Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Human and Raptor Interactions in the Context of a Nomadic Society

This research project focuses on contemporary eagle-taming falconry practice of the Altaic Kazakhs animal herding society in Bayan Ulgii Province in Western Mongolia. It aims to contributing both theoretical and empirical criteria for cultural preservation of Asian falconry. This cultural as well as environmental discourse is illustrated with concentrated field research framed by ecological anthropology and ethno-ornithology from the viewpoint of “Human-Animal Interaction (HAI)” and “Human-Animal Behavior (HAB)”. Part I (Chapter 2 & 3) explores ethno-archaeological and ethno-ornithological dimensions by interpretive research of archaeological artefacts which trace the historical depth of Asian falconry culture. Part II (Chapter 4 & 5) provides an extensive ethnographic narrative of Altaic Kazakh falconry, which is the central part of this research project. The “Traditional Art and Knowledge (TAK)” in human-raptor interactions, comprising the entire cycle of capture, perch, feeding, training, hunting, and release, is presented with specific emphasis on its relation to environmental and societal context. Traditional falconry as integral part of a nomadic lifestyle has to face some critical problems nowadays which necessitate preventing the complete disappearance of this outstanding indigenous cultural heritage. Part III (Chapter 6 & 7) thus focuses on the cultural sustainability of Altaic Kazakh falconry. Changing livelihoods, sedentarisation, and decontextualisation are identified as major threats. The role of Golden Eagle Festivals is critically analysed with regard to positive and negative impact. This part also intends to contribute to the academic definition of eagle falconry as an intangible cultural heritage, and to provide scientific criteria for a preservation master plan, as well as stipulate local resilience by pointing to successive actions needed for conservation. This research project concludes that cultural sustainability of Altaic Kazakh falconry needs to be supported from the angles of three theoretical frameworks; (1) Cultural affairs for protection based on the concept of nature-guardianship in its cultural domain, (2) Sustainable development and improvement of animal herding productivity and herder’s livelihood, (3) Natural resource management, especially supporting the population of Golden Eagles, their potential prey animals, and their nesting environment.

Untersuchungen zur Eliminierung und Resorption von Zink aus Säugerspermatozoen während der Nebenhodenpassage

Während der Spermatogenese wird das Element Zink an die Sulfhydrylreste der Cysteine in den Mantelfaserproteinen der Spermienflagellen gebunden. So kann in den noch unreifen Mantelfasern die ungerichtete Ausbildung von Disulfidbrücken verhindert werden. Im Zuge der Spermatozoenreifung während der Nebenhodenpassage wird dieses Zink androgenabhängig zu einem hohen Prozentsatz wieder eliminiert. Die nun gerichtete Ausbildung von Disulfidbrücken ermöglicht die Versteifung der Mantelfasern. Diese Rigidität stellt die Voraussetzung zur progressiven Motilität dar, ohne die eine Fertilisierung der Eizelle im weiblichen Genitaltrakt nicht möglich ist. Da eine negative Korrelation zwischen dem Zinkgehalt von Flagellen und ihrer Motilität besteht (Henkel et al., 1999), hat die Zinkeliminierung während der Nebenhodenpassage eine entscheidende Bedeutung in der Entwicklung der Spermatozoen. Die vorliegende Arbeit untersucht die Mechanismen der epididymalen Zinkeliminierung sowie die an diesem Prozess beteiligten Komponenten und den Verbleib des eliminierten Zinks am System des Bullen, der Ratte und des Menschen. Mittels proteinchemischer Verfahren kann im bovinen System ein zinkbindendes 60 kDa-Protein als Albumin identifiziert werden. Ein 80 kDa-Protein mit zinkbindenden Eigenschaften bleibt unidentifiziert. Die Zinkbindungskapazität der fraktionierten Proteine ist dabei im Caput epididymidis am stärksten ausgeprägt. Atomabsorptionsspektralphotometrische Untersuchungen zeigen die höchsten flagellären Zinkwerte in den Spermien des Rete testis und eine Abnahme des Zinkgehalts zwischen Nebenhodenkopf und -körper. Durch Autometallographie kann eine epitheliale Zinkresorption im Nebenhodenschwanz nachgewiesen werden. Dort erfolgt auch die basale Anreicherung des Zinks. Am Zinkstoffwechsel scheint auch der Macrophage Migration Inhibitory Factor (MIF) beteiligt zu sein. Dieser ist ein Zytokin mit Oxidoreduktasecharakter und kommt unter anderem im Nebenhodenepithel sowie in den Vesikeln des Nebenhoden-Fluids der Ratte vor. MIF zeigt in den hier durchgeführten Untersuchungen sowohl in systemhomologer, als auch in rekombinanter Form in vitro eine Zink-eliminierende Wirkung auf Rattenspermatozoen des Caputs und der Cauda epididymidis und hat somit möglicherweise Einfluss auf den Reifungsprozess der Spermien im Nebenhoden. Lit.: Henkel R, Bittner J, Weber R, Hüther F, Miska W (1999). Relevance of zinc in human sperm flagella and its relation to motility. Fertil Steril 71: 1138-1143

The Human in the Loop: User Participation in Self-Adaptive Software

Self-adaptive software provides a profound solution for adapting applications to changing contexts in dynamic and heterogeneous environments. Having emerged from Autonomic Computing, it incorporates fully autonomous decision making based on predefined structural and behavioural models. The most common approach for architectural runtime adaptation is the MAPE-K adaptation loop implementing an external adaptation manager without manual user control. However, it has turned out that adaptation behaviour lacks acceptance if it does not correspond to a user’s expectations – particularly for Ubiquitous Computing scenarios with user interaction. Adaptations can be irritating and distracting if they are not appropriate for a certain situation. In general, uncertainty during development and at run-time causes problems with users being outside the adaptation loop. In a literature study, we analyse publications about self-adaptive software research. The results show a discrepancy between the motivated application domains, the maturity of examples, and the quality of evaluations on the one hand and the provided solutions on the other hand. Only few publications analysed the impact of their work on the user, but many employ user-oriented examples for motivation and demonstration. To incorporate the user within the adaptation loop and to deal with uncertainty, our proposed solutions enable user participation for interactive selfadaptive software while at the same time maintaining the benefits of intelligent autonomous behaviour. We define three dimensions of user participation, namely temporal, behavioural, and structural user participation. This dissertation contributes solutions for user participation in the temporal and behavioural dimension. The temporal dimension addresses the moment of adaptation which is classically determined by the self-adaptive system. We provide mechanisms allowing users to influence or to define the moment of adaptation. With our solution, users can have full control over the moment of adaptation or the self-adaptive software considers the user’s situation more appropriately. The behavioural dimension addresses the actual adaptation logic and the resulting run-time behaviour. Application behaviour is established during development and does not necessarily match the run-time expectations. Our contributions are three distinct solutions which allow users to make changes to the application’s runtime behaviour: dynamic utility functions, fuzzy-based reasoning, and learning-based reasoning. The foundation of our work is a notification and feedback solution that improves intelligibility and controllability of self-adaptive applications by implementing a bi-directional communication between self-adaptive software and the user. The different mechanisms from the temporal and behavioural participation dimension require the notification and feedback solution to inform users on adaptation actions and to provide a mechanism to influence adaptations. Case studies show the feasibility of the developed solutions. Moreover, an extensive user study with 62 participants was conducted to evaluate the impact of notifications before and after adaptations. Although the study revealed that there is no preference for a particular notification design, participants clearly appreciated intelligibility and controllability over autonomous adaptations.