@inproceedings{7172, author = {Battermann, Sven and Halbe, Mirko}, booktitle = {Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit}, editor = {Garbe, Heyno}, location = {Köln}, publisher = {Apprimus}, title = {{In-situ EMV Messung und Analyse eines Photovoltaik Balkonkraftwerks mit Mikrowechselrichter}}, doi = {10.15488/21110}, year = {2026}, } @inproceedings{7173, abstract = {Reinforcement learning has achieved state-of-the-art performance in MAV control, waypoint flight, and obstacle avoidance. However, existing RL approaches often assume fixed objectives and constraints, with flight behavior largely limited by vehicle dynamics and orientation considered only when required for locomotion. Classical planning and model predictive control handle such constraints explicitly, but require optimization or replanning. This motivates methods that combine learned local control with explicit constraint handling. We combine reinforcement learning with control barrier functions to improve constraint-aware execution. We propose parameterized waypoints that encode orientation, velocity, and corridor constraints. Simulation and real-world experiments show that a single policy can execute different constraint-parameterized navigation scenarios, revealing scenario-dependent trade-offs between traversal time, tracking accuracy, and constraint satisfaction.}, author = {Kirsch, André and Rexilius, Jan}, keywords = {MAV navigation, Reinforcement learning, Constrained navigation, Control barrier functions}, location = {Barcelona}, title = {{Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints}}, year = {2026}, } @inproceedings{7174, abstract = {This paper presents a hybrid control architecture for dynamic robotic picking tasks. The framework combines a Deep Reinforcement Learning policy for high-level interception with a dedicated Inverse Kinematics controller for precise terminal grasping, while mitigating precision limitations of monolithic learning-based approaches. The framework utilizes a Proximal Policy Optimization agent to approach moving targets, seamlessly transitioning to an Inverse Kinematics solver that reduces terminal orientational and positional errors while minimizing cumulative control effort. To facilitate deployment on physical hardware, a robust sim-to-real pipeline incorporating system identification, domain randomization, and latency injection is employed. Experimental results on a physical Franka Emika Panda manipulator validate this hybrid architecture. The system achieves an 80% success rate in pick-and-place tasks, compared to 60.8% for unadapted baselines, with no safety-critical violations such as joint limit breaches or collisions observed during testing.}, author = {Mayer, Patrick Thomas and Rexilius, Jan}, keywords = {Reinforcement Learning, Hybrid Control, Sim-to-Real, Robotic Manipulation, Inverse Kinematics.}, location = {Sapporo}, title = {{A Hybrid Control Framework Using Reinforcement Learning for Dynamic Robotic Manipulation and Sim-to-Real Transfer}}, year = {2026}, } @inproceedings{7175, abstract = {Deep reinforcement learning (RL) policies for robotic control typically overfit to a single hardware configuration. Any change to the kinematic chain breaks the learned mapping and requires complete retraining. This paper investigates whether combining self-attention mechanisms with explicit spatial observations can improve a policy’s adaptability to varying kinematic topologies. We train a single RL agent to control a robotic manipulator across different degrees of freedom (DOF), ranging from a restricted 4-DOF mode to a fully redundant 7-DOF configuration. Instead of fixed-length state vectors, the method processes the active joints as a variable-length sequence in an attention buffer, enriching each joint’s representation with its relative spatial routing and geometric Jacobian influence. This structure allows the agent to dynamically evaluate the physical utility of its available actuators. The proposed Architecture reaches a success rate of 82.1% across trained topologies and 66.6% on unseen configurations, outperforming MLP and generic attention baselines while remaining nearly collisionfree. Finally, we demonstrate successful sim-to-real transfer by deploying the simulation-trained agent on a physical Franka Emika Panda manipulator.