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Autonomous agents require rich environment models for fulfilling their missions. High-definition maps are a well-established map format which allows for representing semantic information besides the usual geometric information of the environment. These are, for instance, road shapes, road markings, traffic signs or barriers. The geometric resolution of HD maps can be as precise as of centimetre level. In this paper, we report on our approach of using HD maps as a map representation for autonomous load-haul-dump vehicles in open-pit mining operations. As the mine undergoes constant change, we also need to constantly update the map. Therefore, we follow a lifelong mapping approach for updating the HD maps based on camera-based object detection and GPS data. We show our mapping algorithm based on the Lanelet 2 map format and show our integration with the navigation stack of the Robot Operating System. We present experimental results on our lifelong mapping approach from a real open-pit mine.
Software development projects often fail because of insufficient code quality. It is now well documented that the task of testing software, for example, is perceived as uninteresting and rather boring, leading to poor software quality and major challenges to software development companies. One promising approach to increase the motivation for considering software quality is the use of gamification. Initial research works already investigated the effects of gamification on software developers and come to promising. Nevertheless, a lack of results from field experiments exists, which motivates the chapter at hand. By conducting a gamification experiment with five student software projects and by interviewing the project members, the chapter provides insights into the changing programming behavior of information systems students when confronted with a leaderboard. The results reveal a motivational effect as well as a reduction of code smells.
The popularity of social media and particularly Instagram grows steadily. People use the different platforms to share pictures as well as videos and to communicate with friends. The potential of social media platforms is also being used for marketing purposes and for selling products. While for Facebook and other online social media platforms the purchase decision factors are investigated several times, Instagram stores remain mainly unattended so far. The present research work closes this gap and sheds light into decisive factors for purchasing products offered in Instagram stores. A theoretical research model, which contains selected constructs that are assumed to have a significant influence on Instagram user´s purchase intention, is developed. The hypotheses are evaluated by applying structural equation modelling on survey data containing 127 relevant participants. The results of the study reveal that ‘trust’, ‘personal recommendation’, and ‘usability’ significantly influences user’s buying intention in Instagram stores.
Die Auswahl der passenden Geschäftsprozesse für eine Automatisierung mittels Robotic Process Automation (RPA) ist für den Erfolg von RPA-Projekten entscheidend. Das vorliegende Kapitel liefert dafür Selektionskriterien, die aus einer qualitativen Studie mit elf interviewten RPA-Experten aus dem Versicherungsumfeld resultieren. Das Ergebnis umfasst eine gewichtete Liste von sieben Dimensionen und 51 Prozesskriterien, welche die Automatisierung mit Softwarerobotern begünstigen beziehungsweise deren Nichterfüllung eine Umsetzung erschweren oder sogar verhindern. Die drei wichtigsten Kriterien zur Auswahl von Geschäftsprozessen für die Automatisierung mittels RPA umfassen die Entlastung der an dem Prozess mitwirkenden Mitarbeiter (Arbeitnehmerentlastung), die Ausführbarkeit des Prozesses mittels Regeln (Regelbasierte Prozessteuerung) sowie ein positiver Kosten-Nutzen-Vergleich. Auf diesen Ergebnissen aufbauend wird ein Vergleich mit den bereits bekannten Selektionskriterien aus der Literatur erstellt und diskutiert. Praktiker können die Ergebnisse verwenden, um eine systematische Auswahl von RPA-relevanten Prozessen vorzunehmen. Aus wissenschaftlicher Perspektive stellen die Ergebnisse eine Grundlage zur Erklärung des Erfolgs und Misserfolgs von RPA-Projekten dar.
Ein neues tragendes, lagenweise aufgebautes Holzbau-Wandsystem und seine ökonomische und statische Entwicklung werden vorgestellt. Randbedingungen wie Nachhaltigkeit, Ressourceneffizienz und eine beanspruchungsadaptive Konstruktionsweise sind für diese innovative Bauteilentwicklung von zentraler Bedeutung. Eine wesentliche Herausforderung ist die Herstellung der Verbindung der Lagen untereinander zu einem bauphysikalisch und statisch leistungsfähigen Wandsystem. Die Tragfähigkeit und Steifigkeit verschiedener Verbindungsvarianten wurden ebenso wie die Eigenschaften der Wandelemente analytisch, numerisch und experimentell untersucht.
