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Knight Götz von Berlichingen (1480–1562) lost his right hand distal to the wrist due to a cannon ball splinter injury in 1504 in the Landshut War of Succession at the age of 24. Early on, Götz commissioned a gunsmith to build the first “Iron Hand,” in which the artificial thumb and two finger blocks could be moved in their basic joints by a spring mechanism and released by a push button. Some years later, probably around 1530, a second “Iron Hand” was built, in which the fingers could be moved passively in all joints. In this review, the 3D computer-aided design (CAD) reconstructions and 3D multi-material polymer replica printings of the first “Iron hand“, which were developed in the last few years at Offenburg University, are presented. Even by today’s standards, the first “Iron Hand”—as could be shown in the replicas—demonstrates sophisticated mechanics and well thought-out functionality and still offers inspiration and food for discussion when it comes to the question of an artificial prosthetic replacement for a hand. It is also outlined how some of the ideas of this mechanical passive prosthesis can be translated into a modern motorized active prosthetic hand by using simple, commercially available electronic components.
Positioning mobile systems with high accuracy is a prerequisite for intelligent autonomous behavior, both in industrial environments and in field robotics. This paper describes the setup of a robotic platform and its use for the evaluation of simultaneous localization and mapping (SLAM) algorithms. A configuration using a mobile robot Husky A200, and a LiDAR (light detection and ranging) sensor was used to implement the setup. For verification of the proposed setup, different scan matching methods for odometry determination in indoor and outdoor environments are tested. An assessment of the accuracy of the baseline 3D-SLAM system and the selected evaluation system is presented by comparing different scenarios and test situations. It was shown that the hdl_graph_slam in combination with the LiDAR OS1 and the scan matching algorithms FAST_GICP and FAST_VGICP achieves good mapping results with accuracies up to 2 cm.
Background: This paper presents a novel approach for a hand prosthesis consisting of a flexible, anthropomorphic, 3D-printed replacement hand combined with a commercially available motorized orthosis that allows gripping.
Methods: A 3D light scanner was used to produce a personalized replacement hand. The wrist of the replacement hand was printed of rigid material; the rest of the hand was printed of flexible material. A standard arm liner was used to enable the user’s arm stump to be connected to the replacement hand. With computer-aided design, two different concepts were developed for the scanned hand model: In the first concept, the replacement hand was attached to the arm liner with a screw. The second concept involved attaching with a commercially available fastening system; furthermore, a skeleton was designed that was located within the flexible part of the replacement hand.
Results: 3D-multi-material printing of the two different hands was unproblematic and inexpensive. The printed hands had approximately the weight of the real hand. When testing the replacement hands with the orthosis it was possible to prove a convincing everyday functionality. For example, it was possible to grip and lift a 1-L water bottle. In addition, a pen could be held, making writing possible.
Conclusions: This first proof-of-concept study encourages further testing with users.
In 4D printing, an additively manufactured component is given the ability to change its shape or function in an intended and useful manner over time. The technology of 4D printing is still in an early stage of development. Nevertheless, interesting research and initial applications exist in the literature. In this work, a novel methodical approach is presented that helps transfer existing 4D printing research results and knowledge into solving application tasks systematically. Moreover, two different smart materials are analyzed, used, and combined following the presented methodical approach to solving the given task in the form of recovering an object from a poorly accessible space. This is implemented by self-positioning, grabbing, and extracting the target object. The first smart material used to realize these tasks is a shape-memory polymer, while the second is a polymer-based magnetic composite. In addition to the presentation and detailed implementation of the methodical approach, the potentials and behavior of the two smart materials are further examined and narrowed down as a result of the investigation. The results show that the developed methodical approach contributes to moving 4D printing closer toward a viable alternative to existing technologies due to its problem-oriented nature.
