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A robot (e.g. mobile manipulator) that interacts with its environment to perform its tasks, often faces situations in which it is unable to achieve its goals despite perfect functioning of its sensors and actuators. These situations occur when the behavior of the object(s) manipulated by the robot deviates from its expected course because of unforeseeable ircumstances. These deviations are experienced by the robot as unknown external faults. In this work we present an approach that increases reliability of mobile manipulators against the unknown external faults. This approach focuses on the actions of manipulators which involve releasing of an object. The proposed approach, which is triggered after detection of a fault, is formulated as a three-step scheme that takes a definition of a planning operator and an example simulation as its inputs. The planning operator corresponds to the action that fails because of the fault occurrence, whereas the example simulation shows the desired/expected behavior of the objects for the same action. In its first step, the scheme finds a description of the expected behavior of the objects in terms of logical atoms (i.e. description vocabulary). The description of the simulation is used by the second step to find limits of the parameters of the manipulated object. These parameters are the variables that define the releasing state of the object.
Using randomly chosen values of the parameters within these limits, this step creates different examples of the releasing state of the object. Each one of these examples is labelled as desired or undesired according to the behavior exhibited by the object (in the simulation), when the object is released in the state corresponded by the example. The description vocabulary is also used in labeling the examples autonomously. In the third step, an algorithm (i.e. N-Bins) uses the labelled examples to suggest the state for the object in which releasing it avoids the occurrence of unknown external faults.
The proposed N-Bins algorithm can also be used for binary classification problems. Therefore, in our experiments with the proposed approach we also test its prediction ability along with the analysis of the results of our approach. The results show that under the circumstances peculiar to our approach, N-Bins algorithm shows reasonable prediction accuracy where other state of the art classification algorithms fail to do so. Thus, N-Bins also extends the ability of a robot to predict the behavior of the object to avoid unknown external faults. In this work we use simulation environment OPENRave that uses physics engine ODE to simulate the dynamics of rigid bodies.
Software testing in web services environment faces different challenges in comparison with testing in traditional software environments. Regression testing activities are triggered based on software changes or evolutions. In web services, evolution is not a choice for service clients. They have always to use the current updated version of the software. In addition test execution or invocation is expensive in web services and hence providing algorithms to optimize test case generation and execution is vital. In this environment, we proposed several approach for test cases' selection in web services' regression testing. Testing in this new environment should evolve to be included part of the service contract. Service providers should provide data or usage sessions that can help service clients reduce testing expenses through optimizing the selected and executed test cases.
The gasotransmitter hydrogen sulphide decreases Na⁺ transport across pulmonary epithelial cells
(2012)
BACKGROUND AND PURPOSE The transepithelial absorption of Na(+) in the lungs is crucial for the maintenance of the volume and composition of epithelial lining fluid. The regulation of Na(+) transport is essential, because hypo- or hyperabsorption of Na(+) is associated with lung diseases such as pulmonary oedema or cystic fibrosis. This study investigated the effects of the gaseous signalling molecule hydrogen sulphide (H(2) S) on Na(+) absorption across pulmonary epithelial cells. EXPERIMENTAL APPROACH Ion transport processes were electrophysiologically assessed in Ussing chambers on H441 cells grown on permeable supports at air/liquid interface and on native tracheal preparations of pigs and mice. The effects of H(2)S were further investigated on Na(+) channels expressed in Xenopus oocytes and Na(+) /K(+)-ATPase activity in vitro. Membrane abundance of Na(+) /K(+)-ATPase was determined by surface biotinylation and Western blot. Cellular ATP concentrations were measured colorimetrically, and cytosolic Ca(2+) concentrations were measured with Fura-2. KEY RESULTS H(2)S rapidly and reversibly inhibited Na(+) transport in all the models employed. H(2)S had no effect on Na(+) channels, whereas it decreased Na(+) /K(+)-ATPase currents. H(2)S did not affect the membrane abundance of Na(+) /K(+)-ATPase, its metabolic or calcium-dependent regulation, or its direct activity. However, H(2)S inhibited basolateral calcium-dependent K(+) channels, which consequently decreased Na(+) absorption by H441 monolayers. CONCLUSIONS AND IMPLICATIONS H(2) S impairs pulmonary transepithelial Na(+) absorption, mainly by inhibiting basolateral Ca(2+)-dependent K(+) channels. These data suggest that the H(2)S signalling system might represent a novel pharmacological target for modifying pulmonary transepithelial Na(+) transport.