Dieser verständliche Einstieg in SAP S/4HANA führt Sie anhand des Beispielunternehmens Global Bike durch die zentralen Abläufe in Vertrieb, Einkauf, Rechnungswesen, Produktion und Lagerverwaltung. Sie werden mit den betriebswirtschaftlichen Grundlagen, den relevanten Organisationsstrukturen und Stammdaten sowie den Prozessen vertraut gemacht. Mithilfe von Praxisbeispielen und Fallstudien sind Sie schon bald SAP-S/4HANA-Profi – für mehr Erfolg in Studium und Beruf!
Meitner-Auger-electron emitters have a promising potential for targeted radionuclide therapy of cancer because of their short range and the high linear energy transfer of Meitner-Auger-electrons (MAE). One promising MAE candidate is 197m/gHg with its half-life of 23.8 h and 64.1 h, respectively, and high MAE yield. Gold nanoparticles (AuNPs) that are labelled with 197m/gHg could be a helpful tool for radiation treatment of glioblastoma multiforme when infused into the surgical cavity after resection to prevent recurrence. To produce such AuNPs, 197m/gHg was embedded into pristine AuNPs. Two different syntheses were tested starting from irradiated gold containing trace amounts of 197m/gHg. When sodium citrate was used as reducing agent, no 197m/gHg labelled AuNPs were formed, but with tannic acid, 197m/gHg labeled AuNPs were produced. The method was optimized by neutralizing the pH (pH = 7) of the Au/197m/gHg solution, which led to labelled AuNPs with a size of 12.3 ± 2.0 nm as measured by transmission electron microscopy. The labelled AuNPs had a concentration of 50 μg (gold)/mL with an activity of 151 ± 93 kBq/mL (197gHg, time corrected to the end of bombardment).
Experimental determination of the cross sections of proton capture on radioactive nuclei is extremely difficult. Therefore, it is of substantial interest for the understanding of the production of the p-nuclei. For the first time, a direct measurement of proton-capture cross sections on stored, radioactive ions became possible in an energy range of interest for nuclear astrophysics. The experiment was performed at the Experimental Storage Ring (ESR) at GSI by making use of a sensitive method to measure (p,γ) and (p,n) reactions in inverse kinematics. These reaction channels are of high relevance for the nucleosyn-thesis processes in supernovae, which are among the most violent explosions in the universe and are not yet well understood. The cross section of the ¹¹⁸Te(p,γ) reaction has been measured at energies of 6 MeV/u and 7 MeV/u. The heavy ions interacted with a hydrogen gas jet target. The radiative recombination process of the fully stripped ¹¹⁸Te ions and electrons from the hydrogen target was used as a luminosity monitor. An overview of the experimental method and preliminary results from the ongoing analysis will be presented.
Ice melting probes
(2023)
The exploration of icy environments in the solar system, such as the poles of Mars and the icy moons (a.k.a. ocean worlds), is a key aspect for understanding their astrobiological potential as well as for extraterrestrial resource inspection. On these worlds, ice melting probes are considered to be well suited for the robotic clean execution of such missions. In this chapter, we describe ice melting probes and their applications, the physics of ice melting and how the melting behavior can be modeled and simulated numerically, the challenges for ice melting, and the required key technologies to deal with those challenges. We also give an overview of existing ice melting probes and report some results and lessons learned from laboratory and field tests.
This paper describes the potential for developing a digital twin of society- a dynamic model that can be used to observe, analyze, and predict the evolution of various societal aspects. Such a digital twin can help governmental agencies and policy makers in interpreting trends, understanding challenges, and making decisions regarding investments or policies necessary to support societal development and ensure future prosperity. The paper reviews related work regarding the digital twin paradigm and its applications. The paper presents a motivating case study- an analysis of opportunities and challenges faced by the German federal employment agency, Bundesagentur f¨ur Arbeit (BA), proposes solutions using digital twins, and describes initial proofs of concept for such solutions.
