Path planning for image based visual servoing

This thesis deals with Visual Servoing and its strictly connected disciplines like projective geometry, image processing, robotics and non-linear control. More specifically the work addresses the problem to control a robotic manipulator through one of the largely used Visual Servoing techniques: the Image Based Visual Servoing (IBVS). In Image Based Visual Servoing the robot is driven by on-line performing a feedback control loop that is closed directly in the 2D space of the camera sensor. The work considers the case of a monocular system with the only camera mounted on the robot end effector (eye in hand configuration). Through IBVS the system can be positioned with respect to a 3D fixed target by minimizing the differences between its initial view and its goal view, corresponding respectively to the initial and the goal system configurations: the robot Cartesian Motion is thus generated only by means of visual informations. However, the execution of a positioning control task by IBVS is not straightforward because singularity problems may occur and local minima may be reached where the reached image is very close to the target one but the 3D positioning task is far from being fulfilled: this happens in particular for large camera displacements, when the the initial and the goal target views are noticeably different. To overcame singularity and local minima drawbacks, maintaining the good properties of IBVS robustness with respect to modeling and camera calibration errors, an opportune image path planning can be exploited. This work deals with the problem of generating opportune image plane trajectories for tracked points of the servoing control scheme (a trajectory is made of a path plus a time law). The generated image plane paths must be feasible i.e. they must be compliant with rigid body motion of the camera with respect to the object so as to avoid image jacobian singularities and local minima problems. In addition, the image planned trajectories must generate camera velocity screws which are smooth and within the allowed bounds of the robot. We will show that a scaled 3D motion planning algorithm can be devised in order to generate feasible image plane trajectories. Since the paths in the image are off-line generated it is also possible to tune the planning parameters so as to maintain the target inside the camera field of view even if, in some unfortunate cases, the feature target points would leave the camera images due to 3D robot motions. To test the validity of the proposed approach some both experiments and simulations results have been reported taking also into account the influence of noise in the path planning strategy. The experiments have been realized with a 6DOF anthropomorphic manipulator with a fire-wire camera installed on its end effector: the results demonstrate the good performances and the feasibility of the proposed approach.

Transformation von Osteospermum ecklonis mit Konstrukten zur Induktion von Virusresistenz und Blühverfrühung

Für die Etablierung einer Transformationsmethode züchterisch relevanter Sorten von Osteospermum ecklonis (Kapmargerite) wurde zunächst ein geeignetes Protokoll für die Regeneration adventiver Sprosse aus vegetativem Gewebe entwickelt. Anschließend wurden Transformationen von Markergenen durch Kokultur mit Agrobacterium tumefaciens durchgeführt. Hierzu wurden Konstrukte verwendet, die das Gen für ß-D-Glucuronidase (GUS) enthielten und deren Expression in transgenen Pflanzen histochemisch nachgewiesen werden konnte. Kanamycinresistenz erwies sich als geeigneter Selektionsmarker für die Transformation. Es konnten von verschiedenen O. ecklonis Sorten GUS-transgene, nicht-chimäre Pflanzen regeneriert werden.Zur Erzeugung transgener Pflanzen mit dem Ziel der Resistenz gegen LMV (lettuce mosaic potyvirus, Salat Mosaik Virus) wurden drei Konstrukte verwendet. Das erste enthält die kodierende Sequenz der Virusproteine VPg, Pro und 6K2. Durch PCR-Mutation wurde die Proteinase-Schnittstelle zwischen 6K2 und VPg zerstört, sowie Start- und Stopcodon eingeführt. Die anderen LMV-abgeleiteten Konstrukte enthalten nicht translatierbare Fragmente des coat protein Gens in sense und antisense Orientierung.Außerdem wurde O. ecklonis noch mit dem Gen des mutmaßlichen Transkriptionsfaktor SPL3 aus Arabidopsis thaliana unter der Kontrolle eines konstitutiven Promotors transformiert. SPL3 ist an der Regulierung der Blüteninduktion in A. thaliana beteiligt.Regenerierte O. ecklonis wurden durch PCR mit konstruktspezifischen Primern auf Anwesenheit des Transgens und Kontamination durch A. tumefaciens überprüft.

Transformation, Progression und Zellinienspezifität der chronischen myeloischen Leukämie

Die Analyse der CML-Zellinie K562 mittels Fluoreszenz in situ Hybridisierung (FISH), Multiplex-FISH (M-FISH) und comparativer genomischer Hybridisierung (CGH) ergab einen hypotriploiden Karyotyp mit 67 Chromosomen und 21 verschiedenen Marker-Chromosomen. Das bei über 90% der CML-Patienten nachgewiesene Ph-Chromosom entsteht durch die reziproke Translokation t(9;22)(q34;q11). Bei 5 - 10% der Patienten resultiert das Ph-Chromosom aus varianten Translokation. Anhand der Untersuchung dreier varianter Translokation mittels Bruchpunkt-übergreifender FISH-Proben für die BCR- und ABL-Gene werden drei verschiedene Mechanismen der Entstehung komplexer Translokationen dargestellt. Das Auftreten sekundärer Aberrationen wurde in 15 CML-Blastenkrisen untersucht. Zudem wurde anhand der CGH-Analyse von CD34-positiven Zellen, Monozyten, Granulozyten und T-Zellen die Zellinienspezifität sekundärer Aberrationen untersucht. In einem Fall wurde eine sekundäre Aberration in allen vier Fraktionen gefunden. In zwei Fällen traten sekundäre Aberrationen in allen untersuchten Fraktionen mit Ausnahme der T-Zellen auf. Aufgrund dieser Ergebnisse lassen sich zwei alternative Modelle der Tumor-Progression der CML ableiten: 1. Sekundäre Mutatonen treten vor der Differenzierung der hämatopoetischen Stammzelle auf. 2. Sekundäre Mutationen treten in einer hämatopoetischen Vorläuferzelle nach der T-Zell-Differenzierung auf.

