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In polymer electrolyte membrane fuel cells (PEMFC) noble metal nano particles are deposited on graphitic supports serving as electrocatalysts for devices with high power density. In this study anodes are analysed with low platinum loading of about 0.1 mg cm-2. These electrodes are prepared by carbon nano fibres (CNF) decorated with platinum nano particles. For electrode manufacturing two sorts of fibres, which are produced in an industrial scale, are used with different graphitisation degree and surface area. CNF layers are applied on commercially available graphitic substrate by spray coating which leads to a porous structure with high surface area. Subsequently, platinum deposition is achieved by pulsed electroplating for an improved platinum utilisation in PEMFC electrodes. Spray coating and platinum deposition are assisted by a previous oxygen plasma activation process. Prepared anode material is characterised by scanning electron microscopy (SEM), transmission electron microscopy (TEM), X-ray diffraction spectroscopy (XRD), X-ray fluorescence spectroscopy (XRF) and thermogravimetry (TGA). Electrochemical analyses (cyclic voltammetry and corrosion test) are carried out in 0.5 M sulphuric acid. The effect of graphitisation degree of carbon nano fibres on the performance of prepared electrodes is investigated in-situ in a PEM fuel cell test bench.
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.
This work deals with the preparation and investigation of PEM fuel cell electrodes, which are obtained using graphene related material (GRM) serving as catalyst support for platinum nanoparticles. Applied GRM are used for the preparation of suspensions in four distinct mixing ratios. Two sorts of GRM have been investigated: carbon nanofibers (CNF) and graphene oxide (GO). Utilized CNFs provide a superior graphitization degree of about 100%, which leads to both high corrosion resistance and low ohmic resistance in PEM fuel cells.
For electrode preparation a GRM containing layer serving as catalyst support is applied onto a gas diffusion layer (GDL). Prior to GRM suspension and deposition onto a GDL, the graphene structures are functionalized by plasma treatment. Due to this step, an improved hydrophilic behavior for facilitating suspension preparation is achieved. In addition, a subsequent platinum nanoparticle deposition by pulsed electrodeposition process is optimized.
Improved Plasma Membrane Models as Test Systems for the Membrane
Disrupting Activity of Kalata B1
(2017)
Impact of Team Members’ Competence on the Development of Team Mental Models and Team Performance
(2011)
Air Handling units (AHU) are designed to guarantee a high indoor air quality for any time and outdoor condition all over the year. To do so, the AHU removes particle matter like dust or pollen and adapts the thermophysical properties of air to the desired, seasonal indoor comfort conditions. AHU have a robust design and thus operate for more than fifteen years, sometimes even for decades. An AHU designed today must consider and anticipate the change of user needs as well as outdoor air conditions for the next twenty years. To anticipate the outdoor air condition of coming decades, scientific models exist, which allow the design of peak performance and capacities of the air treatment components. It is most likely, that the ongoing climate change will lead to higher temperatures as well as higher humidity, while the comfort zone of human beings will remain at today’s values. Next to the impact of global warming with average rise of mean air temperature local effects will influence the operation of AHU. On effect investigated here is the steep temperature increase in city centres called urban heat islands. Heating and cooling capacities as well as water consumption for humidification are investigated for a reference AHU for fifteen regional locations in Germany. These regions represent all climate zones within the country. Additionally, the urban heat island effect was investigated for Berlin Alexanderplatz compared a rural area close by. The AHU was chosen to operate in an intensive care unit of a hospital. The set-up leads to 24/7 operation with 8760 hours per year. The article presents the modelling of current and future weather data as well as the unit set up. The calculated hourly performance and capacity parameters for current (reference year 2012) and future weather data (reference year 2045) yield energy consumption and peak loads of the unit for heating, cooling and humidification. The results are displayed by relative comparisons of each performance value.
There is a strongly held belief that if companies can direct their marketing activities to improve customer attitudes and intentions, it will impact on purchase behaviors. Departing from complementary yet sometimes conflicting findings of the current literature, we intend to contribute to the literature by answering two related questions. First, we investigate drivers of loyalty intention over time, and by so doing try to better understand loyalty formation. Second, once we understand loyalty formation, we assess the impact of loyalty on different aspects of purchase behavior, considering temporal effects. Therefore, we develop a consumption-system model which assumes that perceptions, intention, and the impact of perceptions and intention on behavior in one period serve as anchors for the same constructs in a subsequent period, implying a pattern of repeated consumption over time.