Deammonification for nitrogen removal in municipal wastewater in temperate and cold climate zones is currently limited to the side stream of municipal wastewater treatment plants (MWWTP). This study developed a conceptual model of a mainstream deammonification plant, designed for 30,000 P.E., considering possible solutions corresponding to the challenging mainstream conditions in Germany. In addition, the energy-saving potential, nitrogen elimination performance and construction-related costs of mainstream deammonification were compared to a conventional plant model, having a single-stage activated sludge process with upstream denitrification. The results revealed that an additional treatment step by combining chemical precipitation and ultra-fine screening is advantageous prior the mainstream deammonification. Hereby chemical oxygen demand (COD) can be reduced by 80% so that the COD:N ratio can be reduced from 12 to 2.5. Laboratory experiments testing mainstream conditions of temperature (8–20°C), pH (6–9) and COD:N ratio (1–6) showed an achievable volumetric nitrogen removal rate (VNRR) of at least 50 gN/(m3∙d) for various deammonifying sludges from side stream deammonification systems in the state of North Rhine-Westphalia, Germany, where m3 denotes reactor volume. Assuming a retained Norganic content of 0.0035 kgNorg./(P.E.∙d) from the daily loads of N at carbon removal stage and a VNRR of 50 gN/(m3∙d) under mainstream conditions, a resident-specific reactor volume of 0.115 m3/(P.E.) is required for mainstream deammonification. This is in the same order of magnitude as the conventional activated sludge process, i.e., 0.173 m3/(P.E.) for an MWWTP of size class of 4. The conventional plant model yielded a total specific electricity demand of 35 kWh/(P.E.∙a) for the operation of the whole MWWTP and an energy recovery potential of 15.8 kWh/(P.E.∙a) through anaerobic digestion. In contrast, the developed mainstream deammonification model plant would require only a 21.5 kWh/(P.E.∙a) energy demand and result in 24 kWh/(P.E.∙a) energy recovery potential, enabling the mainstream deammonification model plant to be self-sufficient. The retrofitting costs for the implementation of mainstream deammonification in existing conventional MWWTPs are nearly negligible as the existing units like activated sludge reactors, aerators and monitoring technology are reusable. However, the mainstream deammonification must meet the performance requirement of VNRR of about 50 gN/(m3∙d) in this case.
Messenger apps like WhatsApp and Telegram are frequently used for everyday communication, but they can also be utilized as a platform for illegal activity. Telegram allows public groups with up to 200.000 participants. Criminals use these public groups for trading illegal commodities and services, which becomes a concern for law enforcement agencies, who manually monitor suspicious activity in these chat rooms. This research demonstrates how natural language processing (NLP) can assist in analyzing these chat rooms, providing an explorative overview of the domain and facilitating purposeful analyses of user behavior. We provide a publicly available corpus of annotated text messages with entities and relations from four self-proclaimed black market chat rooms. Our pipeline approach aggregates the extracted product attributes from user messages to profiles and uses these with their sold products as features for clustering. The extracted structured information is the foundation for further data exploration, such as identifying the top vendors or fine-granular price analyses. Our evaluation shows that pretrained word vectors perform better for unsupervised clustering than state-of-the-art transformer models, while the latter is still superior for sequence labeling.
Next-generation aircraft designs often incorporate multiple large propellers attached along the wingspan. These highly flexible dynamic systems can exhibit uncommon aeroelastic instabilities, which should be carefully investigated to ensure safe operation. The interaction between the propeller and the wing is of particular importance. It is known that whirl flutter is stabilized by wing motion and wing aerodynamics. This paper investigates the effect of a propeller onto wing flutter as a function of span position and mounting stiffness between the propeller and wing. The analysis of a comparison between a tractor and pusher configuration has shown that the coupled system is more stable than the standalone wing for propeller positions near the wing tip for both configurations. The wing fluttermechanism is mostly affected by the mass of the propeller and the resulting change in eigenfrequencies of the wing. For very weak mounting stiffnesses, whirl flutter occurs, which was shown to be stabilized compared to a standalone propeller due to wing motion. On the other hand, the pusher configuration is, as to be expected, the more critical configuration due to the attached mass behind the elastic axis.
Today’s society is undergoing a paradigm shift driven by the megatrend of sustainability. This undeniably affects all areas of Western life. This paper aims to find out how the luxury industry is dealing with this change and what adjustments are made by the companies. For this purpose, interviews were conducted with managers from the luxury industry, in which they were asked about specific measures taken by their companies as well as trends in the industry. In a subsequent evaluation, the trends in the luxury industry were summarized for the areas of ecological, social, and economic sustainability. It was found that the area of environmental sustainability is significantly more focused than the other sub-areas. Furthermore, the need for a customer survey to validate the industry-based measures was identified.
