TY - CHAP A1 - Ketelhut, Maike A1 - Göll, Fabian A1 - Braunstein, Bjoern A1 - Albracht, Kirsten A1 - Abel, Dirk T1 - Iterative learning control of an industrial robot for neuromuscular training T2 - 2019 IEEE Conference on Control Technology and Applications N2 - 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. KW - Knee KW - Training KW - Load modeling KW - Force KW - Iterative learning control Y1 - 2019 SN - 978-1-7281-2767-5 (ePub) SN - 978-1-7281-2766-8 (USB) SN - 978-1-7281-2768-2 (PoD) U6 - https://doi.org/10.1109/CCTA.2019.8920659 N1 - 2019 IEEE Conference on Control Technology and Applications (CCTA) Hong Kong, China, August 19-21, 2019 PB - IEEE CY - New York ER - TY - JOUR A1 - Ketelhut, Maike A1 - Brügge, G. M. A1 - Göll, Fabian A1 - Braunstein, Bjoern A1 - Albracht, Kirsten A1 - Abel, Dirk T1 - Adaptive iterative learning control of an industrial robot during neuromuscular training JF - IFAC PapersOnLine N2 - 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. KW - Iterative learning control KW - Robotic rehabilitation KW - Adaptive control Y1 - 2020 U6 - https://doi.org/10.1016/j.ifacol.2020.12.741 SN - 2405-8963 VL - 53 IS - 2 SP - 16468 EP - 16475 PB - Elsevier CY - Amsterdam ER - TY - RPRT A1 - Kesti, Jyrki A1 - Mononen, Tarmo A1 - Lautso, Petteri A1 - Döring, Bernd A1 - Reger, Vitali A1 - Holopainen, R. A1 - Jung, N. A1 - Shemeikka, J. A1 - Nieminen, J. A1 - Reda, F. A1 - Lawson, Mark A1 - Botti, Andrea A1 - Hall, R. A1 - Zold, A. A1 - Buday, T. T1 - Zero energy solutions for multifunctional steel intensive commercial buildings (ZEMUSIC) - EUR 27627 N2 - 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. KW - steel KW - iron and steel industry KW - resistance of materials KW - materials technology KW - metal structure KW - research project KW - building industry KW - building materials KW - renewable energy KW - designs and models KW - research report KW - guide Y1 - 2015 SN - 978-92-79-54071-4 U6 - https://doi.org/10.2777/111520 SN - 1831-9424 N1 - Enthalten: Appendix Design Guide: Deliverable Report WP6.4 Design Guide for steel intensive nearly zero office buildings (83 Seiten) PB - Publications Office of the European Union CY - Luxembourg ER - TY - RPRT A1 - Kesti, J. A1 - Burstrand Knutsson, H. A1 - Salvatore, W. A1 - Saouridis, C. A1 - Odrieres Meré, J. A1 - Georgi, H. A1 - Casajus, A. A1 - Butz, C. A1 - Schneider, R. A1 - Döring, Bernd T1 - Dissemination of knowledge in the use of steel-intensive dry construction systems in housing : final report. Contract No RFS2-CT-2004-00036. EUR 22849 EN Y1 - 2008 SN - 978-92-79-05973-5 PB - Office for Official Publications of the European Communities CY - Luxembourg ER - TY - JOUR A1 - Kessler, Julia A1 - Balc, Nicolae A1 - Gebhardt, Andreas A1 - Abbas, Karim T1 - Basic Research on Lattice Structures Focused on the Tensile Strength JF - Applied Mechanics and Materials Y1 - 2015 U6 - https://doi.org/10.4028/www.scientific.net/AMM.808.193 SN - 1662-7482 N1 - MTeM ; October 14-16, 2015, Cluj-Napoca, Romania VL - Vol. 808 SP - 193 EP - 198 PB - Trans Tech Publications CY - Bäch ER - TY - CHAP A1 - Kessler, Julia A1 - Balc, Nicolae A1 - Gebhardt, Andreas A1 - Abbas, Karim T1 - Basic research on lattice structures focused on the reliance of the cross sectional area and additional coatings T2 - The 4th International Conference on Computing and Solutions in Manufacturing Engineering 2016 – CoSME’16 Y1 - 2017 U6 - https://doi.org/10.1051/matecconf/20179403008 N1 - MATEC Web Conf. Vol 94, 2017, 03008 MATEC Web of Conferences 94, 03008 (2017) ET - Vol. 94 ER - TY - CHAP A1 - Kessler, Julia A1 - Balc, Nicolae A1 - Gebhardt, Andreas T1 - Basic research on lattice structures focused on the strut shape and welding beads T2 - Physics Procedia Y1 - 2016 U6 - https://doi.org/10.1016/j.phpro.2016.08.086 SN - 1875-3884 N1 - Laser Assisted Net Shape Engineering 9th International Conference on Photonic Technologies Proceedings of the LANE 2016 VL - Vol. 83 SP - 833 EP - 838 ER - TY - JOUR A1 - Kerres, Karsten A1 - Gredigk-Hoffmann, Sylvia A1 - Jathe, Rüdiger A1 - Orlik, Stefan A1 - Sariyildiz, Mustafa A1 - Schmidt, Torsten A1 - Sympher, Klaus-Jochen A1 - Uhlenbroch, Adrian T1 - Future approaches for sewer system condition assessment JF - Water Practice & Technology N2 - Different analytical approaches exist to describe the structural substance or wear reserve of sewer systems. The aim is to convert engineering assessments of often complex defect patterns into computational algorithms and determine a substance class for a sewer section or manhole. This analytically determined information is essential for strategic rehabilitation planning processes up to network level, as it corresponds to the most appropriate rehabilitation type and can thus provide decision-making support. Current calculation methods differ clearly from each other in parts, so that substance classes determined by the different approaches are only partially comparable with each other. The objective of the German R&D cooperation project ‘SubKanS’ is to develop a methodology for classifying the specific defect patterns resulting from the interaction of all the individual defects, and their severities and locations. The methodology takes into account the structural substance of sewer sections and manholes, based on real data and theoretical considerations analogous to the condition classification of individual defects. The result is a catalogue of defect patterns and characteristics, as well as associated structural substance classifications of sewer systems (substance classes). The methodology for sewer system substance classification is developed so that the classification of individual defects can be transferred into a substance class of the sewer section or manhole, eventually taking into account further information (e.g. pipe material, nominal diameter, etc.). The result is a validated methodology for automated sewer system substance classification. Y1 - 2020 U6 - https://doi.org/10.2166/wpt.2020.027 SN - 1751-231X IS - 15 (2) SP - 386 EP - 393 PB - IWA Publishing CY - London ER - TY - JOUR A1 - Kerpen, Nils B. A1 - Bung, Daniel Bernhard A1 - Valero, Daniel A1 - Schlurmann, Torsten T1 - Energy dissipation within the wave run-up at stepped revetments JF - Journal of Ocean University of China Y1 - 2017 U6 - https://doi.org/10.1007/s11802-017-3355-z SN - 1993-5021 VL - 16 IS - 4 SP - 649 EP - 654 PB - Springer CY - Berlin ER - TY - CHAP A1 - Kerpen, Nils B. A1 - Bung, Daniel Bernhard A1 - Valero, Daniel A1 - Schlurmann, Torsten T1 - Energy dissipation within the wave run-up at stepped revetments T2 - 8th Chinese-German Joint Symposium on Hydraulic and Ocean Engineering, Qingdao, China KW - energy disspation KW - wave run-up KW - friction Y1 - 2016 ER -