[{"title":"Online Reconfiguration of Smart Material Recovery Facilities using Mixed-Integer Linear Programming","urn":"urn:nbn:de:hbz:bi10-71539","project":[{"_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D","name":"Institute for Building Intelligence"}],"conference":{"end_date":"2026-09-11","location":"Västerås, Sweden","name":"31st IEEE International Conference on Emerging Technologies and Factory Automation","start_date":"2026-09-08"},"type":"conference","doi":"10.1109/ETFA68377.2026.11725287","publisher":"IEEE","year":"2026","department":[{"_id":"102"}],"author":[{"first_name":"Jan-Philipp","orcid":"0009-0003-7284-6531","last_name":"Schulze","orcid_put_code_url":"https://api.orcid.org/v2.0/0009-0003-7284-6531/work/226345774","full_name":"Schulze, Jan-Philipp","id":"235565"},{"last_name":"Wette","first_name":"Philip","full_name":"Wette, Philip","id":"246560"}],"_id":"7153","user_id":"246560","language":[{"iso":"eng"}],"status":"public","publication":"Proceedings of the 31st IEEE International Conference on Emerging Technologies and Factory Automation","date_updated":"2026-11-06T08:32:15Z","date_created":"2026-09-10T18:23:11Z"},{"conference":{"start_date":"2026-11-18","end_date":"2026-11-20","location":"Barcelona","name":"9th Iberian Robotics Conference (ROBOT) "},"keyword":["Reinforcement Learning","Robotic Manipulation","Kinematic Adaptation","Sim-to-Real Transfer"],"title":"Adapting to Variable Active-Joint Configurations via Kinematics-Informed Attention for Robot Arms","quality_controlled":"1","project":[{"name":"Institute for Building Intelligence","_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D"}],"year":"2026","type":"conference","citation":{"apa":"Mayer, P. T., &#38; Rexilius, J. (n.d.). Adapting to Variable Active-Joint Configurations via Kinematics-Informed Attention for Robot Arms. In <i>9th Iberian Robotics Conference (ROBOT) </i>. Barcelona.","chicago":"Mayer, Patrick Thomas, and Jan Rexilius. “Adapting to Variable Active-Joint Configurations via Kinematics-Informed Attention for Robot Arms.” In <i>9th Iberian Robotics Conference (ROBOT) </i>, n.d.","short":"P.T. Mayer, J. Rexilius, in: 9th Iberian Robotics Conference (ROBOT) , n.d.","alphadin":"<span style=\"font-variant:small-caps;\">Mayer, Patrick Thomas</span> ; <span style=\"font-variant:small-caps;\">Rexilius, Jan</span>: Adapting to Variable Active-Joint Configurations via Kinematics-Informed Attention for Robot Arms. In: <i>9th Iberian Robotics Conference (ROBOT) </i>","mla":"Mayer, Patrick Thomas, and Jan Rexilius. “Adapting to Variable Active-Joint Configurations via Kinematics-Informed Attention for Robot Arms.” <i>9th Iberian Robotics Conference (ROBOT) </i>.","ieee":"P. T. Mayer and J. Rexilius, “Adapting to Variable Active-Joint Configurations via Kinematics-Informed Attention for Robot Arms,” in <i>9th Iberian Robotics Conference (ROBOT) </i>, Barcelona.","bibtex":"@inproceedings{Mayer_Rexilius, title={Adapting to Variable Active-Joint Configurations via Kinematics-Informed Attention for Robot Arms}, booktitle={9th Iberian Robotics Conference (ROBOT) }, author={Mayer, Patrick Thomas and Rexilius, Jan} }","ama":"Mayer PT, Rexilius J. Adapting to Variable Active-Joint Configurations via Kinematics-Informed Attention for Robot Arms. In: <i>9th Iberian Robotics Conference (ROBOT) </i>."},"_id":"7175","department":[{"_id":"102"}],"author":[{"first_name":"Patrick Thomas","orcid":"0009-0009-6800-1273","last_name":"Mayer","orcid_put_code_url":"https://api.orcid.org/v2.0/0009-0009-6800-1273/work/227375532","full_name":"Mayer, Patrick Thomas","id":"244831"},{"id":"245736","orcid_put_code_url":"https://api.orcid.org/v2.0/0000-0002-4579-214X/work/227375533","full_name":"Rexilius, Jan","first_name":"Jan","last_name":"Rexilius","orcid":"0000-0002-4579-214X"}],"status":"public","date_updated":"2026-10-21T09:44:11Z","publication":"9th Iberian Robotics Conference (ROBOT) ","date_created":"2026-09-21T16:34:09Z","publication_status":"accepted","user_id":"244831","abstract":[{"lang":"eng","text":"Deep reinforcement learning (RL) policies for robotic control are typically trained for a single hardware configuration. When a joint locks, the learned mapping no longer matches the available actuation. This paper investigates whether combining self-attention with explicit kinematic observations can improve a policy’s adaptability to varying active-joint configurations. We train a single RL agent to control a Franka Emika Panda manipulator across different sets of active joints, from a restricted 4-degree-of-freedom (DOF) mode to the fully redundant 7-DOF configuration. Instead of fixed-length state vectors, the method processes the active joints as a variable-length sequence, enriching each joint’s representation with its relative spatial offset and geometric Jacobian influence. The proposed kinematics-informed attention architecture reaches a success rate of 82.1% across trained configurations and 66.6% on unseen configurations, outperforming multilayer perceptron and generic attention baselines while remaining nearly collision-free. Deployed on a physical Panda, the simulation-trained agent reaches 79.0% success on the unseen configurations, closely matching the simulation on the same target schedule (77.0%)."