diff --git a/Bachelorarbeit/Bachelorarbeit/BA.bib b/Bachelorarbeit/Bachelorarbeit/BA.bib
index 008a836f1b6c89b59dbfd15d30c4f302b9e7b498..09fca391b77d07bbb0f8e3fc2a54ac04891f2c8b 100644
--- a/Bachelorarbeit/Bachelorarbeit/BA.bib
+++ b/Bachelorarbeit/Bachelorarbeit/BA.bib
@@ -1,561 +1,1336 @@
 
-@online{noauthor_tof_imager_micro_rosteensy_pcl_publisherteensy_pcl_publisherino_nodate,
+@misc{noauthor_iidea_nodate,
+	title = {{IIDEA} - {Inklusion} und {Integration} durch {Cobots} auf dem ersten {Arbeitsmarkt} - {RWTH} {AACHEN} {UNIVERSITY} {IGMR} - {Deutsch}},
+	url = {https://www.igmr.rwth-aachen.de/cms/igmr/forschung/projekte/aktuelle-projekte/~baxrrf/iidea/},
+	urldate = {2025-04-16},
+	file = {Snapshot:/home/carla/Zotero/storage/MHVTD38V/undefined:text/html},
+}
+
+@incollection{mcgrath_sensing_2013,
+	address = {Berkeley, CA},
+	title = {Sensing and {Sensor} {Fundamentals}},
+	isbn = {978-1-4302-6014-1},
+	url = {https://doi.org/10.1007/978-1-4302-6014-1_2},
+	abstract = {Sensors utilize a wide spectrum of transducer and signal transformation approaches with corresponding variations in technical complexity. These range from relatively simple temperature measurement based on a bimetallic thermocouple, to the detection of specific bacteria species using sophisticated optical systems. Within the healthcare, wellness, and environmental domains, there are a variety of sensing approaches, including microelectromechanical systems (MEMS), optical, mechanical, electrochemical, semiconductor, and biosensing. As outlined in Chapter 1, the proliferation of sensor-based applications is growing across a range of sensing targets such as air, water, bacteria, movement, and physiology. As with any form of technology, sensors have both strengths and weaknesses. Operational performance may be a function of the transduction method, the deployment environment, or the system components. In this chapter, we review the common sensing mechanisms that are used in the application domains of interest within the scope of this book, along with their respective strengths and weaknesses. Finally, we describe the process of selecting and specifying sensors for an application.},
+	language = {en},
+	urldate = {2025-02-26},
+	booktitle = {Sensor {Technologies}: {Healthcare}, {Wellness}, and {Environmental} {Applications}},
+	publisher = {Apress},
+	author = {McGrath, Michael J. and Scanaill, Cliodhna Ní},
+	editor = {McGrath, Michael J. and Scanaill, Cliodhna Ní},
+	year = {2013},
+	doi = {10.1007/978-1-4302-6014-1_2},
+	keywords = {Bulk Acoustic Wave, Electrochemical Sensor, Indium Antimonide, Linear Transfer Function, Smoke Detector},
+	pages = {15--50},
+	file = {Full Text PDF:/home/carla/Zotero/storage/5CKH2AHE/McGrath et al. - 2013 - Sensing and Sensor Fundamentals.pdf:application/pdf},
+}
+
+@article{zyl_sensor_2009,
+	title = {The {Sensor} {Web}: systems of sensor systems},
+	volume = {2},
+	issn = {1753-8947},
+	shorttitle = {The {Sensor} {Web}},
+	url = {https://doi.org/10.1080/17538940802439549},
+	doi = {10.1080/17538940802439549},
+	abstract = {Global Earth Observing System of Systems (GEOSS) presents a great challenge of System of Systems integration across organisational and political boundaries. One existing paradigm that can address the scale of the challenge is that of the Sensor Web. In this paradigm, the internet is evolving into an active, macro sensing instrument, capable of drawing sensory data from around the globe to the fingertips of individuals. The Sensor Web will support scientific research and facilitate transparent political decision making. This article presents some of the technologies explored and activities engaged in by the GEOSS Sensor Web community, towards achieving GEOSS goals.},
+	number = {1},
+	urldate = {2025-02-26},
+	journal = {International Journal of Digital Earth},
+	author = {Zyl, T. L. van and Simonis, I. and McFerren, G.},
+	month = mar,
+	year = {2009},
+	keywords = {data acquisition, digital earth architecture, earth observation, Sensor Web, systems of systems},
+	pages = {16--30},
+	file = {Full Text PDF:/home/carla/Zotero/storage/2EJXBMW8/Zyl et al. - 2009 - The Sensor Web systems of sensor systems.pdf:application/pdf},
+}
+
+@article{zyl_sensor_2009-1,
+	title = {The {Sensor} {Web}: systems of sensor systems},
+	volume = {2},
+	issn = {1753-8947},
+	shorttitle = {The {Sensor} {Web}},
+	url = {https://doi.org/10.1080/17538940802439549},
+	doi = {10.1080/17538940802439549},
+	abstract = {Global Earth Observing System of Systems (GEOSS) presents a great challenge of System of Systems integration across organisational and political boundaries. One existing paradigm that can address the scale of the challenge is that of the Sensor Web. In this paradigm, the internet is evolving into an active, macro sensing instrument, capable of drawing sensory data from around the globe to the fingertips of individuals. The Sensor Web will support scientific research and facilitate transparent political decision making. This article presents some of the technologies explored and activities engaged in by the GEOSS Sensor Web community, towards achieving GEOSS goals.},
+	number = {1},
+	urldate = {2025-02-26},
+	journal = {International Journal of Digital Earth},
+	author = {Zyl, T. L. van and Simonis, I. and McFerren, G.},
+	month = mar,
+	year = {2009},
+	pages = {16--30},
+	file = {Full Text PDF:/home/carla/Zotero/storage/6QZEMCEX/Zyl et al. - 2009 - The Sensor Web systems of sensor systems.pdf:application/pdf},
+}
+
+@article{zyl_sensor_2009-2,
+	title = {The {Sensor} {Web}: systems of sensor systems},
+	volume = {2},
+	issn = {1753-8947},
+	shorttitle = {The {Sensor} {Web}},
+	url = {https://doi.org/10.1080/17538940802439549},
+	doi = {10.1080/17538940802439549},
+	abstract = {Global Earth Observing System of Systems (GEOSS) presents a great challenge of System of Systems integration across organisational and political boundaries. One existing paradigm that can address the scale of the challenge is that of the Sensor Web. In this paradigm, the internet is evolving into an active, macro sensing instrument, capable of drawing sensory data from around the globe to the fingertips of individuals. The Sensor Web will support scientific research and facilitate transparent political decision making. This article presents some of the technologies explored and activities engaged in by the GEOSS Sensor Web community, towards achieving GEOSS goals.},
+	number = {1},
+	urldate = {2025-02-26},
+	journal = {International Journal of Digital Earth},
+	author = {Zyl, T. L. van and Simonis, I. and McFerren, G.},
+	month = mar,
+	year = {2009},
+	keywords = {data acquisition, digital earth architecture, earth observation, Sensor Web, systems of systems},
+	pages = {16--30},
+	file = {Full Text PDF:/home/carla/Zotero/storage/FUEW7ZSG/Zyl et al. - 2009 - The Sensor Web systems of sensor systems.pdf:application/pdf},
+}
+
+@misc{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025,
+	title = {{UniversalRobots}/{Universal}\_Robots\_ROS2\_GZ\_Simulation},
+	copyright = {BSD-3-Clause},
+	url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation},
+	urldate = {2025-02-24},
+	publisher = {Universal Robots A/S},
+	month = feb,
+	year = {2025},
+	note = {original-date: 2021-12-15T12:15:45Z},
+}
+
+@misc{noauthor_sparkfun_nodate,
+	title = {{SparkFun} {VL53L5CX}},
+	url = {https://github.com/sparkfun/SparkFun_VL53L5CX_Arduino_Library},
+}
+
+@misc{noauthor_tof_imager_micro_rosteensy_pcl_publisherteensy_pcl_publisherino_nodate,
 	title = {tof\_imager\_micro\_ros/teensy\_pcl\_publisher/teensy\_pcl\_publisher.ino at humble · adityakamath/tof\_imager\_micro\_ros · {GitHub}},
 	url = {https://github.com/adityakamath/tof_imager_micro_ros/blob/humble/teensy_pcl_publisher/teensy_pcl_publisher.ino#L177},
 	urldate = {2025-02-21},
-	file = {tof_imager_micro_ros/teensy_pcl_publisher/teensy_pcl_publisher.ino at humble · adityakamath/tof_imager_micro_ros · GitHub:C\:\\Users\\reebe\\Zotero\\storage\\PYV8KTSC\\teensy_pcl_publisher.html:text/html},
+	file = {tof_imager_micro_ros/teensy_pcl_publisher/teensy_pcl_publisher.ino at humble · adityakamath/tof_imager_micro_ros · GitHub:/home/carla/Zotero/storage/PYV8KTSC/teensy_pcl_publisher.html:text/html},
 }
 
-@online{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate,
+@misc{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate,
 	title = {tof\_imager\_micro\_ros/teensy\_pcl\_publisher at humble · adityakamath/tof\_imager\_micro\_ros · {GitHub}},
 	url = {https://github.com/adityakamath/tof_imager_micro_ros/tree/humble/teensy_pcl_publisher},
 	urldate = {2025-02-21},
-	file = {tof_imager_micro_ros/teensy_pcl_publisher at humble · adityakamath/tof_imager_micro_ros · GitHub:C\:\\Users\\reebe\\Zotero\\storage\\TEVM2A5B\\teensy_pcl_publisher.html:text/html},
+	file = {tof_imager_micro_ros/teensy_pcl_publisher at humble · adityakamath/tof_imager_micro_ros · GitHub:/home/carla/Zotero/storage/TEVM2A5B/teensy_pcl_publisher.html:text/html},
 }
 
-@software{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025,
+@misc{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025,
 	title = {sparkfun/{SparkFun}\_VL53L5CX\_Arduino\_Library},
 	url = {https://github.com/sparkfun/SparkFun_VL53L5CX_Arduino_Library},
-	publisher = {{SparkFun} Electronics},
 	urldate = {2025-02-21},
-	date = {2025-01-28},
+	publisher = {SparkFun Electronics},
+	month = jan,
+	year = {2025},
 	note = {original-date: 2021-10-22T21:06:36Z},
 }
 
-@online{noauthor_vlp_nodate,
-	title = {{VLP} 16 {\textbar} Ouster},
+@misc{noauthor_vlp_nodate,
+	title = {{VLP} 16 {\textbar} {Ouster}},
 	url = {https://ouster.com/products/hardware/vlp-16},
 	abstract = {Mid-range lidar sensor},
+	language = {en},
 	urldate = {2025-02-20},
-	langid = {english},
-	file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\AR82YJRS\\vlp-16.html:text/html},
+	file = {Snapshot:/home/carla/Zotero/storage/AR82YJRS/vlp-16.html:text/html},
 }
 
 @article{niclass_design_2012,
 	title = {Design and characterization of a 256x64-pixel single-photon imager in {CMOS} for a {MEMS}-based laser scanning time-of-flight sensor},
 	volume = {20},
-	rights = {© 2012 {OSA}},
+	copyright = {© 2012 OSA},
 	issn = {1094-4087},
 	url = {https://opg.optica.org/oe/abstract.cfm?uri=oe-20-11-11863},
 	doi = {10.1364/OE.20.011863},
-	abstract = {We introduce an optical time-of-flight image sensor taking advantage of a {MEMS}-based laser scanning device. Unlike previous approaches, our concept benefits from the high timing resolution and the digital signal flexibility of single-photon pixels in {CMOS} to allow for a nearly ideal cooperation between the image sensor and the scanning device. This technique enables a high signal-to-background light ratio to be obtained, while simultaneously relaxing the constraint on size of the {MEMS} mirror. These conditions are critical for devising practical and low-cost depth sensors intended to operate in uncontrolled environments, such as outdoors. A proof-of-concept prototype capable of operating in real-time was implemented. This paper focuses on the design and characterization of a 256x64-pixel image sensor, which also comprises an event-driven readout circuit, an array of 64 row-level high-throughput time-to-digital converters, and a 16Gbit/s global readout circuit. Quantitative evaluation of the sensor under 2klux of background light revealed a repeatability error of 13.5cm throughout the distance range of 20 meters.},
-	pages = {11863--11881},
+	abstract = {We introduce an optical time-of-flight image sensor taking advantage of a MEMS-based laser scanning device. Unlike previous approaches, our concept benefits from the high timing resolution and the digital signal flexibility of single-photon pixels in CMOS to allow for a nearly ideal cooperation between the image sensor and the scanning device. This technique enables a high signal-to-background light ratio to be obtained, while simultaneously relaxing the constraint on size of the MEMS mirror. These conditions are critical for devising practical and low-cost depth sensors intended to operate in uncontrolled environments, such as outdoors. A proof-of-concept prototype capable of operating in real-time was implemented. This paper focuses on the design and characterization of a 256x64-pixel image sensor, which also comprises an event-driven readout circuit, an array of 64 row-level high-throughput time-to-digital converters, and a 16Gbit/s global readout circuit. Quantitative evaluation of the sensor under 2klux of background light revealed a repeatability error of 13.5cm throughout the distance range of 20 meters.},
+	language = {EN},
 	number = {11},
-	journaltitle = {Optics Express},
-	shortjournal = {Opt. Express, {OE}},
-	author = {Niclass, Cristiano and Ito, Kota and Soga, Mineki and Matsubara, Hiroyuki and Aoyagi, Isao and Kato, Satoru and Kagami, Manabu},
 	urldate = {2025-02-20},
-	date = {2012-05-21},
+	journal = {Optics Express},
+	author = {Niclass, Cristiano and Ito, Kota and Soga, Mineki and Matsubara, Hiroyuki and Aoyagi, Isao and Kato, Satoru and Kagami, Manabu},
+	month = may,
+	year = {2012},
 	note = {Publisher: Optica Publishing Group},
 	keywords = {Deformable mirrors, Diode lasers, Image sensors, Light emitting diodes, Optical systems, Systems design},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\BZWW7BVY\\Niclass et al. - 2012 - Design and characterization of a 256x64-pixel single-photon imager in CMOS for a MEMS-based laser sc.pdf:application/pdf},
+	pages = {11863--11881},
+	file = {Full Text PDF:/home/carla/Zotero/storage/BZWW7BVY/Niclass et al. - 2012 - Design and characterization of a 256x64-pixel single-photon imager in CMOS for a MEMS-based laser sc.pdf:application/pdf},
 }
 
 @article{surmann_autonomous_2003,
-	title = {An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments},
+	title = {An autonomous mobile robot with a {3D} laser range finder for {3D} exploration and digitalization of indoor environments},
 	volume = {45},
 	issn = {0921-8890},
 	url = {https://www.sciencedirect.com/science/article/pii/S0921889003001556},
 	doi = {10.1016/j.robot.2003.09.004},
-	abstract = {Digital 3D models of the environment are needed in rescue and inspection robotics, facility managements and architecture. This paper presents an automatic system for gaging and digitalization of 3D indoor environments. It consists of an autonomous mobile robot, a reliable 3D laser range finder and three elaborated software modules. The first module, a fast variant of the Iterative Closest Points algorithm, registers the 3D scans in a common coordinate system and relocalizes the robot. The second module, a next best view planner, computes the next nominal pose based on the acquired 3D data while avoiding complicated obstacles. The third module, a closed-loop and globally stable motor controller, navigates the mobile robot to a nominal pose on the base of odometry and avoids collisions with dynamical obstacles. The 3D laser range finder acquires a 3D scan at this pose. The proposed method allows one to digitalize large indoor environments fast and reliably without any intervention and solves the {SLAM} problem. The results of two 3D digitalization experiments are presented using a fast octree-based visualization method.},
-	pages = {181--198},
+	abstract = {Digital 3D models of the environment are needed in rescue and inspection robotics, facility managements and architecture. This paper presents an automatic system for gaging and digitalization of 3D indoor environments. It consists of an autonomous mobile robot, a reliable 3D laser range finder and three elaborated software modules. The first module, a fast variant of the Iterative Closest Points algorithm, registers the 3D scans in a common coordinate system and relocalizes the robot. The second module, a next best view planner, computes the next nominal pose based on the acquired 3D data while avoiding complicated obstacles. The third module, a closed-loop and globally stable motor controller, navigates the mobile robot to a nominal pose on the base of odometry and avoids collisions with dynamical obstacles. The 3D laser range finder acquires a 3D scan at this pose. The proposed method allows one to digitalize large indoor environments fast and reliably without any intervention and solves the SLAM problem. The results of two 3D digitalization experiments are presented using a fast octree-based visualization method.},
 	number = {3},
-	journaltitle = {Robotics and Autonomous Systems},
-	shortjournal = {Robotics and Autonomous Systems},
-	author = {Surmann, Hartmut and Nüchter, Andreas and Hertzberg, Joachim},
 	urldate = {2025-02-20},
-	date = {2003-12-31},
-	keywords = {3D digitalization, 3D gaging, 3D laser range finder, Autonomous mobile robots, Next best view planning, Robot relocalization, Scan matching, {SLAM}},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\BKNJW2B7\\Surmann et al. - 2003 - An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of ind.pdf:application/pdf;ScienceDirect Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\H82LXSD3\\S0921889003001556.html:text/html},
+	journal = {Robotics and Autonomous Systems},
+	author = {Surmann, Hartmut and Nüchter, Andreas and Hertzberg, Joachim},
+	month = dec,
+	year = {2003},
+	keywords = {3D digitalization, 3D gaging, 3D laser range finder, Autonomous mobile robots, Next best view planning, Robot relocalization, Scan matching, SLAM},
+	pages = {181--198},
+	file = {PDF:/home/carla/Zotero/storage/BKNJW2B7/Surmann et al. - 2003 - An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of ind.pdf:application/pdf;ScienceDirect Snapshot:/home/carla/Zotero/storage/H82LXSD3/S0921889003001556.html:text/html},
 }
 
 @article{raj_survey_2020,
-	title = {A Survey on {LiDAR} Scanning Mechanisms},
+	title = {A {Survey} on {LiDAR} {Scanning} {Mechanisms}},
 	volume = {9},
-	rights = {http://creativecommons.org/licenses/by/3.0/},
+	copyright = {http://creativecommons.org/licenses/by/3.0/},
 	issn = {2079-9292},
 	url = {https://www.mdpi.com/2079-9292/9/5/741},
 	doi = {10.3390/electronics9050741},
-	abstract = {In recent years, light detection and ranging ({LiDAR}) technology has gained huge popularity in various applications such as navigation, robotics, remote sensing, and advanced driving assistance systems ({ADAS}). This popularity is mainly due to the improvements in {LiDAR} performance in terms of range detection, accuracy, power consumption, as well as physical features such as dimension and weight. Although a number of literatures on {LiDAR} technology have been published earlier, not many has been reported on the state-of-the-art {LiDAR} scanning mechanisms. The aim of this article is to review the scanning mechanisms employed in {LiDAR} technology from past research works to the current commercial products. The review highlights four commonly used mechanisms in {LiDAR} systems: Opto-mechanical, electromechanical, micro-electromechanical systems ({MEMS}), and solid-state scanning. The study reveals that electro-mechanical scanning is the most prominent technology in use today. The commercially available 1D time of flight ({TOF}) {LiDAR} instrument is currently the most attractive option for conversion from 1D to 3D {LiDAR} system, provided that low scanning rate is not an issue. As for applications with low size, weight, and power ({SWaP}) requirements, {MEMS} scanning is found to be the better alternative. {MEMS} scanning is by far the more matured technology compared to solid-state scanning and is currently given great emphasis to increase its robustness for fulfilling the requirements of {ADAS} applications. Finally, solid-state {LiDAR} systems are expected to fill in the gap in {ADAS} applications despite the low technology readiness in comparison to {MEMS} scanners. However, since solid-state scanning is believed to have superior robustness, field of view ({FOV}), and scanning rate potential, great efforts are given by both academics and industries to further develop this technology.},
-	pages = {741},
+	abstract = {In recent years, light detection and ranging (LiDAR) technology has gained huge popularity in various applications such as navigation, robotics, remote sensing, and advanced driving assistance systems (ADAS). This popularity is mainly due to the improvements in LiDAR performance in terms of range detection, accuracy, power consumption, as well as physical features such as dimension and weight. Although a number of literatures on LiDAR technology have been published earlier, not many has been reported on the state-of-the-art LiDAR scanning mechanisms. The aim of this article is to review the scanning mechanisms employed in LiDAR technology from past research works to the current commercial products. The review highlights four commonly used mechanisms in LiDAR systems: Opto-mechanical, electromechanical, micro-electromechanical systems (MEMS), and solid-state scanning. The study reveals that electro-mechanical scanning is the most prominent technology in use today. The commercially available 1D time of flight (TOF) LiDAR instrument is currently the most attractive option for conversion from 1D to 3D LiDAR system, provided that low scanning rate is not an issue. As for applications with low size, weight, and power (SWaP) requirements, MEMS scanning is found to be the better alternative. MEMS scanning is by far the more matured technology compared to solid-state scanning and is currently given great emphasis to increase its robustness for fulfilling the requirements of ADAS applications. Finally, solid-state LiDAR systems are expected to fill in the gap in ADAS applications despite the low technology readiness in comparison to MEMS scanners. However, since solid-state scanning is believed to have superior robustness, field of view (FOV), and scanning rate potential, great efforts are given by both academics and industries to further develop this technology.},
+	language = {en},
 	number = {5},
-	journaltitle = {Electronics},
-	author = {Raj, Thinal and Hashim, Fazida Hanim and Huddin, Aqilah Baseri and Ibrahim, Mohd Faisal and Hussain, Aini},
 	urldate = {2025-02-20},
-	date = {2020-05},
-	langid = {english},
+	journal = {Electronics},
+	author = {Raj, Thinal and Hashim, Fazida Hanim and Huddin, Aqilah Baseri and Ibrahim, Mohd Faisal and Hussain, Aini},
+	month = may,
+	year = {2020},
 	note = {Number: 5
 Publisher: Multidisciplinary Digital Publishing Institute},
-	keywords = {electro-mechanical scanning, {LiDAR}, {MEMS} scanning, opto-mechanical scanning, solid-state {LiDAR}},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\2PBQYF7P\\Raj et al. - 2020 - A Survey on LiDAR Scanning Mechanisms.pdf:application/pdf},
+	keywords = {electro-mechanical scanning, LiDAR, MEMS scanning, opto-mechanical scanning, solid-state LiDAR},
+	pages = {741},
+	file = {Full Text PDF:/home/carla/Zotero/storage/2PBQYF7P/Raj et al. - 2020 - A Survey on LiDAR Scanning Mechanisms.pdf:application/pdf},
 }
 
-@online{noauthor_file20200501_2020,
-	title = {File:20200501 Time of flight.svg - Wikipedia},
-	url = {https://commons.wikimedia.org/wiki/File:20200501_Time_of_flight.svg},
+@misc{noauthor_file20200501_2020,
+	title = {File:20200501 {Time} of flight.svg - {Wikipedia}},
 	shorttitle = {File},
+	url = {https://commons.wikimedia.org/wiki/File:20200501_Time_of_flight.svg},
+	language = {en},
 	urldate = {2025-02-20},
-	date = {2020-05-01},
-	langid = {english},
-	file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\H7EUEBHT\\File20200501_Time_of_flight.html:text/html},
+	month = may,
+	year = {2020},
+	file = {Snapshot:/home/carla/Zotero/storage/H7EUEBHT/File20200501_Time_of_flight.html:text/html},
 }
 
 @article{jain_survey_nodate,
-	title = {A survey of Laser Range Finding},
+	title = {A survey of {Laser} {Range} {Finding}},
 	url = {http://www.siddjain.com/ee236a.pdf},
-	abstract = {This report provides a informal survey of laser distance measurement. Applications of laser range finding are briefly discussed and various techniques for laser ranging such as active laser triangulation, pulsed time-of-flight ({TOF}), phase shift, {FMCW}, and correlation are described.},
-	author = {Jain, Siddharth},
+	abstract = {This report provides a informal survey of laser distance measurement. Applications of laser range finding are briefly discussed and various techniques for laser ranging such as active laser triangulation, pulsed time-of-flight (TOF), phase shift, FMCW, and correlation are described.},
+	language = {en},
 	urldate = {2025-02-19},
-	langid = {english},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\X2WNAHZB\\Jain - A survey of Laser Range Finding.pdf:application/pdf},
+	author = {Jain, Siddharth},
+	file = {PDF:/home/carla/Zotero/storage/X2WNAHZB/Jain - A survey of Laser Range Finding.pdf:application/pdf},
 }
 
 @inproceedings{rashid_local_2020,
-	title = {Local and Global Sensors for Collision Avoidance},
+	title = {Local and {Global} {Sensors} for {Collision} {Avoidance}},
 	url = {https://ieeexplore.ieee.org/document/9235223},
 	doi = {10.1109/MFI49285.2020.9235223},
-	abstract = {Implementation of safe and efficient human robot collaboration for agile production cells with heavy-duty industrial robots, having large stopping distances and large self-occlusion areas, is a challenging task. Collision avoidance is the main functionality required to realize this task. In fact, it requires accurate estimation of shortest distance between known (robot) and unknown (human or anything else) objects in a large area. This work proposes a selective fusion of global and local sensors, representing a large range 360° {LiDAR} and a small range {RGB} camera respectively, in the context of dynamic speed and separation monitoring. Safety functionality has been evaluated for collision detection between unknown dynamic object to manipulator joints. The system yields 29-40\% efficiency compared to fenced system. Heavy-duty industrial robot and a controlled linear axis dummy is used for evaluating different robot and scenario configurations. Results suggest higher efficiency and safety when using local and global setup.},
-	eventtitle = {2020 {IEEE} International Conference on Multisensor Fusion and Integration for Intelligent Systems ({MFI})},
-	pages = {354--359},
-	booktitle = {2020 {IEEE} International Conference on Multisensor Fusion and Integration for Intelligent Systems ({MFI})},
-	author = {Rashid, Aquib and Peesapati, Kannan and Bdiwi, Mohamad and Krusche, Sebastian and Hardt, Wolfram and Putz, Matthias},
+	abstract = {Implementation of safe and efficient human robot collaboration for agile production cells with heavy-duty industrial robots, having large stopping distances and large self-occlusion areas, is a challenging task. Collision avoidance is the main functionality required to realize this task. In fact, it requires accurate estimation of shortest distance between known (robot) and unknown (human or anything else) objects in a large area. This work proposes a selective fusion of global and local sensors, representing a large range 360° LiDAR and a small range RGB camera respectively, in the context of dynamic speed and separation monitoring. Safety functionality has been evaluated for collision detection between unknown dynamic object to manipulator joints. The system yields 29-40\% efficiency compared to fenced system. Heavy-duty industrial robot and a controlled linear axis dummy is used for evaluating different robot and scenario configurations. Results suggest higher efficiency and safety when using local and global setup.},
 	urldate = {2025-02-19},
-	date = {2020-09},
+	booktitle = {2020 {IEEE} {International} {Conference} on {Multisensor} {Fusion} and {Integration} for {Intelligent} {Systems} ({MFI})},
+	author = {Rashid, Aquib and Peesapati, Kannan and Bdiwi, Mohamad and Krusche, Sebastian and Hardt, Wolfram and Putz, Matthias},
+	month = sep,
+	year = {2020},
 	keywords = {Cameras, Laser radar, Production, Robot vision systems, Safety, Sensor fusion, Service robots},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\HAXPN6EL\\Rashid et al. - 2020 - Local and Global Sensors for Collision Avoidance.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\4X42Y6TK\\9235223.html:text/html},
+	pages = {354--359},
+	file = {Full Text PDF:/home/carla/Zotero/storage/HAXPN6EL/Rashid et al. - 2020 - Local and Global Sensors for Collision Avoidance.pdf:application/pdf;IEEE Xplore Abstract Record:/home/carla/Zotero/storage/4X42Y6TK/9235223.html:text/html},
 }
 
