Behavior-specific proprioception models for robotic force estimation: a machine learning approach

Robots that support humans in physically demanding tasks require accurate force sensing capabilities. A common way to achieve this is by monitoring the interaction with the environment directly with dedicated force sensors. Major drawbacks of such special purpose sensors are the increased costs and the reduced payload of the robot platform. Instead, this thesis investigates how the functionality of such sensors can be approximated by utilizing force estimation approaches. Most of today’s robots are equipped with rich proprioceptive sensing capabilities where even a robotic arm, e.g., the UR5, provides access to more than hundred sensor readings. Following this trend, it is getting feasible to utilize a wide variety of sensors for force estimation purposes. Human proprioception allows estimating forces such as the weight of an object by prior experience about sensory-motor patterns. Applying a similar approach to robots enables them to learn from previous demonstrations without the need of dedicated force sensors. This thesis introduces Behavior-Specific Proprioception Models (BSPMs), a novel concept for enhancing robotic behavior with estimates of the expected proprioceptive feedback. A main methodological contribution is the operationalization of the BSPM approach using data-driven machine learning techniques. During a training phase, the behavior is continuously executed while recording proprioceptive sensor readings. The training data acquired from these demonstrations represents ground truth about behavior-specific sensory-motor experiences, i.e., the influence of performed actions and environmental conditions on the proprioceptive feedback. This data acquisition procedure does not require expert knowledge about the particular robot platform, e.g., kinematic chains or mass distribution, which is a major advantage over analytical approaches. The training data is then used to learn BSPMs, e.g. using lazy learning techniques or artificial neural networks. At runtime, the BSPMs provide estimates of the proprioceptive feedback that can be compared to actual sensations. The BSPM approach thus extends classical programming by demonstrations methods where only movement data is learned and enables robots to accurately estimate forces during behavior execution

Wirtschaftlichkeitsrechnung verschiedener Auto ID Systeme zur Optimierung bestehender Lieferketten

Aufgrund des sich generell verschärfenden Wettbewerbs müssen sich Unternehmen neben Innovationen durch kontinuierliche Verbesserung sowie schlankerer Prozesse vom Wettbewerb abheben, um am Markt reüssieren zu können. Diese Arbeit beleuchtet verschiedenen Auto ID Systeme, deren Vor – und Nachteile und Kosten. Ziel der Diplomarbeit ist es, für ein Produktionsunternehmen welches durch indirekten Vertrieb seine Produkte absetzt, durch Einsatz von Auto ID Systemen die Liefketten sowie die Produktionsauslastung zu optimieren. Die Diplomarbeit soll im Detail durch eine Wirtschaftlichkeitsrechnung verschiedene Varianten ökonomisch beleuchten. Der Abschuss der Arbeit ist eine Beschreibung und Auswertung der einzelnen Betrachtungen

Branched-chain amino acid aminotransferase and methionine formation in Mycobacterium tuberculosis

BACKGROUND: Tuberculosis remains a major world-wide health threat which demands the discovery and characterisation of new drug targets in order to develop future antimycobacterials. The regeneration of methionine consumed during polyamine biosynthesis is an important pathway present in many microorganisms. The final step of this pathway, the conversion of ketomethiobutyrate to methionine, can be performed by aspartate, tyrosine, or branched-chain amino acid aminotransferases depending on the particular species examined. RESULTS: The gene encoding for branched-chain amino acid aminotransferase in Mycobacterium tuberculosis H37Rv has been cloned, expressed, and characterised. The enzyme was found to be a member of the aminotransferase IIIa subfamily, and closely related to the corresponding aminotransferase in Bacillus subtilis, but not to that found in B. anthracis or B. cereus. The amino donor preference for the formation of methionine from ketomethiobutyrate was for isoleucine, leucine, valine, glutamate, and phenylalanine. The enzyme catalysed branched-chain amino acid and ketomethiobutyrate transamination with a Km of 1.77 – 7.44 mM and a Vmax of 2.17 – 5.70 μmol/min/mg protein, and transamination of ketoglutarate with a Km of 5.79 – 6.95 mM and a Vmax of 11.82 – 14.35 μmol/min/mg protein. Aminooxy compounds were examined as potential enzyme inhibitors, with O-benzylhydroxylamine, O-t-butylhydroxylamine, carboxymethoxylamine, and O-allylhydroxylamine yielding mixed-type inhibition with Ki values of 8.20 – 21.61 μM. These same compounds were examined as antimycobacterial agents against M. tuberculosis and a lower biohazard M. marinum model system, and were found to completely prevent cell growth. O-Allylhydroxylamine was the most effective growth inhibitor with an MIC of 78 μM against M. marinum and one of 156 μM against M. tuberculosis. CONCLUSION: Methionine formation from ketomethiobutyrate is catalysed by a branched-chain amino acid aminotransferase in M. tuberculosis. This enzyme can be inhibited by selected aminooxy compounds, which also have effectiveness in preventing cell growth in culture. These compounds represent a starting point for the synthesis of branched-chain aminotransferase inhibitors with higher activity and lower toxicity