}],"language":[{"iso":"eng"}]},{"user_id":"244831","abstract":[{"text":"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.","lang":"eng"}],"language":[{"iso":"eng"}],"publication":"26th International Conference on Control, Automation and Systems (ICCAS)","date_updated":"2026-10-21T09:43:36Z","status":"public","publication_status":"accepted","date_created":"2026-09-21T16:30:06Z","department":[{"_id":"102"}],"author":[{"id":"244831","first_name":"Patrick Thomas","last_name":"Mayer","orcid":"0009-0009-6800-1273","orcid_put_code_url":"https://api.orcid.org/v2.0/0009-0009-6800-1273/work/227375528","full_name":"Mayer, Patrick Thomas"},{"id":"245736","last_name":"Rexilius","orcid":"0000-0002-4579-214X","first_name":"Jan","full_name":"Rexilius, Jan","orcid_put_code_url":"https://api.orcid.org/v2.0/0000-0002-4579-214X/work/227375529"}],"citation":{"bibtex":"@inproceedings{Mayer_Rexilius, title={A Hybrid Control Framework Using Reinforcement Learning for Dynamic Robotic Manipulation and Sim-to-Real Transfer}, booktitle={26th International Conference on Control, Automation and Systems (ICCAS)}, author={Mayer, Patrick Thomas and Rexilius, Jan} }","ama":"Mayer PT, Rexilius J. A Hybrid Control Framework Using Reinforcement Learning for Dynamic Robotic Manipulation and Sim-to-Real Transfer. In: <i>26th International Conference on Control, Automation and Systems (ICCAS)</i>.","short":"P.T. Mayer, J. Rexilius, in: 26th International Conference on Control, Automation and Systems (ICCAS), n.d.","alphadin":"<span style=\"font-variant:small-caps;\">Mayer, Patrick Thomas</span> ; <span style=\"font-variant:small-caps;\">Rexilius, Jan</span>: A Hybrid Control Framework Using Reinforcement Learning for Dynamic Robotic Manipulation and Sim-to-Real Transfer. In: <i>26th International Conference on Control, Automation and Systems (ICCAS)</i>","ieee":"P. T. Mayer and J. 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(2026). Energiekonzepte - energetische Ertüchtigung. In D. Bohne &#38; M. Bohne (Eds.), <i> Gebäudetechnik  Technischer Ausbau und nachhaltige Gebäudesysteme</i> (13th ed., p. Kapitel 8.11, S. 673-S. 694). Wiesbaden: Springer Vieweg. <a href=\"https://doi.org/10.1007/978-3-658-51571-3\">https://doi.org/10.1007/978-3-658-51571-3</a>","chicago":"Osterhage, Tanja. “Energiekonzepte - energetische Ertüchtigung.” In <i> Gebäudetechnik  Technischer Ausbau und nachhaltige Gebäudesysteme</i>, edited by Dirk Bohne and Marius Bohne, 13th ed., Kapitel 8.11, S. 673-S. 694. Wiesbaden: Springer Vieweg, 2026. <a href=\"https://doi.org/10.1007/978-3-658-51571-3\">https://doi.org/10.1007/978-3-658-51571-3</a>.","bibtex":"@inbook{Osterhage_2026, place={Wiesbaden}, edition={13}, title={Energiekonzepte - energetische Ertüchtigung}, DOI={<a href=\"https://doi.org/10.1007/978-3-658-51571-3\">https://doi.org/10.1007/978-3-658-51571-3</a>}, booktitle={ Gebäudetechnik  Technischer Ausbau und nachhaltige Gebäudesysteme}, publisher={Springer Vieweg}, author={Osterhage, Tanja}, editor={Bohne, Dirk and Bohne, MariusEditors}, year={2026}, pages={Kapitel 8.11, S. 673-S. 694} }","ama":"Osterhage T. Energiekonzepte - energetische Ertüchtigung. In: Bohne D, Bohne M, eds. <i> Gebäudetechnik  Technischer Ausbau und nachhaltige Gebäudesysteme</i>. 13th ed. Wiesbaden: Springer Vieweg; 2026:Kapitel 8.11, S. 673-S. 694. doi:<a href=\"https://doi.org/10.1007/978-3-658-51571-3\">https://doi.org/10.1007/978-3-658-51571-3</a>","alphadin":"<span style=\"font-variant:small-caps;\">Osterhage, Tanja</span>: Energiekonzepte - energetische Ertüchtigung. In: <span style=\"font-variant:small-caps;\">Bohne, D.</span> ; <span style=\"font-variant:small-caps;\">Bohne, M.</span> (Hrsg.): <i> Gebäudetechnik  Technischer Ausbau und nachhaltige Gebäudesysteme</i>. 13. Aufl. Wiesbaden : Springer Vieweg, 2026, S. Kapitel 8.11, S. 673-S. 694","mla":"Osterhage, Tanja. “Energiekonzepte - energetische Ertüchtigung.” <i> Gebäudetechnik  Technischer Ausbau und nachhaltige Gebäudesysteme</i>, edited by Dirk Bohne and Marius Bohne, 13th ed., Springer Vieweg, 2026, p. Kapitel 8.11, S. 673-S. 694, doi:<a href=\"https://doi.org/10.1007/978-3-658-51571-3\">https://doi.org/10.1007/978-3-658-51571-3</a>.","ieee":"T. Osterhage, “Energiekonzepte - energetische Ertüchtigung,” in <i> Gebäudetechnik  Technischer Ausbau und nachhaltige Gebäudesysteme</i>, 13th ed., D. Bohne and M. Bohne, Eds. Wiesbaden: Springer Vieweg, 2026, p. Kapitel 8.11, S. 673-S. 694.","short":"T. Osterhage, in: D. Bohne, M. Bohne (Eds.),  Gebäudetechnik  Technischer Ausbau und nachhaltige Gebäudesysteme, 13th ed., Springer Vieweg, Wiesbaden, 2026, p. 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(2026). Multi-Perspective AR Interaction Through Robot Viewpoint Control. In <i>IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)</i>. Kitakyushu. <a href=\"https://doi.org/10.1109/RO-MAN72286.2026.11715012\">https://doi.org/10.1109/RO-MAN72286.2026.11715012</a>","chicago":"Riechmann-Thom, Malte, and Jan Rexilius. “Multi-Perspective AR Interaction Through Robot Viewpoint Control.” In <i>IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)</i>, 2026. <a href=\"https://doi.org/10.1109/RO-MAN72286.2026.11715012\">https://doi.org/10.1109/RO-MAN72286.2026.11715012</a>.","bibtex":"@inproceedings{Riechmann-Thom_Rexilius_2026, title={Multi-Perspective AR Interaction Through Robot Viewpoint Control}, DOI={<a href=\"https://doi.org/10.1109/RO-MAN72286.2026.11715012\">10.1109/RO-MAN72286.2026.11715012</a>}, booktitle={IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)}, author={Riechmann-Thom, Malte and Rexilius, Jan}, year={2026} }","ama":"Riechmann-Thom M, Rexilius J. Multi-Perspective AR Interaction Through Robot Viewpoint Control. In: <i>IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)</i>. ; 2026. doi:<a href=\"https://doi.org/10.1109/RO-MAN72286.2026.11715012\">10.1109/RO-MAN72286.2026.11715012</a>","alphadin":"<span style=\"font-variant:small-caps;\">Riechmann-Thom, Malte</span> ; <span style=\"font-variant:small-caps;\">Rexilius, Jan</span>: Multi-Perspective AR Interaction Through Robot Viewpoint Control. In: <i>IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)</i>, 2026","mla":"Riechmann-Thom, Malte, and Jan Rexilius. “Multi-Perspective AR Interaction Through Robot Viewpoint Control.” <i>IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)</i>, 2026, doi:<a href=\"https://doi.org/10.1109/RO-MAN72286.2026.11715012\">10.1109/RO-MAN72286.2026.11715012</a>.","ieee":"M. Riechmann-Thom and J. Rexilius, “Multi-Perspective AR Interaction Through Robot Viewpoint Control,” in <i>IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)</i>, Kitakyushu, 2026.","short":"M. Riechmann-Thom, J. Rexilius, in: IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2026."