Informatik und Kommunikation
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At the beginning of the pandemic in Feb. 2020 I had a little time and wanted to do something new i.e. bring my 3D printer, AI and computer science together somehow. The result is a printed portrait with a lot of computer science. Using style transfer I transferred the etching style of a Göthe portrait to a young girl I call Carolin. By means of image processing I made a black and white picture out of it. Then, using the problem of the traveling salesman, each black point in the picture is interpreted as a city and the whole picture is drawn by only one line. Since this line is very long, it is optimized and shortened by a so-called simulated annealing algorithm. The result is printed in 5 layers on a 3D printer.
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.
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.
Die wechselseitigen Beeinflussungen zwischen Werbungtreibenden und Journalist*innen werden auf Basis der empirischen Synchronisationsforschung dargestellt – mit Schwerpunkt auf Einflüsse durch Sonderwerbeformen der Online-Kommunikation. Die Argumentation richtet sich gegen eine Intensivierung der Beeinflussungsversuche. Sie spricht sich für kooperative und gekennzeichnete Produktentwicklungen aus, die zentrale Determinanten wie Personae oder Markenimages des beworbenen Produkts und des Mediums berücksichtigen. So wird der Trennungsgrundsatz eingehalten und der Charakter publizistischer Massenmedien respektiert.
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.
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.
Background: Priority during the SARS-CoV2 pandemic is that employees need to be protected from infection risks and business activities need to be ensured. New virus variants with increased infection risks require an evolved risk strategy.
Material and methods: Several standard measures such as testing, isolation and quarantine are com-bined to a novel risk strategy. Epidemiological model calculations and scientific knowledge about the course of SARS-CoV2 infectivity are used to optimize this strategy. The procedure is implemented in an easy-to-use calculator based on Excel.
Layout in practice and results: Alternative combinations of measures and practical aspects are dis-cussed. Example calculations are used to demonstrate the effect of the discussed measures.
Conclusion: That quarantine calculator derived from these principles enables even non-specialists to perform a differentiated risk analysis and to introduce optimized measures. Targeted testing routines and alternative measures ensure staff availability.
Management von Medienmarken
(2020)
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.
Background: Emotions play a central role in mental disorder and especially in depression. They are sensed in the body, and it has recently been shown in healthy participants that these sensations can be differentiated between emotions. The aim of the current study was to assess bodily sensations for basic emotions induced by emotion eliciting pictures in depression.
Methods: 30 healthy controls (HC), 30 individuals suffering from Major depressive disorder (MDD) without medication use (MDDnm) and 30 individuals with MDD with medication use (MDDm) were shown emotional and neutral pictures and were asked to paint areas in an empty body silhouette where they felt an increase or decrease in activation. Body sensation maps were then calculated and statistical pattern recognition applied.
Results Results indicated statistically separable activation patterns for all three groups. MDDnm showed less overall activation than HCs, especially in sadness and fear, while MDDm showed stronger deactivation for all emotions than the other two groups.
Conclusions: We could show that emotion experience was associated with bodily sensations that are weaker in depression than in healthy controls and that antidepressant medication was correlated with an increased feeling of bodily deactivation.
Results give insights into the relevance for clinicians to acknowledge bodily sensations in the treatment of depression.
Wie können mit Luftbildaufnahmen 3D Modelle generiert werden?
- Planen von kreisförmigen und einen rasterförmigen Flug Trajektorien.
- Autonomes Abfliegen und Aufnahme der Bilder
- Verortung der Bilder mittels GPS und Structure from Motion Algorithmen.
- Generierung von 3D Modellen mithilfe von Multi-View Stereo Algorithmen.
9 Panoramen, das erste ist aus größerer Höhe aufgenommen und enthält im Himmel eine Karte mit den Positionen der aufgenommenen Punkte (gelb). Das aktuelle Bild ist im Fadenkreuz (rot). Zusätzlich noch ein paar Details zu dem aktuellen Punkt. Jedes Panorama ist 10 Sekunden lang.
Zum Betrachten die höchste Auflösungsstufe wählen und die Pausetaste verwenden. Mit dem gedrückten linken Button kann man sich im Bild bewegen.
Challenging visual localization of an UAV while flying out of a room into a snowy environment (~ 4:50). The UAV is equipped with a 360° camera. The localization is done with OpenVSLAM.
The video was recorded in Jan. 2019 at the Fire Brigade training center in Dortmund
To achieve nearly real time conditions the original resolution of 5k (30 fps) was reduced to 2k (ffmpeg -i video.mp4 -vf scale=1920:-1 -crf 25 vido-small.mp4) with high compression (-crf 25). This reduce the original size from 3.2 GB to 93MB (~ 4 MBit/s which could be transmitted online via a radio link). The localization shown did not use frameskip. With a frameskip above 1 the localization fails while the UAV is flying through the window. Indoor localization can be done with a frameskip of 3 in real time.
Autonomy and self-determination are fundamental aspects of living in our society. Supporting people for whom this freedom is limited due to physical impairments is the fundamental goal of this thesis. Especially for people who are paralyzed, even working at a desk job is often not feasible. Therefore, in this thesis a prototype of a robot assembly workstation was constructed that utilizes a modern Augmented Reality (AR)-Head-Mounted Display (HMD) to control a robotic arm. Through the use of object pose recognition, the objects in the working environment are detected and this information is used to display different visual cues at the robotic arm or in its vicinity. Providing the users with additional depth information and helping them determine object relations, which are often not easily discernible from a fixed perspective.
