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This technical report is about the architecture and integration of very small commercial UAVs (< 40 cm diagonal) in indoor Search and Rescue missions. One UAV is manually controlled by only one single human operator delivering live video streams and image series for later 3D scene modelling and inspection. In order to assist the operator who has to simultaneously observe the environment and navigate through it we use multiple deep neural networks to provide guided autonomy, automatic object detection and classification and local 3D scene modelling. Our methods help to reduce the cognitive load of the operator. We describe a framework for quick integration of new methods from the field of Deep Learning, enabling for rapid evaluation in real scenarios, including the interaction of methods.
Welding and joining of components processed by additive manufacturing (AM) to other AMas well as conventionally produced components is of high importance for industry as thisallows to combine advantages of either technique and to produce large-scale structures,respectively. One of the key influencing factors with respect to weldability and mechanicalproperties of AM components was found to be the inherent microstructural anisotropy ofthese components. In present work, the precipitation-hardenable AleSi10Mg was fabri-cated in different build orientations using selective laser melting (SLM) and subsequentlyjoined by friction stir welding (FSW) in different combinations. Microstructural analysisshowed considerable grain refinement in the friction stir zone, however, pronouncedsoftening occurred in this area. The latter can be mainly attributed to changes in themorphology and size of Si particles. Upon combination of different build orientations aremarkable influence on the tensile strength of FSW joints was seen. Cyclic deformationresponses of SLM and FSW samples were examined in depth. Fatigue properties of thisalloy in the low-cycle fatigue (LCF) regime imply that SLM samples with the building di-rection parallel to the loading direction show superior performance under cyclic loading ascompared to the other conditions and the FSW joints. From results presented solid process-microstructure-property relationships are drawn.
Cone-Beam computed tomography (CBCT) has become the most important component of modern radiotherapy for positioning tumor patients directly before treatment. In this work we investigate alternations to standard acquisition protocol, called preset, for patients with a tumor in the thoracic region. The effects of the changed acquisition parameters on the image quality are evaluated using the Catphan Phantom and the image analysis software Smári. The weighted CT dose index (CTDIW) is determined in each case and the effects of the different acquisition protocols on the patient dose are classified accordingly. Additionally, the clinical suitability of alternative presets is tested by investigating correctness of image registration using the CIRS thorax phantom. The results show that a significant dose reduction can be achieved. It can be reduced by 51% for a full rotation by adjusting the gantry speed.
Flying insects employ elegant optical-flow-based strategies to solve complex tasks such as landing or obstacle avoidance. Roboticists have mimicked these strategies on flying robots with only limited success, because optical flow (1) cannot disentangle distance from velocity and (2) is less informative in the highly important flight direction. Here, we propose a solution to these fundamental shortcomings by having robots learn to estimate distances to objects by their visual appearance. The learning process obtains supervised targets from a stability-based distance estimation approach. We have successfully implemented the process on a small flying robot. For the task of landing, it results in faster, smooth landings. For the task of obstacle avoidance, it results in higher success rates at higher flight speeds. Our results yield improved robotic visual navigation capabilities and lead to a novel hypothesis on insect intelligence: behaviours that were described as optical-flow-based and hardwired actually benefit from learning processes.
This technical report is about the mission and the experience gained during the reconnaissance of an industrial hall with hazardous substances after a major fire in Berlin. During this operation, only UAVs and cameras were used to obtain information about the site and the building. First, a geo-referenced 3D model of the building was created in order to plan the entry into the hall. Subsequently, the UAVs were used to fly in the heavily damaged interior and take pictures from inside of the hall. A 360° camera mounted under the UAV was used to collect images of the surrounding area especially from sections that were difficult to fly into. Since the collected data set contained similar images as well as blurred images, it was cleaned from non-optimal images using visual SLAM, bundle adjustment and blur detection so that a 3D model and overviews could be calculated. It was shown that the emergency services were not able to extract the necessary information from the 3D model. Therefore, an interactive panorama viewer with links to other 360° images was implemented where the links to the other images depends on the semi dense point cloud and located camera positions of the visual SLAM algorithm so that the emergency forces could view the surroundings.
