Marine Vessel Inspection as a Novel Field for Service Robotics: A Contribution to Systems, Control Methods and Semantic Perception Algorithms.

This cumulative thesis introduces a novel field for service robotics: the inspection of marine vessels using mobile inspection robots. In this thesis, three scientific contributions are provided and experimentally verified in the field of marine inspection, but are not limited to this type of application. The inspection scenario is merely a golden thread to combine the cumulative scientific results presented in this thesis. The first contribution is an adaptive, proprioceptive control approach for hybrid leg-wheel robots, such as the robot ASGUARD described in this thesis. The robot is able to deal with rough terrain and stairs, due to the control concept introduced in this thesis. The proposed system is a suitable platform to move inside the cargo holds of bulk carriers and to deliver visual data from inside the hold. Additionally, the proposed system also has stair climbing abilities, allowing the system to move between different decks. The robot adapts its gait pattern dynamically based on proprioceptive data received from the joint motors and based on the pitch and tilt angle of the robot's body during locomotion. The second major contribution of the thesis is an independent ship inspection system, consisting of a magnetic wall climbing robot for bulkhead inspection, a particle filter based localization method, and a spatial content management system (SCMS) for spatial inspection data representation and organization. The system described in this work was evaluated in several laboratory experiments and field trials on two different marine vessels in close collaboration with ship surveyors. The third scientific contribution of the thesis is a novel approach to structural classification using semantic perception approaches. By these methods, a structured environment can be semantically annotated, based on the spatial relationships between spatial entities and spatial features. This method was verified in the domain of indoor perception (logistics and household environment), for soil sample classification, and for the classification of the structural parts of a marine vessel. The proposed method allows the description of the structural parts of a cargo hold in order to localize the inspection robot or any detected damage. The algorithms proposed in this thesis are based on unorganized 3D point clouds, generated by a LIDAR within a ship's cargo hold. Two different semantic perception methods are proposed in this thesis. One approach is based on probabilistic constraint networks; the second approach is based on Fuzzy Description Logic and spatial reasoning using a spatial ontology about the environment

Fast 3D-Vision System to Classify Metallic Coins by their Embossed Topography

This paper presents a security-related machine-vision solution for real-time classification of moving objects with highly reflective metallic surfaces and complex 3D-structures. As an application example of our so called Three-Color Selective Stereo Gradient Method (Three-Color SSGM) a classification system for three main coin denominations of Euro coins is presented. Such coins are quickly moving in a coin validation system. The objective is to decide only from comparison of specially measured and processed 3D-surface information with characteristic topographical data stored in a database whether a coin belongs to one of the reference classes or has to be rejected as a foreign or counterfeit coin. Under illumination from a three-color light emitting diode equipped ring a single image of the moving coin is captured by a digital color camera. Exploiting the spectral properties of the illumination sources, which correspond to the special spectral characteristics of the camera, three independent subimages can be extracted. Comparison between these subimages leads to a discrimination between a coin with real 3D-surface and a counterfeit coin based on a photographic image of a coin of the same type. After the coin has been located and segmented, grey value based rotation and translation invariant features are extracted from a normalized image. In combination with template matching methods, a coin can be classified. Classification results will be reported for the three main coin denominations of Euro coins

Entwicklung eines länderübergreifenden Versicherungspools und anderer risikopolitischer Maßnahmen zur Reduzierung der Volatilität von lokalen Naturgefahren

