Mobile robotic systems need to perceive their surroundings in order to act independently. In this work a perception framework is developed which interprets the data of a binocular camera in order to transform it into a compact, expressive model of the environment. This model enables a mobile system to move in a targeted way and interact with its surroundings. It is shown how the developed methods also provide a solid basis for technical assistive aids for visually impaired people.
Inhaltsangabe:Abstract: This thesis presents a control algorithm for semi-active suspensions to reduce the braking distance of passenger cars. Active shock absorbers are controlled and used to influence the vertical dynamics during ABS-controlled full braking. In today s series cars the active shock absorbers are switched to a passive damping - usually hard damping - during ABS-braking. Several approaches to reduce oscillations of vertical dynamic tire forces are known, implemented and some of them tested in non-braking situations (refer to Yi, Valà ek, and Nouillant). The approach presented in this paper goes a step further by connecting the vertical with the longitudinal dynamics. To influence the vertical dynamics a switching control logic, called MiniMax-controller, is used. It is named after the fact that it changes only from soft to hard damping and vice versa. A control quantity was identified that connects the vertical dynamics with the longitudinal dynamics: the integral of dynamic wheel load. The control algorithm is implemented in a compact class passenger car. Simulations with a quarter-car model have been undertaken as well as tests on a 4-post-test rig, driving tests with defined excitations (like defined obstacles), and test drives on a real road, using a braking machine for reproducibility reasons. It could be shown that it is possible to reduce the braking distance by affecting on the vertical dynamics of a passenger car in general. The amount of reduction depends on the elevation profile of the chosen testing track and on the initial velocity. On a road with an unevenness comparable to the one that is found on a typical German Autobahn, a reduction of typically 1-2%, compared to the best passive damping, was achieved. Inhaltsverzeichnis:Table of Contents: List of Abbreviationsix List of Symbols and Indicesx Abstractxv 1.Introduction1 1.1Classification of Suspension Systems1 1.2State of the Art3 1.3Research Objectives11 1.4Methodology12 2.Fundamentals of Vehicle Dynamics14 2.1Coordinate Systems14 2.2The Braking Process16 2.2.1The Quality of a Braking Process23 2.2.2Parameters that Influence the Braking Distance24 2.3Possibilities to Influence the Braking Force26 2.3.1Influence via Braking Torque-ABS30 2.3.2Influence via Wheel Load-Active Shock Absorbers34 2.4Conclusions35 3.Tools and Research Environment36 3.1Active Shock-Absorbers36 3.2Testing Vehicle38 3.2.1Testing Vehicle [...]
Schutz und Andacht im Islam befasst sich mit handschriftlichen Dokumenten in Rollenform, die zwischen dem 14. und 19. Jh. entstanden sind. Die vorgestellten Belegstücke stammen aus unterschiedlichen geographischen Kontexten: a. Städtedreieck Tabriz-Konya-Bagdad; b. persischer Kulturraum; c. Osmanisches Reich. Diese Rollen waren bei Angehörigen von Männerbünden (Sufi-Orden, Futuwwa- und Aḫī-Gruppierungen, Gilden) beliebt. Die Studie untersucht das auf diesen Dokumenten verwendete textliche und ge¬stalterische Vokabular. Neben Passagen aus dem Koran (auch vollständige Abschriften) lassen sich oft Gebete und weitere Texte frommen Inhalts feststellen. Gelegentlich finden sich Hinweise, dass die Dokumente aus heterodoxen Umfeldern stammen. Die Studie unterstreicht ausserdem den hohen kunsthistorischen Wert der vorgestellten Belegstücke, die oft für Angehörige von gesellschaftlichen Eliten angefertigt worden sind. Devotion and Protection in Islam deals with hand-written documents in the scroll format dating from the 14th–19th centuries. These documents can be attributed to various geographic contexts: a. the triangle between the cities of Tabriz, Konya and Baghdad; b. the Persianate world; c. the Ottoman Empire. These scrolls were appreciated by members of different associations (Männerbünde; e.g. Sufi orders, Futuwwa and Aḫī groups). This study analyses the textual and ornamental vocabulary applied on the scrolls. The copied texts mostly comprise passages from the Quran and prayers. Certain features suggest that such scrolls were often produced in heterodox environments. Additionally, this study underscores the high art-historical value of these documents, particularly appreciated by members of the ruling elite.
