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The Carologistics team participates in the RoboCup Logistics League for the seventh year. The RCLL requires precise vision,
manipulation and path planning, as well as complex high-level decision
making and multi-robot coordination. We outline our approach with an
emphasis on recent modifications to those components.
The team members in 2018 are David Bosen, Christoph Gollok, Mostafa
Gomaa, Daniel Habering, Till Hofmann, Nicolas Limpert, Sebastian Schönitz,
Morian Sonnet, Carsten Stoffels, and Tarik Viehmann.
This paper is based on the last year’s team description.
The case for a more binding WTO agreement on regulatory principles in telecommunication markets
(1999)
Within the Crystal Clear Collaboration a modular system for a small animal PET scanner (ClearPET™) has been developed. The modularity allows the assembly of scanners of different sizes and characteristics in order to fit the specific needs of the individual member institutions. Now a first demonstrator is being completed in Julich. The system performs depth of interaction detection by using a phoswich arrangement combining LSO and LuYAP scintillators which are coupled to multi-channel photomultipliers (PMTs). A free-running ADC digitizes the signal from the PMT and the complete scintillation pulses are sampled by an FPGA and sent with 20 MB/S to a PC for preprocessing. The pulse provides information about the gamma energy and the scintillator material which identifies the interaction layer. Furthermore, the exact pulse starting time is obtained from the sampled data. This is important as no hardware coincidence detection is implemented. All single events are recorded and coincidences are identified by software. An advantage of that is that the coincidence window and the dimensions of the field of view can be adjusted easily. The ClearPET™ demonstrator is equipped with 10240 crystals on 80 PMTs. This paper presents an overview of the data acquisition system.
The ClearPET project
(2004)
The Crystal Clear Collaboration has designed and is building a high-resolution small animal PET scanner. The design is based on the use of the Hamamatsu R7600-M64 multi-anode photomultiplier tube and a LSO/LuYAP phoswich matrix with one to one coupling between the crystals and the photo-detector. The complete system will have 80 PM tubes in four rings with an inner diameter of 137 mm and an axial field of view of 110 mm. The PM pulses are digitized by free-running ADCs and digital data processing determines the gamma energy, the phoswich layer and even the pulse arrival time. Single gamma interactions are recorded and coincidences are found by software. The gantry allows rotation of the detector modules around the field of view. Simulations, and measurements a 2×4 module test set-up predict a spatial resolution of 1.5 mm in the centre of the field of view and a sensitivity of 5.9% for a point source in the centre of the field of view.
A 2nd generation high performance small animal PET scanner, called ClearPET™, has been designed and a first prototype is built by working groups of the Crystal Clear Collaboration (CCC). In order to achieve high sensitivity and maintain good uniform spatial resolution over the field of view in high resolution PET systems, it is necessary to extract the depth of interaction (DOI) information and correct for spatial degradation. The design of the first ClearPET™ Demonstrator based on the use of the multi-anode photomultiplier tube (Hamamatsu R7600-M64) and a LSO/LuYAP phoswich matrix. The two crystal layers of 8*8 crystals (2*2*10 mm3) are stacked on each other and mounted without light guide as one to one on the PMT. A unit of four PMTs arranged in-line represents one of 20 sectors of the ring design. The opening diameter of the crystal ring is 137 mm, the axial detector length is 110 mm. The PMT pulses are digitized by free-running ADCs and digital data processing determines the gamma energy, the phoswich layer and even the pulse arrival time. Single gamma interactions are recorded and coincidences are found by software. The gantry allows rotation of the detector modules around the field of view. The measurements have been done using the first LSO/LuYAP detector cassettes.
The ClearPET™ project: Development of a 2nd generation high-performance small animal PET scanner
(2005)
Second generation high-performance PET scanners, called ClearPET™1, have been developed by working groups of the Crystal Clear Collaboration (CCC). High sensitivity and high spatial resolution for the ClearPET camera is achieved by using a phoswich arrangement combining two different types of lutetium-based scintillator materials: LSO from CTI and LuYAP:Ce from the CCC (ISTC project). In a first ClearPET prototype, phoswich arrangements of 8×8 crystals of 2×2×10 mm3 are coupled to multi-channel photomultiplier tubes (Hamamatsu R7600). A unit of four PMTs arranged in-line represents one of 20 sectors of the ring design. The opening diameter of the ring is 120 mm, the axial detector length is 110 mm.The PMT pulses are digitized by free-running ADCs and digital data processing determines the gamma energy, the phoswich layer and even the exact pulse starting time, which is subsequently used for coincidence detection. The gantry allows rotation of the detector modules around the field of view.
