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Disturbances of the cardiac conduction system causing reentry mechanisms above the atrioventricular (AV) node are induced by at least one accessory pathway with different conducting properties and refractory periods. This work aims to further develop the already existing and continuously expanding Offenburg heart rhythm model to visualise the most common supraventricular reentry tachycardias to provide a better understanding of the cause of the respective reentry mechanism.
Interaction and capturing information from the surrounding is dominated by vision and hearing. Haptics on the other side, widens the bandwidth and could also replace senses (sense switching) for impaired. Haptic technologies are often limited to point-wise actuation. Here, we show that actuation in two-dimensional matrices instead creates a richer input. We describe the construction of a full-body garment for haptic communication with a distributed actuating network. The garment is divided into attachable-detachable panels or add-ons that each can carry a two dimensional matrix of actuating haptic elements. Each panel adds to an enhanced sensoric capability of the human- garment system so that together a 720° system is formed. The spatial separation of the panels on different body locations supports semantic and theme-wise separation of conversations conveyed by haptics. It also achieves directional faithfulness, which is maintaining any directional information about a distal stimulus in the haptic input.
A polarization mode dispersion measurement set-up based on a Mach-Zehnder Interferometer was realized. Measurements were carried out on short high-birefringent fibers and on long standard telecommunication single-mode fibers. In order to ensure high accurate results, special emphasis was placed on the evaluation of the interference pattern. The procedure will be described in detail and practical measurement results will be presented.
Significant improvements in module performance are possible via implementation of multi-wire electrodes. This is economically sound as long as the mechanical yield of the production is maintained. While flat ribbons have a relatively large contact area to exert forces onto the solar cell, wires with round cross section reduce this contact area considerably – in theory to an infinitively thin line. Therefore, the local stresses induced by the electrodes might increase to a point that mechanical production yields suffer unacceptably.
In this paper, we assess this issue by an analytical mechanical model as well as experiments with an encapsulant-free N.I.C.E. test setup. From these, we can derive estimations for the relationship between lay-up accuracy and expected breakage losses. This paves the way for cost-optimized choices of handling equipment in industrial N.I.C.E.-wire production lines.
Radio frequency identification (RFID) antennas are popular for high frequency (HF) RFID, energy transfer and near field communication (NFC) applications. Particularly for wireless measurement systems the RFID/NFC technology is a good option to implement a wireless communication interface. In this context, the design of corresponding reader and transmitter antennas plays a major role for achieving suitable transmission quality. This work proves the feasibility of the rapid prototyping of a RFID/NFC antenna, which is used for the wireless communication and energy harvesting at the required frequency of 13.56 MHz. A novel and low-cost direct ink writing (DIW) technology utilizing highly viscous silver nanoparticle ink is used for this process. This paper describes the development and analysis of low-cost printed flexible RFID/NFC antennas on cost-effective substrates for a microelectronic vital parameter measurement system. Furthermore, we compare the measured technical parameters with existing copper-based counterparts on a FR4 substrate.
Subspace clustering aims to find all clusters in all subspaces of a high-dimensional data space. We present a massively data-parallel approach that can be run on graphics processing units. It extends a previous density-based method that scales well with the number of dimensions. Its main computational bottleneck consists of (sequentially) generating a large number of minimal cluster candidates in each dimension and using hash collisions in order to find matches of such candidates across multiple dimensions. Our approach parallelizes this process by removing previous interdependencies between consecutive steps in the sequential generation process and by applying a very efficient parallel hashing scheme optimized for GPUs. This massive parallelization gives up to 70x speedup for
the bottleneck computation when it is replaced by our approach and run on current GPU hardware. We note that depending on data size and choice of parameters, the parallelized part of the algorithm can take different percentages of the overall runtime of the clustering process, and thus, the overall clustering speedup may vary significantly between different cases. However, even
in our ”worst-case” test, a small dataset where the computation makes up only a small fraction of the overall clustering time, our parallel approach still yields a speedup of more than 3x for the complete run of the clustering process. Our method could also be combined with parallelization of other parts of the clustering algorithm, with an even higher potential gain in processing speed.
Finding clusters in high dimensional data is a challenging research problem. Subspace clustering algorithms aim to find clusters in all possible subspaces of the dataset where, a subspace is the subset of dimensions of the data. But exponential increase in the number of subspaces with the dimensionality of data renders most of the algorithms inefficient as well as ineffective. Moreover, these algorithms have ingrained data dependency in the clustering process, thus, parallelization becomes difficult and inefficient. SUBSCALE is a recent subspace clustering algorithm which is scalable with the dimensions and contains independent processing steps which can be exploited through parallelism. In this paper, we aim to leverage, firstly, the computational power of widely available multi-core processors to improve the runtime performance of the SUBSCALE algorithm. The experimental evaluation has shown linear speedup. Secondly, we are developing an approach using graphics processing units (GPUs) for fine-grained data parallelism to accelerate the computation further. First tests of the GPU implementation show very promising results.
During the day-to-day exploitation of localization systems in mines, the technical staff tends to incorrectly rearrange radio equipment: positions of devices may not be accurately marked on a map or their positions may not correspond to the truth. This situation may lead to positioning inaccuracies and errors in the operation of the localization system.This paper presents two Bayesian algorithms for the automatic corrections of positions of the equipment on the map using trajectories restored by the inertial measurement units mounted to mobile objects, like pedestrians and vehicles. As a basis, a predefined map of the mine represented as undirected weighted graph was used as input. The algorithms were implemented using the Simultaneous Localization and Mapping (SLAM) approach.The results prove that both methods are capable to detect misplacement of access points and to provide corresponding corrections. The discrete Bayesian filter outperforms the unscented Kalman filter, which, however, requires more computational power.
This paper presents an extended version of a previously published Bayesian algorithm for the automatic correction of the positions of the equipment on the map with simultaneous mobile object trajectory localization (SLAM) in underground mine environment represented by undirected graph. The proposed extended SLAM algorithm requires much less preliminary data on possible equipment positions and uses an additional resample move algorithm to significantly improve the overall performance.
Als Einstieg in den Diskurs über zivile Netzwerktechnologien, mobile Geräte, Onlinedienste und die Frage, wie sich die „Kirche der Zukunft“ (zumindest aus medienwissenschaftlicher Sicht) positionieren kann, dienen drei Zitate. Die Gegenüberstellung der darin vertretenen Positionen soll den Nutzen und die Folgen der zunehmend vollständigen Durchdringung (fast) aller Lebensbereiche mit Digitaltechnik für den Einzelnen wie für die Gesellschaft aufzeigen.
Gehören Sie zur „generation upload“? Laden Sie ihre privaten Bilder auf Flickr hoch und stellen Videos bei YouTube ein? Downloaden Sie MPEG-Files auf ihr Handheld oder spielen Sie ständig neue, echt witzige Apps auf ihr SmartPhone? Klicken Sie sich ihre Freunde in Facebook, MySpace oder StudiVZ zusammen, um rund um die Uhr zu chatten und zu bloggen? Oder twittern Sie eher und haben für Ihren Tweed schon Follower? Gruscheln Sie Menschen, deren Foto ihnen gefällt und sperren den Kontakt per Mausklick, wenn er oder sie doch nicht so nett ist? Software und Filme besorgen Sie sich von ihren Peers über Bit-Torrent-Tracker wie Pirate Bay? Lustig finden Sie „flash mobs“, weniger witzig „cyber mobs“? Oder sind Sie der eher rabiate Typ, der fremde Rechner hackt, spammt und „Google bombs“ platziert? Oder fragen Sie sich gerade, von was ich hier überhaupt rede? Willkommen in der „brave new world – of media”.
Die Frage nach der Struktur und Funktion von „Hochschulen“ kann man sinnvoll nicht isoliert betrachten ohne einen Blick auf Schulen. Hochschulen sind Teil des gesamten Schulsystems und eingebunden in eine (momentan noch) sehr differenzierte und vielfältige, bundesdeutsche „Bildungslandschaft“, die sich über Jahrhunderte herauskristallisiert hat. Tradition und evolutionäre Genese sind eine Konstante von Bildungseinrichtungen, der ständige Wandel und der stetige Reformdruck eine weitere. Es scheint, das an Schulen und Hochschulen immer von neuem laboriert werden muss, auch wenn das mögliche Spektrum von Einstellungen und Methoden – zumindest was Lernen und Lehrkonzepte betrifft, – seit der Antike bekannt sind.
Daher gliedert sich dieser Text in drei Abschnitte:
• Ein kurzer Blick zurück leitet zentrale Begriffe her.