Given the complexity of education, educational science can only focus on a limited number of research areas. This book suggests a few new research topics, all of which have not received adequate attention. In the first part of the book, these topics are related to the rhetoric of education, in the second to rituals in education.
Die marmorne Liegestatue der frühchristlichen Jungfrau und Märtyrerin Cäcilie, die sich seit ihrer Entstehung zum Jubeljahr 1600 an ihrem ursprünglichen Aufstellungsort in Rom befindet, gilt aufgrund innovativer Rahmung und Formensprache als bahnbrechend in der westlichen Kunst. Im Hinblick auf ihren kulturellen, religiösen, sozialen und politischen Hintergrund wurde sie aber bislang noch nie umfassend untersucht. Die vorliegende, interdisziplinäre Studie widmet sich genau diesem Kraftfeld. Es bestimmt die Genese, Bedeutung und frühe Rezeption des Grabbildes Cäciliens wie auch des Stifters, Kardinal Paolo Camillo Sfondrato. Die Figur wirkt nicht nur im gesamten Kircheninnenraum der der Heiligen geweihten Basilika, sondern strahlt in eine wegweisende, frühmoderne Welt aus. Zugleich reflektiert sie Zeitströmungen derart, dass sie als künstlerische Summe ihrer Epoche gelten kann. The reclining marble statue of the early Christian virgin martyr Cecilia, completed by the Holy Year of 1600 and still in its original setting in the Roman basilica bearing the saint’s name, has long been recognised as a seminal work in Western art. Yet its cultural, religious, social and political background has never been comprehensively investigated. This interdisciplinary analysis explores the constellation of forces that shaped the genesis, meaning and early reception of the sculpture – a funeral image for both its donor, Cardinal Paolo Camillo Sfondrato, and Cecilia – as well as its impact on the church interior and the contemporary viewer. The cult image emerges as a synthesis of an epoch that is fundamental to our understanding of early modern culture.
Florian Dörschel deals with the martial side of German chivalry towards the end of the Middle Ages. Knightly violence was at the center of social, military and political life as an instrument of power, representation and communication. Florian Dörschel befasst sich mit der kriegerischen Seite des deutschen Rittertums im ausgehenden Mittelalter. Diese ritterliche Gewalt stand als Machtinstrument, Repräsentations- und Kommunikationsmittel im Mittelpunkt des sozialen, militärischen und politischen Lebens.
The Second World War affected the lives and shaped the experience of millions of individuals in Germany - soldiers at the front, women, children and the elderly sheltering in cellars, slave labourers toiling in factories, and concentration-camp prisoners and POWs clearing rubble in the Reich's devastated cities. Taking a 'history from below' approach, the volume examines how the minds and behaviour of individuals were moulded by the Party as the Reich took the road to Total War. The ever-increasing numbers of German workers conscripted into the Wehrmacht were replaced with forced foreign workers and slave labourers and concentration camp prisoners. The interaction in everyday life between German civilian society and these coerced groups is explored, as is that society's relationship to the Holocaust. From early 1943, the war on the home front was increasingly dominated by attack from the air. The role of the Party, administration, police, and courts in providing for the vast numbers of those rendered homeless, in bolstering civilian morale with 'miracle revenge weapons' propaganda, and in maintaining order in a society in disintegration is reviewed in detail. For society in uniform, the war in the east was one of ideology and annihilation, with intensified indoctrination of the troops after Stalingrad. The social profile of this army is analysed through study of a typical infantry division. The volume concludes with an account of the various forms of resistance to Hitler's regime, in society and the military, culminating in the failed attempt on his life in July 1944.
