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The increasing complexity of tasks that are required to be executed by robots demands higher reliability of robotic platforms. For this, it is crucial for robot developers to consider fault diagnosis. In this study, a general non-intrusive fault diagnosis system for robotic platforms is proposed. A mini-PC is non-intrusively attached to a robot that is used to detect and diagnose faults. The health data and diagnosis produced by the mini-PC is then standardized and transmitted to a remote-PC. A storage device is also attached to the mini-PC for data logging of health data in case of loss of communication with the remote-PC. In this study, a hybrid fault diagnosis method is compared to consistency-based diagnosis (CBD), and CBD is selected to be deployed on the system. The proposed system is modular and can be deployed on different robotic platforms with minimum setup.
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.
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.
Die Optimierung von Produktionsprozessen steht im Vordergrund jedes Produzenten, vor allem im Hinblick auf den optimalen Erntezeitpunkt. Zur Pflückreife sollen Kirschen als nicht-klimakterische Früchte eine optimale und hochwertige Fruchtqualität aufweisen, eine ausreichende Anzahl an Erntehelfern, Pflückhilfen, Transportkisten, Sortier- und Lagereinrichtungen sowie Absatzwege vorhanden sein. Aus diesem Grund entwickelten Wissenschaftler in der Vergangenheit diverse Reifeindices und Erntemodelle zur Bestimmung des optimalen Erntezeitpunkts von Früchten, erst an Äpfeln, dann für Steinobst.
Surrogate-assistance approaches have long been used in computationally expensive domains to improve the data-efficiency of optimization algorithms. Neuroevolution, however, has so far resisted the application of these techniques because it requires the surrogate model to make fitness predictions based on variable topologies, instead of a vector of parameters. Our main insight is that we can sidestep this problem by using kernel-based surrogate models, which require only the definition of a distance measure between individuals. Our second insight is that the well-established Neuroevolution of Augmenting Topologies (NEAT) algorithm provides a computationally efficient distance measure between dissimilar networks in the form of "compatibility distance", initially designed to maintain topological diversity. Combining these two ideas, we introduce a surrogate-assisted neuroevolution algorithm that combines NEAT and a surrogate model built using a compatibility distance kernel. We demonstrate the data-efficiency of this new algorithm on the low dimensional cart-pole swing-up problem, as well as the higher dimensional half-cheetah running task. In both tasks the surrogate-assisted variant achieves the same or better results with several times fewer function evaluations as the original NEAT.
Durch die Nutzung von Qualitätsindikatoren für die Zuweisungssteuerung ge-winnt das interne QM eine zentrale Bedeutung für die Zukunftssicherung der Einrichtungen. Zusätzlich untermauert wird dies durch den strukturierten Qualitätsdialog (DRV Bund 2017), der durch eine stärkere Fokussierung auf diese Qualitätsindikatoren Revisionscharakter und zugleich Anreizfunktion für die Rehabilitationseinrichtungen hat. Vor diesem Hintergrund stellt sich für die Einrichtungen die Frage, wie geeignete interne Qualitätskennzahlen genutzt werden können, um Verbesserungsprozesse so frühzeitig zu initiieren, dass die externen Qualitätskennzahlen positiv ausfallen.
Neben der Verbesserung des Gesundheitszustandes sind der Erhalt der Beschäftigungsfähigkeit und die berufliche (Wieder-)Eingliederung zentrale Ziele der Rehabilitationsleistungen der Deutschen Rentenversicherung. In der „Reha-QM-Outcome-Studie“ konnten Rehabilitanden anhand von Routinedaten der Deutschen Rentenversicherung Baden-Württemberg über nunmehr vier Jahre nachbeobachtet werden. Dass eine erfolgreiche Rehabilitation die Beitragszahlung in die Sozialsysteme stabilisiert und das Risiko für eine Erwerbsminderung senkt, wurde für den Dreijahreszeitraum nach Rehabilitation bereits gezeigt (Kaluscha 2017). Hier wird nun der Frage nachgegangen, ob sich die Effekte im vierten Jahr weiterhin zeigen.
