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Institute
- Fakultät für Angewandte Gesundheits- und Sozialwissenschaften (413)
- Fakultät für Angewandte Natur- und Geisteswissenschaften (235)
- Fakultät für Ingenieurwissenschaften (227)
- Fakultät für Holztechnik und Bau (211)
- Fakultät für Informatik (148)
- Fakultät für Betriebswirtschaft (107)
- Zentrum für Forschung, Entwicklung und Transfer (79)
- Fakultät für Chemische Technologie und Wirtschaft (44)
- Fakultät für Sozialwissenschaften (37)
- Forschung und Entwicklung (31)
Reverberation effects as observed by room microphones severely degrade the performance of automatic speech recognition systems. We investigate the use of dereverberation by spectral subtraction as proposed by Lebart and Boucher and introduce a simple approach to estimate the required decay parameter by clapping hands. Experiments on small vocabulary continuous speech recognition task on read speech show that using the calibrated dereverberation improves WER from 73.2 to 54.7 for the best microphone. In combination with system adaptation, the WER could be reduced to 28.2, which is only a 16% relative loss of performance comparison to using a headset instead of a room microphone.
Holz statt Braunkohle
(2020)
Holz statt Braunkohle
(2020)
Ziel des Vorhabens war Prüfung die Untersuchung der technischen und wirtschaftlichen Machbarkeit einer dezentralen Prozesskette zur nachhaltigen Bereitstellung von hochwertigen Grundstoffen aus bislang schwer nutzbarer Non-Food-Biomasse zur stofflichen Nutzung.
Die Untersuchung erfolgt mittels der Weiterentwicklung einer mechanischen Aufschluss- und Fraktionierungstechnologie mit anschließender biochemischer Konversion.
Insgesamt fanden 14 verschiedene Versuchsläufe innerhalb der Projektlaufzeit statt.
In allen Ausgangsmaterialien konnten Zuckerbestandteile mit der enzymatischen Hydrolyse nachgewiesen werden. Somit konnte die technische Machbarkeit bewiesen werden. Nach dem Prinzip einer integrierten Nutzungskaskade wurden die einzelnen Komponenten miteinander verbunden.
Die wirtschaftliche Machbarkeit war jedoch nur gegeben, da die Erlöse aus der Biogasanlage die Verluste in der enzymatischen Hydrolyse ausglichen.
Die enzymatische Hydrolyse hätte für eine eigene Wirtschaftlichkeit höhere Zuckerausbeuten erzielen müssen. Dies konnte auch unter Verwendung verschiedener zusätzlicher Maßnahmen für keinen der Eingangsstoffe reproduzierbar bewiesen werden.
Aus diesem Grund untersucht ein Teil des Konsortiums die wirtschaftliche Machbarkeit einer alternativen Aufschlusstechnologie im Anschluss an das Projekt weiter.
This contribution introduces MOBSY, a fully integrated, autonomous mobile service robot system. It acts as an automatic dialogue-based receptionist for visitors to our institute.
MOBSY incorporates many techniques from different research areas into one working stand-alone system. The techniques involved range from computer vision over speech understanding to classical robotics.
Along with the two main aspects of vision and speech, we also focus on the integration aspect, both on the methodological and on the technical level.
We describe the task and the techniques involved. Finally, we discuss the experiences that we gained with MOBSY during a live performance at our institute.
Die typischerweise gewünschten Einsatzgebiete für Dienstleistungsroboter, z. B. Krankenhäuser oder Seniorenheime, stellen sehr hohe Anforderungen an die Mensch-Maschine-Schnittstelle.
Diese Erfordernisse gehen im Allgemeinen über die Möglichkeiten der Standardsensoren, wie Ultraschalloder Infrarotsensoren, hinaus. Es müssen daher ergänzende Verfahren zum Einsatz kommen.
Aus der Sicht der Mustererkennung sind die Nutzung des Rechnersehens und des natürlichsprachlichen Dialogs von besonderem Interesse. Dieser Beitrag stellt das mobile System MOBS Y vor. MOBS Y ist ein vollkommen integrierter autonomer mobiler Dienstleistungsroboter.
Er dient als ein automatischer dialogbasierter Empfangsservice für Besucher unseres Instituts.