Der vorliegende Materialband ist das Forscherheft zu den Feuerspuckern Stromboli und Ätna und beinhaltet die Beilage zu ,,Die aktiven und ruhenden Vulkane Süditaliens. Ein handlungs- und produktorientiertes Konzept für die Haupt- und Werkreal-schule" (ISBN: 987-1-291-65394-6).
This study examines Thomas Aquinas’s contribution to the systematic field of animal philosophy. It applies various models from the current philosophical debate (especially from that concerning the mind of animals) as interpretative aids to tap the potential of the Thomistic approach. Thomas draws a clear line of demarcation between animals and human beings (= anthropological difference). However, he also considers it important to work out the similarities between humans and animals, insofar as they are both so-called animalia, i.e., living beings possessing senses (= animal conformance). His philosophical deliberations concerning animals have a methodological function as well, namely to highlight the distinct capacities of human beings. Thus, for Thomas, the reflection on animals is a key instrument in dealing with anthropological questions.
Reviews our current understanding of the role of protein oxidation in aging and age-related diseases Protein oxidation is at the core of the aging process. Setting forth a variety of new methods and approaches, this book helps researchers conveniently by exploring the aging process and developing more effective therapies to prevent or treat age-related diseases. There have been many studies dedicated to the relationship between protein oxidation and age-related pathology; now it is possible for researchers and readers to learn new techniques as utilizing protein oxidation products as biomarkers for aging. Protein Oxidation and Aging begins with a description of the tremendous variety of protein oxidation products. Furthermore, it covers: Major aspects of the protein oxidation process Cellular mechanisms for managing oxidized proteins Role of protein oxidation in aging Influence of genetic and environmental factors on protein oxidation Measuring protein oxidation in the aging process Protein oxidation in age-related diseases References at the end of each chapter serve as a gateway to the growing body of original research studies and reviews in the field.
Climate technology becomes more and more relevant in international environmental policy negotiations. At the Kyoto conference binding emission reduction targets have been established for several regions of the world. The major challenge is how to realize these reduction goals with minimum costs without generating new distributional and social difficulties. The book analyses the macroeconomic structural and distributional impacts of greenhouse gas mitigation strategies for the EU and the member states.
The gripping narrative of one of the last Nazi criminal trials in Germany—that of Bruno Dey, a 93-year-old former concentration camp guard charged with aiding the murder of more than 5,000 people—and a larger exploration of Germany's reckoning with the Holocaust, from silence to memory to today's rising tide of fascism and antisemitism. Bruno Dey's trial formed part of an extraordinary series of Holocaust cases brought by German prosecutors in recent years in a belated attempt to deliver justice to the victims and reverse decades of judicial neglect. It also surfaced at a pivotal moment for Germany and its thinking about the Holocaust. The Nazi genocide continues to occupy a crucial space in German public life, but many of the country's long-held certainties and convictions around the Holocaust are starting to fray. This reflects in part the passage of time, and the fact that the last surviving witnesses—victims and perpetrators alike—are rapidly fading away. But it’s also the result of profound changes in German politics and society. The far-right has made electoral gains and is openly challenging the country’s historic commitment to Holocaust remembrance. At the same time, there is a small but vociferous group of intellectuals on the left who question Germany’s memory culture from a different angle, asking what political lessons the country should draw from the Holocaust today. What does it mean for the country’s new Muslim citizens from Syria and Afghanistan, many of whom arrived with their own traumas, to be expected to assume the nation’s guilt? Final Verdict investigates questions that touch on German history, politics, and memory culture, and on the author’s own family history. Buck revisits the silence that surrounds his own family’s experiences and conduct during the Nazi period. In the face of rising anti-Semitism in Germany, the United States, and globally, Final Verdict examines the case for Holocaust justice in the twenty-first century—and the lessons that Germany's struggle with its Nazi past holds for the world today.