To achieve this a hands-free AR-based robot-control scheme was developed, which uses speech and head-movement for interaction. Additionally, multiple advanced visual cues were designed that utilize object pose detection for spatial-visual support. The pose recognition system is adapted from state-of-the-art research in computer vision to allow the detection of arbitrary objects with no regard for texture or shape.
Two evaluations were performed, a small user study that excluded the object recognition, which confirms the general usability of the system and gives an impression on its performance. The participants were able to perform difficult pick and place tasks with a high success rate. Secondly, a technical evaluation of the object recognition system was conducted, which revealed an adequate prediction precision, but is too unreliable for real-world scenarios as the prediction quality is highly variable and depends on object orientations and occlusion.
Brand Purpose in aller Munde. Was gilt es in der werthaltigen Kommunikation von Marken zu beachten?
(2020)
Unternehmen positionieren sich gern mit Bezug auf die gesellschaftliche Relevanz ihres Unternehmenszwecks. Diese Orientierung findet sich zunehmend auch in der Kommunikation auf Markenebene. Statt den Produktnutzen zu betonen, liefert die Markenkommunikation Input zu gesellschaftlichen Debatten wie Gleichstellung oder Nachhaltigkeit. Unter dem Stichwort „Brand Purpose“ zeigen Beratungen und Agenturen gern auf, wie positiv diese Art der Kommunikation von Konsumenten und Stakeholdern eingestuft wird. Erste Stimmen gehen davon aus, dass sich diese Tendenzen nach der Coronakrise noch verstärken werden. Doch was bringt die Konzentration auf Sinnstiftung tatsächlich der Marke? Studien weisen darauf hin, dass eine reine Konzentration in der Kommunikation auf Zweck und Sinn einer Marke die Geschäftsentwicklung nicht unbedingt positiver beeinflussen muss als klassische Produktkommunikation und im schlimmsten Fall sogar kontraproduktiv wirken kann. Der Beitrag untersucht deshalb die Frage, welche Voraussetzungen erfüllt sein müssen, damit wertorientierte Kommunikation tatsächlich einen Mehrwert für die Marke bieten kann.
Körperliche Behinderungen können einen Menschen soweit einschränken, dass für sie ein autonomes und selbstbestimmtes Leben, trotz intakter mentaler und kognitiven Fähigkeiten, nicht mehr möglich ist. Daher ist für Menschen, die beispielsweise vom Hals abwärts gelähmt sind, sogenannten Tetraplegikern, jede Zurückgewinnung von Autonomie eine Steigerung der Lebensqualität. In dieser Masterarbeit wird ein Augmented Reality Prototyp entwickelt, der es Tetraplegikern oder Menschen mit einer ähnlichen körperlichen Einschränkung erlaubt, an einem Mensch-Roboter Arbeitsplatz Montageaufgaben durchzuführen und ihnen somit eine Integration ins Arbeitsleben ermöglichen kann. Der Prototyp erlaubt es den Benutzer ohne die Nutzung der Hände, einen Kuka iiwa Roboterarm mit der Microsoft HoloLens zu steuern. Dabei wird ein Fokus darauf gelegt, das Blickfeld des Benutzers mit speziellen virtuellen Visualisierungen, sogenannten visuellen Helfern, anzureichern, um die Nachteile, die durch die Bewegungseinschränkungen der Zielgruppe ausgelöst werden, auszugleichen. Diese visuellen Helfer sollen bei der Steuerung des Roboterarms unterstützen und die Bedienung des Prototyps verbessern. Eine Evaluation des Prototyps zeigte Tendenzen, dass das Konzept der visuellen Helfer den Benutzer den Roboterarm präziser steuern lässt und seine Bedienung unterstützt.
This technical report is about the architecture and integration of commercial UAVs in Search and Rescue missions. We describe a framework that consists of heterogeneous UAVs, a UAV task planner, a bridge to the UAVs, an intelligent image hub, and a 3D point cloud generator. A first version of the framework was developed and tested in several training missions in the EU project TRADR.
Soziale Netzwerke dienen politischen Kandidaten dazu, Bürgerinnen und Bürger ungefiltert mit ihren Botschaften zu erreichen. Während des Wahlkampfes spielt die TV-Berichterstattung allerdings noch immer eine wichtige Rolle. Die vorliegende Analyse zeigt am Beispiel von Angela Merkel und Martin Schulz, dass die Profile der Kanzlerkandidaten während des Bundestagswahlkampfes 2017 über keine Thematisierungsmacht für das Fernsehen verfügten. Die Kandidaten vermochten es nicht, ihre Inhalte mithilfe ihrer Auftritte in den sozialen Netzwerken in die großen TV-Nachrichtenmagazine zu transferieren. tagesthemen und heute journal blieben in ihrer Darstellung unabhängig von den Eigendarstellungen der Kandidaten. Ferner zeigt die Analyse, dass sich das Fernsehen stark auf die Performance der Kandidaten konzentrierte, während politische Inhalte im Rahmen der Berichterstattung seltener thematisiert wurden. Merkel verweigerte sich weitgehend inhaltlicher Debatten über soziale Netzwerke; Schulz schaffte es nicht, mit seinen Botschaften zu punkten.
Papierloses Krankenhaus
(2005)