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 - JOUR A1 - Arampatzis, Adamantios A1 - Karamanidis, Kiros A1 - Albracht, Kirsten T1 - Adaptational responses of the human Achilles tendon by modulation of the applied cyclic strain magnitude JF - Journal of Experimental Biology Y1 - 2007 U6 - https://doi.org/10.1242/jeb.003814 SN - 0022-0949 VL - 210 IS - 15 SP - 2743 EP - 2753 ER - TY - JOUR A1 - Ritz, Thomas A1 - Stender, Michael ED - Weisbecker, Anette T1 - Ad-hoc Anwendungsintegration mit mobilen CRM-Systement JF - Electronic Business : Innovationen, Anwendungen und Technologien Y1 - 2004 SN - 3-8167-6621-8 SP - 92 EP - 97 PB - Fraunhofer-IRB-Verl. CY - Stuttgart ER - TY - JOUR A1 - Berretz, Frank A1 - Skorupa, Sascha A1 - Sander, Volker A1 - Belloum, Adam A1 - Bubak, Marian T1 - Actor-Driven Workflow Execution in Distributed Environments JF - Euro-Par 2010 Parallel Processing Workshops : HeteroPAR, HPCC, HiBB, CoreGrid, UCHPC, HPCF, PROPER, CCPI, VHPC ; Ischia, Italy, August 31 - September 3, 2010 ; revised selected papers / Mario R. Guarracino ... (eds.) Y1 - 2011 SN - 978-3-642-21877-4 N1 - Lecture Notes in Computer Science ; 6586 SP - 287 EP - 294 PB - Springer CY - Berlin ER - TY - JOUR A1 - Pohl, Martina A1 - Siegert, Petra A1 - Mesch, K. A1 - Bruhn, H. A1 - Grötzinger, Joachim T1 - Active site mutants of pyruvate decarboxylase from Zymomonas mobilis : a site-directed mutagenesis study of L112, I472, I476, E473 and N482 JF - European journal of biochemistry Y1 - 1998 SN - 1432-1033 (E-Journal); 1742-4658 (E-Journal); 0014-2956 (Print); 1742-464X (Print) VL - Vol. 257 IS - Iss. 3 SP - 538 EP - 546 ER - TY - JOUR A1 - Ferrein, Alexander A1 - Steinbauer, Gerald A1 - Vassos, Stavros T1 - Action-Based Imperative Programming with YAGI JF - AAAI Technical Report N2 - Many tasks for autonomous agents or robots are best described by a specification of the environment and a specification of the available actions the agent or robot can perform. Combining such a specification with the possibility to imperatively program a robot or agent is what we call the actionbased imperative programming. One of the most successful such approaches is Golog. In this paper, we draft a proposal for a new robot programming language YAGI, which is based on the action-based imperative programming paradigm. Our goal is to design a small, portable stand-alone YAGI interpreter. We combine the benefits of a principled domain specification with a clean, small and simple programming language, which does not exploit any side-effects from the implementation language. We discuss general requirements of action-based programming languages and outline YAGI, our action-based language approach which particularly aims at embeddability. Y1 - 2012 N1 - Cognitive Robotics, Papers from the 2012 AAAI Workshop, CogRob@AAAI 2012, Toronto, Ontario, Canada, July 22-23, 2012 SP - 24 EP - 31 PB - AAAI CY - Menlo Park ER - TY - JOUR A1 - Ferrein, Alexander A1 - Dylla, Frank A1 - Lakemeyer, Gerhard T1 - Acting and Deliberating using Golog in Robotic Soccer - A Hybrid Architecture / Dylla, Frank ; Ferrein, Alexander ; Lakemeyer, Gerhard JF - Proc. 3rd International Cognitive Robotics Workshop (CogRob 2002) Y1 - 2002 SP - 1 EP - 7 ER - TY - JOUR A1 - Selmer, Thorsten A1 - Hetzel, Marc A1 - Brock, Matthias A1 - Pierik, Antonio J. T1 - Acryloyl-CoA reductase from Clostridium propionicum. An enzyme complex of propionyl-CoA dehydrogenase and electron-transferring flavoprotein / Hetzel, Marc ; Brock, Matthias ; Selmer, Thorsten, Pierik, Antonio J. ; Golding, Bernard T. ; Buckel, Wolfgang JF - European Journal of Biochemistry. 