 @inproceedings{al_naser_fusion_2022,
 	title = {Fusion of depth, color, and thermal images towards digital twins and safe human interaction with a robot in an industrial environment},
 	url = {https://ieeexplore.ieee.org/document/9900548},
 	doi = {10.1109/RO-MAN53752.2022.9900548},
-	abstract = {Accurate detection of the human body and its limbs in real-time is one of the challenges toward human-robot collaboration ({HRC}) technology in the factory of the future. In this work, a new algorithm has been developed to fuse thermal, depth, and color information. Starting with the calibration of the sensors to each other, proceeding with data fusion and detection of human body parts, and ending with pose estimation. The proposed approach has been tested in various {HRC} scenarios. It has shown a significant decrease in errors and noise in industrial environments. Furthermore, it produces not only a higher positioning accuracy of the head and hands compared to the state of art algorithms (e.g., {OpenPose}), but it is also faster. Hence, such an algorithm could be joined with digital twins for safe and efficient human-robot collaboration.},
-	eventtitle = {2022 31st {IEEE} International Conference on Robot and Human Interactive Communication ({RO}-{MAN})},
-	pages = {532--537},
-	booktitle = {2022 31st {IEEE} International Conference on Robot and Human Interactive Communication ({RO}-{MAN})},
-	author = {Al Naser, Ibrahim and Dahmen, Johannes and Bdiwi, Mohamad and Ihlenfeldt, Steffen},
+	abstract = {Accurate detection of the human body and its limbs in real-time is one of the challenges toward human-robot collaboration (HRC) technology in the factory of the future. In this work, a new algorithm has been developed to fuse thermal, depth, and color information. Starting with the calibration of the sensors to each other, proceeding with data fusion and detection of human body parts, and ending with pose estimation. The proposed approach has been tested in various HRC scenarios. It has shown a significant decrease in errors and noise in industrial environments. Furthermore, it produces not only a higher positioning accuracy of the head and hands compared to the state of art algorithms (e.g., OpenPose), but it is also faster. Hence, such an algorithm could be joined with digital twins for safe and efficient human-robot collaboration.},
 	urldate = {2025-02-19},
-	date = {2022-08},
-	note = {{ISSN}: 1944-9437},
+	booktitle = {2022 31st {IEEE} {International} {Conference} on {Robot} and {Human} {Interactive} {Communication} ({RO}-{MAN})},
+	author = {Al Naser, Ibrahim and Dahmen, Johannes and Bdiwi, Mohamad and Ihlenfeldt, Steffen},
+	month = aug,
+	year = {2022},
+	note = {ISSN: 1944-9437},
 	keywords = {Sensor fusion, Service robots, Collaboration, Digital Twins, human detection, Human robot collaboration, Image color analysis, Location awareness, sensor fusion, Stability criteria, Thermal sensors},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\Q933FYY2\\Al Naser et al. - 2022 - Fusion of depth, color, and thermal images towards digital twins and safe human interaction with a r.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\942BAXF5\\9900548.html:text/html},
+	pages = {532--537},
+	file = {Full Text PDF:/home/carla/Zotero/storage/Q933FYY2/Al Naser et al. - 2022 - Fusion of depth, color, and thermal images towards digital twins and safe human interaction with a r.pdf:application/pdf;IEEE Xplore Abstract Record:/home/carla/Zotero/storage/942BAXF5/9900548.html:text/html},
 }
 
 @inproceedings{choi_xr-based_2022,
-	title = {An {XR}-based Approach to Safe Human-Robot Collaboration},
+	title = {An {XR}-based {Approach} to {Safe} {Human}-{Robot} {Collaboration}},
 	url = {https://ieeexplore.ieee.org/document/9757621},
 	doi = {10.1109/VRW55335.2022.00106},
-	abstract = {It is crucial to prevent safety accidents for human-robot collaboration. This study proposes an extended reality ({XR}) approach to safe {HRC} by calculating the minimum distance between the human operator and robot in real time. The proposed approach scans the real environment with multiple sensors and constructs its virtual space in {XR}. The virtual robot is synchronized with the real robot by matching the point cloud of real environment with that of the virtual robot. This system can effectively provide task assistance and safety information to the user wearing an {XR} device.},
-	eventtitle = {2022 {IEEE} Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops ({VRW})},
-	pages = {481--482},
-	booktitle = {2022 {IEEE} Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops ({VRW})},
-	author = {Choi, Sung Ho and Park, Kyeong-Beom and Roh, Dong Hyeon and Lee, Jae Yeol and Ghasemi, Yalda and Jeong, Heejin},
+	abstract = {It is crucial to prevent safety accidents for human-robot collaboration. This study proposes an extended reality (XR) approach to safe HRC by calculating the minimum distance between the human operator and robot in real time. The proposed approach scans the real environment with multiple sensors and constructs its virtual space in XR. The virtual robot is synchronized with the real robot by matching the point cloud of real environment with that of the virtual robot. This system can effectively provide task assistance and safety information to the user wearing an XR device.},
 	urldate = {2025-02-19},
-	date = {2022-03},
-	keywords = {Safety, Service robots, Collaboration, Conferences, H.5.1 [Information Interfaces and Presentation]: Multimedia Information Systems—{XR}-based safety information, Human-robot collaboration, I.3.8 [Computer Graphics]: Applications—Extended Reality, J.7 [Computer Applications]: Computers in Other Systems—Virtual-Physics synchronization, mixed/extended reality ({MR}/{XR}), Real-time systems, Robot sensing systems, safety distance, Three-dimensional displays},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\VYUDN5LQ\\Choi et al. - 2022 - An XR-based Approach to Safe Human-Robot Collaboration.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\GDI6TZQ2\\9757621.html:text/html},
+	booktitle = {2022 {IEEE} {Conference} on {Virtual} {Reality} and {3D} {User} {Interfaces} {Abstracts} and {Workshops} ({VRW})},
+	author = {Choi, Sung Ho and Park, Kyeong-Beom and Roh, Dong Hyeon and Lee, Jae Yeol and Ghasemi, Yalda and Jeong, Heejin},
+	month = mar,
+	year = {2022},
+	keywords = {Safety, Service robots, Collaboration, Conferences, H.5.1 [Information Interfaces and Presentation]: Multimedia Information Systems—XR-based safety information, Human-robot collaboration, I.3.8 [Computer Graphics]: Applications—Extended Reality, J.7 [Computer Applications]: Computers in Other Systems—Virtual-Physics synchronization, mixed/extended reality (MR/XR), Real-time systems, Robot sensing systems, safety distance, Three-dimensional displays},
+	pages = {481--482},
+	file = {Full Text PDF:/home/carla/Zotero/storage/VYUDN5LQ/Choi et al. - 2022 - An XR-based Approach to Safe Human-Robot Collaboration.pdf:application/pdf;IEEE Xplore Abstract Record:/home/carla/Zotero/storage/GDI6TZQ2/9757621.html:text/html},
 }
 
 @inproceedings{amaya-mejia_vision-based_2022,
-	title = {Vision-Based Safety System for Barrierless Human-Robot Collaboration},
+	title = {Vision-{Based} {Safety} {System} for {Barrierless} {Human}-{Robot} {Collaboration}},
 	url = {https://ieeexplore.ieee.org/document/9981689},
 	doi = {10.1109/IROS47612.2022.9981689},
-	abstract = {Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents and the need for solutions that ensure a safe Human-Robot Collaboration. This paper proposes a safety system that implements Speed and Separation Monitoring ({SSM}) type of operation. For this, safety zones are defined in the robot's workspace following current standards for industrial collaborative robots. A deep learning-based computer vision system detects, tracks, and estimates the 3D position of operators close to the robot. The robot control system receives the operator's 3D position and generates 3D representations of them in a simulation environment. Depending on the zone where the closest operator was detected, the robot stops or changes its operating speed. Three different operation modes in which the human and robot interact are presented. Results show that the vision-based system can correctly detect and classify in which safety zone an operator is located and that the different proposed operation modes ensure that the robot's reaction and stop time are within the required time limits to guarantee safety.},
-	eventtitle = {2022 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
-	pages = {7331--7336},
-	booktitle = {2022 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
-	author = {Amaya-Mejía, Lina María and Duque-Suárez, Nicolás and Jaramillo-Ramírez, Daniel and Martinez, Carol},
+	abstract = {Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents and the need for solutions that ensure a safe Human-Robot Collaboration. This paper proposes a safety system that implements Speed and Separation Monitoring (SSM) type of operation. For this, safety zones are defined in the robot's workspace following current standards for industrial collaborative robots. A deep learning-based computer vision system detects, tracks, and estimates the 3D position of operators close to the robot. The robot control system receives the operator's 3D position and generates 3D representations of them in a simulation environment. Depending on the zone where the closest operator was detected, the robot stops or changes its operating speed. Three different operation modes in which the human and robot interact are presented. Results show that the vision-based system can correctly detect and classify in which safety zone an operator is located and that the different proposed operation modes ensure that the robot's reaction and stop time are within the required time limits to guarantee safety.},
 	urldate = {2025-02-19},
-	date = {2022-10},
-	note = {{ISSN}: 2153-0866},
+	booktitle = {2022 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
+	author = {Amaya-Mejía, Lina María and Duque-Suárez, Nicolás and Jaramillo-Ramírez, Daniel and Martinez, Carol},
+	month = oct,
+	year = {2022},
+	note = {ISSN: 2153-0866},
 	keywords = {Safety, Service robots, Collaboration, Three-dimensional displays, Collision avoidance, Robot control, Solid modeling},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\XX9FL2U5\\Amaya-Mejía et al. - 2022 - Vision-Based Safety System for Barrierless Human-Robot Collaboration.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\29LFGV4B\\9981689.html:text/html},
+	pages = {7331--7336},
+	file = {Full Text PDF:/home/carla/Zotero/storage/XX9FL2U5/Amaya-Mejía et al. - 2022 - Vision-Based Safety System for Barrierless Human-Robot Collaboration.pdf:application/pdf;IEEE Xplore Abstract Record:/home/carla/Zotero/storage/29LFGV4B/9981689.html:text/html},
 }
 
 @article{li_safe_2024,
 	title = {Safe human–robot collaboration for industrial settings: a survey},
 	volume = {35},
 	issn = {1572-8145},
+	shorttitle = {Safe human–robot collaboration for industrial settings},
 	url = {https://doi.org/10.1007/s10845-023-02159-4},
 	doi = {10.1007/s10845-023-02159-4},
-	shorttitle = {Safe human–robot collaboration for industrial settings},
-	abstract = {Human–robot collaboration ({HRC}) plays a pivotal role in today’s industry by supporting increasingly customised product development. Via {HRC}, the strengths of humans and robots can be combined to facilitate collaborative jobs within common workplaces to achieve specific industrial goals. Given the significance of safety assurance in {HRC}, in this survey paper, an update on standards and implementation approaches presented in the latest literature is given to reflect the state-of-the-art of this prominent research topic. First, an overview of safety standards for industrial robots, collaborative robots, and {HRC} is provided. Then, a survey of various approaches to {HRC} safety is conducted from two main perspectives, i.e., pre-collision and post-collision, which are further detailed in the aspects of sensing, prediction, learning, planning/replanning, and compliance control. Major characteristics, pros, cons, and applicability of the approaches are analysed. Finally, challenging issues and prospects for the future development of {HRC} safety are highlighted to provide recommendations for relevant stakeholders to consider when designing {HRC}-enabled industrial systems.},
-	pages = {2235--2261},
+	abstract = {Human–robot collaboration (HRC) plays a pivotal role in today’s industry by supporting increasingly customised product development. Via HRC, the strengths of humans and robots can be combined to facilitate collaborative jobs within common workplaces to achieve specific industrial goals. Given the significance of safety assurance in HRC, in this survey paper, an update on standards and implementation approaches presented in the latest literature is given to reflect the state-of-the-art of this prominent research topic. First, an overview of safety standards for industrial robots, collaborative robots, and HRC is provided. Then, a survey of various approaches to HRC safety is conducted from two main perspectives, i.e., pre-collision and post-collision, which are further detailed in the aspects of sensing, prediction, learning, planning/replanning, and compliance control. Major characteristics, pros, cons, and applicability of the approaches are analysed. Finally, challenging issues and prospects for the future development of HRC safety are highlighted to provide recommendations for relevant stakeholders to consider when designing HRC-enabled industrial systems.},
+	language = {en},
 	number = {5},
-	journaltitle = {Journal of Intelligent Manufacturing},
-	shortjournal = {J Intell Manuf},
-	author = {Li, Weidong and Hu, Yudie and Zhou, Yong and Pham, Duc Truong},
 	urldate = {2025-02-19},
-	date = {2024-06-01},
-	langid = {english},
-	keywords = {Safety, Collaborative robots, Collision detection, Human–robot collaboration ({HRC}), Obstacle avoidance},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\4JS4CSVA\\Li et al. - 2024 - Safe human–robot collaboration for industrial settings a survey.pdf:application/pdf},
+	journal = {Journal of Intelligent Manufacturing},
+	author = {Li, Weidong and Hu, Yudie and Zhou, Yong and Pham, Duc Truong},
+	month = jun,
+	year = {2024},
+	keywords = {Safety, Collaborative robots, Collision detection, Human–robot collaboration (HRC), Obstacle avoidance},
+	pages = {2235--2261},
+	file = {Full Text PDF:/home/carla/Zotero/storage/4JS4CSVA/Li et al. - 2024 - Safe human–robot collaboration for industrial settings a survey.pdf:application/pdf},
 }
 
-@online{noauthor_can_nodate,
+@misc{noauthor_can_nodate,
 	title = {Can the collaborative robot market experience a second growth surge in the post-pandemic era?},
 	url = {https://interactanalysis.com/insight/can-the-collaborative-robot-market-experience-a-second-growth-surge-in-the-post-pandemic-era/},
 	abstract = {The market for collaborative robots is forecast to show strong growth over the coming years, with rising sales in industrial and non-industrial sectors.},
-	titleaddon = {Interact Analysis},
+	language = {en-GB},
 	urldate = {2025-02-19},
-	langid = {british},
-	file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\25UG57J5\\can-the-collaborative-robot-market-experience-a-second-growth-surge-in-the-post-pandemic-era.html:text/html},
+	journal = {Interact Analysis},
+	file = {Snapshot:/home/carla/Zotero/storage/25UG57J5/can-the-collaborative-robot-market-experience-a-second-growth-surge-in-the-post-pandemic-era.html:text/html},
 }
 
 @article{nath_review_2022,
-	title = {A Review of Advancements in Robotic and Sensor-based Technologies in Construction Sector},
+	title = {A {Review} of {Advancements} in {Robotic} and {Sensor}-based {Technologies} in {Construction} {Sector}},
 	volume = {7},
-	rights = {Copyright (c) 2022 Aditya S.  Nath},
+	copyright = {Copyright (c) 2022 Aditya S.  Nath},
 	issn = {2736-576X},
 	url = {https://www.ej-eng.org/index.php/ejeng/article/view/2624},
 	doi = {10.24018/ejeng.2022.7.1.2624},
-	abstract = {The study explores recent innovations in robotic and sensor-based technologies that are spearheading advancements in the construction sector to achieve improvements in construction quality, efficiency, and safety. Automation in construction, although coined as a concept in 1980s, has witnessed minimal progress in the level of application. The study attempts to identify issues constraining adoption of automation in the sector, the recent developments in technologies and their scope in construction, their applications and impacts, and way forward. The role of robotics in various stages of construction and its impact on a wider scale has been identified and discussed. The evolution of Building Information Modeling ({BIM}) has transitioned it into being an efficient mediator in the construction process with novel concepts such as 4D and 5D {BIM} and Building Knowledge Management. Various sensor technologies, functioning at diverse scales, have found wide-ranging applications on construction sites ranging from high-accuracy positioning to slow-tracking of personnel and materials, as well as, in progress monitoring and quality control. Information Technology has a major role in binding the sensor technology with on-site requirements to create positive results. A study was done to identify such technological interventions and various software utilities which integrate {BIM} and sensor technology with tools such as {GIS}. The factors which restrained developments in automation in construction sector were identified in the course of study. Various global examples of advanced automated construction technologies with applications in various stages of construction were discussed. The review successfully identifies the nascent technological innovations and their productive usage in relevant areas of construction sector.},
-	pages = {85--89},
+	abstract = {The study explores recent innovations in robotic and sensor-based technologies that are spearheading advancements in the construction sector to achieve improvements in construction quality, efficiency, and safety. Automation in construction, although coined as a concept in 1980s, has witnessed minimal progress in the level of application. The study attempts to identify issues constraining adoption of automation in the sector, the recent developments in technologies and their scope in construction, their applications and impacts, and way forward. The role of robotics in various stages of construction and its impact on a wider scale has been identified and discussed. The evolution of Building Information Modeling (BIM) has transitioned it into being an efficient mediator in the construction process with novel concepts such as 4D and 5D BIM and Building Knowledge Management. Various sensor technologies, functioning at diverse scales, have found wide-ranging applications on construction sites ranging from high-accuracy positioning to slow-tracking of personnel and materials, as well as, in progress monitoring and quality control. Information Technology has a major role in binding the sensor technology with on-site requirements to create positive results. A study was done to identify such technological interventions and various software utilities which integrate BIM and sensor technology with tools such as GIS. The factors which restrained developments in automation in construction sector were identified in the course of study. Various global examples of advanced automated construction technologies with applications in various stages of construction were discussed. The review successfully identifies the nascent technological innovations and their productive usage in relevant areas of construction sector.},
+	language = {en},
 	number = {1},
-	journaltitle = {European Journal of Engineering and Technology Research},
-	author = {Nath, Aditya S.},
 	urldate = {2025-02-19},
-	date = {2022-02-28},
-	langid = {english},
+	journal = {European Journal of Engineering and Technology Research},
+	author = {Nath, Aditya S.},
+	month = feb,
+	year = {2022},
 	note = {Number: 1},
 	keywords = {Sensors},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\AA6ZJJBN\\Nath - 2022 - A Review of Advancements in Robotic and Sensor-based Technologies in Construction Sector.pdf:application/pdf},
+	pages = {85--89},
+	file = {Full Text PDF:/home/carla/Zotero/storage/AA6ZJJBN/Nath - 2022 - A Review of Advancements in Robotic and Sensor-based Technologies in Construction Sector.pdf:application/pdf},
 }
 
 @article{maheepala_low_2021,
-	title = {Low Power Processors and Image Sensors for Vision-Based {IoT} Devices: A Review},
+	title = {Low {Power} {Processors} and {Image} {Sensors} for {Vision}-{Based} {IoT} {Devices}: {A} {Review}},
 	volume = {21},
 	issn = {1558-1748},
+	shorttitle = {Low {Power} {Processors} and {Image} {Sensors} for {Vision}-{Based} {IoT} {Devices}},
 	url = {https://ieeexplore.ieee.org/abstract/document/9165781},
 	doi = {10.1109/JSEN.2020.3015932},
-	shorttitle = {Low Power Processors and Image Sensors for Vision-Based {IoT} Devices},
-	abstract = {With the advancements of the Internet of Things ({IoT}) technology, applications of battery powered machine vision based {IoT} devices is rapidly growing. While numerous research works are being conducted to develop low power hardware solutions for {IoT} devices, image capture and image processing remain high power demanding processes leading to a short battery life. However, the power consumption of the machine vision based {IoT} devices can be minimized by the careful optimization of the hardware components that are used is these devices. In this article, we present a review of low power machine vision hardware components for the {IoT} applications. A guide to selecting the optimum processors and image sensors for a given battery powered machine vision based {IoT} device is presented. Next, the factors that must be considered when selecting processors and image sensors for a given {IoT} application are discussed, and selection criteria for the processors and image sensors are established. Then, the current commercially available hardware components are reviewed in accordance with the established selection criteria. Finally, the research trends in the field of battery powered machine vision based {IoT} devices are discussed, and the potential future research directions in the field are presented.},
-	pages = {1172--1186},
+	abstract = {With the advancements of the Internet of Things (IoT) technology, applications of battery powered machine vision based IoT devices is rapidly growing. While numerous research works are being conducted to develop low power hardware solutions for IoT devices, image capture and image processing remain high power demanding processes leading to a short battery life. However, the power consumption of the machine vision based IoT devices can be minimized by the careful optimization of the hardware components that are used is these devices. In this article, we present a review of low power machine vision hardware components for the IoT applications. A guide to selecting the optimum processors and image sensors for a given battery powered machine vision based IoT device is presented. Next, the factors that must be considered when selecting processors and image sensors for a given IoT application are discussed, and selection criteria for the processors and image sensors are established. Then, the current commercially available hardware components are reviewed in accordance with the established selection criteria. Finally, the research trends in the field of battery powered machine vision based IoT devices are discussed, and the potential future research directions in the field are presented.},
 	number = {2},
-	journaltitle = {{IEEE} Sensors Journal},
-	author = {Maheepala, Malith and Joordens, Matthew A. and Kouzani, Abbas Z.},
 	urldate = {2025-02-19},
-	date = {2021-01},
-	note = {Conference Name: {IEEE} Sensors Journal},
+	journal = {IEEE Sensors Journal},
+	author = {Maheepala, Malith and Joordens, Matthew A. and Kouzani, Abbas Z.},
+	month = jan,
+	year = {2021},
+	note = {Conference Name: IEEE Sensors Journal},
 	keywords = {Image sensors, Batteries, Cloud computing, image sensor, Internet of Things, low power, machine vision, Machine vision, processor, Program processors, Transceivers},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\XSY3V6PK\\Maheepala et al. - 2021 - Low Power Processors and Image Sensors for Vision-Based IoT Devices A Review.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\Y7EV2L8T\\9165781.html:text/html},
+	pages = {1172--1186},
+	file = {Full Text PDF:/home/carla/Zotero/storage/XSY3V6PK/Maheepala et al. - 2021 - Low Power Processors and Image Sensors for Vision-Based IoT Devices A Review.pdf:application/pdf;IEEE Xplore Abstract Record:/home/carla/Zotero/storage/Y7EV2L8T/9165781.html:text/html},
 }
 
 @article{liu_application_2024,
-	title = {Application, Development and Future Opportunities of Collaborative Robots (Cobots) in Manufacturing: A Literature Review},
+	title = {Application, {Development} and {Future} {Opportunities} of {Collaborative} {Robots} ({Cobots}) in {Manufacturing}: {A} {Literature} {Review}},
 	volume = {40},
 	issn = {1044-7318},
+	shorttitle = {Application, {Development} and {Future} {Opportunities} of {Collaborative} {Robots} ({Cobots}) in {Manufacturing}},
 	url = {https://doi.org/10.1080/10447318.2022.2041907},
 	doi = {10.1080/10447318.2022.2041907},
-	shorttitle = {Application, Development and Future Opportunities of Collaborative Robots (Cobots) in Manufacturing},
-	abstract = {The rapid development of robot technology has introduced a substantial impact on manufacturing. Numerous studies have been carried out to apply collaborative robots (cobots) to address manufacturing productivity and ergonomics issues, which has brought extensive opportunities. In this context, a systematic literature search in the Web of Science, Scopus, and Google Scholar databases was carried out by electronic and manual search. Thus, 59 relevant contributions out of 4488 studies were analyzed by using preferred reporting items for systematic reviews and meta-analysis ({PRISMA}). To provide an overview of the different results, studies are summarized according to the following criteria: country, author, year, study design, robot category, results, and future opportunities. The effects of cobots on safety, system design, workplace design, task scheduling, productivity, and ergonomics are discussed to provide a better understanding of the application of cobots in manufacturing. To incentive future research, this paper reviews the development of cobots in manufacturing and discusses future opportunities and directions from cobots and manufacturing system perspectives. This paper provides novel and valuable insights into cobots application and illustrates potential developments of future human-cobot interaction.},
-	pages = {915--932},
+	abstract = {The rapid development of robot technology has introduced a substantial impact on manufacturing. Numerous studies have been carried out to apply collaborative robots (cobots) to address manufacturing productivity and ergonomics issues, which has brought extensive opportunities. In this context, a systematic literature search in the Web of Science, Scopus, and Google Scholar databases was carried out by electronic and manual search. Thus, 59 relevant contributions out of 4488 studies were analyzed by using preferred reporting items for systematic reviews and meta-analysis (PRISMA). To provide an overview of the different results, studies are summarized according to the following criteria: country, author, year, study design, robot category, results, and future opportunities. The effects of cobots on safety, system design, workplace design, task scheduling, productivity, and ergonomics are discussed to provide a better understanding of the application of cobots in manufacturing. To incentive future research, this paper reviews the development of cobots in manufacturing and discusses future opportunities and directions from cobots and manufacturing system perspectives. This paper provides novel and valuable insights into cobots application and illustrates potential developments of future human-cobot interaction.},
 	number = {4},
-	journaltitle = {International Journal of Human–Computer Interaction},
-	author = {Liu, Li and Guo, Fu and Zou, Zishuai and Duffy, Vincent G.},
 	urldate = {2025-02-19},
-	date = {2024-02-16},
+	journal = {International Journal of Human–Computer Interaction},
+	author = {Liu, Li and Guo, Fu and Zou, Zishuai and Duffy, Vincent G.},
+	month = feb,
+	year = {2024},
 	note = {Publisher: Taylor \& Francis
 \_eprint: https://doi.org/10.1080/10447318.2022.2041907},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\G9ECNMWG\\Liu et al. - 2024 - Application, Development and Future Opportunities of Collaborative Robots (Cobots) in Manufacturing.pdf:application/pdf},
+	pages = {915--932},
+	file = {Full Text PDF:/home/carla/Zotero/storage/G9ECNMWG/Liu et al. - 2024 - Application, Development and Future Opportunities of Collaborative Robots (Cobots) in Manufacturing.pdf:application/pdf},
 }
 
