Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles

One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Although several methods have been introduced to tackle this, most are unsuitable for real-time applications and require carefully hand-crafted obstacle descriptions. In this work, we propose a method combining high-frequency and real-time self and environment collision avoidance of a robotic manipulator with low-frequency, multimodal, and high-resolution environmental perceptions accumulated in a digital twin system. Our method is based on geometric primitives, so-called primitive skeletons. These, in turn, are information-compressed and real-time compatible digital representations of the robot's body and environment, automatically generated from ultra-realistic virtual replicas of the real world provided by the digital twin. Our approach is a key enabler for closing the loop between environment perception and robot control by providing the millisecond real-time control stage with a current and accurate world description, empowering it to react to environmental changes. We evaluate our whole-body collision avoidance on a 9-DOFs robot system through five experiments, demonstrating the functionality and efficiency of our framework.Comment: Accepted for publication at 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023

The former Jewish community of Sien : a township in the German State of Rhineland Palatinate.

Partial translation of "Die ehemalige Juedische Gemeinde Sien: Spuren und Erinnerungen", MS 443, being an overview of Jewish history in relation to the Jewish community of Sien.Alfred Moritz, August 200

The rate of cholangiocarcinoma in Caroli Disease A German multicenter study

Background: Caroli Disease (CD) and Caroli Syndrome (CS) are rare disorders presenting with dilation of the intrahepatic bile ducts. CD/CS are associated with cholangiocarcinoma (CCA). However, the true incidence of CCA is still unclear, although it may serve as an indication for surgery. In this paper, we analyzed (I) the incidence of CCA in German centers, (II) reviewed our single center population together with its clinical presentation and (III) performed a thorough literature review. Methods: 17 large HPB-centers across Germany were contacted and their patients after surgical treatment due to CD/CS with histopathology were included. Medline search for all studies published in English or German literature was performed. Patients who underwent surgery at our department between 2012 and 2020 due to CD or CS were analyzed. Results: In the multicenter study, 79 patients suffered from CD and 119 patients from CS, with a total number of 198 patients. In 14 patients, CCA was found (Overall: 7,1%; CD: 6,3%, CS 7,6%). Between 2012 and 2020, 1661 liver resections were performed at our department. 14 patients underwent surgery due to CD or CS. Histological examination showed synchronous cholangiocarcinoma in one patient. The literature review revealed a CCA-rate of 7,3% in large series, whereas in case reports a rate of 6,8% was found. Conclusion: There is risk of malignant transformation and patients with CD might also benefit from resection due to improvement of symptoms. Therefore, resection is strongly advised. As certain patients with CS require transplantation, treatment should not be guided by the relatively low rate of CCA but by the concomitant diseases that come along with hepatic failure