270 (2003), H. 5 Y1 - 2003 SN - 0014-2956 SP - 902 EP - 910 ER - TY - JOUR A1 - Frauenrath, Tobias A1 - Niendorf, Thoralf A1 - Kob, Malte T1 - Acoustic method for synchronization of Magnetic Resonance Imaging (MRI) JF - Acta Acustica N2 - Magnetic Resonance Imaging (MRI) of moving organs requires synchronization with physiological motion or flow, which dictate the viable window for data acquisition. To meet this challenge, this study proposes an acoustic gating device (ACG) that employs acquisition and processing of acoustic signals for synchronization while providing MRI compatibility, immunity to interferences with electro-magnetic and acoustic fields and suitability for MRI at high magnetic field strengths. The applicability and robustness of the acoustic gating approach is examined in a pilot study, where it substitutes conventional ECG-gating for cardiovascular MR. The merits and limitations of the ACG approach are discussed. Implications for MR imaging in the presence of physiological motion are considered including synchronization with other structure- or motion borne sounds. Y1 - 2008 U6 - https://doi.org/10.3813/AAA.918017 SN - 1861-9959 VL - 94 IS - 1 SP - 148 EP - 155 PB - Hirzel CY - Stuttgart ER - TY - JOUR A1 - Frauenrath, Tobias A1 - Hezel, Fabian A1 - Renz, Wolfgang A1 - de Geyer d'Orth, Thibaut A1 - Dieringer, Matthias A1 - von Knobelsdorf-Brenkenhoff, Florian A1 - Prothmann, Marcel A1 - Schulz-Menger, Jeanette A1 - Niendorf, Thoralf T1 - Acoustic cardiac triggering: a practical solution for synchronization and gating of cardiovascular magnetic resonance at 7 Tesla JF - Journal of Cardiovascular Magnetic Resonance N2 - Background To demonstrate the applicability of acoustic cardiac triggering (ACT) for imaging of the heart at ultrahigh magnetic fields (7.0 T) by comparing phonocardiogram, conventional vector electrocardiogram (ECG) and traditional pulse oximetry (POX) triggered 2D CINE acquisitions together with (i) a qualitative image quality analysis, (ii) an assessment of the left ventricular function parameter and (iii) an examination of trigger reliability and trigger detection variance derived from the signal waveforms. Results ECG was susceptible to severe distortions at 7.0 T. POX and ACT provided waveforms free of interferences from electromagnetic fields or from magneto-hydrodynamic effects. Frequent R-wave mis-registration occurred in ECG-triggered acquisitions with a failure rate of up to 30% resulting in cardiac motion induced artifacts. ACT and POX triggering produced images free of cardiac motion artefacts. ECG showed a severe jitter in the R-wave detection. POX also showed a trigger jitter of approximately Δt = 72 ms which is equivalent to two cardiac phases. ACT showed a jitter of approximately Δt = 5 ms only. ECG waveforms revealed a standard deviation for the cardiac trigger offset larger than that observed for ACT or POX waveforms. Image quality assessment showed that ACT substantially improved image quality as compared to ECG (image quality score at end-diastole: ECG = 1.7 ± 0.5, ACT = 2.4 ± 0.5, p = 0.04) while the comparison between ECG vs. POX gated acquisitions showed no significant differences in image quality (image quality score: ECG = 1.7 ± 0.5, POX = 2.0 ± 0.5, p = 0.34). Conclusions The applicability of acoustic triggering for cardiac CINE imaging at 7.0 T was demonstrated. ACT's trigger reliability and fidelity are superior to that of ECG and POX. ACT promises to be beneficial for cardiovascular magnetic resonance at ultra-high field strengths including 7.0 T. KW - Interval Time Series KW - Image Quality Score KW - Image Quality Assessment KW - Sound Pressure Level KW - Cardiovascular Magnetic Resonance Y1 - 2010 U6 - https://doi.org/10.1186/1532-429X-12-67 SN - 1532-429X VL - 12 IS - 1 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Mertens, Josef A1 - Klevenhusen, K. D. A1 - Jakob, H. T1 - Accurate Transonic Wave Drag Prediction Using Simple Physical Models JF - AIAA-Journal. 