ALBERT

Note: Contents List of Contributors Preface Chapter 1 An Introduction to the Ocean Soundscape 1.1 Introduction 1.2 Seismic Waves 1.2.1 Body Waves 1.2.2 Surface Waves 1.3 Noise Sources in the Oceans 1.3.1 Noise from Geological Origins (Geophony) 1.3.2 Noise from Biological Origins (Biophony) 1.3.3 Noise from Anthropogenic Origins (Anthrophony) 1.4 Tools for Recording Marine Noise 1.4.1 Ocean-Bottom Seismometers 1.4.2 Ocean-Bottom Nodes 1.4.3 Ocean-Bottom Observatories 1.4.4 Acoustic Doppler Current Profilers 1.4.5 Echosounders 1.4.6 Drifters and Floats 1.5 Common Data-Processing Methods 1.5.1 Time-Drift Correction 1.5.2 Data Reduction 1.5.3 Instrument Relocation through Travel-Time Analysis 1.5.4 Rotation for Geophone Reorientation 1.5.5 Converting from Counts to Physical Units 1.5.6 Removing the Mean from the Data Set 1.5.7 Frequency Spectrum, Spectrogram, and Power Spectral Density 1.5.8 Frequency Filtering 1.5.9 Polarization Analysis 1.6 Summary of Chapters 1.7 Future Developments of Acoustic Measurements in the Ocean References Chapter 2 Seismic Ambient Noise: Application to Taiwanese Data 2.1 Introduction 2.2 Background Ambient Seismic Noise in Taiwan 2.3 Ambient Seismic Noise Generated by Intense Storms 2.4 Deepsea Internal Waves Southeast of Offshore Taiwan 2.5 Gas Emissions at the Seafloor and "Bubble" SDEs in SW Offshore Taiwan 2.6 Conclusion Acknowledgments References Chapter 3 Seasonal and Geographical Variations in the Quantified Relationship Between Significant Wave Heights and Microseisms: An Example From Taiwan 3.1 Introduction 3.2 Method and Data Processing 3.2.1 Data 3.2.2 Method 3.3 Testing and Determining Parameters 3.4 Results and Discussion 3.4.1 Seasonal Variation 3.4.2 Geographical Variation 3.4.3 Residual Distributions of the SHW Simulation 3.5 Conclusions -- Acknowledgments References Chapter 4 Listening for Diverse Signals From Emergent and Submarine Volcanoes 4.1 Introduction 4.2 Detection and Monitoring of Submarine Volcanism 4.2.1 Hydroacoustic Arrays 4.2.2 Seismometer Arrays 4.2.3 Cabled Systems 4.2.4 Limitations in Detecting Submarine Volcanism 4.3 Diverse Volcano Signals Recorded Underwater 4.3.1 Distinguishing Signal from Noise in the Ocean 4.3.2 High-Frequency Volcanic Signals 4.3.3 Low-Frequency Volcanic Signals 4.3.4 Volcanic Tremor Signals 4.3.5 Volcanic Explosion-Type Signals 4.3.6 Volcanic Landslide Signals 4.4 Conclusions Availability Statement Acknowledgments References Chapter 5 Seismic and Acoustic Monitoring of Submarine Landslides: Ongoing Challenges, Recent Successes, and Future Opportunities 5.1 Introduction 5.1.1 Recent Advances in Direct Monitoring of Submarine Landslides 5.1.2 Aims 5.2 Passive Geophysical Monitoring of Terrestrial Landslides 5.3 Which Aspects of Submarine Landslides Should We Be Able to Detect with Passive Systems? 5.4 Recent Advances and Opportunities in Passive Monitoring of Submarine Landslides 5.4.1 Determining the Timing and Location of Submarine Landslides at a Margin Scale Using Land-Based Seismological Networks 5.4.2 Quantifying Landslide Kinematics Using Hydrophones 5.4.3 Characterizing Landslide Run-Out to Enhance Hazard Assessments 5.4.4 Opportunities Using Distributed Cable-Based Sensing 5.5 The Application of Passive Geophysical Monitoring in Advancing Submarine Landslide Science 5.5.1 Can Passive Seismic and Acoustic Techniques Overcome the Logistical Challenges That Have Previously Hindered the Monitoring of Submarine Landslides? 