5,489 research outputs found

    Organizing sustainable development

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    The role and meaning of sustainable development have been recognized in the scientific literature for decades. However, there has recently been a dynamic increase in interest in the subject, which results in numerous, in-depth scientific research and publications with an interdisciplinary dimension. This edited volume is a compendium of theoretical knowledge on sustainable development. The context analysed in the publication includes a multi-level and multi-aspect analysis starting from the historical and legal conditions, through elements of the macro level and the micro level, inside the organization. Organizing Sustainable Development offers a systematic and comprehensive theoretical analysis of sustainable development supplemented with practical examples, which will allow obtaining comprehensive knowledge about the meaning and its multi-context application in practice. It shows the latest state of knowledge on the topic and will be of interest to students at an advanced level, academics and reflective practitioners in the fields of sustainable development, management studies, organizational studies and corporate social responsibility

    Choreographing tragedy into the twenty-first century

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    What makes a tragedy? In the fifth century BCE this question found an answer through the conjoined forms of song and dance. Since the mid-twentieth century, and the work of the Tanztheater Wuppertal Pina Bausch, tragedy has been variously articulated as form coming apart at the seams. This thesis approaches tragedy through the work of five major choreographers and a director who each, in some way, turn back to Bausch. After exploring the Tanztheater Wuppertal’s techniques for choreographing tragedy in chapter one, I dedicate a chapter each to Dimitris Papaioannou, Akram Khan, Trajal Harrell, Ivo van Hove with Wim Vandekeybus, and Gisèle Vienne. Bringing together work in Queer and Trans* studies, Performance studies, Classics, Dance, and Classical Reception studies I work towards an understanding of the ways in which these choreographers articulate tragedy through embodiment and relation. I consider how tragedy transforms into the twenty-first century, how it shapes what it might mean to live and die with(out) one another. This includes tragic acts of mythic construction, attempts to describe a sense of the world as it collapses, colonial claims to ownership over the earth, and decolonial moves to enact new ways of being human. By developing an expanded sense of both choreography and the tragic one of my main contributions is a re-theorisation of tragedy that brings together two major pre-existing schools, to understand tragedy not as an event, but as a process. Under these conditions, and the shifting conditions of the world around us, I argue that the choreography of tragedy has and might continue to allow us to think about, name, and embody ourselves outside of the ongoing catastrophes we face

    Writing in Water

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    Writing is an ancient communication technique dating back at least 30,000 years. While even sophisticated contemporary writing techniques hinge on solid surfaces for engraving or the deposition of ink, writing within a liquid medium requires a fundamentally different approach. We here demonstrate writing of lines, letters and complex patterns in water by assembling lines of colloidal particles. Exploiting gravity, we roll an ion-exchange bead (pen) across a layer of sedimented colloidal particles (ink). The pen evokes a hydrodynamic flow collecting ink-particles into a durable, high-contrast line along its trajectory. Deliberate substrate-tilting sequences facilitate pen-steering and thus to draw and write. We complement our experiments with a minimal model that quantitatively predicts the observed parameter dependence for writing in fluids and highlights the generic character of writing by line-assembly. Overall, our approach opens a versatile route for writing, drawing and patterning fluids, even at the micro-scale.Comment: Article 23 p, 5 figs, 53 refs, Supl. Info with 13 fig

    Exploring the effects of robotic design on learning and neural control

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    The ongoing deep learning revolution has allowed computers to outclass humans in various games and perceive features imperceptible to humans during classification tasks. Current machine learning techniques have clearly distinguished themselves in specialized tasks. However, we have yet to see robots capable of performing multiple tasks at an expert level. Most work in this field is focused on the development of more sophisticated learning algorithms for a robot's controller given a largely static and presupposed robotic design. By focusing on the development of robotic bodies, rather than neural controllers, I have discovered that robots can be designed such that they overcome many of the current pitfalls encountered by neural controllers in multitask settings. Through this discovery, I also present novel metrics to explicitly measure the learning ability of a robotic design and its resistance to common problems such as catastrophic interference. Traditionally, the physical robot design requires human engineers to plan every aspect of the system, which is expensive and often relies on human intuition. In contrast, within the field of evolutionary robotics, evolutionary algorithms are used to automatically create optimized designs, however, such designs are often still limited in their ability to perform in a multitask setting. The metrics created and presented here give a novel path to automated design that allow evolved robots to synergize with their controller to improve the computational efficiency of their learning while overcoming catastrophic interference. Overall, this dissertation intimates the ability to automatically design robots that are more general purpose than current robots and that can perform various tasks while requiring less computation.Comment: arXiv admin note: text overlap with arXiv:2008.0639

