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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.
Cognitive robotics aims at understanding biological processes, though it has also the potential to improve future robotics systems. Here we show how a biologically inspired model of motor control with neural fields can be augmented with additional components such that it is able to solve a basic robotics task, that of obstacle avoidance. While obstacle avoidance is a well researched area, the focus here is on the extensibility of a biologically inspired framework. This work demonstrates how easily the biological inspired system can be used to adapt to new tasks. This flexibility is thought to be a major hallmark of biological agents.
The development of advanced robotic systems is challenging as expertise from multiple domains needs to be integrated conceptually and technically. Model-driven engineering promises an efficient and flexible approach for developing robotics applications that copes with this challenge. Domain-specific modeling allows to describe robotics concerns with concepts and notations closer to the respective problem domain. This raises the level of abstraction and results in models that are easier to understand and validate. Furthermore, model-driven engineering allows to increase the level of automation, e.g. through code generation, and to bridge the gap between modeling and implementation. The anticipated results are improved efficiency and quality of the robotics systems engineering process. Within this contribution, we survey the available literature on domain-specific modeling and languages that target core robotics concerns. In total 137 publications were identified that comply with a set of defined criteria, which we consider essential for contributions in this field. With the presented survey, we provide an overview on the state-of-the-art of domain-specific modeling approaches in robotics. The surveyed publications are investigated from the perspective of users and developers of model-based approaches in robotics along a set of quantitative and qualitative research questions. The presented quantitative analysis clearly indicates the rising popularity of applying domain-specific modeling approaches to robotics in the academic community. Beyond this statistical analysis, we map the selected publications to a defined set of robotics subdomains and typical development phases in robotic systems engineering as reference for potential users. Furthermore, we analyze these contributions from a language engineering viewpoint and discuss aspects such as the methods and tools used for their implementation as well as their documentation status, platform integration, typical use cases and the evaluation strategies used for validation of the proposed approaches. Finally, we conclude with recommendations for discussion in the model-driven engineering and robotics community based on the insights gained in this survey.
WiFi-based Long Distance (WiLD) networks have emerged as a promising alternative approach for Internet in rural areas. However, the MAC layer, which is based on the IEEE802.11 standard, comprises contiguous stations in a cell and is spatially restricted to a few hundred meters at most. In this work, we summarize efforts by different researchers to use IEEE802.11 over long-distances. In addition, we introduce WiLDToken, our solution to optimizing the throughput and fairness and reducing the delay on WiLD links. Compared to previous alternative MAC layers protocols for WiLD, our focus is on optimizing a single link in a multi-radio multi-channel mesh. We implement our protocol in the ns-3 network simulator and show thatWiLDToken is superior to an adapted version of the Distributed Coordination Function (DCF) for different link distances. We find that the throughput on a single link is close to the physical data-rate without a major decrease over longer distances.
Das Optimalziel für ein Logistiklager ist eine hohe Auslastung des Transportsystems. Es stellt sich somit die Frage nach der Auswahl der Aufträge, die gleichzeitig innerhalb des Lagers abgearbeitet werden, ohne Staus, Blockaden oder Überlastungen entstehen zu lassen. Dieser Auswahlprozess wird auch als Path-Packing bezeichnet. Diese Masterthesis untersucht das Path-Packing auf graphentheoretischer Ebene und stellt verschiedene Greedy-Heuristiken, eine Optimallösung auf Basis der Linearen Programmierung sowie einen kombinierten Ansatz gegenüber. Die Ansätze werden anhand von Messzeiten und Auslastungen unterschiedlich randomisiert erstellter Testdaten ausgewertet.
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.
We propose an artificial slime mould model (ASMM) inspired by the plasmodium of Physarum polucephalum (P. polucephalum). ASMM consists of plural slimes, and each slime shares energy via a tube with neighboring slimes. Outer slimes sense their environment and conform to it. Outer slimes periodically transmit information about their surrounding environment via a contraction wave to inner slimes. Thus, ASMM shows how slimes can sense a better environment even if that environment is not adjacent to the slimes. The slimes subsequently can move in the direction of an attractant.
