Generierung von Konstruktionsmerkmalen zur Entwicklung eines bio-inspirierten Kommissionier- Greifers für die Intralogistik mittels Clusteranalyse

Kurzbeschreibung: In der Automatisierung von intralogistischen Kommissioniervorgängen ist ein großes Zukunftspotential erkennbar. Elementarer Bestandteil des Automatisierungsprozesses ist der Einsatz von Industrierobotern, die mit einem geeigneten Endeffektor, dem Greifer, ausgestattet werden müssen. Die Robotik ist in der Lage schneller, präziser und ausdauernder als die menschlichen Kommissionierer zu arbeiten und trägt damit entscheidend zur Effizienzsteigerung bei. Eine wesentliche Herausforderung für diesen Entwicklungsschritt zur Substitution der manuellen Kommissionierung ist die Konstruktion und Bereitstellung eines geeigneten Greifsystems. Am Lehrstuhl für Maschinenelemente und Technische Logistik der Helmut-Schmidt-Universität wurde mit der Erfahrung aus einem vorangegangenen Forschungsprojekt die Methode der Clusteranalyse erstmalig zur Untersuchung von Greifobjekten zur Entwicklung eines bionischen Universalgreifers für die Kommissionierung von Drogerieartikeln verwendet. Diese Abhandlung beschreibt einen Beitrag zur Entwicklung dieses Greifers am Beispiel handelsüblicher Drogerieartikel, die aktuell manuell kommissioniert werden. Diese werden hinsichtlich der für das Greifen relevanten Objektmerkmale geclustert und die daraus resultierenden Erkenntnisse in Form von Konstruktionsmerkmalen abgeleitet. Nach einer Analyse und Festlegung der greifrelevanten Merkmale der Greifobjekte wird eine Objektdatenbasis erstellt. Mit Hilfe geeigneter Methoden wird die gewonnene Datenbasis aufbereitet und reduziert. Im Anschluss werden die Greifobjekte bzw. deren Merkmalsausprägungen einer hierarchischen Clusteranalyse unterzogen. Hierbei werden die Grenzen der gebildeten Cluster mittels der zugehörigen Greifobjekte festgelegt und analysiert. Abschließend werden bestimmte greiferspezifische Merkmale auf die Anwendbarkeit in den Clustern überprüft und bewertet. Diese Betrachtungen ermöglichen es, dass spezielle Anforderungen an den Greifer, die direkt aus den Eigenschaften der Greifobjekte herrühren, zuverlässig erkannt und konstruktiv berücksichtigt werden können.

Durch das Leben lernen

Web 2.0 und soziale Netzwerke gaben erste Impulse für neue Formen der Online-Lehre, welche die umfassende Vernetzung von Objekten und Nutzern im Internet nachhaltig einsetzen. Die Vielfältigkeit der unterschiedlichen Systeme erschwert aber deren ganzheitliche Nutzung in einem umfassenden Lernszenario, das den Anforderungen der modernen Informationsgesellschaft genügt. In diesem Beitrag wird eine auf dem Konnektivismus basierende Plattform für die Online-Lehre namens “Wiki-Learnia” präsentiert, welche alle wesentlichen Abschnitte des lebenslangen Lernens abbildet. Unter Einsatz zeitgemäßer Technologien werden nicht nur Nutzer untereinander verbunden, sondern auch Nutzer mit dedizierten Inhalten sowie ggf. zugehörigen Autoren und/oder Tutoren verknüpft. Für ersteres werden verschiedene Kommunikations-Werkzeuge des Web 2.0 (soziale Netzwerke, Chats, Foren etc.) eingesetzt. Letzteres fußt auf dem sogenannten “Learning-Hub”-Ansatz, welcher mit Hilfe von Web-3.0-Mechanismen insbesondere durch eine semantische Metasuchmaschine instrumentiert wird. Zum Aufzeigen der praktischen Relevanz des Ansatzes wird das mediengestützte Juniorstudium der Universität Rostock vorgestellt, ein Projekt, das Schüler der Abiturstufe aufs Studium vorbereitet. Anhand der speziellen Anforderungen dieses Vorhabens werden der enorme Funktionsumfang und die große Flexibilität von Wiki-Learnia demonstriert.