• Die Analyse des Ist-Zustandes unter Berücksichtigung der seit 1998 unter dem Namen „Bologna“ realisierten Reformen (Vereinheitlichung der europäischen Studiengänge, Umstellung der Studiengänge auf andere Abschlüsse (Bachelor, Master) u.v.m.) zeigt aktuelle Fehlentwicklungen, nennt Gründe und Protagonisten .
• Der abschließend Blick nach vorn zeigt, was aus (Hoch)Schulen (wieder) werden könnten, wenn Lehrende und Studierende mutiger werden.
Controlling ist ein Begriff aus der Wirtschaftslehre und bezeichnet nicht Kontrollle, sondern Prozeßsteuerung. Definierte Ziele werden durch kleinteilige Messungen und permanente Überwachung aller Arbeitsschritte und Handlungen der beteiligten Personen protokolliert und stetig optimiert. Dieses Konzept der Planungs-, Koordinations- und Kontrollaufgaben wird beim „Bildungs-Controlling“ auf Schulen und Hochschulen übertragen. Ziel ist dabei, entsprechend der Gary Beckerschen Humankapitaltheorie, die Produktion von Humankapital mit validierten Kompetenzen. Zwei Probleme gibt es dabei: Lernen und vor allem Verstehen lassen sich nicht automatisieren und auch nicht automatisiert prüfen. Und: Sozialsysteme unter dem Regime der Kennzahlen des Quality Management (QM) oder Total Quality Management (TQM) verlieren ihre Eigenschaft als soziale Systeme
In medical applications wireless technologies are not widely spread. Today they are mainly used in non latency-critical applications where reliability can be guaranteed through retransmission protocols and error correction mechanisms. By using retransmission protocols within the disturbed shared wireless channel latency will increase. Therefore retransmission protocols are not sufficient for removing latency-critical wired connections within operating rooms such as foot switches. Todays research aims to improve reliability through the physical characteristics of the wireless channel by using diversity methods and more robust modulation. In this paper an Architecture for building up a reliable network is presented. The Architecture offers the possibility for devices with different reliability, latency and energy consumption requirements to participate. Furthermore reliability, latency and energy consumption are scalable for every single participant.
In this paper, we describe a first publicly available fine-grained product recognition dataset based on leaflet images. Using advertisement leaflets, collected over several years from different European retailers, we provide a total of 41.6k manually annotated product images in 832 classes. Further, we investigate three different approaches for this fine-grained product classification task, Classification by Image, by Text, as well as by Image and Text. The approach "Classification by Text" uses the text extracted directly from the leaflet product images. We show, that the combination of image and text as input improves the classification of visual difficult to distinguish products. The final model leads to an accuracy of 96.4% with a Top-3 score of 99.2%. We release our code at https://github.com/ladwigd/Leaflet-Product-Classification.
Im vorliegenden Beitrag wird ein Strommarktsimulationsmodell entwickelt, mit dessen Hilfe die Bereitstellung von Flexibilität auf dem Strom- und Regelleistungsmarkt in Deutschland modell-gestützt analysiert werden soll. Das Modell bildet dabei zwei parallel verlaufende, zentrale Wettbewerbsmärkte ab, an denen Akteure durch die individuelle Gebotsermittlung handeln können. Die entsprechend hierzu entwickelte Gebotslogik wird detailliert erläutert, wobei der Fokus auf der Flexibilität fossil-thermischer Kraftwerke liegt. In der anschließenden Gegen-überstellung mit realen Marktpreisen zeigt sich, dass die verwendete Methodik und die Ge-botslogik den bestehenden Markt und dessen Marktergebnis in geeigneter Form wiederspie-geln, wodurch zukünftig unterschiedlichste Flexibilitätsszenarien analysiert und Aussagen zu deren Auswirkungen auf den Markt und seine Akteure getroffen werden können.
New frontiers of supraventricular tachycardia and atrial flutter evaluation and catheter ablation
(2012)
Radiofrequency catheter ablation (RFCA) has revolutionized treatment for tachyarrhythmias and has become first-line therapy for some tachycardias. Although developed in the 1980s and widely applied in the 1990s, the technique is still in development. Transesophageal atrial pacing (TAP) can used for initiation and termination of supraventricular tachycardia (SVT).
Methods: The paroxysmal SVT include a wide spectrum of disorders including, in descending order of frequency, atrial flutter, atrioventricular (AV) nodal reentry, Wolff-Parkinson-White syndrome, and atrial tachycardia. While not life-threatening in most cases, they may cause important symptoms, such as palpitations, chest discomfort, breathlessness, anxiety, and syncope, which significantly impair quality of life. Medical therapy has variable efficacy, and most patients are not rendered free of symptoms. Research over the past several decades has revealed fundamental mechanisms involved in the initiation and maintenance of all of these arrhythmias. Knowledge of mechanisms has in turn led to highly effective surgical and catheter-based treatments. The supraventricular arrhythmias and their treatment are described in this report. SVT initiation was analysed with programmed TAP in 49 patients with palpitations (age 47 ± 17 years, 24 females, 25 males).
Results: In comparison to antiarrhythmic drug therapy the radiofrequency catheter ablation in patients suffering from atrial flutter, atrioventricular nodal reentry, atrioventricular reentry and atrial tachycardia is the better choice in most cases. TAP SVT initiation was possible in 23 patients before RFCA. Atrial cycle length of SVT was 320 ± 59 ms. We initiated AV nodal reentrant tachycardia (AVNRT, n=15), atrial tachycardia (AT, n=6) and AV reentrant tachycardia with Kent pathway conduction (AVRT, n=2) before RFCA.
Conclusions: Radiofrequency catheter ablation is a successful and safe method to cure most patients with paroxysmal supraventricular tachycardias. TAP allowed initiation and termination of SVT especially in outpatients.
Active safety systems for advanced driver assistance systems act within a complex, dynamic traffic environment featuring various sensor systems which detect the vehicles’ surroundings and interior. This paper describes the recent progress towards a performance evaluation of car-to-car communication (C2C) for active safety systems - in particular for crash constellation prediction. The methodology introduced in this work is designed to evaluate the impact of different sensors on the accuracy of a crash constellation prediction algorithm. The benefit of C2C communication (viewed as a virtual sensor) within a sensor data fusion architecture for pre-crash collision prediction is explored. Therefore, a simulation environment for accident scenarios analysis reproducing real-world sensor behaviour, is designed and implemented. Performance evaluation results show that C2C increases confidence in the estimated position of the oncoming vehicle. With C2C enhancement the given accuracy in time-to-collision (TTC) estimation is achievable about 110 ms earlier for moderate velocities at TTC range of [0.5s..0.2s]. The uncertainty in the vehicle position prediction at the time of collision can be reduced about half by integrating C2C communication into the sensor data fusion.
ECG simulators, available on the market, imitate the electric activity of the heart in a simplified manner. Thus, they are suitable for education purposes but not really for testing algorithms to recognize complex arrhythmias needed for pacemakers and implantable defibrillators. Especially certain discrimination between various morphologies of atrial and ventricular fibrillation needs simulators providing native electrograms of different patients’ heart rhythm events. This explains the necessity to develop an ECG simulator providing high-resolution native intracardiac and surface electrograms of in-vivo rhythm events. In this paper we demonstrate an approach for an ECG simulator based on a consumer multichannel soundcard and a corresponding software application for a laptop computer. This Live-ECG Simulator is able to handle invasive electrogram recordings from electrophysiological studies and send the data to a modified external soundcard for subsequent digital to analog conversion. The hardware is completed with an electronic circuit providing level adjustment to adapt the output amplitude to the input conditions of several cardiac implants.
Die Studienanfänger in den technischen Studiengängen der Hochschulen für angewandte Wissenschaften haben nicht nur in Mathematik sondern auch in Physik sehr unterschiedliche Vorkenntnisse. Obwohl diese Fächer für das grundlegende Verständnis technischer Vorgänge von großer Bedeutung sind, kann die Ausbildung in diesen Bereichen angesichts der begrenzten dafür im Verlauf des Studiums zur Verfügung stehenden Zeitfenster nicht bei Null anfangen. Für Mathematik wurde daher von der Arbeitsgruppe cosh ein Mindestanforderungskatalog zusammengestellt und 2014 veröffentlicht. Er beschreibt Kenntnisse und Fertigkeiten, die Studienanfänger zur erfolgreichen Aufnahme eines WiMINT-Studiums (Wirtschaft, Mathematik, Informatik, Naturwissenschaft, Technik) an einer Hochschule benötigen. Inzwischen hat sich nun eine Arbeitsgruppe von Physikerinnen und Physikern an Hochschulen in Baden-Württemberg gebildet, deren Ziel es ist, einen analogen Mindestanforderungskatalog für den Bereich Physik zu erstellen. Hier wird der aktuell erreichte Stand der Arbeiten vorgestellt.