Gamification is increasingly successful in the field of education and health. However, beyond call-centers and applications in human resources, its utilization within companies remains limited. In this paper, we examine the acceptance of gamification in a large company (with over 17,000 employees) across three generations, namely X, Y, and Z. Furthermore, we investigate which gamification elements are suited for business contexts, such as the dissemination of company principles and facts, or the organization of work tasks. To this end, we conducted focus group discussions, developed the prototype of a gamified company app, and performed a large-scale evaluation with 367 company employees. The results reveal statistically significant intergenerational disparities in the acceptance of gamification: younger employees, especially those belonging to Generation Z, enjoy gamification more than older employees and are most likely to engage with a gamified app in the workplace. The results further show a nuanced range of preferences regarding gamification elements: avatars are popular among all generations, badges are predominantly appreciated by Generations Z and Y, while leaderboards are solely liked by Generation Z. Drawing upon these insights, we provide recommendations for future gamification projects within business contexts. We hope that the results of our study regarding the preferences of the gamification elements and understanding generational differences in acceptance and usage of gamification will help to create more engaging and effective apps, especially within the corporate landscape.
This paper provides a comprehensive overview of approaches to the determination of isocontours and isosurfaces from given data sets. Different algorithms are reported in the literature for this purpose, which originate from various application areas, such as computer graphics or medical imaging procedures. In all these applications, the challenge is to extract surfaces with a specific isovalue from a given characteristic, so called isosurfaces. These different application areas have given rise to solution approaches that all solve the problem of isocontouring in their own way. Based on the literature, the following four dominant methods can be identified: the marching cubes algorithms, the tessellation-based algorithms, the surface nets algorithms and the ray tracing algorithms. With regard to their application, it can be seen that the methods are mainly used in the fields of medical imaging, computer graphics and the visualization of simulation results. In our work, we provide a broad and compact overview of the common methods that are currently used in terms of isocontouring with respect to certain criteria and their individual limitations. In this context, we discuss the individual methods and identify possible future research directions in the field of isocontouring.
Lithium-ion batteries exhibit slow voltage dynamics on the minute time scale that are usually associated with transport processes. We present a novel modelling approach toward these dynamics by combining physical and data-driven models into a Grey-box model. We use neural networks, in particular neural ordinary differential equations. The physical structure of the Grey-box model is borrowed from the Fickian diffusion law, where the transport domain is discretized using finite volumes. Within this physical structure, unknown parameters (diffusion coefficient, diffusion length, discretization) and dependencies (state of charge, lithium concentration) are replaced by neural networks and learnable parameters. We perform model-to-model comparisons, using as training data (a) a Fickian diffusion process, (b) a Warburg element, and (c) a resistor-capacitor circuit. Voltage dynamics during constant-current operation and pulse tests as well as electrochemical impedance spectra are simulated. The slow dynamics of all three physical models in the order of ten to 30 min are well captured by the Grey-box model, demonstrating the flexibility of the present approach.
Pure orbital blowout fractures occur within the confines of the internal orbital wall. Restoration of orbital form and volume is paramount to prevent functional and esthetic impairment. The anatomical peculiarity of the orbit has encouraged surgeons to develop implants with customized features to restore its architecture. This has resulted in worldwide clinical demand for patient-specific implants (PSIs) designed to fit precisely in the patient’s unique anatomy. Material extrusion or Fused filament fabrication (FFF) three-dimensional (3D) printing technology has enabled the fabrication of implant-grade polymers such as Polyetheretherketone (PEEK), paving the way for a more sophisticated generation of biomaterials. This study evaluates the FFF 3D printed PEEK orbital mesh customized implants with a metric considering the relevant design, biomechanical, and morphological parameters. The performance of the implants is studied as a function of varying thicknesses and porous design constructs through a finite element (FE) based computational model and a decision matrix based statistical approach. The maximum stress values achieved in our results predict the high durability of the implants, and the maximum deformation values were under one-tenth of a millimeter (mm) domain in all the implant profile configurations. The circular patterned implant (0.9 mm) had the best performance score. The study demonstrates that compounding multi-design computational analysis with 3D printing can be beneficial for the optimal restoration of the orbital floor.
Background:
Ankle braces aim to reduce lateral ankle sprains. Next to protection, factors influencing user compliance, such as sports performance, motion restriction, and users’ perceptions, are relevant for user compliance and thus injury prevention. Novel adaptive protection systems claim to change their mechanical behavior based on the intensity of motion (eg, the inversion velocity), unlike traditional passive concepts of ankle bracing.
Purpose:
To compare the performance of a novel adaptive brace with 2 passive ankle braces while considering protection, sports performance, freedom of motion, and subjective perception.
Study Design:
Controlled laboratory study.