Using 3SLS regression analysis, results of a large-scale study using survey data from a sample of 2,478 customers from two points in time and purchase data gathered over a 30-month period suggest interesting findings on the two aforementioned questions:
Considering the first question, we find strong support for customer equity drivers directly influencing loyalty. Moreover, we see evidence for loyalty formation as a consumption-system as equity drivers and loyalty intention of one period are significant predictors of the same constructs in the next period.
Addressing the second research question is less straightforward. We find a significant impact of loyalty intention only for purchase frequency, but not for future sales and average receipt. This suggests that in a retailing context, the amount spent depends to a larger extent on actual needs and not on loyalty intention. Loyalty intention seems to be a more appropriate lead indicator for the frequency of store visits. For most categories, repurchase intention will not necessarily be related to higher sales. On the contrary, higher future sales are more likely to depend on the retailer’s ability to cross- and up-sell to its customers. In all, we need to acknowledge that the strongest predictor of future behavior is, in fact, past behavior.
These results question some of the strongly held beliefs of relationship marketing and its impact on actual behavior. Effects might not be as simple as they appear at first, i.e., temporal interplay between constructs. Moreover, it seems that inertia is more important than some marketing research tends to acknowledge. We would therefore suggest a more detailed investigation of customers’ initial choice behavior. If, in fact, inertia is the driving force behind purchase behavior, companies need to augment their emphasis on increasing initial customer contact and, accordingly, on initial product trial. This is somewhat counter-intuitive from a relationship marketing perspective, because that stream of research largely suggests the advantage of retaining customers rather than acquiring new ones. While we are not denying the importance of customer retention, it seems that companies are already fairly successful in doing so – the strong inertia effect confirms that. Hence, customer retention might not be the best strategy to differentiate in the market. Perhaps companies can better differentiate by excelling in customer acquisition. This, however, would have a significant impact on how marketing budgets should be spent by companies trying to reach sustained success. It might be time for re-balancing customer acquisition and customer retention.
Steganography, the art of concealing information in different types of medias, is a very old practice. Yet, it only recently started being used by malware operators on a large scale. Malware programmers and operators are increasing their efforts in developing covert communication channels between infected computers and their command and control servers. In addition to steganography, recent examples include hiding communication in inconspicuous network traffic such as DNS queries or HTTP 404 error messages.
When used properly, these covert communication channels can bypass many automated detection mechanisms and render malware communication difficult to detect and block. From an attacker's perspective, covert communication channels are a valuable addition because they allow messages to blend in with legitimate traffic and thus significantly lower the chance of being detected even when inspected by a human analyst.
This presentation studies recent advances in covert communication channels used by real-world malware. First, we will show how steganography has recently been used in three different malware families (Stegoloader, Vawtrak, and Lurk). We will dive into the implementation details on how steganography is implemented and discuss the strengths and weaknesses of each approach. Furthermore, we will detail and compare the usage of inconspicuous carrier protocols for covert communication channels in malware. Examples will span commodity cybercrime as well as targeted attack malware.
The cases that are discussed in this presentation are based on real life incidents. While it is easy to speculate how covert communication channels might be used by malicious actors, documentation of real-world cases is sparse. Yet covert communication channels have arrived in both, the commodity cybercrime and targeted attack world. It is thus vital to understand the status-quo and identify current trends in cybercriminal and targeted attack malware. As such, we believe that it is mandatory to highlight what is currently being used in the wild.
Various aqueous citrate electrolyte compositions for the Ni-Mo electrodeposition are explored in order to deposit Ni-Mo alloys with Mo-content ranging from 40 wt% to 65 wt% to find an alloy composition with superior catalytic activity towards the hydrogen evolution reaction (HER). The depositions were performed on copper substrates mounted onto a rotating disc electrode (RDE) and were investigated via scanning electron microscopy (SEM), X-ray fluorescence (XRF) and X-ray diffraction (XRD) methods as well as linear sweep voltammetry (LSV) and impedance spectroscopy. Kinetic parameters were calculated via Tafel analysis. Partial deposition current densities and current efficiencies were determined by correlating XRF measurements with gravimetric results. The variation of the electrolyte composition and deposition parameters enabled the deposition of alloys with Mo-content over the range of 40-65 wt%. An increase in Mo-content in deposited alloys was recorded with an increase in rotation speed of the RDE. Current efficiency of the deposition was in the magnitude of <1%, which is characteristic for the deposition of alloys with high Mo-content. The calculated kinetic parameters were used to determine the Mo-content with the highest catalytic activity for use in the HER.