MOBSY vereinigt vielfältige Methoden aus unterschiedlichsten Forschungsgebieten in einem eigenständigen System. Die zum Einsatz kommenden Methoden aus dem Bereich der Bildverarbeitung reichen dabei von Objektklassifikation über visuelle Selbstlokalisierung und Rekalibrierung bis hin zu multiokularer Objektverfolgung.
Die Dialogkomponente umfasst Methoden der Spracherkennung, des Sprachverstehens und die Generierung von Antworten. Im Beitrag werden die zu erfüllende Aufgabe und die einzelnen Verfahren dargestellt.
MOBSY is a fully integrated autonomous mobile service robot system.
It acts as an automatic dialogue based receptionist for visitors of our institute. MOBSY incorporates many techniques from different research areas into one working stand-alone system. Especially the computer vision and dialogue aspects are of main interest from the pattern recognition’s point of view.
To summarize shortly, the involved techniques range from object classification over visual self-localization and recalibration to object tracking with multiple cameras. A dialogue component has to deal with speech recognition, understanding and answer generation. Further techniques needed are navigation, obstacle avoidance, and mechanisms to provide fault tolerant behavior.
This contribution introduces our mobile system MOBSY. Among the main aspects vision and speech, we focus also on the integration aspect, both on the methodological and on the technical level. We describe the task and the involved techniques.
Finally, we discuss the experiences that we gained with MOBSY during a live performance at the 25th anniversary of our institute
Wepresentaniterativeregistrationalgorithmfor aligning two differently scaled 3-D point sets. It extends the popular Iterative Closest Point (ICP) algorithm by estimating a scale factor between the two point sets in every iteration.
The presented algorithm is especially useful for the registration of point sets generated by structure-frommotion algorithms, which only reconstruct the 3-D structure of a scene upto scale. LiketheoriginalICPalgorithm,thepresentedalgorithm requires a rough pre-alignment of the point sets.
In order to determine the necessary accuracy of the pre-alignment, wehaveexperimentallyevaluatedthebasinofconvergence of the algorithm with respect to the initial rotation, translation, andscale factor between the two point sets.
There are many nearest neighbor algorithms tailor made for ICP,but most of them require Special input data like range Images or triangle meshes.
We focus on efficient nearest neighbor algorithms that do not impose this limitation, and thus can also be used with 3-D point sets generated by structure-frommotion techniques. We shortly present the evaluated algorithms and introduce the modifications we made to improve their efficiency.
In particular, several enhancements to the well-known k-D tree algorithm are described. The first part of our Performance Analysis consists of Experiments on synthetic point sets, whereas the second part features experiments with the ICP algorithm on real point sets. Both parts are completed by a thorough evaluation of the obtained results.
Robust registration of two 3-D point sets is a common problem in computer vision.
The iterative closest point (ICP) algorithm is undoubtedly the most popular algorithm for solving this kind of problem. In this paper, we present the Picky ICP algorithm, which has been created by merging several extensions of the standard ICP algorithm, thus improving its robustness and computation time.
Using pure 3-D point sets as input data, we do not consider additional information like point color or neighborhood relations. In addition to the standard ICP algorithm and the Picky ICP algorithm proposed in this paper, a robust algorithm due to Masuda and Yokoya and the RICP algorithm by Trucco et al. are evaluated.
We have experimentally determined the basin of convergence, robustness to noise and outliers, and computation time of these four ICP based algorithms
Mehrstufige Architekturen mit SQLJ und Enterprise JavaBeans Datenbankanbindung und Erstellung von Komponenten sind ein essentieller Bestandteil von Java-Anwendungen. Bei Java-Schnittstellen rückt der neue ANSI-Standard SQLJ für relationale und objektrelationale Datenbanken immer mehr in den Blickpunkt. Bei mehrstufigen Architekturen ist darüber hinaus die Komponentenbildung unabdingbar, und dabei entwickelt sich EJB zu einem De-facto-Standard. Nach einer grundlegenden Einführung geht es im zweiten Teil des Buches um Java-Schnittstellen zu Datenbanken: JDBC, ODMG und SQLJ8. Wie EJB-Komponenten erstellt werden und auf Java-Datenbanken zugreifen, wird im dritten Teil beschrieben.
