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The emerging automotive applications raised the necessity for a reliable highly accurate absolute GNSS positioning which is a crucial requirement for autonomous vehicles. With the purpose of meeting the mass market demands, these applications require the use of automotive-grade GNSS chipsets that usually follow a trade-off between availability of the measurements, measurement quality, power consumption, and production cost. The automotive-grade chipsets track selected frequency bands for each constellation reaching at most two frequencies per satellite system and varying from one chipset to another. While the first generation of such chipsets had focused on providing the signals on the second frequency for GPS and Galileo constellations, the next generation additionally provides the B2a signal of the BeiDou III system, China’s third-generation global satellite navigation system. The presentation will demonstrate that the additional BeiDou signal can further enhance several aspects of precise GNSS positioning. With the limited availability of GPS satellites with L2 (available on 23 satellites) and L5 (16 satellites) signals as well as the 24 Galileo satellites providing E5a or E5b signals, the BeiDou III system will add another 24 dual-frequency MEO satellites to the automotive receiver processing. In other words, the BeiDou B2a signal increases the availability of dual-frequency measurements by 37% in a GPS L1/L5 system. The positioning performance analysis incorporates several techniques that allow us to demonstrate the added benefit of the B2a signal by processing the data from automotive-grade chipsets that provide dual-frequency measurements using Trimble’s high precision PVT engine in combination with Trimble’s regional augmented correction data (CenterPoint® RTX Fast). In a classic initial analysis approach we will show the convergence times of positioning errors with the dual-frequency GPS, Galileo and BeiDou measurements collected in a static open-sky scenario. Next we will take the chipsets on the road and compare positioning performance with and without additional B2a signal in the typical assisted/autonomous driving scenarios like highway and suburban areas. Moreover, we will assess the position re-convergence performance after the signal outages caused by highway overpasses and road signs, where the added benefit of the B2a signal will become apparent as it will assist with accelerating the ambiguity resolution after the cycle slips on most of the signals, that is required to reach desired low-decimeter positioning accuracy. In addition to the accuracy, the re-convergence time is another key metric to define the performance of a GNSS-only positioning system in automotive applications, as this is the time additional sensors need to propagate the precise absolute position. Finally, we will perform an analysis of test drives executed in Europe and Asia to show an additional impact of the signals provided by dual-frequency IGSO and GEO satellites. The purpose of this presentation is to demonstrate added benefits of the BeiDou III B2a signal on the GNSS positioning performance with mass-market chipsets in the typical automotive environments using Trimble’s next-generation PVT engine as well as Trimble RTX service. Both the impact on the accuracy as well as re-convergence times is assessed. The analysis performed is the first and most comprehensive assessment of the BeiDou III benefits in the area of automotive mass-market PPP applications.

The Trimble RTX correction service provides state-of-the-art PPP augmentation services in terms of accuracy and fast convergence time. The Trimble RTX technology is based on the estimation of precise satellite orbits, satellite clocks, satellite biases and ionosphere models computed from the data of a worldwide network of GNSS reference stations. This correction data is transmitted to the user via L-band signals from geostationary satellites or the internet. The system supports all current GNSS: GPS, GLONASS, QZSS, BeiDou and Galileo. An accuracy of 2.5 cm (95%) is achieved after a convergence time typically less than 1 minute, by using regional ionospheric and tropospheric models. Since 2019, the corrections also include the integrity functionality required for safety-critical and autonomous applications. For high-integrity applications, the position computed by the end-user needs to provide the protection level at a given integrity risk. The protection level of the combined RTX corrections and positioning engine developed by Trimble, are evaluated in this paper using an integrity risk of 10-7/h. For this purpose, an extensive amount of data is used which includes the following: 1) Static data collected at reference stations, which provide a benchmark for our algorithms under best possible conditions. 2) Real kinematic GNSS data has been gathered from more than 450 test drives using seven different combinations of automotive-grade receivers and antennas and from a variety of highway, urban and rural environments. 3) Simulated observation data, where specific errors have been injected into it in order to stress test the positioning engine. The real- and simulated data have been processed and analyzed to validate the Trimble RTX server and rover positioning technology using only GNSS measurements. Additionally, initial results will be presented including IMU and DMI sensors, which significantly improve the positioning and protection level performance in GNSS challenging environments.

