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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.
This study investigates differences between treatment plans generated by Ray Tracing (RT) and Monte Carlo (MC) calculation algorithms in homogeneous and heterogeneous body regions. Particularly, we focus on the head and on the thorax, respectively, for robotic stereotactic radiotherapy and radiosurgery with Cyberknife. Radiation plans for tumors located in the head and in the thorax region have been calculated and compared to each other in 47 cases and several tumor types.
Upgrade of Bioreactor System Providing Physiological Stimuli
to Engineered Musculoskeletal Tissues
(2017)
A novel central control interface (CCI) is developed to improve the modular bioreactor system with regard to extendability and modifiability in Tissue Engineering (TE) applications. This paper presents the results developed in the project with open-source hardware and the graphical programming system LabVIEW. A new platform independent User Interface was further developed to contribute to the new flexibility of the device.
Renewable and sustainable energy production by many small and distributed producers is revolutionizing the energy landscape as we know it. Consumers produce energy, making them to prosumers in the smart grid. The interaction between prosumers and other entities in the grid and the optimal utilization of new smart grid components (electric cars, freezers, solar panels, etc.) are crucial for the success of the smart grid. The Power Trading Agent Competition is an open simulation platform that allows researchers to conduct low risk studies in this new energy market. In this work we present Maxon16, an autonomous energy broker and champion of the 2016's Power Trading Agent Competition. We present the strategies the broker used in the final round and evaluate the effectiveness of the strategies by analyzing the tournament's results.
Nach einer erfolgreichen Wiederbelebung der Medieninformatik-Workshopreihe mit dem Workshop Medieninformatik 2016 auf der Mensch-und-Computer 2016 in Aachen, lädt die Fachgruppe Medieninformatik (FG MI) im Fachbereich Mensch-Computer-Interaktion (FB MCI) der Gesellschaft für Informatik (GI) ein zum Workshop Medieninformatik 2017. In diesem Jahr soll es, aufbauend auf den Ergebnissen des 2016er-Workshops, zunächst um das Herausarbeiten von Berufsbildern und Färbungen der Medieninformatik- und Medieninformatik-orientieren Studiengänge gehen. Grundlage der Diskussion ist eine, im Vorfeld des Workshops durchzuführende Kurzumfrage, in der die Zielrichtung der jeweiligen Studiengänge und die Absolventenstatistiken hinsichtlich der Arbeitsfelder erfasst werden. Die Ergebnisse der Befragung werden vor dem Workshop an die Workshop-Teilnehmer zurückgespielt und sollen diesen als Kontext für die Vorbereitung der Workshop-Vorträge dienen. Die Vorträge sollen nach relativ engen Vorgaben die Themen Berufsbilder und Färbungen der Medieninformatik thematisieren, um die Workshopdiskussion anzustoßen. Daran anknüpfend sind die Themen Studiengangsgestaltung (Curriculum) und Erfahrungsaustausch zu (praxisgerechten) Lehr-Lernformen vorgesehen. Des Weiteren soll das im 2016-Workshop sehr kontrovers diskutierte Thema „Gibt es eine Medieninformatik-Forschung?“ anhand konkreter Medieninformatik-Forschungsvorhaben erneut thematisiert werden. Der vorgestellte Themenkanon ist nicht abschließend zu verstehen, sondern soll durch die Teilnehmenden im Vorfeld und vor Ort ergänzt werden.
Medienforschung
(2017)
This work deals with the preparation and investigation of polymer electrolyte membrane fuel cell (PEMFC) electrodes, which are obtained using gas diffusion layers coated with graphene related material (GRM) serving as a catalyst support for platinum nanoparticles. PEMFC electrocatalysts have been prepared by pulsed electrochemical deposition of platinum particles from hexachloroplatinic acid. Prior to GRM decoration with platinum, the graphene structures are functionalized by oxygen plasma treatment. This leads to oxygen containing functional groups on the GRM outer surface, providing an improved hydrophilic behavior, thus favoring the Pt deposition process. Membrane electrode assemblies (MEAs) with the so prepared electrodes are investigated in-situ in our fuel cell test system. Polarization plots (in-situ cell performance) using these MEAs have been tested under different operational conditions.
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.
Produktives Arbeiten in der Forschung und Entwicklung: Verschwendung vermeiden, Ressourcen stärken
(2017)
Das Verbinden von Sensoren und Aktoren ist ein wichtiger Teil der Mechatronik. Die Automatisierung von Prozessen in vielen industriellen Zweigen nimmt stetig zu. Dazu gehört das gezielte Verarbeiten von Daten die mittels Sensoren erfasst wurden und das Berechnen von darauf resultierenden erforderlichen Aktionen.
Das thematisierte Problem, in dieser Arbeit, ist die Erkennung eines bestimmten Objekts mittels optischen Sensoren sowie die Ansteuerung eines Roboterarms.
Dies wird mittels eines Roboterarms von KUKA umgesetzt. Alle Daten bezüglich der Position des zu greifenden Objekts werden mittels einer TOF-Kamera von Orbbec erfasst und mittels MATLAB berechnet.
Dadurch, dass die Basis des Arms verfahrbar bleiben soll, kommen nur eine am Arm montierte oder eine mittels weiterer Halterung am youBot befestigter Kamera in Frage.
Doch die Fixierung am youBot wirft weitere Probleme auf:
Keinen fixen Nullpunkt, Rotation des Arms, ungenaue Positions-Wiederholgenauigkeit und weitere.
Der Schwerpunkt liegt in der Erkennung von Objekten sowie dem Ansteuern eines Roboterarms. Es wird eine Inverse Kinematik zur Berechnung der Winkelstellungen verwendet. Diese ist nur eine vereinfachte geometrische Variante, die nur in angepassten Fällen verwendet werden kann.
Die Westfälische Hochschule am FB Maschinenbau - Bocholt, besitzt seit 2015 vier KUKA youBots. Diese dienen der Lehre und Forschung.
Die youBots haben veraltete interne PCs. Damit ist eine Aktualisierung auf das aktuelle Robot-Operating-System (ROS)-Kinetic nicht möglich. Die Arbeit behandelt den Umbau der PC-Hardware und die Aktualisierung der ROS-Treiber.
Mit der auf den neusten Stand gebrachten Hard- und Software, soll der youBot autonom von und zu einer Taktstraße verfahren. Dies soll mit Hilfe des AMCL-Algorithmus und der Zielvorgabe durch MATLAB geschehen.
Die Beseitigung der WLAN-Störerhaftung. Ein Lernprozess für den Gesetzgeber – Fortsetzung folgt?
(2017)
EU-Visakodex auf dem Prüfstand. Der EuGH entscheidet zur Asylpolitik – ein salomonisches Urteil?
(2017)
Digitale Fernleihen von E-Books. EuGH-Entscheidung versetzt erneut die Verlagslandschaft in Aufruhr
(2017)
Kopftuchstreit erreicht Europa. Vorabentscheidungsverfahren aus Belgien und Frankreich beim EuGH
(2017)