5.5.2 What Aspects of Submarine Landslides Can We Assess from Passive Remote Sensing Techniques, and What Needs To Be Resolved? 5.5.3 Suggestions for Future Directions 5.6 Concluding Remarks Acknowledgments References Chapter 6 Iceberg Noise 6.1 Introduction 6.2 Waveforms of Iceberg Noise 6.2.1 Iceberg Bursts 6.2.2 Iceberg Tremor 6.2.3 Iceberg Harmonic Tremor 6.3 Observation and Location of Iceberg Noise 6.3.1 Hydroacoustic Records at Long Distances 6.3.2 Records of Regional Hydroacoustic Networks 6.3.3 Seismic Records in Antarctica 6.4 Spatial and Temporal Variations of Iceberg Noise 6.5 Source Mechanisms of Iceberg Noise 6.6 Discussion 6.7 Conclusion Acknowledgments References Chapter 7 The Sound of Hydrothermal Vents 7.1 Introduction 7.2 Theory of Sound Production by Hydrothermal Vents 7.2.1 Radiation Efficiency 7.2.2 Monopole 7.2.3 Dipole 7.2.4 Quadrupole 7.2.5 Estimated Source Sound Pressure Levels 7.2.6 Estimated Source Spectra 7.3 Survey of Acoustic Measurements 7.3.1 Very Low Frequency (〈 10 Hz) 7.3.2 Narrowband 7.3.3 Broadband 7.3.4 Tidal Variability 7.3.5 Summary of Acoustic Measurements 7.4 Other Sources of Ambient Noise 7.4.1 Microseisms 7.4.2 Local and Teleseismic Events 7.4.3 Biological Sources 7.4.4 Anthropogenic Sources 7.5 Measurement and Analysis Considerations 7.5.1 Flow Noise and Coupled Vibration 7.5.2 Sound Speed in Hydrothermal Fluid 7.5.3 Near Field vs Far Field 7.5.4 Hydrophone Array Measurements 7.6 Conclusion Nomenclature References Chapter 8 Atypical Signals: Characteristics and Sources of Short-Duration Events 8.1 Introduction 8.2 Signal Characteristics 8.3 Worldwide Distribution of SDEs 8.4 Observations and Studies Advancing SDE Understanding 8.4.1 Observations from Different Types of Ocean Bottom Instruments 8.4.2 Continuous Long-Term, Multidisciplinary Monitoring of Gas Emissions 8.4.3 Correlation with Acoustic Monitoring of Gas Emissions 8.4.4 Correlation with Earthquakes 8.4.5 Correlation with Tides 8.4.6 Controlled in situ and Laboratory Experiments 8.5 Discussion of SDE Potential Sources 8.5.1 Biological Origin 8.5.2 Action of Ocean/Sea Currents 8.5.3 Fluids in Near-Surface Sediments 8.5.4 Low-Magnitude Seismicity 8.5.5 Source Modeling 8.6 Conclusion Acknowledgments References Chapter 9 Short-Duration Events Associated With Active Seabed Methane Venting: Scanner Pockmark, North Sea 9.1 Introduction 9.2 Scanner Pockmark Complex 9.3 CHIMNEY Seismic Experiment 9.4 Methods 9.5 Results 9.6 Discussion 9.6.1 Characteristics of SDEs 9.6.2 Spatial Distribution of SDEs 9.6.3 Negative Correlation with the Tide 9.6.4 Efficiency of SDE Detection 9.7 Conclusion Acknowledgments References Chapter 10 Ambient Bubble Acoustics: Seep, Rain, and Wave Noise 10.1 Introduction 10.2 Bubbles as Acoustic Sources 10.2.1 The Injection of a Gas Bubble 10.2.2 Bubbles as Simple Harmonic Oscillators 10.2.3 Minnaert Frequency 10.3 Subsurface Gas Release 10.3.1 Gas-Seep Acoustics 10.4 Rainfall Acoustics 10.5 Acoustics of Breaking Waves 10.6 Conclusion Further Reading Appendix Symbology References Chapter 11 Baleen Whale Vocalizations 11.1 Introduction 11.1.1 Marine Mammal Classification 11.2 Physical Description of Sound and Its Conventions 11.2.1 Sound Pressure Level (SPL) 11.2.2 Source Level (SL) 11.2.3 Whale-Sound Analysis 11.3 Marine Mammal Vocalizations 11.3.1 Sirenia and Carnivora 11.3.2 Toothed Whales 11.3.3 Baleen Whales 11.4 