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In this paper, the use of reinforcement learning (RL) in control systems is investigated using a rotatory inverted pendulum as an example. The control behavior of an RL controller is compared to that of traditional LQR and MPC controllers. This is done by evaluating their behavior under optimal conditions, their disturbance behavior, their robustness and their development process. All the investigated controllers are developed using MATLAB and the Simulink simulation environment and later deployed to a real pendulum model powered by a Raspberry Pi. The RL algorithm used is Proximal Policy Optimization (PPO). The LQR controller exhibits an easy development process, an average to good control behavior and average to good robustness. A linear MPC controller could show excellent results under optimal operating conditions. However, when subjected to disturbances or deviations from the equilibrium point, it showed poor performance and sometimes instable behavior. Employing a nonlinear MPC Controller in real time was not possible due to the high computational effort involved. The RL controller exhibits by far the most versatile and robust control behavior. When operated in the simulation environment, it achieved a high control accuracy. When employed in the real system, however, it only shows average accuracy and a significantly greater performance loss compared to the simulation than the traditional controllers. With MATLAB, it is not yet possible to directly post-train the RL controller on the Raspberry Pi, which is an obstacle to the practical application of RL in a prototyping or teaching setting. Nevertheless, RL in general proves to be a flexible and powerful control method, which is well suited for complex or nonlinear systems where traditional controllers struggle.
Vermessung
(2006)
Vermessung
(2006)
Vermessung
(2016)
Biopharmaceuticals such as antibodies are produced in cultivated mammalian cells, which must be monitored to comply with good manufacturing practice. We, therefore, developed a fully automated system comprising a specific exhaust gas analyzer, inline analytics and a corresponding algorithm to precisely determine the oxygen uptake rate, carbon dioxide evolution rate, carbon dioxide transfer rate, transfer quotient and respiratory quotient without interrupting the ongoing cultivation, in order to assess its reproducibility. The system was verified using chemical simulation experiments and was able to measure the respiratory activity of hybridoma cells and DG44 cells (derived from Chinese hamster ovary cells) with satisfactory results at a minimum viable cell density of ~2.0 × 10⁵ cells ml⁻¹. The system was suitable for both batch and fed-batch cultivations in bubble-aerated and membrane-aerated reactors, with and without the control of pH and dissolved oxygen.
The Pharmacokinetics and Metabolism of Lumiracoxib in Chimeric Humanized and Murinized FRG Mice
(2017)
The pharmacokinetics and metabolism of diclofenac in chimeric humanized and murinized FRG mice
(2018)
The pharmacokinetics of diclofenac were investigated following single oral doses of 10 mg/kg to chimeric liver humanized and murinized FRG and C57BL/6 mice. In addition, the metabolism and excretion were investigated in chimeric liver humanized and murinized FRG mice. Diclofenac reached maximum blood concentrations of 2.43 ± 0.9 µg/mL (n = 3) at 0.25 h post-dose with an AUCinf of 3.67 µg h/mL and an effective half-life of 0.86 h (n = 2). In the murinized animals, maximum blood concentrations were determined as 3.86 ± 2.31 µg/mL at 0.25 h post-dose with an AUCinf of 4.94 ± 2.93 µg h/mL and a half-life of 0.52 ± 0.03 h (n = 3). In C57BL/6J mice, mean peak blood concentrations of 2.31 ± 0.53 µg/mL were seen 0.25 h post-dose with a mean AUCinf of 2.10 ± 0.49 µg h/mL and a half-life of 0.51 ± 0.49 h (n = 3). Analysis of blood indicated only trace quantities of drug-related material in chimeric humanized and murinized FRG mice. Metabolic profiling of urine, bile and faecal extracts revealed a complex pattern of metabolites for both humanized and murinized animals with, in addition to unchanged parent drug, a variety of hydroxylated and conjugated metabolites detected. The profiles in humanized mice were different to those of both murinized and wild-type animals, e.g., a higher proportion of the dose was detected in the form of acyl glucuronide metabolites and much reduced amounts as taurine conjugates. Comparison of the metabolic profiles obtained from the present study with previously published data from C57BL/6J mice and humans revealed a greater, though not complete, match between chimeric humanized mice and humans, such that the liver humanized FRG model may represent a model for assessing the biotransformation of such compounds in humans.
