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.

Entwicklung und Anwendung einer Kraftwerks- und Speichereinsatzoptimierung für die Untersuchung von Energieversorgungsszenarien mit hohem Anteil erneuerbarer Energien in Deutschland

In dieser Arbeit wurde ein gemischt-ganzzahliges lineares Einsatzoptimierungsmodell für Kraftwerke und Speicher aufgebaut und für die Untersuchung der Energieversorgung Deutschlands im Jahre 2050 gemäß den Leitstudie-Szenarien 2050 A und 2050 C ([Nitsch und Andere, 2012]) verwendet, in denen erneuerbare Energien einen Anteil von über 85 % an der Stromerzeugung haben und die Wind- und Solarenergie starke Schwankungen der durch steuerbare Kraftwerke und Speicher zu deckenden residualen Stromnachfrage (Residuallast) verursachen. In Szenario 2050 A sind 67 TWh Wasserstoff, die elektrolytisch aus erneuerbarem Strom zu erzeugen sind, für den Verkehr vorgesehen. In Szenario 2050 C ist kein Wasserstoff für den Verkehr vorgesehen und die effizientere Elektromobilität hat einen Anteil von 100% am Individualverkehr. Daher wird weniger erneuerbarer Strom zur Erreichung desselben erneuerbaren Anteils im Verkehrssektor benötigt. Da desweiteren Elektrofahrzeuge Lastmanagementpotentiale bieten, weisen die Residuallasten der Szenarien eine unterschiedliche zeitliche Charakteristik und Jahressumme auf. Der Schwerpunkt der Betrachtung lag auf der Ermittlung der Auslastung und Fahrweise des in den Szenarien unterstellten ’Kraftwerks’-parks bestehend aus Kraftwerken zur reinen Stromerzeugung, Kraft-Wärme-Kopplungskraftwerken, die mit Wärmespeichern, elektrischen Heizstäben und Gas-Backupkesseln ausgestattet sind, Stromspeichern und Wärmepumpen, die durch Wärmespeicher zum Lastmanagment eingesetzt werden können. Der Fahrplan dieser Komponenten wurde auf minimale variable Gesamtkosten der Strom- und Wärmeerzeugung über einen Planungshorizont von jeweils vier Tagen hin optimiert. Das Optimierungsproblem wurde mit dem linearen Branch-and-Cut-Solver der software CPLEX gelöst. Mittels sogenannter rollierender Planung wurde durch Zusammensetzen der Planungsergebnisse für überlappende Planungsperioden der Kraftwerks- und Speichereinsatz für die kompletten Szenariojahre erhalten. Es wurde gezeigt, dass der KWK-Anteil an der Wärmelastdeckung gering ist. Dies wurde begründet durch die zeitliche Struktur der Stromresiduallast, die wärmeseitige Dimensionierung der Anlagen und die Tatsache, dass nur eine kurzfristige Speicherung von Wärme vorgesehen war. Die wärmeseitige Dimensionierung der KWK stellte eine Begrenzung des Deckungsanteils dar, da im Winter bei hoher Stromresiduallast nur wenig freie Leistung zur Beladung der Speicher zur Verfügung stand. In den Berechnungen für das Szenario 2050 A und C lag der mittlere Deckungsanteil der KWK an der Wärmenachfrage von ca. 100 TWh_th bei 40 bzw. 60 %, obwohl die Auslegung der KWK einen theoretischen Anteil von über 97 % an der Wärmelastdeckung erlaubt hätte, gäbe es die Beschränkungen durch die Stromseite nicht. Desweiteren wurde die CO2-Vermeidungswirkung der KWK-Wärmespeicher und des Lastmanagements mit Wärmepumpen untersucht. In Szenario 2050 A ergab sich keine signifikante CO2-Vermeidungswirkung der KWK-Wärmespeicher, in Szenario 2050 C hingegen ergab sich eine geringe aber signifikante CO2-Einsparung in Höhe von 1,6 % der Gesamtemissionen der Stromerzeugung und KWK-gebundenen Wärmeversorgung. Das Lastmanagement mit Wärmepumpen vermied Emissionen von 110 Tausend Tonnen CO2 (0,4 % der Gesamtemissionen) in Szenario A und 213 Tausend Tonnen in Szenario C (0,8 % der Gesamtemissionen). Es wurden darüber hinaus Betrachtungen zur Konkurrenz zwischen solarthermischer Nahwärme und KWK bei Einspeisung in dieselben Wärmenetze vorgenommen. Eine weitere Einschränkung der KWK-Erzeugung durch den Einspeisevorrang der Solarthermie wurde festgestellt. Ferner wurde eine untere Grenze von 6,5 bzw. 8,8 TWh_th für die in den Szenarien mindestens benötigte Wasserstoff-Speicherkapazität ermittelt. Die Ergebnisse dieser Arbeit legen nahe, das technisch-ökonomische Potential von Langzeitwärmespeichern für eine bessere Integration von KWK ins System zu ermitteln bzw. generell nach geeigneteren Wärmesektorszenarien zu suchen, da deutlich wurde, dass für die öffentliche Wärmeversorgung die KWK in Kombination mit Kurzzeitwärmespeicherung, Gaskesseln und elektrischen Heizern keine sehr effektive CO2 -Reduktion in den Szenarien erreicht. Es sollte dabei z.B. untersucht werden, ob ein multivalentes System aus KWK, Wärmespeichern und Wärmepumpen eine ökonomisch darstellbare Alternative sein könnte und im Anschluss eine Betrachtung der optimalen Anteile von KWK, Wärmepumpen und Solarthermie im Wärmemarkt vorgenommen werden.

