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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.
Mikrostrukturen auf Oberflächen bestimmen häufig deren physikalische Eigenschaften. Die üblichen Methoden zur Herstellung von mikrostrukturierten Oberflächen wie Fotolithografie sind aber teuer und aufwändig. Daher wird schon lange die schnelle und günstige Methode der Abformung genutzt, um Gegenstände mit Mikrostrukturen herzustellen
[1,2]. Zur Nutzung als Positiv für die Abformung können Oberflächen zum Beispiel mit Fotolithografie hergestellt werden, oder es können mikrostrukturierte Objekte aus der Natur verwenden werden. Mittels Fotolithografie können aber keine gewölbten Oberflächen mit Mikrostrukturen versehen werden und mikrostrukturierte Oberflächen aus der Natur sind meist eher klein. In dieser Arbeit wurde daher nach sehr kleinen mikrostrukturierten Objekten gesucht, die nebeneinander auf eine (auch gewölbte) Oberfläche aufgebracht werden können, um diese anschließend abzuformen. Die besten Resultate ergaben mit Bärlappsporen beschichtete Oberflächen als Positive. Replikate dieser Oberflächen zeigen einen um 30° höheren Kontaktwinkel als das unstrukturierte Material.
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.
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.
The concept of “Internationalisation at Home“ has gained momentum with the increasing digitalization of education and limitations on mobility. Collaborative Online International Learning (COIL) is an innovative, cost-effective instructional method that promotes intercul-tural learning through online collaboration between faculty and students from different countries or locations. The benefits of using COIL courses have been widely recognized, with learners developing intercultural competencies, digital skills, international education experi-ence, and global awareness.
However, multicultural communication in project environments can be complex and demand awareness of cultural variations . The creation and development of effective cross-cultural collectivism, trust, communication, and empathy in leadership is an important ingredient for remote project collaborations success. This is an area that has been least explored in re-search on communication in virtual teams.
The GIPE projects are mainly carried out as so-called Collaborative Online International Learning (COIL) events. However, to gain a “real world“ experience abroad in an intercultural team, students from all partner universities can participate in the Spring School being held for two weeks in Germany and the Germany students present and hand-over the results in the country of the partner university. The main objective of this research was to examine the experiences of students participating in the GIPE project and to evaluate the effectiveness of the project in enhancing intercultural competencies and fostering collaboration among stu-dents from different continents. This paper will also explore the implications of the GIPE project for Education 2.0 considering the COVID-19 pandemic and the future of education delivery and administration transformation.
Selbstständig und selbstbestimmt essen und trinken zu können gehört zu den Grundbedürfnissen des Menschen und wird den Aktivitäten des täglichen Lebens (ATLs) zugeordnet. Körperliche Beeinträchtigungen, die mit Funktionsverlusten in Armen, Händen und ggf. der Beweglichkeit des Oberkörpers einhergehen, schränken die selbstständige Nahrungszufuhr erheblich ein. Die Betroffenen sind darauf angewiesen, dass ihnen Getränke und Mahlzeiten zubereitet, bereitgestellt und angereicht werden. Zu dieser Personengruppe gehören Menschen mit querschnittbedingter Tetraplegie, Multiple Sklerose, Muskeldystrophie und Erkrankungen mit ähnlichen Auswirkungen. Derzeit gibt es verschiedene assistive Technologien, die das selbstständige Essen und Trinken wieder ermöglichen sollen.Wie aber muss ein Interaktionsdesign für einen Roboterarm gestaltet sein, damit er von den Betroffenen zur Nahrungsaufnahme genutzt werden kann? Welche Anforderungen gibt es und welche Aspekte sind in Bezug auf die Akzeptanz eines Roboterarms zu berücksichtigen?
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.
Opportunities and Challenges in Mixed-Reality for an Inclusive Human-Robot Collaboration Environment
(2018)
This paper presents an approach to enhance robot control using Mixed-Reality. It highlights the opportunities and challenges in the interaction design to achieve a Human-Robot Collaborative environment. In fact, Human-Robot Collaboration is the perfect space for social inclusion. It enables people, who suffer severe physical impairments, to interact with the environment by providing them movement control of an external robotic arm. Now, when discussing about robot control it is important to reduce the visual-split that different input and output modalities carry. Therefore, Mixed-Reality is of particular interest when trying to ease communication between humans and robotic systems.
Segmentation of radio-angiographic images using morphological filters, thinning and region growing
(1997)
Sensortechnik
(1999)