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This paper describes the Sweaty II humanoid adult size robot trying to qualify for the RoboCup 2018 adult size humanoid competition. Sweaty came 2nd in RoboCup 2017 adult size league. The main characteristics of Sweaty are described in the Team Description Paper 2017. The improvements that have been made or are planned to be implemented for RoboCup 2018 are described in this paper.
Im Rahmen einer Master Thesis wurde ausgehend von einem vorhandenen System On Chip Design, welches eingehende EKG-Datensignale verarbeitet, das bestehende System so erweitert dass es komplett über den standardisierten SPI-Bus steuerbar und auslesbar ist.
The majority of anterior cruciate ligament (ACL) injuries in team sports are non-contact injuries, with cutting maneuvers identified as high-risk tasks. Young female handball players have been shown to be at greater risk for ACL injuries than males. One risk factor for ACL injuries is the magnitude of the knee abduction moment (KAM). Cutting technique variables on foot placement, overall approach and knee kinematics have been shown to influence the KAM. Since injury risk is believed to increase with increasing task complexity, the purpose of the study was to test the effect of task complexity on technique variables that influence the KAM in female handball players during fake-and-cut tasks.
The purpose of this study was to 1) compare knee joint kinematics and kinetics of fake-and-cut tasks of varying complexity in 51 female handball players and 2) present a case study of one athlete who ruptured her ACL three weeks post data collection. External knee joint moments and knee joint angles in all planes at the instance of the peak external knee abduction moment (KAM) as well as moment and angle time curves were analyzed. Peak KAMs and knee internal rotation moments were substantially higher than published values obtained during simple change-of-direction tasks and, along with flexion angles, differed significantly between the tasks. Introducing a ball reception and a static defender increased joint loads while they partially decreased again when anticipation was lacking. Our results suggest to use game-specific assessments of injury risk while complexity levels do not directly increase knee loading. Extreme values of several risk factors for a post-test injured athlete highlight the need and usefulness of appropriate screenings.
Digital libraries are providing an increasing amount of data, which is normally structured in a classical way by documents and described by metadata as keywords. The data, even in scientific systems such as digital libraries and virtual research environments, will contain a great amount of noise or information unnecessary for our personal interests. Although there has been a lot of progress in the field of information retrieval, search techniques and other content finding methods, there is still much to be done in the field of information retrieval based on user behavior. This paper presents an approach deployed in the Humboldt Digital Library (HDL) to facilitate the retrieval of relevant information to the users of the system, making recommendations of paragraphs based on their profile and the behavior of other users who share similar profiles. The Humboldt digital library represents an innovative system of open access to the legacy of Alexander von Humboldt in a digital form on the Internet (www.avhumboldt.net). It contributes to the key question, how to present interconnected data in a proper form using information technologies.
The title expresses goals the Kansas Geological Survey (KGS) has been working toward for some time. This report extends concepts and objectives developed while working on an earlier effort for effective interactive digital maps on the Internet. That work was reported to the 1998 DMT Workshop in Champaign, Illinois (Ross, 1998). The current project goes beyond previous efforts that focused on methods for serving the contents of a geographic information system (GIS); the points, lines, and polygons representing features of the digital geologic map and the data in the attribute tables of the GIS describing those features.
Meeting the requirements of smart grids local, decentralized subnets will offer additional potentials to stabilize and compensate the utility grid mainly on the low voltage level. In a quite complex configuration these decentralized energy systems are combined power, heat and cooling power distributions. According to the regional and local availability of renewable energy sources advanced energy management concepts should consider climatic conditions as well as the state of the interacting utility grid and consumption profiles. The approach uses demonstrational setups to develop a forecast based energy management for trigeneration subnets by taking into account the running conditions of local electrical and thermal energy conversion units. This should lead to the best coverage of the demand and supporting/stabilizing the utility grid at the same time. For the first of three demonstrational projects the priorities of the subnet are given with the maximization of the CHP operation to substitute a major part of the heating and cooling power delivered by electric heaters or compression chillers.
This paper describes the new Sweaty II humanoid adult size robot trying to qualify for the RoboCup 2016 adult size humanoid competition. Based on experiences during RoboCup 2014, the Sweaty robot has been completely redesigned to a new robot Sweaty II. A major change is the use of linear actuators for the legs. Another characteristic is its indirect actuation by means of rods. This allows a variable transmission ratio depending on the angle of a joint.
This paper describes the new Sweaty humanoid adult size robot trying to qualify for the RoboCup 2014 adult size humanoid competition. The robot is built from scratch to eventually allow it to run. One characteristic is that to prevent the motors from overheating, water evaporation is used for cooling. The robot is literally sweating which has given it its name. Another characteristic is, that the motors are not directly connected to the frame but by means of beams. This allows a variable transmission ratio depending on the angle.