Preliminary data shows a correct identification of the crystal layer about (98±1)%. Typically the energy resolution is (23.3±0.5)% for the luyap layer and (15.4±0.4)% for the lso layer. early studies showed the timing resolution of 2 ns FWHM and 4.8 ns FWTM. the intrinsic spatial resolution ranges from 1.37 mm to 1.61 mm full-width of half-maximum (FWHM) with a mean of 1.48 mm FWHM. further improvements in image and energy resolution are expected when the system geometry is fully modeled.
Cryopumps without liquid nitrogen shielding are used to provide a vacuum of 10−6 torr in the spectrometer. The vacuum system is subdivided in three sections that can be separated by valves.
The first section (scattering chamber) has a volume of 60 l, two rotation transmissions with 35 cm dia and a sliding seal that allows a rotation of 160° without deteriorating the vacuum. The second section includes the vacuum chambers inside the magnets with 6 × 80 cm cross-section and a length of 1200 cm. The third section (detector box) has a volume of 4300 l and contains a moveable detector system. The gas inside the detector with a pressure of 760 torr is separated from the vacuum by a 15 μm mylar foil with an area of 300 cm2. The detector box can be valved off by a valve with the dimension of 10 × 100 cm.
The layout of system is given. The instrumentation and the interlock system are described. First experiences with this system are presented.
Following the success of PET/CT during the last decade and the recent increasing proliferation of SPECT/CT, another hybrid imaging instrument has been gaining more and more interest: MR-PET. First combined, simultaneous PET and MR studies carried out in small animals demonstrated the feasibility of the new approach. Concurrently, some prototypes of an MR-PET scanner for simultaneous human brain studies have been built, their performance is being tested and preliminary applications have already been shown. Through this pioneering work, it has become clear that advances in the detector design are necessary for further optimization.
Recently, the different issues related to the present state and future prospects of MR-PET were presented and discussed during an international 2-day workshop at the Forschungszentrum Jülich, Germany, held after, and in conjunction with, the 2008 IEEE Nuclear Science Symposium and Medical Imaging Conference in Dresden, Germany on October 27–28, 2008. The topics ranged from small animal MR-PET imaging to human MR-BrainPET imaging, new detector developments, challenges/opportunities for ultra-high field MR-PET imaging and considerations of possible future research and clinical applications. This report presents a critical summary of the contributions made to the workshop.
The Crystal Clear Collaboration has developed a modular system for a small animal PET scanner (ClearPET). The modularity allows the assembly of scanners of different sizes and characteristics in order to satisfy the specific needs of the individual member institutions. The system performs depth of interaction detection by using a phoswich arrangement combining LSO and LuYAP scintillators which are coupled to Multichannel Photomultipliers (PMTs). For each PMT a free running 40 MHz ADC digitizes the signal and the complete scintillation pulse is sampled by an FPGA and sent with 20 MB/s to a PC for preprocessing. The pulse provides information about the gamma energy and the scintillator material which identifies the interaction layer. Furthermore, the exact pulse starting time is obtained from the sampled data. This is important as no hardware coincidence detection is implemented. All single events are recorded and coincidences are identified by software. The system in Jülich (ClearPET Neuro) is equipped with 10240 crystals on 80 PMTs. The paper will present an overview of the data acquisition system.
Compared to peripheral pain, trigeminal pain elicits higher levels of fear, which is assumed to enhance the interruptive effects of pain on concomitant cognitive processes. In this fMRI study we examined the behavioral and neural effects of trigeminal (forehead) and peripheral (hand) pain on visual processing and memory encoding. Cerebral activity was measured in 23 healthy subjects performing a visual categorization task that was immediately followed by a surprise recognition task. During the categorization task subjects received concomitant noxious electrical stimulation on the forehead or hand. Our data show that fear ratings were significantly higher for trigeminal pain. Categorization and recognition performance did not differ between pictures that were presented with trigeminal and peripheral pain. However, object categorization in the presence of trigeminal pain was associated with stronger activity in task-relevant visual areas (lateral occipital complex, LOC), memory encoding areas (hippocampus and parahippocampus) and areas implicated in emotional processing (amygdala) compared to peripheral pain. Further, individual differences in neural activation between the trigeminal and the peripheral condition were positively related to differences in fear ratings between both conditions. Functional connectivity between amygdala and LOC was increased during trigeminal compared to peripheral painful stimulation. Fear-driven compensatory resource activation seems to be enhanced for trigeminal stimuli, presumably due to their exceptional biological relevance.