The Division Industrial Chemistry of the Swiss Chemical Society organizes periodically a two-day event for the post-graduate education of its members. This event is known as the Freiburger Symposium. This year it focussed on sustainable chemical production. The twelve talks covered the following aspects: ethical needs for sustainability standards, the required, attained, and yet to be attained sustainability goals in chemical industry. Diverse case studies showed the highly developed awareness about the sustainability issue within the chemical community.
In dieser Arbeit wurde eine USB-Schnittstelle für ein bestehendes Mikrocontroller System FHOP realisiert. Im aktuellen Stand funktioniert das Design zuverlässig in Low Speed Konfiguration. Im Full Speed gibt es noch einige Schwierigkeiten, denn die Kommunikation bricht nach einigen Paket-Transfers zusammen. Durch das Emulieren des Designs auf FPGA wurde die Funktion nachgewiesen. Die nächste Aufgabe wird sein, die Hardware zu optimieren, damit das USB-Modul auch im Full Speed zuverlässig funktioniert. Zusätzlich wird die Software auf der PC Seite optimiert, um höhere Übertragungsraten zu erzielen.
Modelling detailed chemistry in lithium-ion batteries: Insight into performance, ageing and safety
(2018)
Muli-scale thermos-electrochemical modelling of aging mechanisms in an LFP/graphite lithium-ion cell
(2017)
Der Bericht beschreibt die Vorgehensweise für die Entwicklung von Hochleistungszweitaktmotoren beim Institut für Transportwesen und Motorentechnik (ITM). Die gezielte Auswertung von motorischen Daten bietet die Möglichkeit, Motorenentwicklungsprozesse in wichtigen Fragestellung zu unterstützen. Für die Auslegung von Bauteilen und Prozessen werden Simulationsprogramme eingesetzt. Diese Entwicklungswerkzeuge können effizienter angewandt werden, wenn die Berechnungsergebnisse einer Qualitätskontrolle unterliegen. Wichtig hierfür sind Bewertungskriterien, die aus der Erfahrung einer Vielzahl von Versuchen bestehen. Da in Produktion gegangene Motoren üblicherweise schon einen Evolutionsprozeß durchlaufen haben, kann vermutet werden, daß solche Kriterien von erfolgreichen und weniger erfolgreichen Produkten in der Weise abgeleitet werden können, wie dies hier vorgestellt wurde. Die Angabe von Trendfunktionen für konstruktive Merkmale und Betriebsparameter ist notwendig um eine bedarfsorientierte Vorauslegung von Antrieben durchführen zu können. Alle hier vorgestellten Ergebnisse sind natürlich von der Datenmenge abhängig, die zu den jeweiligen Fragestellungen ausgewertet werden kann. Dazu müssen alle durchgeführten Versuchsreihen in die Datenbank eingeführt und mit Ergebnissen der Simulationsrechnungen in Beziehung gesetzt werden.
The electrical field (E-field) of the biventricular (BV) stimulation is important for the success of cardiac resynchronization therapy (CRT) in patients with cardiac insufficiency and widened QRS complex.
The aim of the study was to model different pacing and ablation electrodes and to integrate them into a heart model for the static and dynamic simulation of BV stimulation and HF ablation in atrial fibrillation (AF).
The modeling and simulation was carried out using the electromagnetic simulation software CST. Five multipolar left ventricular (LV) electrodes, four bipolar right atrial (RA) electrodes, two right ventricular (RV) electrodes and one HF ablation catheter were modelled. A selection were integrated into the heart rhythm model (Schalk, Offenburg) for the electrical field simulation. The simulation of an AV node ablation at CRT was performed with RA, RV and LV electrodes and integrated ablation catheter with an 8 mm gold tip.
The BV stimulation were performed simultaneously at amplitude of 3 V at the LV electrode and 1 V at the RV electrode with a pulse width of 0.5 ms each. The far-field potential at the RA electrode tip was 32.86 mV and 185.97 mV at a distance of 1 mm from the RA electrode tip. AV node ablation was simulated with an applied power of 5 W at 420 kHz at the distal ablation electrode. The temperature at the catheter tip was 103.87 °C after 5 s ablation time and 37.61 °C at a distance of 2 mm inside the myocardium. After 15 s, the temperature was 118.42 °C and 42.13 °C.
Virtual heart and electrode models as well as the simulations of electrical fields and temperature profiles allow the static and dynamic simulation of atrial synchronous BV stimulation and HF ablation at AF and could be used to optimize the CRT and AF ablation.
Background: The electrical field (E-field) of the biventricular (BV) stimulation is essential for the success of cardiac resynchronization therapy (CRT) in patients with cardiac insufficiency and widened QRS complex. 3D modeling allows the simulation of CRT and high frequency (HF) ablation.
Purpose: The aim of the study was to model different pacing and ablation electrodes and to integrate them into a heart model for the static and dynamic simulation of BV stimulation and HF ablation in atrial fibrillation (AF).
Methods: The modeling and simulation was carried out using the electromagnetic simulation software. Five multipolar left ventricular (LV) electrodes, one epicardial LV electrode, four bipolar right atrial (RA) electrodes, two right ventricular (RV) electrodes and one HF ablation catheter were modeled. Different models of electrodes were integrated into a heart rhythm model for the electrical field simulation (fig.1). The simulation of an AV node ablation at CRT was performed with RA, RV and LV electrodes and integrated ablation catheter with an 8 mm gold tip.
Results: The RV and LV stimulation were performed simultaneously at amplitude of 3 V at the LV electrode and 1 V at the RV electrode, each with a pulse width of 0.5 ms. The far-field potentials generated by the BV stimulations were perceived by the RA electrode. The far-field potential at the RA electrode tip was 32.86 mV. A far-field potential of 185.97 mV resulted at a distance of 1 mm from the RA electrode tip. AV node ablation was simulated with an applied power of 5 W at 420 kHz at the distal 8 mm ablation electrode. The temperature at the catheter tip was 103.87 ° C after 5 s ablation time, 44.17 ° C from the catheter tip in the myocardium and 37.61 ° C at a distance of 2 mm. After 10 s, the temperature at the three measuring points described above was 107.33 ° C, 50.87 ° C, 40.05 ° C and after 15 seconds 118.42 ° C, 55.75 ° C and 42.13 ° C.
Conclusions: Virtual heart and electrode models as well as the simulations of electrical fields and temperature profiles allow the static and dynamic simulation of atrial synchronous BV stimulation and HF ablation at AF. The 3D simulation of the electrical field and temperature profile may be used to optimize the CRT and AF ablation.
A smart energy concept was designed and implemented for a cluster of 5 existing multi-family houses, which combines heat pumps, photovoltaic (PV) modules and combined heat and power units (CHP) to achieve energy- and cost-efficient operation. Measurement results of the first year of operation show that the local power generation by PV modules and CHP unit has a positive effect on the electrical self-sufficiency by reducing electricity import from the grid. In winter, when the CHP unit operates continuously for long periods, the entire electricity for the heat pump and 91 % of the total electricity demand of the neighborhood are supplied locally. In summer, only 53 % is generated within the neighborhood. The use of a specifically developed energy management system EMS is intended to further increase this share. CO2 emissions for heating and electricity of the neighborhood are evaluated and amount to 18.4 kg/(m2a). Compared to the previous energy system consisting of gas boilers (29.1 kg/(m2a)), savings of 37 % are achieved with electricity consumption from the grid being reduced by 65 %. In the second construction stage, an additional heat pump, CHP unit and PV modules will be added. The measurement results indicate that the final district energy system is likely to achieve the ambitious CO2 reduction goal of -50% and further increase the self-sufficiency of the district.
About 20% of those heart failure patients receiving cardiac resynchronization therapy (CRT) are in atrial fibrillation (AF). Current guidelines apply for patients in sinus rhythm only. Recent studies have shown again, that successful resynchronization is closely linked to a pre-existent ventricular desynchronization. In those studies, the interventricular conduction delay (IVCD) was determined prior to device implantation by ultrasound in patients with sinus rhythm (SR)only. In patients with AF this method ́s use is limited.
To implement left-heart electrogram (LHE) into standard programmers and to simplify IVCD measurement in heart failure patients with AF, LHE was recorded in 11 AF patients with heart failure by Biotronik ICS3000 programmer via a15Hz Butterworth high-pass filter. Therefore, TOslim esophageal electrode (Dr. Osypka GmbH, Rheinfelden, Germany) was perorally applied and fixed in position of maximal left ventricular defection. IVCD was measured between onset of QRS in surface ECG and left ventricular defection (LV) in LHE. In addition, intra-left ventricular conduction delay (ILVCD) was measured as duration of LV in LHE.
