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In Deutschland liegt der Anteil der Windkraft an der Gesamtstromerzeugung bei 13,3% mit mehr als 25.000 installierten Windenergieanlagen (WEA). Weltweit erfährt die Windbranche ein rasantes Wachstum. Indien und China berichten eine jährliche Wachstumsrate an Neuinstallationen von 45%. Die Technologie zur Erzeugung elektrischer Energie aus Windkraft ist noch vergleichsweise jung. Durch die weltweit steigende Anzahl an Windenergieanlagen wächst zunehmend der Bedarf an innovativen Wartungslösungen. Komponenten wie Generator oder Getriebe sind inzwischen weitestgehend ausgereift. Der Fokus richtet sich zunehmend auf die wesentliche Kernkomponente - die Rotorblätter.
Industriekletterer inspizieren die Rotorblätter oder Türme i.d.R.
in einem zwei Jahres Rhythmus. Sie werden zunehmend durch Seilarbeitsbühnen unterstützt. Für größere Reparaturen kommen Kräne zum Einsatz, mit denen das Rotorblatt für die Instandhaltung demontiert wird. Die Standardinspektion besteht aus Sicht- und Klopfprüfung der Rotorblattoberfläche und ist nur bei sehr ruhiger Wetterlage durchführbar. Seit September 2014 wird das Forschungsprojekt SMART (Scanning, Monitoring, Analysis, Repair and Transportation), Entwicklung einer Wartungsplattform für WEA, vom BMWi gefördert. Das Konsortium besteht aus zwei Firmen und der
Fachhochschule Aachen. Die SMART-Anlage klettert reibschlüssig am Turm der WEA mittels speziellen Kettenfahrwerken (Abbildung) auf- und abwärts. Ein ringförmiges Spannsystems, basierend auf dem Konzept der „Nürnberger“-Schere, erzeugt die erforderliche Anpresskraft für den Kletterprozess. Wettergeschützte Arbeitskabinen ermöglichen die ganzjährige Instandhaltung von Rotorblättern und ebenso Türmen. Dadurch können Wartungsarbeiten auf 24 Stunden am Tag ausgeweitet werden. Der kombinierte Einsatz (Sensorfusion) bildgebender Messtechnik wie Thermografie, Ultraschall, und Terahertz in der Arbeitskabine kann die Dokumentation, Effizienz und Qualität der Instandhaltungsarbeiten erheblich verbessern. Langfristiges Ziel von SMART ist ein Condition Monitoring für Rotorblätter und Türme auf Basis digitalisierter dreidimensionaler Volumenscans. Der kooperative Einsatz mit UAVs erweitert die Instandhaltungsstrategie. UAVs ermöglichen die schnelle, kostengünstige globale optische Inspektion von Rotorblattoberflächen zur Detektion potentieller Fehlstellen. Der „Proof-of-Concept“ Meilenstein wurde mit der Demonstration eines funktionsfähigen Modells im Dezember 2015 erfolgreich abgeschlossen.
Im Mai 2012 fand in Hamburg erstmals das „Junge Forum Hochschul- und Mediendidaktik“ statt, im Juni 2013 folgte in Potsdam die zweite Auflage als „Junges Forum Medien und Hochschulentwicklung“. 2014 wurde das dritte „Forum“ in Dresden und 2015 das vierte in Düsseldorf ausgerichtet. Das fünfte Forum wird 2016 an der Technischen Universität Darmstadt stattfinden. Initiiert und organisiert wird die Veranstaltung stets von jungen Praktikerinnen und Praktikern sowie Forscherinnen und Forschern mit dem Ziel, dem ‚Nachwuchs‘ in diesem Bereich ein Austauschforum zu geben. Der vorliegende Artikel stellt die konzeptionellen Überlegungen vor, die hinter diesen Treffen stehen. Er zeigt im Rückgriff auf Netzwerktheorie und aktuelle Diskussionen um Professionalisierung und Third Space, wieso für dieses Format ein aktueller Bedarf besteht, und begründet dann im Rückgriff auf didaktische Konzepte auch die methodische Gestaltung der Veranstaltungen. Unsere These: Das kooperative Lernen in Netzwerken ist ein wichtiger Baustein für die Professionalisierung des hochschul- und mediendidaktischen Nachwuchses.
A comparative performance analysis of the CFD platforms OpenFOAM and FLOW-3D is presented, focusing on a 3D swirling turbulent flow: a steady hydraulic jump at low Reynolds number. Turbulence is treated using RANS approach RNG k-ε. A Volume Of Fluid (VOF) method is used to track the air–water interface, consequently aeration is modeled using an Eulerian–Eulerian approach. Structured meshes of cubic elements are used to discretize the channel geometry. The numerical model accuracy is assessed comparing representative hydraulic jump variables (sequent depth ratio, roller length, mean velocity profiles, velocity decay or free surface profile) to experimental data. The model results are also compared to previous studies to broaden the result validation. Both codes reproduced the phenomenon under study concurring with experimental data, although special care must be taken when swirling flows occur. Both models can be used to reproduce the hydraulic performance of energy dissipation structures at low Reynolds numbers.
We prove characterizations of the existence of perfect ƒ-matchings in uniform mengerian and perfect hypergraphs. Moreover, we investigate the ƒ-factor problem in balanced hypergraphs. For uniform balanced hypergraphs we prove two existence theorems with purely combinatorial arguments, whereas for non-uniform balanced hypergraphs we show that the ƒ-factor problem is NP-hard.
Given the strong increase in regulatory requirements for business processes the management of business process compliance becomes a more and more regarded field in IS research. Several methods have been developed to support compliance checking of conceptual models. However, their focus on distinct modeling languages and mostly linear (i.e., predecessor-successor related) compliance rules may hinder widespread adoption and application in practice. Furthermore, hardly any of them has been evaluated in a real-world setting. We address this issue by applying a generic pattern matching approach for conceptual models to business process compliance checking in the financial sector. It consists of a model query language, a search algorithm and a corresponding modelling tool prototype. It is (1) applicable for all graph-based conceptual modeling languages and (2) for different kinds of compliance rules. Furthermore, based on an applicability check, we (3) evaluate the approach in a financial industry project setting against its relevance for decision support of audit and compliance management tasks.
Malware auf Smartphones ist ein Problem, dem auch Strafverfolgungsbehörden immer häufiger gegenüberstehen.
Insbesondere Telefone, bei denen potentiell schadhafte Apps zu einem finanziellen Schaden
geführt haben, finden sich auf den Schreibtischen der Polizei wieder. Dabei müssen die Ermittler möglichst
schnell und gezielt erkennen können, ob eine App tatsächlich schadhaft manipuliert wurde, was
manipuliert wurde und mit wem die App kommuniziert. Klassische Malware-Erkennungsverfahren helfen
zwar bei der generellen Erkennung schadhafter Software, sind aber für die polizeiliche Praxis nicht
geeignet. Dieses Paper stellt ein Programm vor, welches gerade die forensischen Fragestellungen berücksichtigt
und so für den Einsatz in der Strafverfolgung in Frage kommt.