 @inproceedings{popov_collision_2017,
-	location = {Lisbon},
+	address = {Lisbon},
 	title = {Collision detection, localization \& classification for industrial robots with joint torque sensors},
 	isbn = {978-1-5386-3518-6},
 	url = {http://ieeexplore.ieee.org/document/8172400/},
 	doi = {10.1109/ROMAN.2017.8172400},
-	abstract = {High dynamic capabilities of industrial robots make them dangerous for humans and environment. To reduce this factor and advance collaboration between human and manipulator fast and reliable collision detection algorithm is required. To overcome this problem, we present an approach allowing to detect collision, localize action point and classify collision nature. Internal joint torque and encoder measurements were used to determine potential collisions with the robot links. This work proposes two ways of solving this problem: using classical analytical approach and learning approach implemented with neural network. The suggested algorithms were examined on the industrial robotic arm Kuka iiwa {LBR} 14 R820, ground truth information on the contact nature and its location were obtained with 3D {LIDAR} and camera.},
-	eventtitle = {2017 26th {IEEE} International Symposium on Robot and Human Interactive Communication ({RO}-{MAN})},
-	pages = {838--843},
-	booktitle = {2017 26th {IEEE} International Symposium on Robot and Human Interactive Communication ({RO}-{MAN})},
-	publisher = {{IEEE}},
-	author = {Popov, Dmitry and Klimchik, Alexandr and Mavridis, Nikolaos},
+	abstract = {High dynamic capabilities of industrial robots make them dangerous for humans and environment. To reduce this factor and advance collaboration between human and manipulator fast and reliable collision detection algorithm is required. To overcome this problem, we present an approach allowing to detect collision, localize action point and classify collision nature. Internal joint torque and encoder measurements were used to determine potential collisions with the robot links. This work proposes two ways of solving this problem: using classical analytical approach and learning approach implemented with neural network. The suggested algorithms were examined on the industrial robotic arm Kuka iiwa LBR 14 R820, ground truth information on the contact nature and its location were obtained with 3D LIDAR and camera.},
+	language = {en},
 	urldate = {2025-02-19},
-	date = {2017-08},
-	langid = {english},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\LVC2B7U6\\Popov et al. - 2017 - Collision detection, localization & classification for industrial robots with joint torque sensors.pdf:application/pdf},
+	booktitle = {2017 26th {IEEE} {International} {Symposium} on {Robot} and {Human} {Interactive} {Communication} ({RO}-{MAN})},
+	publisher = {IEEE},
+	author = {Popov, Dmitry and Klimchik, Alexandr and Mavridis, Nikolaos},
+	month = aug,
+	year = {2017},
+	pages = {838--843},
+	file = {PDF:/home/carla/Zotero/storage/LVC2B7U6/Popov et al. - 2017 - Collision detection, localization & classification for industrial robots with joint torque sensors.pdf:application/pdf},
 }
 
 @misc{noauthor_robotics_2021,
-	title = {Robotics - Vocabulary},
-	url = {https://www.dinmedia.de/de/norm/iso-8373/348036781},
+	title = {Robotics - {Vocabulary}},
 	shorttitle = {{ISO} 8373:2021-11},
-	publisher = {{DIN} Media {GmbH}},
+	url = {https://www.dinmedia.de/de/norm/iso-8373/348036781},
+	language = {Englisch},
 	urldate = {2025-02-19},
-	date = {2021-11},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\6SUCZU6R\\DIN_EN_ISO_8373.pdf:application/pdf},
+	publisher = {DIN Media GmbH},
+	month = nov,
+	year = {2021},
+	file = {PDF:/home/carla/Zotero/storage/6SUCZU6R/DIN_EN_ISO_8373.pdf:application/pdf},
 }
 
 @misc{noauthor_din_nodate,
-	title = {{DIN} {EN} {ISO} 10218-1:2021-09, Robotik\_- Sicherheitsanforderungen\_- Teil\_1: Industrieroboter ({ISO}/{DIS}\_10218-1.2:2021); Deutsche und Englische Fassung {prEN}\_ISO\_10218-1:2021},
+	title = {{DIN} {EN} {ISO} 10218-1:2021-09, {Robotik}\_- {Sicherheitsanforderungen}\_- {Teil}\_1: {Industrieroboter} ({ISO}/{DIS}\_10218-1.2:2021); {Deutsche} und {Englische} {Fassung} {prEN}\_ISO\_10218-1:2021},
+	shorttitle = {{DIN} {EN} {ISO} 10218-1},
 	url = {https://www.dinmedia.de/de/-/-/341406648},
 	doi = {10.31030/3272912},
-	shorttitle = {{DIN} {EN} {ISO} 10218-1},
-	publisher = {{DIN} Media {GmbH}},
+	language = {de},
 	urldate = {2025-02-19},
-	langid = {german},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\FFMUVR22\\DIN EN ISO 10218-12021-09, Robotik_- Sicherheitsanforderungen_- Teil_1 Industrieroboter (ISODIS_1.pdf:application/pdf},
+	publisher = {DIN Media GmbH},
+	file = {PDF:/home/carla/Zotero/storage/FFMUVR22/DIN EN ISO 10218-12021-09, Robotik_- Sicherheitsanforderungen_- Teil_1 Industrieroboter (ISODIS_1.pdf:application/pdf},
 }
 
 @misc{noauthor_din_nodate-1,
-	title = {{DIN} {EN} {ISO} 10218-2:2021-03, Robotik\_- Sicherheitsanforderungen für Robotersysteme in industrieller Umgebung\_- Teil\_2: Robotersysteme, Roboteranwendungen und Integration von Roboterzellen ({ISO}/{DIS}\_10218-2:2020); Deutsche und Englische Fassung {prEN}\_ISO\_10218-2:2020},
-	url = {https://www.dinmedia.de/de/-/-/331246964},
+	title = {{DIN} {EN} {ISO} 10218-2:2021-03, {Robotik}\_- {Sicherheitsanforderungen} für {Robotersysteme} in industrieller {Umgebung}\_- {Teil}\_2: {Robotersysteme}, {Roboteranwendungen} und {Integration} von {Roboterzellen} ({ISO}/{DIS}\_10218-2:2020); {Deutsche} und {Englische} {Fassung} {prEN}\_ISO\_10218-2:2020},
 	shorttitle = {{DIN} {EN} {ISO} 10218-2},
-	publisher = {{DIN} Media {GmbH}},
+	url = {https://www.dinmedia.de/de/-/-/331246964},
 	urldate = {2025-02-19},
+	publisher = {DIN Media GmbH},
 	doi = {10.31030/3215258},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\HB28M28Z\\DIN EN ISO 10218-22021-03, Robotik_- Sicherheitsanforderungen für Robotersysteme in industrieller U.pdf:application/pdf},
+	file = {PDF:/home/carla/Zotero/storage/HB28M28Z/DIN EN ISO 10218-22021-03, Robotik_- Sicherheitsanforderungen für Robotersysteme in industrieller U.pdf:application/pdf},
 }
 
 @article{li_common_2019,
-	title = {Common Sensors in Industrial Robots: A Review},
+	title = {Common {Sensors} in {Industrial} {Robots}: {A} {Review}},
 	volume = {1267},
 	issn = {1742-6588, 1742-6596},
+	shorttitle = {Common {Sensors} in {Industrial} {Robots}},
 	url = {https://iopscience.iop.org/article/10.1088/1742-6596/1267/1/012036},
 	doi = {10.1088/1742-6596/1267/1/012036},
-	shorttitle = {Common Sensors in Industrial Robots},
 	abstract = {The application of industrial robots has greatly promoted the development of industry in the past decades. Now with the proposal and prevalence of Industry 4.0, industrial robots are required to be more independent and intelligent to accomplish more complex and flexible tasks. The advancement of industrial robots relies on the development and progress of multiple technologies, among which sensors are the indispensable part. They can acquire abundant information to help industrial robots implement their functions. This paper reviews the recent literatures and gives a summary and introduction of the commonly used sensors in industrial robots. Additionally, the applications of these sensors in diverse functions of industrial robots are also presented. Finally, the developing direction and challenges of industrial robots in the future are discussed in the last part of this article.},
-	pages = {012036},
 	number = {1},
-	journaltitle = {Journal of Physics: Conference Series},
-	shortjournal = {J. Phys.: Conf. Ser.},
+	urldate = {2025-02-18},
+	journal = {Journal of Physics: Conference Series},
 	author = {Li, Peng and Liu, Xiangpeng},
+	month = jul,
+	year = {2019},
+	pages = {012036},
+	file = {PDF:/home/carla/Zotero/storage/WQ5C229K/Li und Liu - 2019 - Common Sensors in Industrial Robots A Review.pdf:application/pdf},
+}
+
+@misc{noauthor_examples_nodate,
+	title = {Examples - trimesh 4.6.2 documentation},
+	url = {https://trimesh.org/examples.html},
+	urldate = {2025-02-12},
+	file = {Examples - trimesh 4.6.2 documentation:/home/carla/Zotero/storage/SURMD6VT/examples.html:text/html},
+}
+
+@misc{noauthor_tutorials_nodate,
+	title = {Tutorials — {ROS} 2 {Documentation}: {Humble} documentation},
+	url = {https://docs.ros.org/en/humble/Tutorials.html},
+	urldate = {2025-02-12},
+	file = {Tutorials — ROS 2 Documentation\: Humble documentation:/home/carla/Zotero/storage/HQ4G28QE/Tutorials.html:text/html},
+}
+
+@article{wunderlich_rasante_2013,
+	title = {Rasante {Entwicklung} in der {3D}‐{Bildgebung}: {Weiterentwickelte} {Time}‐of‐{Flight}‐{Technologie} verbessert miniaturisierte {3D}‐{Kameras} und {Sensoren}},
+	volume = {8},
+	issn = {1863-1460, 2191-1975},
+	shorttitle = {Rasante {Entwicklung} in der {3D}‐{Bildgebung}},
+	url = {https://onlinelibrary.wiley.com/doi/10.1002/opph.201300018},
+	doi = {10.1002/opph.201300018},
+	abstract = {Abstract Optoelektrische Sensoren, die eine dreidimensionale Bildinformation auswerten können, eröffnen nicht nur der Mensch‐Maschinen‐Interaktion durch Gestensteuerung völlig neue Anwendungsmöglichkeiten. Auch für die Industrie erweitert sich durch diese Technologie die Prozessüberwachung und Steuerung sprichwörtlich um eine neue Dimension.},
+	number = {3},
 	urldate = {2025-02-18},
-	date = {2019-07-01},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\WQ5C229K\\Li und Liu - 2019 - Common Sensors in Industrial Robots A Review.pdf:application/pdf},
+	journal = {Optik \& Photonik},
+	author = {Wunderlich, Max},
+	month = sep,
+	year = {2013},
+	pages = {38--40},
+	file = {Optik   Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung:/home/carla/Zotero/storage/JZJDENIL/Optik   Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung.pdf:application/pdf},
+}
+
+@misc{grans_sebastiangransros2-point-cloud-demo_2024,
+	title = {{SebastianGrans}/{ROS2}-{Point}-{Cloud}-{Demo}},
+	url = {https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo},
+	abstract = {Demo package for ROS2 that publishes a point cloud and visualizes it using RViz2},
+	urldate = {2025-02-12},
+	author = {Grans, Sebastian},
+	month = dec,
+	year = {2024},
+}
+
+@misc{iii_earlephilhowerarduino-pico_2025,
+	title = {earlephilhower/arduino-pico},
+	url = {https://github.com/earlephilhower/arduino-pico},
+	abstract = {Raspberry Pi Pico Arduino core, for all RP2040 and RP2350 boards},
+	urldate = {2025-02-12},
+	author = {III, Earle F. Philhower},
+	month = feb,
+	year = {2025},
+	keywords = {a2dp, arduino, arduino-pico, ble, bluetooth, freertos, pi, pico, pico2, picow, raspberry, raspberry-pi, risc-v, riscv, rp2040, rp2350, smp, wifi},
+}
+
+@misc{noauthor_chatgpt_nodate,
+	title = {{ChatGPT}},
+	url = {https://chatgpt.com},
+	abstract = {A conversational AI system that listens, learns, and challenges},
+	urldate = {2025-02-12},
+	file = {Snapshot:/home/carla/Zotero/storage/R25VDLY2/678e85c2-fd98-800d-908f-de95b27f0abf.html:text/html},
+}
+
+@misc{noauthor_pico-series_nodate,
+	title = {Pico-series {Microcontrollers} - {Raspberry} {Pi} {Documentation}},
+	url = {https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html},
+	abstract = {The official documentation for Raspberry Pi computers and microcontrollers},
+	urldate = {2025-02-12},
+	file = {Snapshot:/home/carla/Zotero/storage/VKDULUUX/pico-series.html:text/html},
+}
+
+@misc{noauthor_vl53l7cx_nodate,
+	title = {{VL53L7CX} - {Time}-of-{Flight} ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV} - {STMicroelectronics}},
+	url = {https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html},
+	abstract = {VL53L7CX - Time-of-Flight (ToF) 8x8 multizone ranging sensor with 90 degrees FoV, VL53L7CXV0GC/1, STMicroelectronics},
+	urldate = {2025-02-12},
+	file = {Snapshot:/home/carla/Zotero/storage/BKZM82KQ/vl53l7cx.html:text/html},
+}
+
+@article{paya_state---art_2017,
+	title = {A {State}-of-the-{Art} {Review} on {Mapping} and {Localization} of {Mobile} {Robots} {Using} {Omnidirectional} {Vision} {Sensors}},
+	volume = {2017},
+	issn = {1687-7268},
+	url = {https://onlinelibrary.wiley.com/doi/abs/10.1155/2017/3497650},
+	doi = {10.1155/2017/3497650},
+	abstract = {Nowadays, the field of mobile robotics is experiencing a quick evolution, and a variety of autonomous vehicles is available to solve different tasks. The advances in computer vision have led to a substantial increase in the use of cameras as the main sensors in mobile robots. They can be used as the only source of information or in combination with other sensors such as odometry or laser. Among vision systems, omnidirectional sensors stand out due to the richness of the information they provide the robot with, and an increasing number of works about them have been published over the last few years, leading to a wide variety of frameworks. In this review, some of the most important works are analysed. One of the key problems the scientific community is addressing currently is the improvement of the autonomy of mobile robots. To this end, building robust models of the environment and solving the localization and navigation problems are three important abilities that any mobile robot must have. Taking it into account, the review concentrates on these problems; how researchers have addressed them by means of omnidirectional vision; the main frameworks they have proposed; and how they have evolved in recent years.},
+	number = {1},
+	urldate = {2025-02-12},
+	journal = {Journal of Sensors},
+	author = {Payá, L. and Gil, A. and Reinoso, O.},
+	year = {2017},
+	pages = {3497650},
+	file = {Full Text PDF:/home/carla/Zotero/storage/G2QJUK53/Payá et al. - 2017 - A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision.pdf:application/pdf;Snapshot:/home/carla/Zotero/storage/PSAFIKFD/3497650.html:text/html},
+}
+
+@article{saudabayev_sensors_2015,
+	title = {Sensors for {Robotic} {Hands}: {A} {Survey} of {State} of the {Art}},
+	volume = {3},
+	issn = {2169-3536},
+	shorttitle = {Sensors for {Robotic} {Hands}},
+	url = {https://ieeexplore.ieee.org/document/7283549/?arnumber=7283549},
+	doi = {10.1109/ACCESS.2015.2482543},
+	abstract = {Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands.},
+	urldate = {2025-02-12},
+	journal = {IEEE Access},
+	author = {Saudabayev, Artur and Varol, Huseyin Atakan},
+	year = {2015},
+	keywords = {Robot sensing systems, Sensors, Artificial hands, Hands, industrial robotics, prosthetics, Prosthetics, review, robot end effectors, robot sensing, robotic hands, Robots, sensors},
+	pages = {1765--1782},
+	file = {Full Text PDF:/home/carla/Zotero/storage/CDE3NZ3S/Saudabayev and Varol - 2015 - Sensors for Robotic Hands A Survey of State of the Art.pdf:application/pdf;IEEE Xplore Abstract Record:/home/carla/Zotero/storage/BEAGLR7C/7283549.html:text/html},
+}
+
+@book{hering_sensoren_2018,
+	address = {Wiesbaden},
+	title = {Sensoren in {Wissenschaft} und {Technik}},
+	isbn = {978-3-658-12561-5 978-3-658-12562-2},
+	url = {http://link.springer.com/10.1007/978-3-658-12562-2},
+	urldate = {2025-02-12},
+	publisher = {Springer Fachmedien Wiesbaden},
+	editor = {Hering, Ekbert and Schönfelder, Gert},
+	year = {2018},
+	doi = {10.1007/978-3-658-12562-2},
+	file = {PDF:/home/carla/Zotero/storage/BG7FCKRW/Hering and Schönfelder - 2018 - Sensoren in Wissenschaft und Technik.pdf:application/pdf},
+}
+
+@book{hertzberg_mobile_2012,
+	address = {Berlin, Heidelberg},
+	series = {{eXamen}.press},
+	title = {Mobile {Roboter}: {Eine} {Einführung} aus {Sicht} der {Informatik}},
+	isbn = {978-3-642-01725-4 978-3-642-01726-1},
+	shorttitle = {Mobile {Roboter}},
+	url = {https://link.springer.com/10.1007/978-3-642-01726-1},
+	urldate = {2025-02-12},
+	publisher = {Springer Berlin Heidelberg},
+	author = {Hertzberg, Joachim and Lingemann, Kai and Nüchter, Andreas},
+	year = {2012},
+	doi = {10.1007/978-3-642-01726-1},
+	file = {PDF:/home/carla/Zotero/storage/4LFEHVEK/Hertzberg et al. - 2012 - Mobile Roboter Eine Einführung aus Sicht der Informatik.pdf:application/pdf},
+}
+
+@article{haddadin_robot_2017,
+	title = {Robot {Collisions}: {A} {Survey} on {Detection}, {Isolation}, and {Identification}},
+	volume = {33},
+	issn = {1941-0468},
+	shorttitle = {Robot {Collisions}},
+	url = {https://ieeexplore.ieee.org/abstract/document/8059840},
+	doi = {10.1109/TRO.2017.2723903},
+	abstract = {Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.},
+	number = {6},
+	urldate = {2025-02-12},
+	journal = {IEEE Transactions on Robotics},
+	author = {Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin},
+	month = dec,
+	year = {2017},
+	keywords = {Service robots, Real-time systems, Robot sensing systems, Collision avoidance, Collision detection, Algorithm design and analysis, collision identification, collision isolation, Drones, flexible joint manipulators, human-friendly robotics, Human-robot interaction, physical human–robot interaction (pHRI), safe robotics},
+	pages = {1292--1312},
+	file = {Accepted Version:/home/carla/Zotero/storage/BGZ6TUWR/Haddadin et al. - 2017 - Robot Collisions A Survey on Detection, Isolation, and Identification.pdf:application/pdf;IEEE Xplore Abstract Record:/home/carla/Zotero/storage/UJAHJUBE/8059840.html:text/html},
+}
+
+@misc{noauthor_universalrobotsuniversal_robots_ros2_gazebo_simulation_2025,
+	title = {{UniversalRobots}/{Universal}\_Robots\_ROS2\_Gazebo\_Simulation},
+	url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation},
+	urldate = {2025-02-17},
+	publisher = {Universal Robots A/S},
+	month = feb,
+	year = {2025},
 }
 
 @misc{noauthor_din_nodate-2,
-	title = {{DIN} {EN} {ISO} 10218-2:2021-03, Robotik\_- Sicherheitsanforderungen für Robotersysteme in industrieller Umgebung\_- Teil\_2: Robotersysteme, Roboteranwendungen und Integration von Roboterzellen ({ISO}/{DIS}\_10218-2:2020); Deutsche und Englische Fassung {prEN}\_ISO\_10218-2:2020},
+	title = {{DIN} {EN} {ISO} 10218-2:2021-03, {Robotik}\_- {Sicherheitsanforderungen} für {Robotersysteme} in industrieller {Umgebung}\_- {Teil}\_2: {Robotersysteme}, {Roboteranwendungen} und {Integration} von {Roboterzellen} ({ISO}/{DIS}\_10218-2:2020); {Deutsche} und {Englische} {Fassung} {prEN}\_ISO\_10218-2:2020},
+	shorttitle = {{DIN} {EN} {ISO} 10218-2},
 	url = {https://www.dinmedia.de/de/-/-/331246964},
 	doi = {10.31030/3215258},
-	shorttitle = {{DIN} {EN} {ISO} 10218-2},
-	publisher = {{DIN} Media {GmbH}},
+	language = {de},
 	urldate = {2025-02-19},
-	langid = {german},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\M7E9L4CP\\DIN EN ISO 10218-22021-03, Robotik_- Sicherheitsanforderungen für Robotersysteme in industrieller U.pdf:application/pdf},
+	publisher = {DIN Media GmbH},
+	file = {PDF:/home/carla/Zotero/storage/M7E9L4CP/DIN EN ISO 10218-22021-03, Robotik_- Sicherheitsanforderungen für Robotersysteme in industrieller U.pdf:application/pdf},
 }
 
 @misc{noauthor_din_nodate-3,
-	title = {{DIN} {EN} {ISO} 10218-1:2021-09, Robotik\_- Sicherheitsanforderungen\_- Teil\_1: Industrieroboter ({ISO}/{DIS}\_10218-1.2:2021); Deutsche und Englische Fassung {prEN}\_ISO\_10218-1:2021},
+	title = {{DIN} {EN} {ISO} 10218-1:2021-09, {Robotik}\_- {Sicherheitsanforderungen}\_- {Teil}\_1: {Industrieroboter} ({ISO}/{DIS}\_10218-1.2:2021); {Deutsche} und {Englische} {Fassung} {prEN}\_ISO\_10218-1:2021},
+	shorttitle = {{DIN} {EN} {ISO} 10218-1},
 	url = {https://www.dinmedia.de/de/-/-/341406648},
 	doi = {10.31030/3272912},
-	shorttitle = {{DIN} {EN} {ISO} 10218-1},
-	publisher = {{DIN} Media {GmbH}},
+	language = {de},
 	urldate = {2025-02-19},
-	langid = {german},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\XCP5RDRY\\DIN EN ISO 10218-12021-09, Robotik_- Sicherheitsanforderungen_- Teil_1 Industrieroboter (ISODIS_1.pdf:application/pdf},
+	publisher = {DIN Media GmbH},
+	file = {PDF:/home/carla/Zotero/storage/XCP5RDRY/DIN EN ISO 10218-12021-09, Robotik_- Sicherheitsanforderungen_- Teil_1 Industrieroboter (ISODIS_1.pdf:application/pdf},
 }
 
 @article{li_common_2019-1,
-	title = {Common Sensors in Industrial Robots: A Review},
+	title = {Common {Sensors} in {Industrial} {Robots}: {A} {Review}},
 	volume = {1267},
 	issn = {1742-6588, 1742-6596},
+	shorttitle = {Common {Sensors} in {Industrial} {Robots}},
 	url = {https://iopscience.iop.org/article/10.1088/1742-6596/1267/1/012036},
 	doi = {10.1088/1742-6596/1267/1/012036},
-	shorttitle = {Common Sensors in Industrial Robots},
 	abstract = {The application of industrial robots has greatly promoted the development of industry in the past decades. Now with the proposal and prevalence of Industry 4.0, industrial robots are required to be more independent and intelligent to accomplish more complex and flexible tasks. The advancement of industrial robots relies on the development and progress of multiple technologies, among which sensors are the indispensable part. They can acquire abundant information to help industrial robots implement their functions. This paper reviews the recent literatures and gives a summary and introduction of the commonly used sensors in industrial robots. Additionally, the applications of these sensors in diverse functions of industrial robots are also presented. Finally, the developing direction and challenges of industrial robots in the future are discussed in the last part of this article.},
-	pages = {012036},
+	language = {en},
 	number = {1},
-	journaltitle = {Journal of Physics: Conference Series},
-	shortjournal = {J. Phys.: Conf. Ser.},
-	author = {Li, Peng and Liu, Xiangpeng},
 	urldate = {2025-02-18},
-	date = {2019-07-01},
-	langid = {english},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\UVXS2R7J\\Li und Liu - 2019 - Common Sensors in Industrial Robots A Review.pdf:application/pdf},
+	journal = {Journal of Physics: Conference Series},
+	author = {Li, Peng and Liu, Xiangpeng},
+	month = jul,
+	year = {2019},
+	pages = {012036},
+	file = {PDF:/home/carla/Zotero/storage/UVXS2R7J/Li und Liu - 2019 - Common Sensors in Industrial Robots A Review.pdf:application/pdf},
 }
 
-@article{wunderlich_rasante_2013,
-	title = {Rasante Entwicklung in der 3D‐Bildgebung: Weiterentwickelte Time‐of‐Flight‐Technologie verbessert miniaturisierte 3D‐Kameras und Sensoren},
+@article{wunderlich_rasante_2013-1,
+	title = {Rasante {Entwicklung} in der {3D}‐{Bildgebung}: {Weiterentwickelte} {Time}‐of‐{Flight}‐{Technologie} verbessert miniaturisierte {3D}‐{Kameras} und {Sensoren}},
 	volume = {8},
-	rights = {http://onlinelibrary.wiley.com/{termsAndConditions}\#vor},
+	copyright = {http://onlinelibrary.wiley.com/termsAndConditions\#vor},
 	issn = {1863-1460, 2191-1975},
+	shorttitle = {Rasante {Entwicklung} in der {3D}‐{Bildgebung}},
 	url = {https://onlinelibrary.wiley.com/doi/10.1002/opph.201300018},
 	doi = {10.1002/opph.201300018},
-	shorttitle = {Rasante Entwicklung in der 3D‐Bildgebung},
 	abstract = {Abstract
             Optoelektrische Sensoren, die eine dreidimensionale Bildinformation auswerten können, eröffnen nicht nur der Mensch‐Maschinen‐Interaktion durch Gestensteuerung völlig neue Anwendungsmöglichkeiten. Auch für die Industrie erweitert sich durch diese Technologie die Prozessüberwachung und Steuerung sprichwörtlich um eine neue Dimension.},
-	pages = {38--40},
+	language = {de},
 	number = {3},
-	journaltitle = {Optik \& Photonik},
-	shortjournal = {Optik \& Photonik},
-	author = {Wunderlich, Max},
 	urldate = {2025-02-18},
-	date = {2013-09},
-	langid = {german},
-	file = {Optik   Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung:C\:\\Users\\reebe\\Zotero\\storage\\H7CSUHLW\\Optik   Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung.pdf:application/pdf},
+	journal = {Optik \& Photonik},
+	author = {Wunderlich, Max},
+	month = sep,
+	year = {2013},
+	pages = {38--40},
+	file = {Optik   Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung:/home/carla/Zotero/storage/H7CSUHLW/Optik   Photonik - 2013 - Wunderlich - Rasante Entwicklung in der 3D‐Bildgebung.pdf:application/pdf},
 }
 