The double-LNN Calibration technique for scattering parameter measurements of microstrip devices
(1995)
Humic substances originating from various organic matters can ameliorate soil properties, stimulate plant growth, and improve nutrient uptake. Due to the low calorific heating value, leonardite is rather unsuitable as fuel. However, it may serve as a potential source of humic substances. This study was aimed at characterizing the leonardite-based soil amendments and examining the effect of their application on the soil microbial community, as well as on potato growth and tuber yield. A high yield (71.1%) of humic acid (LHA) from leonardite has been demonstrated. Parental leonardite (PL) and LHA were applied to soil prior to potato cultivation. The 16S rRNA sequencing of soil samples revealed distinct relationships between microbial community composition and the application of leonardite-based soil amendments. Potato tubers were planted in pots in greenhouse conditions. The tubers were harvested at the mature stage for the determination of growth and yield parameters. The results demonstrated that the LHA treatments had a significant effect on increasing potato growth (54.9%) and tuber yield (66.4%) when compared to the control. The findings highlight the importance of amending leonardite-based humic products for maintaining the biogeochemical stability of soils, for keeping their healthy microbial community structure, and for increasing the agronomic productivity of potato plants.
The Effect of Openings on Out-of-Plane Capacity of Masonry Infilled Reinforced Concrete Frames
(2018)
The entangled Universe
(2004)
The proposed Den Haag Zuidwest district heating system of the city of The Hague consists of a deep doublet in a Jurassic sandstone layer that is designed for a production temperature of 75 °C and a reinjection temperature of 40 °C at a flow rate of 150 m3 h−1. The prediction of reservoir temperature and production behavior is crucial for success of the proposed geothermal doublet. This work presents the results of a study of the important geothermal and geohydrological issues for the doublet design. In the first phase of the study, the influences of the three-dimensional (3D) structures of anticlines and synclines on the temperature field were examined. A comprehensive petrophysical investigation was performed to build a large scale 3D-model of the reservoir. Several bottomhole temperatures (BHTs), as well as petrophysical logs were used to calibrate the model using thermal conductivity measurements on 50 samples from boreholes in different lithological units in the study area. Profiles and cross sections extracted from the calculated temperature field were used to study the temperature in the surrounding areas of the planned doublet. In the second phase of the project, a detailed 3D numerical reservoir model was set up, with the aim of predicting the evolution of the producer and injector temperatures, and the extent of the cooled area around the injector. The temperature model from the first phase provided the boundary conditions for the reservoir model. Hydraulic parameters for the target horizons, such as porosity and permeability, were taken from data available from the nearby exploration wells. The simulation results are encouraging as no significant thermal breakthrough is predicted. For the originally planned location of the producer, the extracted water temperature is predicted to be around 79 °C, with an almost negligible cooling in the first 50 years of production. When the producer is located shallower parts of the reservoir, the yield water temperatures is lower, starting at ≈76 °C and decreasing to ≈74 °C after 50 years of operation. This comparatively larger decrease in temperature with time is caused by the structural feature of the reservoir, namely a higher dip causes the cooler water to easily move downward. In view of the poor reservoir data, the reservoir simulation model is constructed to allow iterative updates using data assimilation during planned drilling, testing, and production phases. Measurements during an 8 h pumping test carried out in late 2010 suggest that a flow rate of 150 m3 h−1 is achievable. Fluid temperatures of 76.5 °C were measured, which is very close to the predicted value.
The methodological discourse of mixed-methods research offers general procedures to combine quantitative and qualitative methods for investigating complex fields of research such as higher education. However, integrating different methods still poses considerable challenges. To move beyond general recommendations for mixed-methods research, this chapter proposes to discuss methodological issues with respect to a particular research domain. Taking current studies on the transition to higher education as an example, the authors first provide an overview of the potentials and limitations of quantitative and qualitative methods in the research domain. Second, they show the need for a conceptual framework grounded in the theory of the research object to guide the integration of different methods and findings. Finally, an example study that investigates transition with regard to the interplay of the individual student and the institutional context serves to illustrate the guiding role of theory. The framework integrates different theoretical perspectives on transition, informs the selection of the research methods, and defines the nexus of the two strands that constitute the mixed-methods design. As the interplay of individual and context is of concern for teaching and learning in general, the example presented may be fruitful for the wider field of higher education research.
