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Property-Based Testing in Simulation for Verifying Robot Action Execution in Tabletop Manipulation
(2021)
An important prerequisite for the reliability and robustness of a service robot is ensuring the robot’s correct behavior when it performs various tasks of interest. Extensive testing is one established approach for ensuring behavioural correctness; this becomes even more important with the integration of learning-based methods into robot software architectures, as there are often no theoretical guarantees about the performance of such methods in varying scenarios. In this paper, we aim towards evaluating the correctness of robot behaviors in tabletop manipulation through automatic generation of simulated test scenarios in which a robot assesses its performance using property-based testing. In particular, key properties of interest for various robot actions are encoded in an action ontology and are then verified and validated within a simulated environment. We evaluate our framework with a Toyota Human Support Robot (HSR) which is tested in a Gazebo simulation. We show that our framework can correctly and consistently identify various failed actions in a variety of randomised tabletop manipulation scenarios, in addition to providing deeper insights into the type and location of failures for each designed property.
En el siguiente trabajo se presentan las diferentes alternativas tecnológicas que brindarán soporte para las comunicaciones en el Proyecto Campo Conectado, priorizando el bajo consumo y mantenimiento. Esta plataforma de transmisión proveerá la conectividad necesaria para la recolección y envío de los datos requeridos por los productores agropecuarios, con el fin de mejorar la gestión de los procesos productivos y comerciales. Se comenta además los orígenes del proyecto y los actores involucrados en el mismo, destacándose el trabajo interinstitucional e interdisciplinar que se lleva a cabo.
ProtSTonKGs: A Sophisticated Transformer Trained on Protein Sequences, Text, and Knowledge Graphs
(2022)
While most approaches individually exploit unstructured data from the biomedical literature or structured data from biomedical knowledge graphs, their union can better exploit the advantages of such approaches, ultimately improving representations of biology. Using multimodal transformers for such purposes can improve performance on context dependent classication tasks, as demonstrated by our previous model, the Sophisticated Transformer Trained on Biomedical Text and Knowledge Graphs (STonKGs). In this work, we introduce ProtSTonKGs, a transformer aimed at learning all-encompassing representations of protein-protein interactions. ProtSTonKGs presents an extension to our previous work by adding textual protein descriptions and amino acid sequences (i.e., structural information) to the text- and knowledge graph-based input sequence used in STonKGs. We benchmark ProtSTonKGs against STonKGs, resulting in improved F1 scores by up to 0.066 (i.e., from 0.204 to 0.270) in several tasks such as predicting protein interactions in several contexts. Our work demonstrates how multimodal transformers can be used to integrate heterogeneous sources of information, paving the foundation for future approaches that use multiple modalities for biomedical applications.
Providing Mobile Phone Access in Rural Areas via Heterogeneous Meshed Wireless Back-Haul Networks
(2011)
Prävention von Behinderungen und betriebliches Eingliederungsmanagement in kleinen Unternehmen
(2005)
Die psychische Komorbidität bei chronisch körperlichen Erkrankungen gilt als weitgehend belegt. Je nach Indikationsbereich variiert der Anteil zusätzlich psychisch erkrankter Patienten zwischen 16 und 24 % (4-Wochen-Prävalenz) bzw. zwischen 29 und 41 % (1-Jahres- Prävalenz; Härter et al., 2007). Aktuelle Konzepte legen eine stärkere Fokussierung auf psychosoziale, vor allem psychologische, psychotherapeutische und pädagogische Behandlungsbausteine innerhalb der stationären Rehabilitation nahe (Bengel et al., 2014; Seiter et al., 2012). Zusätzlich werden gezielte Nachsorgekonzepte entwickelt und erprobt (z. B. Deck, Hüppe, 2014). Der vorliegende Beitrag geht auf der Grundlage einer aktuellen Versichertenstichprobe der Frage nach, wie psychische Beeinträchtigung, Behandlungsempfehlung und nachfolgende Inanspruchnahme ambulanter psychotherapeutischer Leistungen zusammenhängen und mit welchen Behandlungsergebnissen sie assoziiert sind.
Entrepreneurship is labelled as the panacea for graduate unemployment in Ghana. In the training process, students are mandatorily required to read a course in entrepreneurship, so as to be able to start their own businesses in the face of job adversities caused by the inadequacy of job opportunities created by government and lack of government drive to diversify the economy for more jobs to be created. This study, therefore aimed at investigating the critical precursors of entrepreneurial intentions among higher education students in Ghana. Using the analytical cross-sectional survey design, 250 respondents were recruited from public universities using probability sampling techniques (stratified-disproportionate and simple random) to participate in the survey. Respondents were required to respond to three constructs (entrepreneurial scaffolding, psychological capital, and entrepreneurial intentions). The data analyses were performed using multivariate regression. The study findings showed that entrepreneurial scaffolding and psychological capital were significant predictors of entrepreneurial intentions. The researchers concluded that students' convictions in succeeding or otherwise and planning to engage in entrepreneurial behaviours depended on proper entrepreneurial guidance and a positive mind-set. Therefore, it was recommended that higher education institutions in Ghana strengthened and included practical guides to entrepreneurial training. This will encourage higher education students to consider entrepreneurship, hence, reducing graduate unemployment in Ghana.
