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This paper presents the b-it-bots RoboCup@Work team and its current hardware and functional architecture for the KUKA youBot robot.We describe the underlying software framework and the developed capabilities required for operating in industrial environments including features such as reliable and precise navigation, flexible manipulation and robust object recognition.
Bisher ist nicht bekannt, in welchem Ausmaß Fremd- oder Störgerüche dazu geeignet sind, die allgemeine Leistungsfähigkeit eines Sprengstoffspürhundes einzuschränken oder sogar die Detektion eines Sprengkörpers zu verhindern. Ziel ist es zu untersuchen, inwieweit sich durch den gezielten Einsatz von Störsubstanzen die Sprengstoffdetektionsfähigkeit von Spürhunden beeinflussen lässt. Mit Detektionsfähigkeit ist hier sowohl die Wahrscheinlichkeit einer richtigen Detektion von Sprengstoffen in Gegenwart von starken Fremdgerüchen, als auch die ebenfalls zu erwartende Verringerung der Einsatzdauer (vorzeitige Erschöpfung) gemeint.
Over the past two decades many low and middle income countries worldwide have started to extend the coverage and improve the functioning of public social protection systems. The research program on international policy diffusion provides empirical evidence that apart from domestic factors international interdependencies matter as well for national policy change in social protection. However, little is known about the governance structures mediating international policy diffusion in social protection.
The SpMV operation -- the multiplication of a sparse matrix with a dense vector -- is used in many simulations in natural and engineering sciences as a computational kernel. This kernel is quite performance critical as it is used, e.g.,~in a linear solver many times in a simulation run. Such performance critical kernels of a program may be optimized on certain levels, ranging from using a rather coarse grained and comfortable single compiler optimization switch down to utilizing architecural features by explicitly using special instructions on an assembler level. This paper discusses a selection of such program optimization techniques in this spectrum applied to the SpMV operation. The achievable performance gain as well as the additional programming effort are discussed. It is shown that low effort optimizations can improve the performance of the SpMV operation compared to a basic implementation. But further than that, more complex low level optimizations have a higher impact on the performance, although changing the original program and the readability / maintainability of a program significantly.
Reliable and regional differentiated power forecasts are required to guarantee an efficient and economic energy transition towards renewable energies. Amongst other renewable energy technologies, e.g. wind mills, photovoltaic systems are an essential component of this transition being cost-efficient and simply to install. Reliable power forecasts are however required for a grid integration of photovoltaic systems, which among other data requires high-resolution spatio-temporal global irradiance data. Hence the generation of robust reviewed global irradiance data is an essential contribution for the energy transition.
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.
„Industrie 4.0“ und weitere Schlagwörter wie „Big Data“, „Internet der Dinge“ oder „Cyber-physical Systems“ werden gegenwärtig in der Wirtschaft häufig aufgegriffen. Ausgangspunkt hierfür ist die Vernetzung von IT-Technologien sowie die durchgängige Digitalisierung. Nicht nur die Geschäftsfelder und Business-Modelle der Unternehmen selbst unterliegen dabei ei-nem entsprechend radikalen Wandel, dieser bezieht sich auch auf die Arbeitsumgebungen der Mitarbeiter, sowie den privaten und den öffentlichen Raum (Botthof, 2015; Hartmann, 2015).
Studierende unserer Informatik-Studiengänge sehen nach unserer Erfahrung mehrheitlich die Relevanz von Usability und User Experience für eine erfolgreiche Produktentwicklung. Gleichzeitig sind die Studierenden durch ihr Informatik-Studium von der Auseinandersetzung mit Techniken geprägt. Sie zeigen dadurch teils große Schwierigkeiten sich in einem MCI-Kurs mit von der technischen Ebene abstrahierenden Methoden zu befassen. Diese Barriere erschwert es, die Studierenden in der Breite zur Mitarbeit in MCI-Kursen oder anderen auf Methoden ausgerichteten Kursen wie bspw. Requirements Engineering zu motivieren, und stellt Dozenten damit vor Herausforderungen bei der Gestaltung von Informatik-Curricula, die über MCI-Kurse hinausgehen.
This paper presents the b-it-bots@Home team and its mobile service robot called Jenny – a service robot based on the Care-O-bot 3 platform manufactured by the Fraunhofer Institute for Manufacturing Engineering and Automation. In this paper, an overview of the robot control architecture and its capabilities is presented. The capabilities refers to the added functionalities from research and projects carried out within the Bonn-Rhein-Sieg University of Applied Science.