In all of the 11 AF patients, desynchronization was quantifiable by LHE. Mean QRS of 162 ± 27ms (120-206ms) was linked with IVCD of 62ms ± 27ms (37-98ms) and ILVCD of 110 ± 20ms (80-144ms), at mean. Correlation between IVCD and QRS was 0.39 (n. s.) with IVCD/QRS ratio of 0.38 ± 0.11 (0.22-0.81).
A 15Hz high-pass filtered LHE feature of the Biotronik ICS3000 programmer is feasible to quantify ventricular dyssynchrony in heart failure patients with AF in order to clearly indicate implantation of CRT systems. As relations between QRS duration, IVCD and ILVCD considerably differ interindividually, the predictive values of IVCD, ILVCD and IVCD/QRS ratio for individual CRT response or non-response shall be identified in follow-up studies.
Auf dem Markt existiert eine Vielzahl an PDAs. Alle haben einen sehr hohen Funktionsumfang und übertreffen sich von Generation zu Generation und erfordern einen hohen Entwicklungsaufwand von ganzen Entwicklerteams.
Der in dieser Arbeit entwickelte PDA mit seiner Hard- und Software soll kein Konkurrenzprodukt darstellen, sondern aufzeigen, was mit hausinternen Mitteln der Hochschule Offenburg möglich ist und gegebenenfalls eine Benutzeroberfläche für bestehende oder noch kommende Projekte bilden.
Das hier entstandene Gerät ist im Akkumulator-Betrieb autonom und kann als eigenständiges System betrieben werden. Als Herzstück dient das Softcore SIRIUS Mikroprozessorsystem, das als VHDL-Modell in einem FPGA emuliert wird.
Zum Darstellen des grafischen Betriebsystems, welches speziell für dieses PDA entwickelt wurde, wird ein AMOLED-Display verwendet. Dieses besitzt ein Touchpanel, welches zur Steuerung des Systems genutzt wird. Softwareseitig sind Grundfunktionen zur Darstellung von Bildern und Texten entstanden, sowie Beispielanwendungen, die diese benutzen. Das grafische Betriebssystem ist modular und ermöglicht die direkte Weiterentwicklung von Anwendungen für das System.
Ein tiefgreifendes Verständnis des zyklischen Plastizitätsverhaltens metallischer Werkstoffe ist sowohl für die Optimierung der Materialeigenschaften als auch für die industrielle Auslegung und Fertigung von Bauteilen von hoher Relevanz. Insbesondere moderne Legierungen wie Duplex-Stähle zeigen unter Lastumkehr aufgrund des komplexen mehrphasigen Gefüges sowie der Neigung zu verschiedenen Ausscheidungsreaktionen einen ausgeprägten Bauschinger-Effekt, welcher bei technischen Umformvorgängen berücksichtigt werden muss. Der Bauschinger-Effekt begründet sich maßgeblich in der Entstehung von Rückspannungen, welche aus dem unterschiedlichen Plastizitätsverhalten der austenitischen und ferritischen Phase resultieren. Instrumentierte Mikroindenter-Versuche in ausgewählten Ferrit- und Austenitkörnern haben gezeigt, dass austenitische Gefügebestandteile durch einen deutlich früheren Fließbeginn sowie eine stärkere Rückplastifizierung während der Entlastung charakterisiert sind. Zudem wurde nachgewiesen, dass Ausscheidungen im Rahmen einer 475°C-Versprödung diesen Phasenunterschied verstärken und somit in einem höheren Bauschinger-Effekt resultieren.
This work documents the rising acceptance of social robots for healthcare as well as their growing economic potential from 2017 to 2021. The comparison is based on two studies in the active assisted living (AAL) community. We first provide a brief overview of social robotics and a discussion of the economic potential of social health robots. We found that, despite the huge potential for robotic support in healthcare and domestic routines, social robots still lack the functionality to access that potential. At the same time, the study exemplifies a rise in acceptance: all health-related activities are more accepted in 2021 when in 2017, most of them with high statistical significance. When investigating the economic perspective, we found that persons are aware of the influence of cultural, spiritual, or religious beliefs. Most experts (57%), having a European background, expect the state or the government to be the key driver for establishing social robots in health and significantly prefer leasing or renting a social health robot to buying one. Nevertheless, we speculate that it might be a global financial elite which is first to adopt social robots.
The number of impaired persons rises -- as a result of both regular degradation with age and psychological problems like burnout. Sheltered work organizations aim to reintegrate impaired persons into work environments and prepare them for the re-entry in the regular job market.
Both for elderly and for impaired persons it is crucial to quickly assess the abilities, to identify limits and potentials and thus find work processes suitable for their skill profile.
This work focuses on the analysis and comparison of software-tools that assess the abilities of persons with impairments. We describe two established generic tools (CANTAB, Cogstate), analyze a yet unknown specialized tool (Hamet) and present a new gamified tool (GATRAS).
Finally, we present a study with 20 participants with impairments, comparing the tools against a ground truth baseline generated by a real-world assembly task.
Gamifying rehabilitation is an efficient way to improve motivation and exercise frequency. However, between flow theory, self-determination theory or Bartle's player types there is much room for speculation regarding the mechanics required for successful gamification, which in turn leads to increased motivation. For our study, we selected a gamified solution for motion training (an exergame) where the playful design elements are extremely simple. The contribution is three-fold: we show best practices from the state of the art, present a study analyzing the effects of simple gamification mechanics on a quantitative and on a qualitative level and discuss strategies for playful design in therapeutic movement games.
Designing Authentic Emotions for Non-Human Characters. A Study Evaluating Virtual Affective Behavior
(2017)
While human emotions have been researched for decades, designing authentic emotional behavior for non-human characters has received less attention. However, virtual behavior not only affects game design, but also allows creating authentic avatars or robotic companions. After a discussion of methods to model and recognize emotions, we present three characters with a decreasing level of human features and describe how established design techniques can be adapted for such characters. In a study, 220 participants assess these characters' emotional behavior, focusing on the emotion "anger". We want to determine how reliable users can recognize emotional behavior, if characters increasingly do not look and behave like humans. A secondary aim is determining if gender has an impact on the competence in emotion recognition. The findings indicate that there is an area of insecure attribution of virtual affective behavior not distant but close to human behavior. We also found that at least for anger, men and women assess emotional behavior equally well.
In this work we provide an overview of gamification, i.e. the application of methods from game design to enrich non-gaming processes. The contribution is divided into five subsections: an introduction focusing on the progression of gamification through the hype cycle in the recent years (1), a brief introduction to gamification mechanics (1) and an overview of the state of the art in established areas (3). The focus is a discussion of more recent attempts of gamification in service and production (4). We also discuss the ethical implications (5) and the future perspectives (6) of gamified business processes. Gamification has been successfully applied in the domains education (serious games) and health (exergames) and is spreading to other areas. In recent years there have been various attempts to “gamify” business processes. While the first efforts date back as far as the collection of miles in frequent flyer programs, we will portray some of the more recent and comprehensive software-based approaches in the service industry, e.g. the gamification of processes in sales and marketing. We discuss their accomplishments as well as their social and ethical implicatio. Finally a very recent approach is presented: the application of gamification in the domain of industrial production. We discuss the special requirements in this domain and the effects on the business level and on the users. We conclude with a prognosis on the future development of gamification.
With major intellectual properties there is a long tradition of cross-media value chains -- usually starting with books and comics, then transgressing to film and TV and finally reaching interactive media like video games. In recent years the situation has changed: (1) smaller productions start to establish cross media value chains; (2) there is a trend from sequential towards parallel content production. In this work we describe how the production of a historic documentary takes a cross media approach right from the start. We analyze how this impacts the content creation pipelines with respect to story, audience and realization. The focus of the case study is the impact on the production of a documentary game. In a second step we reflect on the experiences gained so far and derive recommendations for future small-scale cross media productions.
We present the design outline of a context-aware interactive system for smart learning in the STEM curriculum (science, technology, engineering, and mathematics). It is based on a gameful design approach and enables "playful coached learning" (PCL): a learning process enriched by gamification but also close to the learner's activities and emotional setting. After a brief introduction on related work, we describe the technological setup, the integration of projected visual feedback and the use of object and motion recognition to interpret the learner's actions. We explain how this combination enables rapid feedback and why this is particularly important for correct habit formation in practical skills training. In a second step, we discuss gamification methods and analyze which are best suited for the PCL system. Finally, emotion recognition, a major element of the final PCL design not yet implemented, is briefly outlined.