-@software{noauthor_universalrobotsuniversal_robots_ros2_gazebo_simulation_2025,
-	title = {{UniversalRobots}/Universal\_Robots\_ROS2\_Gazebo\_Simulation},
-	rights = {{BSD}-3-Clause},
+@misc{noauthor_universalrobotsuniversal_robots_ros2_gazebo_simulation_2025-1,
+	title = {{UniversalRobots}/{Universal}\_Robots\_ROS2\_Gazebo\_Simulation},
+	copyright = {BSD-3-Clause},
 	url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation},
-	publisher = {Universal Robots A/S},
 	urldate = {2025-02-17},
-	date = {2025-02-13},
+	publisher = {Universal Robots A/S},
+	month = feb,
+	year = {2025},
 	note = {original-date: 2021-12-15T12:18:45Z},
 }
 
-@article{haddadin_robot_2017,
-	title = {Robot Collisions: A Survey on Detection, Isolation, and Identification},
+@article{haddadin_robot_2017-1,
+	title = {Robot {Collisions}: {A} {Survey} on {Detection}, {Isolation}, and {Identification}},
 	volume = {33},
 	issn = {1941-0468},
+	shorttitle = {Robot {Collisions}},
 	url = {https://ieeexplore.ieee.org/abstract/document/8059840},
 	doi = {10.1109/TRO.2017.2723903},
-	shorttitle = {Robot Collisions},
 	abstract = {Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.},
-	pages = {1292--1312},
 	number = {6},
-	journaltitle = {{IEEE} Transactions on Robotics},
-	author = {Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin},
 	urldate = {2025-02-12},
-	date = {2017-12},
-	note = {Conference Name: {IEEE} Transactions on Robotics},
-	keywords = {Service robots, Real-time systems, Robot sensing systems, Collision avoidance, Collision detection, Algorithm design and analysis, collision identification, collision isolation, Drones, flexible joint manipulators, human-friendly robotics, Human-robot interaction, physical human–robot interaction ({pHRI}), safe robotics},
-	file = {Accepted Version:C\:\\Users\\reebe\\Zotero\\storage\\IEXJFAMF\\Haddadin et al. - 2017 - Robot Collisions A Survey on Detection, Isolation, and Identification.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\LDB3Q92K\\8059840.html:text/html},
+	journal = {IEEE Transactions on Robotics},
+	author = {Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin},
+	month = dec,
+	year = {2017},
+	note = {Conference Name: IEEE Transactions on Robotics},
+	keywords = {Service robots, Real-time systems, Robot sensing systems, Collision avoidance, Collision detection, Algorithm design and analysis, collision identification, collision isolation, Drones, flexible joint manipulators, human-friendly robotics, Human-robot interaction, physical human–robot interaction (pHRI), safe robotics},
+	pages = {1292--1312},
+	file = {Accepted Version:/home/carla/Zotero/storage/IEXJFAMF/Haddadin et al. - 2017 - Robot Collisions A Survey on Detection, Isolation, and Identification.pdf:application/pdf;IEEE Xplore Abstract Record:/home/carla/Zotero/storage/LDB3Q92K/8059840.html:text/html},
 }
 
-@book{hertzberg_mobile_2012,
-	location = {Berlin, Heidelberg},
-	title = {Mobile Roboter: Eine Einführung aus Sicht der Informatik},
-	rights = {https://www.springernature.com/gp/researchers/text-and-data-mining},
+@book{hertzberg_mobile_2012-1,
+	address = {Berlin, Heidelberg},
+	series = {{eXamen}.press},
+	title = {Mobile {Roboter}: {Eine} {Einführung} aus {Sicht} der {Informatik}},
+	copyright = {https://www.springernature.com/gp/researchers/text-and-data-mining},
 	isbn = {978-3-642-01725-4 978-3-642-01726-1},
+	shorttitle = {Mobile {Roboter}},
 	url = {https://link.springer.com/10.1007/978-3-642-01726-1},
-	series = {{eXamen}.press},
-	shorttitle = {Mobile Roboter},
+	language = {de},
+	urldate = {2025-02-12},
 	publisher = {Springer Berlin Heidelberg},
 	author = {Hertzberg, Joachim and Lingemann, Kai and Nüchter, Andreas},
-	urldate = {2025-02-12},
-	date = {2012},
-	langid = {german},
+	year = {2012},
 	doi = {10.1007/978-3-642-01726-1},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\RLTU9P46\\Hertzberg et al. - 2012 - Mobile Roboter Eine Einführung aus Sicht der Informatik.pdf:application/pdf},
+	file = {PDF:/home/carla/Zotero/storage/RLTU9P46/Hertzberg et al. - 2012 - Mobile Roboter Eine Einführung aus Sicht der Informatik.pdf:application/pdf},
 }
 
-@collection{hering_sensoren_2018,
-	location = {Wiesbaden},
-	title = {Sensoren in Wissenschaft und Technik},
-	rights = {http://www.springer.com/tdm},
+@book{hering_sensoren_2018-1,
+	address = {Wiesbaden},
+	title = {Sensoren in {Wissenschaft} und {Technik}},
+	copyright = {http://www.springer.com/tdm},
 	isbn = {978-3-658-12561-5 978-3-658-12562-2},
 	url = {http://link.springer.com/10.1007/978-3-658-12562-2},
+	language = {de},
+	urldate = {2025-02-12},
 	publisher = {Springer Fachmedien Wiesbaden},
 	editor = {Hering, Ekbert and Schönfelder, Gert},
-	urldate = {2025-02-12},
-	date = {2018},
-	langid = {german},
+	year = {2018},
 	doi = {10.1007/978-3-658-12562-2},
-	file = {PDF:C\:\\Users\\reebe\\Zotero\\storage\\9TI57WXD\\Hering and Schönfelder - 2018 - Sensoren in Wissenschaft und Technik.pdf:application/pdf},
+	file = {PDF:/home/carla/Zotero/storage/9TI57WXD/Hering and Schönfelder - 2018 - Sensoren in Wissenschaft und Technik.pdf:application/pdf},
 }
 
-@article{saudabayev_sensors_2015,
-	title = {Sensors for Robotic Hands: A Survey of State of the Art},
+@article{saudabayev_sensors_2015-1,
+	title = {Sensors for {Robotic} {Hands}: {A} {Survey} of {State} of the {Art}},
 	volume = {3},
 	issn = {2169-3536},
+	shorttitle = {Sensors for {Robotic} {Hands}},
 	url = {https://ieeexplore.ieee.org/document/7283549/?arnumber=7283549},
 	doi = {10.1109/ACCESS.2015.2482543},
-	shorttitle = {Sensors for Robotic Hands},
 	abstract = {Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands.},
-	pages = {1765--1782},
-	journaltitle = {{IEEE} Access},
-	author = {Saudabayev, Artur and Varol, Huseyin Atakan},
 	urldate = {2025-02-12},
-	date = {2015},
-	note = {Conference Name: {IEEE} Access},
+	journal = {IEEE Access},
+	author = {Saudabayev, Artur and Varol, Huseyin Atakan},
+	year = {2015},
+	note = {Conference Name: IEEE Access},
 	keywords = {Robot sensing systems, Sensors, Artificial hands, Hands, industrial robotics, prosthetics, Prosthetics, review, robot end effectors, robot sensing, robotic hands, Robots, sensors},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\HR7ZUF8W\\Saudabayev and Varol - 2015 - Sensors for Robotic Hands A Survey of State of the Art.pdf:application/pdf;IEEE Xplore Abstract Record:C\:\\Users\\reebe\\Zotero\\storage\\484D4R7H\\7283549.html:text/html},
+	pages = {1765--1782},
+	file = {Full Text PDF:/home/carla/Zotero/storage/HR7ZUF8W/Saudabayev and Varol - 2015 - Sensors for Robotic Hands A Survey of State of the Art.pdf:application/pdf;IEEE Xplore Abstract Record:/home/carla/Zotero/storage/484D4R7H/7283549.html:text/html},
 }
 
-@article{paya_state---art_2017,
-	title = {A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision Sensors},
+@article{paya_state---art_2017-1,
+	title = {A {State}-of-the-{Art} {Review} on {Mapping} and {Localization} of {Mobile} {Robots} {Using} {Omnidirectional} {Vision} {Sensors}},
 	volume = {2017},
-	rights = {Copyright © 2017 L. Payá et al.},
+	copyright = {Copyright © 2017 L. Payá et al.},
 	issn = {1687-7268},
 	url = {https://onlinelibrary.wiley.com/doi/abs/10.1155/2017/3497650},
 	doi = {10.1155/2017/3497650},
 	abstract = {Nowadays, the field of mobile robotics is experiencing a quick evolution, and a variety of autonomous vehicles is available to solve different tasks. The advances in computer vision have led to a substantial increase in the use of cameras as the main sensors in mobile robots. They can be used as the only source of information or in combination with other sensors such as odometry or laser. Among vision systems, omnidirectional sensors stand out due to the richness of the information they provide the robot with, and an increasing number of works about them have been published over the last few years, leading to a wide variety of frameworks. In this review, some of the most important works are analysed. One of the key problems the scientific community is addressing currently is the improvement of the autonomy of mobile robots. To this end, building robust models of the environment and solving the localization and navigation problems are three important abilities that any mobile robot must have. Taking it into account, the review concentrates on these problems; how researchers have addressed them by means of omnidirectional vision; the main frameworks they have proposed; and how they have evolved in recent years.},
-	pages = {3497650},
+	language = {en},
 	number = {1},
-	journaltitle = {Journal of Sensors},
-	author = {Payá, L. and Gil, A. and Reinoso, O.},
 	urldate = {2025-02-12},
-	date = {2017},
-	langid = {english},
+	journal = {Journal of Sensors},
+	author = {Payá, L. and Gil, A. and Reinoso, O.},
+	year = {2017},
 	note = {\_eprint: https://onlinelibrary.wiley.com/doi/pdf/10.1155/2017/3497650},
-	file = {Full Text PDF:C\:\\Users\\reebe\\Zotero\\storage\\EZ473NGD\\Payá et al. - 2017 - A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision.pdf:application/pdf;Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\86LDAQ62\\3497650.html:text/html},
+	pages = {3497650},
+	file = {Full Text PDF:/home/carla/Zotero/storage/EZ473NGD/Payá et al. - 2017 - A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision.pdf:application/pdf;Snapshot:/home/carla/Zotero/storage/86LDAQ62/3497650.html:text/html},
 }
 
-@online{noauthor_vl53l7cx_nodate,
-	title = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV} - {STMicroelectronics}},
+@misc{noauthor_vl53l7cx_nodate-1,
+	title = {{VL53L7CX} - {Time}-of-{Flight} ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV} - {STMicroelectronics}},
 	url = {https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html},
-	abstract = {{VL}53L7CX - Time-of-Flight ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV}, {VL}53L7CXV0GC/1, {STMicroelectronics}},
+	abstract = {VL53L7CX - Time-of-Flight (ToF) 8x8 multizone ranging sensor with 90 degrees FoV, VL53L7CXV0GC/1, STMicroelectronics},
+	language = {en},
 	urldate = {2025-02-12},
-	langid = {english},
-	file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\VEYLCCLA\\vl53l7cx.html:text/html},
+	file = {Snapshot:/home/carla/Zotero/storage/VEYLCCLA/vl53l7cx.html:text/html},
 }
 
-@online{noauthor_pico-series_nodate,
-	title = {Pico-series Microcontrollers - Raspberry Pi Documentation},
+@misc{noauthor_pico-series_nodate-1,
+	title = {Pico-series {Microcontrollers} - {Raspberry} {Pi} {Documentation}},
 	url = {https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html},
 	abstract = {The official documentation for Raspberry Pi computers and microcontrollers},
+	language = {en},
 	urldate = {2025-02-12},
-	langid = {english},
-	file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\KUCB8PVI\\pico-series.html:text/html},
+	file = {Snapshot:/home/carla/Zotero/storage/KUCB8PVI/pico-series.html:text/html},
 }
 
-@online{noauthor_chatgpt_nodate,
+@misc{noauthor_chatgpt_nodate-1,
 	title = {{ChatGPT}},
 	url = {https://chatgpt.com},
-	abstract = {A conversational {AI} system that listens, learns, and challenges},
+	abstract = {A conversational AI system that listens, learns, and challenges},
 	urldate = {2025-02-12},
-	file = {Snapshot:C\:\\Users\\reebe\\Zotero\\storage\\ZT8MG8Y4\\678e85c2-fd98-800d-908f-de95b27f0abf.html:text/html},
+	file = {Snapshot:/home/carla/Zotero/storage/ZT8MG8Y4/678e85c2-fd98-800d-908f-de95b27f0abf.html:text/html},
 }
 
-@software{iii_earlephilhowerarduino-pico_2025,
+@misc{iii_earlephilhowerarduino-pico_2025-1,
 	title = {earlephilhower/arduino-pico},
-	rights = {{LGPL}-2.1},
+	copyright = {LGPL-2.1},
 	url = {https://github.com/earlephilhower/arduino-pico},
-	abstract = {Raspberry Pi Pico Arduino core, for all {RP}2040 and {RP}2350 boards},
-	author = {{III}, Earle F. Philhower},
+	abstract = {Raspberry Pi Pico Arduino core, for all RP2040 and RP2350 boards},
 	urldate = {2025-02-12},
-	date = {2025-02-11},
+	author = {III, Earle F. Philhower},
+	month = feb,
+	year = {2025},
 	note = {original-date: 2021-02-25T04:20:27Z},
 	keywords = {a2dp, arduino, arduino-pico, ble, bluetooth, freertos, pi, pico, pico2, picow, raspberry, raspberry-pi, risc-v, riscv, rp2040, rp2350, smp, wifi},
 }
 
-@online{noauthor_tutorials_nodate,
-	title = {Tutorials — {ROS} 2 Documentation: Humble documentation},
+@misc{noauthor_tutorials_nodate-1,
+	title = {Tutorials — {ROS} 2 {Documentation}: {Humble} documentation},
 	url = {https://docs.ros.org/en/humble/Tutorials.html},
 	urldate = {2025-02-12},
-	file = {Tutorials — ROS 2 Documentation\: Humble documentation:C\:\\Users\\reebe\\Zotero\\storage\\28S5GUZ5\\Tutorials.html:text/html},
+	file = {Tutorials — ROS 2 Documentation\: Humble documentation:/home/carla/Zotero/storage/28S5GUZ5/Tutorials.html:text/html},
 }
 
-@online{noauthor_examples_nodate,
+@misc{noauthor_examples_nodate-1,
 	title = {Examples - trimesh 4.6.2 documentation},
 	url = {https://trimesh.org/examples.html},
 	urldate = {2025-02-12},
-	file = {Examples - trimesh 4.6.2 documentation:C\:\\Users\\reebe\\Zotero\\storage\\82WA6KM7\\examples.html:text/html},
+	file = {Examples - trimesh 4.6.2 documentation:/home/carla/Zotero/storage/82WA6KM7/examples.html:text/html},
 }
 
-@software{grans_sebastiangransros2-point-cloud-demo_2024,
-	title = {{SebastianGrans}/{ROS}2-Point-Cloud-Demo},
-	rights = {{MIT}},
+@misc{grans_sebastiangransros2-point-cloud-demo_2024-1,
+	title = {{SebastianGrans}/{ROS2}-{Point}-{Cloud}-{Demo}},
+	copyright = {MIT},
 	url = {https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo},
-	abstract = {Demo package for {ROS}2 that publishes a point cloud and visualizes it using {RViz}2},
-	author = {Grans, Sebastian},
+	abstract = {Demo package for ROS2 that publishes a point cloud and visualizes it using RViz2},
 	urldate = {2025-02-12},
-	date = {2024-12-08},
+	author = {Grans, Sebastian},
+	month = dec,
+	year = {2024},
 	note = {original-date: 2020-06-30T16:55:21Z},
 }
 
