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This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV camera data are used to generate 3D point clouds that are fused with the 3D point clouds generated by a rolling 2D laser scanner at the UGV. The registration method is based on the matching of corresponding planar segments that are extracted from the point clouds. Based on the registration, an approach for a globally optimized localization is presented. Apart from the structural information of the point clouds, it is important to mention that no further information is required for the localization. Two examples show the performance of the overall registration.
Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior information on the environment and cannot assume the regular order of man-made environments or meaningful semantic cues. In this work we extensively evaluate different approaches to globally register UGV generated 3D point-cloud data from LiDAR sensors with UAV generated point-cloud maps from vision sensors. The approaches are realizations of different selections for: a) local features: key-points or segments; b) descriptors: FPFH, SHOT, or ESF; and c) transformation estimations: RANSAC or FGR. Additionally, we compare the results against standard approaches like applying ICP after a good prior transformation has been given. The evaluation criteria include the distance which a UGV needs to travel to successfully localize, the registration error, and the computational cost. In this context, we report our findings on effectively performing the task on two new Search and Rescue datasets. Our results have the potential to help the community take informed decisions when registering point-cloud maps from ground robots to those from aerial robots.
A compact and efficient PEM electrolyser stack design based on hydraulic single cell compression
(2019)
For this study gas diffusion electrodes (GDE) with low platinum loading are prepared for the application as anode in polymer electrolyte membrane fuel cell (PEMFC) systems based on hydraulic compression. As catalyst support material, carbon nanofibers (CNF) are investigated because of their high specific surface area and high graphitization degree. The electrode preparation is optimized by an economic and environmental friendly pre-treatment process in oxygen plasma. For GDE manufacture an ink containing oxygen plasma activated CNFs as well as hydrophilic polymer is used. After spray coating of this CNF ink on a graphitic substrate, platinum is deposited using the pulse plating technique. Preliminary results showed a considerable improvement of CNF dispersibility as well as an increased amount and an optimized morphology of the deposited platinum. Morphology and microstructure are observed by scanning electron microscopy as well as transmission electron microscopy. Platinum loading is determined by thermogravimetric analysis to be in the range of 0.01 mg cm-2 to 0.017 mg cm-2. Furthermore, MEAs are prepared from these GDEs and testing is performed in a novel modular fuel cell test stack based on hydraulic compression. Technical information about stack design and functions is given in this work.
A Crypto-Token Based Charging Incentivization
Scheme for Sustainable Light Electric Vehicle
Sharing
(2021)
The ecological impact of shared light electric vehicles (LEV) such as kick scooters is still widely discussed. Especially the fact that the vehicles and batteries are collected using diesel vans in order to charge empty batteries with electricity of unclear origin is perceived as unsustainable. A better option could be to let the users charge the vehicles themselves whenever it is necessary. For this, a decentralized,flexible and easy to install network of off-grid solar charging stations could bring renewable electricity where it is needed without sacrificing the convenience of a free float sharing system. Since the charging stations are powered by solar energy the most efficient way to utilize them would be to charge the vehicles when the sun is shining. In order to make users charge the vehicle it is necessary to provide some form of benefit for
them doing so. This could be either a discount or free rides. A
particularly robust and well-established mechanism is controlling incentives via means of blockchain-based cryptotokens. This paper demonstrates a crypto-token based scheme for incentivizing users to charge sharing vehicles during times of considerable solar irradiation in order to contribute to more sustainable mobility services.
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.
Cookie notices (or cookie banners) are a popular mechanism for websites to provide (European) Internet users a tool to choose which cookies the site may set. Banner implementations range from merely providing information that a site uses cookies over offering the choice to accepting or denying all cookies to allowing fine-grained control of cookie usage. Users frequently get annoyed by the banner’s pervasiveness as they interrupt “natural” browsing on the Web. As a remedy, different browser extensions have been developed to automate the interaction with cookie banners.
In this work, we perform a large-scale measurement study comparing the effectiveness of extensions for “cookie banner interaction.” We configured the extensions to express different privacy choices (e.g., accepting all cookies, accepting functional cookies, or rejecting all cookies) to understand their capabilities to execute a user’s preferences. The results show statistically significant differences in which cookies are set, how many of them are set, and which types are set—even for extensions that aim to implement the same cookie choice. Extensions for “cookie banner interaction” can effectively reduce the number of set cookies compared to no interaction with the banners. However, all extensions increase the tracking requests significantly except when rejecting all cookies.
Membrane electrode assemblies (MEA) developed at the Westphalian Energy Institute for polymer electrolyte membrane fuel cells (PEMFC) are high tech systems containing various materials structured in nanoscale, at which electrochemical reactions occur on catalyst nano particle surfaces. For low reactance homogeneous compression of the MEA’s layers is necessary. A novel stack architecture for electrochemical cells, especially PEMFC as well as PEM electrolysers, has been developed according to achieve ideal cell operation conditions. Single cells of such a stack are inserted into flexible slots that are surrounded by hydraulic media. While operation the hydraulic media is pressurised which leads to 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 equal, with the novel test system the effect of e.g. different electrode configurations can be investigated. Furthermore, the modular stack design leads to the development of hybrid energy applications combining fuel cells, electrolysers, batteries as well as metal hydride tanks in one system.