The vectorial transport of Na+ across epithelia is crucial for the maintenance of Na+ and water homeostasis in organs such as the kidneys, lung, or intestine. Dysregulated Na+ transport processes are associated with various human diseases such as hypertension, the salt-wasting syndrome pseudohypoaldosteronism type 1, pulmonary edema, cystic fibrosis, or intestinal disorders, which indicate that a precise regulation of epithelial Na+ transport is essential. Novel regulatory signaling molecules are gasotransmitters. There are currently three known gasotransmitters: nitric oxide (NO), carbon monoxide (CO), and hydrogen sulfide (H2S). These molecules are endogenously produced in mammalian cells by specific enzymes and have been shown to regulate various physiological processes. There is a growing body of evidence which indicates that gasotransmitters may also regulate Na+ transport across epithelia. This review will summarize the available data concerning NO, CO, and H2S dependent regulation of epithelial Na+ transport processes and will discuss whether or not these mediators can be considered as true physiological regulators of epithelial Na+ transport biology.
BWL-Formeln für Dummies
(2012)
Die Darlegungsform von Nachhaltigkeitsleistungen sind üblicherweise gesondert ausgegebene Nachhaltigkeitsberichte auf die DAX-30-Unternehmen in ihren Geschäftsberichten hinweisen. Insbesondere die für kapitalmarktorientierte Unternehmen bedeutende Stakeholdergruppe der Analysten und Investoren fordert jedoch zunehmend eine integrative Darstellung aller Dimensionen der Triple-Bottom-Line auch im Lagebericht. Die gesetzlichen Offenlegungspflichten nach § 289 Abs. 3 bzw. § 315 Abs. 1 S. 4 HGB und DRS 15.32 erhöhen den Druck auf die DAX-30-Unternehmen zusätzlich. Diese Arbeit thematisiert im Kern das aktuelle Spannungsfeld zwischen Ökonomie, Ökologie und sozialem Engagement von Unternehmen. Auf Basis einer umfassenden theoretischen Analyse werden konkrete Kennzahlen zur Erfassung von Indikatoren der Nachhaltigkeit gebildet und deren Ausprägung bei den DAX 30 Unternehmen erarbeitet.
Die Debatte um das menschliche Erkenntnisvermögen, also die Frage nach der Art und Weise, wie Menschen Wissen und Erkenntnis erlangen, ist nicht neu, sondern sie stellt sich seitdem philosophische Fragen gestellt werden – ohne dass allerdings über die Jahrhunderte hinweg eine definitive Antwort auf diese Frage gefunden werden konnte.
Für die Entwicklung steuerungstechnischer Sicherheitsfunktionen muss ab 2012 die Normen EN ISO 13849-1 oder EN 62061 befolgt werden, die sowohl Anforderungen an die Hardware als auch Anforderungen an die Software beschreibt. Die Anforderungen an die Software spielten bis vor einigen Jahren kaum eine Rolle, da Sicherheitsfunktionen vorzugsweise in Hardware realisiert wurden. Heutzutage ist es jedoch sehr häufig üblich, Sicherheitsfunktionen mit einer dafür geeigneten programmierbaren SPS zu realisieren. Die neuen Normen bzgl. der sicheren Steuerung von Maschinen verlangen neben der Quantifizierung der Hardware-Ausfallraten von Sicherheitsfunktionen noch ein Management der Sicherheitsfunktionen. Dazu gehört auch ein Management der Softwareentwicklung für Sicherheitsfunktionen, um systematische Fehler zu minimieren. Dieses Management der Softwareentwicklung wird im Wesentlichen durch das V-Modell repräsentiert. Für die Maschinebauindustrie darf dieser Managementprozess nicht zu aufwendig sein, ansonsten wird dieser in der Praxis nur schwer angenommen. Eine Möglichkeit der Abarbeitung des V-Modells wird vorgestellt. Wahrscheinlich ist diese aufgezeigte Möglichkeit für die Industrie noch zu aufwendig.
Molybdenum cofactor deficiency (MoCD) is a rare inherited metabolic disorder characterized by severe and progressive neurological damage mainly caused by the loss of sulfite oxidase activity. Elevated urinary levels of sulfite, thiosulfate, and S-sulfocysteine (SSC) are hallmarks in the diagnosis of MoCD and sulfite oxidase deficiency (SOD). Recently, a first successful treatment of a human MoCD type A patient based on a substitution therapy with the molybdenum cofactor precursor cPMP has been reported, resulting in nearly complete normalization of MoCD biomarkers. Knowing the rapid progression of the disease symptoms in nontreated patients, an early diagnosis of MoCD as well as a sensitive method to monitor daily changes in SSC levels, a key marker of sulfite toxicity, is crucial for treatment outcome. Here, we describe a fast and sensitive method for the analysis of SSC in human urine samples using high performance liquid chromatography (HPLC). The analysis is based on precolumn derivatization with O-phthaldialdehyde (OPA) and separation on a C18 reverse phase column coupled to UV detection. The method was extended to human serum analysis and no interference with endogenous amino acids was found. Finally, SSC values from 45 pediatric urine, 75 adult urine, and 24 serum samples from control individuals as well as MoCD patients are reported. Our method represents a cost-effective technique for routine diagnosis of MoCD and SOD, and can be used also to monitor treatment efficiency in those sulfite toxicity disorders on a daily basis.
