Filtern
Erscheinungsjahr
Dokumenttyp
- Konferenzveröffentlichung (344) (entfernen)
Sprache
- Englisch (210)
- Deutsch (132)
- Französisch (1)
- Rumänisch (1)
Schlagworte
- Bionik (9)
- Akkreditierung (3)
- Gespenstschrecken (3)
- Haftorgan (3)
- Strukturoptimierung (3)
- adhesion (3)
- stick insects (3)
- Competency-Oriented Exams (2)
- E-Learning (2)
- Field measurement (2)
Institut
- Institut für Internetsicherheit (69)
- Westfälisches Institut für Gesundheit (63)
- Informatik und Kommunikation (45)
- Westfälisches Energieinstitut (35)
- Maschinenbau Bocholt (29)
- Wirtschaft und Informationstechnik Bocholt (26)
- Elektrotechnik und angewandte Naturwissenschaften (22)
- Wirtschaftsrecht (8)
- Institut für Innovationsforschung und -management (5)
- Institut für biologische und chemische Informatik (5)
Menschen verbringen einen großen Teil ihrer Zeit in Innenräumen. Um dafür die notwendige thermische Behaglichkeit zu gewährleisten, müssen schon bei der Nutzungsplanung die Temperaturen und Luftbewegungen im Raum vorhergesagt werden können. Bei anderen Anwendungen wiederum sind diese Größen relevant für die Prozesssicherheit (z. B. Labore, Operationssaal). Die Vorhersagen erfolgen zum Beispiel durch Strömungssimulationen oder an sogenannten Mock Up Räumen, die eine 1:1 Nachbildung des relevanten Raums darstellen. Bei größeren Räumen wie z. B. Konzertsälen steigt der Aufwand erheblich an.
Eine auf den ersten Blick vergleichsweise einfache Lösung ergibt sich durch Untersuchungen an skalierten Modellräumen. Allerdings ist hier die Ähnlichkeit zwischen Modell und Realausführung bei nicht-isothermen Strömungen nicht gegeben. Die dimensionslosen Kenngrößen Reynolds Zahl Re und Archimedes Zahl Ar sind nicht identisch, da sie mit unterschiedlichen Exponenten bei der charakteristischen Länge skalieren, so dass sie durch die Wahl eines anderen Mediums oder Anpassung der Temperaturen nicht hinreichend kompensiert werden können.
Im Labor für Klimatechnik an der Westfälischen Hochschule sollen mit Hilfe von experimentellen Modelluntersuchungen und dem Vergleich mit der Realausführung Erkenntnisse gewonnen werden, in wie weit ein Kompromiss aus Ähnlichkeit und Genauigkeit gefunden werden kann, um technisch relevante Fragestellungen am Modell zu beantworten.
Die Leitfragen dabei sind:
- Wie lassen sich Modellergebnisse auf reale Raumluftströmungen übertragen?
- Unter welchen Bedingungen ist die Ähnlichkeit zwischen Modell und Realausführung noch gegeben?
- Wie sehen Leitlinien für die praktische Anwendung der Ähnlichkeitsgesetze aus?
Ein Büroraum mit unterschiedlichen Luftführungsvarianten und thermischen Lasten stellt dabei die Realausführung dar. Das Modell ist im Maßstab 1:5 herunterskaliert.
Neuroscientists want to inspect the data their simulations are producing while these are still running. This will on the one hand save them time waiting for results and therefore insight. On the other, it will allow for more efficient use of CPU time if the simulations are being run on supercomputers. If they had access to the data being generated, neuroscientists could monitor it and take counter-actions, e.g., parameter adjustments, should the simulation deviate too much from in-vivo observations or get stuck.
As a first step toward this goal, we devise an in situ pipeline tailored to the neuroscientific use case. It is capable of recording and transferring simulation data to an analysis/visualization process, while the simulation is still running. The developed libraries are made publicly available as open source projects. We provide a proof-of-concept integration, coupling the neuronal simulator NEST to basic 2D and 3D visualization.
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 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.
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.
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?
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.