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Domestic Robotics
(2016)
Dieser Artikel stützt sich auf das vom 13.10.2015 bis 12.01.2016 gemeinsam durchgeführten Praxisprojekt von ORBIT und der Hochschule Bonn-Rhein-Sieg. Thema des Projekts waren die Methodenevaluation und Automatisierung von Auswertungsprozessen. Speziell ging es um die Überprüfung der von ORBIT entwickelten Methodik zur Anforderungsanalyse und Standortbestimmung – dem ORBIT-Navigator.
Effects of Workspace Awareness and Territoriality in Environments with Large, Shared Displays
(2016)
Synchronous cooperative work of multiple collaborators in large, high-resolution display systems comprises such psychological phenomena like workspace awareness and human territoriality. The phenomena and interplay between them can cause a significant impact on human-human and human-environment interaction. In a non-digital environment humans rely on their own physical abilities, utilities, and social protocols to control those phenomena (e.g. close eyes, or use earplugs to reduce workspace awareness; rotate oneself towards collaborators to increase workspace awareness). Digital environments, on the other hand, provide us with a possibility to ease, automate, and unify control processes, thus taking off that burden from users. Yet, we have to understand first, what effects workspace awareness and territoriality have within a collaborative environment. The aim of this doctoral thesis is to investigate effects of workspace awareness and territoriality on users and interaction processes in mixed-focus scenarios of various collaborative settings.
Ohne Zweifel kein Wissen und keine Innovation, dies gilt für die Forschung im Allgemeinen und natürlich auch an unserer Hochschule. Gerade in der Wissenschaft ist der methodische Zweifel oft der Ausgangspunkt einer spezifischen Untersuchung. Er soll dabei behilflich sein, Klarheit zu erlangen. Frei nach dem Philosophen Rene Descartes: Was kann ich eigentlich mit Sicherheit wissen? Nur wer ab und an zweifelt, der schaut um die Ecke, stellt sich, andere und seine Umwelt in Frage, sucht nach neuen Wegen, Antworten und strebt nach Veränderung. Und auch dort, wo Wissenschaft vermittelt wird, also im Seminar, in einer Übung oder Vorlesung, muss Platz sein für eine selbstreflexive Grundhaltung. An der H-BRS ist Zweifeln also nicht nur erlaubt, sondern erwünscht.
Noncooperative Game Theory
(2016)
Doubting - Path to Science
(2016)
The analysis of Δ9-tetrahydrocannabinol (THC) and its metabolites 11-hydroxy-Δ9-tetrahydrocannabinol (11-OH-THC), and 11-nor-9-carboxy-Δ9-tetrahydrocannabinol (THC-COOH) from blood serum is a routine task in forensic toxicology laboratories. For examination of consumption habits, the concentration of the phase I metabolite THC-COOH is used. Recommendations for interpretation of analysis values in medical-psychological assessments (regranting of driver’s licenses, Germany) include threshold values for the free, unconjugated THC-COOH. Using a fully automated two-step liquid-liquid extraction, THC, 11-OH-THC, and free, unconjugated THC-COOH were extracted from blood serum, silylated with N-methyl-N-(trimethylsilyl) trifluoroacetamide (MSTFA), and analyzed by GC/MS. The automation was carried out by an x-y-z sample robot equipped with modules for shaking, centrifugation, and solvent evaporation. This method was based on a previously developed manual sample preparation method. Validation guidelines of the Society of Toxicological and Forensic Chemistry (GTFCh) were fulfilled for both methods, at which the focus of this article is the automated one. Limits of detection and quantification for THC were 0.3 and 0.6 μg/L, for 11-OH-THC were 0.1 and 0.8 μg/L, and for THC-COOH were 0.3 and 1.1 μg/L, when extracting only 0.5 mL of blood serum. Therefore, the required limit of quantification for THC of 1 μg/L in driving under the influence of cannabis cases in Germany (and other countries) can be reached and the method can be employed in that context. Real and external control samples were analyzed, and a round robin test was passed successfully. To date, the method is employed in the Institute of Legal Medicine in Giessen, Germany, in daily routine. Automation helps in avoiding errors during sample preparation and reduces the workload of the laboratory personnel. Due to its flexibility, the analysis system can be employed for other liquid-liquid extractions as well. To the best of our knowledge, this is the first publication on a comprehensively automated classical liquid-liquid extraction workflow in the field of forensic toxicological analysis.