In state of the art polymer electrolyte membrane fuel cells (PEMFC) rare and expensive platinum group metals (PGM) are used as catalyst material. Reduction of PGM in PEMFC electrodes is strongly required to reach cost targets for this technology. An optimal catalyst utilisation is achieved in the case of nano-structured particles supported on carbon material with a large specific surface area. In this study, graphitic material in form of carbon nanofibres (CNFs) is decorated with platinum (Pt) particles serving as catalyst material for PEMFC electrodes with low Pt loading. For electrode preparation CNFs have been previously activated by means of radio frequency induced oxygen plasma. This kind of treatment results in formation of functional groups on the CNF’s surface which directly influences the characteristics of subsequent Pt particle deposition. Different plasma parameters (plasma power, gas flow or exposure time) have to be set in order to achieve formation of oxygen containing functional groups (hydroxylic, carboxylic or carbonylic) on the CNF’s surface. In the frame of this experimental work, electrodes are investigated in respect of optimal morphology, microstructure as well as electrochemical properties. Therefore, samples were characterised by means of scanning electron microscopy combined with energy dispersive X-ray analysis, transmission electron microscopy, thermogravimetry, X-ray diffraction, X-ray fluorescence as well as polarisation measurements.
Competency-oriented exams offer a wide range of advantages, especially where the use and mastery of third-party applications and tools play an important role. Therefore, we developed a competency-oriented setup for both our programming classes and exams ensuring their constructive alignment.
Exams were moved to the computer lab and designed to test both conceptional skills as well as the use of state-of-the-art programming tools. At the peak of the COVID-19 pandemic, when exams had to be moved from lab to online, we needed to design an online setup for our practical programming exams preserving the competency-oriented approach and its constructive alignment as well as the validity, reliability and fairness of the exams. The key was to use the same online tools that have been introduced
for running lectures and practical classes offering almost the same learning experience as before the pandemic. However, to ensure the validity and fairness of the exams, some kind of online supervision needed to be implemented as technical solutions were found to be either unusable or not working
properly in our case. This paper discusses the driving factors, the resulting technical and organizational setup as well as students’ feedback and lessons learned for further improvements. Therefore, COVID-19 has not been able to ruin our competency-oriented programming exams.
Diversity Management - an approach to use people of different ages as a resource in enterprises
(2003)
This paper describes a new concept and experiences of a distributed interdisciplinary learning programme for students across continents. The aim is to provide students with a truly Global Intercultural Project Experience (GIPE) by working together with peers from around the world, and solving real-life client’s problems. We have received seed-funding for four annual projects to engage students from Germany (Europe), Namibia (Africa), Indonesia (Asia), and Peru (Latin-America). In 2020, 30 students from four continents engaged in a one-semester distributed software development project for a Namibian client. Despite Covid-19 they successfully completed the project expressing deep appreciation for the learning opportunities overcoming challenges of working across wide-spread time zones, cultures, changing requirements, and various technical challenges. Considering the vast learning benefits, we suggest to incorporate such projects in all tertiary education curricula across the globe.
The membrane electrode assemblies (MEA) for polymer electrolyte membrane fuel cells (PEMFC) developed at the Westphalian Energy Institute are based on oxygen plasma activated carbon nanotubes (CNT) doped with platinum particles. For electrode preparation an ink is used containing the activated CNTs as well as hydrophobic and hydrophilic material in solved form. After this ink is sprayed onto a graphitic substrate platinum particles are deposited by pulse plating method, where the plasma activation enhances CNT dispersibility as well as platinum deposition. This materials mixture is structured in nanoscale with the aim to increase the catalyst particles’ specific surface. For low reactance at operation, homogeneous compression of the MEA’s layers is necessary within a PEMFC. A novel stack architecture for electrochemical cells, especially PEMFC as well as PEM electrolysers, has been developed in order to achieve ideal cell operation conditions. Single cells of such a stack are inserted into flexible slots that are surrounded by a hydraulic medium which is pressurised during operation in order to achieve an even compression and cooling of the stack’s cells. With this stack design it has been possible to construct a test facility for simultaneous characterisation of several MEA samples. As compression and temperature conditions of every single sample are the same, the effects of e.g. different electrode configurations can be investigated with the novel test system.
