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Despite perfect functioning of its internal components, a robot can be unsuccessful in performing its tasks because of unforeseen situations. These situations occur when the behavior of the objects in the robot’s environment deviates from its expected values. For robots, such deviations are exhibited in the form of unknown external faults which prohibit them from performing their tasks successfully. In this work we propose to use naive physics knowledge to reason about such faults in the robotics domain. We propose an approach that uses naive physics concepts to find information about the situations which result in a detected unknown fault. The naive physics knowledge is represented by the physical properties of objects which are formalized in a logical framework. The proposed approach applies a qualitative version of physical laws to these properties for reasoning about the detected fault. By interpreting the reasoning results the robot finds the information about the situations which can cause the fault. We apply the proposed approach to the scenarios in which a robot performs manipulation tasks of picking and placing objects. Results of this application show that naive physics holds great promise for reasoning about unknown ex- ternal faults in robotics.
The development of pulmonary edema can be considered as a combination of alveolar flooding via increased fluid filtration, impaired alveolar-capillary barrier integrity, and disturbed resolution due to decreased alveolar fluid clearance. An important mechanism regulating alveolar fluid clearance is sodium transport across the alveolar epithelium. Transepithelial sodium transport is largely dependent on the activity of sodium channels in alveolar epithelial cells. This paper describes how sodium channels contribute to alveolar fluid clearance under physiological conditions and how deregulation of sodium channel activity might contribute to the pathogenesis of lung diseases associated with pulmonary edema. Furthermore, sodium channels as putative molecular targets for the treatment of pulmonary edema are discussed.
Nitric oxide (NO) is an important regulator of Na+ reabsorption by pulmonary epithelial cells and therefore of alveolar fluid clearance. The mechanisms by which NO affects epithelial ion transport are poorly understood and vary from model to model. In this study, the effects of NO on sodium reabsorption by H441 cell monolayers were studied in an Ussing chamber. Two NO donors, (Z)-1-[N-(3-aminopropyl)-N-(n-propyl) amino]diazen-1-ium-1,2-diolate and diethylammonium(Z)-1-(N, N-diethylamino) diazen-1-ium-1,2-diolate, rapidly, reversibly, and dose-dependently reduced amiloride-sensitive, short-circuit currents across H441 cell monolayers. This effect was neutralized by the NO scavenger hemoglobin and was not observed with inactive NO donors. The effects of NO were not blocked by 8-bromoguanosine-3',5'-cyclic monophosphate or by soluble guanylate cyclase inhibitors (methylene blue and 1H-[1,2,4] oxadiazolo[4,3-a]quinoxalin-1-one) and were therefore independent of soluble guanylate cyclase signaling. NO targeted apical, highly selective, amiloride-sensitive Na+ channels in basolaterally permeabilized H441 cell monolayers. NO had no effect on the activity of the human epithelial sodium channel heterologously expressed in Xenopus oocytes. NO decreased Na+/K+-ATPase activity in apically permeabilized H441 cell monolayers. The inhibition of Na+/K+-ATPase activity by NO was reversed by mercury and was mimicked by N-ethylmaleimide, which are agents that reverse and mimic, respectively, the reaction of NO with thiol groups. Consistent with these data, S-NO groups were detected on the Na+/K+-ATPase a subunit in response to NO-donor application, using a biotin-switch approach coupled to a Western blot. These data demonstrate that, in the H441 cell model, NO impairs Na+ reabsorption by interfering with the activity of highly selective Na+ channels and the Na+/K+-ATPase.
This study presents the findings of a quantitative study on the use of Open Educational Resources (OER) and Open Educational Practices (OEP) in Higher Education and Adult Learning Institutions. The study is based on the results of an online survey targeted at four educational roles: educational policy makers; institutional policy makers/managers; educational professionals; and learners. The report encompasses five chapters and four annexes. Chapter I presents the survey and Chapter II discloses the main research questions and models. Chapter III characterises the universe of respondents. Chapter IV advances with a detailed survey analysis including an overview of key statistical data. Finally, Chapter V provides an exploratory in-depth analysis of some key issues: representations, attitudes and uses of OEP. The table of contents and the complete list of diagrams and tables can be found at the end of the report.
Nowadays, we input text not only on stationary devices, but also on handheld devices while walking, driving, or commuting. Text entry on the move, which we term as nomadic text entry, is generally slower. This is partially due to the need for users to move their visual focus from the device to their surroundings for navigational purposes and back. To investigate if better feedback about users' surroundings on the device can improve performance, we present a number of new and existing feedback systems: textual, visual, textual & visual, and textual & visual via translucent keyboard. Experimental comparisons between the conventional and these techniques established that increased ambient awareness for mobile users enhances nomadic text entry performance. Results showed that the textual and the textual & visual via translucent keyboard conditions increased text entry speed by 14% and 11%, respectively, and reduced the error rate by 13% compared to the regular technique. The two methods also significantly reduced the number of collisions with obstacles.