},"_id":"6982","language":[{"iso":"eng"}],"user_id":"229000","date_created":"2026-06-03T09:06:55Z","status":"public","date_updated":"2026-10-15T07:33:11Z","publication":"IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","title":"Multi-Perspective AR Interaction Through Robot Viewpoint Control","project":[{"name":"Institute for Building Intelligence","_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D"}],"quality_controlled":"1","conference":{"start_date":"2026-08-24","name":"IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","location":"Kitakyushu","end_date":"2026-08-28"},"doi":"10.1109/RO-MAN72286.2026.11715012","type":"conference","year":"2026"},{"year":"2026","type":"conference_abstract","related_material":{"link":[{"url":"https://www.innovationfestival.de/details/1361-digitales-materialwissen-kreislaeufe-intelligent-schliessen","relation":"other"}]},"conference":{"start_date":"2026-09-15","name":"Innovation Festival","location":"Bielefeld","end_date":"2026-09-16"},"title":"Digitales Materialwissen: Kreisläufe intelligent schließen","project":[{"_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D","name":"Institute for Building Intelligence"}],"publication":"Innovation Festival","date_updated":"2026-10-05T07:56:31Z","status":"public","date_created":"2026-09-24T12:08:20Z","user_id":"261203","language":[{"iso":"eng"}],"citation":{"chicago":"Wette, Philip. “Digitales Materialwissen: Kreisläufe Intelligent Schließen.” In <i>Innovation Festival</i>, 2026.","apa":"Wette, P. (2026). Digitales Materialwissen: Kreisläufe intelligent schließen. In <i>Innovation Festival</i>. Bielefeld.","short":"P. Wette, in: Innovation Festival, 2026.","mla":"Wette, Philip. “Digitales Materialwissen: Kreisläufe Intelligent Schließen.” <i>Innovation Festival</i>, 2026.","ieee":"P. Wette, “Digitales Materialwissen: Kreisläufe intelligent schließen,” in <i>Innovation Festival</i>, Bielefeld, 2026.","alphadin":"<span style=\"font-variant:small-caps;\">Wette, Philip</span>: Digitales Materialwissen: Kreisläufe intelligent schließen. In: <i>Innovation Festival</i>, 2026","ama":"Wette P. Digitales Materialwissen: Kreisläufe intelligent schließen. In: <i>Innovation Festival</i>. ; 2026.","bibtex":"@inproceedings{Wette_2026, title={Digitales Materialwissen: Kreisläufe intelligent schließen}, booktitle={Innovation Festival}, author={Wette, Philip}, year={2026} }"},"_id":"7182","department":[{"_id":"102"}],"author":[{"full_name":"Wette, Philip","first_name":"Philip","last_name":"Wette","id":"246560"}]},{"publication":"Graphmasters Summit 2026","date_updated":"2026-10-05T07:56:15Z","status":"public","date_created":"2026-09-24T12:15:53Z","user_id":"261203","language":[{"iso":"eng"}],"citation":{"chicago":"Wette, Philip. “Autonomes Rennfahren: 911 Turbo Im Maßstab 1:6 Faszination Rennsport Als Motivation Im Studium.” In <i>Graphmasters Summit 2026</i>, 2026.","apa":"Wette, P. (2026). Autonomes Rennfahren: 911 Turbo im Maßstab 1:6 Faszination Rennsport als Motivation im Studium. In <i>Graphmasters Summit 2026</i>. Hannover.","bibtex":"@inproceedings{Wette_2026, title={Autonomes Rennfahren: 911 Turbo im Maßstab 1:6 Faszination Rennsport als Motivation im Studium}, booktitle={Graphmasters Summit 2026}, author={Wette, Philip}, year={2026} }","ama":"Wette P. Autonomes Rennfahren: 911 Turbo im Maßstab 1:6 Faszination Rennsport als Motivation im Studium. In: <i>Graphmasters Summit 2026</i>. ; 2026.","short":"P. Wette, in: Graphmasters Summit 2026, 2026.","alphadin":"<span style=\"font-variant:small-caps;\">Wette, Philip</span>: Autonomes Rennfahren: 911 Turbo im Maßstab 1:6 Faszination Rennsport als Motivation im Studium. In: <i>Graphmasters Summit 2026</i>, 2026","ieee":"P. 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Aachen: Apprimus, 2026. <a href=\"https://doi.org/10.15488/21110\">https://doi.org/10.15488/21110</a>.","apa":"Battermann, S., &#38; Halbe, M. (2026). In-situ EMV Messung und Analyse eines Photovoltaik Balkonkraftwerks mit Mikrowechselrichter. In H. Garbe (Ed.), <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>. Aachen: Apprimus. <a href=\"https://doi.org/10.15488/21110\">https://doi.org/10.15488/21110</a>","short":"S. Battermann, M. Halbe, in: H. Garbe (Ed.), Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit, Apprimus, Aachen, 2026.","alphadin":"<span style=\"font-variant:small-caps;\">Battermann, Sven</span> ; <span style=\"font-variant:small-caps;\">Halbe, Mirko</span>: In-situ EMV Messung und Analyse eines Photovoltaik Balkonkraftwerks mit Mikrowechselrichter. In: <span style=\"font-variant:small-caps;\">Garbe, H.