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Accurate self-localisation is a fundamental ability of any mobile robot. In Monte Carlo localisation, a probability distribution over a space of possible hypotheses accommodates the inherent uncertainty in the position estimate, whereas bounded-error localisation provides a region that is guaranteed to contain the robot. However, this guarantee is accompanied by a constant probability over the confined region and therefore the information yield may not be sufficient for certain practical applications. Four hybrid localisation algorithms are proposed, combining probabilistic filtering with non-linear bounded-error state estimation based on interval analysis. A forward-backward contractor and the Set Inverter via Interval Analysis are hybridised with a bootstrap filter and an unscented particle filter, respectively. The four algorithms are applied to global localisation of an underwater robot, using simulated distance measurements to distinguishable landmarks. As opposed to previous hybrid methods found in the literature, the bounded-error state estimate is not maintained throughout the whole estimation process. Instead, it is only computed once in the beginning, when solving the wake-up robot problem, and after kidnapping of the robot, which drastically reduces the computational cost when compared to the existing algorithms. It is shown that the novel algorithms can solve the wake-up robot problem as well as the kidnapped robot problem more accurately than the two conventional probabilistic filters.
This document is a compilation of issues found since the publication of RFC 4960 in September 2007, based on experience with implementing, testing, and using the Stream Control Transmission Protocol (SCTP) along with the suggested fixes. This document provides deltas to RFC 4960 and is organized in a time-ordered way. The issues are listed in the order in which they were brought up. Because some text is changed several times, the last delta in the text is the one that should be applied. In addition to the deltas, a description of each problem and the details of the solution for each are also provided.
It is increasingly obvious that for safeguarding environmental sustainability, eco‐efficiency measures will need to be complemented by sufficiency, in particular by strong sustainable consumption. The Theory of Planned Behaviour TPB and Social Practice Theory SPT offer different views on consumer behaviour, and on ways to change it. This paper briefly describes the challenges, discusses the applicability of both theories and their meaningfulness for policy recommendations.
We suggest an approach combining results of both bodies of theory, complemented by ideas from political economy, to substantiate the Prism of Sustainable Consumption we introduce as a heuristic sufficiency policy tool. It is useful to identify affordability criteria for change in each dimension, as the basis for deriving suggestions for effective policy interventions. We conclude
that (i) effective interventions are possible, (ii) they have to address several dimensions of affordability simultaneously, and (iii) the sufficiency policy space prism can be a useful tool in structuring planned interventions.
The mechanical set up of a novel scanning reflection X-ray microscope is presented. It is based on zone plate optics optimized for reflection mode in the EUV spectral range. The microscope can operate at synchrotron radiation beamlines as well as at laboratory-based plasma light sources. In contrast to established X-ray transmission microscopes that use thin foil samples the new microscope design presented here allows the investigation of any type of bulk materials. Importantly, this permits the investigation of magnetic materials by employing experimental techniques based on the X-ray magnetic circular dichroism (XMCD), the X-ray linear magnetic dichroism or the transversal magneto-optical Kerr effect (T-MOKE). The reliable functionality of the new microscope design has been demonstrated by T-MOKE microscopy spectra of Fe/Cr-wedge/Fe trilayer samples. The spectra were recorded at various photon energies across the Fe 3p edge revealing the orientation of magnetic domains in the sample.
An emerging class of inorganic optical reporters are near-infrared (NIR) excitable lanthanide-based upconversion nanoparticles (UCNPs) with multicolor emission and long luminescence lifetimes in the range of several hundred microseconds. For the design of chemical sensors and optical probes that reveal analyte-specific changes in their spectroscopic properties, these nanomaterials must be combined with sensitive indicator dyes that change their absorption and/or fluorescence properties selectively upon interaction with their target analyte, utilizing either resonance energy transfer (RET) processes or reabsorption-related inner filter effects. The rational development of UCNP-based nanoprobes for chemical sensing and imaging in a biological environment requires reliable methods for the surface functionalization of UCNPs, the analysis and quantification of surface groups, a high colloidal stability of UCNPs in aqueous media as well as the chemically stable attachment of the indicator molecules, and suitable instrumentation for the spectroscopic characterization of the energy-transfer systems and the derived nanosensors. These topics are highlighted in the following feature article, and examples of functionalized core–shell nanoprobes for the sensing of different biologically relevant analytes in aqueous environments will be presented. Special emphasis is placed on the intracellular sensing of pH.