Background: By reviewing image quality and diagnostic perception, the suitability of a statistical model-based iterative reconstruction algorithm in conjunction with low-dose computed tomography for lung cancer screening is investigated.
Methods: Artificial lung nodules shaped as spheres and spiculated spheres made from material with calibrated Hounsfield units were attached on marked positions in the lung structure of anthropomorphic phantoms. The phantoms were scanned using standard high contrast, and two low-dose computed tomography protocols: low-dose and ultra-low-dose. For the reconstruction, the filtered back projection and the iterative reconstruction algorithm ADMIRE at different strength levels (S1–S5) and the kernels Bl57, Br32, Br69 were used. Expert radiologists assessed image quality by performing 4-field-ranking tests and reading all image series to examine the aptitude for the detectability of lung nodules. Signal-to-noise ratio was investigated as objective image quality parameter.
Results: In ranking tests for lung foci detection expert radiologists prefer medium to high iterative reconstruction strength levels. For the standard clinical kernel Bl57 and varying phantom diameter, a noticeable preference for S4 was detected. Experienced radiologists graded filtered back projection reconstructed images with the highest perceptibility. Less experienced readers assessed filtered back projection and iterative reconstruction equally with the highest grades for the Bl57 kernel. Independently of the dose protocol, the signal-to-noise ratio increases with the iterative reconstruction strength level, specifically for Br69 and Bl57.
Conclusions: Subjective image perception does not significantly correlate with the experience of the radiologist, which presumably mirrors reader’s training and accustomed reading adjustments. Regarding signal-to-noise ratio, iterative reconstruction outperforms filtered back projection for spheres and spiculated spheres. Iterative reconstruction matters. It promises to be an alternative to filtered back projection allowing for lung-cancer screening at markedly decreased radiation exposure but comparable or even improved image quality.
Cardiac and liver computed tomography (CT) perfusion has not been routinely implemented in the clinic and requires high radiation doses. The purpose of this study is to examine the radiation exposure and technical settings for cardiac and liver CT perfusion scans at different CT scanners. Two cardiac and three liver CT perfusion protocols were examined with the N1 LUNGMAN phantom at three multi-slice CT scanners: a single-source (I) and second- (II) and third-generation (III) dual-source CT scanners. Radiation doses were reported for the CT dose index (CTDIvol) and dose–length product (DLP) and a standardised DLP (DLP10cm) for cardiac and liver perfusion. The effective dose (ED10cm) for a standardised scan length of 10 cm was estimated using conversion factors based on the International Commission on Radiological Protection (ICRP) 110 phantoms and tissue-weighting factors from ICRP 103. The proposed total lifetime attributable risk of developing cancer was determined as a function of organ, age and sex for adults. Radiation exposure for CTDIvol, DLP/DLP10 cm and ED10 cm during CT perfusion was distributed as follows: for cardiac perfusion (II) 144 mGy, 1036 mGy·cm/1440 mGy·cm and 39 mSv, and (III) 28 mGy, 295 mGy·cm/279 mGy·cm and 8 mSv; for liver perfusion (I) 225 mGy, 3360 mGy·cm/2249 mGy·cm and 54 mSv, (II) 94 mGy, 1451 mGy·cm/937 mGy·cm and 22 mSv, and (III) 74 mGy, 1096 mGy·cm/739 mGy·cm and 18 mSv. The third-generation dual-source CT scanner applied the lowest doses. Proposed total lifetime attributable risk increased with decreasing age. Even though CT perfusion is a high-dose examination, we observed that new-generation CT scanners could achieve lower doses. There is a strong impact of organ, age and sex on lifetime attributable risk. Further investigations of the feasibility of these perfusion scans are required for clinical implementation.
The aim of this phantom study is to examine radiation doses of dual- and single-energy computed tomography (DECT and SECT) in the chest and upper abdomen for three different multi-slice CT scanners. A total of 34 CT protocols were examined with the phantom N1 LUNGMAN. Four different CT examination types of different anatomic regions were performed both in single- and dual-energy technique: chest, aorta, pulmonary arteries for suspected pulmonary embolism and liver. Radiation doses were examined for the CT dose index CTDIvol and dose-length product (DLP). Radiation doses of DECT were significantly higher than doses for SECT. In terms of CTDIvol, radiation doses were 1.1–3.2 times higher, and in terms of DLP, these were 1.1–3.8 times higher for DECT compared with SECT. The third-generation dual-source CT applied the lowest dose in 7 of 15 different examination types of different anatomic regions.