Conclusions Acknowledgments References Chapter 12 Tracking and Monitoring Fin Whales Offshore Northwest Spain Using Passive Acoustic Methods 12.1 Introduction 12.1.1 Passive Acoustic Monitoring 12.1.2 Fin Whale Vocalizations 12.1.3 Data Available for This Study 12.2 Methods 12.2.1 Call Detection 12.2.2 Delay Estimation 12.2.3 Localization and Tracking 12.2.4 Kalman Filter 12.3 Results 12.3.1 Detections 12.3.2 Localization 12.3.3 Tracking 12.4 Discussion 12.5 Conclusions Acknowledgments References Chapter 13 Noise From Marine Traffic 13.1 Introduction 13.2 Underwater Radiated Noise 13.2.1 Sources of Shipping Noise 13.2.2 Measuring Radiated Noise 13.2.3 Modeling Underwater Radiated Noise 13.3 Noise Mapping 13.3.1 Modeling Shipping Contributions 13.3.2 Source Properties 13.3.3 Acoustic Propagation 13.3.4 Noise-Mapping Applications 13.4 Conclusion Acknowledgments References Chapter 14 Tracking Multiple Underwater Vessels With Passive Sonar Using Beamforming and a Trajectory PHD Filter 14.1 Introduction 14.2 Narrow-Band Signal Model 14.3 Detection via Beamforming and CA-CFAR 14.3.1 CBF 14.3.2 CA-CFAR 14.4 T

Note: Part 1: Recycling in context Chapter 1: Introduction Abstract 1.1: The Challenges 1.2: The Role of Materials in Society 1.3: From Linear to Circular Economy 1.4: Recycling in the Circular Economy 1.5: The Book References Chapter 2: The fundamental limits of circularity quantified by digital twinning Abstract 2.1: Introduction 2.2: A Product and Material Focus on Recycling Within the CE 2.3: Digital Twinning of the CE System: Understanding the Opportunities and Limits 2.4: Opportunities and Challenges References Chapter 3: Maps of the physical economy to inform sustainability strategies Abstract Acknowledgments 3.1: Introduction 3.2: Dimensions of MFA 3.3: Components for Monitoring the Physical Economy 3.4: Application of the Framework: Maps of the Aluminum Cycle 3.5: Recommendations References Chapter 4: Material efficiency—Squaring the circular economy: Recycling within a hierarchy of material management strategies Abstract 4.1: Is a Circular Economy Possible or Desirable? 4.2: Hierarchies of Material Conservation 4.3: When Is Recycling Not the Answer? 4.4: Discussion References Chapter 5: Material and product-centric recycling: design for recycling rules and digital methods Abstract Acknowledgements 5.1: Introduction 5.2: Recyclability Index and Ecolabeling of Products 5.3: DfR Rules and Guidelines 5.4: Product-Centric Recycling 5.5: Examples of Recycling System Simulation 5.6: Summary 5.7: Future Challenges References Additional Reading Chapter 6: Developments in collection of municipal waste Abstract 6.1: Introduction 6.2: Definitions and Models 6.3: A Global Picture of SWM 6.4: Collection and Recovery Systems 6.5: Future Developments 6.6: Conclusion and Outlook References Chapter 7: The path to inclusive recycling: Developing countries and the informal sector Abstract 7.1: Introduction 7.2: Definition and Links With the Formal Sector 7.3: Informal Waste Tire Recycling: Challenges and Opportunities 7.4: Approaches Towards Inclusive Recycling 7.5: Policies and Standardization Developments for Inclusive Recycling 7.6: Conclusion and Outlook References Part 2: Recycling from a product perspective Chapter 8: Physical separation Abstract 8.1: Introduction 8.2: Properties and Property Spaces 8.3: Breakage 8.4: Particle Size Classification 8.5: Gravity Separation 8.6: Flotation 