One major problem of a continuous process like plastic extrusion is their incapability to deal with non-local gas pressure. This is an inherent problem because a continuous process has an open end in the feeding port where pressure can escape. In this study a novel feeding system was developed to enable granulate feeding into gas pressurized processes inside a single- or twin-screw extruder. With this apparatus gas pressure can be applied inside the extrusion process. The apparatus separates the pressurized extruder from the dosing equipment that feeds the extruder. It keeps the pressure inside the system while continuously feeding new material into the process. A small-scale prototype was designed for proof-of concept. The small size of the prototype was able to handle small amounts of granulates of around 100 - 200 g/h. An applied gas pressure of 8 bar was achieved. In future optimizations, throughput can be increased and maximum applied gas pressure towards 15-20 bar.
This article deals with the topic of damping the rates of a satellite after separation from the launcher by sensing the rates with magnetometers or gyroscopes and actually damping it with torquerods or thrusters.
In literature problems of this kind are treated by linearization which is not adequate here due to the high nonlinearity of the problem caused by the high gyroscopic torque. This paper addresses the observability and controllability of the rate dynamics for symmetric satellite bodies.
Furthermore, robust stability of any bodies is investigated by means of the Krasovskii–LaSalle principle which is a variant of Ljapunov’s Second Method. It is found that – apart from one exception - the system is robustly stable for certain conditions depending only on the gain matrix and not depending on the orbit, moments of inertia or initial conditions. The exception is that of the intuitive case of an equator type orbit, in which the satellite rotates around the magnetic field lines, in this case the satellite’s rate cannot be damped.
Several design configurations are analysed with respect to their performance and cost: Rate damping with magnetometers or gyroscopes as sensors, and torquerods and thrusters as actuators. The results are evaluated with respect to the time to reach the desired rate, the propellant and the power equivalent battery mass used.
The goal is to use the results to allow an AOCS equipment and architecture trade-off at an early project phase. The design of the rate damping control of the SWARM project is presented as an example and demonstrated with simulations.
Ein gutes Modell der Regelstrecke erhöht die Erfolgsaussicht, eine in der Simulation gut funktionierende Regelung in der Praxis genauso gut betreiben zu können. Gute Modelle eröffnen auch noch weitere Perspektiven: Sind die störenden Einflüsse auf den Regelkreis, die Störgrößen, die Messfehler und die Ungenauigkeiten im Simulationsmodell insgesamt kleiner als die Genauigkeitsanforderungen an die Regelgröße, dann kann man durch entsprechende Filterung des Eingangssignals sogar auf eine Rückführung der Regelgröße sogar verzichten. Andernfalls lassen sich deren Auswirkung auf die Regelgröße durch eine Rückführung verkleinern. Der Prozess kann für schnelle und hochgenaue Anwendungen durch die vorgestellte Methode weiter verbessert werden, wenn die störenden Einflüsse auf den Regelkreis direkt geschätzt und gleich kompensiert werden, bevor sie sich in der Regelgröße bemerkbar machen können.
This paper analyses the achievable performance of the orbit prediction for a geostationary satellite using clusters of electrical propulsion (EP) thrusters for station-keeping and a star tracker based attitude control system.
The challenge in the orbit prediction is that the real electrical propulsion thrust is known with limited accuracy only. In combination with thrust pointing errors, these inaccuracies can accumulate to large orbit position errors during long low thrust burn arcs.
The discrepancy between real and predicted satellite position is determined in terms of probability and as a worst case scenario.
The advanced Attitude and Orbit Control System (AOCS) design of the Small GEO platform is now being adapted for the first commercial mission.
The Small GEO telecommunications satellite is a new development to fill a niche in the telecom industry for small platforms weighing about 1.5 tonnes and targeting payloads of 300 kg and 3 kW. The first mission will launch into Geostationary Transfer Orbit (GTO).
Small GEO is being developed by a Consortium led by OHBSystem AG. The Swedish Space Corporation is a partner in the Consortium and supplies the AOCS and Electric Propulsion (EP) subsystems. The project is currently in Phase C and the first mission will fly in 2012. This article gives an overview of the AOCS development status.
The AOCS architecture is a three-axis stabilized system using reaction wheels for attitude control, star trackers for attitude determination, and EP for orbit control. The AOCS software is being developed using model-based design techniques and test driven development. Results from subsystem level testing of flight code will be presented.