Bone morphogenetic protein 2 (BMP21) is a highly interesting therapeutic growth factor due to its strong osteogenic/osteoinductive potential. However, its pronounced aggregation tendency renders recombinant and soluble production troublesome and complex. While prokaryotic expression systems can provide BMP2 in large amounts, the typically insoluble protein requires complex denaturation-renaturation procedures with medically hazardous reagents to obtain natively folded homodimeric BMP2. Based on a detailed aggregation analysis of wildtype BMP2, we designed a hydrophilic variant of BMP2 additionally containing an improved heparin binding site (BMP2-2Hep-7M). Consecutive optimization of BMP2-2Hep-7M expression and purification enabled production of soluble dimeric BMP2-2Hep-7M in high yield in E. coli. This was achieved by a) increasing protein hydrophilicity via introducing seven point mutations within aggregation hot spots of wildtype BMP2 and a longer N-terminus resulting in higher affinity for heparin, b) by employing E. coli strain SHuffle® T7, which enables the structurally essential disulfide-bond formation in BMP2 in the cytoplasm, c) by using BMP2 variant characteristic soluble expression conditions and application of L-arginine as solubility enhancer. The BMP2 variant BMP2-2Hep-7M shows strongly attenuated although not completely eliminated aggregation tendency.
This introduction to a special issue about concepts and facets of entrepreneurial diversity serves as a starting point for further discussion and research in this field. For this purpose, we provide information about the roots of the study of diversity and current trends in entrepreneurship research and present a frame for (researching) entrepreneurial diversity. Additionally, we briefly summarize the three papers selected for inclusion in this special issue. Together, they offer insights into the intersections of different diversity dimensions, personality as a deep dimension of team composition, and a general critical reflection on the conceptualization of entrepreneurial diversity. Taken together, the papers in this special issue present new findings and contribute to further advancing the long overdue research on and discussion about diversity in the field of entrepreneurship.
This Article introduces two research projects towards assistive robotic arms for people with severe body impairments. Both projects aim to develop new control and interaction designs to promote accessibility and a better performance for people with functional losses in all four extremities, e.g. due to quadriplegic or multiple sclerosis. The project MobILe concentrates on using a robotic arm as drinking aid and controlling it with smart glasses, eye-tracking and augmented reality. A user oriented development process with participatory methods were pursued which brought new knowledge about the life and care situation of the future target group and the requirements a robotic drinking aid needs to meet. As a consequence the new project DoF-Adaptiv follows an even more participatory approach, including the future target group, their family and professional caregivers from the beginning into decision making and development processes within the project. DoF-Adaptiv aims to simplify the control modalities of assistive robotic arms to enhance the usability of the robotic arm for activities of daily living. lo decide on exemplary activities, like eating or open a door, the future target group, their family and professional caregivers are included in the decision making process. Furthermore all relevant stakeholders will be included in the investigation of ethical, legal and social implications as well as the identification of potential risks. This article will show the importance of the participatory design for the development and research process in MobILe and DoF-Adaptiv.
As vaccination campaigns are in progress in most countries, hopes to win back more normality are rising. However, the exact path from a pandemic to an endemic virus remains uncertain. While in the pre-vaccination phase many critical indoor situations were avoided by strict control measures, for the transition phase a certain mitigation of the effect of indoor situations seems advisable.
