@article{KeusgenSchoening2004, author = {Keusgen, M. and Sch{\"o}ning, Michael Josef}, title = {Strategies for biosensoric detection of potential drugs in nature}, series = {Biomedizinische Technik. 49 (2004), H. 2}, journal = {Biomedizinische Technik. 49 (2004), H. 2}, isbn = {0932-4666}, pages = {1004 -- 1005}, year = {2004}, language = {en} } @article{KeusgenKloockKnobbeetal.2004, author = {Keusgen, M. and Kloock, Joachim P. and Knobbe, D.-T. and J{\"u}nger, M. and Krest, I. and Goldbach, M. and Klein, W. and Sch{\"o}ning, Michael Josef}, title = {Direct determination of cyanides by potentiometric biosensors}, series = {Sensors and Actuators B. 103 (2004), H. 1-2}, journal = {Sensors and Actuators B. 103 (2004), H. 1-2}, isbn = {0925-4005}, pages = {380 -- 385}, year = {2004}, language = {en} } @article{KeusgenJuengerSchoening2002, author = {Keusgen, M. and J{\"u}nger, M. and Sch{\"o}ning, Michael Josef}, title = {Biosensoric detection of the cysteine sulphoxide alliin}, series = {Book of abstracts / ed. by J. Saneistr.}, journal = {Book of abstracts / ed. by J. Saneistr.}, publisher = {Czech Technical University, Faculty of Electrical Engineering, Department of Measurement}, address = {Prague}, isbn = {80-01-02576-4}, pages = {1175 -- 1178}, year = {2002}, language = {en} } @article{KeusgenJuengerKrestetal.2003, author = {Keusgen, M. and J{\"u}nger, M. and Krest, I. and Sch{\"o}ning, Michael Josef}, title = {Development of a biosensor specific for cysteine sulfoxides}, series = {Biosensors \& Bioelectronics. 18 (2003), H. 5-6}, journal = {Biosensors \& Bioelectronics. 18 (2003), H. 5-6}, isbn = {0956-5663}, pages = {805 -- 812}, year = {2003}, language = {en} } @book{Kettern1993, author = {Kettern, J{\"u}rgen}, title = {Mechanical and biological treatment of waste after separate collection / R. Damiecki; J.T. Kettern. Italian Ministry of Enviroment}, publisher = {Eigenverlag}, address = {Caglieri}, pages = {16 S.}, year = {1993}, language = {en} } @article{KetelhutKolditzGoelletal.2019, author = {Ketelhut, Maike and Kolditz, Melanie and G{\"o}ll, Fabian and Braunstein, Bjoern and Albracht, Kirsten and Abel, Dirk}, title = {Admittance control of an industrial robot during resistance training}, series = {IFAC-PapersOnLine}, volume = {52}, journal = {IFAC-PapersOnLine}, number = {19}, publisher = {Elsevier}, address = {Amsterdam}, issn = {2405-8963}, doi = {10.1016/j.ifacol.2019.12.102}, pages = {223 -- 228}, year = {2019}, abstract = {Neuromuscular strength training of the leg extensor muscles plays an important role in the rehabilitation and prevention of age and wealth related diseases. In this paper, we focus on the design and implementation of a Cartesian admittance control scheme for isotonic training, i.e. leg extension and flexion against a predefined weight. For preliminary testing and validation of the designed algorithm an experimental research and development platform consisting of an industrial robot and a force plate mounted at its end-effector has been used. Linear, diagonal and arbitrary two-dimensional motion trajectories with different weights for the leg extension and flexion part are applied. The proposed algorithm is easily adaptable to trajectories consisting of arbitrary six-dimensional poses and allows the implementation of individualized trajectories.}, language = {en} } @article{KetelhutGoellBraunsteinetal.2018, author = {Ketelhut, Maike and G{\"o}ll, Fabian and Braunstein, Bj{\"o}rn and Albracht, Kirsten and Abel, Dirk}, title = {Comparison of different training algorithms for the leg extension training with an industrial robot}, series = {Current Directions in Biomedical Engineering}, volume = {4}, journal = {Current Directions in Biomedical Engineering}, number = {1}, publisher = {De Gruyter}, address = {Berlin}, issn = {2364-5504}, doi = {10.1515/cdbme-2018-0005}, pages = {17 -- 20}, year = {2018}, abstract = {In the past, different training scenarios have been developed and implemented on robotic research platforms, but no systematic analysis and comparison have been done so far. This paper deals with the comparison of an isokinematic (motion with constant velocity) and an isotonic (motion against constant weight) training algorithm. Both algorithms are designed for a robotic research platform consisting of a 3D force plate and a high payload industrial robot, which allows leg extension training with arbitrary six-dimensional motion trajectories. In the isokinematic as well as the isotonic training algorithm, individual paths are defined i n C artesian s pace by sufficient s upport p oses. I n t he i sotonic t raining s cenario, the trajectory is adapted to the measured force as the robot should only move along the trajectory as long as the force applied by the user exceeds a minimum threshold. In the isotonic training scenario however, the robot's acceleration is a function of the force applied by the user. To validate these findings, a simulative experiment with a simple linear trajectory is performed. For this purpose, the same force path is applied in both training scenarios. The results illustrate that the algorithms differ in the force dependent trajectory adaption.