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Bond Graph Modelling and Simulation of Mechatronic Systems: An Introduction into the Methodology
(2006)
This paper introduces into a graphical, computer aided modelling methodology that is particularly suited for the concurrent design of mechatronic systems, viz. of engineering systems with mechanical, electrical, hydraulic or pneumatic components including interactions of physical effects from various energy domains. Beyond the introduction, bond graph modelling of multibody systems, as an example of an advanced topic, is briefly addressed in order to demonstrate the potential of this powerful approach to modelling mechatronic systems. It is outlined how models of multibody systems including flexible bodies can be build in a systematic manner.
When navigating larger virtual environments and computer games, natural walking is often unfeasible. Here, we investigate how alternatives such as joystick- or leaning-based locomotion interfaces ("human joystick") can be enhanced by adding walking-related cues following a sensory substitution approach. Using a custom-designed foot haptics system and evaluating it in a multi-part study, we show that adding walking related auditory cues (footstep sounds), visual cues (simulating bobbing head-motions from walking), and vibrotactile cues (via vibrotactile transducers and bass-shakers under participants' feet) could all enhance participants' sensation of self-motion (vection) and involement/presence. These benefits occurred similarly for seated joystick and standing leaning locomotion. Footstep sounds and vibrotactile cues also enhanced participants' self-reported ability to judge self-motion velocities and distances traveled. Compared to seated joystick control, standing leaning enhanced self-motion sensations. Combining standing leaning with a minimal walking-in-place procedure showed no benefits and reduced usability, though. Together, results highlight the potential of incorporating walking-related auditory, visual, and vibrotactile cues for improving user experience and self-motion perception in applications such as virtual reality, gaming, and tele-presence.
This paper presents implementation results of several side channel countermeasures for protecting the scalar multiplication of ECC (Elliptic Curve Cryptography) implemented on an ARM Cortex M3 processor that is used in security sensitive wireless sensor nodes. Our implementation was done for the ECC curves P-256, brainpool256r1, and Ed25519. Investigated countermeasures include Double-And-Add Always, Montgomery Ladder, Scalar Randomization, Randomized Scalar Splitting, Coordinate Randomization, and Randomized Sliding Window. Practical side channel tests for SEMA (Simple Electromagnetic Analysis) and MESD (Multiple Exponent, Single Data) are included. Though more advanced side channel attacks are not evaluated, yet, our results show that an appropriate level of resistance against the most relevant attacks can be reached.
Mensch-Roboter-Kollaboration
(2016)
Eine enge Zusammenarbeit von Mensch und Roboter, die sogenannte Mensch-Roboter-Kollaboration (MRK), könnte eine bisher beispielslose Produktivität entstehen lassen. Bis zur allgemeinen Nutzung der Technologie sind noch zahlreiche Probleme zu lösen, insbesondere die des Arbeits- und Gesundheitsschutzes. Am Institut für Sicherheitsforschung der Hochschule Bonn-Rhein-Sieg wurde in den vergangenen Jahren eine Reihe von Projekten zur Entwicklung von optischen Sensorsystemen für Schutzeinrichtungen durchgeführt. Im Projekt SPAI (Sichere Personendetektion im Arbeitsbereich von Industrierobotern durch ein aktives NIR-Kamerasystem) wurde ein spezielles Kamerasystem für den nahinfraroten (NIR) Spektralbereich entwickelt.
Large bone defects require fabricated bone constructs that consist of three main components: an artificial extracellular matrix scaffold, stem cells with the potential to differentiate into osteoblasts, and bioactive substances, such as osteoinductive growth factors to direct the growth and differentiation of cells toward osteogenic lineage within the scaffold.
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.
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.
Human beings spend much time under the influence of artificial lighting. Often, it is beneficial to adapt lighting to the task, as well as the user’s mental and physical constitution and well-being. This formulates new requirements for lighting - human-centric lighting - and drives a need for new light control methods in interior spaces. In this paper we present a holistic system that provides a novel approach to human-centric lighting by introducing simulation methods into interactive light control, to adapt the lighting based on the user's needs. We look at a simulation and evaluation platform that uses interactive stochastic spectral rendering methods to simulate light sources, allowing for their interactive adjustment and adaption.
Falls and their consequences are arguably most important events for transition from independent living to institutional care for older adults. Information and communication technology (ICT)-based support of fall prevention and fall risk assessment under the control of the user has a tremendous potential to, over time, prevent falls and reduce associated harm and costs. Our research uses participative design and a persuasive health approach to allow for seamless integration of an ICT-based fall prevention system into older adults’ everyday life. Based on a 6-month field study with 12 participants, we present qualitative results regarding the system use and provide insights into attitudes and practices of older adults concerning fall prevention and ICT-supported self-management of health. Our study demonstrates how it can lead to positive aspects of embodiment and health literacy through continuous monitoring of personal results, improved technical confidence, and quality of life. Implications are provided for designing similar systems.
The megatrends towards both a digital and a usership economy have changed entire markets in the past and will continue to do so over the next decades. In this work, we outline what this change means for possible futures of the mobility sector, taking the combination of trends in both economies into account. Using a sys-tematic, scenario-based trend analysis, we draft four general future scenarios and adapt the two most relevant scenarios to the automotive sector. Our findings show that combing the trends from both economies provides new insights that have often been neglected in literature because of an isolated view on digital technology only. However, service concepts such as self-driving car sharing or self-driving taxis have a great impact at various levels including microeconomic (e.g., service and product design, business models) and macroeconomic (e.g., with regard to ecological, economical, and social impacts). We give a brief outline of these issues and show which business mo dels could be successful in the most likely future scenarios, before we frame strategic implications for today’s automobile manufacturers.
Switched power electronic subsystems are widely used in various applications. A fault in one of their components may have a significant effect on the system’s load or may even cause a damage. Therefore, it is important to detect and isolate faults and to report true faults to a supervisory system in order to avoid malfunction of or damage to a load. If, in a model-based approach to fault detection and isolation of hybrid systems, switching devices are considered as ideal switches then some equations must be reformulated whenever some devices have switched. In this paper, a fixed causality bond graph representation of hybrid system models is used, i.e., computational causalities assigned according to the Standard Causality Assignment Procedure (SCAP) are independent of system modes of operation. The latter are taken into account by transformer moduli mi(t) ∈ {0, 1} ∀t ≥ 0 in a unique set of equations of motion. In a case study, this approach is used for fault diagnosis in a three-phase full-wave rectifier. Residuals of Analytical Redundancy Relations (ARRs) holding for all modes of operations and serving as fault indicators are computed in an offline simulation as part of a DAE system by using a bond graph model of the faulty system instead of the real one and by coupling it to a bond graph of the healthy system by means of residual sinks.
Fault-Channel Watermarks
(2016)