The AOCS design is characterized by a number of advances in technology beyond traditional telecom satellite designs. Perhaps the largest deviation from a traditional design is complete reliance on EP for orbit control. Angular momentum management of the reaction wheels relies solely upon EP in the nominal modes. The EP is not used in the safe modes and therefore a cold gas system is included On-board.
The cold gas system uses Xenon, the same fuel used by the EP. Another advance is the reliance upon APS-based star trackers. APS (Active Pixel Sensor) star trackers have a number of advantages over their CCD-based cousins in terms of robustness. The traditional fine sun sensor is simplified to a fault tolerant system of solar cells giving low, but more than adequate, accuracy.
In addition, a GPS sensor will be flown on-board as an experiment.
This paper deals with the preparation of the Small GEO mission and the accommodation of a GPS receiver as an experiment. The expected benefits of using the GPS receiver for Small GEO are explained. The feasibility of using GPS for position determination is investigated by simulation using a MosaicGNSS receiver, which was stimulated by a Spirent RF signal generator. A procedure, how to evaluate flight data on ground is outlined. Success criteria of the experiment and the minimal size of the downlink stream required and reserved for the receiver TM are presented.
The problem dealt with in this paper is the analytical determination of the attitude of a rigid body which undergoes a given rate profile. Usually the attitude is determined by solving the kinematic differential equation numerically. For long lasting movements the outcome can cost computation time plus encountered losses in accuracy, which can be disturbing especially in optimization problems. This contribution solves the kinematic differential equation for certain rate profiles exactly and compares the results in accuracy and computation time with the standard procedures.
Zur Lösung einer regelungstechnischen Entwurfsaufgabe benötigt man ein Simulationsmodell der Regelstrecke. Entweder benötigt man es, weil es die meisten Entwurfsverfahren zur Bestimmung der Reglerparameter als gegeben voraussetzen oder weil man das Verhalten des Regelkreises zur Verifikation des gewünschten Verhaltens gefahrlos simulieren möchte, bevor man den Regler in dem realen geschlossenen Regelkreis verwendet. Die Motivation zur Entwicklung des hier vorgestellten Verfahrens ist es, Bachelor-Studenten der Ingenieurswissenschaften aus dem höheren Semester, die zum ersten Mal mit Regelungstechnik in Berührung kommen, ein möglichst allgemein anwendbares Verfahren zur Bildung von Streckenübertragungsfunktionen an die Hand zu geben, das von der Theorie her vollständig transparent und allein mit dem aus der Mathematik bisher Gelernten „verstehbar“ für sie ist. Grundsätzlich gibt es zwei verschiedene Arten, ein Simulationsmodell der Regelstrecke zu gewinnen: Bei der physikalischen oder theoretischen Modellbildung werden physikalische Erhaltungssätze auf den idealisierten sprich vereinfachten technischen Vorgang angewendet und nach den gewählten Ein- bzw. Ausgangssignalen umgeformt. Diese Vorgehensweise kann sehr zeitaufwendig sein und hinzukommt, dass Parameter des Modells meist unbekannt sind. Bei der experimentellen Modellbildung geht man von einem gemessenen Ein- bzw. Ausgangssignal aus und gleicht über mehr oder weniger aufwändige Optimierungsverfahren die simulierte Antwort an die gemessene Antwort an.
Es wird ein Verfahren zum Simulieren von Vorgängen vorgestellt, das auf der Messung des Eingriffs in ein reales System und dessen gemessener Reaktion beruht. Das Verfahren ist vollständig transparent, denn die notwendigen theoretischen Voraussetzungen zum Verständnis des Verfahrens bestehen nur aus Lehrinhalten aus dem Bachelorstudium für Ingenieure: das Lösen linearer DGLs mit konstanten Koeffizienten, die Laplace-Transformation und die Methode der kleinsten Quadrate. Es kommt ohne nichtlineare Optimierer oder Iterationen aus, weil die Lösung in zwei analytischen Gleichungen ausgedrückt werden kann. Das
Verfahren hat in der Praxis ein großes Einsatzspektrum, denn es ist auf stabile und instabile Systeme mit und ohne Dämpfung anwendbar. Für die Wahl des Eingangssignals gibt es keine Einschränkung und die Anfangsbedingungen können mitgeschätzt werden. Das Verfahren kann im offenen und im geschlossenen Regelkreis eingesetzt werden.