To better understand what kinds of sports and exercise could be beneficial for the intervertebral disc (IVD), we performed a review to synthesise the literature on IVD adaptation with loading and exercise. The state of the literature did not permit a systematic review; therefore, we performed a narrative review. The majority of the available data come from cell or whole-disc loading models and animal exercise models. However, some studies have examined the impact of specific sports on IVD degeneration in humans and acute exercise on disc size. Based on the data available in the literature, loading types that are likely beneficial to the IVD are dynamic, axial, at slow to moderate movement speeds, and of a magnitude experienced in walking and jogging. Static loading, torsional loading, flexion with compression, rapid loading, high-impact loading and explosive tasks are likely detrimental for the IVD. Reduced physical activity and disuse appear to be detrimental for the IVD. We also consider the impact of genetics and the likelihood of a ‘critical period’ for the effect of exercise in IVD development. The current review summarises the literature to increase awareness amongst exercise, rehabilitation and ergonomic professionals regarding IVD health and provides recommendations on future directions in research.
Divided government is often thought of as causing legislative deadlock. I investigate the link between divided government and economic reforms using a novel data set on welfare reforms in US states between 1978 and 2010. Panel data regressions show that, under divided government, a US state is around 25% more likely to adopt a welfare reform than under unified government. Several robustness checks confirm this counter-intuitive finding. Case study evidence suggests an explanation based on policy competition between governor, senate, and house.
The structure of the female pelvic floor (PF) is an inter-related system of bony pelvis,muscles, pelvic organs, fascias, ligaments, and nerves with multiple functions. Mechanically, thepelvic organ support system are of two types: (I) supporting system of the levator ani (LA) muscle,and (II) the suspension system of the endopelvic fascia condensation [1], [2]. Significantdenervation injury to the pelvic musculature, depolimerization of the collagen fibrils of the softvaginal hammock, cervical ring and ligaments during pregnancy and vaginal delivery weakens thenormal functions of the pelvic floor. Pelvic organ prolapse, incontinence, sexual dysfunction aresome of the dysfunctions which increases progressively with age and menopause due toweakened support system according to the Integral theory [3]. An improved 3D finite elementmodel of the female pelvic floor as shown in Fig. 1 is constructed that: (I) considers the realisticsupport of the organs to the pelvic side walls, (II) employs the improvement of our previous FEmodel [4], [5] along with the patient based geometries, (III) incorporates the realistic anatomy andboundary conditions of the endopelvic (pubocervical and rectovaginal) fascia, and (IV) considersvarying stiffness of the endopelvic fascia in the craniocaudal direction [3]. Several computationsare carried out on the presented computational model with healthy and damaged supportingtissues, and comparisons are made to understand the physiopathology of the female PF disorders.
The stimulation and dominance of potentially harmful phytoplankton taxa at a given locale and time are determined by local environmental conditions as well as by transport to or from neighboring regions. The present study investigated the occurrence of common harmful algal bloom (HAB) taxa within the Southern California Bight, using cross-correlation functions to determine potential dependencies between HAB taxa and environmental factors, and potential links to algal transport via local hydrography and currents. A simulation study, in which Lagrangian particles were released, was used to assess travel times due to advection by prevailing ocean currents in the bight. Our results indicate that transport of some taxa may be an important mechanism for the expansion of their distributions into other regions, which was supported by mean travel times derived from our simulation study and other literature on ocean currents in the Southern California Bight. In other cases, however, phytoplankton dynamics were rather linked to local environmental conditions, including coastal upwelling events. Overall, our study shows that complex current patterns in the Southern California Bight may contribute significantly to the formation and expansion of HABs in addition to local environmental factors determining the spatiotemporal dynamics of phytoplankton blooms.
Der Beitrag fokussiert die Frage nach dem Stand des durch die Bologna-Reform angestoßenen Kulturwandels im Hinblick auf Kompetenzorientierung am Beispiel der Technischen Universität Hamburg (TUHH). An der TUHH wird bereits seit einigen Jahren daran gearbeitet, die Lehre grundlegend neu auszurichten. Hierfür setzt das hochschuldidaktische "Zentrum für Lehre und Lernen" (ZLL) verschiedene Maßnahmen ein, wie z.B. eine finanzielle und didaktische Unterstützung von Lehrenden bei der Umstellung ihrer Veranstaltungen, Weiterqualifizierungsangebote und Informationsmaterial. Die Maßnahmen ebenso wie die innovierten Veranstaltungen werden von Lehrenden und Studierenden gut evaluiert. Nach dem Ansatz des Constructive Alignments lässt sich jedoch davon ausgehen, dass der Bereich der Prüfungen für eine Einschätzung des Status Quo der Kompetenzorientierung besonders relevant ist. Dieser wird deshalb anhand der beiden Kriterien Prüfungsformate und Schwierigkeitsstufen von Prüfungsaufgaben näher beleuchtet, die eng mit der Kompetenzorientierung zusammen hängen. Ergebnisse hierzu aus einer universitätsweiten Datenbank zur Studienorganisation sowie aus einer Online-Umfrage unter Studierenden weisen darauf hin, dass das Prüfungsformat "Klausur" nach wie vor am stärksten verbreitet ist; zugleich sind die Studierenden nach einer Selbsteinschätzung in Prüfungen vorrangig mit Aufgaben auf den Taxonomieniveaus "Wiedergeben" und "Anwenden" konfrontiert. Dies lässt sich als Hinweis darauf interpretieren, dass es im Hinblick auf eine Kompetenzorientierung in den Prüfungen noch weiteren Veränderungsbedarf gibt.
Unser Zuhause wird zunehmend intelligenter. Smart Homes bieten uns die Steuerung von Haus- oder Unterhaltungstechnik bequem vom Smartphone aus. Junge Familien nutzen die Technologie, um mittels vernetzten Babymonitorsystemen ihren Nachwuchs von überall aus im Blick zu haben. Davon auszugehen, dass solche Systeme mit einem Fokus auf Sicherheit entwickelt wurden, um die sehr persönlichen Daten zu schützen, ist jedoch ein Trugschluss. Die Untersuchung eines handelsüblichen und keineswegs billigen Systems zeigt, dass die Geräte sehr einfach kompromittiert und missbraucht werden können.
Abstractauthoren Graphene oxide (GO) nanoparticles were incorporated in temperature-sensitive Poly(N-isopropylacrylamide) (PNIPAAm) hydrogels. The nanoparticles increase the light absorption and convert light energy into heat efficiently. Thus, the hydrogels with GO can be stimulated spatially resolved by illumination as it was demonstrated by IR thermography. The temporal progression of the temperature maximum was detected for different concentrations of GO within the polymer network. Furthermore, the compatibility of PNIPAAm hydrogels with GO and cell cultures was investigated. For this purpose, culture medium was incubated with hydrogels containing GO and the viability and morphology of chinese hamster ovary (CHO) cells was examined after several days of culturing in presence of this medium.