8.7: Magnetic Separation 8.8: Eddy Current Separation 8.9: Electrostatic Separation 8.10: Sorting 8.11: Conclusion References Chapter 9: Sensor-based sorting Abstract 9.1: Mechanical Treatment of Waste 9.2: Principle of Sensor-Based Sorting 9.3: Requirements for Optimal Sorting Results 9.4: Available Sensors 9.5: Application of Different Sensors in Recycling 9.6: Recent Developments 9.7: Outlook References Chapter 10: Mixed bulky waste Abstract 10.1: Introduction 10.2: The Circular Process for Mixed Bulky Waste 10.3: Conditions for Economically Viable Sorting 10.4: Sorting of Mixed Bulky Waste 10.5: Sorting Process 10.6: Recycling Efficiency 10.7: Conclusion and Outlook Reference Chapter 11: Packaging Abstract 11.1: Introduction 11.2: Packaging Waste 11.3: Composition 11.4: Recovery and Recycling 11.5: Collection and Recovery Schemes 11.6: Conclusion and Outlook References Chapter 12: End-of-life vehicles Abstract 12.1: Introduction 12.2: Vehicle Composition 12.3: Recycling Chain 12.4: Recycling of Automotive parts 12.5: Recycling of Automotive Fluids 12.6: Automotive Shredder Residue 12.7: Future Developments and Outlook 12.8: Conclusions References Further Reading Chapter 13: Electrical and electronic equipment (WEEE) Abstract 13.1: Introduction 13.2: Waste Characterization 13.3: Recycling Chain and Technologies 13.4: Future Developments 13.5: Conclusions References Chapter 14: Photovoltaic and wind energy equipment Abstract 14.1: Introduction 14.2: Wind Turbines 14.3: Photovoltaic Modules 14.4: Wind Turbine Recycling 14.5: PV Recycling 14.6: Future Developments 14.7: Key Issues and Challenges 14.8: Conclusions and Outlook References Chapter 15: Buildings Abstract 15.1: The Why: Buildings and Circularity 15.2: The How and Who: A Framework 15.3: The When: Shearing Layers 15.4: The What: Materials in Buildings 15.5: Improving Data on Materials 15.6: The How, Who, When, and What 15.7: Outlook References Chapter 16: Construction and demolition waste Abstract Acknowledgments 16.1: Introduction 16.2: C&D Waste Use 16.3: Recycling 16.4: Recycling Technologies and Practice 16.5: Future Developments 16.6: Conclusion and Outlook References Chapter 17: Industrial by-products Abstract 17.1: Waste, By-product, or Product? 17.2: Major By-products 17.3: Where and How to Use By-products 17.4: Technical and Environmental Requirements 17.5: Sustainability Aspects 17.6: Conclusions, Challenges, and Outlook References Chapter 18: Mine tailings Abstract 18.1: Introduction 18.2: Future Opportunities for Tailings Management 18.3: Main Drivers for Change 18.4: Emerging Technologies 18.5: Conclusions and Outlook References Further Reading Part 3: Recycling from a material perspective Chapter 19: Steel Abstract 19.1: Introduction 19.2: Use Phase and Recycling Examples 19.3: Classification of Steel Scrap 19.4: Requirements for Scrap 19.5: Treatment Process 19.6: Steel Scrap Smelting Process 19.7: Steel 19.8: Alloy or Tramp Elements? 