Non-Rest to non-Rest Reference Slews for Agile Imaging Satellites With LQ-minimized Angular Momentum
(2023)
This paper shows a full parametrization non-rest to non-rest slew maneuvers using polynomials. A new modelling formulation is developed which on one hand satisfies exactly the given boundary conditions as well as the kinematic differential equation of the rotating body exactly. The idea is to determine one part of the unknown coefficients by the kinematical boundary conditions and to use the other part as free design parameters to shape the dynamic in between the boundary conditions. In addition, a least squares problem is formulated in order to minimize the angular momentum of the slew. This approach allows optimal slew maneuvers as well as low computational need such that an onboard usage is possible.
We propose a reinforcement learning approach to heating control in home automation, that can acquire a set of rules enabling an agent to heat a room to the desired temperature at a defined time while conserving as much energy as possible. Experimental results are presented that show the feasibility of our method.
Unternehmen sind häufig mit Situationen konfrontiert, in denen schnell Entscheidungen bezüglich der Auswahl mehrerer Handlungsalternativen gefunden werden müssen. Mathematische Verfahren können hierbei unterstützen, z. B. für die Ermittlung einer ersten Diskussionsbasis. Verfügbare Softwarelösungen errechnen zwar häufig optimale Ergebnisse, zeigen jedoch Schwächen bei der praktischen Anwendbarkeit. So ist eine Einarbeitung in komplexe Optimierungssoftware für die teilweise sporadisch auftretenden Probleme in der Regel für Unternehmen nicht möglich, unter anderem auch unter Anbetracht der teilweise hohen Kosten der Standardsoftware und dem benötigten hohen Einarbeitungsaufwand. Gerade Problemstellungen in Fachbereichen, die nicht auf mathematische Problemlösung spezialisiert sind, münden daher regelmäßig in Ineffizienzen. Basierend auf den in der Literatur diskutierten Lösungsansätzen wurde ein praxisorientierter Ansatz zur Entscheidungsunterstützung für Rucksackprobleme bzw. 0–1 Probleme mithilfe von Genetischen Algorithmen (GA) entwickelt und technisch in Microsoft Excel® umgesetzt. Ein Praxistest bei einem chinesischen Textilunternehmen belegt erhöhte Effektivität und Effizienz. Die Software kann kostenfrei nach MIT Lizenz unter http://www.solvega.de/ heruntergeladen werden.
The growing size and complexity of software in embedded systems poses new challenges to the safety assessment of embedded control systems. In industrial practice, the control software is mostly treated as a black box during the system's safety analysis. The appropriate representation of the failure propagation of the software is a pressing need in order to increase the accuracy of safety analyses. However, it also increase the effort for creating and maintaining the safety analysis models (such as fault trees) significantly. In this work, we present a method to automatically generate Component Fault Trees from Continuous Function Charts. This method aims at generating the failure propagation model of the detailed software specification. Hence, control software can be included into safety analyses without additional manual effort required to construct the safety analysis models of the software. Moreover, safety analyses created during early system specification phases can be verified by comparing it with the automatically generated one in the detailed specification phased.
INSiDER: Incorporation of system and safety analysis models using a dedicated reference model
(2016)
In order to enable model-based, iterative design of safety-relevant systems, an efficient incorporation of safety and system engineering is a pressing need. Our approach interconnects system design and safety analysis models efficiently using a dedicated reference model. Since all information are available in a structured way, traceability between the model elements and consistency checks enable automated synchronization to guarantee that information within both kind of models are consistent during the development life-cycle.
Mobile-access edge clouds provide distributed com-pute capacities for low-latency applications. 5G technology willpave the way for such mobile deployment scenarios. In thispaper, we propose an edge cloud infrastructure that supportslow-latency video analysis connected with bandwidth reductionfor a moving group of persons. As example, we consider a mobilebody camera scenario that monitors the situation in a certain areaand transmits it to an operations center. Our discussion focuseson three aspects: mobility support, low-latency video processing,and bandwidth reduction. For this, we propose a mobile edgecloud infrastructure with a central cloud. In order to optimizevideo processing we optimize the edge cloud device assignmentof the cameras depending on their movement by reassigning itto another cloud device. This requires live migration of ongoingvideo analysis between edge devices. Finally we discuss the useof a mobile central cloud.