</span> (Hrsg.): <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>. Aachen : Apprimus, 2026","ieee":"S. Battermann and M. Halbe, “In-situ EMV Messung und Analyse eines Photovoltaik Balkonkraftwerks mit Mikrowechselrichter,” in <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>, Köln, 2026.","mla":"Battermann, Sven, and Mirko Halbe. “In-situ EMV Messung und Analyse eines Photovoltaik Balkonkraftwerks mit Mikrowechselrichter.” <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>, edited by Heyno Garbe, Apprimus, 2026, doi:<a href=\"https://doi.org/10.15488/21110\">10.15488/21110</a>.","bibtex":"@inproceedings{Battermann_Halbe_2026, place={Aachen}, title={In-situ EMV Messung und Analyse eines Photovoltaik Balkonkraftwerks mit Mikrowechselrichter}, DOI={<a href=\"https://doi.org/10.15488/21110\">10.15488/21110</a>}, booktitle={Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit}, publisher={Apprimus}, author={Battermann, Sven and Halbe, Mirko}, editor={Garbe, HeynoEditor}, year={2026} }","ama":"Battermann S, Halbe M. In-situ EMV Messung und Analyse eines Photovoltaik Balkonkraftwerks mit Mikrowechselrichter. In: Garbe H, ed. <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>. Aachen: Apprimus; 2026. doi:<a href=\"https://doi.org/10.15488/21110\">10.15488/21110</a>"},"_id":"7172","main_file_link":[{"url":"https://repo.uni-hannover.de/bitstreams/2f734850-3360-4ddf-92a5-fe946aa79284/download","open_access":"1"}],"language":[{"iso":"ger"}],"user_id":"220548","publication_status":"published","date_created":"2026-09-20T19:09:37Z","date_updated":"2026-09-24T12:24:24Z","publication":"Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit","status":"public","title":"In-situ EMV Messung und Analyse eines Photovoltaik Balkonkraftwerks mit Mikrowechselrichter","quality_controlled":"1","project":[{"_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D","name":"Institute for Building Intelligence"}],"oa":"1","conference":{"name":"EMV 2006","location":"Köln","end_date":"2026-03-26","start_date":"2026-03-24"},"publisher":"Apprimus","tmp":{"legal_code_url":"https://creativecommons.org/licenses/by/3.0/legalcode","name":"Creative Commons Attribution 3.0 Unported (CC BY 3.0)","short":"CC BY (3.0)","image":"/images/cc_by.png"},"type":"conference","doi":"10.15488/21110","year":"2026","place":"Aachen"},{"type":"conference","year":"2026","project":[{"_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D","name":"Institute for Building Intelligence"}],"title":"Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints","quality_controlled":"1","keyword":["MAV navigation","Reinforcement learning","Constrained navigation","Control barrier functions"],"conference":{"end_date":"2026-11-20","location":"Barcelona","name":"9th Iberian Robotics Conference (ROBOT)","start_date":"2026-11-18"},"abstract":[{"lang":"eng","text":"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."}],"language":[{"iso":"eng"}],"user_id":"220548","publication_status":"accepted","date_created":"2026-09-21T14:31:38Z","date_updated":"2026-09-24T12:22:54Z","status":"public","author":[{"first_name":"André","last_name":"Kirsch","full_name":"Kirsch, André","id":"229807"},{"full_name":"Rexilius, Jan","orcid_put_code_url":"https://api.orcid.org/v2.0/0000-0002-4579-214X/work/227345663","orcid":"0000-0002-4579-214X","last_name":"Rexilius","first_name":"Jan","id":"245736"}],"citation":{"apa":"Kirsch, A., &#38; Rexilius, J. (n.d.). Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints. Presented at the 9th Iberian Robotics Conference (ROBOT), Barcelona.","chicago":"Kirsch, André, and Jan Rexilius. “Reinforcement Learning-Based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints,” n.d.","alphadin":"<span style=\"font-variant:small-caps;\">Kirsch, André</span> ; <span style=\"font-variant:small-caps;\">Rexilius, Jan</span>: Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints. In:","ieee":"A. Kirsch and J. Rexilius, “Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints,” presented at the 9th Iberian Robotics Conference (ROBOT), Barcelona.","mla":"Kirsch, André, and Jan Rexilius. <i>Reinforcement Learning-Based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints</i>.","short":"A. Kirsch, J. Rexilius, in: n.d.","bibtex":"@inproceedings{Kirsch_Rexilius, title={Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints}, author={Kirsch, André and Rexilius, Jan} }","ama":"Kirsch A, Rexilius J. Reinforcement Learning-based MAV Navigation With Parameterized Waypoints: Incorporating Orientation, Speed Limits, and Corridor Constraints."},"_id":"7173"},{"has_accepted_license":"1","publisher":"ACM","year":"2026","place":"New York, NY, USA","file_date_updated":"2026-09-16T08:24:45Z","oa":"1","title":"Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality","project":[{"_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D","name":"Institute for Building Intelligence"}],"quality_controlled":"1","keyword":["heart rate variability","biofeedback","virtual reality","affective state modulation","affective visualization","coherence breathing"],"user_id":"220548","abstract":[{"text":"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.","lang":"eng"}],"language":[{"iso":"eng"}],"publication":"Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps","status":"public","publication_status":"published","date_created":"2026-09-16T08:44:02Z","department":[{"_id":"102"}],"main_file_link":[{"open_access":"1"}],"_id":"7162","citation":{"alphadin":"<span style=\"font-variant:small-caps;\">Fejer, George</span> ; <span style=\"font-variant:small-caps;\">Holzapfel, Till</span> ; <span style=\"font-variant:small-caps;\">Hirvonen, Taru</span> ; <span style=\"font-variant:small-caps;\">Lalidis Mateo, Anestis-Pere</span> ; <span style=\"font-variant:small-caps;\">Blum, Johannes</span> ; <span style=\"font-variant:small-caps;\">Gaebler, Michael</span> ; <span style=\"font-variant:small-caps;\">Lenggenhager, Bigna</span>: Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality. In: <span style=\"font-variant:small-caps;\">Association for Computing Machinery (ACM)</span> (Hrsg.): <i>Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps</i>. New York, NY, USA : ACM, 2026, S. 79–86","ieee":"G. Fejer <i>et al.