The development of advanced robotic systems is challenging as expertise from multiple domains needs to be integrated conceptually and technically. Model-driven engineering promises an efficient and flexible approach for developing robotics applications that copes with this challenge. Domain-specific modeling allows to describe robotics concerns with concepts and notations closer to the respective problem domain. This raises the level of abstraction and results in models that are easier to understand and validate. Furthermore, model-driven engineering allows to increase the level of automation, e.g. through code generation, and to bridge the gap between modeling and implementation. The anticipated results are improved efficiency and quality of the robotics systems engineering process. Within this contribution, we survey the available literature on domain-specific modeling and languages that target core robotics concerns. In total 137 publications were identified that comply with a set of defined criteria, which we consider essential for contributions in this field. With the presented survey, we provide an overview on the state-of-the-art of domain-specific modeling approaches in robotics. The surveyed publications are investigated from the perspective of users and developers of model-based approaches in robotics along a set of quantitative and qualitative research questions. The presented quantitative analysis clearly indicates the rising popularity of applying domain-specific modeling approaches to robotics in the academic community. Beyond this statistical analysis, we map the selected publications to a defined set of robotics subdomains and typical development phases in robotic systems engineering as reference for potential users. Furthermore, we analyze these contributions from a language engineering viewpoint and discuss aspects such as the methods and tools used for their implementation as well as their documentation status, platform integration, typical use cases and the evaluation strategies used for validation of the proposed approaches. Finally, we conclude with recommendations for discussion in the model-driven engineering and robotics community based on the insights gained in this survey.
With the rising interest in vehicular communication systems many proposals for secure vehicle-to-vehicle commu- nication were made in recent years. Also, several standard- ization activities concerning the security and privacy measures in these communication systems were initiated in Europe and in US. Here, we discuss some limitations for secure vehicle- to-infrastructure communication in the existing standards of the European Telecommunications Standards Institute. Next, a vulnerability analysis for roadside stations on one side and security and privacy requirements for roadside stations on the other side are given. Afterwards, a proposal for a multi-domain public key architecture for intelligent transport systems, which considers the necessities of road infrastructure authorities and vehicle manufacturers, is introduced. The domains of the public key infrastructure are cryptographically linked based on local trust lists. In addition, a crypto agility concept is suggested, which takes adaptation of key length and cryptographic algorithms during PKI operation into account.
Steigende psychische Arbeitsanforderungen werden im betrieblichen Alltag zunehmend als Normalität empfunden. Trotz erhöhtem Leistungsdruck werden Arbeitspausen oftmals unregelmäßig bis gar nicht wahrgenommen, obwohl mit einer Pause eine gesteigerte Erholung und eine erhöhte Produktivität einhergehen. Der vorliegende Artikel zeigt auf, wie Arbeitspausen und deren systematische Implementierung zu einem "gesunden Unternehmen" beitragen können.
Nachhaltige und zukunftsfähige Mobilität in Städten kann langfristig nur durch die aktive Partizipation ihrer Bürger und Institutionen erreicht werden. Betriebliches Mobilitätsmanagement (BMM) kann dabei einen positiven Beitrag im Hinblick auf Umwelt, Gesundheit und Kosten leisten. Die vorliegende Arbeit beschäftigt sich mit der Wahrnehmung gesundheitlicher und finanzieller Wertschöpfungsaspekte des BMM. Im Rahmen des Forschungsprojekts Betriebe lösen Verkehrsprobleme werden Mobilitätsverhalten und Maßnahmen der Betrieblichen Gesundheitsförderung (BFG) in Bonner Betrieben untersucht. Folgenden Aspekten wird besondere Beachtung geschenkt: Bedeutung Betrieblicher Gesundheitsförderung in Bonner Betrieben, Mobilitätsverhalten von Arbeitnehmern auf dem Weg zur Dienststelle, Wahrnehmung eines unmittelbaren Zusammenhangs zwischen körperlicher Aktivität und Gesundheit bzw. krankheitsbedingter Kosten und Umsatzeinbußen durch Bewegungsmangel. Die Analyse resultiert auf der Basis einer schriftlichen Befragung von 178 Unternehmen, einer Online-Umfrage von 1.341 Mitarbeitern aus 14 Unternehmen sowie auf persönlichen Interviews mit 22 Betriebsleitern bzw. Mobilitäts- und Gesundheitsbeauftragten. Die Ergebnisse der Studie machen sowohl Handlungsbedarf als auch Optimierungspotentiale im Bereich BMM auf Betriebsseite deutlich. Kostensimulationen zeigen darüber hinaus auf, dass durch die Implementierung von BGF-Maßnahmen, explizit der Förderung von Bewegung, auf betriebs- und volkswirtschaftlicher Seite beachtliche Kosten im Gesundheitsbereich eingespart sowie höhere Gewinne im Unternehmen erzielt werden können.
The design of future materials for biotechnological applications via deposition of molecules on surfaces will require not only exquisite control of the deposition procedure, but of equal importance will be our ability to predict the shapes and stability of individual molecules on various surfaces. Furthermore, one will need to be able to predict the structure patterns generated during the self-organization of whole layers of (bio)molecules on the surface. In this review, we present an overview over the current state of the art regarding the prediction and clarification of structures of biomolecules on surfaces using theoretical and computational methods.