-@software{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025,
-	title = {{UniversalRobots}/Universal\_Robots\_ROS2\_GZ\_Simulation},
-	rights = {{BSD}-3-Clause},
-	url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation},
-	publisher = {Universal Robots A/S},
-	urldate = {2025-02-24},
-	date = {2025-02-17},
-	note = {original-date: 2021-12-15T12:15:45Z},
+@misc{noauthor_tof_imager_micro_rosteensy_pcl_publisherteensy_pcl_publisherino_nodate-1,
+	title = {tof\_imager\_micro\_ros/teensy\_pcl\_publisher/teensy\_pcl\_publisher.ino at humble · adityakamath/tof\_imager\_micro\_ros · {GitHub}},
+	url = {https://github.com/adityakamath/tof_imager_micro_ros/blob/humble/teensy_pcl_publisher/teensy_pcl_publisher.ino#L177},
+	urldate = {2025-02-21},
+}
+
+@misc{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate-1,
+	title = {tof\_imager\_micro\_ros/teensy\_pcl\_publisher at humble · adityakamath/tof\_imager\_micro\_ros · {GitHub}},
+	url = {https://github.com/adityakamath/tof_imager_micro_ros/tree/humble/teensy_pcl_publisher},
+	urldate = {2025-02-21},
+}
+
+@misc{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025-1,
+	title = {sparkfun/{SparkFun}\_VL53L5CX\_Arduino\_Library},
+	url = {https://github.com/sparkfun/SparkFun_VL53L5CX_Arduino_Library},
+	urldate = {2025-02-21},
+	publisher = {SparkFun Electronics},
+	month = jan,
+	year = {2025},
+}
+
+@misc{noauthor_vlp_nodate-1,
+	title = {{VLP} 16 {\textbackslash}textbar {Ouster}},
+	url = {https://ouster.com/products/hardware/vlp-16},
+	abstract = {Mid-range lidar sensor},
+	urldate = {2025-02-20},
+}
+
+@article{niclass_design_2012-1,
+	title = {Design and characterization of a 256x64-pixel single-photon imager in {CMOS} for a {MEMS}-based laser scanning time-of-flight sensor},
+	volume = {20},
+	issn = {1094-4087},
+	url = {https://opg.optica.org/oe/abstract.cfm?uri=oe-20-11-11863},
+	doi = {10.1364/OE.20.011863},
+	abstract = {We introduce an optical time-of-flight image sensor taking advantage of a MEMS-based laser scanning device. Unlike previous approaches, our concept benefits from the high timing resolution and the digital signal flexibility of single-photon pixels in CMOS to allow for a nearly ideal cooperation between the image sensor and the scanning device. This technique enables a high signal-to-background light ratio to be obtained, while simultaneously relaxing the constraint on size of the MEMS mirror. These conditions are critical for devising practical and low-cost depth sensors intended to operate in uncontrolled environments, such as outdoors. A proof-of-concept prototype capable of operating in real-time was implemented. This paper focuses on the design and characterization of a 256x64-pixel image sensor, which also comprises an event-driven readout circuit, an array of 64 row-level high-throughput time-to-digital converters, and a 16Gbit/s global readout circuit. Quantitative evaluation of the sensor under 2klux of background light revealed a repeatability error of 13.5cm throughout the distance range of 20 meters.},
+	number = {11},
+	urldate = {2025-02-20},
+	journal = {Optics Express},
+	author = {Niclass, Cristiano and Ito, Kota and Soga, Mineki and Matsubara, Hiroyuki and Aoyagi, Isao and Kato, Satoru and Kagami, Manabu},
+	month = may,
+	year = {2012},
+	keywords = {Deformable mirrors, Diode lasers, Image sensors, Light emitting diodes, Optical systems, Systems design},
+	pages = {11863--11881},
+}
+
+@article{surmann_autonomous_2003-1,
+	title = {An autonomous mobile robot with a {3D} laser range finder for {3D} exploration and digitalization of indoor environments},
+	volume = {45},
+	issn = {0921-8890},
+	url = {https://www.sciencedirect.com/science/article/pii/S0921889003001556},
+	doi = {10.1016/j.robot.2003.09.004},
+	abstract = {Digital 3D models of the environment are needed in rescue and inspection robotics, facility managements and architecture. This paper presents an automatic system for gaging and digitalization of 3D indoor environments. It consists of an autonomous mobile robot, a reliable 3D laser range finder and three elaborated software modules. The first module, a fast variant of the Iterative Closest Points algorithm, registers the 3D scans in a common coordinate system and relocalizes the robot. The second module, a next best view planner, computes the next nominal pose based on the acquired 3D data while avoiding complicated obstacles. The third module, a closed-loop and globally stable motor controller, navigates the mobile robot to a nominal pose on the base of odometry and avoids collisions with dynamical obstacles. The 3D laser range finder acquires a 3D scan at this pose. The proposed method allows one to digitalize large indoor environments fast and reliably without any intervention and solves the SLAM problem. The results of two 3D digitalization experiments are presented using a fast octree-based visualization method.},
+	number = {3},
+	urldate = {2025-02-20},
+	journal = {Robotics and Autonomous Systems},
+	author = {Surmann, Hartmut and Nüchter, Andreas and Hertzberg, Joachim},
+	month = dec,
+	year = {2003},
+	keywords = {3D digitalization, 3D gaging, 3D laser range finder, Autonomous mobile robots, Next best view planning, Robot relocalization, Scan matching, SLAM},
+	pages = {181--198},
+}
+
+@article{raj_survey_2020-1,
+	title = {A {Survey} on {LiDAR} {Scanning} {Mechanisms}},
+	volume = {9},
+	issn = {2079-9292},
+	url = {https://www.mdpi.com/2079-9292/9/5/741},
+	doi = {10.3390/electronics9050741},
+	abstract = {In recent years, light detection and ranging (LiDAR) technology has gained huge popularity in various applications such as navigation, robotics, remote sensing, and advanced driving assistance systems (ADAS). This popularity is mainly due to the improvements in LiDAR performance in terms of range detection, accuracy, power consumption, as well as physical features such as dimension and weight. Although a number of literatures on LiDAR technology have been published earlier, not many has been reported on the state-of-the-art LiDAR scanning mechanisms. The aim of this article is to review the scanning mechanisms employed in LiDAR technology from past research works to the current commercial products. The review highlights four commonly used mechanisms in LiDAR systems: Opto-mechanical, electromechanical, micro-electromechanical systems (MEMS), and solid-state scanning. The study reveals that electro-mechanical scanning is the most prominent technology in use today. The commercially available 1D time of flight (TOF) LiDAR instrument is currently the most attractive option for conversion from 1D to 3D LiDAR system, provided that low scanning rate is not an issue. As for applications with low size, weight, and power (SWaP) requirements, MEMS scanning is found to be the better alternative. MEMS scanning is by far the more matured technology compared to solid-state scanning and is currently given great emphasis to increase its robustness for fulfilling the requirements of ADAS applications. Finally, solid-state LiDAR systems are expected to fill in the gap in ADAS applications despite the low technology readiness in comparison to MEMS scanners. However, since solid-state scanning is believed to have superior robustness, field of view (FOV), and scanning rate potential, great efforts are given by both academics and industries to further develop this technology.},
+	number = {5},
+	urldate = {2025-02-20},
+	journal = {Electronics},
+	author = {Raj, Thinal and Hashim, Fazida Hanim and Huddin, Aqilah Baseri and Ibrahim, Mohd Faisal and Hussain, Aini},
+	month = may,
+	year = {2020},
+	keywords = {electro-mechanical scanning, LiDAR, MEMS scanning, opto-mechanical scanning, solid-state LiDAR},
+	pages = {741},
+}
+
+@misc{noauthor_file20200501_2020-1,
+	title = {File:20200501 {Time} of flight.svg - {Wikipedia}},
+	shorttitle = {File},
+	url = {https://commons.wikimedia.org/wiki/File:20200501_Time_of_flight.svg},
+	urldate = {2025-02-20},
+	month = may,
+	year = {2020},
+}
+
+@article{jain_survey_nodate-1,
+	title = {A survey of {Laser} {Range} {Finding}},
+	url = {http://www.siddjain.com/ee236a.pdf},
+	abstract = {This report provides a informal survey of laser distance measurement. Applications of laser range finding are briefly discussed and various techniques for laser ranging such as active laser triangulation, pulsed time-of-flight (TOF), phase shift, FMCW, and correlation are described.},
+	urldate = {2025-02-19},
+	author = {Jain, Siddharth},
+}
+
+@inproceedings{rashid_local_2020-1,
+	title = {Local and {Global} {Sensors} for {Collision} {Avoidance}},
+	url = {https://ieeexplore.ieee.org/document/9235223},
+	doi = {10.1109/MFI49285.2020.9235223},
+	abstract = {Implementation of safe and efficient human robot collaboration for agile production cells with heavy-duty industrial robots, having large stopping distances and large self-occlusion areas, is a challenging task. Collision avoidance is the main functionality required to realize this task. In fact, it requires accurate estimation of shortest distance between known (robot) and unknown (human or anything else) objects in a large area. This work proposes a selective fusion of global and local sensors, representing a large range 360° LiDAR and a small range RGB camera respectively, in the context of dynamic speed and separation monitoring. Safety functionality has been evaluated for collision detection between unknown dynamic object to manipulator joints. The system yields 29-40\% efficiency compared to fenced system. Heavy-duty industrial robot and a controlled linear axis dummy is used for evaluating different robot and scenario configurations. Results suggest higher efficiency and safety when using local and global setup.},
+	urldate = {2025-02-19},
+	booktitle = {2020 {IEEE} {International} {Conference} on {Multisensor} {Fusion} and {Integration} for {Intelligent} {Systems} ({MFI})},
+	author = {Rashid, Aquib and Peesapati, Kannan and Bdiwi, Mohamad and Krusche, Sebastian and Hardt, Wolfram and Putz, Matthias},
+	month = sep,
+	year = {2020},
+	keywords = {Cameras, Laser radar, Production, Robot vision systems, Safety, Sensor fusion, Service robots},
+	pages = {354--359},
+}
+
+@inproceedings{al_naser_fusion_2022-1,
+	title = {Fusion of depth, color, and thermal images towards digital twins and safe human interaction with a robot in an industrial environment},
+	url = {https://ieeexplore.ieee.org/document/9900548},
+	doi = {10.1109/RO-MAN53752.2022.9900548},
+	abstract = {Accurate detection of the human body and its limbs in real-time is one of the challenges toward human-robot collaboration (HRC) technology in the factory of the future. In this work, a new algorithm has been developed to fuse thermal, depth, and color information. Starting with the calibration of the sensors to each other, proceeding with data fusion and detection of human body parts, and ending with pose estimation. The proposed approach has been tested in various HRC scenarios. It has shown a significant decrease in errors and noise in industrial environments. Furthermore, it produces not only a higher positioning accuracy of the head and hands compared to the state of art algorithms (e.g., OpenPose), but it is also faster. Hence, such an algorithm could be joined with digital twins for safe and efficient human-robot collaboration.},
+	urldate = {2025-02-19},
+	booktitle = {2022 31st {IEEE} {International} {Conference} on {Robot} and {Human} {Interactive} {Communication} ({RO}-{MAN})},
+	author = {Al Naser, Ibrahim and Dahmen, Johannes and Bdiwi, Mohamad and Ihlenfeldt, Steffen},
+	month = aug,
+	year = {2022},
+	keywords = {Collaboration, Digital Twins, human detection, Human robot collaboration, Image color analysis, Location awareness, sensor fusion, Sensor fusion, Service robots, Stability criteria, Thermal sensors},
+	pages = {532--537},
+}
+
+@inproceedings{choi_xr-based_2022-1,
+	title = {An {XR}-based {Approach} to {Safe} {Human}-{Robot} {Collaboration}},
+	url = {https://ieeexplore.ieee.org/document/9757621},
+	doi = {10.1109/VRW55335.2022.00106},
+	abstract = {It is crucial to prevent safety accidents for human-robot collaboration. This study proposes an extended reality (XR) approach to safe HRC by calculating the minimum distance between the human operator and robot in real time. The proposed approach scans the real environment with multiple sensors and constructs its virtual space in XR. The virtual robot is synchronized with the real robot by matching the point cloud of real environment with that of the virtual robot. This system can effectively provide task assistance and safety information to the user wearing an XR device.},
+	urldate = {2025-02-19},
+	booktitle = {2022 {IEEE} {Conference} on {Virtual} {Reality} and {3D} {User} {Interfaces} {Abstracts} and {Workshops} ({VRW})},
+	author = {Choi, Sung Ho and Park, Kyeong-Beom and Roh, Dong Hyeon and Lee, Jae Yeol and Ghasemi, Yalda and Jeong, Heejin},
+	month = mar,
+	year = {2022},
+	keywords = {Collaboration, Conferences, H.5.1 [Information Interfaces and Presentation]: Multimedia Information Systems—XR-based safety information, Human-robot collaboration, I.3.8 [Computer Graphics]: Applications—Extended Reality, J.7 [Computer Applications]: Computers in Other Systems—Virtual-Physics synchronization, mixed/extended reality (MR/XR), Real-time systems, Robot sensing systems, Safety, safety distance, Service robots, Three-dimensional displays},
+	pages = {481--482},
+}
+
+@inproceedings{amaya-mejia_vision-based_2022-1,
+	title = {Vision-{Based} {Safety} {System} for {Barrierless} {Human}-{Robot} {Collaboration}},
+	url = {https://ieeexplore.ieee.org/document/9981689},
+	doi = {10.1109/IROS47612.2022.9981689},
+	abstract = {Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents and the need for solutions that ensure a safe Human-Robot Collaboration. This paper proposes a safety system that implements Speed and Separation Monitoring (SSM) type of operation. For this, safety zones are defined in the robot's workspace following current standards for industrial collaborative robots. A deep learning-based computer vision system detects, tracks, and estimates the 3D position of operators close to the robot. The robot control system receives the operator's 3D position and generates 3D representations of them in a simulation environment. Depending on the zone where the closest operator was detected, the robot stops or changes its operating speed. Three different operation modes in which the human and robot interact are presented. Results show that the vision-based system can correctly detect and classify in which safety zone an operator is located and that the different proposed operation modes ensure that the robot's reaction and stop time are within the required time limits to guarantee safety.},
+	urldate = {2025-02-19},
+	booktitle = {2022 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
+	author = {Amaya-Mejía, Lina María and Duque-Suárez, Nicolás and Jaramillo-Ramírez, Daniel and Martinez, Carol},
+	month = oct,
+	year = {2022},
+	keywords = {Collaboration, Collision avoidance, Robot control, Safety, Service robots, Solid modeling, Three-dimensional displays},
+	pages = {7331--7336},
+}
+
+@article{li_safe_2024-1,
+	title = {Safe human–robot collaboration for industrial settings: a survey},
+	volume = {35},
+	issn = {1572-8145},
+	shorttitle = {Safe human–robot collaboration for industrial settings},
+	url = {https://doi.org/10.1007/s10845-023-02159-4},
+	doi = {10.1007/s10845-023-02159-4},
+	abstract = {Human–robot collaboration (HRC) plays a pivotal role in today’s industry by supporting increasingly customised product development. Via HRC, the strengths of humans and robots can be combined to facilitate collaborative jobs within common workplaces to achieve specific industrial goals. Given the significance of safety assurance in HRC, in this survey paper, an update on standards and implementation approaches presented in the latest literature is given to reflect the state-of-the-art of this prominent research topic. First, an overview of safety standards for industrial robots, collaborative robots, and HRC is provided. Then, a survey of various approaches to HRC safety is conducted from two main perspectives, i.e., pre-collision and post-collision, which are further detailed in the aspects of sensing, prediction, learning, planning/replanning, and compliance control. Major characteristics, pros, cons, and applicability of the approaches are analysed. Finally, challenging issues and prospects for the future development of HRC safety are highlighted to provide recommendations for relevant stakeholders to consider when designing HRC-enabled industrial systems.},
+	number = {5},
+	urldate = {2025-02-19},
+	journal = {Journal of Intelligent Manufacturing},
+	author = {Li, Weidong and Hu, Yudie and Zhou, Yong and Pham, Duc Truong},
+	month = jun,
+	year = {2024},
+	keywords = {Collaborative robots, Collision detection, Human–robot collaboration (HRC), Obstacle avoidance, Safety},
+	pages = {2235--2261},
+}
+
+@misc{noauthor_can_nodate-1,
+	title = {Can the collaborative robot market experience a second growth surge in the post-pandemic era?},
+	url = {https://interactanalysis.com/insight/can-the-collaborative-robot-market-experience-a-second-growth-surge-in-the-post-pandemic-era/},
+	abstract = {The market for collaborative robots is forecast to show strong growth over the coming years, with rising sales in industrial and non-industrial sectors.},
+	urldate = {2025-02-19},
+}
+
+@article{nath_review_2022-1,
+	title = {A {Review} of {Advancements} in {Robotic} and {Sensor}-based {Technologies} in {Construction} {Sector}},
+	volume = {7},
+	issn = {2736-576X},
+	url = {https://www.ej-eng.org/index.php/ejeng/article/view/2624},
+	doi = {10.24018/ejeng.2022.7.1.2624},
+	abstract = {The study explores recent innovations in robotic and sensor-based technologies that are spearheading advancements in the construction sector to achieve improvements in construction quality, efficiency, and safety. Automation in construction, although coined as a concept in 1980s, has witnessed minimal progress in the level of application. The study attempts to identify issues constraining adoption of automation in the sector, the recent developments in technologies and their scope in construction, their applications and impacts, and way forward. The role of robotics in various stages of construction and its impact on a wider scale has been identified and discussed. The evolution of Building Information Modeling (BIM) has transitioned it into being an efficient mediator in the construction process with novel concepts such as 4D and 5D BIM and Building Knowledge Management. Various sensor technologies, functioning at diverse scales, have found wide-ranging applications on construction sites ranging from high-accuracy positioning to slow-tracking of personnel and materials, as well as, in progress monitoring and quality control. Information Technology has a major role in binding the sensor technology with on-site requirements to create positive results. A study was done to identify such technological interventions and various software utilities which integrate BIM and sensor technology with tools such as GIS. The factors which restrained developments in automation in construction sector were identified in the course of study. Various global examples of advanced automated construction technologies with applications in various stages of construction were discussed. The review successfully identifies the nascent technological innovations and their productive usage in relevant areas of construction sector.},
+	number = {1},
+	urldate = {2025-02-19},
+	journal = {European Journal of Engineering and Technology Research},
+	author = {Nath, Aditya S.},
+	month = feb,
+	year = {2022},
+	keywords = {Sensors},
+	pages = {85--89},
+}
+
+@article{maheepala_low_2021-1,
+	title = {Low {Power} {Processors} and {Image} {Sensors} for {Vision}-{Based} {IoT} {Devices}: {A} {Review}},
+	volume = {21},
+	issn = {1558-1748},
+	shorttitle = {Low {Power} {Processors} and {Image} {Sensors} for {Vision}-{Based} {IoT} {Devices}},
+	url = {https://ieeexplore.ieee.org/abstract/document/9165781},
+	doi = {10.1109/JSEN.2020.3015932},
+	abstract = {With the advancements of the Internet of Things (IoT) technology, applications of battery powered machine vision based IoT devices is rapidly growing. While numerous research works are being conducted to develop low power hardware solutions for IoT devices, image capture and image processing remain high power demanding processes leading to a short battery life. However, the power consumption of the machine vision based IoT devices can be minimized by the careful optimization of the hardware components that are used is these devices. In this article, we present a review of low power machine vision hardware components for the IoT applications. A guide to selecting the optimum processors and image sensors for a given battery powered machine vision based IoT device is presented. Next, the factors that must be considered when selecting processors and image sensors for a given IoT application are discussed, and selection criteria for the processors and image sensors are established. Then, the current commercially available hardware components are reviewed in accordance with the established selection criteria. Finally, the research trends in the field of battery powered machine vision based IoT devices are discussed, and the potential future research directions in the field are presented.},
+	number = {2},
+	urldate = {2025-02-19},
+	journal = {IEEE Sensors Journal},
+	author = {Maheepala, Malith and Joordens, Matthew A. and Kouzani, Abbas Z.},
+	month = jan,
+	year = {2021},
+	keywords = {Batteries, Cloud computing, image sensor, Image sensors, Internet of Things, low power, machine vision, Machine vision, processor, Program processors, Transceivers},
+	pages = {1172--1186},
+}
+
+@article{liu_application_2024-1,
+	title = {Application, {Development} and {Future} {Opportunities} of {Collaborative} {Robots} ({Cobots}) in {Manufacturing}: {A} {Literature} {Review}},
+	volume = {40},
+	issn = {1044-7318},
+	shorttitle = {Application, {Development} and {Future} {Opportunities} of {Collaborative} {Robots} ({Cobots}) in {Manufacturing}},
+	url = {https://doi.org/10.1080/10447318.2022.2041907},
+	doi = {10.1080/10447318.2022.2041907},
+	abstract = {The rapid development of robot technology has introduced a substantial impact on manufacturing. Numerous studies have been carried out to apply collaborative robots (cobots) to address manufacturing productivity and ergonomics issues, which has brought extensive opportunities. In this context, a systematic literature search in the Web of Science, Scopus, and Google Scholar databases was carried out by electronic and manual search. Thus, 59 relevant contributions out of 4488 studies were analyzed by using preferred reporting items for systematic reviews and meta-analysis (PRISMA). To provide an overview of the different results, studies are summarized according to the following criteria: country, author, year, study design, robot category, results, and future opportunities. The effects of cobots on safety, system design, workplace design, task scheduling, productivity, and ergonomics are discussed to provide a better understanding of the application of cobots in manufacturing. To incentive future research, this paper reviews the development of cobots in manufacturing and discusses future opportunities and directions from cobots and manufacturing system perspectives. This paper provides novel and valuable insights into cobots application and illustrates potential developments of future human-cobot interaction.},
+	number = {4},
+	urldate = {2025-02-19},
+	journal = {International Journal of Human–Computer Interaction},
+	author = {Liu, Li and Guo, Fu and Zou, Zishuai and Duffy, Vincent G.},
+	month = feb,
+	year = {2024},
+	pages = {915--932},
+}
+
+@inproceedings{popov_collision_2017-1,
+	address = {Lisbon},
+	title = {Collision detection, localization \& classification for industrial robots with joint torque sensors},
+	isbn = {978-1-5386-3518-6},
+	url = {http://ieeexplore.ieee.org/document/8172400/},
+	doi = {10.1109/ROMAN.2017.8172400},
+	abstract = {High dynamic capabilities of industrial robots make them dangerous for humans and environment. To reduce this factor and advance collaboration between human and manipulator fast and reliable collision detection algorithm is required. To overcome this problem, we present an approach allowing to detect collision, localize action point and classify collision nature. Internal joint torque and encoder measurements were used to determine potential collisions with the robot links. This work proposes two ways of solving this problem: using classical analytical approach and learning approach implemented with neural network. The suggested algorithms were examined on the industrial robotic arm Kuka iiwa LBR 14 R820, ground truth information on the contact nature and its location were obtained with 3D LIDAR and camera.},
+	urldate = {2025-02-19},
+	booktitle = {2017 26th {IEEE} {International} {Symposium} on {Robot} and {Human} {Interactive} {Communication} ({RO}-{MAN})},
+	publisher = {IEEE},
+	author = {Popov, Dmitry and Klimchik, Alexandr and Mavridis, Nikolaos},
+	month = aug,
+	year = {2017},
+	pages = {838--843},
+}
+
+@misc{noauthor_robotics_2021-1,
+	title = {Robotics - {Vocabulary}},
+	shorttitle = {{ISO} 8373:2021-11},
+	url = {https://www.dinmedia.de/de/norm/iso-8373/348036781},
+	urldate = {2025-02-19},
+	publisher = {DIN Media GmbH},
+	month = nov,
+	year = {2021},
+}
+
+@misc{noauthor_din_nodate-4,
+	title = {{DIN} {EN} {ISO} 10218-1:2021-09, {Robotik}\_- {Sicherheitsanforderungen}\_- {Teil}\_1: {Industrieroboter} ({ISO}/{DIS}\_10218-1.2:2021); {Deutsche} und {Englische} {Fassung} {prEN}\_ISO\_10218-1:2021},
+	shorttitle = {{DIN} {EN} {ISO} 10218-1},
+	url = {https://www.dinmedia.de/de/-/-/341406648},
+	urldate = {2025-02-19},
+	publisher = {DIN Media GmbH},
+	doi = {10.31030/3272912},
+}
+
+@misc{noauthor_din_nodate-5,
+	title = {{DIN} {EN} {ISO} 10218-2:2021-03, {Robotik}\_- {Sicherheitsanforderungen} für {Robotersysteme} in industrieller {Umgebung}\_- {Teil}\_2: {Robotersysteme}, {Roboteranwendungen} und {Integration} von {Roboterzellen} ({ISO}/{DIS}\_10218-2:2020); {Deutsche} und {Englische} {Fassung} {prEN}\_ISO\_10218-2:2020},
+	shorttitle = {{DIN} {EN} {ISO} 10218-2},
+	url = {https://www.dinmedia.de/de/-/-/331246964},
+	urldate = {2025-02-19},
+	publisher = {DIN Media GmbH},
+	doi = {10.31030/3215258},
+}
+
+@article{li_common_2019-2,
+	title = {Common {Sensors} in {Industrial} {Robots}: {A} {Review}},
+	volume = {1267},
+	issn = {1742-6588, 1742-6596},
+	shorttitle = {Common {Sensors} in {Industrial} {Robots}},
+	url = {https://iopscience.iop.org/article/10.1088/1742-6596/1267/1/012036},
+	doi = {10.1088/1742-6596/1267/1/012036},
+	abstract = {The application of industrial robots has greatly promoted the development of industry in the past decades. Now with the proposal and prevalence of Industry 4.0, industrial robots are required to be more independent and intelligent to accomplish more complex and flexible tasks. The advancement of industrial robots relies on the development and progress of multiple technologies, among which sensors are the indispensable part. They can acquire abundant information to help industrial robots implement their functions. This paper reviews the recent literatures and gives a summary and introduction of the commonly used sensors in industrial robots. Additionally, the applications of these sensors in diverse functions of industrial robots are also presented. Finally, the developing direction and challenges of industrial robots in the future are discussed in the last part of this article.},
+	number = {1},
+	urldate = {2025-02-18},
+	journal = {Journal of Physics: Conference Series},
+	author = {Li, Peng and Liu, Xiangpeng},
+	month = jul,
+	year = {2019},
+	pages = {012036},
+}
+
+@misc{noauthor_din_nodate-6,
+	title = {{DIN} {EN} {ISO} 10218-2:2021-03, {Robotik}\_- {Sicherheitsanforderungen} für {Robotersysteme} in industrieller {Umgebung}\_- {Teil}\_2: {Robotersysteme}, {Roboteranwendungen} und {Integration} von {Roboterzellen} ({ISO}/{DIS}\_10218-2:2020); {Deutsche} und {Englische} {Fassung} {prEN}\_ISO\_10218-2:2020},
+	shorttitle = {{DIN} {EN} {ISO} 10218-2},
+	url = {https://www.dinmedia.de/de/-/-/331246964},
+	urldate = {2025-02-19},
+	publisher = {DIN Media GmbH},
+	doi = {10.31030/3215258},
+}
+
+@misc{noauthor_din_nodate-7,
+	title = {{DIN} {EN} {ISO} 10218-1:2021-09, {Robotik}\_- {Sicherheitsanforderungen}\_- {Teil}\_1: {Industrieroboter} ({ISO}/{DIS}\_10218-1.2:2021); {Deutsche} und {Englische} {Fassung} {prEN}\_ISO\_10218-1:2021},
+	shorttitle = {{DIN} {EN} {ISO} 10218-1},
+	url = {https://www.dinmedia.de/de/-/-/341406648},
+	urldate = {2025-02-19},
+	publisher = {DIN Media GmbH},
+	doi = {10.31030/3272912},
+}
+
+@article{li_common_2019-3,
+	title = {Common {Sensors} in {Industrial} {Robots}: {A} {Review}},
+	volume = {1267},
+	issn = {1742-6588, 1742-6596},
+	shorttitle = {Common {Sensors} in {Industrial} {Robots}},
+	url = {https://iopscience.iop.org/article/10.1088/1742-6596/1267/1/012036},
+	doi = {10.1088/1742-6596/1267/1/012036},
+	abstract = {The application of industrial robots has greatly promoted the development of industry in the past decades. Now with the proposal and prevalence of Industry 4.0, industrial robots are required to be more independent and intelligent to accomplish more complex and flexible tasks. The advancement of industrial robots relies on the development and progress of multiple technologies, among which sensors are the indispensable part. They can acquire abundant information to help industrial robots implement their functions. This paper reviews the recent literatures and gives a summary and introduction of the commonly used sensors in industrial robots. Additionally, the applications of these sensors in diverse functions of industrial robots are also presented. Finally, the developing direction and challenges of industrial robots in the future are discussed in the last part of this article.},
+	number = {1},
+	urldate = {2025-02-18},
+	journal = {Journal of Physics: Conference Series},
+	author = {Li, Peng and Liu, Xiangpeng},
+	month = jul,
+	year = {2019},
+	pages = {012036},
+}
+
+@article{wunderlich_rasante_2013-2,
+	title = {Rasante {Entwicklung} in der {3D}‐{Bildgebung}: {Weiterentwickelte} {Time}‐of‐{Flight}‐{Technologie} verbessert miniaturisierte {3D}‐{Kameras} und {Sensoren}},
+	volume = {8},
+	issn = {1863-1460, 2191-1975},
+	shorttitle = {Rasante {Entwicklung} in der {3D}‐{Bildgebung}},
+	url = {https://onlinelibrary.wiley.com/doi/10.1002/opph.201300018},
+	doi = {10.1002/opph.201300018},
+	abstract = {Abstract Optoelektrische Sensoren, die eine dreidimensionale Bildinformation auswerten können, eröffnen nicht nur der Mensch‐Maschinen‐Interaktion durch Gestensteuerung völlig neue Anwendungsmöglichkeiten. Auch für die Industrie erweitert sich durch diese Technologie die Prozessüberwachung und Steuerung sprichwörtlich um eine neue Dimension.},
+	number = {3},
+	urldate = {2025-02-18},
+	journal = {Optik \& Photonik},
+	author = {Wunderlich, Max},
+	month = sep,
+	year = {2013},
+	pages = {38--40},
+}
+
+@misc{noauthor_universalrobotsuniversal_robots_ros2_gazebo_simulation_2025-2,
+	title = {{UniversalRobots}/{Universal}\_Robots\_ROS2\_Gazebo\_Simulation},
+	url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation},
+	urldate = {2025-02-17},
+	publisher = {Universal Robots A/S},
+	month = feb,
+	year = {2025},
+}
+
+@article{haddadin_robot_2017-2,
+	title = {Robot {Collisions}: {A} {Survey} on {Detection}, {Isolation}, and {Identification}},
+	volume = {33},
+	issn = {1941-0468},
+	shorttitle = {Robot {Collisions}},
+	url = {https://ieeexplore.ieee.org/abstract/document/8059840},
+	doi = {10.1109/TRO.2017.2723903},
+	abstract = {Robot assistants and professional coworkers are becoming a commodity in domestic and industrial settings. In order to enable robots to share their workspace with humans and physically interact with them, fast and reliable handling of possible collisions on the entire robot structure is needed, along with control strategies for safe robot reaction. The primary motivation is the prevention or limitation of possible human injury due to physical contacts. In this survey paper, based on our early work on the subject, we review, extend, compare, and evaluate experimentally model-based algorithms for real-time collision detection, isolation, and identification that use only proprioceptive sensors. This covers the context-independent phases of the collision event pipeline for robots interacting with the environment, as in physical human–robot interaction or manipulation tasks. The problem is addressed for rigid robots first and then extended to the presence of joint/transmission flexibility. The basic physically motivated solution has already been applied to numerous robotic systems worldwide, ranging from manipulators and humanoids to flying robots, and even to commercial products.},
+	number = {6},
+	urldate = {2025-02-12},
+	journal = {IEEE Transactions on Robotics},
+	author = {Haddadin, Sami and De Luca, Alessandro and Albu-Schäffer, Alin},
+	month = dec,
+	year = {2017},
+	keywords = {Algorithm design and analysis, Collision avoidance, Collision detection, collision identification, collision isolation, Drones, flexible joint manipulators, human-friendly robotics, Human-robot interaction, physical human–robot interaction (pHRI), Real-time systems, Robot sensing systems, safe robotics, Service robots},
+	pages = {1292--1312},
+}
+
+@book{hertzberg_mobile_2012-2,
+	address = {Berlin, Heidelberg},
+	series = {{eXamen}.press},
+	title = {Mobile {Roboter}: {Eine} {Einführung} aus {Sicht} der {Informatik}},
+	isbn = {978-3-642-01725-4 978-3-642-01726-1},
+	shorttitle = {Mobile {Roboter}},
+	url = {https://link.springer.com/10.1007/978-3-642-01726-1},
+	urldate = {2025-02-12},
+	publisher = {Springer Berlin Heidelberg},
+	author = {Hertzberg, Joachim and Lingemann, Kai and Nüchter, Andreas},
+	year = {2012},
+	doi = {10.1007/978-3-642-01726-1},
+}
+
+@book{hering_sensoren_2018-2,
+	address = {Wiesbaden},
+	title = {Sensoren in {Wissenschaft} und {Technik}},
+	isbn = {978-3-658-12561-5 978-3-658-12562-2},
+	url = {http://link.springer.com/10.1007/978-3-658-12562-2},
+	urldate = {2025-02-12},
+	publisher = {Springer Fachmedien Wiesbaden},
+	editor = {Hering, Ekbert and Schönfelder, Gert},
+	year = {2018},
+	doi = {10.1007/978-3-658-12562-2},
+}
+
+@article{saudabayev_sensors_2015-2,
+	title = {Sensors for {Robotic} {Hands}: {A} {Survey} of {State} of the {Art}},
+	volume = {3},
+	issn = {2169-3536},
+	shorttitle = {Sensors for {Robotic} {Hands}},
+	url = {https://ieeexplore.ieee.org/document/7283549/?arnumber=7283549},
+	doi = {10.1109/ACCESS.2015.2482543},
+	abstract = {Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this paper, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories, such as prosthetics, research devices, and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader to the state of the art and also hints to the future directions in the sensor development for artificial hands.},
+	urldate = {2025-02-12},
+	journal = {IEEE Access},
+	author = {Saudabayev, Artur and Varol, Huseyin Atakan},
+	year = {2015},
+	keywords = {Artificial hands, Hands, industrial robotics, prosthetics, Prosthetics, review, robot end effectors, robot sensing, Robot sensing systems, robotic hands, Robots, sensors, Sensors},
+	pages = {1765--1782},
+}
+
+@article{paya_state---art_2017-2,
+	title = {A {State}-of-the-{Art} {Review} on {Mapping} and {Localization} of {Mobile} {Robots} {Using} {Omnidirectional} {Vision} {Sensors}},
+	volume = {2017},
+	issn = {1687-7268},
+	url = {https://onlinelibrary.wiley.com/doi/abs/10.1155/2017/3497650},
+	doi = {10.1155/2017/3497650},
+	abstract = {Nowadays, the field of mobile robotics is experiencing a quick evolution, and a variety of autonomous vehicles is available to solve different tasks. The advances in computer vision have led to a substantial increase in the use of cameras as the main sensors in mobile robots. They can be used as the only source of information or in combination with other sensors such as odometry or laser. Among vision systems, omnidirectional sensors stand out due to the richness of the information they provide the robot with, and an increasing number of works about them have been published over the last few years, leading to a wide variety of frameworks. In this review, some of the most important works are analysed. One of the key problems the scientific community is addressing currently is the improvement of the autonomy of mobile robots. To this end, building robust models of the environment and solving the localization and navigation problems are three important abilities that any mobile robot must have. Taking it into account, the review concentrates on these problems; how researchers have addressed them by means of omnidirectional vision; the main frameworks they have proposed; and how they have evolved in recent years.},
+	number = {1},
+	urldate = {2025-02-12},
+	journal = {Journal of Sensors},
+	author = {Payá, L. and Gil, A. and Reinoso, O.},
+	year = {2017},
+	pages = {3497650},
+}
+
+@misc{noauthor_vl53l7cx_nodate-2,
+	title = {{VL53L7CX} - {Time}-of-{Flight} ({ToF}) 8x8 multizone ranging sensor with 90 degrees {FoV} - {STMicroelectronics}},
+	url = {https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html},
+	abstract = {VL53L7CX - Time-of-Flight (ToF) 8x8 multizone ranging sensor with 90 degrees FoV, VL53L7CXV0GC/1, STMicroelectronics},
+	urldate = {2025-02-12},
+}
+
+@misc{noauthor_pico-series_nodate-2,
+	title = {Pico-series {Microcontrollers} - {Raspberry} {Pi} {Documentation}},
+	url = {https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html},
+	abstract = {The official documentation for Raspberry Pi computers and microcontrollers},
+	urldate = {2025-02-12},
+}
+
+@misc{noauthor_chatgpt_nodate-2,
+	title = {{ChatGPT}},
+	url = {https://chatgpt.com},
+	abstract = {A conversational AI system that listens, learns, and challenges},
+	urldate = {2025-02-12},
+}
+
+@misc{iii_earlephilhowerarduino-pico_2025-2,
+	title = {earlephilhower/arduino-pico},
+	url = {https://github.com/earlephilhower/arduino-pico},
+	abstract = {Raspberry Pi Pico Arduino core, for all RP2040 and RP2350 boards},
+	urldate = {2025-02-12},
+	author = {III, Earle F. Philhower},
+	month = feb,
+	year = {2025},
+	keywords = {a2dp, arduino, arduino-pico, ble, bluetooth, freertos, pi, pico, pico2, picow, raspberry, raspberry-pi, risc-v, riscv, rp2040, rp2350, smp, wifi},
+}
+
+@misc{noauthor_tutorials_nodate-2,
+	title = {Tutorials — {ROS} 2 {Documentation}: {Humble} documentation},
+	url = {https://docs.ros.org/en/humble/Tutorials.html},
+	urldate = {2025-02-12},
+}
+
+@misc{noauthor_examples_nodate-2,
+	title = {Examples - trimesh 4.6.2 documentation},
+	url = {https://trimesh.org/examples.html},
+	urldate = {2025-02-12},
+}
+
+@misc{grans_sebastiangransros2-point-cloud-demo_2024-2,
+	title = {{SebastianGrans}/{ROS2}-{Point}-{Cloud}-{Demo}},
+	url = {https://github.com/SebastianGrans/ROS2-Point-Cloud-Demo},
+	abstract = {Demo package for ROS2 that publishes a point cloud and visualizes it using RViz2},
+	urldate = {2025-02-12},
+	author = {Grans, Sebastian},
+	month = dec,
+	year = {2024},
+}
+
+@misc{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025-1,
+	title = {{UniversalRobots}/{Universal}\_Robots\_ROS2\_GZ\_Simulation},
+	url = {https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation},
+	urldate = {2025-02-24},
+	publisher = {Universal Robots A/S},
+	month = feb,
+	year = {2025},
+}
+
+@article{vogel-heuser_von_2023,
+	title = {Von {Industrie} 4.0 zu {Industrie} 5.0 – {Idee}, {Konzept} und {Wahrnehmung}},
+	volume = {60},
+	issn = {2198-2775},
+	url = {https://doi.org/10.1365/s40702-023-01002-x},
+	doi = {10.1365/s40702-023-01002-x},
+	abstract = {In der sich rasant entwickelnden Landschaft der industriellen Automatisierung läutet das Aufkommen von Industrie 5.0 (I5.0) einen Paradigmenwechsel hin zu einem stärker kollaborativen und menschzentrierten Ansatz ein. In diesem Beitrag wird die Rolle der Mensch-Maschine-Kollaboration und menschzentrierter Werkzeuge bei der Förderung einer symbiotischen Beziehung zwischen fortschrittlichen Technologien und menschlichen Benutzern untersucht, um so das volle Potenzial von I5.0 zu erschließen. Als nächste Stufe in der Entwicklung des Produktionssektors zielt I5.0 darauf ab, ein Gleichgewicht zwischen Automatisierung und menschlichen Fähigkeiten herzustellen und die sich ergänzenden Stärken beider zu nutzen. Es werden Technologien vorgestellt, welche menschzentrierte Lösungen zur Steigerung von Produktivität, Flexibilität und Nachhaltigkeit in der Fabrik der Zukunft fokussieren.},
+	language = {de},
+	number = {6},
+	urldate = {2025-04-16},
+	journal = {HMD Praxis der Wirtschaftsinformatik},
+	author = {Vogel-Heuser, Birgit and Bengler, Klaus},
+	month = dec,
+	year = {2023},
+	keywords = {Cyber-Physical Production Systems, Cyber-physische Produktionssysteme, Fabrik der Zukunft, Factory of the Future, Human-Centered Automation, Human-Machine Collaboration, Industrie 4.0, Industrie 5.0, Industry 4.0, Industry 5.0, Mensch-Maschine-Kollaboration, Menschzentrierte Automatisierung},
+	pages = {1124--1142},
+	file = {Full Text PDF:/home/carla/Zotero/storage/U6RG6RSY/Vogel-Heuser and Bengler - 2023 - Von Industrie 4.0 zu Industrie 5.0 – Idee, Konzept und Wahrnehmung.pdf:application/pdf},
 }
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-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no S in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no p in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no k in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no A in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no f in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no s in font nullfont!
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.9 \end{figure}
-                
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-! Undefined control sequence.
-l.10 \section
-             {Verdrahtungsdiagramm}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no V in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no m in font nullfont!
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.11 \begin{figure}
-                   [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.13 	\includegraphics
-                      [width=\textwidth]{images/Verdrahtungsdiagramm.png} % ...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.13 	\includegraphics[width=\textwidth]
-                                        {images/Verdrahtungsdiagramm.png} % ...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.13 	\includegraphics[width=\textwidth]
-                                        {images/Verdrahtungsdiagramm.png} % ...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no V in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no p in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.14 	\caption
-              {Verdrahtungsdiagramm}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no V in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no m in font nullfont!
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.16 \end{figure}
-                 
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-
-Overfull \hbox (30.00003pt too wide) in paragraph at lines 2--17
-[]\/cmr/m/n/10 ^^?a
- []
-
-! Undefined control sequence.
-l.18 \chapter
-             {Quellcode}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-
-! LaTeX Error: Missing \begin{document}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.18 \chapter{Q
-               uellcode}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no Q in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-! Undefined control sequence.
-l.19 \section
-             {Arduino-Quellcode}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no A in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no Q in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-! Undefined control sequence.
-l.20 \lstinputlisting
-                     [language=C++]{arduino_code.ino} % Ersetzen Sie dies du...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no = in font nullfont!
-Missing character: There is no C in font nullfont!
-Missing character: There is no + in font nullfont!
-Missing character: There is no + in font nullfont!
-Missing character: There is no ] in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no o in font nullfont!
-! Missing $ inserted.
-<inserted text> 
-                $
-l.20 \lstinputlisting[language=C++]{arduino_
-                                            code.ino} % Ersetzen Sie dies du...
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-LaTeX Font Info:    External font `cmex10' loaded for size
-(Font)              <7> on input line 20.
-LaTeX Font Info:    External font `cmex10' loaded for size
-(Font)              <5> on input line 20.
-! Extra }, or forgotten $.
-l.20 ...putlisting[language=C++]{arduino_code.ino}
-                                                   % Ersetzen Sie dies durch...
-I've deleted a group-closing symbol because it seems to be
-spurious, as in `$x}$'. But perhaps the } is legitimate and
-you forgot something else, as in `\hbox{$x}'. In such cases
-the way to recover is to insert both the forgotten and the
-deleted material, e.g., by typing `I$}'.
-
-! Undefined control sequence.
-l.21 \section
-             {ROS 2-Nodes Quellcode}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-! Undefined control sequence.
-l.22 \subsection
-                {Datenverarbeitungs-Node (Python)}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-! Undefined control sequence.
-l.23 \lstinputlisting
-                     [language=Python]{datenverarbeitung_node.py} % Ersetzen...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-! Undefined control sequence.
-l.24 \subsection
-                {Kollisionserkennungs-Node (Python)}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-! Undefined control sequence.
-l.25 \lstinputlisting
-                     [language=Python]{kollisionserkennung_node.py} % Ersetz...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-! Missing $ inserted.
-<inserted text> 
-                $
-l.26 
-     
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-
-Overfull \hbox (20.0pt too wide) in paragraph at lines 18--26
-[]
- []
-
-
-Overfull \hbox (368.80351pt too wide) in paragraph at lines 18--26
-[]\OML/cmm/m/it/10 ode:ino[][]\/cmr/m/n/10 [\OML/cmm/m/it/10 language \/cmr/m/n
-/10 =
- []
-
-
-Overfull \hbox (382.83499pt too wide) in paragraph at lines 18--26
-\OML/cmm/m/it/10 Python\/cmr/m/n/10 ][][][\OML/cmm/m/it/10 language \/cmr/m/n/1
-0 =
- []
-
-
-Overfull \hbox (161.26112pt too wide) in paragraph at lines 18--26
-\OML/cmm/m/it/10 Python\/cmr/m/n/10 ][]$ 
- []
-
-! Undefined control sequence.
-l.27 \chapter
-             {CAD-Zeichnungen und 3D-Modelle}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-
-! LaTeX Error: Missing \begin{document}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.27 \chapter{C
-               AD-Zeichnungen und 3D-Modelle}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no C in font nullfont!
-Missing character: There is no A in font nullfont!
-Missing character: There is no D in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no Z in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no 3 in font nullfont!
-Missing character: There is no D in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no M in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no e in font nullfont!
-! Undefined control sequence.
-l.28 \section
-             {CAD-Zeichnungen des Sensormoduls}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no C in font nullfont!
-Missing character: There is no A in font nullfont!
-Missing character: There is no D in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no Z in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no S in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no s in font nullfont!
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.29 \begin{figure}
-                   [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.31 	\includegraphics
-                      [width=\textwidth]{images/CAD_Zeichnung_1.png} % Erset...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.31 	\includegraphics[width=\textwidth]
-                                        {images/CAD_Zeichnung_1.png} % Erset...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.31 	\includegraphics[width=\textwidth]
-                                        {images/CAD_Zeichnung_1.png} % Erset...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no C in font nullfont!
-Missing character: There is no A in font nullfont!
-Missing character: There is no D in font nullfont!
-! Missing $ inserted.
-<inserted text> 
-                $
-l.31 ...ludegraphics[width=\textwidth]{images/CAD_
-                                                  Zeichnung_1.png} % Ersetze...
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-! Extra }, or forgotten $.
-l.31 ...th=\textwidth]{images/CAD_Zeichnung_1.png}
-                                                   % Ersetzen Sie dies durch...
-I've deleted a group-closing symbol because it seems to be
-spurious, as in `$x}$'. But perhaps the } is legitimate and
-you forgot something else, as in `\hbox{$x}'. In such cases
-the way to recover is to insert both the forgotten and the
-deleted material, e.g., by typing `I$}'.
-
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.32 	\caption
-              {CAD-Zeichnung des Sensormoduls (Ansicht 1)}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.34 \end{figure}
-                 
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-! Missing $ inserted.
-<inserted text> 
-                $
-l.34 \end{figure}
-                 
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-! Missing } inserted.
-<inserted text> 
-                }
-l.34 \end{figure}
-                 
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.35 \begin{figure}
-                   [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.37 	\includegraphics
-                      [width=\textwidth]{images/CAD_Zeichnung_2.png} % Erset...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.37 	\includegraphics[width=\textwidth]
-                                        {images/CAD_Zeichnung_2.png} % Erset...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.37 	\includegraphics[width=\textwidth]
-                                        {images/CAD_Zeichnung_2.png} % Erset...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no C in font nullfont!
-Missing character: There is no A in font nullfont!
-Missing character: There is no D in font nullfont!
-! Missing $ inserted.
-<inserted text> 
-                $
-l.37 ...ludegraphics[width=\textwidth]{images/CAD_
-                                                  Zeichnung_2.png} % Ersetze...
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-! Extra }, or forgotten $.
-l.37 ...th=\textwidth]{images/CAD_Zeichnung_2.png}
-                                                   % Ersetzen Sie dies durch...
-I've deleted a group-closing symbol because it seems to be
-spurious, as in `$x}$'. But perhaps the } is legitimate and
-you forgot something else, as in `\hbox{$x}'. In such cases
-the way to recover is to insert both the forgotten and the
-deleted material, e.g., by typing `I$}'.
-
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.38 	\caption
-              {CAD-Zeichnung des Sensormoduls (Ansicht 2)}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.40 \end{figure}
-                 
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-! Missing $ inserted.
-<inserted text> 
-                $
-l.40 \end{figure}
-                 
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-! Missing } inserted.
-<inserted text> 
-                }
-l.40 \end{figure}
-                 
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-! Undefined control sequence.
-l.41 \section
-             {3D-Modelle des Sensormoduls}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no 3 in font nullfont!
-Missing character: There is no D in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no M in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no S in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no s in font nullfont!
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.42 \begin{figure}
-                   [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.44 	\includegraphics
-                      [width=\textwidth]{images/3D_Modell_1.png} % Ersetzen ...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.44 	\includegraphics[width=\textwidth]
-                                        {images/3D_Modell_1.png} % Ersetzen ...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.44 	\includegraphics[width=\textwidth]
-                                        {images/3D_Modell_1.png} % Ersetzen ...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no 3 in font nullfont!
-Missing character: There is no D in font nullfont!
-! Missing $ inserted.
-<inserted text> 
-                $
-l.44 ...cludegraphics[width=\textwidth]{images/3D_
-                                                  Modell_1.png} % Ersetzen S...
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-! Extra }, or forgotten $.
-l.44 ...[width=\textwidth]{images/3D_Modell_1.png}
-                                                   % Ersetzen Sie dies durch...
-I've deleted a group-closing symbol because it seems to be
-spurious, as in `$x}$'. But perhaps the } is legitimate and
-you forgot something else, as in `\hbox{$x}'. In such cases
-the way to recover is to insert both the forgotten and the
-deleted material, e.g., by typing `I$}'.
-
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.45 	\caption
-              {3D-Modell des Sensormoduls (Perspektive 1)}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.47 \end{figure}
-                 
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-! Missing $ inserted.
-<inserted text> 
-                $
-l.47 \end{figure}
-                 
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-! Missing } inserted.
-<inserted text> 
-                }
-l.47 \end{figure}
-                 
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.48 \begin{figure}
-                   [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.50 	\includegraphics
-                      [width=\textwidth]{images/3D_Modell_2.png} % Ersetzen ...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.50 	\includegraphics[width=\textwidth]
-                                        {images/3D_Modell_2.png} % Ersetzen ...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.50 	\includegraphics[width=\textwidth]
-                                        {images/3D_Modell_2.png} % Ersetzen ...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no 3 in font nullfont!
-Missing character: There is no D in font nullfont!
-! Missing $ inserted.
-<inserted text> 
-                $
-l.50 ...cludegraphics[width=\textwidth]{images/3D_
-                                                  Modell_2.png} % Ersetzen S...
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-! Extra }, or forgotten $.
-l.50 ...[width=\textwidth]{images/3D_Modell_2.png}
-                                                   % Ersetzen Sie dies durch...
-I've deleted a group-closing symbol because it seems to be
-spurious, as in `$x}$'. But perhaps the } is legitimate and
-you forgot something else, as in `\hbox{$x}'. In such cases
-the way to recover is to insert both the forgotten and the
-deleted material, e.g., by typing `I$}'.
-
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.51 	\caption
-              {3D-Modell des Sensormoduls (Perspektive 2)}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.53 \end{figure}
-                 
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-! Missing $ inserted.
-<inserted text> 
-                $
-l.53 \end{figure}
-                 
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-! Missing } inserted.
-<inserted text> 
-                }
-l.53 \end{figure}
-                 
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-
-Overfull \hbox (20.0pt too wide) in paragraph at lines 27--54
-[]
- []
-
-
-Overfull \hbox (282.0635pt too wide) in paragraph at lines 27--54
-[]\OML/cmm/m/it/10 eichnung[]:png[][]$
- []
-
-
-Overfull \hbox (282.0635pt too wide) in paragraph at lines 27--54
-[]\OML/cmm/m/it/10 eichnung[]:png[][]$
- []
-
-
-Overfull \hbox (256.32677pt too wide) in paragraph at lines 27--54
-[]\OML/cmm/m/it/10 odell[]:png[][]$
- []
-
-
-Overfull \hbox (256.32677pt too wide) in paragraph at lines 27--54
-[]\OML/cmm/m/it/10 odell[]:png[][]$ 
- []
-
-! Undefined control sequence.
-l.55 \chapter
-             {Datenblätter und technische Spezifikationen}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-
-! LaTeX Error: Missing \begin{document}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.55 \chapter{D
-               atenblätter und technische Spezifikationen}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no D in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no S in font nullfont!
-Missing character: There is no p in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no z in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no f in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no k in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-! Undefined control sequence.
-l.56 \section
-             {Datenblatt des VL53L7CX-Sensors}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no D in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no V in font nullfont!
-Missing character: There is no L in font nullfont!
-Missing character: There is no 5 in font nullfont!
-Missing character: There is no 3 in font nullfont!
-Missing character: There is no L in font nullfont!
-Missing character: There is no 7 in font nullfont!
-Missing character: There is no C in font nullfont!
-Missing character: There is no X in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no S in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no s in font nullfont!
-! Undefined control sequence.
-l.57 \includepdf
-                [pages=-]{VL53L7CX_Datenblatt.pdf} % Ersetzen Sie dies durch...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no p in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no = in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no ] in font nullfont!
-Missing character: There is no V in font nullfont!
-Missing character: There is no L in font nullfont!
-Missing character: There is no 5 in font nullfont!
-Missing character: There is no 3 in font nullfont!
-Missing character: There is no L in font nullfont!
-Missing character: There is no 7 in font nullfont!
-Missing character: There is no C in font nullfont!
-Missing character: There is no X in font nullfont!
-! Missing $ inserted.
-<inserted text> 
-                $
-l.57 \includepdf[pages=-]{VL53L7CX_
-                                   Datenblatt.pdf} % Ersetzen Sie dies durch...
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-! Extra }, or forgotten $.
-l.57 \includepdf[pages=-]{VL53L7CX_Datenblatt.pdf}
-                                                   % Ersetzen Sie dies durch...
-I've deleted a group-closing symbol because it seems to be
-spurious, as in `$x}$'. But perhaps the } is legitimate and
-you forgot something else, as in `\hbox{$x}'. In such cases
-the way to recover is to insert both the forgotten and the
-deleted material, e.g., by typing `I$}'.
-
-! Undefined control sequence.
-l.58 \section
-             {Datenblatt des Raspberry Pi Pico}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-! Undefined control sequence.
-l.59 \includepdf
-                [pages=-]{Raspberry_Pi_Pico_Datenblatt.pdf} % Ersetzen Sie d...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-! Undefined control sequence.
-l.60 \section
-             {Technische Spezifikationen des UR10e-Roboters}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-! Undefined control sequence.
-l.61 \includepdf
-                [pages=-]{UR10e_Technische_Spezifikationen.pdf} % Ersetzen S...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-! Missing $ inserted.
-<inserted text> 
-                $
-l.62 
-     
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-
-Overfull \hbox (25.00002pt too wide) in paragraph at lines 55--62
-[]\/cmr/m/n/10 ^^?a
- []
-
-
-Overfull \hbox (243.01959pt too wide) in paragraph at lines 55--62
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- []
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-Overfull \hbox (409.28622pt too wide) in paragraph at lines 55--62
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- []
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-Overfull \hbox (180.84958pt too wide) in paragraph at lines 55--62
-\OMS/cmsy/m/n/10 ^^@\/cmr/m/n/10 ][]$ 
- []
-
-! Undefined control sequence.
-l.63 \chapter
-             {Zusätzliche Testergebnisse und Daten}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-
-! LaTeX Error: Missing \begin{document}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.63 \chapter{Z
-               usätzliche Testergebnisse und Daten}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no Z in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no z in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no T in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no D in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-! Undefined control sequence.
-l.64 \section
-             {Genauigkeitstests der ToF-Sensoren}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no G in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no k in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no T in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no F in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no S in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.65 \begin{figure}
-                   [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.67 	\includegraphics
-                      [width=\textwidth]{images/Genauigkeitstests.png} % Ers...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.67 	\includegraphics[width=\textwidth]
-                                        {images/Genauigkeitstests.png} % Ers...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.67 	\includegraphics[width=\textwidth]
-                                        {images/Genauigkeitstests.png} % Ers...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no G in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no k in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no p in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.68 	\caption
-              {Ergebnisse der Genauigkeitstests der ToF-Sensoren}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no E in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no G in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no k in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no T in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no F in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no S in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.70 \end{figure}
-                 
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-! Undefined control sequence.
-l.71 \section
-             {Latenzzeitmessungen}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no L in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no z in font nullfont!
-Missing character: There is no z in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.72 \begin{figure}
-                   [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.74 	\includegraphics
-                      [width=\textwidth]{images/Latenzzeitmessungen.png} % E...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.74 	\includegraphics[width=\textwidth]
-                                        {images/Latenzzeitmessungen.png} % E...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.74 	\includegraphics[width=\textwidth]
-                                        {images/Latenzzeitmessungen.png} % E...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no L in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no z in font nullfont!
-Missing character: There is no z in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no p in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.75 	\caption
-              {Ergebnisse der Latenzzeitmessungen}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no E in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no L in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no z in font nullfont!
-Missing character: There is no z in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.77 \end{figure}
-                 
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-! Undefined control sequence.
-l.78 \section
-             {Kollisionsvermeidungstests}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no K in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no v in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.79 \begin{figure}
-                   [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.81 	\includegraphics
-                      [width=\textwidth]{images/Kollisionsvermeidungstests.p...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.81 	\includegraphics[width=\textwidth]
-                                        {images/Kollisionsvermeidungstests.p...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.81 	\includegraphics[width=\textwidth]
-                                        {images/Kollisionsvermeidungstests.p...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no K in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no v in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no p in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.82 	\caption
-              {Ergebnisse der Kollisionsvermeidungstests}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no E in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no K in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no v in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.84 \end{figure}
-                 
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-
-Overfull \hbox (25.00002pt too wide) in paragraph at lines 63--85
-[]\/cmr/m/n/10 ^^?a
- []
-
-! Undefined control sequence.
-l.86 \chapter
-             {Glossar}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-
-! LaTeX Error: Missing \begin{document}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.86 \chapter{G
-               lossar}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-Missing character: There is no G in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no r in font nullfont!
-
-Overfull \hbox (20.0pt too wide) in paragraph at lines 86--87
-[] 
- []
-
-! Undefined control sequence.
-<recently read> \acrfull 
-                         
-l.88 	\item \acrfull
-                    {ToF}: ...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no T in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no F in font nullfont!
-Missing character: There is no : in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-! Undefined control sequence.
-<recently read> \acrfull 
-                         
-l.89 	\item \acrfull
-                    {ROS}: ...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no R in font nullfont!
-Missing character: There is no O in font nullfont!
-Missing character: There is no S in font nullfont!
-Missing character: There is no : in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-! Undefined control sequence.
-<recently read> \acrfull 
-                         
-l.90 	\item \acrfull
-                    {CAD}: ...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no C in font nullfont!
-Missing character: There is no A in font nullfont!
-Missing character: There is no D in font nullfont!
-Missing character: There is no : in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-! Undefined control sequence.
-l.94 \chapter
-             {Bibliographie}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no B in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no p in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no e in font nullfont!
-\bibdata{literatur}
-No file anhang.bbl.
-
-Overfull \hbox (20.0pt too wide) in paragraph at lines 94--97
-[]
- []
-
-! Undefined control sequence.
-l.98 \chapter
-             {Detaillierte Beschreibung der ROS 2-Nodes}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no D in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no B in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no R in font nullfont!
-Missing character: There is no O in font nullfont!
-Missing character: There is no S in font nullfont!
-Missing character: There is no 2 in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no N in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-! Undefined control sequence.
-l.99 \section
-             {Datenverarbeitungs-Node}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no D in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no v in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no N in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no ( in font nullfont!
-Missing character: There is no A in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no f in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no B in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no N in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no ) in font nullfont!
-! Undefined control sequence.
-l.101 \section
-              {Kollisionserkennungs-Node}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no K in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no k in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no - in font nullfont!
-Missing character: There is no N in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no ( in font nullfont!
-Missing character: There is no A in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no f in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no B in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no N in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no ) in font nullfont!
-
-Overfull \hbox (20.0pt too wide) in paragraph at lines 98--103
-[]
- []
-
-
-Overfull \hbox (5.55557pt too wide) in paragraph at lines 98--103
-\/cmr/m/n/10 ^^?u
- []
-
-
-Overfull \hbox (5.55557pt too wide) in paragraph at lines 98--103
-\/cmr/m/n/10 ^^?u
- []
-
-! Undefined control sequence.
-l.104 \chapter
-              {Zusätzliche Bilder und Screenshots}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no Z in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no z in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no B in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no S in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no n in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no s in font nullfont!
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.105 \begin{figure}
-                    [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.107 	\includegraphics
-                       [width=\textwidth]{images/Aufbau_Sensorsystem.png} % ...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.107 	\includegraphics[width=\textwidth]
-                                         {images/Aufbau_Sensorsystem.png} % ...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.107 	\includegraphics[width=\textwidth]
-                                         {images/Aufbau_Sensorsystem.png} % ...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no A in font nullfont!
-Missing character: There is no u in font nullfont!
-Missing character: There is no f in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no u in font nullfont!
-! Missing $ inserted.
-<inserted text> 
-                $
-l.107 ...graphics[width=\textwidth]{images/Aufbau_
-                                                  Sensorsystem.png} % Ersetz...
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-! Extra }, or forgotten $.
-l.107 ...extwidth]{images/Aufbau_Sensorsystem.png}
-                                                   % Ersetzen Sie dies durch...
-I've deleted a group-closing symbol because it seems to be
-spurious, as in `$x}$'. But perhaps the } is legitimate and
-you forgot something else, as in `\hbox{$x}'. In such cases
-the way to recover is to insert both the forgotten and the
-deleted material, e.g., by typing `I$}'.
-
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.108 	\caption
-               {Aufbau des Sensorsystems}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.110 \end{figure}
-                  
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-! Missing $ inserted.
-<inserted text> 
-                $
-l.110 \end{figure}
-                  
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-! Missing } inserted.
-<inserted text> 
-                }
-l.110 \end{figure}
-                  
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-
-! LaTeX Error: Environment figure undefined.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.111 \begin{figure}
-                    [h]
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no ] in font nullfont!
-! Undefined control sequence.
-l.113 	\includegraphics
-                       [width=\textwidth]{images/RViz_Screenshot.png} % Erse...
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no [ in font nullfont!
-Missing character: There is no w in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no d in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no h in font nullfont!
-Missing character: There is no = in font nullfont!
-! Missing number, treated as zero.
-<to be read again> 
-                   ]
-l.113 	\includegraphics[width=\textwidth]
-                                         {images/RViz_Screenshot.png} % Erse...
-A number should have been here; I inserted `0'.
-(If you can't figure out why I needed to see a number,
-look up `weird error' in the index to The TeXbook.)
-
-! Illegal unit of measure (pt inserted).
-<to be read again> 
-                   ]
-l.113 	\includegraphics[width=\textwidth]
-                                         {images/RViz_Screenshot.png} % Erse...
-Dimensions can be in units of em, ex, in, pt, pc,
-cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
-I'll assume that you meant to say pt, for printer's points.
-To recover gracefully from this error, it's best to
-delete the erroneous units; e.g., type `2' to delete
-two letters. (See Chapter 27 of The TeXbook.)
-
-Missing character: There is no ] in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no m in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no g in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no / in font nullfont!
-Missing character: There is no R in font nullfont!
-Missing character: There is no V in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no z in font nullfont!
-! Missing $ inserted.
-<inserted text> 
-                $
-l.113 ...degraphics[width=\textwidth]{images/RViz_
-                                                  Screenshot.png} % Ersetzen...
-I've inserted a begin-math/end-math symbol since I think
-you left one out. Proceed, with fingers crossed.
-
-! Extra }, or forgotten $.
-l.113 ...h=\textwidth]{images/RViz_Screenshot.png}
-                                                   % Ersetzen Sie dies durch...
-I've deleted a group-closing symbol because it seems to be
-spurious, as in `$x}$'. But perhaps the } is legitimate and
-you forgot something else, as in `\hbox{$x}'. In such cases
-the way to recover is to insert both the forgotten and the
-deleted material, e.g., by typing `I$}'.
-
-
-! LaTeX Error: \caption outside float.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.114 	\caption
-               {RViz-Screenshot der Punktwolkenvisualisierung}
-You're in trouble here.  Try typing  <return>  to proceed.
-If that doesn't work, type  X <return>  to quit.
-
-
-! LaTeX Error: \begin{document} ended by \end{figure}.
-
-See the LaTeX manual or LaTeX Companion for explanation.
-Type  H <return>  for immediate help.
- ...                                              
-                                                  
-l.116 \end{figure}
-                  
-Your command was ignored.
-Type  I <command> <return>  to replace it with another command,
-or  <return>  to continue without it.
-
-! Missing $ inserted.
-<inserted text> 
-                $
-l.116 \end{figure}
-                  
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-! Missing } inserted.
-<inserted text> 
-                }
-l.116 \end{figure}
-                  
-I've inserted something that you may have forgotten.
-(See the <inserted text> above.)
-With luck, this will get me unwedged. But if you
-really didn't forget anything, try typing `2' now; then
-my insertion and my current dilemma will both disappear.
-
-
-Overfull \hbox (25.00002pt too wide) in paragraph at lines 104--117
-[]\/cmr/m/n/10 ^^?a
- []
-
-
-Overfull \hbox (198.51pt too wide) in paragraph at lines 104--117
-[]\OML/cmm/m/it/10 ensorsystem:png[][]$
- []
-
-
-Overfull \hbox (294.96538pt too wide) in paragraph at lines 104--117
-[]\OML/cmm/m/it/10 creenshot:png[][]$ 
- []
-
-! Undefined control sequence.
-l.118 \chapter
-              {Stückliste}
-The control sequence at the end of the top line
-of your error message was never \def'ed. If you have
-misspelled it (e.g., `\hobx'), type `I' and the correct
-spelling (e.g., `I\hbox'). Otherwise just continue,
-and I'll forget about whatever was undefined.
-
-Missing character: There is no S in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no k in font nullfont!
-Missing character: There is no l in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no t in font nullfont!
-Missing character: There is no e in font nullfont!
-
-Overfull \hbox (25.55557pt too wide) in paragraph at lines 118--119
-[]\/cmr/m/n/10 ^^?u 
- []
-
-Missing character: There is no V in font nullfont!
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-Missing character: There is no 5 in font nullfont!
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-Missing character: There is no S in font nullfont!
-Missing character: There is no e in font nullfont!
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-Missing character: There is no s in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no r in font nullfont!
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-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no R in font nullfont!
-Missing character: There is no a in font nullfont!
-Missing character: There is no s in font nullfont!
-Missing character: There is no p in font nullfont!
-Missing character: There is no b in font nullfont!
-Missing character: There is no e in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no r in font nullfont!
-Missing character: There is no y in font nullfont!
-Missing character: There is no P in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no P in font nullfont!
-Missing character: There is no i in font nullfont!
-Missing character: There is no c in font nullfont!
-Missing character: There is no o in font nullfont!
-Missing character: There is no : in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-Missing character: There is no . in font nullfont!
-)
-! Emergency stop.
-<*> anhang.tex
-              
-*** (job aborted, no legal \end found)
-
- 
-Here is how much of TeX's memory you used:
- 37 strings out of 473200
- 634 string characters out of 5720278
- 394991 words of memory out of 5000000
- 23389 multiletter control sequences out of 15000+600000
- 558837 words of font info for 36 fonts, out of 8000000 for 9000
- 1141 hyphenation exceptions out of 8191
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-!  ==> Fatal error occurred, no output PDF file produced!
diff --git a/Bachelorarbeit/Bachelorarbeit/ba.acn b/Bachelorarbeit/Bachelorarbeit/ba.acn
index 39db80b71dfc0ff5f2e21d15f0ccc663765ca660..5c30dabc5b913a7f7108995b32738f6cef8d525e 100644
--- a/Bachelorarbeit/Bachelorarbeit/ba.acn
+++ b/Bachelorarbeit/Bachelorarbeit/ba.acn
@@ -1,12 +1,17 @@
 \glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{3}
 \glossaryentry{Cobot?\glossentry{Cobot}|setentrycounter[]{page}"\glsnumberformat}{3}
 \glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{3}
 \glossaryentry{PC?\glossentry{PC}|setentrycounter[]{page}"\glsnumberformat}{3}
 \glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{3}
 \glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{3}
 \glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{3}
 \glossaryentry{Cobot?\glossentry{Cobot}|setentrycounter[]{page}"\glsnumberformat}{3}
-\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{4}
+\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{4}
 \glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{4}
 \glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{4}
 \glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{4}
@@ -18,28 +23,41 @@
 \glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{6}
 \glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{6}
 \glossaryentry{RGB-D?\glossentry{RGB-D}|setentrycounter[]{page}"\glsnumberformat}{7}
+\glossaryentry{RGB-D?\glossentry{RGB-D}|setentrycounter[]{page}"\glsnumberformat}{7}
+\glossaryentry{KI?\glossentry{KI}|setentrycounter[]{page}"\glsnumberformat}{7}
 \glossaryentry{KI?\glossentry{KI}|setentrycounter[]{page}"\glsnumberformat}{7}
 \glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{7}
+\glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{7}
+\glossaryentry{RGB-Kamera?\glossentry{RGB}|setentrycounter[]{page}"\glsnumberformat}{7}
 \glossaryentry{RGB-Kamera?\glossentry{RGB}|setentrycounter[]{page}"\glsnumberformat}{7}
 \glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{8}
 \glossaryentry{ToF-Sensor?\glossentry{ToF}|setentrycounter[]{page}"\glsnumberformat}{8}
 \glossaryentry{LRF?\glossentry{LRF}|setentrycounter[]{page}"\glsnumberformat}{8}
+\glossaryentry{LRF?\glossentry{LRF}|setentrycounter[]{page}"\glsnumberformat}{8}
 \glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{9}
 \glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{9}
 \glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{9}
 \glossaryentry{MEMS?\glossentry{MEMS}|setentrycounter[]{page}"\glsnumberformat}{9}
+\glossaryentry{MEMS?\glossentry{MEMS}|setentrycounter[]{page}"\glsnumberformat}{9}
+\glossaryentry{FoV?\glossentry{FOV}|setentrycounter[]{page}"\glsnumberformat}{9}
 \glossaryentry{FoV?\glossentry{FOV}|setentrycounter[]{page}"\glsnumberformat}{9}
 \glossaryentry{FoV?\glossentry{FOV}|setentrycounter[]{page}"\glsnumberformat}{9}
 \glossaryentry{MEMS?\glossentry{MEMS}|setentrycounter[]{page}"\glsnumberformat}{9}
 \glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{9}
 \glossaryentry{ToF-Sensor?\glossentry{ToF}|setentrycounter[]{page}"\glsnumberformat}{9}
-\glossaryentry{FoV?\glossentry{FOV}|setentrycounter[]{page}"\glsnumberformat}{9}
+\glossaryentry{FoV?\glossentry{FOV}|setentrycounter[]{page}"\glsnumberformat}{10}
 \glossaryentry{IC?\glossentry{IC}|setentrycounter[]{page}"\glsnumberformat}{10}
+\glossaryentry{IC?\glossentry{IC}|setentrycounter[]{page}"\glsnumberformat}{10}
+\glossaryentry{MCU?\glossentry{MCU}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{MCU?\glossentry{MCU}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{MCU?\glossentry{MCU}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{I$^2$C?\glossentry{I2C}|setentrycounter[]{page}"\glsnumberformat}{11}
+\glossaryentry{I$^2$C?\glossentry{I2C}|setentrycounter[]{page}"\glsnumberformat}{11}
+\glossaryentry{RVIZ2?\glossentry{RVIZ}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{RVIZ2?\glossentry{RVIZ}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{NUC?\glossentry{NUC}|setentrycounter[]{page}"\glsnumberformat}{11}
+\glossaryentry{NUC?\glossentry{NUC}|setentrycounter[]{page}"\glsnumberformat}{11}
+\glossaryentry{ROS2?\glossentry{ROS}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{ROS2?\glossentry{ROS}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{FoV?\glossentry{FOV}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{11}
@@ -47,6 +65,7 @@
 \glossaryentry{I$^2$C?\glossentry{I2C}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{I$^2$C?\glossentry{I2C}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{JSON?\glossentry{JSON}|setentrycounter[]{page}"\glsnumberformat}{11}
+\glossaryentry{JSON?\glossentry{JSON}|setentrycounter[]{page}"\glsnumberformat}{11}
 \glossaryentry{JSON?\glossentry{JSON}|setentrycounter[]{page}"\glsnumberformat}{12}
 \glossaryentry{LPn?\glossentry{LPN}|setentrycounter[]{page}"\glsnumberformat}{12}
 \glossaryentry{I$^2$C?\glossentry{I2C}|setentrycounter[]{page}"\glsnumberformat}{12}
@@ -56,6 +75,7 @@
 \glossaryentry{ToF-Sensor?\glossentry{ToF}|setentrycounter[]{page}"\glsnumberformat}{13}
 \glossaryentry{JSON?\glossentry{JSON}|setentrycounter[]{page}"\glsnumberformat}{13}
 \glossaryentry{LED?\glossentry{LED}|setentrycounter[]{page}"\glsnumberformat}{13}
+\glossaryentry{LED?\glossentry{LED}|setentrycounter[]{page}"\glsnumberformat}{13}
 \glossaryentry{JSON?\glossentry{JSON}|setentrycounter[]{page}"\glsnumberformat}{13}
 \glossaryentry{JSON?\glossentry{JSON}|setentrycounter[]{page}"\glsnumberformat}{13}
 \glossaryentry{NUC?\glossentry{NUC}|setentrycounter[]{page}"\glsnumberformat}{13}
@@ -65,6 +85,8 @@
 \glossaryentry{ROS2?\glossentry{ROS}|setentrycounter[]{page}"\glsnumberformat}{14}
 \glossaryentry{ROS2?\glossentry{ROS}|setentrycounter[]{page}"\glsnumberformat}{14}
 \glossaryentry{ROS2?\glossentry{ROS}|setentrycounter[]{page}"\glsnumberformat}{14}
+\glossaryentry{ROS2?\glossentry{ROS}|setentrycounter[]{page}"\glsnumberformat}{14}
+\glossaryentry{USB?\glossentry{USB}|setentrycounter[]{page}"\glsnumberformat}{15}
 \glossaryentry{USB?\glossentry{USB}|setentrycounter[]{page}"\glsnumberformat}{15}
 \glossaryentry{ROS2?\glossentry{ROS}|setentrycounter[]{page}"\glsnumberformat}{15}
 \glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{15}
@@ -74,5 +96,7 @@
 \glossaryentry{ROS2?\glossentry{ROS}|setentrycounter[]{page}"\glsnumberformat}{15}
 \glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{15}
 \glossaryentry{pcd?\glossentry{PCD}|setentrycounter[]{page}"\glsnumberformat}{15}
+\glossaryentry{pcd?\glossentry{PCD}|setentrycounter[]{page}"\glsnumberformat}{15}
 \glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{16}
 \glossaryentry{RVIZ2?\glossentry{RVIZ}|setentrycounter[]{page}"\glsnumberformat}{16}
+\glossaryentry{LiDAR?\glossentry{LIDAR}|setentrycounter[]{page}"\glsnumberformat}{17}
diff --git a/Bachelorarbeit/Bachelorarbeit/ba.aux b/Bachelorarbeit/Bachelorarbeit/ba.aux
index c70fb9e6b7c444ddf64a647f0bfcdacdb90536e5..b4d4fef588bd3d14be779822f6efb68cd9d3b3ee 100644
--- a/Bachelorarbeit/Bachelorarbeit/ba.aux
+++ b/Bachelorarbeit/Bachelorarbeit/ba.aux
@@ -1,13 +1,27 @@
 \relax 
-\providecommand*\new@tpo@label[2]{}
 \providecommand\hyper@newdestlabel[2]{}
+\providecommand*\new@tpo@label[2]{}
+\providecommand\HyperFirstAtBeginDocument{\AtBeginDocument}
+\HyperFirstAtBeginDocument{\ifx\hyper@anchor\@undefined
+\global\let\oldcontentsline\contentsline
+\gdef\contentsline#1#2#3#4{\oldcontentsline{#1}{#2}{#3}}
+\global\let\oldnewlabel\newlabel
+\gdef\newlabel#1#2{\newlabelxx{#1}#2}
+\gdef\newlabelxx#1#2#3#4#5#6{\oldnewlabel{#1}{{#2}{#3}}}
+\AtEndDocument{\ifx\hyper@anchor\@undefined
+\let\contentsline\oldcontentsline
+\let\newlabel\oldnewlabel
+\fi}
+\fi}
+\global\let\hyper@last\relax 
+\gdef\HyperFirstAtBeginDocument#1{#1}
 \providecommand\HyField@AuxAddToFields[1]{}
 \providecommand\HyField@AuxAddToCoFields[2]{}
 \providecommand\BKM@entry[2]{}
-\providecommand \babel@aux [2]{\global \let \babel@toc \@gobbletwo }
+\providecommand\babel@aux[2]{}
 \@nameuse{bbl@beforestart}
 \catcode `"\active 
-\bibstyle{plain}
+\bibstyle{plaindin}
 \providecommand\@newglossary[4]{}
 \@newglossary{main}{glg}{gls}{glo}
 \@newglossary{acronym}{alg}{acr}{acn}
@@ -17,7 +31,9 @@
 \@glsorder{word}
 \babel@aux{ngerman}{}
 \BKM@entry{id=1,dest={636861707465722E31},srcline={2}}{5C3337365C3337375C303030455C303030695C3030306E5C3030306C5C303030655C303030695C303030745C303030755C3030306E5C30303067}
-\BKM@entry{id=2,dest={73656374696F6E2E312E31},srcline={23}}{5C3337365C3337375C3030304D5C3030306F5C303030745C303030695C303030765C303030615C303030745C303030695C3030306F5C3030306E}
+\citation{vogel-heuser_von_2023}
+\citation{noauthor_iidea_nodate}
+\BKM@entry{id=2,dest={73656374696F6E2E312E31},srcline={21}}{5C3337365C3337375C3030304D5C3030306F5C303030745C303030695C303030765C303030615C303030745C303030695C3030306F5C3030306E}
 \citation{noauthor_robotics_2021}
 \citation{popov_collision_2017}
 \citation{li_common_2019}
@@ -27,18 +43,18 @@
 \@writefile{lof}{\addvspace {10\p@ }}
 \@writefile{lot}{\addvspace {10\p@ }}
 \@writefile{lol}{\addvspace {10\p@ }}
-\@writefile{toc}{\contentsline {section}{\numberline {1.1}Motivation}{3}{section.1.1}\protected@file@percent }
-\BKM@entry{id=3,dest={73656374696F6E2E312E32},srcline={39}}{5C3337365C3337375C3030305A5C303030695C303030655C3030306C5C303030735C303030655C303030745C3030307A5C303030755C3030306E5C30303067}
-\BKM@entry{id=4,dest={73656374696F6E2E312E33},srcline={43}}{5C3337365C3337375C303030465C3030306F5C303030725C303030735C303030635C303030685C303030755C3030306E5C303030675C303030735C303030665C303030725C303030615C303030675C30303065}
-\BKM@entry{id=5,dest={73656374696F6E2E312E34},srcline={46}}{5C3337365C3337375C303030415C303030755C303030665C303030625C303030615C303030755C3030305C3034305C303030645C303030655C303030725C3030305C3034305C303030415C303030725C303030625C303030655C303030695C30303074}
+\BKM@entry{id=3,dest={73656374696F6E2E312E32},srcline={37}}{5C3337365C3337375C3030305A5C303030695C303030655C3030306C5C303030735C303030655C303030745C3030307A5C303030755C3030306E5C30303067}
+\BKM@entry{id=4,dest={73656374696F6E2E312E33},srcline={41}}{5C3337365C3337375C303030465C3030306F5C303030725C303030735C303030635C303030685C303030755C3030306E5C303030675C303030735C303030665C303030725C303030615C303030675C30303065}
+\@writefile{toc}{\contentsline {section}{\numberline {1.1}Motivation}{4}{section.1.1}\protected@file@percent }
 \@writefile{toc}{\contentsline {section}{\numberline {1.2}Zielsetzung}{4}{section.1.2}\protected@file@percent }
-\@writefile{toc}{\contentsline {section}{\numberline {1.3}Forschungsfrage}{4}{section.1.3}\protected@file@percent }
+\BKM@entry{id=5,dest={73656374696F6E2E312E34},srcline={44}}{5C3337365C3337375C303030415C303030755C303030665C303030625C303030615C303030755C3030305C3034305C303030645C303030655C303030725C3030305C3034305C303030415C303030725C303030625C303030655C303030695C30303074}
+\@writefile{toc}{\contentsline {section}{\numberline {1.3}Forschungsfrage}{5}{section.1.3}\protected@file@percent }
 \@writefile{toc}{\contentsline {section}{\numberline {1.4}Aufbau der Arbeit}{5}{section.1.4}\protected@file@percent }
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+\BKM@entry{id=6,dest={636861707465722E32},srcline={48}}{5C3337365C3337375C303030535C303030745C303030615C3030306E5C303030645C3030305C3034305C303030645C303030655C303030725C3030305C3034305C303030545C303030655C303030635C303030685C3030306E5C303030695C3030306B}
 \citation{noauthor_can_nodate}
 \citation{noauthor_can_nodate}
 \citation{liu_application_2024}
-\BKM@entry{id=7,dest={73656374696F6E2E322E31},srcline={60}}{5C3337365C3337375C3030304B5C3030306F5C3030306C5C3030306C5C303030695C303030735C303030695C3030306F5C3030306E5C303030735C303030765C303030655C303030725C3030306D5C303030655C303030695C303030645C303030755C3030306E5C303030675C3030305C3034305C303030755C3030306E5C303030645C3030305C3034305C3030304B5C3030306F5C3030306C5C3030306C5C303030695C303030735C303030695C3030306F5C3030306E5C303030735C303030655C303030725C3030306B5C303030655C3030306E5C3030306E5C303030755C3030306E5C30303067}
+\BKM@entry{id=7,dest={73656374696F6E2E322E31},srcline={58}}{5C3337365C3337375C3030304B5C3030306F5C3030306C5C3030306C5C303030695C303030735C303030695C3030306F5C3030306E5C303030735C303030765C303030655C303030725C3030306D5C303030655C303030695C303030645C303030755C3030306E5C303030675C3030305C3034305C303030755C3030306E5C303030645C3030305C3034305C3030304B5C3030306F5C3030306C5C3030306C5C303030695C303030735C303030695C3030306F5C3030306E5C303030735C303030655C303030725C3030306B5C303030655C3030306E5C3030306E5C303030755C3030306E5C30303067}
 \citation{popov_collision_2017}
 \citation{noauthor_robotics_2021}
 \citation{al_naser_fusion_2022}
@@ -51,7 +67,7 @@
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 \bibdata{BA}
 \bibcite{noauthor_can_nodate}{1}
-\bibcite{noauthor_file20200501_2020}{2}
+\bibcite{noauthor_iidea_nodate}{2}
 \bibcite{noauthor_pico-series_nodate}{3}
-\bibcite{noauthor_robotics_2021}{4}
-\bibcite{hering_sensoren_2018}{5}
-\bibcite{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025}{6}
-\bibcite{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate}{7}
-\bibcite{noauthor_tutorials_nodate}{8}
-\bibcite{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025}{9}
-\bibcite{noauthor_vl53l7cx_nodate}{10}
-\bibcite{noauthor_vlp_nodate}{11}
+\bibcite{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate}{4}
+\bibcite{noauthor_tutorials_nodate}{5}
+\bibcite{noauthor_vl53l7cx_nodate}{6}
+\bibcite{noauthor_vlp_nodate}{7}
+\bibcite{noauthor_file20200501_2020}{8}
+\bibcite{noauthor_robotics_2021}{9}
+\bibcite{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025}{10}
+\bibcite{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025}{11}
 \bibcite{al_naser_fusion_2022}{12}
 \bibcite{amaya-mejia_vision-based_2022}{13}
-\bibcite{jain_survey_nodate}{14}
-\bibcite{li_common_2019}{15}
-\bibcite{liu_application_2024}{16}
-\bibcite{niclass_design_2012}{17}
-\bibcite{popov_collision_2017}{18}
-\bibcite{raj_survey_2020}{19}
-\bibcite{rashid_local_2020}{20}
-\bibcite{surmann_autonomous_2003}{21}
-\gdef \@abspage@last{19}
+\bibcite{hering_sensoren_2018}{14}
+\bibcite{jain_survey_nodate}{15}
+\bibcite{li_common_2019}{16}
+\bibcite{liu_application_2024}{17}
+\bibcite{niclass_design_2012}{18}
+\bibcite{popov_collision_2017}{19}
+\bibcite{raj_survey_2020}{20}
+\bibcite{rashid_local_2020}{21}
+\bibcite{surmann_autonomous_2003}{22}
+\bibcite{vogel-heuser_von_2023}{23}
+\global\csname @altsecnumformattrue\endcsname
+\gdef \@abspage@last{52}
diff --git a/Bachelorarbeit/Bachelorarbeit/ba.bbl b/Bachelorarbeit/Bachelorarbeit/ba.bbl
index 9db10d0fdf405c61fb6d29b6192443e910d4ddc6..bd77876b6932de092a9e1918ac5915adfb70a4aa 100644
--- a/Bachelorarbeit/Bachelorarbeit/ba.bbl
+++ b/Bachelorarbeit/Bachelorarbeit/ba.bbl
@@ -1,109 +1,187 @@
 \begin{thebibliography}{10}
 