</i>, “Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality,” in <i>Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps</i>, Ascona Switzerland, 2026, pp. 79–86.","mla":"Fejer, George, et al. “Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality.” <i>Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps</i>, edited by Association for Computing Machinery (ACM), ACM, 2026, pp. 79–86, doi:<a href=\"https://doi.org/10.1145/3780045.3780061\">10.1145/3780045.3780061</a>.","short":"G. Fejer, T. Holzapfel, T. Hirvonen, A.-P. Lalidis Mateo, J. Blum, M. Gaebler, B. Lenggenhager, in: Association for Computing Machinery (ACM) (Ed.), Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps, ACM, New York, NY, USA, 2026, pp. 79–86.","bibtex":"@inproceedings{Fejer_Holzapfel_Hirvonen_Lalidis Mateo_Blum_Gaebler_Lenggenhager_2026, place={New York, NY, USA}, title={Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality}, DOI={<a href=\"https://doi.org/10.1145/3780045.3780061\">10.1145/3780045.3780061</a>}, booktitle={Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps}, publisher={ACM}, author={Fejer, George and Holzapfel, Till and Hirvonen, Taru and Lalidis Mateo, Anestis-Pere and Blum, Johannes and Gaebler, Michael and Lenggenhager, Bigna}, editor={Association for Computing Machinery (ACM)Editor}, year={2026}, pages={79–86} }","ama":"Fejer G, Holzapfel T, Hirvonen T, et al. Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality. In: Association for Computing Machinery (ACM), ed. <i>Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps</i>. New York, NY, USA: ACM; 2026:79-86. doi:<a href=\"https://doi.org/10.1145/3780045.3780061\">10.1145/3780045.3780061</a>","apa":"Fejer, G., Holzapfel, T., Hirvonen, T., Lalidis Mateo, A.-P., Blum, J., Gaebler, M., &#38; Lenggenhager, B. (2026). Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality. In Association for Computing Machinery (ACM) (Ed.), <i>Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps</i> (pp. 79–86). New York, NY, USA: ACM. <a href=\"https://doi.org/10.1145/3780045.3780061\">https://doi.org/10.1145/3780045.3780061</a>","chicago":"Fejer, George, Till Holzapfel, Taru Hirvonen, Anestis-Pere Lalidis Mateo, Johannes Blum, Michael Gaebler, and Bigna Lenggenhager. “Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality.” In <i>Proceedings of the 1st International Conference on Human-Computer Interaction in the Alps</i>, edited by Association for Computing Machinery (ACM), 79–86. New York, NY, USA: ACM, 2026. <a href=\"https://doi.org/10.1145/3780045.3780061\">https://doi.org/10.1145/3780045.3780061</a>."},"type":"conference","doi":"10.1145/3780045.3780061","tmp":{"image":"/images/cc_by.png","short":"CC BY (4.0)","name":"Creative Commons Attribution 4.0 International Public License (CC-BY 4.0)","legal_code_url":"https://creativecommons.org/licenses/by/4.0/legalcode"},"file":[{"file_size":5255806,"file_id":"7163","file_name":"3780045.3780061.pdf","content_type":"application/pdf","relation":"main_file","date_updated":"2026-09-16T08:24:45Z","creator":"alalidismateo","success":1,"date_created":"2026-09-16T08:24:45Z","access_level":"open_access"}],"urn":"urn:nbn:de:hbz:bi10-71625","related_material":{"record":[{"id":"7164","relation":"other","status":"public"}]},"conference":{"end_date":"2026-03-05","location":"Ascona Switzerland","name":"AlpCHI 2026: 1st International Conference on Human-Computer Interaction in the Alps","start_date":"2026-03-01"},"publication_identifier":{"isbn":["9798400719486"]},"corporate_editor":["Association for Computing Machinery (ACM)"],"date_updated":"2026-09-16T09:58:10Z","page":"79-86","author":[{"first_name":"George","last_name":"Fejer","full_name":"Fejer, George"},{"last_name":"Holzapfel","first_name":"Till","full_name":"Holzapfel, Till"},{"full_name":"Hirvonen, Taru","first_name":"Taru","last_name":"Hirvonen"},{"full_name":"Lalidis Mateo, Anestis-Pere","orcid_put_code_url":"https://api.orcid.org/v2.0/0009-0002-9545-9043/work/226875376","last_name":"Lalidis Mateo","orcid":"0009-0002-9545-9043","first_name":"Anestis-Pere","id":"236796"},{"first_name":"Johannes","last_name":"Blum","full_name":"Blum, Johannes"},{"first_name":"Michael","last_name":"Gaebler","full_name":"Gaebler, Michael"},{"full_name":"Lenggenhager, Bigna","first_name":"Bigna","last_name":"Lenggenhager"}]},{"user_id":"236796","date_created":"2026-09-16T09:44:27Z","status":"public","date_updated":"2026-09-16T09:44:45Z","author":[{"first_name":"George","last_name":"Fejer","full_name":"Fejer, George"},{"first_name":"Till","last_name":"Holzapfel","full_name":"Holzapfel, Till"},{"full_name":"Hirvonen, Taru","last_name":"Hirvonen","first_name":"Taru"},{"id":"236796","first_name":"Anestis-Pere","last_name":"Lalidis Mateo","orcid":"0009-0002-9545-9043","orcid_put_code_url":"https://api.orcid.org/v2.0/0009-0002-9545-9043/work/226881558","full_name":"Lalidis Mateo, Anestis-Pere"},{"first_name":"Johannes","last_name":"Blum","full_name":"Blum, Johannes"},{"full_name":"Gaebler, Michael","first_name":"Michael","last_name":"Gaebler"},{"last_name":"Lenggenhager","first_name":"Bigna","full_name":"Lenggenhager, Bigna"}],"department":[{"_id":"102"}],"_id":"7165","citation":{"apa":"Fejer, G., Holzapfel, T., Hirvonen, T., Lalidis Mateo, A.-P., Blum, J., Gaebler, M., &#38; Lenggenhager, B. (2026). <i>Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience</i>. OSF. <a href=\"https://doi.org/10.17605/OSF.IO/64MWK\">https://doi.org/10.17605/OSF.IO/64MWK</a>","chicago":"Fejer, George, Till Holzapfel, Taru Hirvonen, Anestis-Pere Lalidis Mateo, Johannes Blum, Michael Gaebler, and Bigna Lenggenhager. <i>Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience</i>. OSF, 2026. <a href=\"https://doi.org/10.17605/OSF.IO/64MWK\">https://doi.org/10.17605/OSF.IO/64MWK</a>.","alphadin":"<span style=\"font-variant:small-caps;\">Fejer, George</span> ; <span style=\"font-variant:small-caps;\">Holzapfel, Till</span> ; <span style=\"font-variant:small-caps;\">Hirvonen, Taru</span> ; <span style=\"font-variant:small-caps;\">Lalidis Mateo, Anestis-Pere</span> ; <span style=\"font-variant:small-caps;\">Blum, Johannes</span> ; <span style=\"font-variant:small-caps;\">Gaebler, Michael</span> ; <span style=\"font-variant:small-caps;\">Lenggenhager, Bigna</span>: <i>Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience</i> : OSF, 2026","mla":"Fejer, George, et al. <i>Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience</i>. OSF, 2026, doi:<a href=\"https://doi.org/10.17605/OSF.IO/64MWK\">10.17605/OSF.IO/64MWK</a>.","ieee":"G. Fejer <i>et al.