}, author = {Mayer, Patrick Thomas and Rexilius, Jan}, keywords = {Reinforcement Learning, Robotic Manipulation, Morphology Generalization, Sim-to-Real Transfer}, location = {Barcelona}, title = {{Adapting to Variable Kinematic Configurations: A Causal-Kinematic Attention Approach for Robotic Control}}, year = {2026}, } @inproceedings{7153, author = {Schulze, Jan-Philipp and Wette, Philip}, booktitle = {Proceedings of the 31st IEEE International Conference on Emerging Technologies and Factory Automation}, location = {Västerås, Sweden}, publisher = {IEEE}, title = {{Online Reconfiguration of Smart Material Recovery Facilities using Mixed-Integer Linear Programming}}, year = {2026}, } @inproceedings{7162, abstract = {Heart rate variability biofeedback has emerged as a validated intervention for stress management and emotional regulation through coherence breathing techniques. Existing biofeedback systems typically present cardiac and respiratory signals as separate feedback channels or rely on discrete interface elements that fragment attention and disrupt immersion. We present a design framework that extends Viscereality, a bioresponsive VR framework originally developed for breath mapping, to integrate multi-channel biofeedback including heart rate within immersive VR, centered on a particle-based environment that functions as a spatial body-mapping interface. By leveraging bioresponsive breath interactions for embodiment and weak representational aesthetics for cardiac coherence, the framework aims to encode both streams within a shared visual substrate, reducing the attentional task-switching and experiential fragmentation that multi-channel displays otherwise risk. The system translates lung volume into spatial expansion and contraction of the environment itself, maps cardiac coherence onto affective visual dimensions (angularity, brightness, saturation, symmetry), and embeds breathing guidance within the same geometric substrate. We present the design rationale and implementation of this framework, with empirical validation of its effectiveness to be conducted in future studies.}, author = {Fejer, George and Holzapfel, Till and Hirvonen, Taru and Lalidis Mateo, Anestis-Pere and Blum, Johannes and Gaebler, Michael and Lenggenhager, Bigna}, booktitle = {Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps}, isbn = {9798400719486}, keywords = {heart rate variability, biofeedback, virtual reality, affective state modulation, affective visualization, coherence breathing}, location = {Ascona Switzerland}, pages = {79--86}, publisher = {ACM}, title = {{Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality}}, doi = {10.1145/3780045.3780061}, year = {2026}, } @misc{7165, author = {Fejer, George and Holzapfel, Till and Hirvonen, Taru and Lalidis Mateo, Anestis-Pere and Blum, Johannes and Gaebler, Michael and Lenggenhager, Bigna}, publisher = {OSF}, title = {{Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience}}, doi = {10.17605/OSF.IO/64MWK}, year = {2026}, } @inproceedings{7122, abstract = {Mit steigenden Frequenzen nimmt der Einfluss des eingesetzten Messverfahrens in etablierten Testumgebungen bei feldgeführten Emissionsmessungen signifikant zu. Dieser Beitrag untersucht den Einfluss unterschiedlicher Abtaststrategien zur Erfassung der maximalen elektrischen Feldstärke eines im relevanten Frequenzbereich elektrisch großen, künstlichen Prüflings (EUT) in der Testumgebung „Vollabsorberkammer“ (fully anechoic room - FAR) [1]. Dazu erfolgen Messungen: (a) in der Ebene des EUTs (Messpunkte auf einem Kreis), (b) mit zusätzlicher Höhenvariation der Antenne (Messpunkte auf einer Zylinderoberfläche) und (c) Drehen des Prüflings um seine Raumachsen (Messpunkte auf drei orthogonalen Kreisen). Ergänzend erfolgt eine Abschätzung des erforderlichen Messaufwands zur elektromagnetischen Charakterisierung unbeabsichtigter Strahler in Abhängigkeit von der elektrischen Größe des Prüflings. Ziel ist es dabei, die maximal abgestrahlte elektrische Feldstärke zu erfassen – wie in den aktuellen