Der Beitrag befasst sich damit, wie sich Therapeuten selbstsorglich reflektieren und entsprechend verhalten konnen. Zu diesem Zweck wird herausgearbeitet, was professionelle Selbstsorge im Kern ausmacht. Sie ist nicht einfach ein Set an Methoden, in deren Mittelpunkt der Therapeut steht. Funktional und professionell wird sie erst, indem der Kontext beachtet und die immer wieder neu zu beantwortende Frage nach dem »Wozu?« gestellt wird. Damit ist professionelle Selbstsorge vor allem eine strategische Haltung. Deutlich wird, dass falsch angelegte (vermeintliche) Selbstsorge negativen Stress erzeugen kann, anstatt ihm vorzubeugen und Freiheitsgrade zu begunstigen.Im Artikel geht es zentral darum, wie die skizzierte selbstsorgliche Haltung praktisch umgesetzt werden kann. Der Autor erlautert, wie man sich vor einem Zuviel an Empathie schutzen, anderen die eigenen Grenzen aufzeigen und versohnlich mit eigenen Fehlern umgehen kann. Er gibt Anregungen, wie private und berufliche Rollen klar voneinander getrennt werden konnen. Und er stellt dar, wie man die eigenen Moglichkeiten realistisch vermisst, um den eigenen Verantwortungsbereich angemessen und selbstsorglich abzustecken.

Reconfigurable machinery systems challenge state-of-the-art engineering processes, especially towards safe design, documentation and operation. Assessments done manually by safety engineers are required after each reconfiguration and reduce the advantages of these agile systems. New approaches are needed to reduce the engineering effort in order to satisfy the demands caused by frequent changes of reconfigurable machinery. This paper analyzes today’s safety related processes, examines safety requirements and challenges, studies existing approaches from academia and proposes a concept for future safety approval processes in accordance to EC directives.

Die Zunahme der Produktvielfalt stellt die Hersteller zunehmend vor die Herausforderung der wirtschaftlichen Produktion. Dieser Beitrag adressiert die automatisierte Montage und analysiert dazu zunachst existierende Anlagenkonzepte, indem das Konzept der Sondermaschine mit flexiblen, am Markt verfugbaren Konzepten, sowie Beispielen aus dem akademischen Umfeld verglichen wird. Daraus werden Entwicklungspotenziale hinsichtlich wandlungsfahiger Anlagenkonzepte abgeleitet.

The emerging automotive applications raised the necessity for a reliable highly accurate absolute GNSS positioning which is a critical requirement for autonomous vehicles. With the purpose of meeting the mass market demands, these applications require the use of automotive-grade GNSS chipsets that usually follow a trade-off between availability of the measurements, measurement quality, power consumption, and production cost. We demonstrate the positioning performance of Trimble’s next generation precise positioning engine by means of the measurements of three different automotive-grade GNSS receiver chipsets. These chipsets track selected frequency bands for each constellation reaching at most two frequencies per system and varying from one chipset to another. The data used in the analysis was collected in kinematic scenarios in a multitude of environments like canopy, suburban, and highway, without the use of inertial measurement units data or integrated cameras. The possibility of precise, accurate and reliable GNSS positioning performance with low-cost GNSS receivers has been proved in open-sky and less obstructed environments in the past. However extending the field of application of such receivers to Advanced Driver Assistance Systems (ADAS) as well as fully Autonomous Driving (AD) systems requires broadening the focus of the analysis and development to more challenging environments. The paper will show that reliable and highly accurate positioning based solely on GNSS measurements is feasible in such environments in real-time. For the different analyses performed, we employ the Trimble Real Time eXtended (RTX) stream, a globally available correction service enabling a centimeter accurate positioning in real-time without the need for a local base station. RTX data is delivered via satellite or Internet Protocol (IP), and provides redundant information in safety critical applications. We start by evaluating the code and phase noise of the different receivers to get a general idea of the state of the art measurement quality provided by automotive-grade GNSS chipsets. We then show the benefit of regional augmented correction data (CenterPoint® RTX Fast) compared to standard correction service (CenterPoint® RTX) in the scope of the automotive market requirements, especially the need for fast re-convergence of the positioning solution after signal loss due to underpasses or tunnels. Re-convergence below 20cm using CenterPoint® RTX Fast corrections is done within a few seconds, while re-convergence with standard corrections can take several minutes. Furthermore, we analyze the impact of extending the automotive-grade chipsets with a second frequency band. We will show that this development is one of the key features for high precise positioning leading to positioning errors of less than 10 cm at 1 sigma in all target environments. Finally, we demonstrate the ability to achieve 20cm horizontal positioning error at 2 sigma in canopy, suburban and highway environments and show that a re-convergence to 20cm horizontal positioning error at 2 sigma after interruptions on highways (bridges, traffic signs) is feasible within 10 seconds using only GNSS measurements.