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.
Results from the EU-project iStoppFalls : feasibility, effectiveness, approach for fall prevention
(2016)
Agricultural activities within the city boundaries have a long history in both developed and developing countries. Especially in developing countries these activities contribute to food security and the mitigation of malnutrition (food grown for home consumption). They generate additional income and contribute to recreation, environmental health as well as social interaction. In this paper, a broad approach of Urban AgriCulture is used, which includes the production of crops in urban and peri-urban areas and ranges in developed countries from allotment gardens (Schrebergarten) over community gardens (Urban Gardening) to semi-entrepreneurial self-harvest farms and fully commercialized agriculture (Urban Farming). Citizens seek to make a shift from traditional to new (sustainable) forms of food supply. From this evolves a demand for urban spaces that can be used agriculturally. The way how these citizens’ initiatives can be supported and their contribution to a resilient and sustainable urban food system increasingly attracts attention. This paper presents an empirical case study on Urban AgriCulture initiatives in the Bonn-Rhein-Sieg region (Germany). Urban AgriCulture is still a niche movement with the potential to contribute more significantly to urban development and constitute a pillar of urban quality of life.
Kleinere, günstigere und effizientere Sensoren und Aktoren sowie Funkprotokolle haben dazu geführt, dass Smart Home Produkte in zunehmend auch für den privaten Massenmarkt erschwinglich werden. Damit stehen Hersteller und Anbieter vor der Herausforderung, komplexe cyber-physische Systeme für Jedermann handhabbar zu gestalten. Es fehlen allerdings empirische Erkenntnisse über die Rolle von Smart Home im Alltag. Wir präsentieren Ergebnisse aus einer Living Lab Studie, in der 14 Haushalte mit einer am Markt erhältlichen Smart Home Nachrüstlösung ausgestattet und über neun Monate empirisch begleitet wurden. Anhand der Analyse von Interviews, Beobachtungen und Co-Design Workshops in den Phasen der Produktauswahl, Installation, Konfiguration und längerfristigen Nutzung zeigen wir Herausforderungen und Potentiale von Smart Home Systemen auf. Unsere Erkenntnisse deuten darauf hin, dass das Smart Home immer noch von technischen Details dominiert wird. Zugleich fehlen Nutzern angemessene Steuerungs- und Kontrollmöglichkeiten, um weiterhin die Entscheidungshoheit im eigenen Zuhause zu behalten.
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.
Neben der Verbesserung des Gesundheitszustandes sind der Erhalt der Beschäftigungsfähigkeit und die berufliche (Wieder-)Eingliederung zentrale Ziele der Rehabilitationsleistungen der Deutschen Rentenversicherung. In der „Reha-QM-Outcome-Studie“ wurden sowohl mittels Patientenfragebogen Angaben zum subjektiven Nutzen der Behandlung als auch mittels Routinedaten der Rentenversicherung Angaben zum Erwerbsstatus erhoben, so dass eine Gegenüberstellung beider Zieldimensionen erfolgen kann.
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.
The Fitness-Fatigue model (Calvert et al. 1976) is widely used for performance analysis. This antagonistic model is based on a fitness-term, a fatigue-term, and an initial basic level of performance. Instead of generic parameter values, individualizing the model needs a fitting of parameters. With fitted parameters, the model adapts to account for individual responses to strain. Even though in most cases fitting of recorded training data shows useful results, without modification the model cannot be simply used for prediction.
During exercise, heart rate has proven to be a good measure in planning workouts. It is not only simple to measure but also well understood and has been used for many years for workout planning. To use heart rate to control physical exercise, a model which predicts future heart rate dependent on a given strain can be utilized. In this paper, we present a mathematical model based on convolution for predicting the heart rate response to strain with four physiologically explainable parameters. This model is based on the general idea of the Fitness-Fatigue model for performance analysis, but is revised here for heart rate analysis. Comparisons show that the Convolution model can compete with other known heart rate models. Furthermore, this new model can be improved by reducing the number of parameters. The remaining parameter seems to be a promising indicator of the actual subject’s fitness.
