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Logic-based robot control in highly dynamic domains / Ferrein, Alexander ; Lakemeyer, Gerhard
(2008)
Embedding fuzzy controllers in golog / Ferrein, Alexander ; Schiffer, Stefan ; Lakemeyer, Gerhard
(2009)
In this extended abstract we describe the robot programming and planning language READYLOG, a GOLOG dialect which was developed to support the decision making of robots acting in dynamic real-time domains like robotic soccer. The formal framework of READYLOG, which is based on the situation calculus, features imperative control structures like loops and procedures, allows for decision-theoretic planning, and accounts for a continuously changing world. We developed high-level controllers in READYLOG for our soccer robots in RoboCup’s Middle-size league, but also for service robots and for autonomous agents in interactive computer games.
Hybrid control for autonomous systems — Integrating learning, deliberation and reactive control
(2010)
Reasoning with Qualitative Positional Information for Domestic Domains in the Situation Calculus
(2011)
Autonomous robotic systems for penetrating thick ice shells with simultaneous collecting of scientific data are very promising devices in both terrestrial (glacier, climate research) and extra-terrestrial applications. Technical challenges in development of such systems are numerous and include 3D-navigation, an appropriate energy source, motion control, etc. Not less important is the problem of forward contamination of the pristine glacial environments with microorganisms and biomolecules from the surface of the probe. This study was devoted to establishing a laboratory model for microbial contamination of a newly constructed ice-melting probe called IceMole and to analyse the viability and amount of the contaminating microorganisms as a function of distance. The used bacterial strains were Bacillus subtilis (ATCC 6051) and Escherichia coli (ATCC 11775). The main objective was development of an efficient and reliable in-situ decontamination method of the melting probe. Therefore, several chemical substances were tested in respect of their efficacy to eliminate bacteria on the surface of the melting probe at low temperature (0 - 5 °C) and at continuous dilution by melted water. Our study has shown that at least 99.9% decontamination of the IceMole can be successfully achieved by the injection of 30% (v/v) hydrogen peroxide and 3% (v/v) sodium hypochlorite into the drilling site. We were able to reproduce this result in both time-dependent and depth-dependent experiments. The sufficient amount of 30% (v/v) H₂O₂ or 3% (v/v) NaClO has been found to be approximately 18 L per cm² of the probe’s surface.
Future evolution of risk management for structures : Advancement for the future IEC 62305-2 Ed3
(2011)
Design of a Measurement Setup for the Impedance of Low-Resistance Plate-Conductors in the RF-Range
(2006)
Eldorado summer schools
(1994)
Advanced window systems and building energy performance / S. Reilly ; J. Göttsche ; V. Wittwer
(1991)
The cost of solar tower power plants is dominated by the heliostat field making up roughly 50% of investment costs. Classical heliostat design is dominated by mirrors brought into position by steel structures and drives that guarantee high accuracies under wind loads and thermal stress situations. A large fraction of costs is caused by the stiffness requirements of the steel structure, typically resulting in ~ 20 kg/m² steel per mirror area. The typical cost figure of heliostats (figure mentioned by Solucar at Solar Paces Conference, Seville, 2006) is currently in the area of 150 €/m² caused by the increasing price of the necessary raw materials. An interesting option to reduce costs lies in a heliostat design where all moving parts are protected from wind loads. In this way, drives and mechanical layout may be kept less robust, thereby reducing material input and costs. In order to keep the heliostat at an appropriate size, small mirrors (around 10x10 cm²) have to be used, which are placed in a box with a transparent cover. Innovative drive systems are developed in order to obtain a cost-effective design. A 0,5x0,5 m² demonstration unit will be constructed. Tests of the unit are carried out with a high-precision artificial sun unit that imitates the sun’s path with an accuracy of less than 0.5 mrad and creates a beam of parallel light with a divergence of less than 4 mrad.
Normative Regulations
(2010)
Additive Manufacturing of metal parts by Selective Laser Melting has become a powerful tool for the direct manufacturing of complex parts mainly for the aerospace and medical industry. With the introduction of its desktop machine, Realizer targeted the dental market. The contribution describes the special features of the machine, discusses details of the process and shows manufacturing results focused on metal dental devices.
The optical study carried out on insulating polymers namely polyethyleneterephthalate (PET) and polyvinylchloride (PVC) has been described. The polymers are exposed to different radiation doses by exposing them to swift heavy ions of carbon (90 MeV), silicon (120 MeV) and nickel (100 MeV) which influence on their optical properties. The studies show that amongst the investigated polymers, PVC and PET have potential for application as dosimeter beyond a threshold dose which is strongly dependent on the nature of the material and the radiation type. The optical micrographs show a distinct change in colour of the sample with increase in radiation dose.
The chemical imaging sensor is a semiconductor-based chemical sensor that can visualize the two-dimensional distribution of specific ions or molecules in the solution. In this study, we developed a miniaturized chemical imaging sensor system with an OLED display panel as a light source that scans the sensor plate. In the proposed configuration, the display panel is placed directly below the sensor plate and illuminates the back surface. The measured area defined by illumination can be arbitrarily customized to fit the size and the shape of the sample to be measured. The waveform of the generated photocurrent, the currentvoltage characteristics and the pH sensitivity were investigated and pH imaging with this miniaturized system was demonstrated.
In this contribution, we focus on the detection of toxic gases with living eukaryotic cells. A cell-based gas sensor system, able to measure the effects of direct exposure of gases to cells in real-time, was set up. Impedance data as well as oxygen consumption of Chinese hamster lung fibroblast cells (V79) were analysed upon exposure to carbon monoxide (CO). The CO (diluted in wet synthetic air) affects the cell respiration as indicated by an attenuated respiration signal after the CO exposure as well as an instant increase of the capacitive part of the impedance signal during the gas exposure.
Realization of a calorimetric gas sensor on polyimide foil for applications in aseptic food industry
(2010)
A calorimetric gas sensor is presented for the monitoring of gas-phase H2O2 at elevated temperature during sterilization processes in aseptic food industry. The sensor consists of two temperature-sensitive thin-film resistances built up on a polyimide foil with a thickness of 25 μm, which are passivated with a layer of SU-8 photo resist and catalytically activated with manganese(IV) oxide. Instead of an active heating structure, the calorimetric sensor utilizes the elevated temperature of an evaporated H2O2 aerosol. In an experimental set-up, the sensor has shown a sensitivity of 4.78 °C/(%v/v) in a H2O2 concentration range of 0 to 10% v/v at an evaporation temperature of 240 ∘C. Furthermore, the sensor possesses the same, unchanged sensor signal even at varied evaporation temperatures of the gas stream. The sensor characterization demonstrates the suitability of the calorimetric gas sensor for monitoring the efficiency of sterilization processes.