-\bibitem{noauthor_can_nodate}
-Can the collaborative robot market experience a second growth surge in the
-  post-pandemic era?
-
-\bibitem{noauthor_file20200501_2020}
-File:20200501 time of flight.svg - wikipedia.
-
-\bibitem{noauthor_pico-series_nodate}
-Pico-series microcontrollers - raspberry pi documentation.
-
-\bibitem{noauthor_robotics_2021}
-Robotics - vocabulary.
-
-\bibitem{hering_sensoren_2018}
-Sensoren in wissenschaft und technik.
-
-\bibitem{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025}
-sparkfun/{SparkFun}\_vl53l5cx\_arduino\_library.
-\newblock original-date: 2021-10-22T21:06:36Z.
-
-\bibitem{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate}
-tof\_imager\_micro\_ros/teensy\_pcl\_publisher at humble ·
-  adityakamath/tof\_imager\_micro\_ros · {GitHub}.
-
-\bibitem{noauthor_tutorials_nodate}
-Tutorials — {ROS} 2 documentation: Humble documentation.
-
-\bibitem{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025}
-{UniversalRobots}/universal\_robots\_ros2\_gz\_simulation.
-\newblock original-date: 2021-12-15T12:15:45Z.
-
-\bibitem{noauthor_vl53l7cx_nodate}
-{VL}53l7cx - time-of-flight ({ToF}) 8x8 multizone ranging sensor with 90
-  degrees {FoV} - {STMicroelectronics}.
-
-\bibitem{noauthor_vlp_nodate}
-{VLP} 16 {\textbar} ouster.
-
-\bibitem{al_naser_fusion_2022}
-Ibrahim Al~Naser, Johannes Dahmen, Mohamad Bdiwi, and Steffen Ihlenfeldt.
+% this bibliography is generated by plaindin.bst [8.2] from 2005-12-21
+
+\providecommand{\url}[1]{\texttt{#1}}
+\expandafter\ifx\csname urlstyle\endcsname\relax
+  \providecommand{\doi}[1]{doi: #1}\else
+  \providecommand{\doi}{doi: \begingroup \urlstyle{rm}\Url}\fi
+
+\bibitem[1]{noauthor_can_nodate}
+\emph{Can the collaborative robot market experience a second growth surge in
+  the post-pandemic era?}
+\newblock
+  \url{https://interactanalysis.com/insight/can-the-collaborative-robot-market-experience-a-second-growth-surge-in-the-post-pandemic-era/}
+
+\bibitem[2]{noauthor_iidea_nodate}
+\emph{{IIDEA} - {Inklusion} und {Integration} durch {Cobots} auf dem ersten
+  {Arbeitsmarkt} - {RWTH} {AACHEN} {UNIVERSITY} {IGMR} - {Deutsch}}.
+\newblock
+  \url{https://www.igmr.rwth-aachen.de/cms/igmr/forschung/projekte/aktuelle-projekte/~baxrrf/iidea/}
+
+\bibitem[3]{noauthor_pico-series_nodate}
+\emph{Pico-series {Microcontrollers} - {Raspberry} {Pi} {Documentation}}.
+\newblock
+  \url{https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html}
+
+\bibitem[4]{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate}
+\emph{tof\_imager\_micro\_ros/teensy\_pcl\_publisher at humble ·
+  adityakamath/tof\_imager\_micro\_ros · {GitHub}}.
+\newblock
+  \url{https://github.com/adityakamath/tof_imager_micro_ros/tree/humble/teensy_pcl_publisher}
+
+\bibitem[5]{noauthor_tutorials_nodate}
+\emph{Tutorials — {ROS} 2 {Documentation}: {Humble} documentation}.
+\newblock \url{https://docs.ros.org/en/humble/Tutorials.html}
+
+\bibitem[6]{noauthor_vl53l7cx_nodate}
+\emph{{VL53L7CX} - {Time}-of-{Flight} ({ToF}) 8x8 multizone ranging sensor with
+  90 degrees {FoV} - {STMicroelectronics}}.
+\newblock
+  \url{https://www.st.com/en/imaging-and-photonics-solutions/vl53l7cx.html}
+
+\bibitem[7]{noauthor_vlp_nodate}
+\emph{{VLP} 16 {\textbar} {Ouster}}.
+\newblock \url{https://ouster.com/products/hardware/vlp-16}
+
+\bibitem[8]{noauthor_file20200501_2020}
+\emph{File:20200501 {Time} of flight.svg - {Wikipedia}}.
+\newblock
+  \url{https://commons.wikimedia.org/wiki/File:20200501_Time_of_flight.svg}.
+\newblock \,Version:\,Mai 2020
+
+\bibitem[9]{noauthor_robotics_2021}
+\emph{Robotics - {Vocabulary}}.
+\newblock \url{https://www.dinmedia.de/de/norm/iso-8373/348036781}.
+\newblock \,Version:\,November 2021
+
+\bibitem[10]{noauthor_sparkfunsparkfun_vl53l5cx_arduino_library_2025}
+\emph{sparkfun/{SparkFun}\_VL53L5CX\_Arduino\_Library}.
+\newblock \url{https://github.com/sparkfun/SparkFun_VL53L5CX_Arduino_Library}.
+\newblock \,Version:\,Januar 2025. --
+\newblock original-date: 2021-10-22T21:06:36Z
+
+\bibitem[11]{noauthor_universalrobotsuniversal_robots_ros2_gz_simulation_2025}
+\emph{{UniversalRobots}/{Universal}\_Robots\_ROS2\_GZ\_Simulation}.
+\newblock
+  \url{https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation}.
+\newblock \,Version:\,Februar 2025. --
+\newblock original-date: 2021-12-15T12:15:45Z
+
+\bibitem[12]{al_naser_fusion_2022}
+\textsc{Al~Naser}, Ibrahim ; \textsc{Dahmen}, Johannes ; \textsc{Bdiwi},
+  Mohamad  ; \textsc{Ihlenfeldt}, Steffen:
 \newblock Fusion of depth, color, and thermal images towards digital twins and
   safe human interaction with a robot in an industrial environment.
-\newblock In {\em 2022 31st {IEEE} International Conference on Robot and Human
-  Interactive Communication ({RO}-{MAN})}, pages 532--537.
-\newblock {ISSN}: 1944-9437.
-
-\bibitem{amaya-mejia_vision-based_2022}
-Lina~María Amaya-Mejía, Nicolás Duque-Suárez, Daniel Jaramillo-Ramírez,
-  and Carol Martinez.
-\newblock Vision-based safety system for barrierless human-robot collaboration.
-\newblock In {\em 2022 {IEEE}/{RSJ} International Conference on Intelligent
-  Robots and Systems ({IROS})}, pages 7331--7336.
-\newblock {ISSN}: 2153-0866.
-
-\bibitem{jain_survey_nodate}
-Siddharth Jain.
-\newblock A survey of laser range finding.
-
-\bibitem{li_common_2019}
-Peng Li and Xiangpeng Liu.
-\newblock Common sensors in industrial robots: A review.
-\newblock 1267(1):012036.
-
-\bibitem{liu_application_2024}
-Li~Liu, Fu~Guo, Zishuai Zou, and Vincent~G. Duffy.
-\newblock Application, development and future opportunities of collaborative
-  robots (cobots) in manufacturing: A literature review.
-\newblock 40(4):915--932.
+\newblock {In: }\emph{2022 31st {IEEE} {International} {Conference} on {Robot}
+  and {Human} {Interactive} {Communication} ({RO}-{MAN})}, 2022, 532--537. --
+\newblock ISSN: 1944-9437
+
+\bibitem[13]{amaya-mejia_vision-based_2022}
+\textsc{Amaya-Mejía}, Lina~M. ; \textsc{Duque-Suárez}, Nicolás ;
+  \textsc{Jaramillo-Ramírez}, Daniel  ; \textsc{Martinez}, Carol:
+\newblock Vision-{Based} {Safety} {System} for {Barrierless} {Human}-{Robot}
+  {Collaboration}.
+\newblock {In: }\emph{2022 {IEEE}/{RSJ} {International} {Conference} on
+  {Intelligent} {Robots} and {Systems} ({IROS})}, 2022, 7331--7336. --
+\newblock ISSN: 2153-0866
+
+\bibitem[14]{hering_sensoren_2018}
+\textsc{Hering}, Ekbert (Hrsg.) ; \textsc{Schönfelder}, Gert (Hrsg.):
+\newblock \emph{Sensoren in {Wissenschaft} und {Technik}}.
+\newblock Wiesbaden : Springer Fachmedien Wiesbaden, 2018.
+\newblock \url{http://dx.doi.org/10.1007/978-3-658-12562-2}.
+\newblock \url{http://dx.doi.org/10.1007/978-3-658-12562-2}. --
+\newblock ISBN 978--3--658--12561--5 978--3--658--12562--2
+
+\bibitem[15]{jain_survey_nodate}
+\textsc{Jain}, Siddharth:
+\newblock A survey of {Laser} {Range} {Finding}.
+\newblock  \url{http://www.siddjain.com/ee236a.pdf}
+
+\bibitem[16]{li_common_2019}
+\textsc{Li}, Peng ; \textsc{Liu}, Xiangpeng:
+\newblock Common {Sensors} in {Industrial} {Robots}: {A} {Review}.
+\newblock {In: }\emph{Journal of Physics: Conference Series} 1267 (2019), Juli,
+  Nr. 1, 012036.
+\newblock \url{http://dx.doi.org/10.1088/1742-6596/1267/1/012036}. --
+\newblock DOI 10.1088/1742--6596/1267/1/012036. --
+\newblock ISSN 1742--6588, 1742--6596
+
+\bibitem[17]{liu_application_2024}
+\textsc{Liu}, Li ; \textsc{Guo}, Fu ; \textsc{Zou}, Zishuai  ; \textsc{Duffy},
+  Vincent~G.:
+\newblock Application, {Development} and {Future} {Opportunities} of
+  {Collaborative} {Robots} ({Cobots}) in {Manufacturing}: {A} {Literature}
+  {Review}.
+\newblock {In: }\emph{International Journal of Human–Computer Interaction} 40
+  (2024), Februar, Nr. 4, 915--932.
+\newblock \url{http://dx.doi.org/10.1080/10447318.2022.2041907}. --
+\newblock DOI 10.1080/10447318.2022.2041907. --
+\newblock ISSN 1044--7318. --
 \newblock Publisher: Taylor \& Francis \_eprint:
-  https://doi.org/10.1080/10447318.2022.2041907.
+  https://doi.org/10.1080/10447318.2022.2041907
 