This paper describes using a mobile robot, equipped with some sonar sensors and an odometer, to test navigation through the use of a cognitive map. The robot explores an office environment, computes a cognitive map, which is a network of ASRs [36, 35], and attempts to find its way home.
Ten trials were conducted and the robot found its way home each time. From four random positions in two trials, the robot estimated the home position relative to its current position reasonably accurately.
Our robot does not solve the simultaneous localization and mapping problem and the map computed is fuzzy and inaccurate with much of the details missing.
In each homeward journey, it computes a new cognitive map of the same part of the environment, as seen from the perspective of the homeward journey. We show how the robot uses distance information from both maps to find its way home.
This paper shows how a mobile robot equipped with sonar sensors and an odometer is used to test ideas about cognitive mapping. The robot first explores an office environment and computes a "cognitive map" which is a network of ASRs [1]. The robot generates two networks, one for the outward journey and the other for the journey home.
It is shown that both networks are different. The two networks, however, are not merged to form a single network. Instead, the robot attempts to use distance information implicit in the shape of each ASR to find its way home. At random positions in the homeward journey, the robot calculates its orientation towards home. The robot's performances for both problems are evaluated and found to be surprisingly accurate.
We employed the well-established Horton-Strahler, hierarchical, stream-order (ω) scheme to investigate scaling of nutrient loads (P and N) from ~845 wastewater treatment plants (WWTPs) distributed along the river network in urbanized Weser River, the largest national basin in Germany (~46K km2; ~8.4 million population). We estimated hydrologic and water quality impacts at the reach- and basin-scales, at two steady river discharge conditions (median flow, QR50; low-flow, QR90). Of the five WWTPs class-sizes (1 ≤ k ≤ 5), ~68% discharge to small low-order streams (ω < 3). We found large variations in capacity to dilute WWTP nutrient loads because of variability in (1) treated wastewater discharge (QU) within and among different class-sizes, and (2) river discharge (QR) within low-order streams (ω < 3) resulting from differences in drainage areas. For QR50, reach-scale water quality impairment assessed by nutrient concentration was likely at 136 (~16%) locations for P and 15 locations (~2%) for N. About 90% of these locations were lower-order streams (ω < 3). At QR50 and only with dilution, basin-scale cumulative nutrient loads from multiple upstream WWTPs increase impaired locations to 266 (~32% of total) for P. Considering in-stream uptake decreased P-impaired streams to 225 (~27%), suggesting the dominant role of dilution in the Weser River basin. Role of in-stream uptake diminished along the flow paths, while dilution in larger streams (4 ≤ ω ≤ 7) minimizes the impact of WWTP loads. Under QR90 conditions [(QR50/QR90) ~ 2.5], water quality impaired locations will likely double for the basin-scale analyses. Long-term water quality data suggested that diffuse sources are the primary contributors for water quality impairments in large streams. Our data-modeling synthesis approach is transferable to other urbanized river basins and extends understanding of point source impacts on water quality across spatial scales.
In this paper, we present our experience in designing and teaching of our first robotics course for students at primary school level.
The course was carried out over a comparatively short period of time, namely 6 weeks, 2 hours per week. In contrast to many other projects, we use robots that researchers used to conduct their research and discuss problems faced by these researchers. Thus, this is not a behavioural study but a hands-on learning experience for the students.
The aim is to highlight the development of autonomous robots and artificial intelligence as well as to promote science and robotics in schools.
When animals (including humans) first explore a new environment, what they remember is fragmentary knowledge about the places visited. Yet, they have to use such fragmentary knowledge to find their way home. Humans naturally use more powerful heuristics while lower animals have shown to developa varietyof methodsthat tend to utilize two key pieces of information,namely distance and orientation information.
Their methods differ depending on how they sense their environment.
Could a mobile robot be used to investigate the nature of such a process, commonly referred to in the psychological literature as cognitive mapping? What might be computed in the initial explorations and how is the resulting “cognitive map” be used to return home?