Das in diesem Fachbeitrag vorgestellte Maschinenkonzept adressiert die heutigen Herausforderungen der Montagetechnik wie Variantenvielfalt und Stückzahlschwankung durch die Erhöhung der Wandlungsfähigkeit. Zentrale Elemente sind automatisierte Funktionseinheiten, welche technisch zur eigenständigen Strukturerkennung und Selbstbeschreibung befähigt sind. Zur Laufzeit lassen sich diese ohne zusätzliche Konstruktion und Programmierung gemäß der zu bearbeitenden Montageaufgabe zusammenstellen. The presented machinery concept addresses today‘s challenges in assembly technology such as product variety and quantity variation by enhancing versatility. Central elements are function-oriented standardized automation devices, which technically are featured with independent structure recognition and self-descriptive capabilities. The devices can be arranged at runtime to automate a given assembly task without additional engineering and programming efforts.

Die Digitalisierung ist gleichermaßen Chance und Herausforderung für die moderne Produktion. Vor allem in der industriellen Montage erlauben internetbasierte Technologien und Dienste die Entwicklung hochgradig wandlungsfähiger sowie einfach bedienbarer Systeme. Der Einsatz solcher Lösungen kann zu monetären und zeitlichen Einsparungen bei Engineering, Aufbau und Inbetriebnahme führen. Dieser Fachbeitrag stellt zwei Lösungsansätze zur Steigerung der Wandlungsfähigkeit von Montageanlagen mit der Anwendung von Informationstechnologien (IT) vor. The increasing digitalization is both opportunity and challenge for modern production. Especially in industrial assembly, internet-based technologies and services permit the realization of highly convertible and easy-to-use systems. The application of such solutions leads to cost and time savings in engineering, construction and ramp-up. This paper presents two approaches which support the adaptability of assembly systems by heavy use of digitization technologies.

The European Galileo system offers one dedicated signal that is superior to all other signals currently available in space, namely the broadband signal E5. This signal has a bandwidth of at least 51 MHz using an AltBOC modulation. It features a code range noise at centimeter level. Additionally, the impact of multipath effects on this signal is significantly lower compared to all other available GNSS signals. These unique features of Galileo E5 drastically improve the precision of code range measurements and hence enable precise single-frequency positioning. Certain scientific and non-scientific applications in the positioning domain could likely benefit from the exploitation of E5 measurements. A positioning approach based on an additive combination of code range and carrier phase measurements (CPC--"code-plus-carrier") to eliminate the ionospheric delay could be used to perform precise positioning over long distances. Unfortunately, this derived observable contains the ambiguity term as an additional unknown what normally requires longer observation windows in order to allow sufficient convergence of the ambiguity parameters. For this reason, a rapid convergence algorithm based on Kalman filtering was implemented in addition to the conventional CPC approach that is also discussed. The CPC-based results yield a positioning precision of 2---5 cm after a convergence time of about 3 h. The rapid convergence filter allows fixing the ambiguity terms within a few minutes, and the obtained position results are at the sub-decimeter level. Regarding one selected test, real data from Galileo experimental satellite GIOVE A were used in order to confirm our assumptions. However, since the current Galileo constellation is not sufficient for real-world positioning trials yet, all major results are based on simulated data.

The presented machinery concept CESA3R (Concept for Engineering free, Scalable, Advanced Automated Assembly system for Rapid ramp up) addresses today's challenges in production such as product variety and quantity variation by enhancing versatility. Central elements are function oriented standardized automation devices, which are technically featured with independent structure recognition and self-descriptive capabilities. A precise localization unit combined with a skill based programming concept allows an automatic configuration and program generation. The devices can be arranged at runtime to automate a given assembly task without additional engineering and programming efforts.

Atmospheric delays are contributors to the GNSS error budget in precise GNSS positioning that can reduce positioning accuracy considerably if not compensated appropriately. Both ionospheric and tropospheric delay corrections can be determined with help of reference stations in active GNSS networks. One approach to interpolate these error terms to the user's location that is employed in Germany's SAPOS network is the determination of area correction parameters (ACP, German: "Flachenkorrekturparameter--FKP"). A 2D interpolation scheme using data from at least 3 reference stations surrounding the rover is employed. A modification of this method was developed which only makes use of as few as 2 reference stations and provides 1D linear correction parameters along a "corridor" in which the user's rover is moving. We present the results of a feasibility study portraying results from use of corridor correction parameters for precise RTK-like positioning. The differences to the reference coordinates (3D) attained in average for 1 h of data employing selected network nodes in Germany are between 0.8 and 2.0 cm, which compares well with the traditional area correction method that yields an error of 0.7 up to 1.1 cm.