To better understand the mechanisms of indoor airborne transmissions, we present a new time-discrete model to calculate the level of exposure towards infectious SARS-CoV-2 aerosol and carry out a sensitivity analysis for the level of SARS-CoV-2 aerosol exposure in indoor settings. Time limitations and the use of any kind of masks were found to be strong mitigation measures, while how far the effort for a strict use of professional face pieces instead of simple masks can be justified by the additional reduction of the exposure dose remains unclear. Very good ventilation of indoor spaces is mandatory. The definition of sufficient ventilation in regard to airborne SARS-CoV-2 transmission follows other rules than the standards in ventilation design. This means that especially smaller rooms most likely require a significantly greater fresh air supply than usual. Further research on 50% group models in schools is suggested. The benefits of a model in which the students come to school every day, but for a limited time, should be investigated. In terms of window ventilation, it has been found that many short opening periods are not only thermally beneficial, they also reduce the exposure dose. The fresh air supply is driven by the temperature gradient and wind speed. However, the sensitivity towards these parameters is not very high and in times of low wind and temperature gradients, there are no arguments against keep windows open in order to make up for the reduced air flow rate. Long total opening periods and large window surfaces will strongly reduce the exposure. Additionally, the results underline the expectable fact that exposure doses will increase when hygiene and control measures are reduced. It seems advisable to investigate what this means for the infection rate and the fatality of infections in populations with partial immunity. Very basic considerations suggest that the value of aerosol reduction measures may be reduced with very infectious variants such as delta.
Description and Analysis of Glycosidic Residues in the Largest Open Natural Products Database
(2021)
Recommendations for the Development of a Robotic Drinking and Eating Aid - An Ethnographic Study
(2021)
Being able to live independently and self-determined in one’s own home is a crucial factor or human dignity and preservation of self-worth. For people with severe physical impairments who cannot use their limbs for every day tasks, living in their own home is only possible with assistance from others. The inability to move arms and hands makes it hard to take care of oneself, e.g. drinking and eating independently. In this paper, we investigate how 15 participants with disabilities consume food and drinks. We report on interviews, participatory observations, and analyzed the aids they currently use. Based on our findings, we derive a set of recommendations that supports researchers and practitioners in designing future robotic drinking and eating aids for people with disabilities.
The one-phonon inelastic low energy helium atom scattering theory is adapted to cases where the target monolayer is a p(1x1) commensurate square lattice. Experimental data for para-H2/NaCl(001) are re-analyzed and the relative intensities of energy loss peaks in the range 6 to 9 meV are determined. The case of the H2/NaCl(001) monolayer for 26 meV scattering energy is computationally challenging and difficult because it has a much more corrugated surface than those in the previous applications for triangular lattices. This requires a large number of coupled channels for convergence in the wave-packet-scattering calculation and a long series of Fourier amplitudes to represent the helium-target potential energy surface. A modified series is constructed in which a truncated Fourier expansion of the potential is constrained to give the exact value of the potential at some key points and which mimics the potential with fewer Fourier amplitudes. The shear horizontal phonon mode is again accessed by the helium scattering for small misalignment of the scattering plane relative to symmetry axes of the monolayer. For 1° misalignment, the calculated intensity of the longitudinal acoustic phonon mode frequently is higher than that of the shear horizontal phonon mode in contrast to what was found at scattering energies near 10 meV for triangular lattices of Ar, Kr, and Xe on Pt(111).
Hydrogen concentrations in ZnO single crystals exposing different surfaces have been determined to be in the range of (0.02–0.04) at.% with an error of ±0.01 at.% using nuclear reaction analysis. In the subsurface region, the hydrogen concentration has been determined to be higher by up to a factor of 10. In contrast to the hydrogen in the bulk, part of the subsurface hydrogen is less strongly bound, can be removed by heating to 550°C, and reaccommodated by loading with atomic hydrogen. By exposing the ZnO(10-10) surface to water above room temperature and to atomic hydrogen, respectively, hydroxylation with the same coverage of hydrogen is observed.
The adsorption of water on r-TiO2(110) has been investigated with thermal desorption spectroscopy (TDS) and helium atom scattering. Conventional TDS using a mass spectrometer and He-TDS monitoring reflected He beam intensity consistently show the existence of a structurally well-defined monolayer as well as a highly ordered second layer of water and a disordered multilayer phase. He diffraction patterns recorded along the high symmetry [001], equation image, and equation image directions reveal a well-ordered superstructure with (1x1) symmetry, providing strong evidence for the absence of a partially dissociated monolayer on the perfect parts of the substrate. No changes in the diffraction patterns are observed after irradiation with UV-light.