Application of the optical flow method to velocity determination in hydraulic structure models
(2016)
Optical flow estimation is known from Computer Vision where it is used to determine obstacle movements through a sequence of images following an assumption of brightness conservation. This paper presents the first study on application of the optical flow method to aerated stepped spillway flows. For this purpose, the flow is captured with a high-speed camera and illuminated with a synchronized LED light source. The flow velocities, obtained using a basic Horn–Schunck method for estimation of the optical flow coupled with an image pyramid multi-resolution approach for image filtering, compare well with data from intrusive conductivity probe measurements. Application of the Horn–Schunck method yields densely populated flow field data sets with velocity information for every pixel. It is found that the image pyramid approach has the most significant effect on the accuracy compared to other image processing techniques. However, the final results show some dependency on the pixel intensity distribution, with better accuracy found for grey values between 100 and 150.
The behaviour of infilled reinforced concrete frames under horizontal load has been widely investigated, both experimentally and numerically. Since experimental tests represent large investments, numerical simulations offer an efficient approach for a more comprehensive analysis. When RC frames with masonry infill walls are subjected to horizontal loading, their behaviour is highly non-linear after a certain limit, which makes their analysis quite difficult. The non-linear behaviour results from the complex inelastic material properties of the concrete, infill wall and conditions at the wall-frame interface. In order to investigate this non-linear behaviour in detail, a finite element model using a micro modelling approach is developed, which is able to predict the complex non-linear behaviour resulting from the different materials and their interaction. Concrete and bricks are represented by a non-linear material model, while each reinforcement bar is represented as an individual part installed in the concrete part and behaving elasto-plastically. Each brick is modelled individually and connected taking into account the non-linearity of a brick mortar interface. The same approach is followed using two finite element software packages and the results are compared with the experimental results. The numerical models show a good agreement with the experiments in predicting the overall behaviour, but also very good matching for strength capacity and drift. The results emphasize the quality and the valuable contribution of the numerical models for use in parametric studies, which are needed for the derivation of design recommendations for infilled frame structures.
A New Class of Biosensors Based on Tobacco Mosaic Virus and Coat Proteins as Enzyme Nanocarrier
(2016)
Die stoffliche Nutzung von Lignin aus Bioraffinerien ist ein wichtiger Bestandteil für den Wertschöpfungsprozess von nachwachsenden, pflanzlichen Rohstoffen. Lignin zählt zu den wenigen erneuerbaren Quellen für phenolische Bestandteile, wird aber derzeit meist nur thermisch verwertet. Ziel dieses Forschungsvorhabens ist die Funktionalisierung von Lignin zur Verbesserung der Adhäsionseigenschaften. Als funktionelle Gruppe wird die aromatische Aminosäure L-DOPA verwendet, die charakteristisch für die Adhäsionskraft von Muscheln ist. Lignin ist ein geeignetes Stützgerüst, da es ein Polymer ist, das durch enzymkatalysierte Polymerisation gebildet wird. Essenziell für die Entwicklung ist ein besseres Verständnis über die Bildung von Lignin-Polymeren und deren verschiedene Eigenschaften. Um die Einflussfaktoren auf Kettenlänge und Polymerisationseffizienz zu untersuchen, werden zurzeit sowohl Ligninmodellkomponenten (LMK) als auch gelöstes Organosolv-Lignin verwendet. Laufende Untersuchungen werden zeigen, ob sich die enzymatische Polymerisationsreaktion auf ein gelöstes Ligninpolymer aus einem Organosolv-Aufschluss übertragen lässt.
Objective
This study assesses and quantifies impairment of postoperative magnetic resonance imaging (MRI) at 7 Tesla (T) after implantation of titanium cranial fixation plates (CFPs) for neurosurgical bone flap fixation.
Materials and methods
The study group comprised five patients who were intra-individually examined with 3 and 7 T MRI preoperatively and postoperatively (within 72 h/3 months) after implantation of CFPs. Acquired sequences included T₁-weighted magnetization-prepared rapid-acquisition gradient-echo (MPRAGE), T₂-weighted turbo-spin-echo (TSE) imaging, and susceptibility-weighted imaging (SWI). Two experienced neurosurgeons and a neuroradiologist rated image quality and the presence of artifacts in consensus reading.
Results
Minor artifacts occurred around the CFPs in MPRAGE and T2 TSE at both field strengths, with no significant differences between 3 and 7 T. In SWI, artifacts were accentuated in the early postoperative scans at both field strengths due to intracranial air and hemorrhagic remnants. After resorption, the brain tissue directly adjacent to skull bone could still be assessed. Image quality after 3 months was equal to the preoperative examinations at 3 and 7 T.
Conclusion
Image quality after CFP implantation was not significantly impaired in 7 T MRI, and artifacts were comparable to those in 3 T MRI.
Ein Drittel der Mitarbeiter der Saint-Gobain Glass Deutschland
GmbH hat drei Jahre lang regelmäßig seinen Rücken trainiert.
Mit Erfolg, wie eine abschließende Evaluation in Zusammenarbeit
mit der FH Aachen zeigt. Die Fehltage der Trainingsteilnehmer
sind enorm zurückgegangen, während die untrainierten Kollegen
weiterhin unter Rückenbeschwerden leiden.
Zur Unterstützung des Transformationsbedarfs von Telekommunikationsunternehmen sind die Referenzmodelle des TM Forums in der Praxis weltweit anerkannt. Dabei findet jedoch meist eine losgelöste Nutzung für spezifische Einzelthemen statt. Daher führt dieser Artikel die bestehenden Inhalte in einer industriespezifischen, übergreifenden Referenzarchitektur zusammen. Der Fokus liegt auf den Ebenen Aufbauorganisation, Prozesse, Applikationen und Daten. Darüber hinaus werden inhaltliche Architekturdomänen zur Strukturierung angeboten. Die Referenzarchitektur ist hierarchisch aufgebaut und wird hier beispielhaft für ausgewählte, aggregierte Inhalte beschrieben. Als erste Evaluation wird die Anwendung der Referenzarchitektur in drei Praxisprojekten erläutert.
