Design, Control, and Evaluation of a Human-Inspired Robotic Eye

Schulz S. Design, Control, and Evaluation of a Human-Inspired Robotic Eye. Bielefeld: Universität Bielefeld; 2020.The field of human-robot interaction deals with robotic systems that involve humans and robots closely interacting with each other. With these systems getting more complex, users can be easily overburdened by the operation and can fail to infer the internal state of the system or its ”intentions”. A social robot, replicating the human eye region with its familiar features and movement patterns, that are the result of years of evolution, can counter this. However, the replication of these patterns requires hard- and software that is able to compete with the human characteristics and performance. Comparing previous systems found in literature with the human capabili- ties reveal a mismatch in this regard. Even though individual systems solve single aspects, the successful combination into a complete system remains an open challenge. In contrast to previous work, this thesis targets to close this gap by viewing the system as a whole — optimizing the hard- and software, while focusing on the replication of the human model right from the beginning. This work ultimately provides a set of interlocking building blocks that, taken together, form a complete end-to-end solution for the de- sign, control, and evaluation of a human-inspired robotic eye. Based on the study of the human eye, the key driving factors are identified as the success- ful combination of aesthetic appeal, sensory capabilities, performance, and functionality. Two hardware prototypes, each based on a different actua- tion scheme, have been developed in this context. Furthermore, both hard- ware prototypes are evaluated against each other, a previous prototype, and the human by comparing objective numbers obtained by real-world mea- surements of the real hardware. In addition, a human-inspired and model- driven control framework is developed out, again, following the predefined criteria and requirements. The quality and human-likeness of the motion, generated by this model, is evaluated by means of a user study. This frame- work not only allows the replication of human-like motion on the specific eye prototype presented in this thesis, but also promotes the porting and adaption to less equipped humanoid robotic heads. Unlike previous systems found in literature, the presented approach provides a scaling and limiting function that allows intuitive adjustments of the control model, which can be used to reduce the requirements set on the target platform. Even though a reduction of the overall velocities and accelerations will result in a slower motion execution, the human characteristics and the overall composition of the interlocked motion patterns remain unchanged

Referendums in the EU's constitution building process

In ten member states of the European Union (EU) the new constitutional treaty was supposed to be ratified by referendum. A growing number of theoretical models predicts that such additional ratification hurdles result in an advantage for negotiators in the bargaining game. The impact such a referendum constraint can exert, however, depends on the timing of its announcement, the remaining ratification rules as well as the preference constellations. If parliament and voters are actually in favor of the new treaty, ratification constraints may cease to affect the bargaining outcome. After presenting the theoretical foundation of these arguments, we present empirical evidence much in line with the theoretical implications. More specifically, especially for the issues changed during the intergovernmental conference, those governments gained that had scheduled a referendum and voters had a stronger preference for the status qu

Investigation On The Influence Of Remanufacturing On Production Planning And Control – A Systematic Literature Review

Production planning and control (PPC) is one of the focal operational tasks of a company, and it is used to design logistics services in a target-orientated manner so that individual customer requirements can be fulfilled. However, existing PPC framework models are still based on the prevailing linear economic procedure (take - make - dispose). Due to customers' increasing interest in sustainability and growing regulatory pressure, the Circular Economy (CE) meets these changing conditions by closing material cycles, improving resource efficiency and extending product life cycles. However, for a company to guarantee a high logistics performance, the operational PPC must be adapted to this new economic model. To this end, it needs to be investigated whether and how the adaptation of circular strategies influences existing PPC processes. This paper focuses on the circular strategy of remanufacturing and its influence on different PPC-main tasks. The latter will be examined using a systematic literature review. Finally, the results of this analysis are compared with the Hanoverian Supply Chain Model as a PPC framework model. This comparison shows which PPC tasks are affected and which existing approaches have already been developed. Ultimately, these results provide the basis for developing a framework model for operational PPC regarding the CE

Regularity and trend to equilibrium for a non-local advection-diffusion model of active particles

We establish regularity and, under suitable assumptions, convergence to stationary states for weak solutions of a parabolic equation with a non-linear non-local drift term; this equation was derived from a model of active Brownian particles with repulsive interactions in a previous work, which incorporates advection-diffusion processes both in particle position and orientation. We apply De Giorgi's method and differentiate the equation with respect to the time variable iteratively to show that weak solutions become smooth away from the initial time. This strategy requires that we obtain improved integrability estimates in order to cater for the presence of the non-local drift. The instantaneous smoothing effect observed for weak solutions is shown to also hold for very weak solutions arising from distributional initial data; the proof of this result relies on a uniqueness theorem in the style of M.~Pierre for low-regularity solutions. The convergence to stationary states is proved under a smallness assumption on the drift term.Comment: 37 page

Resonances in ultracold dipolar atomic and molecular gases

A previously developed approach for the numerical treatment of two particles that are confined in a finite optical-lattice potential and interact via an arbitrary isotropic interaction potential has been extended to incorporate an additional anisotropic dipole–dipole interaction (DDI). The interplay of a model but realistic short-range Born–Oppenheimer potential and the DDI for two confined particles is investigated. A variation of the strength of the DDI leads to diverse resonance phenomena. In a harmonic confinement potential some resonances show similarities to s-wave scattering resonances while in an anharmonic trapping potential like the one of an optical lattice additional inelastic confinement-induced dipolar resonances occur. The latter are due to a coupling of the relative and center-of-mass motion caused by the anharmonicity of the external confinement.Peer Reviewe

Spectral averaging techniques for Jacobi matrices

Spectral averaging techniques for one-dimensional discrete Schroedinger operators are revisited and extended. In particular, simultaneous averaging over several parameters is discussed. Special focus is put on proving lower bounds on the density of the averaged spectral measures. These Wegner type estimates are used to analyze stability properties for the spectral types of Jacobi matrices under local perturbations

PEN as self-vetoing structural Material

Polyethylene Naphtalate (PEN) is a mechanically very favorable polymer. Earlier it was found that thin foils made from PEN can have very high radio-purity compared to other commercially available foils. In fact, PEN is already in use for low background signal transmission applications (cables). Recently it has been realized that PEN also has favorable scintillating properties. In combination, this makes PEN a very promising candidate as a self-vetoing structural material in low background experiments. Components instrumented with light detectors could be built from PEN. This includes detector holders, detector containments, signal transmission links, etc. The current R\&D towards qualification of PEN as a self-vetoing low background structural material is be presented.Comment: 4 pages, 7 figures, contribution to Proceedings of the sixth workshop on Low Radioactivity Techniques 2017, 23-27 May 2017 Seoul, to be published at AIP, editor: D. Leonar