In the last decade, in many European Countries more and more measures have been initiated aiming at the prevention of food losses and wastes along the entire value chain. In order to evaluate or monitor such important measures it is crucial to obtain quantitative information on generated food waste amounts, subsequently enabling the quantitative evaluation of the measure’s outcomes and efficiency. Currently there is a paucity of quantitative information, particularly on food losses that are directly generated during harvesting processes. Up to date, no method is available or standardised aiming at the in-situ or on-site quantification of food losses during harvest. Using the example of the potato harvest, this study presents a practical approach for determining potato losses. To test the applicability of the developed method, on-site measurements were conducted directly on the field at five different locations in Austria and Germany. Our method enables the quantification of food losses based on defined areas along the harvested potato rows, where the analyser manually collects potatoes during their harvest. Hereby, two types of potato losses needs to be considered: non-harvested, under-sized potatoes that remain under the earth and the harvested ones, which are rejected on-site because of quality requirements regarding their size, shape, and state of health. Our study shows that between 1 and 9% of field losses (based on yield potential) can be generated during the potato harvest. In future, this method may be the basis for standardised protocols in order to be able to derive cultivar-specific benchmarks and, consequently, to develop measures for preventing food losses. In general, more case studies and evidence-based ground-up measurements on other cultivars and for other regions are needed focusing on the on-site quantification of post-harvest losses.
Process-Driven Applications (PDA) require less coding, for their business logic is defined by a business process model which can be executed by a process engine. However, inconsistencies between process model and dependent source code artifacts cause runtime errors and reduce development productivity. This paper targets at making the development of PDAs more efficient: It proposes a broader approach to statical analysis which also covers consistency constraints between model and code. When integrated into common analysis tools or a continuous integration pipeline, defects like broken code references or data-flow anomalies can be detected at an early stage without launching the entire application and its process interpretation engine. The approach is demonstrated by a prototype called viadee Process Application Validator (vPAV), which was developed for BPMN-based process models. The prototype has already been used in various BPM projects, attesting high benefit and potential.
Project management is a lot about structuring. Challenges in introducing new software especially in the field of digitalization are to address the needs of planning, budget and schedule adherence as well as involving the users in the development process. Classic project management is usually focused on following the plan and keeping the project in schedule and budget. Agile project management puts the user in the center and aims at fulfilling his needs. The University of Applied Sciences Münster has aligned its project management with the PRINCE2 standard. The introduction of an enterprise content management system started in 2017 as a new project. To fulfill the user’s needs and keep the project management standard it has been tailored to achieve the project goals by integrating agile stages. This adaptation is presented in this paper as an example of structured hybrid project management.
The Bill, Please! Households’ Real Returns on Financial Assets Since the Introduction of the Euro
(2019)
There are many challenges in identifying and managing a disruptive innovation stemming from the limited knowledge on how it unfolds over time. Researchers have identified early signals and ex ante conditions that indicate its occurrence. However, an analysis from a process view acknowledging the underlying dynamics is yet to be done. By taking a process view within a systematic literature review, we analyse the scattered findings on the process of disruptive innovation to identify events and actions leading to a disruptive effect over time. We challenge the understanding of disruptive innovation as an outcome and the linearity of the process by proposing that disruptive innovation can be understood as occurring through emergent dynamics. These dynamics are constituted by: (a) the timing of entry and underlying processes that influences (b) the synchronization of events and actions and is shaped by (c) the adaptability of strategic actions. Thus, we complexify the concept of disruptive innovation to support the understanding of its unfolding and advance its manageability.
Experimental learning & reflection: how it promotes competence development in business education
(2019)
Diese Arbeit kann in der Bibliothek für Architektur, Design und Kunst (Leonardocampus 10) eingesehen werden.
