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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.
After having described many different aspects of our team software in previous years, in this paper we take the freedom to describe the magmaChallenge framework provided by the magmaOffenburg team. The framework is used as a benchmark tool to run different challenges like the running challenge in 2014 or the kick accuracy challenge in 2015. This description should serve as a documentation to simplify the maintenance by the community and to add new benchmarks in the future.
MPC-Workshop Februar 2016
(2016)
Transthoracic impedance cardiography (ICG) is a non-invasive method for determination of hemodynamic parameters. The basic principle of transthoracic ICG is the measurement of electrical conductivity of the thorax over the time. The aim of the study was the analysis of hemodynamic parameters from healthy individuals and the evaluation of various hemodynamic monitoring devices. Fourteen men (mean age 25 ± 4.59 years) and twelve women (mean age 24 ± 3.5 years) were measured during the cardiovascular engineering laboratory at Offenburg University of Applied Sciences, Offenburg, Germany. The ICG recordings were measured with the devices CardioScreen 1000, CardioScreen 2000 and TensoScreen with the corresponding Software Cardiovascular Lab 2.5 (Medis Medizinische Messtechnik GmbH, Illmenau, Germany). In order to create identical frame conditions, all measurements were recorded in the same position and for the same duration. Various positions were simulated from horizontal lying position to vertical standing position. Altogether, more than 30 hemodynamic parameters were measured.
In contrast to conventional aortic valve replacement, the Transcatheter Aortic Valve Implantation (TAVI) is a new highly specialist alternative to surgical valve replacement for patients with symptomatic severe aortic stenosis and high operative risk. The procedure was performed in a minimally invasive way and was introduced at the university heart centre, Freiburg – Bad Krozingen in 2008. The results have been getting better and better over the years. The aim of the investigation is the analysis of electrocardiogram conduction time and the electrocardiography changes recorded hours and days after the procedure depending on artificial heart valve models, which may lead to pacemaker implantation, even the analysis of the effectiveness of treatment.
Energy and environment continue to be major issues of human mankind. This holds true on the regional, the national, and the global level. And it is one of the problems, where engineers and scientists in conjunction with political will and people's awareness, can find new approaches and solutions to save the natural resources and to make their use more efficient.
Components of rocket engines as actively cooled combustion chambers must withstand high pressure as well as severe and complex thermal transients. While the thermal transients result in temperature gradients and, thus, in constraint thermal strains, the pressure load induces mean stresses. To assess the mechanical behaviour of such components during design via finite-element calculations, constitutive models are necessary that describe the time- and temperature-dependent plasticity of the material appropriately.
Advanced models account for viscoplastic deformations including isotropic and kinematic hardening, recovery and ratcheting. However, the models contain a relatively large number of temperature-dependent material properties that must be determined on the basis of data of material tests. The determination of the properties is a non-trivial task because it is not clear which loading history must be applied in the tests for a certain material to obtain stable and robust (i.e. objective) material properties. Consequently, the determined properties are depending on the underlying loading history in the tests as well as on the experience and valuation of the person that determined the properties. This results in uncertainties during the assessment of the components that must be faced with conservative designs leading to negative consequences in terms of mass and costs.
It is the aim of this work funded by the European Space Agency ESA to derive a procedure to determine stable and robust material properties of an advanced viscoplastic constitutive model for aerospace materials. To this end, a special loading history is applied in isothermal material tests conducted with copper at different temperatures in the temperature range from 300 to 700 K. To determine the material properties and to assess stability and robustness methods for numerical optimization as well as analytical and statistical methods are used. The determined material properties are validated on the basis of results of thermomechanical material tests also conducted in the temperature range from 300 to 700 K.
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.
Wireless sensor networks have found their way into a wide range of applications among which environmental monitoring systems have attracted increasing interests of researchers. The main challenges for the applications are scalability of the network size and energy efficiency of the spatially distributed motes. These devices are mostly battery-powered and spend most of their energy budget on the radio transceiver module. A so-called Wake-On-Radio (WOR) technology can be used to achieve a reasonable balance among power consumption, range, complexity and response time. In this paper, a novel design for integration of WOR into IEEE802.1.5.4 is presented, which flexibly allows trade-offs in energy consumption between sender and receiver station, between real-time capability and energy consumption. For identical behavior, the proposed scheme is significantly more efficient than other schemes, which were proposed in recent publications, while preserving backward compatibility with standard IEEE802.15.4 transceivers.