Die Diskussion um die Nachhaltigkeit von Dienstleistungen im öffentlichen Sektor steht in einem engen Zusammenhang mit der Frage, ob sich der Einsatz finanzieller Mittel für die Beteiligten lohnt. Daher besteht ein breites Interesse, herauszufinden, ob der Nutzen von Rehabilitationsarbeit auch finanziell messbar ist, und falls ja, wie hoch das ökonomische Potential der Investitionen ist. Um diese Frage zu beantworten, ist es notwendig Leistungen sowie die dadurch anfallenden Ausgaben statistisch zu erfassen und in einem ökonomischen Modell zu bewerten.
Eine wesentliche Zielgröße zur Erfassung der Ergebnisqualität medizinischer Rehabilitationsleistungen sind „Patient Reported Outcomes“ (PROs; Brettschneider et al, 2011; Calvert et al, 2013). Dabei besteht eine hohe Korrespondenz zwischen PROs und SV-Beitragszahlungen der Versicherten in die Sozialversicherung für den Zeitpunkt 1 Jahr nach der Reha (Nübling et al., 2017). Die Beitragszahlungen sind dabei ein zentraler Indikator für Return to Work (RTW). Im vorliegenden Beitrag wird untersucht, inwieweit sich auch SV-Beiträge 3 Jahre nach der Reha aufgrund der bei 1-Jahres-Katamnese erhobenen PROs vorhersagen lassen.
Persons with disabilities have much lower employment rates than the population as a whole and are at a significantly higher risk of living in poverty (OECD, 2011, pp. 50-56 and WHO, 2011, pp. 237-239). However, many of the barriers people with disabilities face, with regards to labor market reintegration, are in fact avoidable. There has for quite some time been evidence that differences in employment and wages, between disabled and non-disabled workers, can only to a limited extent be explained by differences in human capital endowments and productivity (Kidd, Sloane, & Ferko, 2000). Instead, factors such as the absence of access to education and training, and the lack of financial assistance provided are actually significant drivers of labor market exclusion (OECD, 2009, p.15; WHO, 2011, p.239).
Sind kleinere und mittlere Unternehmen (KMU) bereits auf die Digitale Transformation vorbereitet?
(2018)
Eine von den Autoren durchgeführte Untersuchung konnte deutliche Indizien dafür ausmachen, dass viele kleinere und mittlere Unternehmen (KMU) aktuell noch keine ausreichende Reife zur Digitalen Transformation haben. Zur Lösung des Problems wird vorgeschlagen, ein agiles IT-Management-Konzept zu entwickeln, um den IT-Bereich dynamisch und ohne formalen Ballast des klassischen IT-Managements zu steuern.
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.
As a result of ageing societies, the prevalence of dementia, and accordingly the need of care is increasing rapidly. Here, the use of ICT-based technologies may facilitate and promote a self-sustaining life-style for people with dementia and their caregivers. The presented poster describes early findings from the project MobiAssist and outlines the ICT-based training system. The system aims to increase the physical and cognitive capabilities of people with dementia, relief the caregivers and improve wellbeing of involved parties.
Speech understanding is a fundamental feature for many applications focused on human-robot interaction. Although many techniques and several services for speech recognition and natural language understanding have been developed in the last years, specific implementation and validation on domestic service robots have not been performed. In this paper, we describe the implementation and the results of a functional benchmark for speech understanding in service robotics that has been developed and tested in the context of different robot competitions: RoboCup@Home, RoCKIn@Home and within the European Robotics League on Service Robots. Different approaches used by the teams in the competitions are presented and the evaluation results obtained in the competitions are discussed.
Dementia not only affects the cognitive capabilities, especially memory and orientation, but also physical capabilities, which are associated with a decrease of physical activities. Here, ICT can play a major role to improve health, quality of life and wellbeing in older adults suffering from dementia and related stakeholders, such as relatives, professional and informal caregivers. The aim of the presented system is to increase physical and cognitive capabilities of people with dementia and their caregivers to support them in daily life activities, reduce the strain of the caregivers and improve both their wellbeing.