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Login Data Set for Risk-Based Authentication
Synthesized login feature data of >33M login attempts and >3.3M users on a large-scale online service in Norway. Original data collected between February 2020 and February 2021.
This data sets aims to foster research and development for <a href="https://riskbasedauthentication.org">Risk-Based Authentication (RBA) systems. The data was synthesized from the real-world login behavior of more than 3.3M users at a large-scale single sign-on (SSO) online service in Norway.
The dataset contains the following data from successful and failed executions of the Toyota HSR robot placing a book on a shelf.
RGB images from the robot's head camera
Depth images from the robot's head camera
Rendered images of the robot's 3D model from the point of view of the robot's head camera
Force-torque readings from a wrist-mounted force-torque sensor
Joint efforts, velocities and positions
extrinsic and intrinsic camera calibration parameters
frame-level anomaly annotations
The anomalies that occur during execution include:
the manipulated book falling down
books on the shelf being disturbed significantly
camera occlusions
robot being disturbed by an external collision
The dataset is split into a train, validation and test set with the following number of trials:
Train: 48 successful trials
Validation: 6 successful trials
Test: 60 anomalous trials and 7 successful trials
PosturePairsDB19
(2019)
Modern Monte-Carlo-based rendering systems still suffer from the computational complexity involved in the generation of noise-free images, making it challenging to synthesize interactive previews. We present a framework suited for rendering such previews of static scenes using a caching technique that builds upon a linkless octree. Our approach allows for memory-efficient storage and constant-time lookup to cache diffuse illumination at multiple hitpoints along the traced paths. Non-diffuse surfaces are dealt with in a hybrid way in order to reconstruct view-dependent illumination while maintaining interactive frame rates. By evaluating the visual fidelity against ground truth sequences and by benchmarking, we show that our approach compares well to low-noise path traced results, but with a greatly reduced computational complexity allowing for interactive frame rates. This way, our caching technique provides a useful tool for global illumination previews and multi-view rendering.
Introduction of Matrix-Filler Adhesion to Modelling of Elastic Moduli of Particulate Composites
(2022)
Cube in cube elementary volume (EV) concept serves to predict a filler-content dependent Young´s moduli of particle filled composites using moduli of a matrix EM and a filler EF. Paul and Ishai-Cohen derived formulas for composites moduli considering different load transfer boundaries in the EV assuming a complete filler-matrix adhesion. In this paper it is confirmed that their models represent the upper and lower bounds, respectively, with the respect to the experimental data. However, in vast majority of composites a filler-matrix adhesion is not complete. Therefore, an adhesion factor kadh gaining values between 0 and 1 was introduced into Paul´s model to consider the reduced adhesion as the reduction of the filler-matrix contact area for glass beads filled in polar and unpolar thermoplastic matrices as well as elastomer. The evaluation of these composite systems provides reasonable adhesion coefficients of PA66 > PBT > PP > PE-LD >> BR. It was also found that stiffening only occurs if kadh exceeds the minimum value adhesion of root square of E(M) divided by E(F). The determined kadh correspond to scanning electron microscopy observations of the composites fracture surfaces. Additionally, finite element analysis of the cubic and hexagonal arrangements of the EV show that the stress distributions are different, but they affect the calculated moduli only for the filler volume contents exceeding 20 %. The introduction of the filler-matrix adhesion provides more reliable predictions of Young´s moduli of particulate composites.
The cube in cube approach was used by Paul and Ishai-Cohen to model and derive formulas for filler content dependent Young´s moduli of particle filled composites assuming perfect filler matrix adhesion. Their formulas were chosen because of their simplicity, recalculated using an elementary volume approach which transforms spherical inclusions to cubic inclusions. The EV approach led to expression for the composites moduli that allow for introducing an adhesion factor kadh ranging from 0 and 1 to take into account none perfect reduced filler matrix adhesion. This adhesion factor scales the edge length of the cubic inclusions, thus, reducing the stress transfer area between matrix and filler. Fitting the experimental data with the modified Paul model provides reasonable kadh for PA66, PBT, PP, PE-LD and BR which are in line with their surface energies. Further analysis showed that stiffening only occurs if kadh exceeds <span class="math-tex">\( { \ \sqrt{E^M/E^F} \ }\) and depends on the ratio of matrix modulus and filler modulus. The modified model allows for a quick calculation of any particle filled composites for known matrix modulus EM, filler modulus EF, filler volume content vF and adhesion factor kadh. Thus, finite element analysis (FEA) simulations of any particle filled polymer parts as well as materials selection are significantly eased. FEA of cubic and hexagonal EV arrangements show that stress distributions within the EV exhibit more shear stresses if one deviates from the cubic arrangement. At high filler contents the assumption that the property of the EV is representative for the whole composite, holds only for filler volume contents up to 15 or 20 % (corresponding to 30 to 40 weight %). Thus, for vast majority of commercially available particulate composites, the modified model can be applied. Furthermore, this indicates that the cube in cube approach reaches two limits: i) the occurrence of increasing shear stresses at filler contents above 20 % due to deviations of EV arrangements or spatial filler distribution from cubic arrangements (singular), and ii) increasing interaction between particles with the formation of particle network within the matrix violating the EV assumption of their homogeneous dispersion.
The purpose of the study is to provide empirical evidence about the under researched area of university-government relation in building a culture of entrepreneurial initiative inside triple helix model in a rural region. The study deploys a qualitative case study research method based on the content analysis of project documentation and further internal documents both from university and municipality.
Short summary
Accompanying dataset for our paper
A. Mitrevski, P. G. Plöger, and G. Lakemeyer, "Robot Action Diagnosis and Experience Correction by Falsifying Parameterised Execution Models," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021.
Contents
The dataset includes a single zip archive, containing data from the experiment described in the paper (conducted with a Toyota HSR). The zip archive contains three subdirectories:
handle_grasping_failure_database: A dump of a MongoDB database containing data from the handle grasping experiment, including ground-truth grasping failure annotations
pre_arm_motion_images: Images collected from the robot's hand camera before moving the robot's hand towards the handle
pregrasp_images: Images collected from the robot's hand camera just before closing the gripper for grasping
The image names include the time stamp at which the images were taken; this allows matching each image with the execution data in the database.
Database usage
After unzipping the archive, the database can be restored with the command
mongorestore handle_grasping_failure_database
This will create a MongoDB database with the name drawer_handle_grasping_failures.
Code for processing the data and failure analysis can be found in our <a href="https://github.com/alex-mitrevski/explainable-robot-execution-models">GitHub repository.