Learning through life

Web 2.0 und soziale Netzwerke gaben erste Impulse für neue Formen der Online-Lehre, welche die umfassende Vernetzung von Objekten und Nutzern im Internet nachhaltig einsetzen. Die Vielfältigkeit der unterschiedlichen Systeme erschwert aber deren ganzheitliche Nutzung in einem umfassenden Lernszenario, das den Anforderungen der modernen Informationsgesellschaft genügt. In diesem Beitrag wird eine auf dem Konnektivismus basierende Plattform für die Online-Lehre namens “Wiki-Learnia” präsentiert, welche alle wesentlichen Abschnitte des lebenslangen Lernens abbildet. Unter Einsatz zeitgemäßer Technologien werden nicht nur Nutzer untereinander verbunden, sondern auch Nutzer mit dedizierten Inhalten sowie ggf. zugehörigen Autoren und/oder Tutoren verknüpft. Für ersteres werden verschiedene Kommunikations-Werkzeuge des Web 2.0 (soziale Netzwerke, Chats, Foren etc.) eingesetzt. Letzteres fußt auf dem sogenannten “Learning-Hub”-Ansatz, welcher mit Hilfe von Web-3.0-Mechanismen insbesondere durch eine semantische Metasuchmaschine instrumentiert wird. Zum Aufzeigen der praktischen Relevanz des Ansatzes wird das mediengestützte Juniorstudium der Universität Rostock vorgestellt, ein Projekt, das Schüler der Abiturstufe aufs Studium vorbereitet. Anhand der speziellen Anforderungen dieses Vorhabens werden der enorme Funktionsumfang und die große Flexibilität von Wiki-Learnia demonstriert.

An Optical Survey for Space Debris on Highly Eccentric MEO Orbits

Optical surveys for space debris in high-altitude orbits have been conducted since more than ten years. Originally these efforts concentrated mainly on the geostationary ring (GEO). Corresponding observation strategies, processing techniques and cataloguing approaches have been developed and successfully applied. The ESA GEO surveys, e.g., resulted in the detection of a significant population of small-size debris and later in the discovery of high area-to-mass ratio objects in GEO-like orbits. The observation scenarios were successively adapted to survey the geostationary transfer orbit (GTO) region; and recently surveys to search for debris in the medium Earth orbit (MEO) region of the global navigation satellite constellations were successfully conducted. Comparably less experience (both, in terms of practical observation and strategy definition) is available for eccentric orbits that (at least partly) are in the MEO region, in particular for the Molniya-type orbits. Several breakup events and deliberate fragmentations are known to have taken place in such orbits. Different survey and follow-up strategies for searching space debris objects in highly-eccentric MEO orbits, and to acquire orbits which are sufficiently accurate to catalogue such objects and to maintain their orbits over longer time spans were developed. Simulations were performed to compare the performance of different survey and cataloguing strategies. Eventually, optical observations were conducted in the framework of an ESA study using ESA’s Space Debris Telescope (ESASDT) the 1-m Zeiss telescope located at the Optical Ground Station (OGS) at the Teide Observatory at Tenerife, Spain. A first series of surveys of Molnjya-type orbits was performed between January and April 2013. During these four months survey observations were performed during nine nights. A basic survey consisted of observing a single geocentric field for 10 minutes. If a faint object was found, follow-up observations were performed during the same night to ensure a save rediscovery of the object during the next nights. Additional follow-up observations to maintain the orbits of these newly discovered faint objects were also acquired with AIUB ́s 1m ZIMLAT telescope in Zimmerwald, Switzerland. Eventually 195 basic surveys were performed during these nine nights corresponding to about 32.5 hours of observations. In total 24 uncorrelated faint objects were discovered and all known catalogue objects in the survey fields were detected. On average one uncorrelated object was found every 80 minutes. Some of these objects show a considerable brightness variation and have a high area-to-mass ratio as determined in the orbit estimation process.

Spatial modulation of primate inferotemporal responses by eye position.