In der vorliegenden Arbeit werden verschiedene risikopolitische Maßnahmen zur Reduzierung der Volatilität des Nettoergebnisses eines Erstversicherers beschrieben, mit Hilfe derer Schadenquoten und Ergebnisse zukünftig besser zu planen sind. Als mögliche Ansätze kam die Gründung eines Versicherungspools zwischen zwei oder mehreren europäischen Erstversicherern sowie die Verwendung eines versicherungstechnischen Swaps in Betracht. Aufgrund von geringeren Kosten und höherer Flexibilität erscheint der versicherungstechnische Swap gegenüber der Gründung eines Versicherungspools besser geeignet zu sein. Die Basis der Masterarbeit bildet, neben zur Verfügung gestellter Informationen der beiden Erstversicherer Achmea (Niederlande) und Gothaer (Deutschland) sowie unterschiedlicher Praxisbeispiele, eine ausführliche Auswertung versicherungs- und finanzwissenschaftlicher Literatur. Die Arbeit soll als Diskussions- und Entscheidungsgrundlage zur Implementierung einer der beschriebenen Maßnahmen in die Praxis dienen

Management of fibromyalgia syndrome – an interdisciplinary evidence-based guideline

The prevalence of fibromyalgia syndrome (FMS) of 1–2% in the general population associated with high disease-related costs and the conflicting data on treatment effectiveness had led to the development of evidence-based guidelines designed to provide patients and physicians guidance in selecting among the alternatives. Until now no evidence-based interdisciplinary (including patients) guideline for the management of FMS was available in Europe

Resource-aware Research on Universe and Matter: Call-to-Action in Digital Transformation

Given the urgency to reduce fossil fuel energy production to make climate tipping points less likely, we call for resource-aware knowledge gain in the research areas on Universe and Matter with emphasis on the digital transformation. A portfolio of measures is described in detail and then summarized according to the timescales required for their implementation. The measures will both contribute to sustainable research and accelerate scientific progress through increased awareness of resource usage. This work is based on a three-days workshop on sustainability in digital transformation held in May 2023.Comment: 20 pages, 2 figures, publication following workshop 'Sustainability in the Digital Transformation of Basic Research on Universe & Matter', 30 May to 2 June 2023, Meinerzhagen, Germany, https://indico.desy.de/event/3748

Follow-up of the GHSG HD16 trial of PET-guided treatment in early-stage favorable Hodgkin lymphoma.

The primary analysis of the GHSG HD16 trial indicated a significant loss of tumor control with PET-guided omission of radiotherapy (RT) in patients with early-stage favorable Hodgkin lymphoma (HL). This analysis reports long-term outcomes. Overall, 1150 patients aged 18-75 years with newly diagnosed early-stage favorable HL were randomized between standard combined-modality treatment (CMT) (2x ABVD followed by PET/CT [PET-2] and 20 Gy involved-field RT) and PET-2-guided treatment omitting RT in case of PET-2 negativity (Deauville score [DS] < 3). The study aimed at excluding inferiority of PET-2-guided treatment and assessing the prognostic impact of PET-2 in patients receiving CMT. At a median follow-up of 64 months, PET-2-negative patients had a 5-year progression-free survival (PFS) of 94.2% after CMT (n = 328) and 86.7% after ABVD alone (n = 300; HR = 2.05 [1.20-3.51]; p = 0.0072). 5-year OS was 98.3% and 98.8%, respectively (p = 0.14); 4/12 documented deaths were caused by second primary malignancies and only one by HL. Among patients assigned to CMT, 5-year PFS was better in PET-2-negative (n = 353; 94.0%) than in PET-2-positive patients (n = 340; 90.3%; p = 0.012). The difference was more pronounced when using DS4 as cut-off (DS 1-3: n = 571; 94.0% vs. DS ≥ 4: n = 122; 83.6%; p < 0.0001). Taken together, CMT should be considered standard treatment for early-stage favorable HL irrespective of the PET-2-result

Plasma-wall interaction studies within the EUROfusion consortium: Progress on plasma-facing components development and qualification