Die Staatliche Antikensammlung in München ist eine antike Kunstsammlung, bestehend aus zwei Kunsthäusern. Das Haus der Glyptothek befindet sich auf der Nordseite und die Antikensammlung auf der Südseite des Königsplatzes. Während die Glyptothek Skulpturen ausstellt, zeigt die Antikensammlung Gebrauchsgegenstände und Objekte aus der etruskischen, griechischen und römischen Epoche. Sie gehört mit ihrer Kunstsammlung zu den weltweit führenden ihrer Art. In seinem Vorhaben, das Kulturerbe zu wahren, legt das Museum besonders hohen Wert auf Bildung und Vermittlung. Um dies langfristig zu gewährleisten, ist ein ausgeglichenes Erscheinungsbild zwischen Klassik und Modernität unentbehrlich. Die griechische Stilepoche zeichnet sich in ihrer abstrakten Nutzung von geometrischen Grundformen aus. Im Zusammenspiel von geometrischen Formen und Abstrahierungen entsteht ein neues Erscheinungsbild.
Gebaute Geschichte in Turin
(2014)
Peyre, Marie-Josephe
(2017)
Peyre, Antoine-Francois
(2017)
Patte, Pierre
(2017)
Ranson, Pierre
(2017)
Lepautre
(2015)
Zur Synthese der Hühnerinsulin-A-Kette, I : Darstellung der Fragmente A1–8, A9–15, A1–7 und A8–15
(1979)
Ukiyo kommt aus dem Japanischen und bedeutet übersetzt so viel wie: „Den Moment leben, ohne von den Sorgen des Lebens berührt zu werden.“ Gerade in Zeiten der Pandemie verliert man oft den Blick für das Schöne im Leben. Der Fotoband „UKIYO“ soll dazu anregen, alltägliche Dinge aus einem neuen Blickwinkel zu betrachten und die Schönheit im Vergänglichen zu erkennen. Die Fotografien sind inspiriert durch das japanische Kunstgenre Ukiyo-e, was wörtlich übersetzt etwa „Bilder der heiteren, fließenden Welt“ heißt. Die Gestaltung des Bildbandes orientiert sich an verschiedenen japanischen Stilmitteln, wie zum Beispiel Wabi-Sabi (die Schönheit im Unvollkommenen) und Mono no aware (eine melancholische Mischung aus Freude, Trauer und Hinnahme). „UKIYO“ nimmt die Betrachter mit auf eine kleine Reise durch die fließende Welt.
Thermal Characterization of additive manufactured Integral Structures for Phase Change Applications
(2020)
“Infused Thermal Solutions” (ITS) introduces a method for passive thermal control to stabilize structural components thermally without active heating and cooling systems, by using phase change material (PCM) in combination with lattice – both embedded into an additive manufactured integral structure. The technology is currently under development. This paper presents the results of the thermal property measurements performed on additive manufactured ITS breadboards. Within the breadboard campaigns key characteristics of the additive manufactured specimens were derived: Mechanical parameters: specimen impermeability, minimum wall thickness, lattice structure, subsequent heat treatment. Thermal properties: thermo-optical surface properties of the additive manufactured raw material, thermal conductivity and specific heat capacity measurements. As a conclusion the paper introduces an overview of potential ITS hardware applications, expected to increase the thermal performance.
Neue Perspektiven für die Bahn in der Produktions- und Distributionslogistik durch Prozessautomation
(2020)
Adsorptive Vorbehandlung von Rohglycerin für die 1,3-Propandiol Fermentation mit Clostridium diolis
(2014)
Bei der Gewinnung von Fettsäuren aus Pflanzenölen, z. B. zur Herstellung von Biopolymeren, oder bei der Biodiesel- und Seifenproduktion, fällt Glycerin als Nebenprodukt an. Bei der Biokonversion dieses Rohstoffes zu 1,3-Propandiol wird der Produktionsorganismus Clostridium diolis durch Verunreinigungen im Rohglycerin gehemmt. Als inhibierende Substanzen konnten freie Fettsäuren identifiziert werden. Mithilfe eines adsorptiven Aufarbeitungsverfahrens ist es gelungen, die Fettsäuren zu entfernen und die Konversionseffizienz zu 1,3-Propandiol zu erhöhen.