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The importance of validating and reproducing the outcome of computational processes is fundamental to many application domains. Assuring the provenance of workflows will likely become even more important with respect to the incorporation of human tasks to standard workflows by emerging standards such as WS-HumanTask. This paper addresses this trend by an actor-based workflow approach that actively support provenance. It proposes a framework to track and store provenance information automatically that applies for various workflow management systems. In particular, the introduced provenance framework supports the documentation of workflows in a legally binding way. The authors therefore use the concept of layered XML documents, i.e. history-tracing XML. Furthermore, the proposed provenance framework enables the executors (actors) of a particular workflow task to attest their operations and the associated results by integrating digital XML signatures.
We propose a formalism for reasoning about actions based on multi-modal logic which allows for expressing observations as first-class objects. We introduce a new modal operator, namely [o |α], which allows us to capture the notion of perceiving an observation given that an action has taken place. Formulae of the type [o |α]ϕ mean ’after perceiving observation o, given α was performed, necessarily ϕ’. In this paper, we focus on the challenges concerning sensing with explicit observations, and acting with nondeterministic effects. We present the syntax and semantics, and a correct and decidable tableau calculus for the logic
The high-level decision making process of an autonomous robot can be seen as an hierarchically organised entity, where strategical decisions are made on the topmost layer, while the bottom layer serves as driver for the hardware. In between is a layer with monitoring and reporting functionality. In this paper we propose a behaviour engine for this middle layer which, based on formalism of hybrid state machines (HSMs), bridges the gap between high-level strategic decision making and low-level actuator control. The behaviour engine has to execute and monitor behaviours and reports status information back to the higher level. To be able to call the behaviours or skills hierarchically, we extend the model of HSMs with dependencies and sub-skills. These Skill-HSMs are implemented in the lightweight but expressive Lua scripting language which is well-suited to implement the behaviour engine on our target platform, the humanoid robot Nao.
Es wurde ein automatisiertes, computerunterstütztes Testsystem für die Funktionsprüfung und Charakterisierung von (bio-)chemischen Sensoren auf Waferebene entwickelt und in einen konventionellen Spitzenmessplatz integriert. Das System ermöglicht die Charakterisierung und Identifizierung „funktionstauglicher“ Sensoren bereits auf Waferebene zwischen den einzelnen Herstellungsschritten, wodurch weitere, bisher übliche Verarbeitungsschritte wie das Fixieren, Bonden und Verkapseln für die defekten oder nicht funktionstauglichen Sensorstrukturen entfällt. Außerdem bietet eine speziell entworfene miniaturisierte Durchflussmesszelle die Möglichkeit, bereits auf Waferlevel die Sensitivität, Drift, Hysterese und Ansprechzeit der (bio-)chemischen Sensoren zu charakterisieren. Das System wurde exemplarisch mit kapazitiven, pH-sensitiven EIS- (Elektrolyt-Isolator-Silizium) Strukturen und ISFET- (ionensensitiver Feldeffekttransistor) Strukturen mit verschiedenen Geometrien und Gate-Layouts getestet.
For more than a decade up to now there is an ongoing interest in small gas turbines downsized to micro-scale. With their high energy density they offer a great potential as a substitute for today’s unwieldy accumulators, found in a variety of applications like laptops, small tools etc. But micro-scale gas turbines could not only be used for generating electricity, they could also produce thrust for powering small unmanned aerial vehicles (UAVs) or similar devices. Beneath all the great design challenges with the rotating parts of the turbomachinery at this small scale, another crucial item is in fact the combustion chamber needed for a safe and reliable operation. With the so called regular micromix burning principle for hydrogen successfully downscaled in an initial combustion chamber prototype of 10 kW energy output, this paper describes a new design attempt aimed at the integration possibilities in a μ-scale gas turbine. For manufacturing the combustion chamber completely out of stainless steel components, a recuperative wall cooling was introduced to keep the temperatures in an acceptable range. Also a new way of an integrated ignition was developed. The detailed description of the prototype’s design is followed by an in depth report about the test results. The experimental investigations comprise a set of mass flow variations, coupled with a variation of the equivalence ratio for each mass flow at different inlet temperatures and pressures. With the data obtained by an exhaust gas analysis, a full characterisation concerning combustion efficiency and stability of the prototype chamber is possible. Furthermore the data show a full compliance with the expected operating requirements of the designated μ-scale gas turbine.
The idea of component-based software engineering was proposed more that 40 years ago, yet only few robotics software frameworks follow these ideas. The main problem with robotics software usually is that it runs on a particular platform and transferring source code to another platform is crucial. In this paper, we present our software framework Fawkes which follows the component-based software design paradigm by featuring a clear component concept with well-defined communication interfaces. We deployed Fawkes on several different robot platforms ranging from service robots to biped soccer robots. Following the component concept with clearly defined communication interfaces shows great benefit when porting robot software from one robot to the other. Fawkes comes with a number of useful plugins for tasks like timing, logging, data visualization, software configuration, and even high-level decision making. These make it particularly easy to create and to debug productive code, shortening the typical development cycle for robot software.