Evaluation of fragility curves for a three-storey-reinforced-concrete mock-up of SMART 2013 project
(2016)
Breast cancer resistance protein (BCRP) is expressed in various tissues, such as the gut, liver, kidney and blood brain barrier (BBB), where it mediates the unidirectional transport of substrates to the apical/luminal side of polarized cells. Thereby BCRP acts as an efflux pump, mediating the elimination or restricting the entry of endogenous compounds or xenobiotics into tissues and it plays important roles in drug disposition, efficacy and safety. Bcrp knockout mice (Bcrp−/−) have been used widely to study the role of this transporter in limiting intestinal absorption and brain penetration of substrate compounds. Here we describe the first generation and characterization of a mouse line humanized for BCRP (hBCRP), in which the mouse coding sequence from the start to stop codon was replaced with the corresponding human genomic region, such that the human transporter is expressed under control of the murine Bcrp promoter. We demonstrate robust human and loss of mouse BCRP/Bcrp mRNA and protein expression in the hBCRP mice and the absence of major compensatory changes in the expression of other genes involved in drug metabolism and disposition. Pharmacokinetic and brain distribution studies with several BCRP probe substrates confirmed the functional activity of the human transporter in these mice. Furthermore, we provide practical examples for the use of hBCRP mice to study drug-drug interactions (DDIs). The hBCRP mouse is a promising model to study the in vivo role of human BCRP in limiting absorption and BBB penetration of substrate compounds and to investigate clinically relevant DDIs involving BCRP.
On-line monitoring of the metabolic activity of microorganisms involved in intermediate stages of biogas production plays an important role to avoid undesirable “down times” during the biogas production. In order to control this process, an on-chip differential measuring system based on the light-addressable potentiometric sensor (LAPS) principle combined with a 3D-printed multi-chamber structure has been realized. As a test microorganism, Escherichia coli K12 (E. coli K12) were used for cell-based measurements. Multi-chamber structures were developed to determine the metabolic activity of E. coli K12 in suspension for a different number of cells, responding to the addition of a constant or variable amount of glucose concentrations, enabling differential and simultaneous measurements.
Based on an identifying Volterra type integral equation for randomly right censored observations from a lifetime distribution function F, we solve the corresponding estimating equation by an explicit and implicit Euler scheme. While the first approach results in some known estimators, the second one produces new semi-parametric and pre-smoothed Kaplan–Meier estimators which are real distribution functions rather than sub-distribution functions as the former ones are. This property of the new estimators is particular useful if one wants to estimate the expected lifetime restricted to the support of the observation time.
Specifically, we focus on estimation under the semi-parametric random censorship model (SRCM), that is, a random censorship model where the conditional expectation of the censoring indicator given the observation belongs to a parametric family. We show that some estimated linear functionals which are based on the new semi-parametric estimator are strong consistent, asymptotically normal, and efficient under SRCM. In a small simulation study, the performance of the new estimator is illustrated under moderate sample sizes. Finally, we apply the new estimator to a well-known real dataset.
In den letzten Jahren haben nachhaltige, biotechnologische Prozesse zunehmend an Bedeutung gewonnen. Die Aceton-Butanol-Ethanol-Fermentation (ABE-Fermentation) mit dem anaeroben Bakterium Clostridium acetobutylicum zur Gewinnung von Biobutanol könnte in diesem Zusammenhang eine Möglichkeit der nachhaltigen Kraftstoffproduktion darstellen. In dieser Arbeit wird der Einfluss zusätzlich verfügbarer Elektronen durch den Einsatz des Phenazin-Farbstoffs Neutralrot als Redoxmediator sowie das Anlegen eines elektrischen Potenzials während der ABE-Fermentation untersucht. Es wird gezeigt, dass das Neutralrot keinen Einfluss auf die Leerlaufspannung von ca. 500 mV vs. Ag/AgCl während der Fermentation hat. Der Mediator bewirkt allerdings eine frühere Butanolbildung sowie höhere Butanolkonzentrationen. Wird zudem die Mediatorkonzentration von 125 mM auf 250 mM angehoben, wird dabei auch die maximale Butanolkonzentration um 36 % ± 1,8 % innerhalb von28 Stunden gesteigert.
Electromicrobial engineering is an emerging, highly interdisciplinary research area linking bioprocesses with electrochemistry. In this work, microbial electrosynthesis (MES) of biobutanol is carried out during acetone-butanol-ethanol (ABE) fermentations with Clostridium acetobutylicum. A constant electric potential of −600mV (vs. Ag/AgCl) with simultaneous addition of the soluble redox mediator neutral red is used in order to study the electron transfer between the working electrode and the bacterial cells. The results show an earlier initiation of solvent production for all fermentations with applied potential compared to the conventional ABE fermentation. The f inal butanol concentration can be more than doubled by the application of a negative potential combined with addition of neutral red. Moreover a higher biofilm formation on the working electrode compared to control cultivations has been observed. In contrast to previous studies, our results also indicate that direct electron transfer (DET) might be possible with C. acetobutylicum. The presented results make microbial butanol production economically attractive and therefore support the development of sustainable production processes in the chemical industry aspired by the “Centre for resource-efficient chemistry and raw material change” as well as the the project “NanoKat” working on nanostructured catalysts in Kaiserslautern.
Robots are widely used as a vehicle to spark interest in science and technology in learners. A number of initiatives focus on this issue, for instance, the Roberta Initiative, the FIRST Lego League, the World Robot Olympiad and RoboCup Junior. Robotic competitions are valuable not only for school learners but also for university students, as the RoboCup initiative shows. Besides technical skills, the students get some project exposure and experience what it means to finish their tasks on time. But qualifying students for future high-tech areas should not only be for students from developed countries. In this article, we present our experiences with research and education in robotics within the RoboCup initiative, in Germany and South Africa; we report on our experiences with trying to get the RoboCup initiative in South Africa going. RoboCup has a huge support base of academic institutions in Germany; this is not the case in South Africa. We present our ‘north–south’ collaboration initiatives in RoboCup between Germany and South Africa and discuss some of the reasons why we think it is harder to run RoboCup in South Africa.
This summer, RoboCup competitions were held for the 20th time in Leipzig, Germany. It was the second time that RoboCup took place in Germany, 10 years after the 2006 RoboCup in Bremen. In this article, we give an overview on the latest developments of RoboCup and what happened in the different leagues over the last decade. With its 20th edition, RoboCup clearly is a success story and a role model for robotics competitions. From our personal view point, we acknowledge this by giving a retrospection about what makes RoboCup such a success.
Im Jahr 2015 wurden in Deutschland über drei Millionen Benzinautos und lediglich 12.363 Elektroautos neu zugelassen. Das ursprünglich von der Bundesregierung vorgegebene Ziel, dass bis 2020 eine Million E-Autos auf deutschen Straßen fahren (und bis 2030 sechs Millionen), rückt damit in immer weitere Ferne. Um das Ziel dennoch zu erreichen, plant die Bundesregierung nun eine staatliche Prämie für den Kauf von Elektroautos: Umwelt-, Verkehrs- und Wirtschaftsministerium haben gemeinsam ein Konzept entworfen, dem zufolge private Käufer zukünftig einen Zuschuss von 5.000 Euro beim Erwerb eines Elektroautos bekommen sollen. 40 Prozent dieses Zuschusses soll von den Autoherstellern getragen werden. Das Programm, das weitere ausgabenwirksame öffentliche Maßnahmen vorsieht, würde Kosten in Milliardenhöhe verursachen. Die beabsichtigte Subventionierung wirft die Frage auf, ob diese wirtschaftlich sinnvoll sind.