Microbial response to restoration of tantalite mine soils in western Rwanda

Artisanal columbite-tantalite (coltan) mining has had negative effects on the rural economy in the great Lakes region of Africa through labor deficits, degradation and loss of farmland, food insecurity, high cost of living, and reduced traditional export crop production alongside secondary impacts that remotely affect the quality of air, water, soil, plants, animals, and human wellbeing. The situation is multifaceted and calls for a holistic approach for short and long-term mitigation of such negative effects. This study focuses on the effects of mine land restoration on soil microbiological quality in the Gatumba Mining District of western Rwanda. Some coltan mine wastelands were afforested with pine and eucalyptus trees while farmers directly cultivated others due to land scarcity. Farmyard manure (FYM) is the sole fertilizer applied on the wastelands although it is insufficient to achieve the desired crop yields. Despite this, several multi-purpose plants such as Tithonia diversifolia, Markhamia lutea, and Canavalia brasiliensis thrive in the area and could supplement FYM. The potential for these “new” amendments to improve soil microbial properties, particularly in the tantalite mine soils was investigated. The specific objectives of the study were to: (a) evaluate the effects of land use on soil microbial indices of the tantalite mine soils; (b) investigate the restorative effects of organic amendments on a Technosol; and (c) estimate the short-term N and P supply potential of the soil amendments in the soils. Fresh soils (0-20 cm) from an unmined native forest, two mine sites afforested with pine and eucalyptus forests (pine and eucalyptus Technosols), an arable land, and two cultivated Technosols (Kavumu and Kirengo Technosols) were analyzed for the physicochemical properties. Afterwards, a 28-day incubation (22oC) experiment was conducted followed by measurements of mineral N, soil microbial biomass C, N, P, and fungal ergosterol contents using standard methods. This was followed by a 12-week incubation study of the arable soil and the Kavumu Technosol amended with FYM, Canavalia and Tithonia biomass, and Markhamia leaf litter after which soil microbial properties were measured at 2, 8, and 12 weeks of incubation. Finally, two 4-week incubation experiments each were conducted in soils of the six sites to estimate (i) potential mineralizable N using a soil-sand mixture (1:1) amended with Canavalia and goat manure and (ii) P mineralization mixtures (1:1) of soil and anion exchange resins in bicarbonate form amended with Tithonia biomass and goat manure. In study one, afforestation increased soil organic carbon and total N contents in the pine and eucalyptus Technosols by 34-40% and 28-30%, respectively of that in the native forest soil. Consequently, the microbial biomass and activity followed a similar trend where the cultivated Technosols were inferior to the afforested ones. The microbial indices of the mine soils were constrained by soil acidity, dithionite-extractable Al, and low P availability. In study two, the amendments substantially increased C and N mineralization, microbial properties compared with non-amended soils. Canavalia biomass increased CO2 efflux by 340%, net N mineralization by 30-140%, and microbial biomass C and N by 240-600% and 240-380% (P < 0.01), respectively after four weeks of incubation compared with the non-amended soils. Tithonia biomass increased ergosterol content by roughly 240%. The Kavumu Technosol showed a high potential for quick restoration of its