Adhesive organs like arolia of insects allow these animals to climb on different substrates by creating high adhesion forces. According to the Dahlquist criterion, arolia must be very soft exhibiting an effective Young's modulus of below 100 kPa to adhere well to different substrates. In previous studies the effective Young´s moduli of adhesive organs were determined using indentation tests yielding their structure to be very soft indeed. However, arolia show a layered structure, thus the values measured by indentation tests comprise the effective Young´s moduli of the whole organs. In this study, a new approach is illustrated to measure the Young´s modulus of the outermost layer of the arolium, i.e. of the epicuticle, of the stick insect Carausius morosus by tensile testing. Due to the inner fibrous structure of the arolium tensile tests allow the characterisation of the overlying epicuticle.
Platinum is one of the most effective electro catalysts for PEMFCs (proton exchange membrane fuel cells), but because of its prohibitive price, the use of this metal in industrial purposes is limited. As a consequence, during last years, several materials have been investigated, in order to obtain an efficient catalyst for both ORR (oxygen reduction reaction) and HOR (hydrogen oxidation reaction), which can replace the expensive platinum but preserving the same properties: high electrical conductivity, structural stability and good corrosion resistance. Moreover, one of the most important parameters for catalyst materials is the electrochemical surface area (real surface area), which has a strong influence on the reaction rate and also on the current density.
CNFs (carbon nanofibers) are considered to be a promising catalyst support material due to their unique characteristics, excellent mechanical, electrical and structural properties, high surface area and nevertheless, good interaction with platinum particles.
The possibility of preparing CNFs decorated with platinum by electrochemical methods was tested, using a hexachloroplatinic solution bath. The experiments were carried out with the aid of a Potentiostat/Galvanostat MMate 510, in a three – electrode cell.
The aim of the present work was to determine the electrochemical surface area of the CNFs – Pt catalysts, using an electrochemical method. The obtained results correlate very well with the particles size and distribution of platinum, analyzed by SEM (scanning electron microscopy) respectively with the quantity of deposited platinum determined by TG (thermo gravimetrical analyses). Cyclic voltammetry is a suitable method for estimation of the real surface area for catalyst particles.
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.
CoCoSpot: Clustering and recognizing botnet command and control channels using traffic analysis
(2017)
This paper presents a pragmatic approach for stepwise introduction of peer assessment elements in undergraduate programming classes, discusses some lessons learned so far and directions for further work. Students are invited to challenge their peers with their own programming exercises to be submitted through Moodle and evaluated by other students according to a predefined rubric and supervised by teaching assistants. Preliminary results show an increased activation and motivation of students leading to a better performance in the final programming exams.
Broadening the Target Group for Higher education in Germany: A Case Study on Diversity Management
(2011)
In some industrialized German areas, as in the Ruhr-Area, the percentage of students with migrant background in primary education has overcome the 50 percentage limit with an increasing share in future, the overwhelming part of them with family from Turkey. A large share of those students attains the admission qualification to higher education from “Berufskollegs”, schools which focus on the combination of vocational skills and theoretical education. This migrant potential can primarily be tapped for additional students by universities of applied sciences which are embedded into their regions and dedicated to teaching.
First, we show the approach to conceptualize culture and cultural specifics of migrants with Turkish background this project is based on.
Second, we give an overview on the main actions of the project, systematically presented as a process leading students through the institution (“input, throughput, output”).
Third, we frame the project by referring to principles of diversity management in general.
Adhesive organs enable insects to reversibly adhere to substrates even during rapid locomotion. In this process a very fast but reliable change of adhesion and detachment is realised. The stick insect Carausius morosus detaches its adhesive organs by peeling them off the substrate, meaning little areas of the adhesive organs are detached one after another. For such a detachment mechanism low pulling forces are needed. A detachment mechanism as peeling seems also for artificial adhesion devices to be the easiest and the most effortless mechanism for detachment. However, artificial adhesion devices mostly exhibit a solid backing layer preventing effortless peeling. To lift up and detach a small area at the corner of an adhesion device the backing layer has to be tilted, resulting in a deformation of the whole adhesion device, which requires high forces. Subdividing the backing layer into small subunits allows a detachment of a small area at the corner of the adhesion device without deforming the rest of the adhesion device. Thereby, less force is needed to initiate and to complete detachment. To realise an easy detachment of artificial adhesion devices we constructed a holder, which gradually detaches an adhesion device from two sides off the substrate. During normal loading the subunits of the holder interlock with each other so that the pulling force is equally distributed over the whole contact area of the adhesion device ensuring maximal adhesion force. In addition, the holder can be used to increase adhesion during application of the adhesion device. When brought into contact with the substrate with lifted sides, which are lowered subsequently, air trapping is prevented and hence the area of contact can be maximised.