What emotional effects does gamification have on users who work or learn with repetitive tasks? In this work, we use biosignals to analyze these affective effects of gamification. After a brief discussion of related work, we describe the implementation of an assistive system augmenting work by projecting elements for guidance and gamification. We also show how this system can be extended to analyse users' emotions. In a user study, we analyse both biosignals (facial expressions and electrodermal activity), and regular performance measures (error rate and task completion time).
For the performance measures, the results confirm known effects like increased speed and slightly increased error rate. In addition, the analysis of the biosignals provides strong evidence for two major affective effects: the gamification of work and learning tasks incites highly significantly more positive emotions and increases emotionality altogether. The results add to the design of assistive systems, which are aware of the physical as well as the affective context.
In this work, we investigate how gamification can be integrated into work processes in the automotive industry. The contribution contains five parts: (1) An introduction showing how gamification has become increasingly common, especially in education, health and the service industry. (2) An analysis on the state of the art of gamified applications, discussing several best practices. (3) An analysis of the special requirements for gamification in production, regarding both external norms and the mindset of workers in this domain. (4) An overview of first approaches towards a gamification of production, focusing on solutions for impaired workers in sheltered work organizations. (5) A study with a focus group of instructors at two large car manufacturers. Based on the presentation of three potential designs for the gamification of production, the study investigates the general acceptance of gamification in modern production and determines which design is best suited for future implementations.
Gamification implies the application of methods and design patterns from gaming to non-gaming areas like learning or working. We applied an existing gamification design to production processes in an organization which provides sheltered employment for impaired persons. In contrast to existing work, we investigated not only a short period but a complete workday to measure the effects on the work performance. The study indicates that gamification has (1) a negative effect on workers with considerable cognitive impairments, (2) no significant effect on workers with medium cognitive impairments and (3) a positive effect on workers with mild cognitive impairments.
Deafblindness is a condition that limits communication capabilities primarily to the haptic channel. In the EU-funded project SUITCEYES we design a system which allows haptic and thermal communication via soft interfaces and textiles. Based on user needs and informed by disability studies, we combine elements from smart textiles, sensors, semantic technologies, image processing, face and object recognition, machine learning, affective computing, and gamification. In this work, we present the underlying concepts and the overall design vision of the resulting assistive smart wearable.
Applications helping us to maintain the focus on work are called “Zenware” (from concentration and Zen). While form factors, use cases and functionality vary, all these applications have a common goal: creating uninterrupted, focused attention on the task at hand. The rise of such tools exemplifies the users’ desire to control their attention within the context of omnipresent distraction. In expert interviews we investigate approaches in the context of attention-management at the workplace of knowledge workers. To gain a broad understanding, we use judgement sampling in interviews with experts from several disciplines. We especially explore how focus and flow can be stimulated. Our contribution has four components: a brief overview on the state of the art (1), a presentation of the results (2), strategies for coping with digital distractions and design guidelines for future Zenware (3) and an outlook on the overall potential in digital work environments (4).
Tactile Navigation with Checkpoints as Progress Indicators?: Only when Walking Longer Straight Paths
(2020)
Persons with both vision and hearing impairments have to rely primarily on tactile feedback, which is frequently used in assistive devices. We explore the use of checkpoints as a way to give them feedback during navigation tasks. Particularly, we investigate how checkpoints can impact performance and user experience. We hypothesized that individuals receiving checkpoint feedback would take less time and perceive the navigation experience as superior to those who did not receive such feedback. Our contribution is two-fold: a detailed report on the implementation of a smart wearable with tactile feedback (1), and a user study analyzing its effects (2). The results show that in contrast to our assumptions, individuals took considerably more time to complete routes with checkpoints. Also, they perceived navigating with checkpoints as inferior to navigating without checkpoints. While the quantitative data leave little room for doubt, the qualitative data open new aspects: when walking straight and not being "overwhelmed" by various forms of feedback in succession, several participants actually appreciated the checkpoint feedback.
Towards a gamification of industrial production: a comparative study in sheltered work environments
(2015)
Using video game elements to improve user experience and user engagement in non-game applications is called "gamification". This method of enriching human-computer interaction has been applied successfully in education, health and general business processes. However, it has not been established in industrial production so far.
After discussing the requirements specific for the production domain we present two workplaces augmented with gamification. Both implementations are based on a common framework for context-aware assistive systems but exemplify different approaches: the visualization of work performance is complex in System 1 and simple in System 2.
Based on two studies in sheltered work environments with impaired workers, we analyze and compare the systems' effects on work and on workers. We show that gamification leads to a speed-accuracy-tradeoff if no quality-related feedback is provided. Another finding is that there is a highly significant raise in acceptance if a straightforward visualization approach for gamification is used.
Design approaches for the gamification of production environments: a study focusing on acceptance
(2015)
Gamification is an ever more popular method to increase motivation and user experience in real-world settings. It is widely used in the areas of marketing, health and education. However, in production environments, it is a new concept. To be accepted in the industrial domain, it has to be seamlessly integrated in the regular work processes.
In this work we make the following contributions to the field of gamification in production: (1) we analyze the state of the art and introduce domain-specific requirements; (2) we present two implementations gamifying production based on alternative design approaches; (3) these are evaluated in a sheltered work organization. The comparative study focuses acceptance, motivation and perceived happiness.
The results reveal that a pyramid design showing each work process as a step on the way towards a cup at the top is strongly preferred to a more abstract approach where the processes are represented by a single circle and two bars.
We present the design of a system combining augmented reality (AR) and gamification to support elderly persons’ rehabilitation activities. The system is attached to the waist; it collects detailed movement data and at the same time augments the user’s path by projections. The projected AR-elements can provide location-based information or incite movement games. The collected data can be observed by therapists. Based on this data, the challenge level can be more frequently adapted, keeping up the patient’s motivation. The exercises can involve cognitive elements (for mild cognitive impairments), physiological elements (rehabilitation), or both. The overall vision is an individualized and gamified therapy. Thus, the system also offers application scenarios beyond rehabilitation in sports. In accordance with the methodology of design thinking, we present a first specification and a design vision based on inputs from business experts, gerontologists, physiologists, psychologists, game designers, cognitive scientists and computer scientists.
The Effect of Gamification on Emotions - The Potential of Facial Recognition in Work Environmentsns
(2015)
Gamification means using video game elements to improve user experience and user engagement in non-game services and applications. This article describes the effects when gamification is used in work contexts. Here we focus on industrial production. We describe how facial recognition can be employed to measure and quantify the effect of gamification on the users’ emotions.
The quantitative results show that gamification significantly reduces both task completion time and error rate. However, the results concerning the effect on emotions are surprising. Without gamification there are not only more unhappy expressions (as to expect) but surprisingly also more happy expressions. Both findings are statistically highly significant.
We think that in redundant production work there are generally more (negative) emotions involved. When there is no gamification happy and unhappy balance each other. In contrast gamification seems to shift the spectrum of moods towards “relaxed”. Especially for work environments such a calm attitude is a desirable effect on the users. Thus our findings support the use of gamification.
Social robots are robots interacting with humans not only in collaborative settings, but also in personal settings like domestic services and healthcare. Some social robots simulate feelings (companions) while others just help lifting (assistants). However, they often incite both fascination and fear: what abilities should social robots have and what should remain exclusive to humans? We provide a historical background on the development of robots and related machines (1), discuss examples of social robots (2) and present an expert study on their desired future abilities and applications (3) conducted within the Forum of the European Active and Assisted Living Programme (AAL). The findings indicate that most technologies required for the social robots' emotion sensing are considered ready. For care robots, the experts approve health-related tasks like drawing blood while they prefer humans to do nursing tasks like washing. On a larger societal scale, the acceptance of social robots increases highly significantly with familiarity, making health robots and even military drones more acceptable than sex robots or child companion robots for childless couples. Accordingly, the acceptance of social robots seems to decrease with the level of face-to-face emotions involved.
Innovative technologies and concepts will emerge as we move towards a more dynamic, service-based, market-driven infrastructure, where energy efficiency and savings can be facilitated by interactive distribution networks. A new generation of fully interactive Information and Communication Technologies (ICT) infrastructure has to be developed to support the optimal exploitation of the changing, complex business processes and to enable the efficient functioning of the deregulated energy market for the benefit of citizens and businesses. The architecture of such distributed system landscapes must be designed and validated, standards need to be created and widely supported, and comprehensive, reliable IT applications will need to be implemented. The collaboration between a smart house and a smart grid is a promising approach which, with the help of ICT can fully unleash the capabilities of the smart electricity network.