Unter Energieeffizienz wird verstanden, dass ein definiertes Ziel mit möglichst wenig Energie erreicht wird. Im Beitrag wird zunächst eine Formel zur Berechnung der Gesamtenergieeffizienz eines Gebäudes angegeben. Darauf aufbauend wird ein 3-Säulen-Modell zur Energieeinsparung vorgeschlagen. Es beinhaltet vereinfachte Verfahren zur Berechnung der Betriebseigenschaften von Heizanlagen, raumlufttechnischen Anlagen und Kühl- und Kaltwasseranlagen. Am Beispiel einer RLT-Anlage wird die Vorgehensweise der Bewertung näher erläutert. Zusammenfassend wird festgestellt, dass das vereinfachte Verfahren eine schnelle und sichere energetische Bewertung der genannten Anlagen erlaubt,, zu Präsenzwissen führt, die Haupteinflussgrößen aufzeigt und eine Anlagenbewertung ohne Gebäudebewertung gewährleistet. Das vereinfachte Verfahren wird im Frühjahr 2011 verfügbar sein. Es soll Bestandteil der DIN V 18599 werden, und die EnEV 2012 soll darauf Bezug nehmen.
Energiebilanzen und -potenziale von Abwasseranlagen : Vorstellung neuer Untersuchungsvorhaben in NRW
(2010)
In diesem Beitrag werden Ergebnisse der Entwicklung eines modularen festkörperbasierten Sensorsystems für die Überwachung von Zellkulturfermentationen präsentiert. Zur Messung der Elektrolytleitfähigkeit wurde das Layout von Interdigitalelektroden angepasst, um in vergleichsweise gut leitenden Elektrolyten zu messen. Durch Quervernetzung von Glucose-Oxidase mit Glutaraldehyd und Immobilisierung auf einer Platinelektrode wurde ein amperometrischer Glucosesensor mit einem linearen Messbereich von bis zu 2 mM und einer Sensitivität von 168 nA/mM realisiert.
With the final objective of optimizing the "Micromix" hydrogen combustion principle, a round jet in a laminar cross-flow prior to its combustion is investigated experimentally using Stereoscopic Particle Image Velocimetry. Measurements are performed at a jet to cross-stream momentum ratio of 1 and a Reynolds number, based on the jet diameter and jet velocity, of 1600. The suitability to combine side, top and end views is analyzed statistically. The statistical theory of testing hypotheses, pertaining to the joint distribution of the averaged velocity along intersecting observation planes, is employed. Overall, the averaged velocity fields of the varying observation planes feature homogeneity at a 0.05 significance level. Minor discrepancies are related to the given experimental conditions. By use of image maps, averaged and instantaneous velocity fields, an attempt is made to elucidate the flow physics and a kinematically consistent vortex model is proposed. In the time-averaged flow field, the principal vortical systems were identified and the associated mixing visualized. The jet trajectory and physical dimensions scale with the momentum ratio times the jet diameter. The jet/cross-flow mixture converging upon the span-wise centre-line, the lifting action of the Counter Rotating Vortex Pair and the reversed flow region contribute to the high entrainment and mixedness. It is shown that the jet width is larger on the downstream side as compared to the upstream side of the centre-streamline. The deepest penetration of the particles on the outer boundary occurs in the centre-plane. Meanwhile, with increasing off-centre position, the boundaries all lay further from the centre-line position than does the boundary in the centre-plane, corresponding to a kidney-like shape of the flow cross-section. The generation of the Counter Rotating Vortex Pair and the instability mechanism is documented by instantaneous image maps and vector fields. The necessary circulation for the Counter Rotating Vortex Pair originates from a combined effect of steady in-hole, hanging and wake vortices. The strong cross-flow and jet interaction induces a three-dimensional waving, the stream-wise Counter Rotating Vortex Pair pair, leading to the formation of Ring Like Vortices. A secondary Counter Rotating Vortex Pair forms on top of the primary Counter Rotating Vortex Pair, resulting in mixing by "puffs". Overall, Stereoscopic Particle Image Velocimetry proofed capable of elucidating the Jet in Cross-Flow complex flow field. The gained insight in the mixing process will definitely contribute to the "Micromix" hydrogen combustion optimization.
Among many approaches to address the high-level decision making problem for autonomous robots and agents, the robot program¬ming and plan language Golog follows a logic-based deliberative approach, and its successors were successfully deployed in a number of robotics applications over the past ten years. Usually, Golog interpreter are implemented in Prolog, which is not available for our target plat¬form, the bi-ped robot platform Nao. In this paper we sketch our first approach towards a prototype implementation of a Golog interpreter in the scripting language Lua. With the example of the elevator domain we discuss how the basic action theory is specified and how we implemented fluent regression in Lua. One possible advantage of the availability of a Non-Prolog implementation of Golog could be that Golog becomes avail¬able on a larger number of platforms, and also becomes more attractive for roboticists outside the Cognitive Robotics community.
Die vorliegende Arbeit zeichnet sich dadurch aus, dass registrierte unsegmentierte Volumina aus multimodalen Bilddatensätzen (z.B. MRT, PET) gleichzeitig in einer 3D-Rekonstruktion visualisiert werden und in Echtzeit manipuliert werden können. Ermöglicht wird die Echtzeitfähigkeit durch die Programmierung der Algorithmen zur direkten Volumenvisualisierung auf der Grafikkarte mittels der neuen CUDA-Technologie. Die Zuordnung der Farbeigenschaften wird über 1D-Transferfunktionen für jedes Volumen getrennt gesteuert. So können durch die interaktive Veränderung der 1D-Transferfunktion Detailinformationen aus den zwei Bilddatensätzen getrennt kontrolliert werden und die Vorteile der verschiedenen Bildmodalitäten in einer Visualisierung genutzt werden. Mittels dieses interaktiven Frameworks können neue Erkenntnisse insbesondere über neurodegenerativen Erkrankungen gewonnen werden.
Lightning safety guidelines
(2010)
This paper introduces lightning to the layman, noting the right behaviour in front of thunderstorms as well as protective measures against lightning. It also contributes to the prevention of lightning injuries and damages. This report was prepared by the authors inside the AHG1 Group for IEC TC81 (Lightning Protection).