This paper describes the Sweaty II humanoid adult size robot trying to qualify for the RoboCup 2017 adult size humanoid competition. Sweaty came 2nd in RoboCup 2016 adult size league. The paper describes the main characteristics of Sweaty that made this success possible, and improvements that have been made or are planned to be implemented for RoboCup 2017.
Technology and computer applications influence our daily lives and questions arise concerning the role of artificial intelligence and decision-making algorithms. There are warning voices, that computers can, in theory, emulate human intelligence-and exceed it. This paper points out that a replacement of humans by computers is unlikely, because human thinking is characterized by cognitive heuristics and emotions, which cannot simply be implemented in machines operating with algorithms, procedural data processing or artificial neural networks. However, we are going to share our responsibilities with superior computer systems, which are tracking and surveying all of our digital activities, whereas we have no idea of the decision-making processes inside the machines. It is shown that we need a new digital humanism defining rules of computer responsibilities to avoid digital totalism and comprehensive monitoring and controlling of individuals within the planet Earth.
This article sets the focus on methods of information technology in the Humboldt Portal, which represents an ongoing research project to develop a virtual research environment on the Internet for the legacy of Alexander von Humboldt. Based on the experiences of developing and providing the Humboldt Digital Library (www.avhumboldt.net) for more than a decade, we defined a working plan to create an Internet portal for comprehensive access to Humboldt’s writings, no matter if documents are provided as PDF files, scan images or XML-TEI documents on external archives (Google Books, Internet Archive, Deutsches Textarchiv, Bibliotheque National de France). Going far beyond services of a digital library we will provide an information network with multimedia assets, which are containing objects like terms, paragraphs, data tables, scan images, or illustrations, together with correlated properties like thematic linkage to other objects, relevant keywords with optional synonyms and dynamic hyperlinks to related translations in different languages. So the Humboldt Portal can contribute to the key question, how to present interconnected data in an appropriate form using information technologies on the Web.
More than 200 years ago, the scientist Alexander von Humboldt noted in his travel diaries that "everything is interconnectedness", when he was fascinated by nature and the phenomena observed. The view of nature has become much more detailed through the knowledge of phenomena and natural processes, which led to a more precise view of nature shaped by Humboldt. Technological progress and the artificial intelligence of highly developed computer systems are upsetting this view and changing the established world view through a new, unprecedented interaction between man and machinery. Thus we need digital axioms and comprehensive rules and laws for such autonomous acting systems that determine human interaction between cybernetic systems and biological individuals. This digital humanism should encompass our relationship to nature, our handling of the complexity and diversity of nature and the technological influences on society in order to avoid technical colonialism through supercomputers.
Sweaty has already participated several times in RoboCup soccer competitions (Adult Size). Now the work is focused on stabilizing the gait. Moreover, we would like to overcome the constraints of a ZMP-algorithm that has a horizontal footplate as precondition for the simplification of the equations. In addition we would like to switch between impedance and position control with a fuzzy-like algorithm that might help to minimize jerks when Sweaty’s feet touch the ground.
Sweaty has already participated four times in RoboCup soccer competitions (Adult Size) and came second three times. While 2016 Sweaty needed a lot of luck to be finalist, 2017 Sweaty was a serious adversary in the preliminary rounds. In 2018 Sweaty showed up in the final with some lack of experience and room for improvements, but not without any chance. This paper describes the intended improvements of the humanoid adult size robot Sweaty in order to qualify for the RoboCup 2019 adult size competition.
In this paper, a new method is demonstrated for online remote simulation of photovoltaic systems. The required communication technology for the data exchange is introduced and the methods of PV generator parameter extraction for the simulation models are analysed. The method shown for parameter extraction from the manufacturer data is especially useful for the commissioning procedure, where the measured installed power is transferred to standard test conditions using the simulation model and can then be easily compared with the design power. At a simulation accuracy of 2% using the software environment INSEL ® any problems with the PV generator can reliably be detected. Online simulation of a grid connected PV generator is then carried out during the operation of the photovoltaic plant. The visualisation includes both the monitored and the simulated online data sets, so that a very efficient fault detection scheme is available. The method is implemented and validated on several grid connected photovoltaic power plants in Germany. It is excellently suited to provide automatic and real time fault detection and significantly improve the commissioning procedure for photovoltaic plants of all sizes.
Sweaty has already participated several times in RoboCup soccer competitions (Adult Size). Now the work is focused coordinating the play of two robots. Moreover, we are working on stabilizing the gait by adding additional sensor information. An ongoing work is the optimization of the control strategy by balancing between impedance and position control. By minimizing the jerk, gait and overall gameplay should improve significantly.