25 (1987), H. 6 Y1 - 1987 SN - 0001-1452 SP - 799 EP - 805 ER - TY - JOUR A1 - Müller, Karsten A1 - Billmaier, Karl A1 - Müller, Ernst A. T1 - Abwasserwärmenutzung JF - Wasserwirtschaft, Wassertechnik : wwt. 2013, H. 5 Y1 - 2013 SN - 1438-5716 SP - 24 EP - 26 PB - Deutscher Fachverlag CY - Frankfurt am Main ER - TY - JOUR A1 - Schiffer, Stefan A1 - Ferrein, Alexander A1 - Lakemeyer, Gerhard T1 - Abstracting Away Low-Level Details in Service Robotics with Fuzzy Fluents JF - Model-Driven Knowledge Engineering for Improved Software Modularity in Robotics and Automation. Workshop at European Robotics Forum 2015 Vienna, Austria, March 11-13, 2015. Y1 - 2015 SP - 1 EP - 4 ER - TY - JOUR A1 - Mang, Thomas A1 - Hodenius, Michael A. J. A1 - Schmitz-Rode, Thomas A1 - Baumann, Martin A1 - Ivanova, Gergana A1 - Wong, John Erik A1 - Haulena, Friedhelm A1 - Soenen, Stefaan J. H. A1 - de Cuyper, Marcel T1 - Absorption of 10-hydroxycamptothecin into the coat of magnetoliposomes / Hodenius, M. A. J. ; Schmitz-Rode, T. ; Baumann, M. ; Ivoanova, G. ; Wong, J. E. ; Mang, T. ; Haulena, F. ; Soenen, S. J. H. ; De Cuyper, M. JF - Colloids and Surfaces A: Physicochemical and Engineering Aspects. 343 (2009), H. 1-3 Y1 - 2009 SN - 0927-7757 N1 - Colloid and Surface Science for Nanotechnology SP - 20 EP - 23 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Hoyler, Friedrich A1 - Petkov, P. A1 - Andrejtscheff, W. T1 - Absolute E0, E1 and E2 transition rates in even-even nuclei obtained in thermal neutron capture / P. Petkov ; W. Andrejtscheff ... F. Hoyler ... JF - Journal of Physics G. 14 (1988), H. S Y1 - 1988 SN - 0305-4616 SP - S97 EP - S102 ER - TY - JOUR A1 - Breitbach, Gerd A1 - David, P.-H. A1 - Lohnert, G.-H. T1 - Abschätzung des langfristigen Lufteintrags nach einem Druckentlastungsstörfall des HTR-Modul JF - Jahrestagung Kerntechnik '84 : Alte Oper, Frankfurt, 22. - 24. Mai 1984 ; Tagungsbericht / Kerntechnische Gesellschaft Y1 - 1984 SN - 0173-0924 N1 - Kerntechnische Gesellschaft. - Jahrestagung Kerntechnik <1984, Frankfurt/M.>. - 2. ISSN: 0720-9207 SP - 287 EP - 290 PB - Deutsches Atomforum CY - Bonn ER - TY - JOUR A1 - Paschmann, Hans A1 - Spanka, Gerhard T1 - Abschätzung des Eindringverhaltens organischer Flüssigkeiten in Beton anhand von Stoffkennwerten JF - Beton. 44 (1994), H. 12 Y1 - 1994 SN - 0005-9846 SP - 738 EP - 743 ER - TY - JOUR A1 - Siepmann, Thomas T1 - Abschlußbericht zum Vorhaben Nr. 22/IV JF - Forschungsvereinigung Antriebstechnik: Forschungsreport Y1 - 1986 PB - FVA CY - Frankfurt/M. ER - TY - JOUR A1 - Schneider, Bettina A1 - Schneider, Wilhelm T1 - Abschlussarbeiten FAQ / FGA JF - Wirtschaftswissenschaftliches Studium : Wist ; Zeitschrift für Ausbildung und Hochschulkontakt. 35 (2006), H. 9 Y1 - 2006 SN - 0340-1650 N1 - in der Bereichsbibliothek Eupener Str. vorhanden unter 43 Z 098-2006 SP - 537 EP - 539 ER - TY - JOUR A1 - Olbertz, Klaus T1 - Abschlagsfreie Rente mit 63 - Die wichtigsten Fragestellungen und Lösungen für die Praxis JF - NWB - Steuer- und Wirtschaftsrecht Y1 - 2018 SN - 1860-9449 IS - 15 SP - 1263 EP - 1270 PB - NWB Verlag CY - Herne ER -