The major advantage of labyrinth weirs over linear weirs is hydraulic efficiency. In hydraulic modeling efforts, this strength contrasts with limited pump capacity as well as limited computational power for CFD simulations. For the latter, reducing the number of investigated cycles can significantly reduce necessary computational time. In this study, a labyrinth weir with different cycle numbers was investigated. The simulations were conducted in FLOW-3D HYDRO as a Large Eddy Simulation. With a mean deviation of 1.75 % between simulated discharge coefficients and literature design equations, a reasonable agreement was found. For downstream conditions, overall consistent results were observed as well. However, the orientation of labyrinth weirs with a single cycle should be chosen carefully under consideration of the individual research purpose.
This thesis aims at the presentation and discussion of well-accepted and new
imaging techniques applied to different types of flow in common hydraulic
engineering environments. All studies are conducted in laboratory conditions and
focus on flow depth and velocity measurements. Investigated flows cover a wide
range of complexity, e.g. propagation of waves, dam-break flows, slightly and fully
aerated spillway flows as well as highly turbulent hydraulic jumps.
Newimagingmethods are compared to different types of sensorswhich are frequently
employed in contemporary laboratory studies. This classical instrumentation as well
as the general concept of hydraulic modeling is introduced to give an overview on
experimental methods.
Flow depths are commonly measured by means of ultrasonic sensors, also known as
acoustic displacement sensors. These sensors may provide accurate data with high
sample rates in case of simple flow conditions, e.g. low-turbulent clear water flows.
However, with increasing turbulence, higher uncertainty must be considered.
Moreover, ultrasonic sensors can provide point data only, while the relatively large
acoustic beam footprint may lead to another source of uncertainty in case of
relatively short, highly turbulent surface fluctuations (ripples) or free-surface
air-water flows. Analysis of turbulent length and time scales of surface fluctuations
from point measurements is also difficult. Imaging techniques with different
dimensionality, however, may close this gap. It is shown in this thesis that edge
detection methods (known from computer vision) may be used for two-dimensional
free-surface extraction (i.e. from images taken through transparant sidewalls in
laboratory flumes). Another opportunity in hydraulic laboratory studies comes with
the application of stereo vision. Low-cost RGB-D sensors can be used to gather
instantaneous, three-dimensional free-surface elevations, even in flows with very
high complexity (e.g. aerated hydraulic jumps). It will be shown that the uncertainty
of these methods is of similar order as for classical instruments.
Particle Image Velocimetry (PIV) is a well-accepted and widespread imaging
technique for velocity determination in laboratory conditions. In combination with
high-speed cameras, PIV can give time-resolved velocity fields in 2D/3D or even as
volumetric flow fields. PIV is based on a cross-correlation technique applied to small
subimages of seeded flows. The minimum size of these subimages defines the
maximum spatial resolution of resulting velocity fields. A derivative of PIV for
aerated flows is also available, i.e. the so-called Bubble Image Velocimetry (BIV). This
thesis emphasizes the capacities and limitations of both methods, using relatively
simple setups with halogen and LED illuminations. It will be demonstrated that
PIV/BIV images may also be processed by means of Optical Flow (OF) techniques.
OF is another method originating from the computer vision discipline, based on the
assumption of image brightness conservation within a sequence of images. The
Horn-Schunck approach, which has been first employed to hydraulic engineering
problems in the studies presented herein, yields dense velocity fields, i.e. pixelwise
velocity data. As discussed hereinafter, the accuracy of OF competes well with PIV
for clear-water flows and even improves results (compared to BIV) for aerated flow
conditions. In order to independently benchmark the OF approach, synthetic images
with defined turbulence intensitiy are used.
Computer vision offers new opportunities that may help to improve the
understanding of fluid mechanics and fluid-structure interactions in laboratory
investigations. In prototype environments, it can be employed for obstacle detection
(e.g. identification of potential fish migration corridors) and recognition (e.g. fish
species for monitoring in a fishway) or surface reconstruction (e.g. inspection of
hydraulic structures). It can thus be expected that applications to hydraulic
engineering problems will develop rapidly in near future. Current methods have not
been developed for fluids in motion. Systematic future developments are needed to
improve the results in such difficult conditions.