In this paper, we presented a novel approach using a mobile robot to do cognitive mapping. Our robot computes a “cognitive map” and uses distance and orientation information to find its way home.
The process developed provides interesting insights into the nature of cognitive mapping and encourages us to use a mobile robot to do cognitive mapping in the future, as opposed to its popular use in robot mapping.
This paper presents a novel algorithm for computing absolute space representations (ASRs) in Yeap, W.K. and Jefferies, M. (1988) for mobile robots equipped with sonar sensors and an odometer. The robot is allowed to wander freely (i.e. without following any fixed path) along the corridors in an office environment from a given start point to an end point. It then wanders from the end point back to the start point. The resulting ASRs computed in both directions are shown
Für viele Unternehmen ist eine nachhaltige Unternehmensführung inzwischen
ein fixer Bestandteil der Unternehmenspolitik. Um neben den
finanziellen auch nichtfinanzielle Informationen aufzuzeigen, veröffentlichen
Unternehmen einen Nachhaltigkeitsbericht. Die EU reguliert und
verpflichtet die Nachhaltigkeitsberichterstattung bereits durch die EURichtlinie
2014/95/EU „Non-Financial Reporting Directive“. In Österreich
wurde die Richtlinie durch das Nachhaltigkeits- und Diversitätsverbesserungsgesetzes
(NaDiVeG) in nationales Recht umgesetzt. Die bisherigen
Regelungen sind jedoch bereits überholt und werden ab dem Jahr 2023
durch die „Corporate Sustainability Reporting Directive“ (CSRD) erweitert,
die die Nachhaltigkeitsberichterstattung transparenter, standardisierter
und vergleichbarer gestalten soll. Inwieweit sind die ATX-Unternehmen
auf die Neuerungen der CSRD vorbereitet, und wo gibt es Handlungsbedarf?
Diese und weitere Fragen klärt die vorliegende empirische Analyse
und zeigt den aktuellen Stand der Nachhaltigkeitsberichterstattung
in Österreich.
Today, the automatic separation of polymers from each other in an industrial scale is an unsolved problem. In laboratory environments, two methods are known whereby plastic is sorted either by color or by fluorescence decay time measurements that require fast synchronization and thus expensive equipment. A simple and pragmatic process is proposed to separate plastics from each other: all fluorescent photons are counted in relation to the absorbed photons. A theoretical model and an experimental setup are built in order to determine an apparatus specific quantum efficiency.
The fluorescence decay time allows to identify and distinguish polymers from each other. Three differently treated biaxially-oriented polyethylene terephthalate films are examined with two excitation wavelengths of 445 and 488nm. The fluorescence decay time is dependent of the treatment method of the films and is a means for identification.
Nowadays, fluorescence lifetime measurements and the method of fluorescence lifetime imaging are already state of the art in biomedical research. Also first investigations show that polymers could be identified due to their endogenous fluorescent lifetime. Thus an approach of identifying polymers with fluorescence lifetime imaging is done in this contribution. Therefore, four different polymers are examined and evaluated with statistical methods in order to determine their specific fluorescence lifetimes.
Plastic waste is one of the biggest growing factors contributing to environmental pollution. So far there has been no established method to detect and identify plastics in environmental matrices. Thus, a method based on their characteristic fluorescence behavior is used to investigate whether plastics can be detected and identified in tap water under laboratory conditions. The experiments show that the identification of plastics as a function of water depth is possible. As the identification becomes more difficult with higher water depths, investigations with a highly sensitive imaging method were carried out to obtain an areal integration of the fluorescent light and thus better results.
Die wohl größte aktuelle Umweltverschmutzung mit Kunststoffen findet in Ozeanen, Seen und Flüssen statt. Bis jetzt gibt es kein etabliertes Verfahren, mit dem Kunststoffe in Umwelt- bzw. Wassermatrizen detektiert werden können. Deshalb wird mit einem Verfahren, welches auf dem Prinzip der Fluoreszenz basiert, untersucht, ob unter Laborbedingungen Kunststoffe in Wasser detektiert und identifiziert werden können. Anhand eines mathematischen Modells, einer Simulation und mit Hilfe von optischen Experimenten wird gezeigt, dass der Nachweis und auch eine Identifikation von Kunststoffen in Abhängigkeit der Wassertiefe, mit diesem Verfahren möglich ist.