</i>, <i>Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience</i>. OSF, 2026.","short":"G. Fejer, T. Holzapfel, T. Hirvonen, A.-P. Lalidis Mateo, J. Blum, M. Gaebler, B. Lenggenhager, Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience, OSF, 2026.","bibtex":"@book{Fejer_Holzapfel_Hirvonen_Lalidis Mateo_Blum_Gaebler_Lenggenhager_2026, title={Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience}, DOI={<a href=\"https://doi.org/10.17605/OSF.IO/64MWK\">10.17605/OSF.IO/64MWK</a>}, publisher={OSF}, author={Fejer, George and Holzapfel, Till and Hirvonen, Taru and Lalidis Mateo, Anestis-Pere and Blum, Johannes and Gaebler, Michael and Lenggenhager, Bigna}, year={2026} }","ama":"Fejer G, Holzapfel T, Hirvonen T, et al. <i>Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience</i>. OSF; 2026. doi:<a href=\"https://doi.org/10.17605/OSF.IO/64MWK\">10.17605/OSF.IO/64MWK</a>"},"publisher":"OSF","type":"research_data","doi":"10.17605/OSF.IO/64MWK","year":"2026","title":"Viscereality: Bioresponsive Virtual Reality for Box Breathing and Altered-State Experience","project":[{"_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D","name":"Institute for Building Intelligence"}],"related_material":{"record":[{"id":"6574","relation":"earlier_version","status":"public"}]}},{"type":"conference","doi":"10.15488/21126","place":"Aachen","year":"2026","project":[{"name":"Institute for Building Intelligence","_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D"}],"title":"Vergleich von Emissionsmessverfahren oberhalb 1 GHz mit Analyse des Messaufwands und Alternativen","quality_controlled":"1","oa":"1","conference":{"start_date":"2026-03-24","end_date":"2026-03-26","name":"EMV 2026","location":"Köln"},"corporate_editor":["Apprimus"],"language":[{"iso":"ger"}],"abstract":[{"lang":"eng","text":"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\r\nerfolgen 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\r\nPrüflings. 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\r\naufgezeigt und motiviert, wie alternative Messumgebungen (Modenverwirbelungskammern, TEM-\r\nZellen) 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."}],"user_id":"220548","date_created":"2026-08-27T21:28:54Z","publication_status":"published","status":"public","publication":"Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit","date_updated":"2026-08-28T13:03:09Z","author":[{"id":"219522","last_name":"Battermann","orcid":"0000-0001-7203-7396","first_name":"Sven","full_name":"Battermann, Sven","orcid_put_code_url":"https://api.orcid.org/v2.0/0000-0001-7203-7396/work/225055858"},{"full_name":"Garbe, Heyno","last_name":"Garbe","first_name":"Heyno"}],"department":[{"_id":"102"}],"_id":"7122","citation":{"chicago":"Battermann, Sven, and Heyno Garbe. “Vergleich von Emissionsmessverfahren oberhalb 1 GHz mit Analyse des Messaufwands und Alternativen.” In <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>, edited by Apprimus. Aachen, 2026. <a href=\"https://doi.org/10.15488/21126\">https://doi.org/10.15488/21126</a>.","apa":"Battermann, S., &#38; Garbe, H. (2026). Vergleich von Emissionsmessverfahren oberhalb 1 GHz mit Analyse des Messaufwands und Alternativen. In Apprimus (Ed.), <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>. Aachen. <a href=\"https://doi.org/10.15488/21126\">https://doi.org/10.15488/21126</a>","bibtex":"@inproceedings{Battermann_Garbe_2026, place={Aachen}, title={Vergleich von Emissionsmessverfahren oberhalb 1 GHz mit Analyse des Messaufwands und Alternativen}, DOI={<a href=\"https://doi.org/10.15488/21126\">10.15488/21126</a>}, booktitle={Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit}, author={Battermann, Sven and Garbe, Heyno}, editor={ApprimusEditor}, year={2026} }","ama":"Battermann S, Garbe H. Vergleich von Emissionsmessverfahren oberhalb 1 GHz mit Analyse des Messaufwands und Alternativen. In: Apprimus, ed. <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>. Aachen; 2026. doi:<a href=\"https://doi.org/10.15488/21126\">10.15488/21126</a>","short":"S. Battermann, H. Garbe, in: Apprimus (Ed.), Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit, Aachen, 2026.","alphadin":"<span style=\"font-variant:small-caps;\">Battermann, Sven</span> ; <span style=\"font-variant:small-caps;\">Garbe, Heyno</span>: Vergleich von Emissionsmessverfahren oberhalb 1 GHz mit Analyse des Messaufwands und Alternativen. In: <span style=\"font-variant:small-caps;\">Apprimus</span> (Hrsg.): <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>. Aachen, 2026","mla":"Battermann, Sven, and Heyno Garbe. “Vergleich von Emissionsmessverfahren oberhalb 1 GHz mit Analyse des Messaufwands und Alternativen.” <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>, edited by Apprimus, 2026, doi:<a href=\"https://doi.org/10.15488/21126\">10.15488/21126</a>.","ieee":"S. Battermann and H. Garbe, “Vergleich von Emissionsmessverfahren oberhalb 1 GHz mit Analyse des Messaufwands und Alternativen,” in <i>Proceedings EMV Kongress 2026 : Internationale Fachmesse und Kongress für Elektromagnetische Verträglichkeit</i>, Köln, 2026."