19.9: Purification of Scrap 19.10: Outlook References Further Reading Chapter 20: Aluminum Abstract 20.1: Introduction 20.2: Alloys and Their Recycling 20.3: Melt Loss 20.4: Used Beverage Can (UBC) Recycling 20.5: Wheel Recycling 20.6: Dross Processing 20.7: Purification and Refining 20.8: Future Trends and Challenges References Chapter 21: Copper Abstract 21.1: Sources of Copper Scrap 21.2: Smelting and Refining of Copper Scrap 21.3: Conclusions and Outlook References Further Reading Chapter 22: Lead Abstract 22.1: Introduction 22.2: Material Use 22.3: The Lead-Acid Battery 22.4: Recycling Technologies 22.5: Future Developments 22.6: Key Issues and Challenges References Chapter 23: Zinc Abstract 23.1: Introduction 23.2: Recycling Technologies 23.3: Key Issues and Challenges References Chapter 24: Ferroalloy elements Abstract 24.1: Introduction 24.2: Use and Recycling 24.3: Recycling of Residues 24.4: Conclusion References Chapter 25: Precious and technology metals Abstract 25.1: Introduction 25.2: Applications 25.3: Scrap Types and Quantities 25.4: Recycling Technologies 25.5: Future Challenges 25.6: Conclusions and Outlook Further reading References Chapter 26: Concrete and aggregates Abstract Acknowledgment 26.1: Introduction 26.2: Waste Flows 26.3: Recovery Rates 26.4: Recycled Aggregate Concrete Applications 26.5: Concrete Recycling Technologies 26.6: Future Developments 26.7: Conclusion References Chapter 27: Cementitious binders incorporating residues Abstract 27.1: Introduction 27.2: Clinker Production: Process, and Alternative Fuels and Raw Materials 27.3: From Clinker to Cement: Residues in Blended Cements 27.4: Alternative Cements With Lower Environmental Footprint 27.5: Conclusions and Outlook References Chapter 28: Glass Abstract 28.1: Introduction 28.2: Types of Glass 28.3: Manufacturing 28.4: Recovery for Reuse and Recycling 28.5: Reuse 28.6: Closed-Loop Recycling 28.7: Open-Loop Recycling 28.8: Conclusion and Outlook References Chapter 29: Lumber Abstract 29.1: Introduction 29.2: Wood Material Uses 29.3: Postuse Wood Recovery for Recycling 29.4: Postuse Wood Recycling 29.5: Case Study Scenarios 29.6: Future Developments 29.7: Concluding Remarks References Chapter 30: Paper Abstract 30.1: Introduction 30.2: Collection and Utilization 30.3: Collection and Sorting Systems 30.4: Stock Preparation 30.5: Key Issues and Future Challenges References Further Reading Chapter 31: Plastic recycling Abstract 31.1: Introduction 31.2: Use 31.3: Recycling 31.4: Mechanical Recycling 31.5: Chemical Recycling 31.6: Impact of Recycling 31.7: Conclusions and Outlook References Further Reading Chapter 32: Black rubber products Abstract 32.1: Introduction 32.2: Mechanical Rubber Go

Note: Long problems -- Why long problems are hard to govern -- Forward action : addressing the early action paradox -- The long view : addressing shadow interests -- Endurance and adaptability : addressing institutional lag -- Studying long problems -- Governing time.

Note: Contents Preface Contributors PART I AN OVERVIEW OF THE DIVERSITY OF BACTERIOPHAGES 1 Structural and Genomic Diversity of Bacteriophages / Bert Ely, Jacob Lenski, and Tannaz Mohammadi 2 The Diversity of Bacteriophages in the Human Gut / Amanda Carroll-Portillo, Derek M. Lin, and Henry C. Lin 3 Breaking the Ice: A Review of Phages in Polar Ecosystems / Mara Elena Heinrichs, Gonçalo J. Piedade, Ovidiu Popa, Pacifica Sommers, Gareth Trubl, Julia Weissenbach, and Janina Rahlff 4 The Diversity of Bacteriophages in Hot Springs / Timothy J. Marks and Isabella R. Rowland PART II ISOLATION OF BACTERIOPHAGES 5 Isolation of Bacteriophages from Soil Samples in a Poorly Equipped Field Laboratory in Kruger National Park / Ayesha Hassim and Kgaugelo Edward Lekota 6 Purification and Up-Concentration of Bacteriophages and Viruses from Fecal Samples / Frej Larsen, Rasmus Riemer Jakobsen, Xiaotian Mao, Josue