soil quality due to its major responses to the measured biological parameters. In study three, Canavalia biomass gave the highest mineralizable N (130 µg g-1 soil, P < 0.01) in the Kavumu Technosol and the lowest in the native forest soil (-20 µg g-1 soil). Conversely, the mineralizable N of goat manure was negative in all soils ranging from -2.5 µg N g-1 to -7.7 µg N g-1 soil except the native forest soil. However, the immobilization of goat manure N in the “cultivated soils” was 30-70% lower than in the “forest soils” signifying an imminent recovery of the amended soils from N immobilization. The mineralization of goat manure P was three-fold that of Tithonia, constituting 61-71% of total P applied. Phosphorus mineralization slightly decreased after four weeks of incubation due to sulfate competition as reflected in a negative correlation, which was steeper in the Tithonia treatment. In conclusion, each amendment used in this research played a unique role in C, N, and P mineralization and contributed substantially to microbial properties in the tantalite mine soils. Interestingly, the “N immobilizers” exhibited potentials for P release and soil organic carbon storage. Consequently, the combined use of the amendments in specific ratios, or co-composting prior to application is recommended to optimize nutrient release, microbial biomass dynamics and soil organic matter accrual. Transport of organic inputs seems more feasible for smallholder farmers who typically manage small field sizes. To reduce acidity in the soils, liming with wood ash was recommended to also improve P availability and enhance soil biological quality, even if it may only be possible on small areas. Further, afforestation with mixed-species of fast-growing eucalyptus and legume or indigenous tree species are suggested to restore tantalite mine wastelands. It is emphasized most of this research was conducted under controlled laboratory conditions, which exclude interaction with environmental variables. Also fine fractions of the amendments were used compared with the usual practice of applying a mixture of predominantly coarser fractions. Therefore, the biological dynamics reported in the studies here may not entirely reflect those of farmers’ field conditions.

Climate change adaptation solutions for the green sectors of selected zones in the MENA region

In this paper, we propose climate adaptation solutions for the green sectors in three different zones of MENA: Egypt’s Delta (irrigated), Karak, in the highlands of Jordan (rainfed), and Lebanon’s Orontes basin (mixed: rainfed-irrigated). We analysed land use and crop intensification, and calculated the economic productivity of water – a critical scarce resource in MENA. By integrating the results with evidence from literature on the potential impacts of climate change and socio-economic factors, we could identify vulnerability levels of the three regions and propose adaptation measures relying of the concept of the “food-water-energy nexus.” While the vulnerability levels are found to be high in the Delta (Egypt) and Karak (Jordan), mainly due to water scarcity and poor adaptive capacity, the vulnerability level is moderate in the Orontes zone (Lebanon) due to a diversified agricultural sector and good market development, coupled with moderate water scarcity. Proposed adaptation solutions range from measures to improve technical efficiency, to measures that encourage economically efficient allocation by use of market forces. For both cases, the development of market opportunities is emphasized to make the proposed measures attractive to farmers.