-\bibitem{niclass_design_2012}
-Cristiano Niclass, Kota Ito, Mineki Soga, Hiroyuki Matsubara, Isao Aoyagi,
-  Satoru Kato, and Manabu Kagami.
+\bibitem[18]{niclass_design_2012}
+\textsc{Niclass}, Cristiano ; \textsc{Ito}, Kota ; \textsc{Soga}, Mineki ;
+  \textsc{Matsubara}, Hiroyuki ; \textsc{Aoyagi}, Isao ; \textsc{Kato}, Satoru
+  ; \textsc{Kagami}, Manabu:
 \newblock Design and characterization of a 256x64-pixel single-photon imager in
   {CMOS} for a {MEMS}-based laser scanning time-of-flight sensor.
-\newblock 20(11):11863--11881.
-\newblock Publisher: Optica Publishing Group.
-
-\bibitem{popov_collision_2017}
-Dmitry Popov, Alexandr Klimchik, and Nikolaos Mavridis.
+\newblock {In: }\emph{Optics Express} 20 (2012), Mai, Nr. 11, 11863--11881.
+\newblock \url{http://dx.doi.org/10.1364/OE.20.011863}. --
+\newblock DOI 10.1364/OE.20.011863. --
+\newblock ISSN 1094--4087. --
+\newblock Publisher: Optica Publishing Group
+
+\bibitem[19]{popov_collision_2017}
+\textsc{Popov}, Dmitry ; \textsc{Klimchik}, Alexandr  ; \textsc{Mavridis},
+  Nikolaos:
 \newblock Collision detection, localization \& classification for industrial
   robots with joint torque sensors.
-\newblock In {\em 2017 26th {IEEE} International Symposium on Robot and Human
-  Interactive Communication ({RO}-{MAN})}, pages 838--843. {IEEE}.
-
-\bibitem{raj_survey_2020}
-Thinal Raj, Fazida~Hanim Hashim, Aqilah~Baseri Huddin, Mohd~Faisal Ibrahim, and
-  Aini Hussain.
-\newblock A survey on {LiDAR} scanning mechanisms.
-\newblock 9(5):741.
-\newblock Number: 5 Publisher: Multidisciplinary Digital Publishing Institute.
-
-\bibitem{rashid_local_2020}
-Aquib Rashid, Kannan Peesapati, Mohamad Bdiwi, Sebastian Krusche, Wolfram
-  Hardt, and Matthias Putz.
-\newblock Local and global sensors for collision avoidance.
-\newblock In {\em 2020 {IEEE} International Conference on Multisensor Fusion
-  and Integration for Intelligent Systems ({MFI})}, pages 354--359.
-
-\bibitem{surmann_autonomous_2003}
-Hartmut Surmann, Andreas Nüchter, and Joachim Hertzberg.
-\newblock An autonomous mobile robot with a 3d laser range finder for 3d
+\newblock {In: }\emph{2017 26th {IEEE} {International} {Symposium} on {Robot}
+  and {Human} {Interactive} {Communication} ({RO}-{MAN})}.
+\newblock Lisbon : IEEE, August 2017. --
+\newblock ISBN 978--1--5386--3518--6, 838--843
+
+\bibitem[20]{raj_survey_2020}
+\textsc{Raj}, Thinal ; \textsc{Hashim}, Fazida~H. ; \textsc{Huddin}, Aqilah~B.
+  ; \textsc{Ibrahim}, Mohd~F.  ; \textsc{Hussain}, Aini:
+\newblock A {Survey} on {LiDAR} {Scanning} {Mechanisms}.
+\newblock {In: }\emph{Electronics} 9 (2020), Mai, Nr. 5, 741.
+\newblock \url{http://dx.doi.org/10.3390/electronics9050741}. --
+\newblock DOI 10.3390/electronics9050741. --
+\newblock ISSN 2079--9292. --
+\newblock Number: 5 Publisher: Multidisciplinary Digital Publishing Institute
+
+\bibitem[21]{rashid_local_2020}
+\textsc{Rashid}, Aquib ; \textsc{Peesapati}, Kannan ; \textsc{Bdiwi}, Mohamad ;
+  \textsc{Krusche}, Sebastian ; \textsc{Hardt}, Wolfram  ; \textsc{Putz},
+  Matthias:
+\newblock Local and {Global} {Sensors} for {Collision} {Avoidance}.
+\newblock {In: }\emph{2020 {IEEE} {International} {Conference} on {Multisensor}
+  {Fusion} and {Integration} for {Intelligent} {Systems} ({MFI})}, 2020,
+  354--359
+
+\bibitem[22]{surmann_autonomous_2003}
+\textsc{Surmann}, Hartmut ; \textsc{Nüchter}, Andreas  ; \textsc{Hertzberg},
+  Joachim:
+\newblock An autonomous mobile robot with a {3D} laser range finder for {3D}
   exploration and digitalization of indoor environments.
-\newblock 45(3):181--198.
+\newblock {In: }\emph{Robotics and Autonomous Systems} 45 (2003), Dezember, Nr.
+  3, 181--198.
+\newblock \url{http://dx.doi.org/10.1016/j.robot.2003.09.004}. --
+\newblock DOI 10.1016/j.robot.2003.09.004. --
+\newblock ISSN 0921--8890
+
+\bibitem[23]{vogel-heuser_von_2023}
+\textsc{Vogel-Heuser}, Birgit ; \textsc{Bengler}, Klaus:
+\newblock Von {Industrie} 4.0 zu {Industrie} 5.0 – {Idee}, {Konzept} und
+  {Wahrnehmung}.
+\newblock {In: }\emph{HMD Praxis der Wirtschaftsinformatik} 60 (2023),
+  Dezember, Nr. 6, 1124--1142.
+\newblock \url{http://dx.doi.org/10.1365/s40702-023-01002-x}. --
+\newblock DOI 10.1365/s40702--023--01002--x. --
+\newblock ISSN 2198--2775
 
