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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.
Salts and proteins comprise two of the basic molecular components of biological materials. Kosmotropic/chaotropic co-solvation and matching ion water affinities explain basic ionic effects on protein aggregation observed in simple solutions. However, it is unclear how these theories apply to proteins in complex biological environments and what the underlying ionic binding patterns are. Using the positive ion Ca2+ and the negatively charged membrane protein SNAP25, we studied ion effects on protein oligomerization in solution, in native membranes and in molecular dynamics (MD) simulations. We find that concentration-dependent ion-induced protein oligomerization is a fundamental chemico-physical principle applying not only to soluble but also to membrane-anchored proteins in their native environment. Oligomerization is driven by the interaction of Ca2+ ions with the carboxylate groups of aspartate and glutamate. From low up to middle concentrations, salt bridges between Ca2+ ions and two or more protein residues lead to increasingly larger oligomers, while at high concentrations oligomers disperse due to overcharging effects. The insights provide a conceptual framework at the interface of physics, chemistry and biology to explain binding of ions to charged protein surfaces on an atomistic scale, as occurring during protein solubilisation, aggregation and oligomerization both in simple solutions and membrane systems.
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.
SpMV Runtime Improvements with Program Optimization Techniques on Different Abstraction Levels
(2016)
The multiplication of a sparse matrix with a dense vector is a performance critical computational kernel in many applications, especially in natural and engineering sciences. To speed up this operation, many optimization techniques have been developed in the past, mainly focusing on the data layout for the sparse matrix. Strongly related to the data layout is the program code for the multiplication. But even for a fixed data layout with an accommodated kernel, there are several alternatives for program optimizations. This paper discusses a spectrum of program optimization techniques on different abstraction layers for six different sparse matrix data format and kernels. At the one end of the spectrum, compiler options can be used that hide from the programmer all optimizations done by the compiler internally. On the other end of the spectrum, a multiplication kernel can be programmed that use highly sophisticated intrinsics on an assembler level that ask for a programmer with a deep understanding of processor architectures. These special instructions can be used to efficiently utilize hardware features in processors like vector units that have the potential to speed up sparse matrix computations. The paper compares the programming effort and required knowledge level for certain program optimizations in relation to the gained runtime improvements.
The Participation Act, introduced in the Netherlands in 2015, puts into practice the idea that every individual has to make a contribution in a participatory society. The Act includes aspects of income support, compulsory activities in return for benefits, and labour market reintegration. Drawing on 45 interviews, we provide insights into interactions between the individual financial and social situation, an individual’s position in society, and reintegration activities. The narratives show the fundamental need for individual freedom and societal meaning, recognition, and appreciation, as well as the complex circumstances in which social assistance recipients make decisions. Conflicts between those needs and the Act lead to the question of how personal and societal objectives can be reconciled.
An analysis of sharing string objects with the Java Virtual Machine was conducted; they are the most used objects in Java programs and they are immutable - thus they are read-only and easily identified. While the results are promising, it is clear that sharing more objects would result in better performance. Automatic object selection for sharing is non-trivial, because in the current state only read-only objects can be shared. This attribute can not be easily determined during runtime by an algorithm; the developer on the other hand can. This thesis presents the development of an Application Programmer Interface (API) that allows programmers to use the Java Virtual Machine (JVM) internal sharing functionality. Furthermore, we present the usage of the sharing API. Open-source software was used as real-world test cases. Afterwards the evaluation shows that the ratio between memory savings and start-up time overhead is reasonable.
A central objective of the German gambling law is to ensure the protection of minors and players (§ 1 Sentence 1 No. 3 GlüStV 2012). Since the year 2014 gambling facilities for commercial games of chance in gambling halls and restaurants have been certified by the German Safety Standards Authority [Technischer Überwachungsverein – TÜV]. Certification by government-accredited testing organizations based on internationally validated, interdisciplinary scientific expertise "Safeguarding the Protection of Minors and Players with Respect to Commercial Gambling in Germany – 2.0" is a quality assurance instrument from a regulatory perspective. It is in the interests of, in particular, excellent quality providers to ensure that they are also perceived as providing this level of quality. Certification leads to market separation. In so doing, the advantages of end-to-end certification should be greater than any disadvantages. Analysing the international environment shows that certifi cation initiatives are necessary and have been put in place in other sectors of the gambling industry.
The primary aim is quality assurance for a responsible handling of commercial games of chance offerings (responsible gambling). The presented testing catalogue for commercial gambling can also provide an impetus in the international context and, as appropriate, a set standard.
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.
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.
Currently, there are a lot of research activities dealing with gamma titanium aluminide (γ-TiAl) alloys as new materials for low pressure turbine (LPT) blades. Even though the scatter in mechanical properties of such intermetallic alloys is more distinctive as in conventional metallic alloys, stochastic investigations on γ -TiAl alloys are very rare. For this reason, we analyzed the scatter in static and dynamic mechanical properties of the cast alloy Ti-48Al-2Cr-2Nb. It was found that this alloy shows a size effect in strength which is less pronounced than the size effect of brittle materials. A weakest-link approach is enhanced for describing a scalable size effect under multiaxial stress states and implemented in a post processing tool for reliability analysis of real components. The presented approach is a first applicable reliability model for semi-brittle materials. The developed reliability tool was integrated into a multidisciplinary optimization of the geometry of a LPT blade. Some processes of the optimization were distributed in a wide area network, so that specialized tools for each discipline could be employed. The optimization results show that it is possible to increase the aerodynamic efficiency and the structural mechanics reliability at the same time, while ensuring the blade can be manufactured in an investment casting process.