Purpose
Although courage has generally been understood as a powerful virtue, research to establish it as a psychological construct is in its infancy. We examined courage in organizations against the backdrop of positive psychology with a design in the Grounded Theory tradition that connects Positive Organizational Behavior and Positive Organizational Scholarship.
Method
The sample consists of organizations that define courage in their mission statement and organizations without such a definition. It includes employees and executives, exploring workplace courage on the macro as well as the micro level. Eleven organizations and 23 participants contributed to the interview study.
Results
Applying Glaser's theoretical coding, specifically the C-family, we propose that courage arises from a decisional conflict in three major domains: the self, social interaction, and performance. It is located on a continuum between apathy and foolhardiness and can take on reactive, proactive, or autonomous forms. Whether and to what extent courage manifests, is a dynamic process contingent upon organizational structure, culture, and communication climate as well as individual cognitiveaffective personality systems.
Limitations
The model depicts the complexity of the phenomenon, rather than details of its individual components. It goes beyond pre-defined categories and prevailing definitions.
Implications
Modern organizations are characterized by volatility, uncertainty, complexity, and ambiguity (VUCA).
Courage is crucial in such an environment and can be systematically fostered across the whole human
resource management cycle.
Value
The study advances theory building on courage in the workplace and highlights its potential to be
measured, developed and managed for more effective work performance.
An automated pipeline for comprehensive calculation of intermolecular interaction energies based on molecular force-fields using the Tinker molecular modelling package is presented. Starting with non-optimized chemically intuitive monomer structures, the pipeline allows the approximation of global minimum energy monomers and dimers, configuration sampling for various monomer-monomer distances, estimation of coordination numbers by molecular dynamics simulations, and the evaluation of differential pair interaction energies. The latter are used to derive Flory-Huggins parameters and isotropic particle-particle repulsions for Dissipative Particle Dynamics (DPD). The computational results for force fields MM3, MMFF94, OPLSAA and AMOEBA09 are analyzed with Density Functional Theory (DFT) calculations and DPD simulations for a mixture of the non-ionic polyoxyethylene alkyl ether surfactant C10E4 with water to demonstrate the usefulness of the approach.
Inspired by the super-human performance of deep learning models in playing the game of Go after being presented with virtually unlimited training data, we looked into areas in chemistry where similar situations could be achieved. Encountering large amounts of training data in chemistry is still rare, so we turned to two areas where realistic training data can be fabricated in large quantities, namely a) the recognition of machine-readable structures from images of chemical diagrams and b) the conversion of IUPAC(-like) names into structures and vice versa. In this talk, we outline the challenges, technical implementation and results of this study.
Optical Chemical Structure Recognition (OCSR): Vast amounts of chemical information remain hidden in the primary literature and have yet to be curated into open-access databases. To automate the process of extracting chemical structures from scientific papers, we developed the DECIMER.ai project. This open-source platform provides an integrated solution for identifying, segmenting, and recognising chemical structure depictions in scientific literature. DECIMER.ai comprises three main components: DECIMER-Segmentation, which utilises a Mask-RCNN model to detect and segment images of chemical structure depictions; DECIMER-Image Classifier EfficientNet-based classification model identifies which images contain chemical structures and DECIMER-Image Transformer which acts as an OCSR engine which combines an encoder-decoder model to convert the segmented chemical structure images into machine-readable formats, like the SMILES string.
DECIMER.ai is data-driven, relying solely on the training data to make accurate predictions without hand-coded rules or assumptions. The latest model was trained with 127 million structures and 483 million depictions (4 different per structure) on Google TPU-V4 VMs
Name to Structure Conversion: The conversion of structures to IUPAC(-like) or systematic names has been solved algorithmically or rule-based in satisfying ways. This fact, on the other side, provided us with an opportunity to generate a name-structure training pair at a very large scale to train a proof-of-concept transformer network and evaluate its performance.
In this work, the largest model was trained using almost one billion SMILES strings. The Lexichem software utility from OpenEye was employed to generate the IUPAC names used in the training process. STOUT V2 was trained on Google TPU-V4 VMs. The model's accuracy was validated through one-to-one string matching, BLEU scores, and Tanimoto similarity calculations. To further verify the model's reliability, every IUPAC name generated by STOUT V2 was analysed for accuracy and retranslated using OPSIN, a widely used open-source software for converting IUPAC names to SMILES. This additional validation step confirmed the high fidelity of STOUT V2's translations.
