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TREE Jahresbericht 2017
(2018)
Knapp fünf Jahre nach Gründung als Fachbereichsinstitut und zwei Jahre nach Verankerung als zentrale wissenschaftliche Einrichtung der Hochschule präsentieren wir - nicht ganz ohne Stolz - den ersten Jahresbericht des Instituts TREE. Er soll in seiner Breite als auch in seiner Tiefe die Stärken unserer gemeinschaftlichen Anstrengungen im Forschungsfeld der nachhaltigen Technologien aufzeigen: interdisziplinär, forschungsstark, nachwuchsfördernd und gesellschaftszugewandt. TREE ist weiterhin ein im Aufbruch begriffenes Institut, aber gerade das Jahr 2017 zeigt auch, dass wir uns schon in der Wissenschaftslandkarte einen Namen machen konnten: nach NaWETec konnte mit dem Themenkomplex "Effiziente Transportalternativen" ein zweiter Forschungsschwerpunkt drittmittelgefördert etabliert werden. Erste Promotionen im Rahmen des TREE konnten erfolgreich abgeschlossen und interessante Nachwuchswissenschaftler für "FHKarrierewege" gewonnen werden.
Social Assistance
(2018)
If the first Sustainable Development Goal (SDG) to “End poverty in all its forms everywhere” is to be taken seriously, most low- and middle-income countries face a huge challenge. An estimated 1 billion people have indeed escaped extreme poverty since the early 1990s, and the global poverty rate fell from 35% in 1990 to 10.7% in 2013, but the absolute number of people living below the international poverty line of $1.90 at purchasing power parity has hardly changed. Countries in Asia contributed greatly to the overall decline in poverty rates: from 2012 to 2013, over 100 million people in Asia left extreme poverty behind, notably in India, Indonesia, and the People’s Republic of China (PRC) (World Bank 2016). Yet the living standards of those still below that line have hardly improved (Ravallion 2016). The achievement of the first SDG requires additional efforts at global and national levels, particularly on policies that address chronic poverty traps and that improve the outcomes of poor and vulnerable populations.
This work discusses how to use OSM for robotic applications and aims at starting a discussion between the OSM and the robotics community. OSM contains much topological and semantic information that can be directly used in robotics and offers various advantages: 1) Standardized format with existing tooling. 2) The graph structure allows to compose the OSM models with domain-specific semantics by adding custom nodes, relations, and key-value pairs. 3) Information about many places is already available and can be used by robots since it is driven by a community effort.
Friction effects impose a requirement for the supplementary amount of torque to be produced in actuators for a robot to move, which in turn increases energy consumption. We cannot eliminate friction, but we can optimize motions to make them more energy efficient, by considering friction effects in motion computations. Optimizing motions means computing efficient joint torques/accelerations based on different friction torques imposed in each joint. Existing friction forces can be used for supporting certain types of arm motions, e.g standing still.
Reducing energy consumption of robot's arms will provide many benefits, such as longer battery life of mobile robots, reducing heat in motor systems, etc.
The aim of this project is extending an already available constrained hybrid dynamic solver, by including static friction effects in the computations of energy optimal motions. When the algorithm is extended to account for static friction factors, a convex optimization (maximization) problem must be solved.
The author of this hybrid dynamic solver has briefly outlined the approach for including static friction forces in computations of motions, but without providing a detailed derivation of the approach and elaboration that will show its correctness. Additionally, the author has outlined the idea for improving the computational efficiency of the approach, but without providing its derivation.
In this project, the proposed approach for extending the originally formulated algorithm has been completely derived and evaluated in order to show its feasibility. The evaluation is conducted in simulation environment with one DOF robot arm, and it shows correct results from the computation of motions. Furthermore, this project presents the derivation of the outlined method for improving the computational efficiency of the extended solver.
This Handbook of Applied Marketing and Personnel Services is part of the project "German-African University Partnership Platform for the Development of Entrepreneurship and SMEs", financed by the German Federal Ministry of Economic Cooperation and Development (BMZ) and the German Academic Exchange Service (DAAD), and jointly conducted by Bonn-Rhein-Sieg University of Applied Sciences, University of Cape Coast in Ghana and University of Nairobi in Kenya.
According to the International Union of Pure and Applied Chemistry (IUPAC) recommendation, analytical pyrolysis (Py) is defined as the characterization in an inert atmosphere of a material or a chemical process by a chemical degradation reaction(s) induced by thermal energy [1]. Thermal degradation under controlled conditions is often used as a part of an analytical procedure, either to render a sample into a suitable form for subsequent analysis by gas chromatography (GC), mass spectrometry (MS), gas chromatography coupled with the mass spectrometry (GC/MS), with the Fourier-transform infrared spectroscopy (GC/FTIR), or by direct monitoring as an analytical technique in its own right [2].