Die Komplexität der Entscheidungen im Fuhrparkmanagement hat in der jüngeren Vergangenheit deutlich zugenommen. Damit steigen die Anforderungen an den Fuhrparkcontroller, den Fuhrparkleiter mit entscheidungsrelevanten Informationen im Sinne eines internen Dienstleisters zu unterstützen. Das Dynamic Carbon Accounting bietet die Möglichkeit, strategische, strukturelle und kulturelle Anforderungen an das Fuhrparkcontrolling durch die Kombination von Prozesskostenrechnung, Target Costing, Life Cycle Costing und den Ideen des Carbon Accountings instrumentell zu berücksichtigen. Je nach Bedeutung der Nachhaltigkeit für den Unternehmenserfolg können die damit verbundenen Auszahlungen noch differenzierter aufgenommen werden. So ist es denkbar, externe Auszahlungen der Emissionen von NO(ind x), Nichtmethan-Kohlenwasserstoffen, Partikeln, Lärm und Unfällen in die Rechnung zu integrieren. Damit wird je Fahrzeug der Beitrag zur Erreichung von Emissionszielen transparent gemacht und ist durch eine zielgerichtete Integration in den Controllingprozess des Unternehmens plan- und steuerbar. Da von einer zukünftig zunehmenden Komplexität des wirtschaftlichen Handelns auszugehen ist, wird sich der praktische Bedarf an dynamischen, marktorientierten Instrumenten im Controlling generell und speziell im Fuhrparkcontrolling weiter erhöhen.
Der I. Senat des BFH hat dem Großen Senat mit Beschluss vom 7.4.2010 die Frage vorgelegt, ob der subjektive Fehlerbegriff zwar in Bezug auf nach Bilanzaufstellung neu bekanntgewordene Tatsachen beizubehalten, in Bezug auf bessere Rechtserkenntnisse nach Bilanzaufstellung aber aufzugeben ist. Der Große Senat hat insoweit eine schwierige Entscheidung zu treffen, da sich materielles Bilanzsteuerrecht, Verfahrensrecht und Handelsrecht bei dieser Frage überlagern. hat schon 1991 von einem heillosen und verworrenen Labyrinth gesprochen, in dem es schwer falle, die Prinzipien zu erkennen. Zusätzlich hat der Große Senat unter dem Gesichtspunkt der Kontinuität der Rechtsprechung und der Rechtssicherheit abzuwägen, ob es gerechtfertigt ist, eine seit 50 Jahren bestehende Rechtsprechung aufzugeben. Die Entscheidung des Großen Senats hat sich durch den Präsidentenwechsel beim BFH verzögert, ist aber nunmehr in nächster Zeit zu erwarten.
Software offshoring has been established as an important business strategy over the last decade. While research on such forms of Global Software Development (GSD) has mainly focused on the situation of large enterprises, small enterprises are increasingly engaging in offshoring, too. Representing the biggest share of the German software industry, small companies are known to be important innovators and market pioneers. They often regard their flexibility and customer-orientation as core competitive advantages. Unlike large corporations, their small size allows them to adopt software development approaches that are characterized by a high agility and flat hierarchies. At the same time, their distinct strategies make it unlikely that they can simply adopt management strategies that were developed for larger companies.
Flexible development approaches like the ones preferred by small corporations have proven to be problematic in the context of offshoring, as their strong dependency on constant communication is strongly affected by the various barriers of international cooperation between companies. Cooperating closely over companies’ borders in different time zones and in culturally diverse teams poses complex obstacles for flexible management approaches. It is still a matter of discussion in fields like Software Engineering and Computer Supported Cooperative Work how these obstacles can be tackled and how they affect companies in the long term. Hence, it is agreed that we need a more detailed understanding of distributed software development practices in order to come to feasible technological and organizational solutions.
This dissertation presents results from two ethnographically-informed case studies of software offshoring in small German enterprises. By adopting Anselm Strauss’ concept of articulation work, we want to deepen the understanding of managing distributed software development in flexible, customer-oriented organizations. In doing so, we show how practices of coordinating inter-organizational software development are closely related to aspects of organizational learning in small enterprises. By means of interviews with developers and project managers from both parties of the cooperation, we do not only take into account the multiple perspectives of the cooperation, but also include the socio-cultural background of international software development projects into our analysis.
This paper picks up on one of the ways reported in the literature to represent hybrid models of engineering systems by bond graphs with static causalities. The representation of a switching device by means of a modulated transformer (MTF) controlled by a Boolean variable in conjunction with a resistor has been used so far to build a model for simulation. In this paper, it is shown that it can also constitute an approach to bond graph based quantitative fault detection and isolation in hybrid system models. Advantages are that Analytical Redundancy Relations (ARRs) do not need to be derived again after a switch state has changed. ARRs obtained from the bond graph are valid for all system modes. Furthermore, no adaption of the standard sequential causality assignment procedure (SCAP) with respect to fault detection and isolation (FDI) is needed.