Wiki source code of [REAKT] Project REAKTOR
Last modified by Alexander Schulz-Rosengarten on 2024/10/09 15:19
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37.2 | 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. |
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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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36.1 | 7 | {{info}} |
| 8 | Kick-off meeting on Monday 7th Oct. at 10am in room 1115 CAP4 | ||
| 9 | {{/info}} | ||
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17.1 | 11 | == Overview of topics (WIP) == |
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4.1 | 12 | |
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37.2 | 13 | **The solutions in all topics should be scalable for both demonstrators!** |
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17.2 | 14 | |
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40.1 | 15 | ~1. An end-user app and management system for on-demand train service **[already assigned (App part only)]** |
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37.2 | 16 | // This topic may be split up into two theses/project participants (app & management)// |
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17.2 | 17 | |
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24.1 | 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 | ||
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17.2 | 21 | * Schedules for cooperative passenger pick up |
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24.1 | 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 | ||
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17.2 | 24 | |
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40.1 | 25 | 2. An autonomous train controller with risk analysis using STPA **[already assigned]** |
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17.1 | 26 | |
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17.2 | 27 | * Control of an autonomous passenger train model (conceptually working for both demonstrators) |
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24.1 | 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]]) | ||
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17.2 | 31 | * Assumes preprocessed sensor input and destination determination (see other topics) |
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40.1 | 33 | 3. AI-based obstacle detection for autonomous train control using image recognition **[already assigned]** |
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24.1 | 34 | // This topic will be jointly advised with the AG Distributed Systems// |
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17.2 | 35 | |
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31.4 | 36 | * Sensor processing of a train-mounted camera to detect objects (potential obstacles) |
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31.2 | 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 | ||
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31.3 | 43 | ** Live testing |
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31.2 | 44 | * Step-wise evaluation of the influence of vehicle speed on the detection quality |
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31.4 | 45 | * 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 | 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 | ||
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34.1 | 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. |
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24.1 | 50 | * Potential hardware (subject to changes): |
| 51 | ** [[https:~~/~~/www.raspberrypi.com/documentation/accessories/camera.html>>https://www.raspberrypi.com/documentation/accessories/camera.html]] | ||
| 52 | ** ((( | ||
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27.1 | 53 | [[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 | 54 | ))) |
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17.2 | 55 | |
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39.1 | 56 | 4. Classic and AI-based distance sensing for autonomous train control using different sensors |
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24.1 | 57 | // This topic will be jointly advised with the AG Distributed Systems// |
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17.2 | 58 | |
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32.1 | 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) | ||
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24.1 | 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 | ** ((( | ||
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27.1 | 71 | [[https:~~/~~/www.blickfeld.com/de/produkte/cube-1/>>https://www.blickfeld.com/de/produkte/cube-1/]] |
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24.1 | 72 | ))) |
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17.2 | 73 | |
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40.1 | 74 | 5. A digital twin for an autonomous on-demand train service **[already assigned]** |
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30.1 | 75 | // Note: Tight interfacing with other topics// |
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17.2 | 76 | |
| 77 | * A digital twin for an autonomous passenger train | ||
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38.1 | 78 | * A virtual rebuild of the track using an 3D engine (i.e. [[Unreal Engine>>https://www.unrealengine.com]]) |
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36.1 | 79 | * Simulation capabilities to test and replay behavior (virtual environment) |
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38.1 | 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 | ||
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17.2 | 83 | |
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40.1 | 84 | 6. Remote control for rail vehicles **[already assigned]** |
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38.1 | 85 | //This topic will be jointly advised with the AG Distributed Systems// |
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36.1 | 86 | //Note: Tight interfacing with other topics// |
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| 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 | |||
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40.1 | 94 | 7. A standalone sensor box for monitoring rail vehicles **[already assigned]** |
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33.1 | 95 | //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 | 96 | |
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30.1 | 97 | * Development of a sensor array to monitor rail vehicle operation |
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30.2 | 98 | * 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 | 99 | * Design for wireless communication of collected data |
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29.1 | 100 | * Possible sensors: |
| 101 | ** GPS | ||
| 102 | ** Accelerometer | ||
| 103 | ** Camera | ||
| 104 | * Analysis of data for autonomous driving | ||
| 105 | * Potential integration into digital twin infrastructure | ||
| 106 | |||
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15.1 | 107 | == Goals == |
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1.1 | 108 | |
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17.1 | 109 | * TBA for each topic individually |
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1.1 | 110 | |
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15.1 | 111 | == Scope == |
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1.1 | 112 | |
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37.2 | 113 | Bachelor's or Master's Thesis, or Master's Project, with varying requirements to scientific scope. |
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1.1 | 114 | |
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15.1 | 115 | == Related Work/Literature == |
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1.1 | 116 | |
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14.1 | 117 | * https://reakt.sh/ |
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23.3 | 118 | * [[https:~~/~~/www.schiene-m-l.de/>>https://www.schiene-m-l.de/)]] |
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1.1 | 119 | |
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15.1 | 120 | == Involved Languages/Technologies == |
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1.1 | 121 | |
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17.1 | 122 | * TBA for each topic individually |
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1.1 | 123 | |
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15.1 | 124 | == Supervised by == |
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1.1 | 125 | |
| 126 | Alexander Schulz-Rosengarten | ||
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14.1 | 127 | [[als@informatik.uni-kiel.de>>mailto:als@informatik.uni-kiel.de]] |