Diese Arbeit kann in der Bibliothek für Architektur, Design und Kunst (Leonardocampus 10) eingesehen werden.
Family-Firm Transformational Leadership, Familiness and Performance: A Four-Path Mediation Model
(2019)
An important strength of family firms is the familiness of these firms. We examined how the transformational leadership style could strengthen firms’ performance levels through familiness. In this cross-sectional field study, survey measures were obtained from family CEOs of 72 German family firms, and the members of their non-family-based TMTs (245 TMT members). Support was obtained for a four-path mediation model, in which three distinct familiness-related team forces (TMT cohesion, behavioral integration, and efficacy) serve as mediators between CEO TFL and family-firm performance in a series. It is argued here that positive familiness results from a specific leadership style.
Is German family firm performance affected by CEO and TMT behavior and emotional intelligence?
(2019)
Questionnaire to evaluate user acceptance before purchasing medical devices in health facilities
(2019)
The Portable Document Format, better known as PDF, is one of themost widely used document formats worldwide, and in order to en-sure information confidentiality, this file format supports documentencryption. In this paper, we analyze PDF encryption and showtwo novel techniques for breaking the confidentiality of encrypteddocuments. First, we abuse the PDF feature ofpartially encrypteddocuments to wrap the encrypted part of the document withinattacker-controlled content and therefore, exfiltrate the plaintextonce the document is opened by a legitimate user. Second, we abusea flaw in the PDF encryption specification to arbitrarily manipulateencrypted content. The only requirement is that a single block ofknown plaintext is needed, and we show that this is fulfilled bydesign. Our attacks allow the recovery of the entire plaintext of en-crypted documents by using exfiltration channels which are basedon standard compliant PDF properties.We evaluated our attacks on 27 widely used PDF viewers andfound all of them to be vulnerable. We responsibly disclosed thevulnerabilities and supported the vendors in fixing the issue
Anomaly transport
(2019)
Unsteady ventilation is being discussed to improve indoor air quality and comfort by simultaneously reducing the energy consumption. But until now, neither any standard system has been established nor are there any design parameters and clear specifications in standards. One reason for this lack of standardisation might be the ver-satile approaches for creating unsteady room airflows: sinusoidal variations, intermittent flow rates, and simu-lated natural wind or temperature variations in forced convection and the use of chaotic structures in free convection. Thus, this article gives an overview of systems available in Germany/Europe, international research and unresolved issues. It allows a clear focus for future investigations to be developed so that unsteady venti-lation concepts will be successfully utilised in practice. Experiments showed positive effects on indoor air quality (IAQ), comfort and energy consumption. However, two main questions have not been answered, yet: what are the fluid mechanical reasons for the observed effects and what are the best parameters to create unsteady room airflows?
A comprehensive tutorial on photovoltaic technology now fully updated to include solar storage and the latest methods for on-site plant measurements.
Starting with the basic principles of solar energy, this fully updated, practical text explains the fundamentals of semiconductor physics and the structure and functioning of the solar cell. It describes the latest measurement techniques for solar modules, and the planning and operation of grid-connected and off-grid PV systems.
It also looks at other thin film cells, hybrid wafer cells, and concentrator systems. Additionally, this Second Edition covers solar modules and solar generators; system technology of grid connected plants; the storage of solar energy; photovoltaic measurement technology; the planning and operation of grid-connected systems; economic efficiency of PV systems; and the future development of PV.
- Presents the latest advances in PV R&D and industry deployment
- Updated illustrations and tabular data reflect current state-of-the-art and PV technology efficiencies
- Offers expanded tutorial sections to aid teaching and self-study
- Includes a brand-new chapter on Solar Energy Storage
- Features two enlarged chapters—one on up-to-date photovoltaic metrology and the other on the future developments in photovoltaics
- Comes along with the accompanying website www.textbook-pv.org which offers free downloadable figures of the book, solutions of exercises, additional free PV software etc.
Developed to prepare engineering students for the PV industry, this practical text is an essential PV primer.