Ein neuer Ansatz wurde für mobile Roboter zur gleichzeitigen 3D (Drei-Dimensionaler) Kartierung und Lokalisierung vorgestellt. Die Grundlage bilden attributierte Flächenmodelle, die z.B. von segmentierten Laserscanner-Tiefenbildern stammen. Zur Optimierung der Gesamtähnlichkeit zwischen Flächenmodellen unter Zeitbedingungen werden mehrere Verfahren (Beschränkte Baumsuche, Iterative Verfeinerung, Evolutionäralgorithmus) kombiniert. Es wird speziell anhand der Ähnlichkeitsmaße gezeigt, wie das Wissen über die Lage stufenweise generiert und verwendet wird. Erste Messungen an realen segmentierten Tiefenbildfolgen zeigen, dass das Verfahren unbekannte übelappung, Verdeckung und Segmentierungsfehler toleriert sowie Echtzeitpotenzial besitzt.
Analysis of Amplitude and Phase Errors in Digital-Beamforming Radars for Automotive Applications
(2020)
Fundamentally, automotive radar sensors with Digital-Beamforming (DBF) use several transmitter and receiver antennas to measure the direction of the target. However, hardware imperfections, tolerances in the feeding lines of the antennas, coupling effects as well as temperature changes and ageing will cause amplitude and phase errors. These errors can lead to misinterpretation of the data and result in hazardous actions of the autonomous system. First, the impact of amplitude and phase errors on angular estimation is discussed and analyzed by simulations. The results are compared with the measured errors of a real radar sensor. Further, a calibration method is implemented and evaluated by measurements.
This paper describes a taxonomy which allows to assess and compare different implementations of master data objects. A systematic breakdown of core entities provides a framework to tell apart four subdividing categories of master data objects: independent and dependent objects, relational objects, and reference objects that serve to attribute information. This supports the preparation of data migrations from one system to another.
Im Frühjahr 1995 entstand die Idee, einen Lottozahlengenerator als Demonstrations- und Studienobjekt, für die Anwendung komplexer digitaler Entwurfsmethoden, zu entwerfen. Mit Hilfe der Schaltung ist es möglich, 6 verschiedene Zahlen zufällig aus 49 Zahlen zu ermitteln. Bei der Ziehung der einzelnen Zahlen werden verschiedene Töne und Melodien erzeugt. Die Schaltung ist so konzipiert, daß eine einfache Bedienung möglich ist. Der Chip wurde als Standardzellen-Entwurf mit einer Fläche von ca. 7 um² geroutet.
Nach dem Nachweis der Funktionalität des an der Fachhochschule Offenburg entwickelten Mikroprozessorkernels FHOP (First Homemade Operational Processor), wird eine Anwendung des Kernels in einem Applikationschip beschrieben.
Der Thermologger-ASIC soll mit Hilfe eines Temperatursensors die Umgebungstemperatur bei technischen Prozessen in regelmäßigen Zeitabständen erfassen und abspeichern. Die Meßwerte werden bei Bedarf ber eine serielle Schnittstelle des Thermologger-ASICs an einen PC übertragen und ausgewertet. Zur Verringerung der Leistungsaufnahme wird zwischen zwei Temperaturmessungen in einen Power-Down-Mode geschaltet.
Der ASIC soll später in einer Chipkarte integriert werden.
Machine-to-machine communication is continuously extending to new application fields. Especially smart metering has the potential to become the first really large-scale M2M application. Although in the future distributed meter devices will be mainly connected via dedicated primary communication protocols, like ZigBee, Wireless
M-Bus or alike, a major percentage of all meters will be connected via point to point communication using GPRS or UMTS platforms. Thus, such meter devices have to be extremely cost and energy efficient, especially if the devices are battery based and powered several years by a single battery. This paper presents the development of an automated measurement unit for power and time, thus energy characteristics can be recorded. The measurement unit includes a hardware platform for the device
under test (DUT) and a database based software environment for a smooth execution and analysis of the measurements.
Flexible Three-dimensional Camera-based Reconstruction and Calibration of Tracked Instruments
(2016)
Navigated instruments commonly include applied parts, e.g. burrs or saw blades, that need to be calibrated with respect to the attached or integrated tracker. Since this calibration has to be very precise, it is often performed by the manufacturer. However, due to the great variety of instruments and the option to exchange the applied parts (e.g. burrs) there is a definite demand for flexible and generic calibration techniques. Furthermore, if we look into the medical field, there is also a need for calibrating sterile instruments. We propose a new and flexible camera-based calibration technique that addresses these demands by working contactlessly, precisely, and generically for a large variety of tracked instruments. This is realized using one or more tracked cameras which are calibrated with respect to an attached or integrated tracker. The tracked instrument is rotated in front of the camera(s) and its 3D geometry and surface are reconstructed from the 2D images in the coordinate system of the attached or integrated tracker. The 3D geometry of the navigated instrument was reconstructed with an accuracy of under 0.2 mm. The radius of a sphere-shaped instrument was reconstructed with an RMS deviation of 0.015mm.
This work describes a non-parametric camera-based method for the calibration of Optical See-Through Glasses (OSTG). Existing works model the optical system through perspective projection and parametric functions. In the border areas of the displays such models are often inadequate. Moreover, rigid calibration patterns, that produce only a small amount of non-equidistant point correspondences, are used. In order to overcome these disadvantages every single display pixel is calibrated individually. The error prone user interaction is avoided by using cameras placed behind the displays of the OSTG. The displays show a shifting pattern that is used to calculate the pixels' locations. A camera mounted rigidly on the OSTG is used to find the relations between the system components. The obtained results show better accuracies than in previous works and prove that a second calibration step for user adaptation is necessary for high accuracy applications.
This work describes a camera-based method for the calibration of optical See-Through Glasses (STGs). A new calibration technique is introduced for calibrating every single display pixel of the STGs in order to overcome the disadvantages of a parametric model. A non-parametric model compared to the parametric one has the advantage that it can also map arbitrary distortions. The new generation of STGs using waveguide-based displays [5] will have higher arbitrary distortions due to the characteristics of their optics. First tests show better accuracies than in previous works. By using cameras which are placed behind the displays of the STGs, no error prone user interaction is necessary. It is shown that a high accuracy tracking device is not necessary for a good calibration. A camera mounted rigidly on the STGs is used to find the relations between the system components. Furthermore, this work elaborates on the necessity of a second subsequent calibration step which adapts the STGs to a specific user. First tests prove the theory that this subsequent step is necessary.
AV delay (AVD) optimization is mandatory in cardiac resynchronization (CRT) for heart failure. Several time consuming methods exist. We initialized development of left-atrial electrogram (LAE) feature for Biotronik ICS3000 programmer. It can be utilized to approximate optimal AV delay in CRT patients with pacing systems irrespective of make and model. Using this feature, we studied the share of interatrial conduction intervals (IACT) on individual echo AVD in 45 CRT patients (34m, 11f, mean age 69±6yrs.). The percentage of IACT on optimal echo AVD resulted in44.5±22.1% for VDD and 70.7±10.9% for DDD operation. In all patients, optimal echo AVDs exceeded the individual IACT by a duration of 52.5±33.3ms (p<0.001), at mean. Therefore, if AV delay optimization is not possible or not practicable in CRT patients, AVD should be approximated by individually measuring IACT and adding about 50ms.
3D Bin Picking with an innovative powder filled gripper and a torque controlled collaborative robot
(2023)
A new and innovative powder filled gripper concept will be introduced to a process to pick parts out of a box without the use of a camera system which guides the robot to the part. The gripper is a combination of an inflatable skin, and a powder inside. In the unjammed condition, the powder is soft and can adjust to the geometry of the part which will be handled. By applying a vacuum to the inflatable skin, the powder gets jammed and transforms to a solid shaped form in which the gripper was brought before applying the vacuum. This physical principle is used to pick parts. The flexible skin of the gripper adjusts to all kinds of shapes, and therefore, can be used to realize 3D bin picking. With the help of a force controlled robot, the gripper can be pushed with a consistent force on flexible positions depending of the filling level of the box. A Kuka LBR iiwa with joint torque sensors in all of its seven axis’ was used to achieve a constant contact pressure. This is the basic criteria to achieve a robust picking process.
Non-fluoroscopic Imaging with MRT/CT Image Integration - Catheter Positioning with Double Precision
(2014)
Introduction: When antiarrhythmic drug therapy has failed, different approaches of pulmonary vein isolation are considered a reasonable option in the treatment of atrial fibrillation. It will be performed predominantly by radiofrequency catheter ablation. As the individual anatomy of left atrium and the pulmonary veins differs considerably, accurate visualization of these structures is essential during catheter positioning. Using non-fluoroscopic electroanatomic mapping system with image integration, electroanatomic mapping can be combined with highly detailed anatomical MRT or CT information on complex left atrial structures. This may facilitate catheter navigation during ablation for atrial fibrillation.