    X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments

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    Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer in geometrically uninformative environments that are known to deteriorate point cloud registration performance and push optimization toward divergence along weakly constrained directions. To overcome this issue, this work proposes i) a robust fine-grained localizability detection module, and ii) a localizability-aware constrained ICP optimization module, which couples with the localizability detection module in a unified manner. The proposed localizability detection is achieved by utilizing the correspondences between the scan and the map to analyze the alignment strength against the principal directions of the optimization as part of its fine-grained LiDAR localizability analysis. In the second part, this localizability analysis is then integrated into the scan-to-map point cloud registration to generate drift-free pose updates by enforcing controlled updates or leaving the degenerate directions of the optimization unchanged. The proposed method is thoroughly evaluated and compared to state-of-the-art methods in simulated and real-world experiments, demonstrating the performance and reliability improvement in LiDAR-challenging environments. In all experiments, the proposed framework demonstrates accurate and generalizable localizability detection and robust pose estimation without environment-specific parameter tuning.Comment: 20 Pages, 20 Figures Submitted to IEEE Transactions On Robotics. Supplementary Video: https://youtu.be/SviLl7q69aA Project Website: https://sites.google.com/leggedrobotics.com/x-ic

    Proceedings of SIRM 2023 - The 15th European Conference on Rotordynamics

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    It was our great honor and pleasure to host the SIRM Conference after 2003 and 2011 for the third time in Darmstadt. Rotordynamics covers a huge variety of different applications and challenges which are all in the scope of this conference. The conference was opened with a keynote lecture given by Rainer Nordmann, one of the three founders of SIRM “Schwingungen in rotierenden Maschinen”. In total 53 papers passed our strict review process and were presented. This impressively shows that rotordynamics is relevant as ever. These contributions cover a very wide spectrum of session topics: fluid bearings and seals; air foil bearings; magnetic bearings; rotor blade interaction; rotor fluid interactions; unbalance and balancing; vibrations in turbomachines; vibration control; instability; electrical machines; monitoring, identification and diagnosis; advanced numerical tools and nonlinearities as well as general rotordynamics. The international character of the conference has been significantly enhanced by the Scientific Board since the 14th SIRM resulting on one hand in an expanded Scientific Committee which meanwhile consists of 31 members from 13 different European countries and on the other hand in the new name “European Conference on Rotordynamics”. This new international profile has also been emphasized by participants of the 15th SIRM coming from 17 different countries out of three continents. We experienced a vital discussion and dialogue between industry and academia at the conference where roughly one third of the papers were presented by industry and two thirds by academia being an excellent basis to follow a bidirectional transfer what we call xchange at Technical University of Darmstadt. At this point we also want to give our special thanks to the eleven industry sponsors for their great support of the conference. On behalf of the Darmstadt Local Committee I welcome you to read the papers of the 15th SIRM giving you further insight into the topics and presentations

    Systems Analysis for Sustainable Wellbeing. 50 years of IIASA research, 40 years after the Brundtland Commission, contributing to the post-2030 Global Agenda

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    This report chronicles the half-century-long history of the International Institute for Applied Systems Analysis (IIASA), established in 1972 in Laxenburg, Austria, to address common social, economic, and environmental challenges at a time when the world was politically dominated by the Cold War. The report shows IIASA’s transition from its original raison d’être as a cooperative scientific venture between East and West to its position today as a global institute engaged in exploring solutions to some of the world’s most intractable problems—the interconnected problems of population, climate change, biodiversity loss, land, energy, and water use, among others. It provides a concise overview of IIASA’s key contributions to science over the last 50 years and of the advances it has made not only in analyzing existing and emerging trends but also in developing enhanced scientific tools to address them. The report also shows how IIASA is currently working with distinguished partners worldwide to establish the scientific basis for a successful transition to sustainable development. The global mandate, to achieve the 2030 Agenda, its 17 Sustainable Development Goals (SDGs), and 169 specific targets, features prominently in the institute’s work and in the report at hand: the pathways needed to achieve the SDGs have been the basis of many scientific studies by IIASA and its partners. The predominantly “bottom-up” nature of tackling the SDGs has required optimal responses to the very diverse and overlapping issues they involve, including judicious tradeoffs among the solutions that can be applied. Now, at the mid-term review point of the 2030 Agenda, this report focuses on the big picture and clarifies why, after years of scientific endeavor, the ultimate goal of this difficult global mandate should be sustainable wellbeing for all. The report is in six parts that summarize past and current IIASA research highlights and point toward future challenges and solutions: i) Systems analysis for a challenged world; ii) Population and human capital; iii) Food security, ecosystems, and biodiversity; iv) Energy, technology, and climate change; v) Global systems analysis for understanding the drivers of sustainable wellbeing; and vi) Moving into the future: Three critical policy messages. The three critical policy messages, necessary to trigger discussions about a post-2030 Agenda for Sustainable Development are: (1) Suboptimization is suboptimal: Mainstream a systems-analysis approach into policymaking at all levels. (2) Enhance individual agency: Prioritize women’s empowerment through universal female education; and (3) Strengthen collective action and governance: Global cooperation and representation for the global common