}, language = {en} } @inproceedings{KetelhutGoellBraunsteinetal.2019, author = {Ketelhut, Maike and G{\"o}ll, Fabian and Braunstein, Bjoern and Albracht, Kirsten and Abel, Dirk}, title = {Iterative learning control of an industrial robot for neuromuscular training}, series = {2019 IEEE Conference on Control Technology and Applications}, booktitle = {2019 IEEE Conference on Control Technology and Applications}, publisher = {IEEE}, address = {New York}, isbn = {978-1-7281-2767-5 (ePub)}, doi = {10.1109/CCTA.2019.8920659}, pages = {7 Seiten}, year = {2019}, abstract = {Effective training requires high muscle forces potentially leading to training-induced injuries. Thus, continuous monitoring and controlling of the loadings applied to the musculoskeletal system along the motion trajectory is required. In this paper, a norm-optimal iterative learning control algorithm for the robot-assisted training is developed. The algorithm aims at minimizing the external knee joint moment, which is commonly used to quantify the loading of the medial compartment. To estimate the external knee joint moment, a musculoskeletal lower extremity model is implemented in OpenSim and coupled with a model of an industrial robot and a force plate mounted at its end-effector. The algorithm is tested in simulation for patients with varus, normal and valgus alignment of the knee. The results show that the algorithm is able to minimize the external knee joint moment in all three cases and converges after less than seven iterations.}, language = {en} } @article{KetelhutBrueggeGoelletal.2020, author = {Ketelhut, Maike and Br{\"u}gge, G. M. and G{\"o}ll, Fabian and Braunstein, Bjoern and Albracht, Kirsten and Abel, Dirk}, title = {Adaptive iterative learning control of an industrial robot during neuromuscular training}, series = {IFAC PapersOnLine}, volume = {53}, journal = {IFAC PapersOnLine}, number = {2}, publisher = {Elsevier}, address = {Amsterdam}, issn = {2405-8963}, doi = {10.1016/j.ifacol.2020.12.741}, pages = {16468 -- 16475}, year = {2020}, abstract = {To prevent the reduction of muscle mass and loss of strength coming along with the human aging process, regular training with e.g. a leg press is suitable. However, the risk of training-induced injuries requires the continuous monitoring and controlling of the forces applied to the musculoskeletal system as well as the velocity along the motion trajectory and the range of motion. In this paper, an adaptive norm-optimal iterative learning control algorithm to minimize the knee joint loadings during the leg extension training with an industrial robot is proposed. The response of the algorithm is tested in simulation for patients with varus, normal and valgus alignment of the knee and compared to the results of a higher-order iterative learning control algorithm, a robust iterative learning control and a recently proposed conventional norm-optimal iterative learning control algorithm. Although significant improvements in performance are made compared to the conventional norm-optimal iterative learning control algorithm with a small learning factor, for the developed approach as well as the robust iterative learning control algorithm small steady state errors occur.}, language = {en} } @techreport{KestiMononenLautsoetal.2015, author = {Kesti, Jyrki and Mononen, Tarmo and Lautso, Petteri and D{\"o}ring, Bernd and Reger, Vitali and Holopainen, R. and Jung, N. and Shemeikka, J. and Nieminen, J. and Reda, F. and Lawson, Mark and Botti, Andrea and Hall, R. and Zold, A. and Buday, T.}, title = {Zero energy solutions for multifunctional steel intensive commercial buildings (ZEMUSIC) - EUR 27627}, publisher = {Publications Office of the European Union}, address = {Luxembourg}, organization = {European Commission}, isbn = {978-92-79-54071-4}, issn = {1831-9424}, doi = {10.2777/111520}, pages = {146 Seiten}, year = {2015}, abstract = {The broad commercial objective of this project was the sustainable value creation in steel building technology by addressing the ways in which significant energy reductions can be made in the operation phase of multi-storey commercial buildings. A review on energy efficient commercial buildings in Europe has been carried out consisting of several case studies from different countries. The project included development of zero-energy concepts for reducing energy demand as well as concepts for heating, cooling and ventilation systems by utilising renewable energy sources in three different climates. Also alternative structural frame solutions were developed and analyzed in respect of structural and MEP (mechanical, electrical and plumbing solutions) features. An innovative long span floor system with integrated MEP routings promises a cost effective alternative for sophisticated ventilation distribution and radiant heating and cooling systems, allowing for high energy efficiency and high quality interior climate. The report includes also review of best architectural practices for integrated renewable energy solutions including different design strategies for building facades of zero energy buildings. Interesting results and design basis are also presented for steel energy pile concept, where structural foundation piles are utilized for ground energy harvesting. Life cycle cost calculations for near zero energy office building based on developed technologies show that a near zero energy construction is also profitable. The results and work methods of the project have been summarized in the form of design guidance that offers designers the knowledge gained in a form that can be easily understood.}, language = {en} }