This work has been carried out within the framework of the EUROfusion Consortium and has received funding from the Euratom research and training programme 2014-2018 under grant agreement No 633053. The views and opinions expressed herein do not necessarily reflect those of the European Commission.The provision of a particle and power exhaust solution which is compatible with first-wall components and edge-plasma conditions is a key area of present-day fusion research and mandatory for a successful operation of ITER and DEMO. The work package plasma-facing components (WP PFC) within the European fusion programme complements with laboratory experiments, i.e. in linear plasma devices, electron and ion beam loading facilities, the studies performed in toroidally confined magnetic devices, such as JET, ASDEX Upgrade, WEST etc. The connection of both groups is done via common physics and engineering studies, including the qualification and specification of plasma-facing components, and by modelling codes that simulate edge-plasma conditions and the plasma-material interaction as well as the study of fundamental processes. WP PFC addresses these critical points in order to ensure reliable and efficient use of conventional, solid PFCs in ITER (Be and W) and DEMO (W and steel) with respect to heat-load capabilities (transient and steady-state heat and particle loads), lifetime estimates (erosion, material mixing and surface morphology), and safety aspects (fuel retention, fuel removal, material migration and dust formation) particularly for quasi-steady-state conditions. Alternative scenarios and concepts (liquid Sn or Li as PFCs) for DEMO are developed and tested in the event that the conventional solution turns out to not be functional. Here, we present an overview of the activities with an emphasis on a few key results: (i) the observed synergistic effects in particle and heat loading of ITER-grade W with the available set of exposition devices on material properties such as roughness, ductility and microstructure; (ii) the progress in understanding of fuel retention, diffusion and outgassing in different W-based materials, including the impact of damage and impurities like N; and (iii), the preferential sputtering of Fe in EUROFER steel providing an in situ W surface and a potential first-wall solution for DEMO.European Commission; Consortium for Ocean Leadership 633053; Institute of Solid State Physics, University of Latvia as the Center of Excellence has received funding from the European Union’s Horizon 2020 Framework Programme H2020-WIDESPREAD-01-2016-2017-TeamingPhase2 under grant agreement No. 739508, project CAMART

Octopus, a computational framework for exploring light-driven phenomena and quantum dynamics in extended and finite systems

Over the last few years, extraordinary advances in experimental and theoretical tools have allowed us to monitor and control matter at short time and atomic scales with a high degree of precision. An appealing and challenging route toward engineering materials with tailored properties is to find ways to design or selectively manipulate materials, especially at the quantum level. To this end, having a state-of-the-art ab initio computer simulation tool that enables a reliable and accurate simulation of light-induced changes in the physical and chemical properties of complex systems is of utmost importance. The first principles real-space-based Octopus project was born with that idea in mind, i.e., to provide a unique framework that allows us to describe non-equilibrium phenomena in molecular complexes, low dimensional materials, and extended systems by accounting for electronic, ionic, and photon quantum mechanical effects within a generalized time-dependent density functional theory. This article aims to present the new features that have been implemented over the last few years, including technical developments related to performance and massive parallelism. We also describe the major theoretical developments to address ultrafast light-driven processes, such as the new theoretical framework of quantum electrodynamics density-functional formalism for the description of novel light–matter hybrid states. Those advances, and others being released soon as part of the Octopus package, will allow the scientific community to simulate and characterize spatial and time-resolved spectroscopies, ultrafast phenomena in molecules and materials, and new emergent states of matter (quantum electrodynamical-materials).This work was supported by the European Research Council (Grant No. ERC-2015-AdG694097), the Cluster of Excellence “Advanced Imaging of Matter” (AIM), Grupos Consolidados (IT1249-19), and SFB925. The Flatiron Institute is a division of the Simons Foundation. X.A., A.W., and A.C. acknowledge that part of this work was performed under the auspices of the U.S. Department of Energy at Lawrence Livermore National Laboratory under Contract No. DE-AC52-07A27344. J.J.-S. gratefully acknowledges the funding from the European Union Horizon 2020 Research and Innovation Program under the Marie Sklodowska-Curie Grant Agreement No. 795246-StrongLights. J.F. acknowledges financial support from the Deutsche Forschungsgemeinschaft (DFG Forschungsstipendium FL 997/1-1). D.A.S. acknowledges University of California, Merced start-up funding.Peer reviewe