The potential role of DNA methylation as preventive treatment target of epileptogenesis

Pharmacological therapy of epilepsy has so far been limited to symptomatic treatment aimed at neuronal targets, with the result of an unchanged high proportion of patients lacking seizure control. The dissection of the intricate pathological mechanisms that transform normal brain matter to a focus for epileptic seizures—the process of epileptogenesis—could yield targets for novel treatment strategies preventing the development or progression of epilepsy. While many pathological features of epileptogenesis have been identified, obvious shortcomings in drug development are now believed to be based on the lack of knowledge of molecular upstream mechanisms, such as DNA methylation (DNAm), and as well as a failure to recognize glial cell involvement in epileptogenesis. This article highlights the potential role of DNAm and related gene expression (GE) as a treatment target in epileptogenesis

Long-term (4 year) degradation behavior of coated stainless steel 441 used for solid oxide fuel cell interconnect applications

The present work aims to investigate the long-term stability of Ce/Co coated AISI 441 used as an interconnect material in solid oxide fuel cells (SOFC). Being a commercially available alloy the use of AISI 441 would greatly reduce the cost of SOFCs in comparison to tailor-made interconnect materials such as Crofer 22 APU. To analyze the long-term stability Ce/Co coated AISI 441 is exposed in air at 800 \ub0C for up to 38 000 h. Mass gain values are recorded continuously. After 7 000, 23 000, and 35 000 h area specific resistance (ASR) measurements are performed, and cross-sections are prepared and analyzed using scanning electron microscopy (SEM) and energy dispersive x-ray (EDX) spectroscopy. Cr-evaporation measurements are conducted on samples exposed for up to 38 000 h

Cost-effectiveness of CTC guided chemo- or endocrine therapy in ER+ HER2- metastatic breast cancer – results from a randomized controlled multicenter trial

Patients with metastatic, Estrogen Receptor (ER) positive, HER2-negative, breast cancer, before initiating CDK4/6 inhibitors, receive either single agent endocrine- or chemotherapy based on their clinical risk. In this first-ever trial-based economic evaluation of Circulating Tumor Cells (CTCs), the cost-effectiveness of standardizing the prescription of endocrine- or chemotherapy using a CTC count threshold (with >5 CTCs/7.5mL indicative of unfavorable disease outcomes) was compared to current clinical practice. N=755 ER+ HER2-patients, enrolled in 17 French centres, were randomized to CTC guided or standard of care and were treated according to either through the CTC score or clinical examination. Health state utilities were calculated by mapping the QLQ-C30 to EQ-5D utilities and used to calculate Quality-Adjusted Life Years (QALY) over a 2-year time horizon. Bootstrapping and additional sensitivity analyses were performed to quantify the impact of uncertainty. Health outcomes in both arms were similar, but costs were higher in the CTC guided arm (€19,403) compared to the usual care (€18,254), resulting in an ICER of €104,078/QALY in favor of usual care. However, when the analysis was performed for the clinically high- and low-risk groups separately, CTC enumeration could be a dominant strategy (cost saving) if treatment is de-escalated in clinically high-risk patients as indicated by CTC scores. However, the current analysis was based on the PFS and OS data reported in 2021 and long-term Overall Survival data is collected since then (JCO, 2023 in press). A further analysis of the health economic impact of CTC enumeration in clinically low and high-risk groups is therefore indicated

Chronic kidney disease after lung transplantation in a changing era

Lung transplant (LTx) physicians are responsible for highly complex post-LTx care, including monitoring of kidney function and responding to kidney function loss. Better survival of the LTx population and changing patient characteristics, including older age and increased comorbidity, result in growing numbers of LTx patients with chronic kidney disease (CKD). CKD after LTx is correlated with worse survival, decreased quality of life and high costs. Challenges lie in different aspects of post-LTx renal care. First, serum creatinine form the basis for estimating renal function, under the assumption that patients have stable muscle mass. Low or changes in muscle mass is frequent in the LTx population and may lead to misclassification of CKD. Second, standardizing post-LTx monitoring of kidney function and renal care might contribute to slow down CKD progression. Third, new treatment options for CKD risk factors, such as diabetes mellitus, proteinuria and heart failure, have entered clinical practice. These new treatments have not been studied in LTx yet but are of interest for future use. In this review we will address the difficult aspects of post-LTx renal care and evaluate new and promising future approaches to slow down CKD progression.</p