ** [[https:~~/~~/www.raspberrypi.com/documentation/accessories/camera.html>>https://www.raspberrypi.com/documentation/accessories/camera.html]] | ||
| 48 | ** ((( | ||
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27.1 | 49 | [[https:~~/~~/www.axis.com/de-de/products/axis-p1455-le>>https://www.axis.com/de-de/products/axis-p1455-le]] |
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24.1 | 50 | ))) |
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17.2 | 51 | |
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31.4 | 52 | 4. Classic and AI-based distance sensing for autonomous train control using different sensors |
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24.1 | 53 | // This topic will be jointly advised with the AG Distributed Systems// |
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17.2 | 54 | |
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31.4 | 55 | * Explore and evaluate the applica |
| 56 | * Assess applicablilty of different sensors for use cases and ranges | ||
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17.2 | 57 | * Sensor processing of train mounted LiDAR or ultrasonic sensor |
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24.1 | 58 | * Potential hardware (subject to changes): |
| 59 | ** [[https:~~/~~/www.elektronik-kompendium.de/sites/praxis/bauteil_ultrasonic-hcsr04p.htm>>https://www.elektronik-kompendium.de/sites/praxis/bauteil_ultrasonic-hcsr04p.htm]] | ||
| 60 | ** [[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]] | ||
| 61 | ** ((( | ||
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27.1 | 62 | [[https:~~/~~/www.blickfeld.com/de/produkte/cube-1/>>https://www.blickfeld.com/de/produkte/cube-1/]] |
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24.1 | 63 | ))) |
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17.2 | 64 | * Obstacle detection at speeds up to 50 km/h |
| 65 | * Distance measuring (ultrasonic sensor) | ||
| 66 | |||
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27.2 | 67 | 5. A digital twin for an autonomous on-demand train service **[already reserved]** |
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30.1 | 68 | // Note: Tight interfacing with other topics// |
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17.2 | 69 | |
| 70 | * A digital twin for an autonomous passenger train | ||
| 71 | * Monitoring system for the state and location of the vehicle | ||
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24.1 | 72 | * Remote control capabilities //(interfacing with controller)// |
| 73 | * Monitoring and economic analysis of on-demand service operation (//integration/interfacing of management system//) | ||
| 74 | * Reliability analysis/statistics to ensure transparency of autonomous operation | ||
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17.2 | 75 | |
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29.1 | 76 | 6. A standalone sensor box for monitoring rail vehicles |
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31.2 | 77 | //This prototype will be tested (only) using the full-scale demonstrator and is intended for monitoring non-autonomous vehicles (not the REAKTOR)// |
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29.1 | 78 | |
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30.1 | 79 | * Development of a sensor array to monitor rail vehicle operation |
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30.2 | 80 | * It should serve as a plugin solution inside the train's cockpit for monitoring operation and as preparation for autonomous control |
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30.3 | 81 | * Design for wireless communication of collected data |
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29.1 | 82 | * Possible sensors: |
| 83 | ** GPS | ||
| 84 | ** Accelerometer | ||
| 85 | ** Camera | ||
| 86 | * Analysis of data for autonomous driving | ||
| 87 | * Potential integration into digital twin infrastructure | ||
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15.1 | 89 | == Goals == |
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1.1 | 90 | |
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17.1 | 91 | * TBA for each topic individually |
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1.1 | 92 | |
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15.1 | 93 | == Scope == |
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1.1 | 94 | |
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23.1 | 95 | Bachelor's or Master's Thesis, with varying requirements to scientific scope. |
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1.1 | 96 | |
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15.1 | 97 | == Related Work/Literature == |
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1.1 | 98 | |
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14.1 | 99 | * https://reakt.sh/ |
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23.3 | 100 | * [[https:~~/~~/www.schiene-m-l.de/>>https://www.schiene-m-l.de/)]] |
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1.1 | 101 | |
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15.1 | 102 | == Involved Languages/Technologies == |
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1.1 | 103 | |
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17.1 | 104 | * TBA for each topic individually |
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1.1 | 105 | |
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15.1 | 106 | == Supervised by == |
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1.1 | 107 | |
| 108 | Alexander Schulz-Rosengarten | ||
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14.1 | 109 | [[als@informatik.uni-kiel.de>>mailto:als@informatik.uni-kiel.de]] |