To give the exchange of goods and services between the European Union (EU) and the United States (U.S.) new momentum the two parties are currently negotiating the transatlantic free trade agreement Transatlantic Trade and Investment Partnership (TTIP). The aim is to create the largest free trade area in the world. The agreement, once entered into force, will oblige EU countries and the U.S. to further liberalize their markets.
The negotiations on TTIP include a chapter on Electronic Communications/ Telecommunications. The challenge therein will be securing commitments for market access to Electronic Communications services. At the same time, these commitments must reflect the legitimate need for consumer protection issues. The need to reduce Electronic Communications-related non-tariff barriers to trade between the Parties is due to the fact that these markets are heavily regulated. Without transnational rules as to regulations national governments can abuse these regulations to deter the market entry by new (foreign) suppliers. Thus the free trade agreement TTIP affects in many respects regulatory provisions on and access to Electronic Communications markets. The objective of this paper is therefore to examine to what extend the regulatory principles for Electronic Communications markets envisaged under TTIP will result in trade facilitation and regulatory convergence between the EU and the U.S.
As to this question the result of the analysis is that the chapter on Electronic Communications will be an important step towards facilitating trade in Electronic Communications services. At the same time some regulatory convergence will take place, but this convergence will not lead to a (full) harmonization of regulations. Rather the norm, also after TTIP negotiations will have been concluded successfully, will be mutual recognition of different regulatory regimes. Different regulations being the optimal policy response in different market settings will continue to exist. Moreover, it is very unlikely that such regulatory principles for the Electronic Communications sector are a vehicle for a race to the bottom in levels of consumer protection.
We present an electromechanically coupled computational model for the investigation of a thin cardiac tissue construct consisting of human-induced pluripotent stem cell-derived atrial, ventricular and sinoatrial cardiomyocytes. The mechanical and electrophysiological parts of the finite element model, as well as their coupling are explained in detail. The model is implemented in the open source finite element code Code_Aster and is employed for the simulation of a thin circular membrane deflected by a monolayer of autonomously beating, circular, thin cardiac tissue. Two cardio-active drugs, S-Bay K8644 and veratridine, are applied in experiments and simulations and are investigated with respect to their chronotropic effects on the tissue. These results demonstrate the potential of coupled micro- and macroscopic electromechanical models of cardiac tissue to be adapted to experimental results at the cellular level. Further model improvements are discussed taking into account experimentally measurable quantities that can easily be extracted from the obtained experimental results. The goal is to estimate the potential to adapt the presented model to sample specific cell cultures.
The Dry-Low-NOₓ (DLN) Micromix combustion technology has been developed as low emission combustion principle for industrial gas turbines fueled with hydrogen or syngas. The combustion process is based on the phenomenon of jet-in-crossflow-mixing. Fuel is injected perpendicular into the air-cross-flow and burned in a multitude of miniaturized, diffusion-like flames. The miniaturization of the flames leads to a significant reduction of NOₓ emissions due to the very short residence time of reactants in the flame.
In the Micromix research approach, CFD analyses are validated towards experimental results. The combination of numerical and experimental methods allows an efficient design and optimization of DLN Micromix combustors concerning combustion stability and low NOₓ emissions.
The paper presents a comparison of several numerical combustion models for hydrogen and hydrogen-rich syngas. They differ in the complexity of the underlying reaction mechanism and the associated computational effort.
For pure hydrogen combustion a one-step global reaction is applied using a hybrid Eddy-Break-up model that incorporates finite rate kinetics. The model is evaluated and compared to a detailed hydrogen combustion mechanism derived by Li et al. including 9 species and 19 reversible elementary reactions. Based on this mechanism, reduction of the computational effort is achieved by applying the Flamelet Generated Manifolds (FGM) method while the accuracy of the detailed reaction scheme is maintained.
For hydrogen-rich syngas combustion (H₂-CO) numerical analyses based on a skeletal H₂/CO reaction mechanism derived by Hawkes et al. and a detailed reaction mechanism provided by Ranzi et al. are performed.
The comparison between combustion models and the validation of numerical results is based on exhaust gas compositions available from experimental investigation on DLN Micromix combustors.
The conducted evaluation confirms that the applied detailed combustion mechanisms are able to predict the general physics of the DLN-Micromix combustion process accurately. The Flamelet Generated Manifolds method proved to be generally suitable to reduce the computational effort while maintaining the accuracy of detailed chemistry.
Especially for reaction mechanisms with a high number of species accuracy and computational effort can be balanced using the FGM model.
Combined with the use of renewable energy sources for its production, hydrogen represents a possible alternative gas turbine fuel for future low-emission power generation. Due to the difference in the physical properties of hydrogen compared to other fuels such as natural gas, well-established gas turbine combustion systems cannot be directly applied to dry low NOₓ (DLN) hydrogen combustion. The DLN micromix combustion of hydrogen has been under development for many years, since it has the promise to significantly reduce NOₓ emissions. This combustion principle for air-breathing engines is based on crossflow mixing of air and gaseous hydrogen. Air and hydrogen react in multiple miniaturized diffusion-type flames with an inherent safety against flashback and with low NOₓ emissions due to a very short residence time of the reactants in the flame region. The paper presents an advanced DLN micromix hydrogen application. The experimental and numerical study shows a combustor configuration with a significantly reduced number of enlarged fuel injectors with high-thermal power output at constant energy density. Larger fuel injectors reduce manufacturing costs, are more robust and less sensitive to fuel contamination and blockage in industrial environments. The experimental and numerical results confirm the successful application of high-energy injectors, while the DLN micromix characteristics of the design point, under part-load conditions, and under off-design operation are maintained. Atmospheric test rig data on NOₓ emissions, optical flame-structure, and combustor material temperatures are compared to numerical simulations and show good agreement. The impact of the applied scaling and design laws on the miniaturized micromix flamelets is particularly investigated numerically for the resulting flow field, the flame-structure, and NOₓ formation.