This book explains how today's insurance industry developed and highlights the role of the reinsurance industry in spreading risks globally. The book examines the development of insurance markets and of the reinsurance industry in particular, and the history of Swiss Re, one of the leading reinsurance companies in the world.
This is the third of five ambitious volumes theorizing the structure of governance above and below the central state. This book is written for those interested in the character, causes, and consequences of governance within the state. This book sets out a measure of authority for seventy-six international organizations (IOs) from 1950, or the time of their establishment, to 2010 which can allow researchers to test expectations about the character, sources, and consequences of international governance. The international organizations considered are regional (e.g. the EU, Andean Community, NAFTA), cross-regional (e.g. Commonwealth of Nations, the Organization of Islamic Cooperation), and global (e.g. the UN, World Bank, WTO). Firstly, the book introduces carefully constructed estimates for the scope and depth of authority exercised by international governments. The estimates are unique in their comparative scope, their specificity, and time span. Secondly, it describes describe broad trends in IO authority by comparing delegation and pooling, over time, across IOs, and across decision areas. Thirdly, it presents the evidence gathered by the authors to estimate international authority by carefully discussing forty-seven international organizations, and showing how their bodies are composed, what decisions each body makes, and how they make decisions. Transformations in Governance is a major new academic book series from Oxford University Press. It is designed to accommodate the impressive growth of research in comparative politics, international relations, public policy, federalism, environmental and urban studies concerned with the dispersion of authority from central states up to supranational institutions, down to subnational governments, and side-ways to public-private networks. It brings together work that significantly advances our understanding of the organization, causes, and consequences of multilevel and complex governance. The series is selective, containing annually a small number of books of exceptionally high quality by leading and emerging scholars. The series targets mainly single-authored or co-authored work, but it is pluralistic in terms of disciplinary specialization, research design, method, and geographical scope. Case studies as well as comparative studies, historical as well as contemporary studies, and studies with a national, regional, or international focus are all central to its aims. Authors use qualitative, quantitative, formal modeling, or mixed methods. A trade mark of the books is that they combine scholarly rigour with readable prose and an attractive production style. The series is edited by Liesbet Hooghe and Gary Marks of the University of North Carolina, Chapel Hill, and Walter Mattli of the University of Oxford.
The application of Iron to open up new applications for bioresorbable implants is promising. However, modification of Iron is necessary to adjust the required properties. Alloying with Manganese improves the mechanical performance and increases the degradation rate. Further acceleration of degradation can be adjusting electrochemically noble phases to force the anodic dissolution of the Iron-based matrix. Since Silver and Iron are insoluble in each other, Silver phases can exist in an unmodified Iron-Manganese matrix. Silver is biocompatible and provides an antibacterial effect. If a degradable Silver alloy is used, the Silver phases can degrade after the Iron-Manganese matrix. One way to process metals that are not soluble in each other by melting metallurgy is powder-bed-based selective laser beam melting. The small melt pool, strong melt flow, and rapid solidification enable the inclusion of Silver in the Iron-Manganese matrix. To enable selective tailoring of the morphology, distribution, and chemical composition of the Silver phases, a model was developed for the interaction of the insoluble components in the melt pool and the formation of the Silver phases during laser beam melting. The principle effectiveness of anodic dissolution by Silver phases has been confirmed. However, this does not result in an increased degradation rate, since deposits with a blocking effect are formed.