The adsorption and reaction of the amino acid glycine (NH2-CH2-COOH) are studied experimentally on the polar single crystal surface of zinc oxide, ZnO(000-1), by X-ray photoelectron spectroscopy (XPS) under UV light in presence and absence of molecular O2. Deposition at 350 K mainly resulted in a largely deprotonatedmonolayer (NH2-CH2-COO−(a)+OH(s); where O is surface oxygen,(a)is for adsorbed and(s)is for surface species) identified by its XPS C1s binding energy at 289.3 eV (-COO), 286.7 eV (-CH2-) and XPS O1s at 531.8 eV(-COO). A decrease in the signals of all functional groups of the adsorbed glycine (monitored by their C1s, O1s,and N1s lines) is seen upon UV excitation in the absence and presence of O2pressures up to 5 × 10−6 mbar. The photoreaction cross sections extracted from the decrease in the C1s peaks were found to be =2.6 × 10−18(COO(a)) and 1.4 × 10−18(-CH2-)cm^2. The photoactivity of the ZnO(000-1) surface under UHV-conditions is found to be comparable to that seen in direct photolysis of amino acids in solution.
Under ambient conditions, almost all metals are coated by an oxide. These coatings, the result of a chemical reaction, are not passive. Many of them bind, activate and modify adsorbed molecules, processes that are exploited, for example, in heterogeneous catalysis and photochemistry. Here we report an effect of general importance that governs the bonding, structure formation and dissociation of molecules on oxidic substrates. For a specific example, methanol adsorbed on the rutile TiO2(110) single crystal surface, we demonstrate by using a combination of experimental and theoretical techniques that strongly bonding adsorbates can lift surface relaxations beyond their adsorption site, which leads to a sig- nificant substrate-mediated interaction between adsorbates. The result is a complex super- structure consisting of pairs of methanol molecules and unoccupied adsorption sites. Infrared spectroscopy reveals that the paired methanol molecules remain intact and do not depro- tonate on the defect-free terraces of the rutile TiO2(110) surface.
The diffusion of hydrogen adsorbed inside layered MoS2 crystals has been studied by means of quasi- elastic neutron scattering, neutron spin-echo spectroscopy, nuclear reaction analysis, and X-ray photoelectron spectroscopy. The neutron time-of-flight and neutron spin-echo measurements demonstrate fast diffusion of hydrogen molecules parallel to the basal planes of the two dimensional crystal planes. At room temperature and above, this intra-layer diffusion is of a similar speed to the surface diffusion that has been observed in earlier studies for hydrogen atoms on Pt surfaces. A significantly slower hydrogen diffusion was observed perpendicular to the basal planes using nuclear reaction analysis.
Background: Priority during the SARS-CoV2 pandemic is that employees need to be protected from infection risks and business activities need to be ensured. New virus variants with increased infection risks require an evolved risk strategy.
Material and methods: Several standard measures such as testing, isolation and quarantine are com-bined to a novel risk strategy. Epidemiological model calculations and scientific knowledge about the course of SARS-CoV2 infectivity are used to optimize this strategy. The procedure is implemented in an easy-to-use calculator based on Excel.
Layout in practice and results: Alternative combinations of measures and practical aspects are dis-cussed. Example calculations are used to demonstrate the effect of the discussed measures.
Conclusion: That quarantine calculator derived from these principles enables even non-specialists to perform a differentiated risk analysis and to introduce optimized measures. Targeted testing routines and alternative measures ensure staff availability.
We investigate the possibility to use update propagation methods for optimizing the evaluation of continuous queries. Update propagation allows for the efficient determination of induced changes to derived relations resulting from an explicitly performed base table update. In order to simplify the computation process, we propose the propagation of updates with different degrees of granularity which corresponds to an incremental query evaluation with different levels of accuracy. We show how propagation rules for diferent update granularities can be systematically derived, combined and further optimized by using Magic Sets. This way, the costly evaluation of certain subqueries within a continuous query can be systematically circumvented allowing for cutting down on the number of pipelined tuples considerably.
