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Robot deployment in realistic environments is challenging despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful introspection capabilities, which means that they cannot always deal with failures in an acceptable manner; in addition, manual diagnosis is often a tedious task that requires technicians to have a considerable set of robotics skills. In this paper, we discuss our ongoing efforts to address some of these problems. In particular, we (i) present our early efforts at developing a robotic black box and consider some factors that complicate its design, (ii) explain our component and system monitoring concept, and (iii) describe the necessity for remote monitoring and experimentation as well as our initial attempts at performing those. Our preliminary work opens a range of promising directions for making robots more usable and reliable in practice.
Entering the work envelope of an industrial robot can lead to severe injury from collisions with moving parts of the system. Conventional safety mechanisms therefore mostly restrict access to the robot using physical barriers such as walls and fences or non-contact protective devices including light curtains and laser scanners. As none of these mechanisms applies to human-robot-collaboration (HRC), a concept in which human and machine complement one another by working hand in hand, there is a rising need for safe and reliable detection of human body parts amidst background clutter. For this application camera-based systems are typically well suited. Still, safety concerns remain, owing to possible detection failures caused by environmental occlusion, extraneous light or other adverse imaging conditions. While ultrasonic proximity sensing can provide physical diversity to the system, it does not yet allow to reliably distinguish relevant objects from background objects.This work investigates a new approach to detecting relevant objects and human body parts based on acoustic holography. The approach is experimentally validated using a low-cost application-specific ultrasonic sensor system created from micro-electromechanical systems (MEMS). The presented results show that this system far outperforms conventional proximity sensors in terms of lateral imaging resolution and thus allows for more intelligent muting processes without compromising the safety of people working close to the robot. Based upon this work, a next step could be the development of a multimodal sensor systems to safeguard workers who collaborate with robots using the described ultrasonic sensor system.
Large, high-resolution displays demonstrated their effectiveness in lab settings for cognitively demanding tasks in single user and collaborative scenarios. The effectiveness is mostly reached through inherent displays' properties - large display real estate and high resolution - that allow for visualization of complex datasets, and support of group work and embodied interaction. To raise users' efficiency, however, more sophisticated user support in the form of advanced user interfaces might be needed. For that we need profound understanding of how large, tiled displays impact users work and behavior. We need to extract behavioral patterns for different tasks and data types. This paper reports on study results of how users, while working collaboratively, process spatially fixed items on large, tiled displays. The results revealed a recurrent pattern showing that users prefer to process documents column wise rather than row wise or erratic.
Antioxidant activity is an essential aspect of oxygen-sensitive merchandise and goods, such as food and corresponding packaging, cosmetics, and biomedicine. Technical lignin has not yet been applied as a natural antioxidant, mainly due to the complex heterogeneous structure and polydispersity of lignin. This report presents antioxidant capacity studies completed using the 2,2-diphenyl-1-picrylhydrazyl (DPPH) assay. The influence of purification on lignin structure and activity was investigated. The purification procedure showed that double-fold selective extraction is the most efficient (confirmed by ultraviolet-visible (UV/Vis), Fourier transform infrared (FTIR), heteronuclear single quantum coherence (HSQC) and 31P nuclear magnetic resonance spectroscopy, size exclusion chromatography, and X-ray diffraction), resulting in fractions of very narrow polydispersity (3.2⁻1.6), up to four distinct absorption bands in UV/Vis spectroscopy. Due to differential scanning calorimetry measurements, the glass transition temperature increased from 123 to 185 °C for the purest fraction. Antioxidant capacity is discussed regarding the biomass source, pulping process, and degree of purification. Lignin obtained from industrial black liquor are compared with beech wood samples: antioxidant activity (DPPH inhibition) of kraft lignin fractions were 62⁻68%, whereas beech and spruce/pine-mixed lignin showed values of 42% and 64%, respectively. Total phenol content (TPC) of the isolated kraft lignin fractions varied between 26 and 35%, whereas beech and spruce/pine lignin were 33% and 34%, respectively. Storage decreased the TPC values but increased the DPPH inhibition.
Durch die Digitalisierung befindet sich die Mobilitätsbranche im starken Umbruch. So wird man bei der Verkehrsmittelwahl zukünftig wohl auch auf selbstfahrende Autos zurückgreifen können. Die Studie erweitert die Verkehrs- und Nutzerakzeptanzforschung, indem unter Berücksichtigung relativer Teilmehrwerte tiefergehend analysiert wird, wie sich die neuen Verkehrsmodi autonomer Privat-PKW, autonomes Carsharing und autonomes Taxi aus heutiger Sicht in den bestehenden Verkehrsmix einsortieren. Hierzu wurde auf Basis der Nutzerpräferenztheorie eine Onlineumfrage (n=172) zu den relativen Mehrwerten der neuen autonomen Verkehrsmodi durchgeführt. Es zeigt sich, dass Nutzer im Vergleich zum PKW bei den autonomen Modi Verbesserungen im Fahrkomfort und in der Zeitnutzung sehen, in vielen anderen Bereichen – insbesondere bei Fahrspaß und Kontrolle – hingegen keine Vorteile oder sogar relative Nachteile sehen. Gegenüber dem ÖPNV bieten die autonomen Modi in fast allen Eigenschaften Mehrwerte. Diese Betrachtung auf Teilnutzenebene liefert eine genauere Erklärung für Nutzerakzeptanz des automatisierten Fahrens.
Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful introspection capabilities, which means that they cannot always deal with failures in a reasonable manner; in addition, manual diagnosis is often a tedious task that requires technicians to have a considerable set of robotics skills.
The paper contributes to the debate on the political economy of implementation of propoor social policy. It argues for a broadening of the debate, which is dominated by technocratic arguments, emphasizing the lack of financial resources, technology or skills as the major barriers for effective implementation. Describing the dynamic interplay of ‘formal’ operational programme structures and ‘informal’ traditional institutions in delivering the CT-OVC – the largest and oldest cash transfer programme in Kenya – it argues for the need to look more closely into the local political economy as an important mediating arena for implementing social policies. Implementation is heavily contingent upon the local social, political and institutional context that influences and shapes its outcomes. These processes are highly dynamic and ambivalent evolving between ‘formal’ and ‘informal’ structures and institutions. They may change over time and place, challenging the implicit assumption that programmes are evenly implemented across geographic and political entities.
This paper analyzes the complex effects and risks of social protection programmes in Ghana and Kenya on poor people’s human wellbeing, voice and empowerment and interactions with the social protection regulatory framework and policy instruments. For this purpose, it adopts a comprehensive Inclusive Development framework to systematically explore the complex effects of cash transfers and health insurance at the individual, household and community level. The findings highlight the positive provisionary and preventive effects of social protection, but also illustrate that the poorest are still excluded and that promotive effects, in the form of enhanced productivity, manifest themselves mainly for the people who are less resource poor. They can build more effectively upon an existing asset base, capabilities, power and social relations to counter the exclusionary mechanisms of the system, address inequity concerns and offset the transaction costs of accessing and benefitting from social protection. The inclusive development framework enables to lay these complex effects and interactions bear, and points to areas that require more longitudinal and mixed methodology research.
Um das digitale Storytelling für Medienunternehmen lukrativ nutzbar zu machen, existiert eine zunehmende Zahl von Tools, Software also, die das deutlich weniger zeitaufwendige Produzieren mithilfe zur Verfügung stehender Seitenvorlagen möglich machen. Drei oftmals verwendete Tools zur Produktion als auch zur Veröffentlichung von Beiträgen im digitalen Storytelling sind Atavist, Pageflow und Shorthand. Statt eigenem Programmieren können verschiedene multimediale Elemente in der Regel mit wenigen Mausklicks integriert werden. Nicolas Kaufmann beschäftigt sich in seiner Abschlussarbeit zum Bachelor of Science mit dem Thema "Digitales Storytelling - Eine Untersuchung zu Darstellungsformen, Nutzen und Tools".
Here, we present a miR mechanism which is active in the nucleus and is essential for the production of intron included, C-terminal truncated and biologically active proteins, like e.g. Vim3. We exemplified this mechanism by miRs, miR-15a and miR-498, which are overexpressed in clear cell renal carcinoma or oncocytoma. Both miRs directly interact with DNA in an intronic region, leading to transcriptional stop, and therefore repress the full length version of the pre-mRNA, resulting in intron included truncated proteins (Mxi-2 and Vim3). A computational survey shows that this miR:DNA interactions mechanism may be generally involved in regulating the human transcriptome, with putative interaction sites in intronic regions for over 1000 genes. In this work, an entirely new mechanism is revealed how miRs can repress full length protein translation, resulting in C-terminal truncated proteins.
Bei Thymian (Thymus vulgaris) handelt es sich um eine sehr varietätenreiche Art, die aufgrund ihres Gehaltes an therapeutisch wirksamen Inhaltsstoffen als Arzneipflanze monographiert ist. Insbesondere das ätherische Öl mit dem Hauptbestandteil Thymol (ca. 50%) hat eine hohe antioxidative Wirkung. Ziel ist es, dieses Potential als nachhaltig produzierte Additive zu nutzen. Hierfür eignen sich antioxidativ bzw. antimikrobiell wirksame sowie UV-absorbierende Substanzen, die das Produkt bei Zusatz vor oxidativem Stress, mikrobiellem Abbau und Qualitätsverlust schützen.
Hierzu werden zunächst sechs Varianten auf verschiedene Parameter analysiert, um die potenteste Variante auszuwählen. Auf diese Variante wird sich die weitere Forschung konzentrieren.
Daher wird das ätherische Öl durch azeotrope Destillation extrahiert und mittels GCMS analysiert. In Extrakten werden zudem das AP und Absorptionsverhalten bestimmt. Auch die chemische Zusammensetzung des Extrakts sowie die flüchtigen Stoffe des Thymians werden untersucht. Generell gibt es wenig qualitative, teilweise jedoch quantitative Unterschiede: Eine Variante weist u.a. einen deutlich höheren Thymolgehalt im Öl (ca. 65 %) und ein hohes hydrophiles AP auf. Somit ist eine vielversprechende Variante für die weitere Entwicklung und Optimierung bioaktiver Additive gefunden.