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While executing actions, service robots may experience external faults because of insufficient knowledge about the actions' preconditions. The possibility of encountering such faults can be minimised if symbolic and geometric precondition models are combined into a representation that specifies how and where actions should be executed. This work investigates the problem of learning such action execution models and the manner in which those models can be generalised. In particular, we develop a template-based representation of execution models, which we call delta models, and describe how symbolic template representations and geometric success probability distributions can be combined for generalising the templates beyond the problem instances on which they are created. Our experimental analysis, which is performed with two physical robot platforms, shows that delta models can describe execution-specific knowledge reliably, thus serving as a viable model for avoiding the occurrence of external faults.
In silico Epitope Mapping of Glucose-6-Phosphate Isomerase: A Rheumatoid Arthritis Autoantigen
(2017)
Rheumatoid arthritis-like symptoms can be initiated experimentally in naive K/BxN mice by simultaneously administering the two monoclonal antibodies 11H3 and 46H9. Both antibodies specifically recognize Glucose-6-Phosphate Isomerase (GPI), a known auto antigen in RA patients. Amino acid sequences of the Fv parts of the antibodies were determined by translating the respective hybridoma DNA sequences and served for threedimensional structure modeling of the paratope regions. In silico docking of both Fv antibody structure models to the X-ray structures of the homodimeric murine GPI as well as to the homodimeric human GPI predicted the murine epitope of the 11H3 antibodies to comprise partial amino acid sequences QRVRSGDWKGYTGKS (aa134-148) and AAKDPSAVAK (aa232-241), generating an assembled (conformational) epitope. The 11H3 epitope on human GPI encompasses the matching partial amino acid sequences QRVRSGDWKGYTGKT (aa134-148) and AAKDPSAVAK (aa232-241). The epitope of the 46H9 antibody was determined to consist of the partial murine GPI amino acid sequence RKELQAAGKSPEDLEK (aa446-461) and the human GPI amino acid sequence RKELQAAGKSPEDLER (aa446-461), respectively, resembling consecutive (linear) epitopes. The predicted epitopes were verified by mass spectrometric epitope mapping using synthetic epitope peptides. Peptide QRVRSGDWKGYTGKS[GSMSGS] AAKDPSAAK included a small spacer sequence in between the epitope sequences, mimicking the assembled epitope for the 11H3 antibody. The peptide RKELQAAGKSPEDLEK represented the consecutive epitope for the 46H9 antibody. The determined B-cell epitopes of GPI and their interactions with the monoclonal antibodies provide a detailed structural understanding of immunological disease onset mechanisms in a mouse model of rheumatoid arthritis.
IT-Portfoliomanagement
(2017)
Controlling und Leadership
(2017)
Nach der aktuellen Managementliteratur reicht es nicht mehr aus, ein Unternehmen „nur“ zu führen. Von Führungskräften wird heute auch „Leadership“ verlangt und somit Eigenschaften wie Berufung, Vision und Entscheidungsfreude, die über das Beherrschen von mechanistischen Führungstechniken hinausgehen. Der Manager kontrolliert, verwaltet und rationalisiert, während der Leader vertraut, inspiriert und innoviert. Im Fokus stehen die folgenden Fragen: Ist der ideale CFO eher methodischer Manager als visionärer Business Leader? Erfordern Familienunternehmen eher innovatives Financial Leadership und börsennotierte Konzerne und öffentliche Unternehmen eher instrumentelles Finanzmanagement? Geben Industrie 4.0, Big Data und Business Intelligence sowie Controlling-Shared-Services zukünftig Raum für mehr Leadership? Wie verändert dies die zukünftigen Aufgaben und notwendigen Kompetenzen von Controllern?
„Big Data“, „Industrie 4.0“ und „Digitalisierung“ sind in aller Munde und das nicht nur als Heilsbringer. Der „Jobkiller Digitalisierung“ führt in vielen Branchen und auch im Controlling zu einem potenziellen Ersatz des Menschen. Glaubt man diesen düsteren Szenarien, so übernehmen Algorithmen zukünftig weitgehend die Steuerung der Geschäftsprozesse. Der Manager entscheidet allein auf Basis der Informationen, die in Echtzeit automatisch auf sein Handy übermittelt werden. Den Controller sucht man in diesen Prognosen vergeblich.
The Sparse Matrix Vector Multiplication is an important operation on sparse matrices. This operation is the most time consuming operation in iterative solvers and therefore an efficient execution of that operation is of great importance for many applications. Numerous different storage formats that store sparse matrices efficiently have already been established. Often, these storage formats utilize the sparsity pattern of a matrix in an appropiate manner. For one class of sparse matrices the nonzero values occur in small dense blocks and appropriate block storage formats are well suited for such patterns. But on the other side, these formats perform often poor on general matrices without an explicit / regular block structure. In this paper, the newly developed sparse matrix format DynB is introduced. The aim is to efficiently use several optimization approaches and vectorization with current processors, even for matrices without an explicit block structure of nonzero elements. The DynB matrix format uses 2D rectangular blocks of variable size, allowing fill-ins per block of explicit zero values up to a user controllable threshold. We give a simple and fast heuristic to detect such 2D blocks in a sparse matrix. The performance of the Sparse Matrix Vector Multiplication for a selection of different block formats and matrices with different sparsity structures is compared. Results show that the benefit of blocking formats depend – as to be expected – on the structure of the matrix and that variable sized block formats like DynB can have advantages over fixed size formats and deliver good performance results even for general sparse matrices.
Tracelets and Specifications
(2017)
In the accompanying paper [1] the authors study a model of concurrent programs in terms of events and a dependence relation, i.e., a set of arrows, between them. There also two simplifying interface models are presented; they abstract in different ways from the intricate network of internal points and arrows of program components. This report supplements [1] by presenting full proofs for the properties of the interface models, in particular, that both models exhibit homomorphic behaviour w.r.t. sequential and concurrent composition. [1] B. Möller, C.A.R. Hoare, M.E. Müller, G. Struth: A discrete geometric model of concurrent program execution. In H. Zhu, J. Bowen: Proc. UTP 16. LNCS 10134. Springer 2017, 1-25
This study aims to highlight the significance of social protection as an autonomous strategy for migration policies and research. It focuses particularly on the German strategies for combating the causes of flight and migration. By managing migration flows, stabilizing societies and encouraging economic development, social protection can play an important role in reducing migration flows. At the same time, social protection can act as a stabilizer in the countries of origin and accelerate economic growth as well as supporting individual decisions to return to the countries of origin.
ICT has traditionally been a hostile territory for women. In information societies, this implies a drastic reduction in opportunities and autonomy for women. In emergent economies, the situation is even worse due to women’s subordinate status in society and little research regarding the intersection between gender and the digital divide. Such is the case in Latin America. In light of this, the purpose of this essay is to introduce a first comprehensive review of the few studies made in Latin America, against the background of the history of women’s digital exclusion. Based on a review of literature, we identify the main causes for women’s digital exclusion in the region and talk about the prospects for development of gender policies in the BRICS countries (Brazil, Russia, India, China and South Africa). We conclude that what this group of countries may achieve in regard to gender equality, will mark the future of the world. The aim of this essay is to make a call for the creation of inter - national research networks and propose the BRICS as host for these efforts, as they combine characteristics that will make them leaders of change in vast regions.