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Results from the EU-project iStoppFalls : feasibility, effectiveness, approach for fall prevention
(2016)
Autonomous mobile robots comprise of several hardware and software components. These components interact with each other continuously in order to achieve autonomity. Due to the complexity of such a task, a monumental responsibility is bestowed upon the developer to make sure that the robot is always operable. Hence, some means of detecting faults should be readily available. In this work, the aforementioned fault-detection system is a robotic black box (RBB) attached to the robot which acquires all the relevant measurements of the system that are needed to achieve a fault-free robot. Due to limited computational and memory resources on-board the RBB, a distributed diagnosis is proposed. That is, the fault diagnosis task (detection and isolation) is shared among an on-board component (the black box) and an off-board component (an external computer). The distribution of the diagnosis task allows for a non-intrusive method of detecting and diagnosing faults, in addition to the ability of remotely diagnosing a robot and potentially issuing a repair command. In addition to decomposing the diagnosis task and allowing remote diagnosability of the robot, another key feature of this work is the addition of expert human knowledge to aid in the fault detection process.
Domestic Robotics
(2016)
Gleichlaufgelenke als Teil der Antriebswellen (Seitenwellen und Längswellen) sind in allen maßgeblichen Triebstrangkonfigurationen im direkten Leistungsfluss angeordnet. Ihre Hauptfunktion ist die Übertragung einer Antriebsleistung unter Ermöglichung von Abbeugung und Axialverschiebung. Dieser Beitrag soll einen Überblick zu den wesentlichen, auf dem heutigen Markt verbreiteten Bauweisen und ihren jeweiligen Einsatzgebieten geben. Besonders berücksichtigt werden hierbei neue Gelenkkonzepte, die sich aufgrund ihrer besonderen Gestaltung durch deutlich höhere Wirkungsgrade auszeichnen. Der Einfluss auf den Energieverbrauch soll quantifiziert werden, hierzu wird ein neuartiger Berechnungsansatz vorgestellt, der eine einfache Abschätzung des Einflusses von Wirkungsgradverbesserungen auf den Energieverbrauch für verschiedener Antriebskonzepte (ICE / Hybrid / E-Fahrzeuge) erlaubt.
Der zunehmende Wunsch der Verbraucher nach einem natürlichen Lebensstil führt unter anderem zu einem erhöhten Konsum von Rohmilch und Milchprodukten aus unpasteurisierter Milch (Hudopisk et al., 2013). Rohmilchkonsumenten bevorzugen Rohmilch zum Einen wegen des subjektiven Eindrucks eines besseren Geschmacks und zum Anderen versprechen sie sich gesundheitliche Vorteile, wie eine reduzierte Empfindlichkeit gegen Allergien und eine bessere Qualität der enthaltenen Nährstoffe, durch den Verzehr unbehandelter Milch (Claeys et al., 2014). Mit dem Konsum von Rohmilch gehen allerdings mikrobiologische Risiken einher, da Rohmilch aufgrund ihres neutralen pH-Wertes, dem hohen Nährstoffgehalt und der hohen Wasseraktivität einen guten Nährboden für mikrobielles Wachstum darstellt. Das Wachstum von verschiedenen Mikroorganismen wird dabei größtenteils durch die Temperatur, die kompetitive Begleitflora und die Anwesenheit von Hemmstoffen beeinflusst (Claeys et al., 2013).Mögliche Kontaminationen der Rohmilch resultieren entweder aus einer direkten Abgabe von Mikroorganismen durch das Euter, als Konsequenz von Entzündungen oder durch eine indirekte Kontamination während des Melkvorgangs oder der späteren Handhabung (EFSA, 2015).