Biomimetics is the interdisciplinary co-operation of various scientific disciplines and fields of innovation, and it aims to solve practical problems using biological models. Biomimetic research and its fields of application are manifold, and the community is made up of a wide range of disciplines, from biologists and engineers to designers. Guidelines and standards can build a common ground for understanding of the field, communication across disciplines, present and future projects and implementation of biomimetic knowledge. Since 2015, three international standards have been published and defined terms and definitions, as well as specific applications. The scientific literature and patents in several databases were searched for citations of the published standards. Standards or technical guidelines on biomimetics are represented both in the scientific literature and in patents. However, taking into account the increasing number of publications in biomimetics, the number of publications (52) citing the international standards is low. This shows that the perception of technical rules is still underrepresented in the academic field. Greater awareness and acceptance of the importance of standards for quality assurance even in the academic environment is discussed, and active participation in the corresponding International Organization for Standardization committee on biomimetics is asked for.
A qualitative work‐flow analysis of a neurosurgical procedure indicates that the resolution of the image used to plan the intervention is the major source of inaccuracy. Quantitative experimental measurements confirm this observation. They fail, however, to explain the relationship between the accuracy of the frame components involved in a stereotactic procedure and the overall application accuracy. This investigation shows that the novel Gaussian approach is a flexible framework for the calculation of the application accuracy of frame systems. Therefore, the Gaussian approach provides a detailed understanding of the interplay between the various factors affecting accuracy. The basic ideas and limitations of the Gaussian approach are briefly explained. The effect of fiducial marker distribution and registration is investigated and shown to introduce a spatial dependence to the accuracy. The results of the Gaussian approach are compared with experimental data for three stereotactic frame devices: Leksell G, Cosman–Roberts–Wells, and Brown–Roberts–Wells. Although the Gaussian approach is an approximation, it reproduces the accuracy measured in the experiment within the statistical error of that experiment. Comp Aid Surg 4:77–86 (1999). © 1999 Wiley‐Liss, Inc.
Challenging visual localization of an UAV while flying out of a room into a snowy environment (~ 4:50). The UAV is equipped with a 360° camera. The localization is done with OpenVSLAM.
The video was recorded in Jan. 2019 at the Fire Brigade training center in Dortmund
To achieve nearly real time conditions the original resolution of 5k (30 fps) was reduced to 2k (ffmpeg -i video.mp4 -vf scale=1920:-1 -crf 25 vido-small.mp4) with high compression (-crf 25). This reduce the original size from 3.2 GB to 93MB (~ 4 MBit/s which could be transmitted online via a radio link). The localization shown did not use frameskip. With a frameskip above 1 the localization fails while the UAV is flying through the window. Indoor localization can be done with a frameskip of 3 in real time.
We study the impact of underdamped intramolecular vibrational modes on the efficiency of the excitation energy transfer in a dimer in which each state is coupled to its own underdamped vibrational mode and, in addition, to a continuous background of environmental modes. For this, we use the numerically exact hierarchy equation of motion approach. We determine the quantum yield and the transfer time in dependence of the vibronic coupling strength, and in dependence of the damping of the incoherent background. Moreover, we tune the vibrational frequencies out of resonance with the excitonic energy gap. We show that the quantum yield is enhanced by up to 10% when the vibrational frequency of the donor is larger than at the acceptor. The vibronic energy eigenstates of the acceptor acquire then an increased density of states, which leads to a higher occupation probability of the acceptor in thermal equilibrium. We can conclude that an underdamped vibrational mode which is weakly coupled to the dimer fuels a faster transfer of excitation energy, illustrating that long-lived vibrations can, in principle, enhance energy transfer, without involving long-lived electronic coherence.
The activated sludge respiration inhibition test and the luminescent bacteria test with Vibrio fischeri are important bacterial test systems for evaluation of the toxicity of chemical compounds. These test systems were further optimized to result in better handling, reliability and sensitivity. Concerning the Vibrio fischeri test, media components such as yeast extract and bivalent cation concentrations like Ca2+ and Mg2+ were optimized. The cultivation, storage conditions and reactivation process of the stored bacteria were also improved, which enabled simpler handling and led to good reproducibility. Additionally, the respiration inhibition test with a prolonged incubation time was further analyzed using different chlorinated phenols as reference compounds. It could be stated that a longer incubation period significantly improved the sensitivity of the test system.