Es werden Effizienzbegriffe zum Vergleich von statistischen Tests basierend auf verschiedenen statistischen Experimenten eingeführt. Dabei handelt es sich um die schon aus dem Vergleich von statistischen Tests in je demselben Modell bekannten asymptotischen relativen Effizienzen wie die Hodges-Lehmann-Effizienz, die Bahadur-Effizienz und die Pitman-Effizienz sowie um Kriterien basierend auf Volumina von Konfidenzbereichen. Effizienzaussagen werden unter anderem für Likelihood-Quotienten-Tests und Waldsche Tests im Rahmen eines allgemeinen multivariaten parametrischen Modells erhalten. Statistische Tests zur Prüfung von Hypothesen über die relative Wirksamkeit zweier Experimente werden vorgeschlagen. Auf der Grundlage der erhaltenen Ergebnisse erfolgt ein Vergleich der Wirksamkeit von korrespondierenden Verfahren bei verbundener Stichprobenerhebung und unabhängiger Stichprobenerhebung. Die Rolle der Kovarianzmatrix bei verbundener Stichprobenerhebung wird insbesondere unter der Annahme, dass die zugrunde liegenden Verteilungen durch k-parametrische Exponentialfamilien modellierbar sind, herausgearbeitet. Verbindungen zu Effizienzbegriffen bei Punkt- und Konfidenzbereichsschätzverfahren werden aufgezeigt. Ausführlichere Untersuchungen betreffen die korrespondierenden Hotellingschen T²-Tests im multivariaten Normalverteilungsfall, die klassischen Homogenitatstests bei k × k-Kontingenztafeln und die Wilcoxon Tests in nichtparametrischen Lagealternativmodellen
In the last decades, several hundred exoplanets could be detected thanks to space-based observatories, namely CNES’ COROT and NASA’s Kepler. To expand this quest ESA plans to launch CHEOPS as the f irst small class mission in the cosmic visions program (S1) and PLATO as the 3rd medium class mission, so called M3 . PLATO’s primary objective is the detection of Earth like Exoplanets orbiting solar type stars in the habitable zone and characterisation of their bulk properties. This is possible by precise lightcurve measurement via 34 cameras. That said it becomes obvious that accurate pointing is key to achieve the required signal to noise ratio for positive transit detection. The paper will start with a comprehensive overview of PLATO’s mission objectives and mission architecture. Hereafter, special focus will be devoted to PLATO’s pointing requirements. Understanding the very nature of PLATO’s pointing requirements is essential to derive a design baseline to achieve the required performance. The PLATO frequency domain is of particular interest, ranging from 40 mHz to 3 Hz. Due to the very different time-scales involved, the spectral pointing requirement is decomposed into a high frequency part dominated by the attitude control system and the low frequency part dominated by the thermo-elastic properties of the spacecraft’s configuration. Both pose stringent constraints on the overall design as well as technology properties to comply with the derived requirements and thus assure a successful mission.
Autoradiography is a well-established method of nuclear imaging. When different radionuclides are present simultaneously, additional processing is needed to distinguish distributions of radionuclides. In this work, a method is presented where aluminium absorbers of different thickness are used to produce images with different cut-off energies. By subtracting images pixel-by-pixel one can generate images representing certain ranges of β-particle energies. The method is applied to the measurement of irradiated reactor graphite samples containing several radionuclides to determine the spatial distribution of these radionuclides within pre-defined energy windows. The process was repeated under fixed parameters after thermal treatment of the samples. The greyscale images of the distribution after treatment were subtracted from the corresponding pre-treatment images. Significant changes in the intensity and distribution of radionuclides could be observed in some samples. Due to the thermal treatment parameters the most significant differences were observed in the ³H and ¹⁴C inventory and distribution.
Background/Aims: Common systems for the quantification of cellular contraction rely on animal-based models, complex experimental setups or indirect approaches. The herein presented CellDrum technology for testing mechanical tension of cellular monolayers and thin tissue constructs has the potential to scale-up mechanical testing towards medium-throughput analyses. Using hiPS-Cardiac Myocytes (hiPS-CMs) it represents a new perspective of drug testing and brings us closer to personalized drug medication. Methods: In the present study, monolayers of self-beating hiPS-CMs were grown on ultra-thin circular silicone membranes and deflect under the weight of the culture medium. Rhythmic contractions of the hiPS-CMs induced variations of the membrane deflection. The recorded contraction-relaxation-cycles were analyzed with respect to their amplitudes, durations, time integrals and frequencies. Besides unstimulated force and tensile stress, we investigated the effects of agonists and antagonists acting on Ca²⁺ channels (S-Bay K8644/verapamil) and Na⁺ channels (veratridine/lidocaine). Results: The measured data and simulations for pharmacologically unstimulated contraction resembled findings in native human heart tissue, while the pharmacological dose-response curves were highly accurate and consistent with reference data. Conclusion: We conclude that the combination of the CellDrum with hiPS-CMs offers a fast, facile and precise system for pharmacological, toxicological studies and offers new preclinical basic research potential.
Following the recent successful landings and occasional re-awakenings of PHILAE, the lander carried aboard ROSETTA to comet 67P/Churyumov-Gerasimenko, and the launch of the Mobile Asteroid Surface Scout, MASCOT, aboard the HAYABUSA2 space probe to asteroid (162173) Ryugu we present an overview of the characteristics and peculiarities of small spacecraft missions to small solar system bodies (SSSB). Their main purpose is planetary science which is transitioning from a ‘pure’ science of observation of the distant to one also supporting in-situ applications relevant for life on Earth. Here we focus on missions at the interface of SSSB science and planetary defence applications. We provide a brief overview of small spacecraft SSSB missions and on this background present recent missions, projects and related studies at the German Aerospace Center, DLR, that contribute to the worldwide planetary defence community. These range from Earth orbit technology demonstrators to active science missions in interplanetary space. We provide a summary of experience from recently flown missions with DLR participation as well as a number of studies. These include PHILAE, the lander of ESA’s ROSETTA comet rendezvous mission now on the surface of comet 67P/Churyumov-Gerasimenko, and the Mobile Asteroid Surface Scout, MASCOT, now in cruise to the ~1 km diameter C-type near-Earth asteroid (162173) Ryugu aboard the Japanese sample-return probe HAYABUSA2. We introduce the differences between the conventional methods employed in the design, integration and testing of large spacecraft and the new approaches developed by small spacecraft projects. We expect that the practical experience that can be gained from projects on extremely compressed timelines or with high-intensity operation phases on a newly explored small solar system body can contribute significantly to the study, preparation and realization of future planetary defence related missions. One is AIDA (Asteroid Impact & Deflection Assessment), a joint effort of ESA, JHU/APL, NASA, OCA and DLR, combining JHU/APL’s DART (Double Asteroid Redirection Test) and ESA’s AIM (Asteroid Impact Monitor) spacecraft in a mission towards near-Earth binary asteroid system (65803) Didymos. DLR is currently applying MASCOT heritage and lessons learned to the design of MASCOT2, a lander for the AIM mission to support a bistatic low frequency radar experiment with PHILAE/ROSETTA CONSERT heritage to explore the inner structure of Didymoon which is the designated impact target for DART.
Treatment of posttraumatic osteoarthritis of the radial column of the elbow joint remains a challenging yet common issue.
While partial joint replacement leads to high revision rates, radial head excision has shown to severely increase joint instability. Shortening osteotomy of the radius could be an option to decrease the contact pressure of the radiohumeral joint and thereby pain levels without causing valgus instability. Hence, the aim of this biomechanical study was to evaluate the effects of radial shortening on axial load distribution and valgus stability of the elbow joint.
Surgical reconstruction of the interosseous membrane (IOM) could restore longitudinal forearm stability to avoid persisting disability due to capituloradial and ulnocarpal impingement in Essex Lopresti lesions. This biomechanical study aimed to assess longitudinal forearm stability of intact specimens, after sectioning of the IOM and after reconstruction with a TightRope construct using either a single or double bundle technique.