Methods:
The authors analyzed 1 adaptive and 2 passive (one lace-up and one rigid brace) ankle braces, worn in a low-cut, indoor sports shoe, which was also the no-brace reference condition. We performed material testing using an artificial ankle joint system at high and low inversion velocities. Further, 20 male, young, healthy team sports athletes were analyzed using 3-dimensional motion analysis in sports-related movements to address protection, sports performance, and active range of motion dimensions. Participants rated subjective comfort, stability, and restriction experienced when using the products.
Results:
Subjective stability rating was not different between the adaptive and passive systems. The rigid brace was superior in restricting peak inversion during the biomechanical testing compared with the passive braces. However, in the material test, the adaptive brace increased its stiffness by approximately 400% during the fast compared with the slow inversion velocities, demonstrating its adaptive behavior and similar stiffness values to passive braces. We identified minor differences in sports performance tasks. The adaptive brace improved active ankle range of motion and subjective comfort and restriction ratings.
Conclusion:
The adaptive brace offered similar protective effects in high-velocity inversion situations to those of the passive braces while improving range of motion, comfort, and restriction rating during noninjurious motions.
Clinical Relevance:
Protection systems are only effective when used. Compared with traditional passive ankle brace technologies, the novel adaptive brace might increase user compliance by improving comfort and freedom of movement while offering similar protection in injurious situations.
Treadmills are essential to the study of human and animal locomotion as well as for applied diagnostics in both sports and medicine. The quantification of relevant biomechanical and physiological variables requires a precise regulation of treadmill belt velocity (TBV). Here, we present a novel method for time-efficient tracking of TBV using standard 3D motion capture technology. Further, we analyzed TBV fluctuations of four different treadmills as seven participants walked and ran at target speeds ranging from 1.0 to 4.5 m/s. Using the novel method, we show that TBV regulation differs between treadmill types, and that certain features of TBV regulation are affected by the subjects’ body mass and their locomotion speed. With higher body mass, the TBV reductions in the braking phase of stance became higher, even though this relationship differed between locomotion speeds and treadmill type (significant body mass × speed × treadmill type interaction). Average belt speeds varied between about 98 and 103% of the target speed. For three of the four treadmills, TBV reduction during the stance phase of running was more intense (> 5% target speed) and occurred earlier (before 50% of stance phase) unlike the typical overground center of mass velocity patterns reported in the literature. Overall, the results of this study emphasize the importance of monitoring TBV during locomotor research and applied diagnostics. We provide a novel method that is freely accessible on Matlab’s file exchange server (“getBeltVelocity.m”) allowing TBV tracking to become standard practice in locomotion research.
In recent years, physically unclonable functions (PUFs) have gained significant attraction in IoT security applications, such as cryptographic key generation and entity authentication. PUFs extract the uncontrollable production characteristics of different devices to generate unique fingerprints for security applications. When generating PUF-based secret keys, the reliability and entropy of the keys are vital factors. This study proposes a novel method for generating PUF-based keys from a set of measurements. Firstly, it formulates the group-based key generation problem as an optimization problem and solves it using integer linear programming (ILP), which guarantees finding the optimum solution. Then, a novel scheme for the extraction of keys from groups is proposed, which we call positioning syndrome coding (PSC). The use of ILP as well as the introduction of PSC facilitates the generation of high-entropy keys with low error correction costs. These new methods have been tested by applying them on the output of a capacitor network PUF. The results confirm the application of ILP and PSC in generating high-quality keys.
A novel peptidyl-lys metalloendopeptidase (Tc-LysN) from Tramates coccinea was recombinantly expressed in Komagataella phaffii using the native pro-protein sequence. The peptidase was secreted into the culture broth as zymogen (~38 kDa) and mature enzyme (~19.8 kDa) simultaneously. The mature Tc-LysN was purified to homogeneity with a single step anion-exchange chromatography at pH 7.2. N-terminal sequencing using TMTpro Zero and mass spectrometry of the mature Tc-LysN indicated that the pro-peptide was cleaved between the amino acid positions 184 and 185 at the Kex2 cleavage site present in the native pro-protein sequence. The pH optimum of Tc-LysN was determined to be 5.0 while it maintained ≥60% activity between pH values 4.5—7.5 and ≥30% activity between pH values 8.5—10.0, indicating its broad applicability. The temperature maximum of Tc-LysN was determined to be 60 °C. After 18 h of incubation at 80 °C, Tc-LysN still retained ~20% activity. Organic solvents such as methanol and acetonitrile, at concentrations as high as 40% (v/v), were found to enhance Tc-LysN’s activity up to ~100% and ~50%, respectively. Tc-LysN’s thermostability, ability to withstand up to 8 M urea, tolerance to high concentrations of organic solvents, and an acidic pH optimum make it a viable candidate to be employed in proteomics workflows in which alkaline conditions might pose a challenge. The nano-LC-MS/MS analysis revealed bovine serum albumin (BSA)’s sequence coverage of 84% using Tc-LysN which was comparable to the sequence coverage of 90% by trypsin peptides.