Castro-Mejia, Ling Deng, and Dennis S. Nielsen 7 Isolation of Enterococcus Bacteriophages from Municipal Wastewater Samples Using an Enrichment Step / Cory Schwarz and Jacques Mathieu 8 Phage DNA Extraction, Genome Assembly, and Genome Closure / Justin Boeckman, Mei Liu, Jolene Ramsey, and Jason Gill PART III ENUMERATION OF BACTERIOPHAGES 9 Enumeration of Bacteriophages by Plaque Assay / Diana Elizabeth Waturangi 10 Detection and Quantification of Bacteriophages in Wastewater Samples by Culture and Molecular Methods/ Laura Sala-Comorera, Maite Muniesa, and Lorena Rodríguez-Rubio 11 Flow Virometry: A Fluorescence-Based Approach to Enumerate Bacteriophages in Liquid Samples / Elena A. Dlusskaya and Rafik Dey 12 A Metagenomics Approach to Enumerate Bacteriophages in a Food Niche / Kelsey White, Giovanni Eraclio, Gabriele Andrea Lugli, Marco Ventura, Jennifer Mahony, Fabio Dal Bello, and Douwe van Sinderen PART IV CHARACTERIZATION OF BACTERIOPHAGES 13 Bioinformatic Analysis of Staphylococcus Phages: A Key Step for Safe Cocktail Development / Soledad Telma Carrasco and He´ctor Ricardo Morbidoni 14 Use of Localized Reconstruction to Visualize the Shigella Phage Sf6 Tail Apparatus / Chun-Feng David Hou, Fenglin Li, Stephano Iglesias, and Gino Cingolani 15 Bacteriophage–Host Interactions and Coevolution / Diana M. Álvarez-Espejo, Dácil Rivera, and Andrea I. Moreno-Switt 16 Unraveling Physical Interactions of Clostridioides difficile with Phage and Phage-Derived Proteins Using In Vitro and Whole-Cell Assays / Wichuda Phothichaisri, Tanaporn Phetruen, Surang Chankhamhaengdecha, Tavan Janvilisri, Puey Ounjai, Robert P. Fagan, and Sittinan Chanarat 17 Phage Transduction of Staphylococcus aureus / Melissa-Jane Chu Yuan Kee and John Chen PART V APPLICATION OF BACTERIOPHAGES AND BACTERIOPHAGE-DERIVED COMPONENTS 18 The Next Generation of Drug Delivery: Harnessing the Power of Bacteriophages / Alaa A. A. Aljabali, Mohammad B. M. Aljbaly, Mohammad A. Obeid, Seyed Hossein Shahcheraghi, and Murtaza M. Tambuwala 19 Construction of Nonnatural Cysteine-Cross-Linked Phage Libraries / Brittney Chau, Kristi Liivak, and Jianmin Gao 20 Application of Deep Sequencing in Phage Display / Vincent Van Deuren, Sander Plessers, Rob Lavigne, and Johan Robben 21 The Application of Bacteriophage and Photoacoustic Flow Cytometry in Bacterial Identification / Robert H. Edgar, Anie-Pier Samson, and John A. Viator 22 Propagation, Purification, and Characterization of Bacteriophages for Phage Therapy / Katarzyna Kosznik-Kwaśnicka, Gracja Topka, Jagoda Mantej, Łukasz Grabowski, Agnieszka Necel, Grzegorz Węgrzyn, and Alicja Węgrzyn 23 Overcoming Bacteriophage Resistance in Phage Therapy / Elina Laanto 24 Bacteriophage Virus-Like Particles: Platforms for Vaccine Design / Ebenezer Tumban Index

Note: Dissertation, Gottfried Wilhelm Leibniz Universität Hannover, 2024 , Abkürzungsverzeichnis Inhaltsverzeichnis 1 Einleitung 1.1 Motivation 1.2 Zielsetzung 1.3 Aufbau der Arbeit 2 Stand der Technik im Bereich der Vermessung von Schienenanlagen der Intralogistik 2.1 Elemente von Schienenanlagen der Intralogistik 2.1.1 Schienen und Profilstähle 2.1.2 Schienenlagerungssysteme 2.1.3 Schienenstöße, Festpunkte, Endbegrenzer, An- und Einbauten 2.1.4 Schienengebundene Krane 2.2 Rechtlicher Rahmen, Richtlinien und klassische Zustandsgrößen 2.2.1 Rechtlicher Rahmen 2.2.2 Richtlinien 2.2.3 Klassische Zustandsgrößen 2.2.4 Kritische Betrachtung 2.3 