    Undergraduate Catalog of Studies, 2022-2023

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    Toward an active CMOS electronics-photonics platform based on subwavelength structured devices

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    The scaling trend of microelectronics over the past 50 years, quantified by Moore’s Law, has faced insurmountable bottlenecks, necessitating the use of optical communication with its high bandwidth and energy efficiency to further improve computing performance. Silicon photonics, compatible with CMOS platform manufacturing, presents a promising means to achieve on-chip optical links, employing highly sensitive microring resonator devices that demand electronic feedback and control due to fabrication variations. Achieving the full potential of both technologies requires tight integration to realize the ultimate benefits of both realms of technology, leading to the convergence of microelectronics and photonics. A promising approach for achieving this convergence is the monolithic integration of electronics and photonics on CMOS platforms. A critical milestone was reached in 2015 with the demonstration of the first microprocessor featuring photonic I/O (Chen et al, Nature 2015), accomplished by integrating transistors and photonic devices on a single chip using a monolithic CMOS silicon-on-insulator (SOI) platform (GlobalFoundries 45RFSOI, 45 nm SOI process) without process modifications, thus known as the "zero-change" approach. This dissertation focuses on leveraging the fabrication capabilities of advanced monolithic electronic-photonic 45 nm CMOS platforms, specifically high-resolution lithography and small feature size doping implants, to realize photonic devices with subwavelength features that could potentially provide the next leap in integrated optical links performance, beyond microring resonator based links. Photonic crystal (PhC) nanobeam cavities can support high-quality resonance modes while confining light in a small volume, enhancing light-matter interactions and potentially enabling ultimate efficiencies in active devices such as modulators and photodetectors. However, PhC cavities have been overshadowed by microring resonators due to two challenges. First, their fabrication demands high lithography resolution, which excludes most standard SOI photonic platforms as viable options for creating these devices. Secondly, the standing-wave nature of PhC nanobeam cavities complicates their integration into wavelength-division multiplexing (WDM) optical links, causing unwanted reflections when coupled evanescently to a bus waveguide. In this work, we present PhC nanobeam cavities with the smallest footprint, largest intrinsic quality factor, and smallest mode volume to be demonstrated to date in a monolithic CMOS platform. The devices were fabricated in a 45 nm monolithic electronics–photonics CMOS platform optimized for silicon photonics, GlobalFoundries 45CLO, exhibiting a quality factor in excess of 100,000 the highest among fully cladded PhC nanobeam cavities in any SOI platform. Furthermore to eliminate reflections, we demonstrate an approach using pairs of PhC nanobeam cavities with opposite spatial mode symmetries to mimic traveling-wave-like ring behavior, enabling efficient and seamless WDM link integration. This concept was extended to realize a reflectionless microring resonator unit with two microrings operating as standing-wave cavities. Using this scheme with standing-wave microring resonators could lead to an optimum geometry for microring modulators with interdigitated p-n junctions in terms of modulation efficiency in a manner that allows for straightforward WDM cascading. This work also presents the first demonstration of resonant-structure-based modulators in the GlobalFoundries 45CLO platform. We report the first-ever demonstration of a PhC modulator in a CMOS platform, featuring a novel design with sub-wavelength contacts on one side allowing it to benefit from the "reflection-less"' architecture. Additionally, we also report the first demonstration of microring modulators. The most efficient devices exhibited electro-optical bandwidths up to 30 GHz, and 25 Gbps non-return-to-zero (NRZ) on-off-keyed (OOK) modulation with 1 dB insertion loss and 3.1 dB extinction ratio. Finally, as the complexity of silicon photonic systems-on-a-chip (SoC) increases to enable new applications such as low-energy data links, quantum optics, and neuromorphic computing, the need for in-situ characterization of individual components becomes increasingly important. By combining Near-field scanning optical microscopy (NSOM) with a flip-chip post-processing technique, this dissertation demonstrates a method to non-invasively perform NSOM scans of a photonic device within a large-scale CMOS-photonic circuit, without interfering with the performance and packaging of the photonics and electronics, making it a valuable tool for future development of high performance photonic circuits and systems

    Simulating substrate binding sites in the S. aureus Type II NADH Dehydrogenase

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    "Type II NADH Oxidoreductase (NDH-2) from Staphylococcus aureus was established as a therapeutic target against the virulency of this bacterium and an alternative to treat Complex I-derived diseases. To accurately model interactions of NDH-2 with its substrates such as menaquinones and NADH, Coarse-Grain (CG) simulations were employed. "N/
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