Methods: The CARTO XP electroanatomic system was used in a project during biomedical engineering study to practice image integration of anonymized real patients that underwent pulmonary vein isolation by CARTO XP and a MRT/CT procedure. Using the image integration software, MRT or CT images were imported into the CARTO XP system. The next process was segmentation of the acquired images. It involves dividing the images into different regions in order to select the structures of interest. In clinical routine, this segmentation has to be performed before catheter ablation. Then, the segmented images were aligned with the reconstructed electroanatomic maps. This consists of several steps, including selection of the left atrium, scaling of the reconstructed geometry, fusion of the structures using landmarks, and optimization of the integration by adjusting the reconstructed geometry of the left atrium.
Results: In the 3 months lasting period of the project, image integration was trained in 13 patients undergoing catheter ablation for atrial fibrillation. Within this period, time consumption for the process decreased from about 90 minutes at the beginning to about 35 minutes at the end for one patient.
Conclusion: Image integration into non-fluoroscopic electroanatomic map is a sophisticated tool in cardiac radiofrequency catheter ablation. Intensive training is necessary to control the procedure.
The sharp rise in electricity and oil prices due to the war in Ukraine has caused fluctuations in the results of the previous study about the economic analysis of electric buses. This paper shows how the increase in fuel prices affects the implementation of electric buses. This publication is constructing the Total Cost of Ownership (TCO) model in the small-mid-size city, Offenburg for the transition to electric buses. The future development of costs is estimated and a projection based on learning curves will be carried out. This study intends to introduce a new future prospect by presenting the latest data based on previous research. Through the new TCO result, the cost differences between the existing diesel bus and the electric bus are updated, and also the future prospects for the economic feasibility of the electric bus in a small and midsize city are presented.
In many application areas, Deep Reinforcement Learning (DRL) has led to breakthroughs. In Curriculum Learning, the Machine Learning algorithm is not randomly presented with examples, but in a meaningful order of increasing difficulty. This has been used in many application areas to further improve the results of learning systems or to reduce their learning time. Such approaches range from learning plans created manually by domain experts to those created automatically. The automated creation of learning plans is one of the biggest challenges.In this work, we investigate an approach in which a trainer learns in parallel and analogously to the student to automatically create a learning plan for the student during this Double Deep Reinforcement Learning (DDRL). Three Reward functions, Friendly, Adversarial, and Dynamic based on the learner’s reward are compared. The domain for evaluation is kicking with variable distance, direction and relative ball position in the SimSpark simulated soccer environment.As a result, Statistic Curriculum Learning (SCL) performs better than a random curriculum with respect to training time and result quality. DDRL reaches a comparable quality as the baseline and outperforms it significantly in shorter trainings in the distance-direction subdomain reducing the number of required training cycles by almost 50%.
Active participation of industrial enterprises in electricity markets - a generic modeling approach
(2021)
Industrial enterprises represent a significant portion of electricity consumers with the potential of providing demand-side energy flexibility from their production processes and on-site energy assets. Methods are needed for the active and profitable participation of such enterprises in the electricity markets especially with variable prices, where the energy flexibility available in their manufacturing, utility and energy systems can be assessed and quantified. This paper presents a generic model library equipped with optimal control for energy flexibility purposes. The components in the model library represent the different technical units of an industrial enterprise on material, media, and energy flow levels with their process constraints. The paper also presents a case study simulation of a steel-powder manufacturing plant using the model library. Its energy flexibility was assessed when the plant procured its electrical energy at fixed and variable electricity prices. In the simulated case study, flexibility use at dynamic prices resulted in a 6% cost reduction compared to a fixed-price scenario, with battery storage and the manufacturing system making the largest contributions to flexibility.
Diffracted waves carry high resolution information that can help interpreting fine structural details at a scale smaller than the seismic wavelength. Because of the low signal-to-noise ratio of diffracted waves, it is challenging to preserve them during processing and to identify them in the final data. It is, therefore, a traditional approach to pick manually the diffractions. However, such task is tedious and often prohibitive, thus, current attention is given to domain adaptation. Those methods aim to transfer knowledge from a labeled domain to train the model, and then infer on the real unlabeled data. In this regard, it is common practice to create a synthetic labeled training dataset, followed by testing on unlabeled real data. Unfortunately, such procedure may fail due to the existing gap between the synthetic and the real distribution since quite often synthetic data oversimplifies the problem, and consequently the transfer learning becomes a hard and non-trivial procedure. Furthermore, deep neural networks are characterized by their high sensitivity towards cross-domain distribution shift. In this work, we present deep learning model that builds a bridge between both distributions creating a semi-synthetic datatset that fills in the gap between synthetic and real domains. More specifically, our proposal is a feed-forward, fully convolutional neural network for imageto-image translation that allows to insert synthetic diffractions while preserving the original reflection signal. A series of experiments validate that our approach produces convincing seismic data containing the desired synthetic diffractions.
The recent successes and wide spread application of compute intensive machine learning and data analytics methods have been boosting the usage of the Python programming language on HPC systems. While Python provides many advantages for the users, it has not been designed with a focus on multiuser environments or parallel programming - making it quite challenging to maintain stable and secure Python workflows on a HPC system. In this paper, we analyze the key problems induced by the usage of Python on HPC clusters and sketch appropriate workarounds for efficiently maintaining multi-user Python software environments, securing and restricting resources of Python jobs and containing Python processes, while focusing on Deep Learning applications running on GPU clusters.
Due to the rapidly increasing storage consumption worldwide, as well as the expectation of continuous availability of information, the complexity of administration in today’s data centers is growing permanently. Integrated techniques for monitoring hard disks can increase the reliability of storage systems. However, these techniques often lack intelligent data analysis to perform predictive maintenance. To solve this problem, machine learning algorithms can be used to detect potential failures in advance and prevent them. In this paper, an unsupervised model for predicting hard disk failures based on Isolation Forest is proposed. Consequently, a method is presented that can deal with the highly imbalanced datasets, as the experiment on the Backblaze benchmark dataset demonstrates.
The authors present an abiotically catalyzed glucose fuel cell and demonstrate its application as energy harvesting power source for a cardiac pacemaker. This is enabled by an optimized DC-DC converter operating at 40 % conversion efficiency, which surpasses commercial low-power DC-DC converters. The required fuel cell surface area can thus be reduced from about 125 cm2 to 18 cm2, which would allow for its direct integration onto the pacemaker casing.
Seit einiger Zeit wird an der Fachhochschule in Offenburg ein Entwicklungsprojekt verfolgt, an dessen Ende ein GPS Empfänger stehen soll. Dabei handelt es sich um einen Satellitenempfänger, mit dem weltweit eine genaue dreidimensionale Standortbestimmung durchgeführt werden kann. Für diesen Empfänger sollte ein Großteil der Analogschaltung, bestehend aus ZF Verstärker, Costas Loop Synchrondemodulator und Pegeldetektor, in das Transistorarray B500a von AEG intgriert werden. Das Chipdesign wurde im Labor für ASIC Design an der FH Offenburg während des Wintersemesters 1990/91 erstellt. Gefertigt wurde der Chip von der Firma AEG in Ulm, wobei die Fertigungszeit des ASIC 6 Wochen betragen hat.
In this paper we present the implementation of a model-predictive controller (MPC) for real-time control of a cable-robot-based motion simulator. The controller computes control inputs such that a desired acceleration and angular velocity at a defined point in simulator’s cabin are tracked while satisfying constraints imposed by working space and allowed cable forces of the robot. In order to fully use the simulator capabilities, we propose an approach that includes the motion platform actuation in the MPC model. The tracking performance and computation time of the algorithm are investigated in computer simulations. Furthermore, for motion simulation scenarios where the reference trajectories are not known beforehand, we derive an estimate on how much motion simulation fidelity can maximally be improved by any reference prediction scheme compared to the case when no prediction scheme is applied.
The monitoring of industrial environments ensures that highly automated processes run without interruption. However, even if the industrial machines themselves are monitored, the communication lines are currently not continuously monitored in todays installations. They are checked usually only during maintenance intervals or in case of error. In addition, the cables or connected machines usually have to be removed from the system for the duration of the test. To overcome these drawbacks, we have developed and implemented a cost-efficient and continuous signal monitoring of Ethernet-based industrial bus systems. Several methods have been developed to assess the quality of the cable. These methods can be classified to either passive or active. Active methods are not suitable if interruption of the communication is undesired. Passive methods, on the other hand, require oversampling, which calls for expensive hardware. In this paper, a novel passive method combined with undersampling targeting cost-efficient hardware is proposed.