This paper describes the development of a Pedelec controller whose performance level (PL) conforms to European standard on safety of machinery [9] and whose soft- ware is verified to conform to EPAC standard [6] by means of a software verification technique called model checking. In compliance with the standard [9] the hardware needs to implement the required properties corresponding to categories “C” and “D”. The latter is used if the breaks are not able to bring the velomobile with a broken motor controller to a full stop. Therefore the controller needs to implement a test unit, which verifies the functionality of the components and, in case of an emergency, shuts the whole hardware down to prevent injuries of the cyclist. The MTTFd can be measured through a failure graph, which is the result of a FMEA analysis, and can be used to proof that the Pedelec controller meets the regulations of the system specification. The analysis of the system in compliance with [9] usually treats the software as a black box thus ignoring its inner workings and validating its correctness by means of testing. In this paper we present a temporal logic specification according to [6], based on which the software for the Pedelec controller is implemented, and verify instead of only testing its functionality. By means of model checking [1] we proof that the software fulfills all requirements which are regulated by its specification.
For the case when the abstraction of instantaneous state transitions is adopted, this paper proposes to start fault detection and isolation in an engineering system from a single time-invariant causality bond graph representation of a hybrid model. To that end, the paper picks up on a long-known proposal to model switching devices by a transformer modulated by a Boolean variable and a resistor in fixed conductance causality accounting for its ON resistance. Bond graph representations of hybrid system models developed in this way have been used so far mainly for the purpose of simulation. The paper shows that they can well constitute an approach to the bond-graph-based quantitative fault detection and isolation of hybrid models. Advantages are that the standard sequential causality assignment procedure can be a used without modification. A single set of analytical redundancy relations valid for all physically feasible system modes can be (automatically) derived from the bond graph. Stiff model equations due to small values of the ON resistance in the switch model may be avoided by symbolic reformulation of equations and letting the ON resistance of some switches tend to zero, turning them into ideal switches.
First, for two examples considered in the literature, it is shown that the approach proposed in this paper can produce the same analytical redundancy relations as were obtained from a hybrid bond graph with controlled junctions and the use of a sequential causality assignment procedure especially for fault detection and isolation purpose. Moreover, the usefulness of the proposed approach is illustrated in two case studies by its application to standard switching circuits extensively used in power electronic systems and by simulation of some fault scenarios. The approach, however, is not confined to the fault detection and isolation of such systems. Analytically validated simulation results obtained by means of the program Scilab give confidence in the approach.
A bond graph representation of switching devices known for a long time has been a modulated transformer with a modulus b(t)∈{0,1}∀t≥0 in conjunction with a resistor R:Ron accounting for the ON-resistance of a switch considered non-ideal. Besides other representations, this simple model has been used in bond graphs for simulation of the dynamic behaviour of hybrid systems. A previous article of the author has proposed to use the transformer–resistor pair in bond graphs for fault diagnosis in hybrid systems. Advantages are a unique bond graph for all system modes, the application of the unmodified standard Sequential Causality Assignment Procedure, fixed computational causalities and the derivation of analytical redundancy relations incorporating ‘Boolean’ transformer moduli so that they hold for all system modes. Switches temporarily connect and disconnect model parts. As a result, some independent storage elements may temporarily become dependent, so that the number of state variables is not time-invariant. This article addresses this problem in the context of modelling and simulation of fault scenarios in hybrid systems. In order to keep time-invariant preferred integral causality at storage ports, residual sinks previously introduced by the author are used. When two storage elements become dependent at a switching time instance ts, a residual sink is activated. It enforces that the outputs of two dependent storage elements become immediately equal by imposing the conjugate3 power variable of appropriate value on their inputs. The approach is illustrated by the bond graph modelling and simulation of some fault scenarios in a standard three-phase switched power inverter supplying power into an RL-load in a delta configuration. A well-developed approach to model-based fault detection and isolation is to evaluate the residual of analytical redundancy relations. In this article, analytical redundancy relation residuals have been computed numerically by coupling a bond graph of the faulty system to one of the non-faulty systems by means of residual sinks. The presented approach is not confined to power electronic systems but can be used for hybrid systems in other domains as well. In further work, the RL-load may be replaced by a bond graph model of an alternating current motor in order to study the effect of switch failures in the power inverter on to the dynamic behaviour of the motor.