Due to decreasing innovation cycles, new technologies are implemented into new product ideas continuously faster. At the same time, well established manufacturers of goods are facing highly agile small and medium sized enterprises bringing new and innovative products to the market very fast. While this competition allows customers to select products fitting best to their demand and budget, producing companies are challenged with decreasing product life cycles, a higher product variety, fluctuating demands as well as strong cost pressure. As this so called mass-customization effect is more and more affecting also classical high volume-low variant markets, production systems which provide both, high productivity and adaptability, are required.

Kurzfassung Elektrische Motoren und Generatoren mit permanenter Läufererregung bieten gegenüber konventionellen Elektromaschinen höhere Leistungen bei kompakteren Abmessungen sowie einen deutlich robusteren mechanischen Aufbau. Auf Grund der vielfältigen Vorteile verzeichnet der Markt für permanent erregte Maschinen seit einigen Jahren konstante Wachstumsraten. Eine wichtige Voraussetzung, um der steigenden Nachfrage nach diesen Produkten gerecht zu werden und gegenüber dem wachsenden Angebot aus Niedriglohnregionen konkurrenzfähig zu bleiben, ist der Einsatz effizienter Montageverfahren bei deren Herstellung. Einen bisher aus produktionstechnischer Sicht nur unzureichend gelösten Problemfall stellt dabei die Bestückung von Läufern mit Permanentmagneten aus modernen hartmagnetischen Werkstoffen, wie z.B. Eisen-Neodym-Bor (NdFeB), dar. Im folgenden Beitrag werden eine neue Montagetechnologie zur automatisierten Verarbeitung magnetisierter Selten-Erd-Magnete und die sich daraus ergebenden wirtschaftlichen Potenziale vorgestellt.

Kurzfassung Bei vielen montageintensiven Produkten, wie z.B. Kabelbäumen oder Elektromotoren, ist die Automatisierung von komplizierten Montageabläufen mit erheblichem technischem Aufwand verbunden. Die hieraus resultierende Komplexität der Fertigungsanlagen erfordert oftmals hohe Investitionen und führt teilweise zu einer geringen Verfügbarkeit, was sich wiederum unmittelbar auf die Wirtschaftlichkeit der aufwändig automatisierten Produktionseinrichtungen auswirkt. Dies hat zur Folge, dass nach wie vor viele Montageaufgaben bevorzugt manuell durchgeführt und seit einigen Jahren auf Grund hoher Kosten mehr und mehr in die Länder mit niedrigeren Arbeitskosten verlagert werden. Neue Produkttechnologien und Produktionsmethoden bieten die Chance, mit flexibel automatisierten Systemlösungen die Bedürfnisse globaler Märkte zukünftig effizienter als heute zu befriedigen. Im folgenden Beitrag werden zwei Beispiele präsentiert, die das immense Rationalisierungspotenzial innovativer Herstellungsverfahren mit angepasstem Automatisierungsgrad aufzeigen.

Wahrend Magen- und Darmspiegelungen sind Menschen grosen psychischen Belastungen ausgesetzt. Hypnotische Kommunikationstechniken sind auserordentlich gut geeignet, Patienten auf entsprechende Untersuchungen vorzubereiten und sie zu begleiten. Das Kapitel beschreibt, wie Befurchtungen durch Seedings entkraftet, mentale Ressourcen aktiviert, Wurgreflexe effektiv reduziert und Schmerzen ausgeschaltet werden konnen. Die vorgeschlagenen kommunikativen Strategien und Tranceinduktionen lassen sich nahtlos in das normale medizinische Prozedere integrieren, ohne dass sich der bisherige Zeitaufwand dadurch verandern wurde. Hypnotische Untersuchungsbegleitung sorgt fur optimalen Rapport und hochste Patientencompliance, bei gleichzeitig moglichst grosem Wohlbefinden und hohem Kontrollerleben auf Patientenseite. Die geschilderten Vorgehensweisen konnen in ihrer Wirksamkeit als wissenschaftlich sehr gut abgesichert angesehen werden.

A terrestrial radio link was established, working with two frequencies in L- and in C-band. Attenuations and differential delay were measured, with the experimental setup described. A clear correlation of these parameters is confirmed by the measurements. The potential application points towards an L- and C-band GNSS service, where differential delays inherently may be noted. They could be used for predicting path attenuations and inferences about atmospheric conditions.

This paper presents the design of a dichroic mirror, operating in the S-, X-, and Kaband, intended for a 35 m beam-waveguide antenna for deep space observation. The design of this structure is particularly challenging, due to the large dimensions and the tight electrical constraints. Three structures have been investigated, both from the electrical and the mechanical point of view, and the simulation results are reported. Prototypes are also presented.