Analyzing training performance in sport is usually based on standardized test protocols and needs laboratory equipment, e.g., for measuring blood lactate concentration or other physiological body parameters. Avoiding special equipment and standardized test protocols, we show that it is possible to reach a quality of performance simulation comparable to the results of laboratory studies using training models with nothing but training data. For this purpose, we introduce a fitting concept for a performance model that takes the peculiarities of using training data for the task of performance diagnostics into account. With a specific way of data preprocessing, accuracy of laboratory studies can be achieved for about 50% of the tested subjects, while lower correlation of the other 50% can be explained.
Sharpening the Educational Toolset - Promoting Professional Development of University Lecturers
(2016)
Tierexperimentell konnte nachgewiesen werden, dass spezifische Ionenkanäle (vor allem TRPA1) des nozizeptiven Systems nachhaltig durch die Exposition mit blauem Licht moduliert werden können. Durch Nachweis der Wirksamkeit von nicht-visuellen Effekten einer Lichtexposition auf Somatosensorik und Nozizeption beim Menschen könnte der Einsatz einer Lichttherapie bei Patienten mit Erkrankungen des somatosensorischen Systems, insbesondere neuropathischen Schmerzen, von großer Bedeutung sein.
Nachhaltiges Innovationsmanagement in KMU: Eine empirische Untersuchung zu Living Labs as a Service
(2016)
Die neue europäische Umweltstrategie der Integrierten Produktpolitik fordert von produzierenden kleinen und mittleren Unternehmen (KMU) eine eigenverantwortliche und produktbezogene Nachhaltigkeitsstrategie. Obgleich die Gestaltung von IKT-Services in nachhaltigkeitsrelevanten Bereichen ein großes Marktpotential verspricht, birgt das Innovationsmanagement für KMU einige Risiken. Um diese Herausforderungen zu adressieren motiviert diese Arbeit Living Labs, als Innovationsinfrastruktur, um den spezifischen Bedarfen von KMU für ein nachhaltiges Innovationsmanagement gerecht zu werden. Auf der Basis von 15 semi-strukturierten Interviews mit 7 KMU, die IKT-Lösungen in den Bereichen Wohnen und Mobilität entwickeln, wurden Herausforderungen sowie etablierte Strategien für ein nachhaltiges Innovationsmanagement erhoben sowie Potenziale und mögliche Risiken von Living Labs exploriert. Die Studie zeigt KMU spezifische Bedarfe auf, die eine Anpassung des Living Lab Ansatzes als Service-Dienstleistungen erforderlich machen.
Large sections of the German society are able to buy and consume meat on a daily basis due to progress in the agri-food sector. However, the way meat is produced, traded and consumed increasingly has become an issue that is controversially discussed by the media, non-governmental organisations (NGOs), lobbyists, the industry itself and consumers – often with a negative connotation. The meat industry reacts to this. By creating information campaigns and animal welfare initiatives it aims to stress that it is going to take its corporate social responsibilities (CSR) for consumers and animal welfare seriously. But, the industry’s actions are still criticised as being not sufficient to improve animal welfare levels significantly. Much of this criticism can be observed in online news portals, where articles about the issue get published and commented by readers. This makes online portals a valuable source for information that is to be tapped in this study. It aims to better understand the multifaceted discussions concerning animal welfare initiatives in online portals. By applying qualitative content analysis and web mining techniques to a sample of documents taken from three major German news sites it can be shown that online discussions refer to various aspects of sustainability and corporate social responsibility. Findings also indicate that the discussions are framed by financial aspects.
3D-Printing is an efficient method in the field of additive manufacturing. In order to optimize the properties of manufactured parts it is essential to adapt the curing behavior of the resin systems with respect to the requirements. Thus, effects of resin composition, e.g. due to different additives such as thickener and curing agents, on the curing behavior have to be known. As the resin transfers from a liquid to a solid glass the time dependent ion viscosity was measured using DEA with flat IDEX sensors. This allows for a sensitive measurement of resin changes as the ion viscosity changes two to four decades. The investigated resin systems are based on the monomers styrene and HEMA. To account for the effects of copolymerization in the calculation of the reaction kinetics it was assumed that the reaction can be considered as a homo-polymerization having a reaction order n?1. Then the measured ion viscosity curves are fitted with the solution of the reactions kinetics - the time dependent degree of conversion (DC-function) - for times exceeding the initiation phase representing the primary curing. The measured ion viscosity curves can nicely be fitted with the DC-function and the determined fit parameters distinguish distinctly between the investigated resin compositions.