Governments have restricted public life during the COVID-19 pandemic, inter alia closing sports facilities and gyms. As regular exercise is essential for health, this study examined the effect of pandemic-related confinements on physical activity (PA) levels. A multinational survey was performed in 14 countries. Times spent in moderate-to-vigorous physical activity (MVPA) as well as in vigorous physical activity only (VPA) were assessed using the Nordic Physical Activity Questionnaire (short form). Data were obtained for leisure and occupational PA pre- and during restrictions. Compliance with PA guidelines was calculated based on the recommendations of the World Health Organization (WHO). In total, n = 13,503 respondents (39 ± 15 years, 59% females) were surveyed. Compared to pre-restrictions, overall self-reported PA declined by 41% (MVPA) and 42.2% (VPA). Reductions were higher for occupational vs. leisure time, young and old vs. middle-aged persons, previously more active vs. less active individuals, but similar between men and women. Compared to pre-pandemic, compliance with WHO guidelines decreased from 80.9% (95% CI: 80.3–81.7) to 62.5% (95% CI: 61.6–63.3). Results suggest PA levels have substantially decreased globally during the COVID-19 pandemic. Key stakeholders should consider strategies to mitigate loss in PA in order to preserve health during the pandemic.
Nowadays decarbonisation of the energy system is one of the main concerns for most governments. Renewable energy technologies, such as rooftop photovoltaic systems and home battery storage systems, are changing the energy system to be more decentralised. As a consequence, new ways of energy business models are emerging, e.g., peer-to-peer energy trading. This new concept provides an online marketplace where direct energy exchange can occur between its participants. The purpose of this study is to conduct a content analysis of the existing literature, ongoing research projects, and companies related to peer-to-peer energy trading. From this review, a summary of the most important aspects and journal papers is assessed, discussed, and classified. It was found that the different energy market types were named in various ways and a proposal for standard language for the several peer-to-peer market types and the different actors involved is suggested. Additionally, by grouping the most important attributes from peer-to-peer energy trading projects, an assessment of the entry barrier and scalability potential is performed by using a characterisation matrix.
A Review on Kinetic Energy Harvesting with Focus on 3D Printed Electromagnetic Vibration Harvesters
(2021)
The increasing amount of Internet of Things (IoT) devices and wearables require a reliable energy source. Energy harvesting can power these devices without changing batteries. Three-dimensional printing allows us to manufacture tailored harvesting devices in an easy and fast way. This paper presents the development of hybrid and non-hybrid 3D printed electromagnetic vibration energy harvesters. Various harvesting approaches, their utilised geometry, functional principle, power output and the applied printing processes are shown. The gathered harvesters are analysed, challenges examined and research gaps in the field identified. The advantages and challenges of 3D printing harvesters are discussed. Reported applications and strategies to improve the performance of printed harvesting devices are presented.
Background: Assistive Robotic Arms are designed to assist physically disabled people with daily activities. Existing joysticks and head controls are not applicable for severely disabled people such as people with Locked-in Syndrome. Therefore, eye tracking control is part of ongoing research. The related literature spans many disciplines, creating a heterogeneous field that makes it difficult to gain an overview.
Objectives: This work focuses on ARAs that are controlled by gaze and eye movements. By answering the research questions, this paper provides details on the design of the systems, a comparison of input modalities, methods for measuring the performance of these controls, and an outlook on research areas that gained interest in recent years.
Methods: This review was conducted as outlined in the PRISMA 2020 Statement. After identifying a wide range of approaches in use the authors decided to use the PRISMA-ScR extension for a scoping review to present the results. The identification process was carried out by screening three databases. After the screening process, a snowball search was conducted.