},"main_file_link":[{"url":"https://doi.org/10.15488/21126","open_access":"1"}]},{"conference":{"end_date":"2026-06-18","location":"Lissabon, Portugal","name":"22nd International Conference on Intelligent Environments (IE)","start_date":"2026-06-15"},"related_material":{"record":[{"id":"6993","status":"public","relation":"other"}]},"project":[{"name":"Institute for Building Intelligence","_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D"}],"quality_controlled":"1","title":"Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle","keyword":["Waste monitoring","Waste level estimation","MAV navigation"],"year":"2026","doi":"10.1109/IE69249.2026.11539031","type":"conference","_id":"6790","citation":{"chicago":"Kirsch, André, and Jan Rexilius. “Vision-Based Autonomous Waste Bin Fill-Level Monitoring with a Micro Aerial Vehicle,” 2026. <a href=\"https://doi.org/10.1109/IE69249.2026.11539031\">https://doi.org/10.1109/IE69249.2026.11539031</a>.","apa":"Kirsch, A., &#38; Rexilius, J. 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(2026). <i>Waste Bin Dataset </i>. Hochschule Bielefeld.","chicago":"Kirsch, André, and Jan Rexilius. <i>Waste Bin Dataset </i>. Hochschule Bielefeld, 2026.","alphadin":"<span style=\"font-variant:small-caps;\">Kirsch, André</span> ; <span style=\"font-variant:small-caps;\">Rexilius, Jan</span>: <i>Waste Bin Dataset </i> : Hochschule Bielefeld, 2026","mla":"Kirsch, André, and Jan Rexilius. <i>Waste Bin Dataset </i>. Hochschule Bielefeld, 2026.","ieee":"A. Kirsch and J. Rexilius, <i>Waste Bin Dataset </i>. Hochschule Bielefeld, 2026.","short":"A. Kirsch, J. Rexilius, Waste Bin Dataset , Hochschule Bielefeld, 2026.","bibtex":"@book{Kirsch_Rexilius_2026, title={Waste Bin Dataset }, publisher={Hochschule Bielefeld}, author={Kirsch, André and Rexilius, Jan}, year={2026} }","ama":"Kirsch A, Rexilius J. <i>Waste Bin Dataset </i>. Hochschule Bielefeld; 2026."},"author":[{"id":"229807","last_name":"Kirsch","first_name":"André","full_name":"Kirsch, André"},{"full_name":"Rexilius, Jan","orcid_put_code_url":"https://api.orcid.org/v2.0/0000-0002-4579-214X/work/217902787","last_name":"Rexilius","orcid":"0000-0002-4579-214X","first_name":"Jan","id":"245736"}],"title":"Waste Bin Dataset ","project":[{"name":"Institute for Building Intelligence","_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D"}]},{"_id":"7164","citation":{"ama":"Fejer G, Holzapfel T, Blum J, et al. <i>Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality</i>. OSF; 2025. doi:<a href=\"https://doi.org/10.17605/OSF.IO/F2GMW\">10.17605/OSF.IO/F2GMW</a>","bibtex":"@book{Fejer_Holzapfel_Blum_Hirvonen_Lalidis Mateo_Gaebler_Lenggenhager_2025, title={Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality}, DOI={<a href=\"https://doi.org/10.17605/OSF.IO/F2GMW\">10.17605/OSF.IO/F2GMW</a>}, publisher={OSF}, author={Fejer, George and Holzapfel, Till and Blum, Johannes and Hirvonen, Taru and Lalidis Mateo, Anestis-Pere and Gaebler, Michael and Lenggenhager, Bigna}, year={2025} }","short":"G. Fejer, T. Holzapfel, J. Blum, T. Hirvonen, A.-P. Lalidis Mateo, M. Gaebler, B. Lenggenhager, Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality, OSF, 2025.","mla":"Fejer, George, et al. <i>Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality</i>. OSF, 2025, doi:<a href=\"https://doi.org/10.17605/OSF.IO/F2GMW\">10.17605/OSF.IO/F2GMW</a>.","ieee":"G. Fejer <i>et al.</i>, <i>Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality</i>. 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OSF. <a href=\"https://doi.org/10.17605/OSF.IO/F2GMW\">https://doi.org/10.17605/OSF.IO/F2GMW</a>"},"department":[{"_id":"102"}],"author":[{"first_name":"George","last_name":"Fejer","full_name":"Fejer, George"},{"full_name":"Holzapfel, Till","first_name":"Till","last_name":"Holzapfel"},{"last_name":"Blum","first_name":"Johannes","full_name":"Blum, Johannes"},{"full_name":"Hirvonen, Taru","first_name":"Taru","last_name":"Hirvonen"},{"id":"236796","full_name":"Lalidis Mateo, Anestis-Pere","orcid_put_code_url":"https://api.orcid.org/v2.0/0009-0002-9545-9043/work/226879134","orcid":"0009-0002-9545-9043","last_name":"Lalidis Mateo","first_name":"Anestis-Pere"},{"first_name":"Michael","last_name":"Gaebler","full_name":"Gaebler, Michael"},{"last_name":"Lenggenhager","first_name":"Bigna","full_name":"Lenggenhager, Bigna"}],"date_updated":"2026-09-16T09:58:10Z","status":"public","date_created":"2026-09-16T09:12:52Z","user_id":"236796","abstract":[{"lang":"eng","text":"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\r\nsubstitution, 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\r\nin 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\r\ncomparable 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."}],"related_material":{"record":[{"id":"7162","status":"public","relation":"other"}],"link":[{"relation":"original","url":"10.17605/OSF.IO/64MWK"}]},"title":"Breathing Space: Spatial Mapping of Breath and Cardiac Biofeedback for Affective State Representation and Coherence Training in Viscereality","project":[{"_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D","name":"Institute for Building Intelligence"}],"keyword":["biofeedback","breath-based interaction","breathwork","altered states of consciousness","particle systems"],"year":"2025","type":"research_data","doi":"10.17605/OSF.IO/F2GMW","publisher":"OSF"},{"place":"Bonn","year":"2025","publisher":"Gesellschaft für Informatik e.V.","has_accepted_license":"1","keyword":["altered states of consciousness","bioresponsive systems","breath-based interaction","symmetry theory of valence","interoceptive-exteroceptive substitution","visual-respiratory coupling"],"project":[{"name":"Institute for Building Intelligence","_id":"A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D"}],"quality_controlled":"1","title":"Viscereality: A Bio-responsive VR System for Breath-Based Interactions and Coupled Oscillator Dynamics to Augment Altered States of Consciousness","oa":"1","file_date_updated":"2026-02-05T15:28:16Z","date_created":"2026-02-05T15:30:06Z","publication_status":"published","status":"public","publication":"MCI-WS11: 18th Workshop “Be-greifbare Interaktion”","abstract":[{"text":"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","lang":"eng"}],"language":[{"iso":"eng"}],"user_id":"236796","_id":"6574","citation":{"ieee":"G. Fejer <i>et al.