This open access book offers a new account on the legal conflict between privacy and trade in the digital sphere. It develops a fundamental rights theory with a new right to continuous protection of personal data and explores the room for the application of this new right in trade law. Replicable legal analysis and practical solutions show the way to deal with cross-border data flows without violating fundamental rights and trade law principles. The interplay of privacy and trade became a topic of worldwide attention in the wake of Edward Snowden’s revelations concerning US mass surveillance. Based on claims brought forward by the activist Maximilian Schrems, the ECJ passed down two high-profile rulings restricting EU-US data flows. Personal data is relevant for a wide range of services that are supplied across borders and restrictions on data flows therefore have an impact on the trade with such services. After the two rulings by the ECJ, it is less clear then ever how privacy protection and trade can be brought together on an international scale. Although it was widely understood that the legal dispute over EU-US data flows concerns the broad application of EU data protection law, it has never been fully explored just how far the EU’s requirements for the protection of digital rights go and what this means beyond EU-US data flows. This book shows how the international effects of EU data protection law are rooted in the EU Charter of Fundamental Rights and that the architecture of EU law demands that the Charter as primary EU law takes precedence over international law. The book sets out to solve the problem of how the EU legal data transfer regime must be designed to implement the EU’s extraterritorial fundamental rights requirements without violating the principles of the WTO’s law on services. It also addresses current developments in international trade law – the conclusion of comprehensive trade agreements – and offers suggestion for the design of data flow clauses that accommodate privacy and trade.
This book is a clinical manual that covers the whole spectrum of swallowing and its disorders. It starts with physiology of swallowing, pathophysiology of disordered deglutition, diagnostic methods (clinical and instrumental) and ends with an in-depth’s and up-to-date presentation of current treatment options. The clinically most relevant topics of dysphagia management on the stroke unit and the intensive care unit are dealt with in separate chapters. Also the closely intertwined issue of nutritional management is specifically addressed. Most importantly, the book covers all obligatory topics of the Flexible Endoscopic Evaluation of Swallowing (FEES)-curriculum, an educational initiative that started in Germany in 2014 and is currently being extended to other European and non-European countries. The book is richly illustrated and an online video section provides a number of typical patient cases. FEES is probably the most commonly chosen method for the objective assessment of swallowing and its disorders. It is used in stroke units, intensive care facilities, geriatric wards but also in rehabilitation clinics and within dedicated outpatient services. This book on neurogenic dysphagia therefore addresses a wide range of different medical disciplines, such as neurologists, geriatricians, intensive care physicians, rehabilitation physicians, gastroenterologists, otolaryngologists, phoniatrists and also speech-language pathologists.
The Second World War affected the lives and shaped the experience of millions of individuals in Germany - soldiers at the front, women, children and the elderly sheltering in cellars, slave labourers toiling in factories, and concentration-camp prisoners and POWs clearing rubble in the Reich's devastated cities.Taking a 'history from below' approach, the volume examines how the minds and behaviour of individuals were moulded by the Party as the Reich took the road to Total War. The ever-increasing numbers of German workers conscripted into the Wehrmacht were replaced with forced foreign workers and slave labourers and concentration camp prisoners. The interaction in everyday life between German civilian society and these coerced groups is explored, as is that society>'s relationship to theHolocaust.From early 1943, the war on the home front was increasingly dominated by attack from the air. The role of the Party, administration, police, and courts in providing for the vast numbers of those rendered homeless, in bolstering civilian morale with 'miracle revenge weapons' propaganda, and in maintaining order in a society in disintegration is reviewed in detail.For society in uniform, the war in the east was one of ideology and annihilation, with intensified indoctrination of the troops after Stalingrad. The social profile of this army is analysed through study of a typical infantry division. The volume concludes with an account of the various forms of resistance to Hitler's regime, in society and the military, culminating in the failed attempt on his life in July 1944.
Mobile robotic systems need to perceive their surroundings in order to act independently. In this work a perception framework is developed which interprets the data of a binocular camera in order to transform it into a compact, expressive model of the environment. This model enables a mobile system to move in a targeted way and interact with its surroundings. It is shown how the developed methods also provide a solid basis for technical assistive aids for visually impaired people.
Mobile robotic systems need to perceive their surroundings in order to act independently. In this work a perception framework is developed which interprets the data of a binocular camera in order to transform it into a compact, expressive model of the environment. This model enables a mobile system to move in a targeted way and interact with its surroundings. It is shown how the developed methods also provide a solid basis for technical assistive aids for visually impaired people. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.
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