Plate osteosynthesis of displaced proximal phalangeal neck fractures of the hand allows early mobilization due to a stable internal fixation. Nevertheless, joint stiffness—because of soft tissue irritation—represents a common complication leading to high complication rates. Del Pinal et al. recently reported promising clinical results for a new, minimally invasive fixation technique with a cannulated headless intramedullary compression screw. Hence, the aim of this study was to compare plate fixation of proximal phalangeal neck fractures to less two less invasive techniques: Crossed k-wire fixation and intramedullary screw fixation. We hypothesized that these fixation techniques provide inferior stability when compared to plate osteosynthesis.
This paper describes the results and methods used during the 8th Global Trajectory Optimization Competition (GTOC) of the DLR team. Trajectory optimization is crucial for most of the space missions and usually can be formulated as a global optimization problem. A lot of research has been done to different type of mission problems. The most demanding ones are low thrust transfers with e.g. gravity assist sequences. In that case the optimal control problem is combined with an integer problem. In most of the GTOCs we apply a filtering of the problem based on domain knowledge.
Bonding of polymer-based microfluidics to polymer substrates still poses a challenge for Lab-On-a-Chip applications. Especially, when sensing elements are incorporated, patterned deposition of adhesives with curing at ambient conditions is required. Here, we demonstrate a fabrication method for fully printed microfluidic systems with sensing elements using inkjet and stereolithographic 3D-printing.
Elastomers are exceptional materials owing to their ability to undergo large deformations before failure. However, due to their very low stiffness, they are not always suitable for industrial applications. Addition of filler particles provides reinforcing effects and thus enhances the material properties that render them more versatile for applications like tyres etc. However, deformation behavior of filled polymers is accompanied by several nonlinear effects like Mullins and Payne effect. To this day, the physical and chemical changes resulting in such nonlinear effect remain an active area of research. In this work, we develop a heterogeneous (or multiphase) constitutive model at the mesoscale explicitly considering filler particle aggregates, elastomeric matrix and their mechanical interaction through an approximate interface layer. The developed constitutive model is used to demonstrate cluster breakage, also, as one of the possible sources for Mullins effect observed in non-crystallizing filled elastomers.
Four members of a homologous series of chlorinated poly(vinyl ester) oligomers CCl₃–(CH₂CH (OCO(CH₂)ₘCH₃))ₙ–Cl with degrees of polymerization of 10 and 20 were prepared by telomerisation using carbon tetrachloride. The number of side chain carbon atoms ranges from 2 (poly(vinyl acetate) to 18 (poly(vinyl stearate)). The effect of the n-alkyl side chain length and of the degree of polymerization on the thermal stability and crystallization behaviour of the synthesized compounds was investigated.
All oligomers degrade in two major steps by first losing HCl and side chains with subsequent breakdown of the backbone. The members with short side chains, up to poly(vinyl octanoate), are amorphous and show internal plasticization, whereas those with high number of side chain carbon atoms are semi-crystalline due to side-chain crystallization. A better packing for poly(vinyl stearate) is also noticeable. The glass transition and melting temperatures as well as the onset temperature of decomposition are influenced to a larger extent by the side chain length than by the degree of polymerization. Thermal stability is improved if both the size and number of side chains increase, but only a long side chain causes a significant increase of the resistance to degradation. This results in a stabilization of PVAc so that oligomers from poly(vinyl octanoate) on are stable under atmospheric conditions. Thus, the way to design stable, chlorinated PVEs oligomers is to use a long n-alkyl side chain.
Die Ausbildung von Biofilmen in technischen Anlagen, wie z. B. Kühlkreisläufen, Wasseraufbereitungssystemen und Bioreaktoren, führen zu Materialschäden (Biofouling) und stark erhöhtem Energieaufwand. Im Rahmen der aktuellen Forschungsarbeiten erfolgen aktive sowie passive Bio-Modifikationen auf funktionalisierten magnetischen Mikropartikelober-flächen. Um die verschiedenen funktionalisierten magnetischen Mikropartikel zu analysieren und ihre antimikrobielle Wirkung zu testen, wird der Einsatz einer 3D-gedruckten, magnetischen Plattform für ein Fluoreszenz-basiertes Screening-System untersucht. Für den Oberflächenschutz wurden verschiedene, antimikrobiell funktionalisierte Partikelkombinationen mit dem Mikroorganismus Escherichia coli GFPmut2 in Bezug auf aktiven Oberflächenschutz verglichen. Um die antimikrobielle Oberflächeneffekte von synergistischen Kombinationen unterschiedlich funktionalisierter Partikel zu bestimmen, werden Oberflächen einem Magnetfeld ausgesetzt, das die Mikropartikel als definierte Schicht auf ihnen zurück hält. Diese modifizierten Oberflächen können sowohl durch Fluoreszenzspektroskopie als auch -mikroskopie analysiert werden.
Das Forschungsvorhaben Optiox beschäftigt sich mit der Optimierung eines Belüftungsbeckens zur Rauchgasentschwefelung fossil befeuerter Kraftwerke mittels Seewasser. Unter Neutralisierung der entstehenden Hydroniumionen (H3O+) durch die natürliche Alkalität des Seewassers dissoziiert Schwefeldioxid aus dem Rauchgase im vorgeschalteten Absorber beim Phasenübergang von der Gas- in die Flüssigphase zu Sulfiten. Im Belüftungsbecken werden diese Sulfite mittels eingeblasener Luft zu Sulfaten oxidiert, was zu einer geringen Erhöhung der Sulfatfracht vor Einleitung ins Meer führt, die unterhalb der natürlichen Schwankungen liegt. Daneben dient das Belüftungsbecken der Konditionierung des Seewassers hinsichtlich pH-Wert und Sauerstoffgehalt und ist mit hoch effizienten Belüftern ausgestattet, deren Spezifikation den jeweiligen Randbedingungen, wie Abscheideleistung des Absorbers, Beckengeometrie sowie lokalen Gegebenheiten angepasst wird.
Zur Anwendung des Eurocode 3 Teil 1-2 für die Heißbemessung und Anregungen für dessen Novellierung
(2016)
Die Eurocodes werden bis zum Jahr 2020 im Europäischen Komitee für Normung (CEN), Technisches Komitee TC 250, überarbeitet. In Vorbereitung auf die Eurocode-Novellierung haben engagierte Ingenieure im Rahmen der Initiative PraxisRegeln Bau (PRB) die für die praktische Anwendung häufig genutzten Teile des Eurocode 3 untersucht. Mit dem Ziel, die Praxistauglichkeit des Eurocode 3 für die Heißbemessung zu verbessern, wurden die bestehende Norm EN 1993 Teil 1-2 insbesondere in Bezug auf die Anwenderfreundlichkeit analysiert und Vorschläge für die europäische Novellierung erarbeitet. Die Analysen zeigen, dass durch Umstrukturierungen und durch die Einführung von Tabellen die Verständlichkeit und Anwenderfreundlichkeit der Regeln für die Heißbemessung bedeutend erhöht werden können.