Ultra wide band (UWB) signals are well suited both for short-range wireless communication and for high-precision localization applications. Channel impulse response (CIR) analysis in UWB systems is a major element in localization estimation. In this paper, practical aspects of CIR are presented. I.e. a technique for the construction of the accumulated echo-gram of a multipath delayed signal is proposed. Decawave hardware was used to demonstrate the technique of analysis of fine structure of signals with a sub-nanosecond resolution. Temporal stability, reliability and two-way characteristics of such echo-grams are discussed as well. The results of using two EVK1000 radio modules as a radar installation to detect a target in indoor environments prove that a low cost UWB intrusion detection and through-the-wall-vision systems might be developed using the proposed technique.
In the work at hand, we combine a Private Information Retrieval (PIR) protocol with Somewhat Homomorphic Encryption (SHE) and use Searchable Encryption (SE) with the objective to provide security and confidentiality features for a third party cloud security audit. During the auditing process, a third party auditor will act on behalf of a cloud service user to validate the security requirements performed by a cloud service provider. Our concrete contribution consists of developing a PIR protocol which is proceeding directly on a log database of encrypted data and allowing to retrieve a sum or a product of multiple encrypted elements. Subsequently, we concretely apply our new form of PIR protocol to a cloud audit use case where searchable encryption is employed to allow additional confidentiality requirements to the privacy of the user. Exemplarily we are considering and evaluating an audit of client accesses to a controlled resource provided by a cloud service provider.
Agile Business Intelligence als Beispiel für ein domänenspezifisch angepasstes Vorgehensmodell
(2016)
Business-Intelligence-Systeme stellen durch ihre Unterstützung bei der Entscheidungsfindung für Unternehmen eine wichtige Rolle dar. Mit einer stetig dynamischeren Unternehmensumwelt geht daher die Anforderung nach der agilen Entwicklung dieser Systeme einher, so dass in der BI-Domäne zunehmend erfolgreich agile Methoden und Vorgehensmodelle eingesetzt werden. Die Weiterentwicklung und Anpassung von BI-Systemen ist dahingehend besonders, dass diese in der Regel langjährig gewachsenen Systemen und Strukturen betreffen, die strengen regulatorischen Rahmenbedingungen unterliegen, was eine Herausforderung für agile Vorgehensweisen darstellt. Wurden die Werte und Prinzipien des agilen Manifests [AM01] und die daraus abgeleiteten Methoden zu Beginn meist eins zu eins auf den Bereich BI übertragen, so hat sich das Verständnis von BI- Agilität als ganzheitliche Eigenschaft der BI im deutschsprachigen Raum etabliert, und agile Me- thoden wurden auf die Besonderheiten der BI-Domäne adaptiert. In diesem Beitrag werden BI-Agilität und Agile BI erläutert, ein Ordnungsrahmen für Maßnahmen zur Steigerung der BI-Agilität eingeführt sowie Herausforderungen bei Agile BI erläutert.
Die Verwendung von Kameras als Messmittel für medizinische Anwendungen setzt deren präzise Kalibrierung voraus. Gängige Verfahren modellieren die Abbildungseigenschaften einer Kamera mittels perspektivischer Projektion und parametrisierter Funktionen zur Beschreibung von Linsenverzerrung. In den Randbereichen des Kamerabildes sind diese Modelle oft unzureichend. Außerdem bedingt die Verwendung starrer Kalibriermuster eine in der Regel kleine Anzahl an nicht gleichmäßig verteilten Punktkorrespondenzen zur Bestimmung der Modellparameter. In der vorliegenden Arbeit wird ein vollkommen neues und nicht auf Modellen basierendes Kalibrierverfahren vorgestellt, bei dem jedes Kamerapixel unabhängig von jedem anderen kalibriert wird.
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.
Die Vielfalt der Protokolle, die praktisch auf allen Ebenen der Netzwerkkommunikation zu berücksichtigen ist, stellt eine der großen Herausforderungen bei der fortschreitenden Automatisierung des intelligenten Hauses dar. Unter dem Überbegriff Internet der Dinge (Internet of Things) entstehen gegenwärtig zahlreiche neue Entwicklungen, Standards, Allianzen und so genannte Ökosysteme. Diese haben die Absicht einer horizontalen Integration gewerkeübergreifender Anwendungen und verfolgen fast alle das Ziel, die Situation zu vereinfachen, die Entwicklungen zu beschleunigen und Markterfolge zu erreichen. Leider macht diese Vielfalt momentan die Welt aber eher noch komplexer und bringt damit das Risiko mit sich, genau das Gegenteil der ursprünglichen Absichten zu erreichen. Dieser Beitrag versucht, die Entwicklungen möglichst systematisch zu kategorisieren und mögliche Lösungsansätze zu beschreiben.