Der Weltklimavertrag versucht, sowohl auf das Umsteuern bei klimaschädlichem Wirtschaften in den Industrieländern (und einigen Schwellenländern) als auch auf das Vermeiden von klimaschädlicher Ausgestaltung des Wirtschaftens in den Schwellen- und Entwicklungsländern eine Antwort zu geben. Doch noch ist diese Antwort zu abstrakt.
Cognitive robotics aims at understanding biological processes, though it has also the potential to improve future robotics systems. Here we show how a biologically inspired model of motor control with neural fields can be augmented with additional components such that it is able to solve a basic robotics task, that of obstacle avoidance. While obstacle avoidance is a well researched area, the focus here is on the extensibility of a biologically inspired framework. This work demonstrates how easily the biological inspired system can be used to adapt to new tasks. This flexibility is thought to be a major hallmark of biological agents.
A deployment of the Vehicle-to-Vehicle communication technology according to ETSI is in preparation in Europe. Currently, a Public Key Infrastructure policy for Intelligent Transport Systems in Europe is in discussion to enable V2V communication. This policy set aside two classes of keys and certificates for ITS vehicle stations: long term authentication keys and pseudonymous keys and certificates. We show that from our point of view the periodic sent Cooperative Awareness Messages with extensive data have technical limitations and together with the pseudonym concept cause privacy problems.
Supported by their large size and high resolution, display walls suit well for different collaboration types. However, in order to foster instead of impede collaboration processes, interaction techniques need to be carefully designed, taking into regard the possibilities and limitations of the display size, and their effects on human perception and performance. In this paper we investigate the impact of visual distractors (which, for instance, might be caused by other collaborators' input) in peripheral vision on short-term memory and attention. The distractors occur frequently when multiple users collaborate in large wall display systems and may draw attention away from the main task, as such potentially affecting performance and cognitive load. Yet, the effect of these distractors is hardly understood. Gaining a better understanding thus may provide valuable input for designing more effective user interfaces. In this article, we report on two interrelated studies that investigated the effect of distractors. Depending on when the distractor is inserted in the task performance sequence, as well as the location of the distractor, user performance can be disturbed: we will show that distractors may not affect short term memory, but do have an effect on attention. We will closely look into the effects, and identify future directions to design more effective interfaces.
Für die prototypische Erstellung von Virtual Reality (VR) Szenen auf Grundlage realer Umgebungen bieten sich Daten aus aktuellen Panorama-Kameras an. Diese Daten eignen sich jedoch nicht unmittelbar für die Integration in eine Game Engine. Wir stellen daher ein projektionsbasiertes Verfahren vor, mit dem Bilder und Videos im Fischaugenformat, wie sie z.B. die 360 Kamera Ricoh Theta erstellt, ohne Konvertierung in Echtzeit mit Hilfe der Unity Game Engine visualisiert werden können. Es wird weiterhin gezeigt, dass ein Panoramabild mit diesem Verfahren leicht manuell um grobe Tiefeninformation erweitert werden kann, sodass bei einer Darstellung in VR ein grober räumlicher Eindruck der Szene für einfach prototypische Umsetzungen ermöglicht wird.
We propose an artificial slime mould model (ASMM) inspired by the plasmodium of Physarum polucephalum (P. polucephalum). ASMM consists of plural slimes, and each slime shares energy via a tube with neighboring slimes. Outer slimes sense their environment and conform to it. Outer slimes periodically transmit information about their surrounding environment via a contraction wave to inner slimes. Thus, ASMM shows how slimes can sense a better environment even if that environment is not adjacent to the slimes. The slimes subsequently can move in the direction of an attractant.
The work at hand outlines a recording setup for capturing hand and finger movements of musicians. The focus is on a series of baseline experiments on the detectability of coloured markers under different lighting conditions. With the goal of capturing and recording hand and finger movements of musicians in mind, requirements for such a system and existing approaches are analysed and compared. The results of the experiments and the analysis of related work show that the envisioned setup is suited for the expected scenario.
Das Optimalziel für ein Logistiklager ist eine hohe Auslastung des Transportsystems. Es stellt sich somit die Frage nach der Auswahl der Aufträge, die gleichzeitig innerhalb des Lagers abgearbeitet werden, ohne Staus, Blockaden oder Überlastungen entstehen zu lassen. Dieser Auswahlprozess wird auch als Path-Packing bezeichnet. Diese Masterthesis untersucht das Path-Packing auf graphentheoretischer Ebene und stellt verschiedene Greedy-Heuristiken, eine Optimallösung auf Basis der Linearen Programmierung sowie einen kombinierten Ansatz gegenüber. Die Ansätze werden anhand von Messzeiten und Auslastungen unterschiedlich randomisiert erstellter Testdaten ausgewertet.