Stereotactic frame systems are widely used in neurosurgery. The accuracy of frame devices is considered as a gold standard to which the accuracy of new frameless stereotactic navigation systems is compared. The purpose of this study is to develop a general approach for the prediction of the application accuracy of stereotactic systems. The approach will be applied to the frame‐based biopsy performed with three frame devices: Leksell G, Cosman–Roberts–Wells (CRW), and Brown–Roberts–Wells (BRW). A work‐flow analysis will be carried out demonstrating that the accuracy relevant for a clinical application comprises several error sources including imaging, target and entry point selection, image to frame coordinates registration, and the setting of mechanical parameters of the frame. These error sources will be postulated to obey a Gaussian distribution probability density. The linear, i.e., Gaussian, error propagation, will be used to link all error contributions thus to calculate the cumulative accuracy of the frame used in the application. Although the Gaussian approach is an approximation, it allows for an analytical treatment of the accuracy. Both the accuracy at the target point and the accuracy of the probe needle guidance along the planned trajectory have been investigated. Of great significance is the relationship found between accuracy, pixel dimension, and image slice thickness, the latter being the dominant factor for slices of more than 1.5 mm thickness, yielding inaccuracies larger than 1.5 mm. For target points the predictions for the application accuracy have been compared to the results of measurements, showing good agreement with the experimental data.
Three-dimensional magnetic resonance medical images may contain scanner- and patient-induced geometric distortion. For qualitative diagnosis, geometric errors of a few millimeters are often tolerated. However, quantitative applications such as image-guided neurosurgery and radiotherapy can require an accuracy of a millimeter or better. We have developed a method to accurately measure scanner-induced geometric distortion and to correct the MR images for this type of distortion. The method involves a number of steps. First, a specially designed phantom is scanned that contains a large number of reference structures on positions with a manufacturing error of less than 0.05 mm. Next, the positions of the reference structures are automatically detected in the scanned images and a higher-order polynomial distortion-correction transformation is estimated. Then the patient is scanned and the transformation is applied to correct the patient images for the detected distortion. The distortion-correction method is explained in detail in this paper. The accuracy of the method has been measured with synthetically generated phantom scans that contain an exactly-known amount and type of distortion. The reproducibility of the method has been measured by applying it to a series of consecutive phantom scans. Validation results are briefly described in this paper, a more-detailed description is given in another submission to SPIE Medical Imaging 2001.
This thesis evaluates the effects of the GDPR using a technical and human-centric approach. We assess challenges service providers face when they want to design GDPR-proof web applications. On the technical side, we perform two large-scale measurement studies. The first study aims to illuminate third party loading dependencies in web applications. The second study provides a detailed analysis of the information-sharing networks between online adver-tising companies. The human-centric analysis studies how companies implemented the Right to Access and if users can profit from the new right.
Nanofluids, defined as fluids containing suspended solid nanoparticles, are potential systems for utilization in biomedical applications. Magnetic Particle Imaging (MPI) uses superparamagnetic nanofluids, e.g. a colloidal suspension of iron oxide particles. In this work a new biocompatible nanofluid based on pure and stable ferromagnetic carbon is investigated. Although this material has a relatively small value of coercive magnetic field, it does exhibit a true ferromagnetic behavior up to 300 K. We present results obtained from numerical investigations performed to calculate the impact of a ferromagnetic magnetization to the MPI signal chain. Moreover, by modeling ferromagnetic magnetization we prove here the general suitability of ferromagnetic materials for MPI. Due to the low saturation magnetization, however, MPI for ferromagnetic carbon will be possible only in the near future when realistic concentrations of the nanofluid ferromagnetic carbon will be experimentally obtainable.
Protraction Effects in a Stochastic Cell-Cycle Tumor Model Exposed to Fractionated Radiotherapy
(2013)
Autonomy and self-determination are fundamental aspects of living in our society. Supporting people for whom this freedom is limited due to physical impairments is the fundamental goal of this thesis. Especially for people who are paralyzed, even working at a desk job is often not feasible. Therefore, in this thesis a prototype of a robot assembly workstation was constructed that utilizes a modern Augmented Reality (AR)-Head-Mounted Display (HMD) to control a robotic arm. Through the use of object pose recognition, the objects in the working environment are detected and this information is used to display different visual cues at the robotic arm or in its vicinity. Providing the users with additional depth information and helping them determine object relations, which are often not easily discernible from a fixed perspective.