The Monte Carlo code FLUKA is used to simulate the production of a number of positron emitting radionuclides, ¹⁸F, ¹³N, ⁹⁴Tc, ⁴⁴Sc, ⁶⁸Ga, ⁸⁶Y, ⁸⁹Zr, ⁵²Mn, ⁶¹Cu and ⁵⁵Co, on a small medical cyclotron with a proton beam energy of 13 MeV. Experimental data collected at the TR13 cyclotron at TRIUMF agree within a factor of 0.6 ± 0.4 with the directly simulated data, except for the production of ⁵⁵Co, where the simulation underestimates the experiment by a factor of 3.4 ± 0.4. The experimental data also agree within a factor of 0.8 ± 0.6 with the convolution of simulated proton fluence and cross sections from literature. Overall, this confirms the applicability of FLUKA to simulate radionuclide production at 13 MeV proton beam energy.
The performance and biomass yield of the perennial energy plant Sida hermaphrodita (hereafter referred to as Sida) as a feedstock for biogas and solid fuel was evaluated throughout one entire growing period at agricultural field conditions. A Sida plant development code was established to allow comparison of the plant growth stages and biomass composition. Four scenarios were evaluated to determine the use of Sida biomass with regard to plant development and harvest time: (i) one harvest for solid fuel only; (ii) one harvest for biogas production only; (iii) one harvest for biogas production, followed by a harvest of the regrown biomass for solid fuel; and (iv) two consecutive harvests for biogas production. To determine Sida's value as a feedstock for combustion, we assessed the caloric value, the ash quality, and melting point with regard to DIN EN ISO norms. The results showed highest total dry biomass yields of max. 25 t ha⁻¹, whereas the highest dry matter of 70% to 80% was obtained at the end of the growing period. Scenario (i) clearly indicated the highest energy recovery, accounting for 439 288 MJ ha⁻¹; the energy recovery of the four scenarios from highest to lowest followed this order: (i) ≫ (iii) ≫ (iv) > (ii). Analysis of the Sida ashes showed a high melting point of >1500 °C, associated with a net calorific value of 16.5–17.2 MJ kg⁻¹. All prerequisites for DIN EN ISO norms were achieved, indicating Sida's advantage as a solid energy carrier without any post-treatment after harvesting. Cell wall analysis of the stems showed a constant lignin content after sampling week 16 (July), whereas cellulose had already reached a plateau in sampling week 4 (April). The results highlight Sida as a promising woody, perennial plant, providing biomass for flexible and multipurpose energy applications.
The enormous diversity of seed traits is an intriguing feature and critical for the overwhelming success of higher plants. In particular, seed mass is generally regarded to be key for seedling development but is mostly approximated by using scanning methods delivering only two-dimensional data, often termed seed size. However, three-dimensional traits, such as the volume or mass of single seeds, are very rarely determined in routine measurements. Here, we introduce a device named phenoSeeder, which enables the handling and phenotyping of individual seeds of very different sizes. The system consists of a pick-and-place robot and a modular setup of sensors that can be versatilely extended. Basic biometric traits detected for individual seeds are two-dimensional data from projections, three-dimensional data from volumetric measures, and mass, from which seed density is also calculated. Each seed is tracked by an identifier and, after phenotyping, can be planted, sorted, or individually stored for further evaluation or processing (e.g. in routine seed-to-plant tracking pipelines). By investigating seeds of Arabidopsis (Arabidopsis thaliana), rapeseed (Brassica napus), and barley (Hordeum vulgare), we observed that, even for apparently round-shaped seeds of rapeseed, correlations between the projected area and the mass of seeds were much weaker than between volume and mass. This indicates that simple projections may not deliver good proxies for seed mass. Although throughput is limited, we expect that automated seed phenotyping on a single-seed basis can contribute valuable information for applications in a wide range of wild or crop species, including seed classification, seed sorting, and assessment of seed quality.
The human arm consists of the humerus (upper arm), the medial ulna and the lateral radius (forearm). The joint between the humerus and the ulna is called humeroulnar joint and the joint between the humerus and the radius is called humeroradial joint. Lateral and medial collateral ligaments stabilize the elbow. Statistically, 2.5 out of 10,000 people suffer from radial head fractures [1]. In these fractures the cartilage is often affected. Caused by the injured cartilage, degenerative diseases like posttraumatic arthrosis may occur. The resulting pain and reduced range of motion have an impact on the patient’s quality of life. Until now, there has not been a treatment which allows typical loads in daily life activities and offers good long-term results. A new surgical approach was developed with the motivation to reduce the progress of the posttraumatic arthrosis. Here, the radius is shortened by 3 mm in the proximal part [2]. By this means, the load of the radius is intended to be reduced due to a load shift to the ulna. Since the radius is the most important stabilizer of the elbow it has to be confirmed that the stability is not affected. In the first test (Fig. 1 left), pressure distributions within the humeroulnar and humeroradial joints a native and a shortened radius were measured using resistive pressure sensors (I5076 and I5027, Tekscan, USA). The humerus was loaded axially in a tension testing machine (Z010, Zwick Roell, Germany) in 50 N steps up to 400 N. From the humerus the load is transmitted through both the radius and the ulna into the hand which is fixed on the ground. In the second test (Fig. 1 right), the joint stability was investigated using a digital image correlation system to measure the displacement of the ulna. Here, the humerus is fixed with a desired flexion angle and the unconstrained forearm lies on the ground. A rope connects the load actuator with a hook fixed in the ulna. A guide roller is used so that the rope pulls the ulna horizontally when a tensile load is applied. This creates a moment about the elbow joint with a maximum value of 7.5 Nm. Measurements were performed with varying flexion angles (0°, 30°, 60°, 90°, 120°). For both tests and each measurement, seven specimens were used. Student ́s t-test was employed to determine whether the mean values of the measurements in native specimen and operated specimens differ significantly.
The production and assembly of customized products increases the demand for flexible automation systems. One approach is to remove the safety fences that separate human and industrial robot to combine their skills. This collaboration possesses a certain risk for the human co-worker, leading to numerous safety concepts to protect him. The human needs to be monitored and tracked by a safety system using different sensors. The proposed system consists of a RGBD camera for surveillance of the common working area, an array of optical distance sensors to compensate shadowing effects of the RGBD camera and a laser range finder to detect the co-worker when approaching the work cell. The software for collision detection, path planning, robot control and predicting the behaviour of the co-worker is based on the Robot Operating System (ROS). A first prototype of the work cell shows that with advanced algorithms from the field of mobile robotics a very flexible safety concept can be realized: the robot not simply stops its movement when detecting a collision, but plans and executes an alternative path around the obstacle.