</i>, “Viscereality: A Bio-responsive VR System for Breath-Based Interactions and Coupled Oscillator Dynamics to Augment Altered States of Consciousness,” in <i>MCI-WS11: 18th Workshop “Be-greifbare Interaktion,”</i> Chemnitz, 2025.","mla":"Fejer, George, et al. “Viscereality: A Bio-Responsive VR System for Breath-Based Interactions and Coupled Oscillator Dynamics to Augment Altered States of Consciousness.” <i>MCI-WS11: 18th Workshop “Be-Greifbare Interaktion,”</i> edited by Gesellschaft für Informatik e.V. (GI), Gesellschaft für Informatik e.V., 2025, doi:<a href=\"https://doi.org/10.18420/MUC2025-MCI-WS11-174\">10.18420/MUC2025-MCI-WS11-174</a>.","alphadin":"<span style=\"font-variant:small-caps;\"><span style=\"font-variant:small-caps;\">Fejer, George</span> ; <span style=\"font-variant:small-caps;\">Holzapfel, Till</span> ; <span style=\"font-variant:small-caps;\">Gómez-Emilsson, Andrés</span> ; <span style=\"font-variant:small-caps;\">Hirvonen, Taru</span> ; <span style=\"font-variant:small-caps;\">Jermaks, Raimonds</span> ; <span style=\"font-variant:small-caps;\">Blum, Johannes</span> ; <span style=\"font-variant:small-caps;\">Lobser, David</span> ; <span style=\"font-variant:small-caps;\">Lalidis Mateo, Anestis-Pere</span> ; u. a.</span>: Viscereality: A Bio-responsive VR System for Breath-Based Interactions and Coupled Oscillator Dynamics to Augment Altered States of Consciousness. In: <span style=\"font-variant:small-caps;\">Gesellschaft für Informatik e.V. (GI)</span> (Hrsg.): <i>MCI-WS11: 18th Workshop “Be-greifbare Interaktion”</i>, <i>Lecture Notes in Informatics (LNI)</i>. Bonn : Gesellschaft für Informatik e.V., 2025","short":"G. Fejer, T. Holzapfel, A. Gómez-Emilsson, T. Hirvonen, R. Jermaks, J. Blum, D. Lobser, A.-P. Lalidis Mateo, D. Glowacki, M. Gaebler, B. Lenggenhager, in: Gesellschaft für Informatik e.V. (GI) (Ed.), MCI-WS11: 18th Workshop “Be-Greifbare Interaktion,” Gesellschaft für Informatik e.V., Bonn, 2025.","ama":"Fejer G, Holzapfel T, Gómez-Emilsson A, et al. Viscereality: A Bio-responsive VR System for Breath-Based Interactions and Coupled Oscillator Dynamics to Augment Altered States of Consciousness. In: Gesellschaft für Informatik e.V. (GI), ed. <i>MCI-WS11: 18th Workshop “Be-Greifbare Interaktion.”</i> Lecture Notes in Informatics (LNI). Bonn: Gesellschaft für Informatik e.V.; 2025. doi:<a href=\"https://doi.org/10.18420/MUC2025-MCI-WS11-174\">10.18420/MUC2025-MCI-WS11-174</a>","bibtex":"@inproceedings{Fejer_Holzapfel_Gómez-Emilsson_Hirvonen_Jermaks_Blum_Lobser_Lalidis Mateo_Glowacki_Gaebler_et al._2025, place={Bonn}, series={Lecture Notes in Informatics (LNI)}, title={Viscereality: A Bio-responsive VR System for Breath-Based Interactions and Coupled Oscillator Dynamics to Augment Altered States of Consciousness}, DOI={<a href=\"https://doi.org/10.18420/MUC2025-MCI-WS11-174\">10.18420/MUC2025-MCI-WS11-174</a>}, booktitle={MCI-WS11: 18th Workshop “Be-greifbare Interaktion”}, publisher={Gesellschaft für Informatik e.V.}, 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 et al.}, editor={Gesellschaft für Informatik e.V. (GI)Editor}, year={2025}, collection={Lecture Notes in Informatics (LNI)} }","chicago":"Fejer, George, Till Holzapfel, Andrés Gómez-Emilsson, Taru Hirvonen, Raimonds Jermaks, Johannes Blum, David Lobser, et al. “Viscereality: A Bio-Responsive VR System for Breath-Based Interactions and Coupled Oscillator Dynamics to Augment Altered States of Consciousness.” In <i>MCI-WS11: 18th Workshop “Be-Greifbare Interaktion,”</i> edited by Gesellschaft für Informatik e.V. (GI). Lecture Notes in Informatics (LNI). Bonn: Gesellschaft für Informatik e.V., 2025. <a href=\"https://doi.org/10.18420/MUC2025-MCI-WS11-174\">https://doi.org/10.18420/MUC2025-MCI-WS11-174</a>.","apa":"Fejer, G., Holzapfel, T., Gómez-Emilsson, A., Hirvonen, T., Jermaks, R., Blum, J., … Lenggenhager, B. (2025). Viscereality: A Bio-responsive VR System for Breath-Based Interactions and Coupled Oscillator Dynamics to Augment Altered States of Consciousness. In Gesellschaft für Informatik e.V. (GI) (Ed.), <i>MCI-WS11: 18th Workshop “Be-greifbare Interaktion.”</i> Bonn: Gesellschaft für Informatik e.V. <a href=\"https://doi.org/10.18420/MUC2025-MCI-WS11-174\">https://doi.org/10.18420/MUC2025-MCI-WS11-174</a>"},"main_file_link":[{"url":"https://dl.acm.org/doi/10.1145/3780045.3780061","open_access":"1"}],"department":[{"_id":"102"}],"series_title":"Lecture Notes in Informatics (LNI)","file":[{"file_name":"muc-2025-mci-174.pdf","relation":"main_file","content_type":"application/pdf","file_size":27519068,"file_id":"6575","creator":"alalidismateo","date_updated":"2026-02-05T15:28:16Z","success":1,"access_level":"open_access","date_created":"2026-02-05T15:28:16Z"}],"doi":"10.18420/MUC2025-MCI-WS11-174","type":"conference","conference":{"start_date":"2025-08-31","end_date":"2025-09-03","name":"Mensch und Computer 2025","location":"Chemnitz"},"related_material":{"record":[{"relation":"later_version","status":"public","id":"7165"}]},"urn":"urn:nbn:de:hbz:bi10-65742","date_updated":"2026-09-16T09:44:45Z","corporate_editor":["Gesellschaft für Informatik e.V. 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