To achieve this a hands-free AR-based robot-control scheme was developed, which uses speech and head-movement for interaction. Additionally, multiple advanced visual cues were designed that utilize object pose detection for spatial-visual support. The pose recognition system is adapted from state-of-the-art research in computer vision to allow the detection of arbitrary objects with no regard for texture or shape.
Two evaluations were performed, a small user study that excluded the object recognition, which confirms the general usability of the system and gives an impression on its performance. The participants were able to perform difficult pick and place tasks with a high success rate. Secondly, a technical evaluation of the object recognition system was conducted, which revealed an adequate prediction precision, but is too unreliable for real-world scenarios as the prediction quality is highly variable and depends on object orientations and occlusion.
A systematic method for obtaining a novel electrode structure based on PtCoMn ternary alloy catalyst supported on graphitic carbon nanofibers (CNF) for hydrogen evolution reaction (HER) in acidic media is proposed. Ternary alloy nanoparticles (Co0.6Mn0.4 Pt), with a mean crystallite diameter under 10 nm, were electrodeposited onto a graphitic support material using a two-step pulsed deposition technique. Initially, a surface functionalisation of the carbon nanofibers is performed with the aid of oxygen plasma. Subsequently, a short galvanostatic pulse electrodeposition technique is applied. It has been demonstrated that, if pulsing current is employed, compositionally controlled PtCoMn catalysts can be achieved. Variations of metal concentration ratios in the electrolyte and main deposition parameters, such as current density and pulse shape, led to electrodes with relevant catalytic activity towards HER. The samples were further characterised using several physico-chemical methods to reveal their morphology, structure, chemical and electrochemical properties. X-ray diffraction confirms the PtCoMn alloy formation on the graphitic support and energy dispersive X-ray spectroscopy highlights the presence of the three metallic components from the alloy structure. The preliminary tests regarding the electrocatalytic activity of the developed electrodes display promising results compared to commercial Pt/C catalysts. The PtCoMn/CNF electrode exhibits a decrease in hydrogen evolution overpotential of about 250 mV at 40 mA cm−2 in acidic solution (0.5 M H2SO4) when compared to similar platinum based electrodes (Pt/CNF) and a Tafel slope of around 120 mV dec−1, indicating that HER takes place under the Volmer-Heyrovsky mechanism.
Performance enhancing study for large scale PEM electrolyzer cells based on hydraulic compression
(2017)
Studies on Pulse Electrodeposition of Pt-Ni binary Alloy For Electrochemical Cell Applications
(2018)
Environmental Protection
(2018)
This technical report is about the architecture and integration of commercial UAVs in Search and Rescue missions. We describe a framework that consists of heterogeneous UAVs, a UAV task planner, a bridge to the UAVs, an intelligent image hub, and a 3D point cloud generator. A first version of the framework was developed and tested in several training missions in the EU project TRADR.
We study a quantum two-level system under the influence of two independent baths, i.e., a sub-Ohmic pure dephasing bath and an Ohmic or sub-Ohmic relaxational bath. We show that cooling such a system invariably polarizes one of the two baths. A polarized relaxational bath creates an effective asymmetry. This asymmetry can be suppressed by additional dephasing noise. This being less effective, the more dominant low frequencies are in the dephasing noise. A polarized dephasing bath generates a large shift in the coherent oscillation frequency of the two-level system. This frequency shift is little affected by additional relaxational noise nor by the frequency distribution of the dephasing noise itself. As our model reflects a typical situation for superconducting phase qubits, our findings can help optimize cooling protocols for future quantum electronic devices.
Ultrafast Energy Transfer in Excitonically Coupled Molecules Induced by a Nonlocal Peierls Phonon
(2019)
Molecular vibration can influence exciton transfer via either a local (intramolecular) Holstein or a nonlocal (intermolecular) Peierls mode. We show that a strong vibronic coupling to a nonlocal mode dramatically speeds up the transfer by opening an additional transfer channel. This Peierls channel is rooted in the formation of a conical intersection of the excitonic potential energy surfaces. For increasing Peierls coupling, the electronically coherent transfer for weak coupling turns into an incoherent transfer of a localized exciton through the intersection for strong coupling. The interpretation in terms of a conical intersection intuitively explains recent experiments of ultrafast energy transfer in photosynthetic and photovoltaic molecular systems.