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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.
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.
Hybrid control for autonomous systems — Integrating learning, deliberation and reactive control
(2010)
Objectives
Interest in cardiovascular magnetic resonance (CMR) at 7 T is motivated by the expected increase in spatial and temporal resolution, but the method is technically challenging. We examined the feasibility of cardiac chamber quantification at 7 T.
Methods
A stack of short axes covering the left ventricle was obtained in nine healthy male volunteers. At 1.5 T, steady-state free precession (SSFP) and fast gradient echo (FGRE) cine imaging with 7 mm slice thickness (STH) were used. At 7 T, FGRE with 7 mm and 4 mm STH were applied. End-diastolic volume, end-systolic volume, ejection fraction and mass were calculated.
Results
All 7 T examinations provided excellent blood/myocardium contrast for all slice directions. No significant difference was found regarding ejection fraction and cardiac volumes between SSFP at 1.5 T and FGRE at 7 T, while volumes obtained from FGRE at 1.5 T were underestimated. Cardiac mass derived from FGRE at 1.5 and 7 T was larger than obtained from SSFP at 1.5 T. Agreement of volumes and mass between SSFP at 1.5 T and FGRE improved for FGRE at 7 T when combined with an STH reduction to 4 mm.
Conclusions
This pilot study demonstrates that cardiac chamber quantification at 7 T using FGRE is feasible and agrees closely with SSFP at 1.5 T.
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.
Normative Regulations
(2010)
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.
Chalcogenide glass materials as membranes for potentiometric sensors for chemical analysis in solutions have been studied since more than 20 years. In this work, an electrolyte–insulator–semiconductor structure was combined with chalcogenide glass membranes prepared by means of the pulsed laser deposition technique. Depending on the membrane composition a selectivity to different ions (Cd2+ and Pb2+) is achieved. The different sensor membranes have been physically characterised using microscopy, ellipsometry, profilometry, atomic force microscopy (AFM), scanning electron microscopy (SEM) and Rutherford backscattering spectrometry (RBS). The electrochemical behaviour has been investigated via capacitance/voltage (C/V) and constant capacitance (ConCap) measurements and results in a Cd2+ sensitivity of 23.1 ± 0.6 mV per decade in a linear range from 7 × 10−6 to 10−2 mol/l and 24.4 ± 0.5 mV per decade in a linear range from 5 × 10−6 to 10−2 mol/l for Pb2+, respectively.
Leon Battista Alberti, probably the most innovative architect of early Renaissance Italy, has always fascinated scholars by virtue of the striking interpenetration of theory and practice manifest in his work. As an architect, Alberti was an autodidact. Without the benefit of the formative influence of a master or design education, the roots of his conception of architecture lie in his intellectual formation through humanistic rhetoric. The present study demonstrates with reference to a specific project — the Tempietto of the Holy Sepulchre in Florence — how Alberti’s humanist approach conditioned his method of architectural design.
The Newtonian regime of a recent nonlocal extension of general relativity is investigated. Nonlocality is introduced via a scalar “constitutive” kernel in a special case of the translational gauge theory of gravitation, namely, the teleparallel equivalent of general relativity. In this theory, the nonlocal aspect of gravity simulates dark matter. A nonlocal and nonlinear generalization of Poisson’s equation of Newtonian gravitation is presented. The implications of nonlocality for the gravitational physics in the solar system are briefly studied.
The development of new interfaces for (bio-)chemical sensors requires comprehensive analyses and testing. The light-addressable potentiometric sensor (LAPS) can be used as a platform to investigate the sensitivity of a newly developed interface towards (bio-)chemical agents. LAPS measurements are spatially resolved by utilisation of focused light beams to define individual measurement spots. In this work, a new digitally modulated LAPS set-up based on an FPGA design will be introduced to increase the number of measurement spots, to shorten the measurement time and to improve the measurement accuracy.
This paper develops an investment/pricing model for the deployment of basic broadband networks which, along with other applications, is applicable to public–private partnership projects. In particular, a new investment model is suggested to be used for finance deployment over a longer term by enabling both private and public investors to participate in the roll-out of next generation access (NGA) infrastructure. This so-called “long-term risk sharing concept” has several notable benefits compared with the traditional regulatory approach. Above all, the model enables both private operators and public authorities to share the risk of investing in NGA infrastructure. Thus the model offers a way for public authorities to achieve a timely and countrywide roll-out of NGA networks, including in areas where NGA investment would otherwise not occur.
A novel scheme for precise diagnostics and effective stabilization of currents in a fuel cell stack
(2010)
A novel scheme for detecting inhomogeneous internal currents in a fuel cell stack is presented. In this paper the scheme is investigated for the case that the flow field plates consist of graphite. Then plates of high conductivity, e.g. aluminium between the flow field plates together with small slits in these plates have three effects: (a) Whenever a local inhomogeneity of the electric current occurs at a particular cell in the stack, this will induce a surface current close to that cell perpendicular to the averaged current. This current can be detected. (b) The plates of high conductivity completely prevent the inhomogeneities from spreading to neighbouring cells. (c) Even at the particular cell the inhomogeneity is suppressed as far as possible. Thus this scheme leads to much better diagnostic possibilities and at the same time reduces electric instabilities to an extent, where they probably become harmless. This scheme will first be explained for a simple model to clarify the idea. However, very precise three dimensional computations using realistic parameters are presented, corroborating the results of the simple model.
The mission of the COMPASS-1 picosatellite is to take pictures of the earth, to validate a space-borne GPS receiver developed by the German Aerospace Center, and to verify the proper operation of the magnetic attitude control system in orbit. The spacecraft was launched on April 28, 2008 from the Indian space port Sriharikota, as part of the PSLV-C9 world record launch that simultaneously brought ten satellites into orbit. The mission operations were carried out from the ground stations in Aachen and Tainan. Arising difficulties in the communication link were overcome with the support of individuals from the amateur radio community. After several months of mission operation, abundant housekeeping and mission data has been commanded, received and analyzed and is presented in this paper.
A novel tomographic scheme for analysing the state of any single membrane electrode assembly (MEA) in a stack is suggested. Plates of very high conductivity placed between every fuel cell and slitted in an appropriate manner cause surface currents at well-defined locations of the stack. We show that knowing these surface currents, information about anomalies of the currents in a MEA can be obtained using the methods of tomography. The results are mathematically not unique. However, when assuming plausible defect structures, one can exclude improbable deficiencies by applying a special form of simulated annealing. We present numerical calculations of typical examples demonstrating that the essential defects of the MEA in any single cell of the stack can be detected and their extent can be determined.
Comparison of intravenous immunoglobulins for naturally occurring autoantibodies against amyloid-β
(2010)
Intravenous immunoglobulins (IVIG) are currently used for therapeutic purposes in autoimmune disorders. Recently, we demonstrated the presence of naturally occurring antibodies against amyloid- β (nAbs-Aβ) within the pool of IVIG. In this study, we compared different brands of IVIG for nAbs-Aβ and have found differences in the specificity of the nAbs-Aβ towards Aβ1–40 and Aβ1–42 . We analyzed the influence of a pH-shift over the course of antibody storage using ELISA and investigated antibody dimerization at acidic and neutral pH as well as differences in the IgG subclass distributions among the IVIG using both HPLC and a nephelometric assay. Furthermore, we investigated the epitope region of purified nAbs-Aβ. The differences found in Aβ specificity are not directly proportionate to the binding nature of these antibodies when administered in vivo. This information, however, may serve as a guide when choosing the commercial source of IVIG for therapeutic applications in Alzheimer's disease