Secure vehicular communication has been discussed over a long period of time. Now,- this technology is implemented in different Intelligent Transportation System (ITS) projects in europe. In most of these projects a suitable Public Key Infrastructure (PKI) for a secure communication between involved entities in a Vehicular Ad hoc Network (VANET) is needed. A first proposal for a PKI architecture for Intelligent Vehicular Systems (IVS PKI) is given by the car2car communication consortium. This architecture however mainly deals with inter vehicular communication and is less focused on the needs of Road Side Units. Here, we propose a multi-domain PKI architecture for Intelligent Transportation Systems, which considers the necessities of road infrastructure authorities and vehicle manufacturers, today. The PKI domains are cryptographically linked based on local trust lists. In addition, a crypto agility concept is suggested, which takes adaptation of key length and cryptographic algorithms during PKI operation into account.
Publikation von Umweltdaten
(2010)
In this paper, we introduce an optical sensor system, which is integrated into an industrial push-button. The sensor allows to classify the type of material that is in contact with the button when pressed into different material categories on the basis of the material's so called "spectral signature". An approach for a safety sensor system at circular table saws on the same base has been introduced previously on SIAS-2007. This contactless working sensor is able to distinguish reliably between skin, textiles, leather and various other kinds of materials. A typical application for this intelligent push-button is the use at possibly dangerous machines, whose operating instructions include either the prohibition or the obligation to wear gloves during the work at the machine. An exemple of machines at which no gloves are allowed are pillar drilling machines, because of the risk of getting caught in the drill chuck and being turned in by the machine. In many cases this causes very serious hand injuries. Depending on the application needs, the sensor system integrated into the push-button can be configured flexibly by software to prevent the operator from accidentally starting a machine with or without gloves, which can decrease the risk of severe accidents significantly. Especially two-hand controls are incentive to manipulation for easier handling. By equipping both push-buttons of a two-hand control with material classification properties, the user is forced to operate the controls with his bare fingers. That limitation disallows the manipulation of a two-hand control by a simple rodding device.
Text is one of the key sources of information for social sciences and humanities which, with the rise and development of computational technologies, has been mostly available via digital libraries, archives and websites. It enables researchers to increasingly deal with large scale text corpora that require the use of advanced software tools to process them and extract information. Computational linguistics - a discipline that has emerged on the border of computer science, linguistics and statistics - has achieved certain results in automated text analysis and information extraction, e.g., tools for part-of-speech tagging, grammar parsing, semantic role labelling, sentiment analysis and anaphora resolution have been developed and successfully used in many scientific projects. However, there still exists a gap between technology available and the needs of social sciences: named entity recognizers are incapable of identifying actors, sentiment analysis just provides the overall mood of an expression but is not able to identify the evaluation of information by the utterer, topic modeling tools can only assign a topic to a document, but fall short of measuring its frame.
Qualifikation für gute Lehre
(2010)
Eine von insgesamt sechs Arbeitsgruppen der Jahrestagung des HRK Bologna-Zentrums 2009 beschäftigte sich mit dem Themenbereich "Qualifikation für gute Lehre". Nach zwei Impulsvorträgen diskutierten die Teilnehmer, wie Hochschulangehörige noch stärker als bisher für die Lehre
qualifiziert werden können.
Das Auslesen von Messdaten in elektronischer Form ermöglicht es, diese vom Ursprung bis zur Rechnungsstellung effizient und ohne Medienbruch zu erheben und zu verarbeiten. Gerade im liberalisierten Energiemarkt ist dies von Bedeutung, da eine Vielzahl von Marktteilnehmern miteinander kommunizieren muss. Das im VERNET-Programm geförderte SELMA-Projekt verfolgt das Ziel, einen Standard für den sicheren elektronischen Austausch von Messdaten zu entwickeln und zu etablieren. Eine der zentralen Anforderungen ist die Gewährleistung der Authentizität und Integrität der über offene Netze ausgelesenen Messdaten, die über die gesamte Lebensdauer der Messdaten nachprüfbar sein sollen. Die technische Umsetzung dieser Anforderungen resultiert in einer Sicherheitsarchitektur, die durch den durchgängigen Einsatz elektronischer Signaturen gekennzeichnet ist. Mit den signierten Datensätzen können die Rechnungen von den Marktteilnehmern auf ihre Authentizität und Integrität hin überprüft werden. Dieser Beitrag zeigt die gesetzgeberischen Hindernisse auf, die bei der Umsetzung der Anforderungen an qualifizierte Signaturen im elektronischen Messdatenaustausch auftreten und wie dennoch eine größtmögliche Beweiskraft für fortgeschrittene Signaturen erreicht werden kann.
Heutzutage werden alternative Mobilitätslösungen immer wichtiger. Dabei haben eBikes ihr Potential längst unter Beweis gestellt. Der zugehörige Markt ist über die letzten 10 Jahre enorm gewachsen und gleichermaßen auch die Erwartungen an das Produkt, wie bspw. eine Fahrt ohne störende Vibrationen und Geräusche zu haben. Der Motorfreilauf leistet dabei einen maßgeblichen Einfluss auf das dynamische Verhalten. In diesem Beitrag soll daher eine methodische Vorgehensweise vorgestellt werden, um mittels Versuch und Simulation den Einfluss des Motorfeilaufs auf das dynamische Verhalten der eBike Antriebseinheit zu bestimmen.