 \end{thebibliography}
diff --git a/Bachelorarbeit/Bachelorarbeit/ba.blg b/Bachelorarbeit/Bachelorarbeit/ba.blg
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+++ b/Bachelorarbeit/Bachelorarbeit/ba.blg
@@ -1,31 +1,16 @@
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diff --git a/Bachelorarbeit/Bachelorarbeit/ba.ist b/Bachelorarbeit/Bachelorarbeit/ba.ist
index 03a569e34b30703777ae51a0acbbcaea5701870f..5505e51d8261d4c9d2acd50bc8fe6ef0c6cd04a6 100644
--- a/Bachelorarbeit/Bachelorarbeit/ba.ist
+++ b/Bachelorarbeit/Bachelorarbeit/ba.ist
@@ -1,5 +1,5 @@
 % makeindex style file created by the glossaries package
-% for document 'ba' on 2025-4-13
+% for document 'ba' on 2025-4-16
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diff --git a/Bachelorarbeit/Bachelorarbeit/ba.lof b/Bachelorarbeit/Bachelorarbeit/ba.lof
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--- a/Bachelorarbeit/Bachelorarbeit/ba.lof
+++ b/Bachelorarbeit/Bachelorarbeit/ba.lof
@@ -1,23 +1,18 @@
 \babel@toc {ngerman}{}\relax 
 \addvspace {10\p@ }
 \addvspace {10\p@ }
+\contentsline {figure}{\numberline {\textbf 2-1}{\ignorespaces Market Outlook for Cobots. Source:\cite {noauthor_can_nodate}}}{6}{figure.2.1}%
+\contentsline {figure}{\numberline {\textbf 2-2}{\ignorespaces The way a ToF-Sensor works, Source:\cite {noauthor_file20200501_2020}}}{8}{figure.2.2}%
+\contentsline {figure}{\numberline {\textbf 2-3}{\ignorespaces Beispiel für einen Optomechanischen 2D-\acrshort {LIDAR}, Source:\cite {raj_survey_2020}}}{9}{figure.2.3}%
+\contentsline {figure}{\numberline {\textbf 2-4}{\ignorespaces Package eines VL53L7CX, Source:\cite {noauthor_vl53l7cx_nodate}}}{10}{figure.2.4}%
 \addvspace {10\p@ }
-\contentsline {figure}{\numberline {\textbf 3-1}{\ignorespaces Market Outlook for Cobots. Source:\cite {noauthor_can_nodate}}}{5}{figure.3.1}%
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-\contentsline {figure}{\numberline {\textbf 3-4}{\ignorespaces Package eines VL53L7CX, Source:\cite {noauthor_vl53l7cx_nodate}}}{9}{figure.3.4}%
+\contentsline {figure}{\numberline {\textbf 3-1}{\ignorespaces Visualisierung von einem Topic, Source:\cite {noauthor_tutorials_nodate}}}{15}{figure.3.1}%
 \addvspace {10\p@ }
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-\contentsline {figure}{\numberline {\textbf 4-2}{\ignorespaces Bildschirmaufnahme aus Fusion von einer UR10 Baugruppe mit Sensormodul}}{15}{figure.4.2}%
-\contentsline {figure}{\numberline {\textbf 4-3}{\ignorespaces Bildschirmaufnahme aus \acrshort {RVIZ} von einer Punktwolke von einer Wand}}{16}{figure.4.3}%
-\contentsline {figure}{\numberline {\textbf 4-4}{\ignorespaces Schaltplan von der Verkabelung von 16 VL53L7CX Sensoren}}{17}{figure.4.4}%
-\contentsline {figure}{\numberline {\textbf 4-5}{\ignorespaces Bildschirmaufnahme vom Sensormodul aus Fusion}}{18}{figure.4.5}%
 \addvspace {10\p@ }
 \addvspace {10\p@ }
+\contentsline {figure}{\numberline {\textbf B-1}{\ignorespaces 3D-Modell des Sensormoduls (Perspektive 1)}}{45}{figure.B.1}%
+\contentsline {figure}{\numberline {\textbf B-2}{\ignorespaces 3D-Modell des Sensormoduls (Perspektive 2)}}{46}{figure.B.2}%
+\contentsline {figure}{\numberline {\textbf B-3}{\ignorespaces 3D-Modell des Sensormoduls (Perspektive 3)}}{47}{figure.B.3}%
+\contentsline {figure}{\numberline {\textbf B-4}{\ignorespaces 3D-Modell des Sensormoduls (Perspektive 4)}}{48}{figure.B.4}%
 \addvspace {10\p@ }
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-\contentsline {figure}{\numberline {\textbf B-2}{\ignorespaces 3D-Modell des Sensormoduls (Perspektive 2)}}{53}{figure.B.2}%
-\contentsline {figure}{\numberline {\textbf B-3}{\ignorespaces 3D-Modell des Sensormoduls (Perspektive 3)}}{54}{figure.B.3}%
-\contentsline {figure}{\numberline {\textbf B-4}{\ignorespaces 3D-Modell des Sensormoduls (Perspektive 4)}}{55}{figure.B.4}%
-\addvspace {10\p@ }
-\contentsline {figure}{\numberline {\textbf C-1}{\ignorespaces Versuchsaufbau mit zwei VL53L5CX}}{56}{figure.C.1}%
+\contentsline {figure}{\numberline {\textbf C-1}{\ignorespaces Versuchsaufbau mit zwei VL53L5CX}}{49}{figure.C.1}%
diff --git a/Bachelorarbeit/Bachelorarbeit/ba.log b/Bachelorarbeit/Bachelorarbeit/ba.log
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+\contentsline {chapter}{\numberline {B}3D-Modelle des Sensormoduls}{45}{appendix.B}%
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-Can the collaborative robot market experience a second growth surge in the
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-  safe human interaction with a robot in an industrial environment.
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-  Interactive Communication ({RO}-{MAN})}, pages 532--537.
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-\bibitem{amaya-mejia_vision-based_2022}
-Lina~María Amaya-Mejía, Nicolás Duque-Suárez, Daniel Jaramillo-Ramírez,
-  and Carol Martinez.
-\newblock Vision-based safety system for barrierless human-robot collaboration.
-\newblock In {\em 2022 {IEEE}/{RSJ} International Conference on Intelligent
-  Robots and Systems ({IROS})}, pages 7331--7336.
-\newblock {ISSN}: 2153-0866.
-
-\bibitem{jain_survey_nodate}
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-\newblock A survey of laser range finding.
-
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-\newblock Common sensors in industrial robots: A review.
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-
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-  robots with joint torque sensors.
-\newblock In {\em 2017 26th {IEEE} International Symposium on Robot and Human
-  Interactive Communication ({RO}-{MAN})}, pages 838--843. {IEEE}.
-
-\bibitem{raj_survey_2020}
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-  Aini Hussain.
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-\newblock 9(5):741.
-\newblock Number: 5 Publisher: Multidisciplinary Digital Publishing Institute.
-
-\bibitem{rashid_local_2020}
-Aquib Rashid, Kannan Peesapati, Mohamad Bdiwi, Sebastian Krusche, Wolfram
-  Hardt, and Matthias Putz.
-\newblock Local and global sensors for collision avoidance.
-\newblock In {\em 2020 {IEEE} International Conference on Multisensor Fusion
-  and Integration for Intelligent Systems ({MFI})}, pages 354--359.
-
-\end{thebibliography}
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diff --git a/Bachelorarbeit/Bachelorarbeit/main.toc b/Bachelorarbeit/Bachelorarbeit/main.toc
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-\babel@toc {ngerman}{}\relax 
-\contentsline {section}{\numberline {1}Motivation}{1}{}%
-\contentsline {section}{\numberline {2}Stand der Technik}{2}{}%
-\contentsline {subsection}{\numberline {2.1}Kollisionsvermeidung und Kollisionserkennung}{2}{}%
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-\contentsline {subsection}{\numberline {3.1}Vorgehensweise}{5}{}%
-\contentsline {subsection}{\numberline {3.2}Software}{5}{}%
-\contentsline {subsubsection}{\numberline {3.2.1}Arduino}{5}{}%
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-\contentsline {subsubsection}{\numberline {3.3.2}Mechanisch}{5}{}%
-\contentsline {section}{\numberline {4}Ergebnis}{5}{}%
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diff --git a/Bachelorarbeit/Bachelorarbeit/text.tex b/Bachelorarbeit/Bachelorarbeit/text.tex
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+++ b/Bachelorarbeit/Bachelorarbeit/text.tex
@@ -1,24 +1,22 @@
 
 \chapter{Einleitung}
-  % Zielsetzung und Kontext:
-  % Was ist das Ziel des Berichts?
-  In diesem Bericht werde ich meine Vorgehensweise zur Entwicklung eines mechatronischen Systems 
-  zur Kollisionsvermeidung beschreiben und seine Funktionsweise erläutern.
   % Warum wurde das Thema gewählt?
-  \\ \indent Aktuell werden Kollisionen von \acrfull{Cobots} häufig mithilfe von intrinsischen Sensoren detektiert, jedoch nicht vermieden.
-  % Was ist das Ziel des Berichts?
-  \\ \indent Das Ziel des Sensorsystems ist es, ergänzend zur Kollisionsdetektion, die meisten Kollisionen zu vermeiden. 
-  Das Vermeiden von Kollisionen ermöglicht es dem \acrshort{Cobot}, nach einer vermiedenen Kollision eine neue Route zu planen und auszuführen, 
-  um seine Aufgabe trotz der beinahe Kollision zu erfüllen.
-  % Welche Methoden oder Ansätze wurden verwendet, um die Ziele zu erreichen oder die Forschung durchzuführen?
-  \\ \indent Das System verwendet \acrfull{ToFs} von STMicroelectronics zur Abstandsmessung von potentiellen Kollisionsobjekten. 
-  Die Messwerte werden auf einem Linux-basierten persönlichen Computer (\acrshort{PC}) ausgewertet, visualisiert und zusammen mit anderen Sensorinputs interpretiert. 
-  Zur Testung des Systems habe ich den Sensorinput der Drehgebern des \acrfull{UR} in Gazebo Classic simuliert und die Messwerte der \acrshort{ToFs} in einem Testaufbau generiert.
-  % Welche Schlussfolgerungen wurden basierend auf den Ergebnissen gezogen?
-  \\ \indent \acrshort{ToFs} eignen sich zur Überwachung des Arbeitsraums eines Roboters, 
-  da sie präzise genug sind um Entfernungsdaten zu liefern und so die Kollisionsvermeidung durch das erkennen von Objekten im Arbeitsraum ermöglichen können. 
-  % Welche Bedeutung haben sie für das Thema oder für die Praxis?
-  \\ \indent Durch die Kollisionsvermeidung kann ein \acrshort{Cobot} autonomer arbeiten und so die Effizienz und Sicherheit in der Produktion erhöht werden.
+Kollaborative Roboter werden mit der Entwicklung in Richtung zu Industrie 5.0 immer relevanter, da sie unteranderem die Kollaboration von Mensch und Maschine ermöglichen\cite{vogel-heuser_von_2023}. 
+\\Vor allem in der Zusammenarbeit mit körperlich beeinträchtigten Menschen erweisen sich \acrfull{Cobots} als hilfreich, da sie die Handhabung von Arbeitsmaterial erleichtern können \cite{noauthor_iidea_nodate}.
+\\Aktuell werden Kollisionen von \acrshort{Cobots} häufig mithilfe intrinsischer Sensoren detektiert oder durch eine räumliche Trennung von Mensch und Maschine verhindert. Wenn eine räumliche Trennung jedoch nicht möglich ist und trotzdem keine Kollision auftreten darf, kann das in dieser Bachelorarbeit vorgestellte Sensorsystem eingesetzt werden.
+% Was ist das Ziel des Berichts?
+\\Das Ziel des Sensorsystems ist es, ergänzend zur Kollisionsdetektion, die meisten Kollisionen zu vermeiden. 
+Das Vermeiden von Kollisionen ermöglicht es dem \acrshort{Cobot}, nach einer vermiedenen Kollision eine neue Route zu planen und auszuführen, 
+um seine Aufgabe trotz der beinahe Kollision zu erfüllen.
+% Welche Methoden oder Ansätze wurden verwendet, um die Ziele zu erreichen oder die Forschung durchzuführen?
+\\ \indent Das System verwendet \acrfull{ToFs} von STMicroelectronics zur Abstandsmessung von potentiellen Kollisionsobjekten. 
+Die Messwerte werden auf einem Linux-basierten persönlichen Computer (\acrshort{PC}) ausgewertet, visualisiert und zusammen mit anderen Sensorinputs interpretiert. 
+Zur Testung des Systems habe ich den Sensorinput der Drehgebern des \acrfull{UR} in Gazebo Classic simuliert und die Messwerte der \acrshort{ToFs} in einem Testaufbau generiert.
+% Welche Schlussfolgerungen wurden basierend auf den Ergebnissen gezogen?
+\\\acrshort{ToFs} eignen sich zur Überwachung des Arbeitsraums eines Roboters, 
+da sie präzise genug sind um Entfernungsdaten zu liefern und so die Kollisionsvermeidung durch das erkennen von Objekten im Arbeitsraum ermöglichen können. 
+% Welche Bedeutung haben sie für das Thema oder für die Praxis?
+\\Durch die Kollisionsvermeidung kann ein \acrshort{Cobot} autonomer arbeiten und so die Effizienz und Sicherheit in der Produktion erhöht werden.
 
 \section{Motivation}
 	%Allgemeiner Überblick über das Thema
@@ -258,8 +256,3 @@
 		\subsection{Mechanisch}
 \chapter{Fazit und Ausblick}
 
-
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-\bibliography{BA}
-
-\end{document}