Normen gefordert. Die gewonnenen Erkenntnisse sind sowohl für die Abschätzung der Messunsicherheit als auch für die Analyse potenzieller Abweichungen zwischen Ergebnissen aus etablierten und alternativen Testumgebungen von zentraler Bedeutung. Es werden typische Unsicherheiten und systematische Begrenzungen klassischer Messverfahren aufgezeigt und motiviert, wie alternative Messumgebungen (Modenverwirbelungskammern, TEM- Zellen) zur Effizienzsteigerung sowie zur erweiterten Bewertung des Emissionsverhaltens beitragen können. Die vorgestellten Ansätze sollen Impulse für eine theorie- und praxisorientierte Weiterentwicklung bestehender Normen sowie eine kritische Reflexion der bisher verwendeten Messgröße der maximalen elektrischen Feldstärke gegenüber der gesamt abgestrahlten Leistung (Total Radiated Power - TRP) oberhalb von 1 GHz liefern.}, author = {Battermann, Sven and Garbe, Heyno}, booktitle = {Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit}, location = {Köln}, title = {{Vergleich von Emissionsmessverfahren oberhalb 1 GHz mit Analyse des Messaufwands und Alternativen}}, doi = {10.15488/21126}, year = {2026}, } @inproceedings{6790, author = {Kirsch, André and Rexilius, Jan}, keywords = {Waste monitoring, Waste level estimation, MAV navigation}, location = {Lissabon, Portugal}, title = {{Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle}}, doi = {10.1109/IE69249.2026.11539031}, year = {2026}, } @misc{6993, author = {Kirsch, André and Rexilius, Jan}, publisher = {Hochschule Bielefeld}, title = {{Waste Bin Dataset }}, year = {2026}, } @inproceedings{6982, author = {Riechmann-Thom, Malte and Rexilius, Jan}, booktitle = {IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)}, location = {Kitakyushu}, title = {{Multi-Perspective AR Interaction Through Robot Viewpoint Control}}, year = {2026}, } @misc{7164, abstract = {Breath-based interactions in virtual reality typically map breathing onto discrete visual objects or downstream physiological proxies. Viscereality takes a different approach, mapping lung volume onto a surrounding space composed of particles arranged in an orb enclosing the participant through interoceptive-exteroceptive sensory substitution, such that inhalation expands the environment outward and exhalation contracts it inward. The aesthetic texture of the particle field is controlled by coupled oscillators governing phase relationships among individual particles' animation cycles, making visual organisation an experimentally adjustable parameter independent of the respiratory mechanics. In a preregistered within-subjects study (N = 39), participants completed three 10-minute audio-guided box-breathing sessions in counterbalanced order: a high-symmetry VR condition in which oscillator coupling transiently aligned particles into geometric coherence during breath holds, an asymmetric VR condition in which coupling remained irregular throughout, and a black-screen control with only a minimal breathing performance indicator. Subjective experience was assessed with an altered states of consciousness questionnaire, temporal experience tracers, and three pictographic self-related measures. Relative to the black-screen control, VR conditions improved breathing synchronization, shifted participants toward a more spatially extended frame of self-reference, and produced altered-state profiles with strong perceptual effects, moderate positive effects, and weaker distressing effects. Despite lasting only 10 minutes, perceptual and positive effect intensities were superficially comparable to those reported in 90-minute facilitated breathwork sessions conducted without VR, while negative effects were lower. Temporal experience tracers converged with the retrospective questionnaire across all dimensions. Participants remained blind to the aesthetic symmetry manipulation, which also yielded no difference on any outcome measure. These results suggest that even a brief bioresponsive VR breathing session can meaningfully augment both breathing behavior and subjective experience, and may warrant further exploration as a complement to established breathwork practices.