Vermessung von Schienenanlagen der Intralogistik 2.3.1 Koordinatensystem 2.3.2 Vermessung mit Theodolit, Bandmaß und Nivellier 2.3.3 Alignierverfahren mit Laser 2.3.4 Vermessung mit Tachymeter oder Lasertracker 2.3.5 Automatisierte Systeme mit georeferenzierendem Sensor 3 Grundlagen zur Bestimmung der geometrischen Zustandsgrößen von Profilen 3.1 Rekursive Filterung im Zustandsraum 3.1.1 Wahrscheinlichkeiten, Satz von Bayes, Verteilungen 3.1.2 Bayes Filter 3.1.3 Kalman Filter 3.1.4 Extended Kalman Filter 3.1.5 Unscented Kalman Filter 3.1.6 Unscented Rauch Tung Striebel Smoother 3.1.7 Fazit 3.2 Geometrische Modellierung von Kurven 3.2.1 Polynome 3.2.2 Splines 3.2.3 B-Splines 4 Profilvermessungssystem 4.1 Neue Zustandsgrößen 4.2 Sensorik 4.2.1 Georeferenzierender Sensor 4.2.2 Profillaserscanner 4.2.3 Kameras 4.2.4 Inklinometer 4.2.5 Inertiale Messeinheit 4.2.6 Encoder 4.2.7 Ultraschallsensoren 4.2.8 Sensorintegration 4.3 Profilvermessungssystem 4.3.1 Plattform 4.3.2 Antriebseinheit 4.3.3 Seitenführung 4.3.4 Schwingen 4.3.5 Halterung Sensorik 4.3.6 Drehvorrichtung für Reflektor 4.4 Erreichbare Messunsicherheiten 4.5 Datensynchronisierung und Datenhaltungskonzept 4.5.1 Anforderung an die Synchronisierung 4.5.2 Synchronisierung über die Zeit 4.5.3 Synchronisierung im Objektraum 4.5.4 Datenhaltungskonzept 4.6 Kalibrierung 4.6.1 Komponentenkalibrierung 4.6.2 Systemkalibrierung 5 Zustandsgrößen einer überarbeiteten VDI 3576 5.1 Messdatenerfassung und -aufbereitung 5.1.1 Messdatenerfassung 5.1.2 Orientierungsparameter aus Positionsdaten 5.1.3 Aufbereitung der Lasertracker- oder Tachymeterdaten 5.1.4 Korrektur der Beschleunigungswerte von der Erdschwere 5.1.5 Korrektur der Inklinometermesswerte von Beschleunigungseinflüsse 5.1.6 Korrektur der Längs- und Querablage 5.2 Sensorfusion für die Georeferenzierung des Profilmesswagens 5.2.1 Quaternionen 5.2.2 Adaptive Filterung der Inertial Measurment Unit (IMU)-Messwerte 5.2.3 Funktionales Modell 5.2.4 Stochastisches Modell 5.2.5 Steigerung der Zuverlässigkeit der Filterung 6 Testmessung und Validierung des kinematischen Multisensorsystems 6.1 Durchführung einer kinematischen Schienenmessung mit dem Profilvermessungssystem 6.2 Qualitätssicherung des Messprozesses 6.3 Messkampagne I: Messung unter Laborbedingungen 6.3.1 Auswertung 6.3.2 Einfacher Ansatz zum Finden weiterer Zustandsgrößen 6.3.3 Zusammenfassung 6.4 Messkampagne II: Messung unter realen Bedingungen 6.4.1 Messumgebung 6.4.2 Messkonzept und Netzplanung 6.4.3 Ergebnisse und Bewertung der Netzmessung 6.5 Qualitätsaussagen zu dem Profilvermessungssystem 6.5.1 Bewertung der Kalibrierparameter 6.5.2 Einordnung der Ergebnisse der referenzierten Scanprofile 6.5.3 Validierung der referenzierten Profile 6.5.4 Extraktion der praktischen Schienenachspunkte aus den 3D Punktwolken 6.5.5 Zustandsgrößen nach der VDI 3576:2011-03 6.5.6 Kameraufnahmen 7 Zusammenfassung und Ausblick 7.1 Zusammenfassung 7.2 Beurteilung 7.3 Ausblick A Ergänzendes Material A.1 Soll-Ist Vergleich von dem 3D CAD Modell des Kalibrierkörpers und dem mit der Leica T-Scan gescannten 3D Druck A.2 Abtastrate der Sensoren A.3 Ablaufschema für eine Messung mit dem kinematischen Profilvermessungssystem Messsystem A.4 Ergebnisse der Filterung aller Sensordaten. Messkampagne I, 1. Messfahrt (Labor) A.5 Innovationen nach Sensor getrennt. Messkampagne I, 1. Messfahrt (Labor) Literaturverzeichnis Abbildungsverzeichnis Tabellenverzeichnis