Online world modeling and path planning for an unmanned helicopter

Mission scenarios beyond line of sight or with limited ground control station access require capabilities for autonomous safe navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles. The presented approach is a novel synthesis of techniques for 3D environment perception and global path planning. A locally bounded sensor fusion approach is used to extract sparse obstacles for global incremental path planning in an anytime fashion. During the flight, a stereo camera checks the field of view along the flight path ahead by analyzing depth images. A 3D occupancy grid is built incrementally. To reduce the high data rate and storage demands of grid-type maps, an approximated polygonal world model is created. For a compacted representation, it uses prisms and ground planes. This enables the system to constantly renew and update its knowledge about obstacles. An incremental heuristic path planner uses both a-priori information as well as incremental obstacle updates to assure a collision-free path at any time. Mapping results from flight tests show the functionality of onboard world modeling from real sensor data. Path planning feasibility is demonstrated within a simulation environment considering world model changes inside the vehicle’s field of view.     

Narrow Band FLIP for Liquid Simulations

The Fluid Implicit Particle method (FLIP) for liquid simulations uses particles to reduce numerical dissipation and provide important visual cues for events like complex splashes and small‐scale features near the liquid surface. Unfortunately, FLIP simulations can be computationally expensive, because they require a dense sampling of particles to fill the entire liquid volume. Furthermore, the vast majority of these FLIP particles contribute nothing to the fluid's visual appearance, especially for larger volumes of liquid. We present a method that only uses FLIP particles within a narrow band of the liquid surface, while efficiently representing the remaining inner volume on a regular grid. We show that a naïve realization of this idea introduces unstable and uncontrollable energy fluctuations, and we propose a novel coupling scheme between FLIP particles and regular grid which overcomes this problem. Our method drastically reduces the particle count and simulation times while yielding results that are nearly indistinguishable from regular FLIP simulations. Our approach is easy to integrate into any existing FLIP implementation.     

A complete strategy for efficient and accurate multibody dynamics of flexible structures with large lap joints considering contact and friction

This paper deals with the dynamics of jointed flexible structures in multibody simulations. Joints are areas where the surfaces of substructures come into contact, for example, screwed or bolted joints. Depending on the spatial distribution of the joint, the overall dynamic behavior can be influenced significantly. Therefore, it is essential to consider the nonlinear contact and friction phenomena over the entire joint. In multibody dynamics, flexible bodies are often treated by the use of reduction methods, such as component mode synthesis (CMS). For jointed flexible structures, it is important to accurately compute the local deformations inside the joint in order to get a realistic representation of the nonlinear contact and friction forces. CMS alone is not suitable for the capture of these local nonlinearities and therefore is extended in this paper with problem-oriented trial vectors. The computation of these trial vectors is based on trial vector derivatives of the CMS reduction base. This paper describes the application of this extended reduction method to general multibody systems, under consideration of the contact and friction forces in the vector of generalized forces and the Jacobian. To ensure accuracy and numerical efficiency, different contact and friction models are investigated and evaluated. The complete strategy is applied to a multibody system containing a multilayered flexible structure. The numerical results confirm that the method leads to accurate results with low computational effort.     

Interactive exploration of data traffic with Hierarchical Network Maps

Network communication has become indispensable in business, education and government. With the pervasive role of the Internet as a means of sharing information across networks, its misuse for destructive purposes, such as spreading malicious code, compromising remote hosts, or damaging data through unauthorized access, has grown immensely in the recent years. The classical way of monitoring the operation of large network systems is by analyzing the system logs for detecting anomalies. In this work, we introduce hierarchical network map, an interactive visualization technique for gaining a deeper insight into network flow behavior by means of user-driven visual exploration. Our approach is meant as an enhancement to conventional analysis methods based on statistics or machine learning. We use multidimensional modeling combined with position and display awareness to view source and target data of the hosts in a hierarchical fashion with the ability to interactively change the level of aggregation or apply filtering. The interdisciplinary approach integrating data warehouse technology, information visualization and decision support brings about the benefit of efficiently collecting the input data and aggregating over very large data sets, visualizing the results and providing interactivity to facilitate analytical reasoning     

Improving metastable impact electron spectroscopy and ultraviolet photoelectron spectroscopy signals by means of a modified time-of-flight separation

The separation of ultraviolet photoelectron spectroscopy (UPS) and metastable impact electron spectroscopy (MIES) is usually performed by a time-of-flight (ToF) separation using pre-set ToF for both types of signal. In this work, we present a new, improved ex situ signal separation method for the separation of MIES and UPS for every single measurement. Signal separation issues due to changes of system parameters can be overcome by changing the ToF separation and therefore allowing for the application of a wider range of measuring conditions. The method also enables to identify and achieve separation of the two signals without any time consuming calibration and the use of any special material for the calibration. Furthermore, changes made to the discharge source are described that enable to operate an existing MIES/UPS source over a broader range of conditions. This allows for tuning of the yield of UV photons and metastable rare gas atoms leading to an improved signal to noise ratio. First results of this improved setup are well in agreement with spectra reported in literature and show increased resolution and higher signal intensities for both MIE and UP spectra compared to the previous, non-optimized setup.     