BACKGROUND: A key aspect of representations for object recognition and scene analysis in the ventral visual stream is the spatial frame of reference, be it a viewer-centered, object-centered, or scene-based coordinate system. Coordinate transforms from retinocentric space to other reference frames involve combining neural visual responses with extraretinal postural information. METHODOLOGY/PRINCIPAL FINDINGS: We examined whether such spatial information is available to anterior inferotemporal (AIT) neurons in the macaque monkey by measuring the effect of eye position on responses to a set of simple 2D shapes. We report, for the first time, a significant eye position effect in over 40% of recorded neurons with small gaze angle shifts from central fixation. Although eye position modulates responses, it does not change shape selectivity. CONCLUSIONS/SIGNIFICANCE: These data demonstrate that spatial information is available in AIT for the representation of objects and scenes within a non-retinocentric frame of reference. More generally, the availability of spatial information in AIT calls into questions the classic dichotomy in visual processing that associates object shape processing with ventral structures such as AIT but places spatial processing in a separate anatomical stream projecting to dorsal structures.

The Software Prototype as Digital Boundary Object – A Revelatory Longitudinal Innovation Case

With the availability of lower cost but highly skilled software development labor from offshore regions, entrepreneurs from developed countries who do not have software development experience can utilize this workforce to develop innovative software products. In order to succeed in offshored innovation projects, the often extreme knowledge boundaries between the onsite entrepreneur and the offshore software development team have to be overcome. Prior research has proposed that boundary objects are critical for bridging such boundaries – if they are appropriately used. Our longitudinal, revelatory case study of a software innovation project is one of the first to explore the role of the software prototype as a digital boundary object. Our study empirically unpacks five use practices that transform the software prototype into a boundary object such that knowledge boundaries are bridged. Our findings provide new theoretical insights for literature on software innovation and boundary objects, and have implications for practice.

The Moldable Inspector: a framework for domain-specific object inspection

Answering run-time questions in object-oriented systems involves reasoning about and exploring connections between multiple objects. Developer questions exercise various aspects of an object and require multiple kinds of interactions depending on the relationships between objects, the application domain and the differing developer needs. Nevertheless, traditional object inspectors, the essential tools often used to reason about objects, favor a generic view that focuses on the low-level details of the state of individual objects. This leads to an inefficient effort, increasing the time spent in the inspector. To improve the inspection process, we propose the Moldable Inspector, a novel approach for an extensible object inspector. The Moldable Inspector allows developers to look at objects using multiple interchangeable presentations and supports a workflow in which multiple levels of connecting objects can be seen together. Both these aspects can be tailored to the domain of the objects and the question at hand. We further exemplify how the proposed solution improves the inspection process, introduce a prototype implementation and discuss new directions for extending the Moldable Inspector.

SMARTnet: A Sensor for Monitoring the Geostationary Ring

As the number of space debris is increasing in the geostationary ring, it becomes mandatory for any satellite operator to avoid any collisions. Space debris in geosynchronous orbits may be observed with optical telescopes. Other than radar, that requires very large dishes and transmission powers for sensing high-altitude objects, optical observations do not depend on active illumination from ground and may be performed with notably smaller apertures. The detection size of an object depends on the aperture of the telescope, sky background and exposure time. With a telescope of 50 cm aperture, objects down to approximately 50 cm may be observed. This size is regarded as a threshold for the identification of hazardous objects and the prevention of potentially catastrophic collisions in geostationary orbits. In collaboration with the Astronomical Institute of the University of Bern (AIUB), the German Space Operations Center (GSOC) is building a small aperture telescope to demonstrate the feasibility of optical surveillance of the geostationary ring. The telescope will be located in the southern hemisphere and complement an existing telescope in the northern hemisphere already operated by AIUB. These two telescopes provide an optimum coverage of European GEO satellites and enable a continuous monitoring independent of seasonal limitations. The telescope will be operated completely automatically. The automated operations should be demonstrated covering the full range of activities including scheduling of observations, telescope and camera control as well as data processing.