}, author = {Fejer, George and Holzapfel, Till and Blum, Johannes and Hirvonen, Taru and Lalidis Mateo, Anestis-Pere and Gaebler, Michael and Lenggenhager, Bigna}, keywords = {biofeedback, breath-based interaction, breathwork, altered states of consciousness, particle systems}, publisher = {OSF}, title = {{Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality}}, doi = {10.17605/OSF.IO/F2GMW}, year = {2025}, } @inproceedings{6574, abstract = {We introduce a bioresponsive virtual reality system that maps users' breathing patterns to dynamic, spatialized visual feedback. The system implements Gestalt principles, such as good figure, similarity, and symmetry, within a 3D particle-based environment to enhance the embodiment of interoceptive and exteroceptive space, aiming to blur the subjective boundary between bodily self and the external virtual space. Moreover, the system incorporates coupling kernels within a dynamic system composed of Kuramoto oscillators, enabling the emergence of geometric visual symmetries during breath retention phases. This architecture provides an experimental framework for investigating how visual–respiratory coupling of space can influence perceived bodily boundaries and peripersonal space, as well as for testing how such coupling affects positively valenced aspects of subjective experience, drawing on principles from the Symmetry Theory of Valence. A short video summary of the system is available at: https://osf.io/4enfg}, author = {Fejer, George and Holzapfel, Till and Gómez-Emilsson, Andrés and Hirvonen, Taru and Jermaks, Raimonds and Blum, Johannes and Lobser, David and Lalidis Mateo, Anestis-Pere and Glowacki, David and Gaebler, Michael and Lenggenhager, Bigna}, booktitle = {MCI-WS11: 18th Workshop “Be-greifbare Interaktion”}, keywords = {altered states of consciousness, bioresponsive systems, breath-based interaction, symmetry theory of valence, interoceptive-exteroceptive substitution, visual-respiratory coupling}, location = {Chemnitz}, publisher = {Gesellschaft für Informatik e.V.}, title = {{Viscereality: A Bio-responsive VR System for Breath-Based Interactions and Coupled Oscillator Dynamics to Augment Altered States of Consciousness}}, doi = {10.18420/MUC2025-MCI-WS11-174}, year = {2025}, } @inproceedings{6374, author = {Battermann, Sven}, location = {Stuttgart}, title = {{Emissions- und Störfestigkeitsmessungen oberhalb 1 GHz}}, year = {2025}, } @techreport{6373, author = {Battermann, Sven}, title = {{Campus-Stammtisch: Elektromagnetische Verträglichkeit}}, year = {2025}, } @inproceedings{6372, author = {Battermann, Sven}, booktitle = {EMV Boot Camp}, keywords = {EMV EMC Antennen}, location = {Hamburg (Airbus)}, title = {{Radiated Emission and Immunity Measurements}}, year = {2025}, } @inproceedings{6185, author = {Riechmann-Thom, Malte and Rexilius, Jan}, booktitle = {IEEE International Symposium on Mixed and Augmented Reality (ISMAR)}, location = {Daejeon, South Korea}, title = {{Visualizing Motion Intent in Heterogeneous Multi-Robot Environments}}, doi = {10.1109/ISMAR-Adjunct68609.2025.00145}, year = {2025}, } @inproceedings{6027, author = {Deutsch, Luis and König, Matthias and Rexilius, Jan}, booktitle = {KI-Kongress }, issn = {2943-3509}, location = {Bielefeld}, publisher = {Schriftenreihe des Institus for Data Science Solutions}, title = {{A State-Aware Ant Colony Optimization Approach to the Roll-on/Roll-off Problem for Skip Loaders}}, year = {2025}, } @inproceedings{6169, author = {Deutsch, Luis and König, Matthias and Rexilius, Jan}, booktitle = {Progress in IS , Advances in Environmental Informatics}, keywords = {Ant Colony Optimization, Vehicle Routing Problem, Rollon/ Roll-off, Skip Loader, Stackability}, location = {Potsdam}, publisher = {Springer}, title = {{An Adaptive Ant Colony System for Skip Loader Operations in Roll-on/Roll-off Logistics}}, year = {2025}, } @inproceedings{6186, author = {Riechmann-Thom, Malte and Rexilius, Jan}, booktitle = {ACM Symposium on Virtual Reality Software and Technology (VRST)}, location = {Montreal}, title = {{Interacting Beyond Reach: Multi-Perspective Augmented Reality for Precise Virtual Border Definition in Constrained Spaces}}, doi = {10.1145/3756884.3765993}, year = {2025}, }