A Distributed Algorithm for Computing the Node Search Number in Trees

We present a distributed algorithm to compute the node search number in trees. This algorithm extends the centralized algorithm proposed by Ellis et al. (Inf. Comput. 113(1):50–79, 1994). It can be executed in an asynchronous environment, requires an overall computation time of O(nlog?n), and n messages of log?₃ n+4 bits each. The main contribution of this work lies in the data structure proposed to design our algorithm, called hierarchical decomposition. This simple and flexible data structure is used for four operations: updating the node search number after addition or deletion of any tree-edges in a distributed fashion; computing it in a tree whose edges are added sequentially and in any order; computing other graph invariants such as the process number and the edge search number, by changing only initialization rules; extending our algorithms for trees and forests of unknown size (using messages of up to 2log?₃ n+5 bits).     

Lieferantenportfolio-Management für IT-Services unter Berücksichtigung von Diversifikationseffekten

By means of service-oriented architectures the IT support of processes can be designed as a portfolio of individual IT services provided by different suppliers. The processes are designed based on selection decisions between IT services that potentially have to be included. Many companies formulate a multitude of requirements for investments in IT services at ever shorter intervals. However, the scope of the desired investments usually exceeds the available budget. Thus, companies face the challenge of allocating the limited budget to investments in the most promising combination of IT services. This is hardly possible without methodical support. In addition, the allocation is often done intuitively and subject to the decision-makers?? affinity with IT. Therefore, this paper develops a quantitative, multi-period procedure model for the purpose of maximizing the enterprise value in accordance with value based management, which considers the dependencies of the periodical selection decisions. In the following, a decision logic for the heuristic solution to the selection problem is presented and its application is demonstrated by means of an illustrative case example.     

Iron-ruthenium catalyst for the water-gas shift reaction

Iron-ruthenium catalysts prepared by impregnation of calcination products of -, , -and -iron oxide-hydroxides with either ruthenium chloride or ruthenium red were tested for the activity for the water-gas shift reaction. The effect of support, ruthenium containing impregnation agent and thermal treatment on catalyst performance was discussed.     

The interaction of bacteria and metal surfaces

This review discusses different examples for the interaction of bacteria and metal surfaces based on work reported previously by various authors and work performed by the author with colleagues at other institutions and with his graduate students at CEEL. Traditionally it has been assumed that the interaction of bacteria with metal surfaces always causes increased corrosion rates (“microbiologically influenced corrosion” (MIC)). However, more recently it has been observed that many bacteria can reduce corrosion rates of different metals and alloys in many corrosive environments. For example, it has been found that certain strains of Shewanella can prevent pitting of Al 2024 in artificial seawater, tarnishing of brass and rusting of mild steel. It has been observed that corrosion started again when the biofilm was killed by adding antibiotics. The mechanism of corrosion protection seems to be different for different bacteria since it has been found that the corrosion potential E_corr became more negative in the presence of Shewanella ana and algae, but more positive in the presence of Bacillus subtilis. These findings have been used in an initial study of the bacterial battery in which Shewanella oneidensis MR-1 was added to a cell containing Al 2024 and Cu in a growth medium. It was found that the power output of this cell continuously increased with time. In the microbial fuel cell (MFC) bacteria oxidize the fuel and transfer electrons directly to the anode. In initial studies EIS has been used to characterize the anode, cathode and membrane properties for different operating conditions of a MFC that contained Shewanella oneidensis MR-1. Cell voltage (V)—current density (i) curves were obtained using potentiodynamic sweeps. The current output of a MFC has been monitored for different experimental conditions.     

Securing Passive Objects in Mobile Ad-Hoc Peer-to-Peer Networks

Security and privacy in mobile ad-hoc peer-to-peer environments are hard to attain, especially when working with passive objects (without own processing power, e.g. RFID tags). This paper introduces a method for integrating such objects into a peer-to-peer environment without infrastructure components while providing a high level of privacy and security for peers interacting with objects. The integration is done by associating public keys to passive objects, which can be used by peers to validate proxies (peers additionally acting on behalf of objects). To overcome the problem of limited storage capacity on small embedded objects, ECC keys are used.