@inproceedings{RedeniusDingwerthRuckelshausenetal.2017, author = {Redenius, Jannik and Dingwerth, Matthias and Ruckelshausen, Arno and Hertzberg, Joachim and Krause, Thilo and Kettelhoit, Boris}, title = {A multilevel simulation framework for highly automated harvest processes enabled by environmental sensor systems}, series = {VDI-Berichte}, volume = {2300}, booktitle = {VDI-Berichte}, publisher = {VDI Verlag GmbH}, address = {D{\"u}sseldorf}, isbn = {978-3-18-092300-0}, issn = {0083-5560}, url = {http://nbn-resolving.de/urn:nbn:de:bsz:959-opus-15841}, pages = {157 -- 163}, year = {2017}, abstract = {This article proposes the concept of a simulation framework for environmental sensors with multilevel abstraction in agricultural scenarios. The implementation case study is a simulation of a grain-harvesting scenario enabled by LiDAR sensors. Environmental sensor models as well as kinematics and dynamic behavior of machines are based on the robotics simulator Gazebo. Models for powertrain, machine process aggregates and peripheral simulation components are implemented with the help of MATLAB/ Simulink and with the robotics middleware Robot Operating System (ROS). This article deals with the general concept of a multilevel simulation framework and in particular with sensor and environmental modeling.}, language = {en} } @inproceedings{RedeniusDingwerthHertzbergetal.2018, author = {Redenius, Jannik and Dingwerth, Matthias and Hertzberg, Joachim and Ruckelshausen, Arno}, title = {Simulation von Laserscannern in Pflanzenbest{\"a}nden f{\"u}r die Entwicklung umfeldbasierter Funktionen}, volume = {2018}, editor = {Ruckelshausen, Arno and Meyer-Aurich, Andreas and Borchard, Karsten and Hofacker, C. and Loy, Jens-Peter and Schwerdtfeger, R. and Sundermeier, Hans-Hennig and Theuvsen, B.}, publisher = {Gesellschaft f{\"u}r Informatik e.V.}, address = {Bonn}, organization = {Gesellschaft f{\"u}r Informatik e.V.}, isbn = {978-3-88579-672-5}, issn = {1617-5468}, url = {http://nbn-resolving.de/urn:nbn:de:bsz:959-opus-15878}, pages = {195 -- 198}, year = {2018}, abstract = {Es werden drei Modellierungsans{\"a}tze zur Simulation von Laserscannern in Pflanzenbest{\"a}nden f{\"u}r die Entwicklung umfeldbasierter Fahrzeugfunktionen beschrieben. Das Sensorsignal der Distanzmessung wird dabei anhand realer Messwerte oder ph{\"a}nomenologisch und auf der Basis empirisch ermittelter Kennwerte in Abh{\"a}ngigkeit von objekt- und sensorspezifischen Einflussfaktoren abgebildet. Basierend auf den Methoden zur Simulation von Distanzmesssystemen der Open Source Simulationsumgebung Gazebo wurden die Modellierungsans{\"a}tze als spezifische Sensor- und Umfeldmodelle implementiert. Die Modelle wurden insbesondere f{\"u}r den Einsatz an mobilen landwirtschaftlichen Arbeitsmaschinen und f{\"u}r die Anwendung in der Getreideernte optimiert.}, language = {de} } @inproceedings{RedeniusBelauIrmeretal.2019, author = {Redenius, Jannik and Belau, Sven and Irmer, Daniel and Ruckelshausen, Arno and Middelberg, Rene and Spiekermann, Sebastian and Bußmann, Christian and Sellschopp, Till and Hertzberg, Joachim}, title = {'Virtual Harvesting' as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System}, series = {VDI-Berichte}, volume = {2361}, booktitle = {VDI-Berichte}, publisher = {VDI Verlag GmbH}, address = {D{\"u}sseldorf}, isbn = {978-3-18-092361-1}, issn = {0083-5560}, url = {http://nbn-resolving.de/urn:nbn:de:bsz:959-opus-15851}, pages = {173 -- 178}, year = {2019}, abstract = {This paper describes the development and test of a novel LiDAR based combine harvester steering system using a harvest scenario and sensor point cloud simulation together with an established simulation toolchain for embedded software development. For a realistic sensor behavior simulation, considering the harvesting environment and the sensor mounting position, a phenomenological approach was chosen to build a multilayer LiDAR model at system level in Gazebo and ROS. A software-in-the-loop simulation of the mechatronic steering system was assembled by interfacing the commercial AppBase framework for point cloud processing and feature detection algorithms together with a machine model and control functions implemented in MATLAB/ Simulink. A test of ECUs in a hardware-in-the-loop simulation and as well as HMI elements in a driver-in-the-loop simulation was achieved by using CAN hardware interfaces and a CANoe based restbus simulation.}, language = {en} }