Advanced Determination of Temperature Coefficients of Photovoltaic Modules by Field Measurements
(2023)
In this work data from outdoor measurements, acquired over the course of up to three years on commercially available solar panels, is used to determine the temperature coefficients and compare these to the information as stated by the producer in the data sheets. A program developed in MatLab App Designer allows to import the electrical and ambient measurement data. Filter algorithms for solar irradiance narrow the irradiance level down to ~1000 W/m2 before linear regression methods are applied to obtain the temperature coefficients. A repeatability investigation proves the accuracy of the determined temperature coefficients which are in good agreement to the supplier specification if the specified values for power are not larger than -0.3%/K. Further optimization is achieved by applying wind filter techniques and days with clear sky condition. With the big (measurement) data on hand it was possible to determine the change of the temperature coefficients for varying irradiance. As stated in literature we see an increase of the temperature coefficient of voltage and a decline for the temperature coefficient of power with increasing irradiance.
In this work a mathematical approach to calculate solar panel temperature based on measured irradiance, temperature and wind speed is applied. With the calculated module temperature, the electrical solar module characteristics is determined. A program developed in MatLab App Designer allows to import measurement data from a weather station and calculates the module temperature based on the mathematical NOCT and stationary approach with a time step between the measurements of 5 minutes. Three commercially available solar panels with different cell and interconnection technologies are used for the verification of the established models. The results show a strong correlation between the measured and by the stationary model predicted module temperature with a coefficient of determination R2 close to 1 and a root mean square deviation (RMSE) of ≤ 2.5 K for a time period of three months. Based on the predicted temperature, measured irradiance in module plane and specific module information the program models the electrical data as time series in 5-minute steps. Predicted to measured power for a time period of three months shows a linear correlation with an R2 of 0.99 and a mean absolute error (MAE) of 3.5, 2.7 and 4.8 for module ID 1, 2 and 3. The calculated energy (exemplarily for module ID 2) based on the measured, calculated by the NOCT and stationary model for this time period is 118.4 kWh, resp. 116.7 kWh and 117.8 kWh. This is equivalent to an uncertainty of 1.4% for the NOCT and 0.5% for the stationary model.
A Robust Interface for Head Motion based Control of a Robot Arm using MARG and Visual Sensors
(2018)
Head-controlled human machine interfaces have gained popularity over the past years, especially in the restoration of the autonomy of severely disabled people, like tetraplegics. These interfaces need to be reliable and robust regarding the environmental conditions to guarantee safety of the user and enable a direct interaction between a human and a machine. This paper presents a hybrid MARG and visual sensor system for head orientation estimation which is in this case used to teleoperate a robotic arm. The system contains a Magnetic Angular Rate Gravity (MARG)-sensor and a Tobii eye tracker 4C. A MARG sensor consists of tri-axis accelerometer, gyroscope as well as a magnetometer which enable a complete measurement of orientation relative to the direction of gravity and magnetic field of the earth. The tri-axis magnetometer is sensitive to external magnetic fields which result in incorrect orientation estimation from the sensor fusion process. In this work the Tobii eye tracker 4C is used to increase head orientation estimation because it also features head tracking even though it is commonly used for eye tracking. This type of visual sensor does not suffer magnetic drift. However, it computes orientation data only, if a user is detectable. Within this work a state machine is presented which enables data fusion of the MARG and visual sensor to improve orientation estimation. The fusion of the orientation data of MARG and visual sensors enables a robust interface, which is immune against external magnetic fields. Therefore, it increases the safety of the human machine interaction.
In this experimental work we present a novel electrolyzer system for the production of hydrogen and oxygen at high pressure levels without an additional mechanical compressor. Due to its control strategies, the operation conditions for this electrolyzer can be kept optimal for each load situation of the system. Furthermore, the novel system design allows for dynamic long-term operation as well as for easy maintainability. Therefore, the device meets the requirements for prospective power-to-gas applications, especially, in order to store excess energy from renewable sources. A laboratory scale device has been developed and high-pressure operation was validated. We also studied the long-term stability of the system by applying dynamic load cycles with load changes every 30 sec. After 80 h of operation the used membrane electrode assembly (MEA) was investigated by means of SEM, EDX and XRD analysis.