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Different charge treatment approaches are examined for cyclotide-induced plasma membrane disruption by lipid extraction studied with dissipative particle dynamics. A pure Coulomb approach with truncated forces tuned to avoid individual strong ion pairing still reveals hidden statistical pairing effects that may lead to artificial membrane stabilization or distortion of cyclotide activity depending on the cyclotide’s charge state. While qualitative behavior is not affected in an apparent manner, more sensitive quantitative evaluations can be systematically biased. The findings suggest a charge smearing of point charges by an adequate charge distribution. For large mesoscopic simulation boxes, approximations for the Ewald sum to account for mirror charges due to periodic boundary conditions are of negligible influence.
Biomimetics is a well-known approach for technical innovation. However, most of its influence remains in the academic field. One option for increasing its application in the practice of technical design is to enhance the use of the biomimetic process with a step-by-step standard, building a bridge to common engineering procedures. This article presents the endeavor of an interdisciplinary expert panel from the fields of biology, engineering science, and industry to develop a standard that links biomimetics to the classical processes of product development and engineering design. This new standard, VDI 6220 Part 2, proposes a process description that is compatible and connectable to classical approaches in engineering design. The standard encompasses both the solution-based and the problem-driven process of biomimetics. It is intended to be used in any product development process for more biomimetic applications in the future.
Fruits (follicles) of Hakea salicifolia and Hakea sericea (Proteaceae) are characterised by pronounced lignification and open via a ventral suture and the dorsal side. The opening along both sides is unique within the Proteaceae. Both serotinous species are obligate seeders, whose spreading benefits from bush fire events. The different tissues and the course of the vascular bundles must allow the opening mechanism. While their 2D-arrangements are known to some extent from light-microscopy images of cross-sections, this work presents their three-dimensional structures and discusses their contribution to the opening of Hakea fruits. For this purpose, 3D greyscale images, reconstructed from µCT-projection data of both fruits are segmented, assisted by a deep learning algorithm (AI algorithm). 3D renderings from these segmentations show strongly interconnected vascular bundles that build a double-dome shaped network in each valve of H. salicifolia and a dome shaped honeycomb-structure in each valve of H. sericea. However, the vascular bundles of both species show no interconnection between the two lateral valves of the fruit but leave gaps for predetermined fracture tissues on the ventral and dorsal side. The opening of the fruits after a fire or after separation from the mother plant can be explained by the anisotropic shrinkage in the two valves of the fruit.
Robot arms are one of many assistive technologies used by people with motor impairments. Assistive robot arms can allow people to perform activities of daily living (ADL) involving grasping and manipulating objects in their environment without the assistance of caregivers. Suitable input devices (e.g., joysticks) mostly have two Degrees of Freedom (DoF), while most assistive robot arms have six or more. This results in time-consuming and cognitively demanding mode switches to change the mapping of DoFs to control the robot. One option to decrease the difficulty of controlling a high-DoF assistive robot arm using a low-DoF input device is to assign different combinations of movement-DoFs to the device’s input DoFs depending on the current situation (adaptive control). To explore this method of control, we designed two adaptive control methods for a realistic virtual 3D environment. We evaluated our methods against a commonly used non-adaptive control method that requires the user to switch controls manually. This was conducted in a simulated remote study that used Virtual Reality and involved 39 non-disabled participants. Our results show that the number of mode switches necessary to complete a simple pick-and-place task decreases significantl when using an adaptive control type. In contrast, the task completion time and workload stay the same. A thematic analysis of qualitative feedback of our participants suggests that a longer period of training could further improve the performance of adaptive control methods.
Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots are gaining increasing popularity in domestic care, where they support people with physical impairments in their everyday lives. However, when cobots perform actions autonomously, it remains challenging for human collaborators to understand and predict their behavior, which is crucial for achieving trust and user acceptance. One significant aspect of predicting cobot behavior is understanding their perception and comprehending how they “see” the world. To tackle this challenge, we compared three different visualization techniques for Spatial Augmented Reality. All of these communicate cobot perception by visually indicating which objects in the cobot’s surrounding have been identified by their sensors. We compared the well-established visualizations Wedge and Halo against our proposed visualization Line in a remote user experiment with participants suffering from physical impairments. In a second remote experiment, we validated these findings with a broader non-specific user base. Our findings show that Line, a lower complexity visualization, results in significantly faster reaction times compared to Halo, and lower task load compared to both Wedge and Halo. Overall, users prefer Line as a more straightforward visualization. In Spatial Augmented Reality, with its known disadvantage of limited projection area size, established off-screen visualizations are not effective in communicating cobot perception and Line presents an easy-to-understand alternative.
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.
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.
We study the nonequilibrium dynamics of a quantum system under the influence of two noncommuting fluctuation sources, i.e., purely dephasing fluctuations and relaxational fluctuations. We find that increasing purely dephasing fluctuations suppress increasing relaxation in the quantum system. This effect is further enhanced when both fluctuation sources are fully correlated. These effects arise for medium to strong primary fluctuations already when the secondary fluctuations are weak due to their noncommuting coupling to the quantum system. Dephasing, in contrast, is increased by increasing any of the two fluctuations. Fully correlated fluctuations result in overdamping at much lower system-bath coupling than uncorrelated noncommuting fluctuations. In total, we observe that treating subdominant secondary environmental fluctuations perturbatively leads, as neglecting them, to erroneous conclusions.
360° Camera at a small UAV
(2021)
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.