The hot spots conjecture is only known to be true for special geometries. This paper shows numerically that the hot spots conjecture can fail to be true for easy to construct bounded domains with one hole. The underlying eigenvalue problem for the Laplace equation with Neumann boundary condition is solved with boundary integral equations yielding a non-linear eigenvalue problem. Its discretization via the boundary element collocation method in combination with the algorithm by Beyn yields highly accurate results both for the first non-zero eigenvalue and its corresponding eigenfunction which is due to superconvergence. Additionally, it can be shown numerically that the ratio between the maximal/minimal value inside the domain and its maximal/minimal value on the boundary can be larger than 1 + 10− 3. Finally, numerical examples for easy to construct domains with up to five holes are provided which fail the hot spots conjecture as well.
The hybrid K+/Ca2+ sensor based on laser scanned silicon transducer for multi-component analysis
(2002)
Rocket engine test facilities and launch pads are typically equipped with a guide tube. Its purpose is to ensure the controlled and safe routing of the hot exhaust gases. In addition, the guide tube induces a suction that effects the nozzle flow, namely the flow separation during transient start-up and shut-down of the engine. A cold flow subscale nozzle in combination with a set of guide tubes was studied experimentally
to determine the main influencing parameters.
This thesis introduces the Integrated Emitter Turn-Off (IETO) Thyristor as a new high-power device. Known state-of-the-art research activities like the Dual GCT, the ETO thyristor and the ICT were presented and critically reviewed. A comparison with commercialized solutions identifies the pros and cons of each type of device family. Based on this analysis, the IETO structure is proposed, covering most benefits of each device class. In particular the combination of a MOS-assisted turn-off with a thyristor-based device allows a voltage-controlled MOS switching and the low on-state voltage of the thyristors. The following synthesis of an IETO device stands on a three-dimensional field of optimization spanned by electric, mechanical and thermal aspects. From an electric point of view, the lowest possible parasitic inductance and resistance within the commutation path are optimization criteria. The mechanical construction has to withstand the required contact pressure of multiple kilo Newtons. Finally, thermal borders limit the maximum average current of the device. FEM simulations covering these three aspects are performed for several design proposals. An IETO prototype is constructed and measurements on various test benches attest thermal, mechanical and electric performance. A local decoupling of the external driver stage and the presspack housing is presented by a cable connection. This separation enables a thermal and mechanical independence, which is advantageous in terms of vibrations and thermal cycles including increased reliability. The electric pulse performance of the prototype device is a factor of 3.1 above today''s solutions. In single-pulse measurements, a current up to 1600 A was successfully turned off at 115°C with an active silicon area of 823 mm². One reason for this increased turn-off capability is the extremely low-inductive construction. Additional functionality of the IETO thyristor like over-current self-protection and defined short-circuit failure state are successfully verified.
The inverse scattering problem for a conductive boundary condition and transmission eigenvalues
(2018)
In this paper, we consider the inverse scattering problem associated with an inhomogeneous media with a conductive boundary. In particular, we are interested in two problems that arise from this inverse problem: the inverse conductivity problem and the corresponding interior transmission eigenvalue problem. The inverse conductivity problem is to recover the conductive boundary parameter from the measured scattering data. We prove that the measured scatted data uniquely determine the conductivity parameter as well as describe a direct algorithm to recover the conductivity. The interior transmission eigenvalue problem is an eigenvalue problem associated with the inverse scattering of such materials. We investigate the convergence of the eigenvalues as the conductivity parameter tends to zero as well as prove existence and discreteness for the case of an absorbing media. Lastly, several numerical and analytical results support the theory and we show that the inside–outside duality method can be used to reconstruct the interior conductive eigenvalues.
The Inverted Rotary Pendulum: Facilitating Practical Teaching in Advanced Control Engineering
(2024)
This paper outlines a practical approach to teach control engineering principles, with an inverted rotary pendulum, serving as an illustrative example. It shows how the pendulum is embedded in an advanced course of control engineering. This approach is incorporated into a flipped-classroom concept, as well as classical teaching concepts, offering students practical experience in control engineering. In addition, the design of the pendulum is shown, using a Raspberry Pi as the target platform for Matlab Simulink. This pendulum can be used in the classroom to evaluate the controller design mentioned above. It is analysed if the use of the pendulum generates a deeper understanding of the learning contents.
The join of a geographical situation display system and a platform independent C2 information system
(2000)
The longitudinal voltage of cable tubes with a screening mesh caused by partial lightning currents
(1989)