Itineraries of pottery: a mixed methods approach to mobility

Neolithic wetland sites in the Swiss Plateau provide an extraordinary database for the study of mobilities, entanglements and transformations in material culture. Based on dendrochronologically dated settlements between 3900 and 3500 BC, two regional pottery styles and their local variations are well known, Pfyn and Cortaillod. The vessels share the same habitus and were made of local raw materials. However, some vessels specific to other pottery styles are also present in the sites. By focusing on itineraries of vessels and shifts in pottery knowledge, their appropriation in different contexts and the resulting material entanglements, we want to approach the multiple regimes of mobility: At Lake Constance - known for Pfyn pottery - specific Michelsberg vessels like tulip beakers and lugged jars occur in small numbers. These travelling objects were produced with exogenous raw materials and transported to the sites from Southern Germany. At Concise (Lake Neuchâtel) besides the local Cortaillod pottery the whole repertoire of NMB pottery, characteristic for Eastern France, was also produced. Further cases from the same space-time frame point to other regimes of mobility. In our two PhD-projects we compare pottery practices - styles, techniques, raw materials - from over 20 key sites in the region. Based on Bourdieu’s reflexive anthropology, we apply different qualitative and quantitative archaeological and archaeometrical methods, thus striving for a deeper understanding of habitus and the transformative potential of moving people, objects and ideas on local and regional scales and related social contexts.

Pottery as an indication of mobilities?

Pottery is one of the most common and stylistically differentiated sources in prehistoric archaeology. This might be the reason why it served as a waste projection surface for archaeological notions about culture, identity, and mobility in the past. As we do not have access to emic categorisations of Neolithic societies we focus on contexts of practice in which pottery was incorporated. It is the moment of production, which left some of the clearest traces on the vessels. Different ways of using raw materials, specific techniques, and characteristic pottery styles can be observed. We understand them as a result of habitus, as socially shared internalized schemes, patterns and habits in pottery production. Taking this as a staring point, two main pottery groups can be differed on the Swiss Plateau between 3900 and 3500 BC: the Mediterranean influenced Cortaillod pottery in Western Switzerland and the Danubian influenced Pfyn pottery in North-Eastern Switzerland. These pottery styles were not only entangled to some degree. Furthermore, in some settlements vessels made in “foreign” styles - Michelsberg, Munzingen, Néolithique Moyen Bourguignon - are present too. Some of them were travelling objects, as their nonlocal raw materials show. Others were locally made, indicating long-term mobility of their producers. To analyse these phenomena of mobilites and entanglements in our PhDs we plan to apply different archaeological and archaeometrical methods, thus striving for a deeper understanding of the transformative potential of moving people, objects and ideas in Neolithic societies on the Swiss Plateau.

Optical Light Curve Observations to Determine Attitude States of Space Debris

The currently proposed space debris remediation measures include the active removal of large objects and “just in time” collision avoidance by deviating the objects using, e.g., ground-based lasers. Both techniques require precise knowledge of the attitude state and state changes of the target objects. In the former case, to devise methods to grapple the target by a tug spacecraft, in the latter, to precisely propagate the orbits of potential collision partners as disturbing forces like air drag and solar radiation pressure depend on the attitude of the objects. Non-resolving optical observations of the magnitude variations, so-called light curves, are a promising technique to determine rotation or tumbling rates and the orientations of the actual rotation axis of objects, as well as their temporal changes. The 1-meter telescope ZIMLAT of the Astronomical Institute of the University of Bern has been used to collect light curves of MEO and GEO objects for a considerable period of time. Recently, light curves of Low Earth Orbit (LEO) targets were acquired as well. We present different observation methods, including active tracking using a CCD subframe readout technique, and the use of a high-speed scientific CMOS camera. Technical challenges when tracking objects with poor orbit redictions, as well as different data reduction methods are addressed. Results from a survey of abandoned rocket upper stages in LEO, examples of abandoned payloads and observations of high area-to-mass ratio debris will be resented. Eventually, first results of the analysis of these light curves are provided.