Das Cutting sticks-Problem ist ein NP-vollständiges Problem mit Anwendungspotenzialen im Bereich der Logistik. Es werden grundlegende Definitionen für die Behandlung sowie bisherige Ansätze zur Lösung des Problems aufgearbeitet und durch einige neue Aussagen ergänzt. Insbesondere stehen Ideen für eine algorithmische Lösung des Problems bzw. von Varianten des Problems im Fokus.
Design of an Active Multispectral SWIR Camera System for Skin Detection and Face Verification
(2016)
Biometric face recognition is becoming more frequently used in different application scenarios. However, spoofing attacks with facial disguises are still a serious problem for state of the art face recognition algorithms. This work proposes an approach to face verification based on spectral signatures of material surfaces in the short wave infrared (SWIR) range. They allow distinguishing authentic human skin reliably from other materials, independent of the skin type. We present the design of an active SWIR imaging system that acquires four-band multispectral image stacks in real-time. The system uses pulsed small band illumination, which allows for fast image acquisition and high spectral resolution and renders it widely independent of ambient light. After extracting the spectral signatures from the acquired images, detected faces can be verified or rejected by classifying the material as "skin" or "no-skin". The approach is extensively evaluated with respect to both acquisition and classification performance. In addition, we present a database containing RGB and multispectral SWIR face images, as well as spectrometer measurements of a variety of subjects, which is used to evaluate our approach and will be made available to the research community by the time this work is published.
Domestic Robotics
(2016)
Effects of Workspace Awareness and Territoriality in Environments with Large, Shared Displays
(2016)
Synchronous cooperative work of multiple collaborators in large, high-resolution display systems comprises such psychological phenomena like workspace awareness and human territoriality. The phenomena and interplay between them can cause a significant impact on human-human and human-environment interaction. In a non-digital environment humans rely on their own physical abilities, utilities, and social protocols to control those phenomena (e.g. close eyes, or use earplugs to reduce workspace awareness; rotate oneself towards collaborators to increase workspace awareness). Digital environments, on the other hand, provide us with a possibility to ease, automate, and unify control processes, thus taking off that burden from users. Yet, we have to understand first, what effects workspace awareness and territoriality have within a collaborative environment. The aim of this doctoral thesis is to investigate effects of workspace awareness and territoriality on users and interaction processes in mixed-focus scenarios of various collaborative settings.
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.
WiFi-based Long Distance (WiLD) networks have emerged as a promising alternative technology approach for providing Internet in rural areas. An important factor in network planning of these wireless networks is estimating the path loss. In this work, we present various propagation models we found suitable for point-to-point (P2P) operation in the WiFi frequency bands. We conducted outdoor experiments with commercial offthe- shelf (COTS) hardware in our testbed made of 7 different long-distance links ranging from 450 m to 10.3 km and a mobile measurement station. We found that for short links with omni-directional antennas ground-reflection is a measurable phenomenon. For longer links, we show that either FSPL or the Longley-Rice model provides accurate results for certain links. We conclude that a good site survey is needed to exclude influences not included in the propagation models.
SDN and WMN evolved to be sophisticated technologies used in a variety of applications. However, a combined approach called wmSDN has not been widely addressed in the research community. Our idea in this field consists of WiFi-based point-to-point links managed by the OpenFlow protocol. We investigate two different issues regarding this idea. First, which WiFi operational mode is suitable in an OpenFlow managed broadcast domain? Second, does the performance decrease compared with other routing or switching principles? Therefore, we set up a real-world testbed and a suitable simulation environment. Unlike previous work, we show that it is possible to use WiFi links without conducting MAC address rewriting at each hop by utilizing the 4-address-mode.
Fault-Channel Watermarks
(2016)
In this paper, several blocking techniques are applied to matrices that do not have a strong blocked structure. The aim is to efficiently use vectorization with current CPUs, even for matrices without an explicit block structure on nonzero elements. Different approaches are known to find fixed or variable sized blocks of nonzero elements in a matrix. We present a new matrix format for 2D rectangular blocks of variable size, allowing fill-ins per block of explicit zero values up to a user definable threshold. We give a heuristic to detect such 2D blocks in a sparse matrix. The performance of a Sparse Matrix Vector Multiplication for chosen block formats is measured and 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 can have advantages over fixed size formats.