Results: 39 articles and 6 reviews were included in this article. Characteristics related to the system and study design were extracted and presented divided into three groups based on the use of eye tracking.
Conclusion: This paper aims to provide an overview for researchers new to the field by offering insight into eye tracking based robot controllers. We have identified open questions that need to be answered in order to provide people with severe motor function loss with systems that are highly useable and accessible.
Decentralized applications (dApp) have proliferated in recent years, but their long-term viability is a topic of debate. However, for dApps to be sustainable, and suitable for integration into a larger service networks, they need to attract users and promise reliable availability. Therefore, assessing their longevity is crucial. Analyzing the utilization trajectory of a service is, however, challenging due to several factors, such as demand spikes, noise, autocorrelation, and non-stationarity. In this study, we employ robust statistical techniques to identify trends in currently popular dApps. Our findings demonstrate that a significant proportion of dApps, across a range of categories, exhibit statistically significant positive overall trends, indicating that success in decentralized computing can be sustainable and transcends specific fields. However, there is also a substantial number of dApps showing negative trends, with a disproportionately high number from the decentralized finance (DeFi) category. Furthermore, a more detailed inspection of time series segments shows a clearly diminishing proportion of positive trends from mid-2021 to the present. In summary, we conclude that the dApp economy might have lost some momentum, and that there is a strong element of uncertainty regarding its future significance.
The increase of the Internet of Things (IoT) calls for secure solutions for industrial applications. The security of IoT can be potentially improved by blockchain. However, blockchain technology suffers scalability issues which hinders integration with IoT. Solutions to blockchain’s scalability issues, such as minimizing the computational complexity of consensus algorithms or blockchain storage requirements, have received attention. However, to realize the full potential of blockchain in IoT, the inefficiencies of its inter-peer communication must also be addressed. For example, blockchain uses a flooding technique to share blocks, resulting in duplicates and inefficient bandwidth usage. Moreover, blockchain peers use a random neighbor selection (RNS) technique to decide on other peers with whom to exchange blockchain data. As a result, the peer-to-peer (P2P) topology formation limits the effective achievable throughput. This paper provides a survey on the state-of-the-art network structures and communication mechanisms used in blockchain and establishes the need for network-based optimization. Additionally, it discusses the blockchain architecture and its layers categorizes existing literature into the layers and provides a survey on the state-of-the-art optimization frameworks, analyzing their effectiveness and ability to scale. Finally, this paper presents recommendations for future work.
In this paper, a temperature-dependent viscoplasticity model is presented that describes thermal and cyclic softening of the hot work steel X38CrMoV5-3 under thermomechanical fatigue loading. The model describes the softening state of the material by evolution equations, the material properties of which can be determined on the basis of a defined experimental program. A kinetic model is employed to capture the effect of coarsening carbides and a new isotropic cyclic softening model is developed that takes history effects during thermomechanical loadings into account. The temperature-dependent material properties of the viscoplasticity model are determined on the basis of experimental data measured in isothermal and thermomechanical fatigue tests for the material X38CrMoV5-3 in the temperature range between 20 and 650 ∘C. The comparison of the model and an existing model for isotropic softening shows an improved description of the softening behavior under thermomechanical fatigue loading. A good overall description of the experimental data is possible with the presented viscoplasticity model, so that it is suited for the assessment of operating loads of hot forging tools.
Featherweight Generic Go (FGG) is a minimal core calculus modeling the essential features of the programming language Go. It includes support for overloaded methods, interface types, structural subtyping, and generics. The most straightforward semantic description of the dynamic behavior of FGG programs is to resolve method calls based on runtime type information of the receiver. This article shows a different approach by defining a type-directed translation from FGG− to an untyped lambda-calculus. FGG− includes all features of FGG but type assertions. The translation of an FGG− program provides evidence for the availability of methods as additional dictionary parameters, similar to the dictionary-passing approach known from Haskell type classes. Then, method calls can be resolved by a simple lookup of the method definition in the dictionary. Every program in the image of the translation has the same dynamic semantics as its source FGG− program. The proof of this result is based on a syntactic, step-indexed logical relation. The step index ensures a well-founded definition of the relation in the presence of recursive interface types and recursive methods. Although being non-deterministic, the translation is coherent.