Live streaming of events over an IP network as a catalyst in media technology education and training
(2020)
The paper describes how students are involved in applied research when setting up the technology and running a live event. Real-time IP transmission in broadcast environments via fiber optics will become increasingly important in the future. Therefore, it is necessary to create a platform in this area where students can learn how to handle IP infrastructure and fiber optics. With this in mind, we have built a fully functional TV control room that is completely IP-based. The authors present the steps in the development of the project and show the advantages of the proposed digital solutions. The IP network proves to be a synergy between the involved teams: participants of the robot competition and the members of the media team. These results are presented in the paper. Our activities aim to awaken enthusiasm for research and technology in young people. Broadcasts of live events are a good opportunity for "hands on" activities.
Temperature regulation is an important component for modern high performance single -core and multi-core processors. Especially high operating frequencies and architectures with an increasing number of monolithically integrated transistors result in a high power dissipation and - since processor chips convert the consumed electrical energy into thermal energy - in high operating temperatures. High operating temperatures of processors can have drastic consequences regarding chip reliability, processor performance, and leakage currents. External components like fans or heat spreaders can help to reduce the processor temperature - with the disadvantage of additional costs and reduced reliability. Therefore, software based algorithms for dynamic temperature management are an attractive alternative and well known as Dynamic Thermal Management (DTM). However, the existing approaches for DTM are not taking into account the requirements of real-time embedded computing, which is the objective in the given project. The first steps are the profiling and the thermal modeling of the system, which is reported in this paper for a Freescale i. MX6Q quad-core microprocessor. An analytical model is developed and verified by an extensive set of measurement runs.
Experiences with a telecare platform integration of ZigBee sensors into a middleware platform
(2012)
Die zunehmende Anzahl von Transistoren mit immer kleineren Strukturgrößen führt zu einer zunehmenden Leistungsaufnahme in modernen Prozessoren. Das gilt insbesondere für High-End Prozessoren, die mit einer hohen Taktfrequenz betrieben werden. Die aufgenommene Leistung wird in Wärme umgewandelt, die in einer Temperaturerhöhung der Prozessoren resultiert. Hohe Betriebstemperaturen verursachen u.a. eine verringerte Rechenleistung, eine kürzere Lebensdauer des Prozessors und höhere Leckströme. Aus diesen Gründen wird aktives, dynamisches thermisches Management immer wichtiger. Dieser Beitrag stellt eine Erweiterung zu dem Standard- Linux-Scheduler in der Kernel-Version 3.0 für eingebettete Systeme vor: einen PID-Regler, der unter Angabe einer Solltemperatur eine dynamische Frequenz- und Spannungsskalierung durchführt. Die Experimente auf dem Freescale LMX6 Quadcore-Prozessor zeigen, dass der PID-Regler die Betriebstemperatur des Prozessors an die Solltemperatur regeln kann. Er ist die Grundlage für eine in Zukunft zu entwickelnde prädiktive Regelung.
Moderne, intelligente Schraubmontagesysteme sind heutzutage in der Lage, streckgrenzengesteuerte Anziehverfahren für die prozesssichere Verschraubung zur Verfügung zu stellen. Insbesondere im Hochmomentenbereich bis 200.000 Nm ist diese Technologie erst seit kurzem etabliert. Entwicklungsbedarf besteht jedoch, sobald Bauteile im Kraftfluss liegen, die im Lastbereich ein nichtlineares Materialverhalten zeigen, wie zum Beispiel Korrosionsschutz-Lackschichten. Im Bereich der Schraubmontage gibt es nahezu unzählige Einflussfaktoren auf das Erreichen der angestrebten Montagevorspannkraft. Diese sind nicht mit vertretbarem Aufwand vollständig in einem entsprechenden Berechnungs- oder Simulations-Modell zur Auslegung von Schraubenverbindungen abbildbar. Ausserdem hat jede Applikation ihre spezifischen individuellen Eigenheiten. Modelle und Simulationen von Schraubenverbindungen sind daher nur mit eingeschränktem Maße für andere Applikationen wiederverwendbar. Zur Reduzierung von Entwicklungszeiten und Einhaltung der normativen Forderungen sollte zukünftig ein schneller Abgleich der Modelle mit den Daten der gesamten Schraubenverbindung aus realitätsnahen Versuchen angestrebt werden. Normative Forderungen wie beispielsweise die VDI/VDE 2645, welche eine Maschinenfähigkeitsuntersuchung der verwendeten Schraubtechnik zum Schraubfall vom Anwender fordert, zeigen unter anderem die Notwendigkeit auf. Idealerweise finden entsprechende Messungen unter realen Bedingungen statt. Die ermittelten Daten beinhalten nicht nur die Eigenschaftsdaten der Schrauben und die der Plattenbauteile, sondern die des ganzen Systems inkl. aller individuellen Einflussfaktoren bis hin zum Werkzeug selbst. Moderne, intelligente Schraubmontagesysteme können diese Aufgabe erfüllen. Rechtzeitig eingesetzt liefern sie die Daten zur Optimierung von Berechnung, Auslegung sowie Simulation von Schraubenverbindungen und sichern somit den Berechnungsprozess ab. Damit ist es zum einem möglich, bis an die Grenzen des technisch maximal Möglichen zu gehen, zum anderen im Echt-Test Schwachstellen der Auslegung oder Materialfehler bereits vor der Serieneinführung zu erkennen. Dieser Beitrag soll Ihnen vermitteln, dass Sie mit Hilfe intelligenter Schraubmontagesysteme die Berechnung, Auslegung und Simulation von Schraubenverbindungen mit dem Produktions- und Montageprozess abgleichen können, und dies nicht nur über den Anziehfaktor αa - dem sog. "Montage-Unsicherheitsbeiwert". Der konkrete Nutzen liegt in der Erweiterung der bisherigen Auslegung von Schraubenverbindungen mit Lackierungen im Hochmomentenbereich, die von einem breiten Anwenderkreis verwendet werden wird. Damit gelingt es, bereits in der frühen Entwicklungsphase vor Serienfreigabe übermäßige Vorspannkraftverluste zu vermeiden, was für zukünftige optimierte Berechnungen und Konstruktionen sehr wichtig ist.
Today, thermoforming moulds are mostly produced using conventional mould-building technologies (e.g. milling and drilling) and are made of metal (e.g. aluminium or steel) or hardwood. The tools thus produced are very robust, but are only cost-effective in mass production. For the production of small batches of thermoformed parts, there is a need for moulds which can be produced quickly and economically. A new approach which significantly reduces the production time and cost is the 3D printing process (3DP). The use of this technology to produce thermoforming moulds offers many new options in the geometries which can be manufactured, and in manufacturing time and costs. In a case study of a thermoformed part (a scaled automotive model), the pre-processing of the CAD model of a mould is demonstrated. The mould can be printed within a few hours, and is sufficiently heat-resistant for moulding processes. The important advantages of moulds printed in 3D, in comparison to moulds built using conventional technologies, are the ability to create any shape of channels for the vacuum and the simplification in the production of tool mock-ups. This paper also discusses the economics of the technique, such as a comparison of material costs and manufacturing costs in relation to conventional production technologies and materials.
Besides of conventional CAD systems, new, cloudbased CAD systems have also been available for some years. These CAD systems designed according to the principle of software as a service (SaaS) differ in some important features from the conventional CAD systems. Thus, these CAD systems are operated via a browser and it is not necessary to install the software on a computer. The CAD-data is stored in the cloud and not on a local computer or central server. This new approach should also facilitate the sharing and management of data. Finally, many of these new CAD systems are available as freeware for education purposes, so the universities can save license costs. The chances and risks of cloud-based systems will first be analyzed in this paper. Then two leading cloud-based CAD systems will be researched. During the process, the technical performance range these new systems offer for the product development will be initially checked and reviewed. For this purpose, various criteria are worked out and the CAD software is evaluated using these criteria. In addition, the criteria are weighted by their importance for design education. This allows one to conclude which capabilities the different CAD system offers for use in education.
Implementation of lightweight design in the product development process of unmanned aerial vehicles
(2017)
The development and manufacturing of unmanned aerial vehicles (UAVs) require a multitude of design rules. Thereby, additive manufacturing (AM) processes provide a number of significant advantages over conventional production methods, particularly for implementing requirements with regard to lightweight construction and sustainability. A new, promising approach is presented, with which, through the combination of very light structural elements with a ribbed construction, an attached covering by means of foil is used. This contribution develops and presents a development process that is based on various development cycles. Such cycles differ in their effort and scope within the overall development, and may only comprise one part of the development process, or the entire development process. The applicability of this development process is demonstrated within the framework of a comprehensive case study. The aim is to develop an additively manufactured product that is as light as possible in the form of a UAV, along with a sustainable manufacturing process for such product. Finally, the results of this case study are analyzed with regard to the improvement of lightweight construction.