SMARTnet: First Experience of Setting Up a Telescope System to Survey the Geostationary Ring

Space debris in geostationary orbits may be detected with optical telescopes when the objects are illuminated by the Sun. The advantage compared to Radar can be found in the illumination: radar illuminates the objects and thus the detection sensitivity depletest proportional to the fourth power of the d istance. The German Space Operation Center, GSOC, together with the Astronomical Institute of the University of Bern, AIUB, are setting up a telescope system called SMARTnet to demonstrate the capability of performing geostationary surveillance. Such a telescope system will consist of two telescopes on one mount: a smaller telescope with an aperture of 20cm will serve for fast survey while the larger one, a telescope with an aperture of 50cm, will be used for follow-up observations. The telescopes will be operated by GSOC from Oberpfaffenhofen by the internal monitoring and control system called SMARTnetMAC. The observation plan will be generated by MARTnetPlanning seven days in advance by applying an optimized planning scheduler, taking into account fault time like cloudy nights, priority of objects etc. From each picture taken, stars will be identified and everything not being a star is treated as a possible object. If the same object can be identified on multiple pictures within a short time span, the trace is called a tracklet. In the next step, several tracklets will be correlated to identify individual objects, ephemeris data for these objects are generated and catalogued . This will allow for services like collision avoidance to ensure safe operations for GSOC’s satellites. The complete data processing chain is handled by BACARDI, the backbone catalogue of relational debris information and is presented as a poster.

Detecting single-target changes in multiple object tracking: The case of peripheral vision

In the current study it is investigated whether peripheral vision can be used to monitor multi-ple moving objects and to detect single-target changes. For this purpose, in Experiment 1, a modified MOT setup with a large projection and a constant-position centroid phase had to be checked first. Classical findings regarding the use of a virtual centroid to track multiple ob-jects and the dependency of tracking accuracy on target speed could be successfully replicat-ed. Thereafter, the main experimental variations regarding the manipulation of to-be-detected target changes could be introduced in Experiment 2. In addition to a button press used for the detection task, gaze behavior was assessed using an integrated eye-tracking system. The anal-ysis of saccadic reaction times in relation to the motor response shows that peripheral vision is naturally used to detect motion and form changes in MOT because the saccade to the target occurred after target-change offset. Furthermore, for changes of comparable task difficulties, motion changes are detected better by peripheral vision than form changes. Findings indicate that capabilities of the visual system (e.g., visual acuity) affect change detection rates and that covert-attention processes may be affected by vision-related aspects like spatial uncertainty. Moreover, it is argued that a centroid-MOT strategy might reduce the amount of saccade-related costs and that eye-tracking seems to be generally valuable to test predictions derived from theories on MOT. Finally, implications for testing covert attention in applied settings are proposed.

Search for satellites near comet 67P/Churyumov-Gerasimenko using Rosetta/OSIRIS images

Context. The European Space Agency Rosetta mission reached and started escorting its main target, the Jupiter-family comet 67P/Churyumov-Gerasimenko, at the beginning of August 2014. Within the context of solar system small bodies, satellite searches from approaching spacecraft were extensively used in the past to study the nature of the visited bodies and their collisional environment. Aims. During the approaching phase to the comet in July 2014, the OSIRIS instrument onboard Rosetta performed a campaign aimed at detecting objects in the vicinity of the comet nucleus and at measuring these objects' possible bound orbits. In addition to the scientific purpose, the search also focused on spacecraft security to avoid hazardous material in the comet's environment. Methods. Images in the red spectral domain were acquired with the OSIRIS Narrow Angle Camera, when the spacecraft was at a distance between 5785 km and 5463 km to the comet, following an observational strategy tailored to maximize the scientific outcome. From the acquired images, sources were extracted and displayed to search for plausible displacements of all sources from image to image. After stars were identified, the remaining sources were thoroughly analyzed. To place constraints on the expected displacements of a potential satellite, we performed Monte Carlo simulations on the apparent motion of potential satellites within the Hill sphere. Results. We found no unambiguous detections of objects larger than similar to 6 m within similar to 20 km and larger than similar to 1 m between similar to 20 km and similar to 110 km from the nucleus, using images with an exposure time of 0.14 s and 1.36 s, respectively. Our conclusions are consistent with independent works on dust grains in the comet coma and on boulders counting on the nucleus surface. Moreover, our analysis shows that the comet outburst detected at the end of April 2014 was not strong enough to eject large objects and to place them into a stable orbit around the nucleus. Our findings underline that it is highly unlikely that large objects survive for a long time around cometary nuclei.