New path integral simulation algorithms and their application to creep in the quantum sine-Gordon chain

A path integral simulation algorithm which includes a higher-order Trotter approximation (HOA)is analyzed and compared to an approach which includes the correct quantum mechanical pair interaction (effective Propagator (EPr)). It is found that the HOA algorithmconverges to the quantum limit with increasing Trotter number P as P^{-4}, while the EPr algorithm converges as P^{-2}.The convergence rate of the HOA algorithm is analyzed for various physical systemssuch as a harmonic chain,a particle in a double-well potential, gaseous argon, gaseous helium and crystalline argon. A new expression for the estimator for the pair correlation function in the HOA algorithm is derived. A new path integral algorithm, the hybrid algorithm, is developed.It combines an exact treatment of the quadratic part of the Hamiltonian and thehigher-order Trotter expansion techniques.For the discrete quantum sine-Gordon chain (DQSGC), it is shown that this algorithm works more efficiently than all other improved path integral algorithms discussed in this work. The new simulation techniques developed in this work allow the analysis of theDQSGC and disordered model systems in the highly quantum mechanical regime using path integral molecular dynamics (PIMD)and adiabatic centroid path integral molecular dynamics (ACPIMD).The ground state phonon dispersion relation is calculated for the DQSGC by the ACPIMD method.It is found that the excitation gap at zero wave vector is reduced by quantum fluctuations. Two different phases exist: One phase with a finite excitation gap at zero wave vector, and a gapless phase where the excitation gap vanishes.The reaction of the DQSGC to an external driving force is analyzed at T=0.In the gapless phase the system creeps if a small force is applied, and in the phase with a gap the system is pinned. At a critical force, the systems undergo a depinning transition in both phases and flow is induced. The analysis of the DQSGC is extended to models with disordered substrate potentials. Three different cases are analyzed: Disordered substrate potentials with roughness exponent H=0, H=1/2,and a model with disordered bond length. For all models, the ground state phonon dispersion relation is calculated.

Application of reactive fluid transport modeling to hydrothermal systems

A one-dimensional multi-component reactive fluid transport algorithm, 1DREACT (Steefel, 1993) was used to investigate different fluid-rock interaction systems. A major short coming of mass transport calculations which include mineral reactions is that solid solutions occurring in many minerals are not treated adequately. Since many thermodynamic models of solid solutions are highly non-linear, this can seriously impact on the stability and efficiency of the solution algorithms used. Phase petrology community saw itself faced with a similar predicament 10 years ago. To improve performance and reliability, phase equilibrium calculations have been using pseudo compounds. The same approach is used here in the first, using the complex plagioclase solid solution as an example. Thermodynamic properties of a varying number of intermediate plagioclase phases were calculated using ideal molecular, Al-avoidance, and non-ideal mixing models. These different mixing models can easily be incorporated into the simulations without modification of the transport code. Simulation results show that as few as nine intermediate compositions are sufficient to characterize the diffusional profile between albite and anorthite. Hence this approach is very efficient, and can be used with little effort. A subsequent chapter reports the results of reactive fluid transport modeling designed to constrain the hydrothermal alteration of Paleoproterozoic sediments of the Southern Lake Superior region. Field observations reveal that quartz-pyrophyllite (or kaolinite) bearing assemblages have been transformed into muscovite-pyrophyllite-diaspore bearing assemblages due to action of fluids migrating along permeable flow channels. Fluid-rock interaction modeling with an initial qtz-prl assemblage and a K-rich fluid simulates the formation of observed mineralogical transformation. The bulk composition of the system evolves from an SiO2-rich one to an Al2O3+K2O-rich one. Simulations show that the fluid flow was up-temperature (e.g. recharge) and that fluid was K-rich. Pseudo compound approach to include solid solutions in reactive transport models was tested in modeling hydrothermal alteration of Icelandic basalts. Solid solutions of chlorites, amphiboles and plagioclase were included as the secondary mineral phases. Saline and fresh water compositions of geothermal fluids were used to investigate the effect of salinity on alteration. Fluid-rock interaction simulations produce the observed mineral transformations. They show that roughly the same alteration minerals are formed due to reactions with both types of fluid which is in agreement with the field observations. A final application is directed towards the remediation of nitrate rich groundwaters. Removal of excess nitrate from groundwater by pyrite oxidation was modeled using the reactive fluid transport algorithm. Model results show that, when a pyrite-bearing, permeable zone is placed in the flow path, nitrate concentration in infiltrating water can be significantly lowered, in agreement with proposals from the literature. This is due to nitrogen reduction. Several simulations investigate the efficiency of systems with different mineral reactive surface areas, reactive barrier zone widths, and flow rates to identify the optimum setup.

Transformation von Schulsystemen am Beispiel des Freistaates Sachsen

Die vorliegende Arbeit beschäftigt sich mit dem Transformationsprozess von Schulsystemen, den die ostdeutschen Länder mit dem Erlangen der deutschen Vereinigung bewältigen mussten am Beispiel der Mittelschule im Freistaat Sachsen. Dieser Prozess wird mit Fokus auf die Sekundarstufe I und darin insbesondere auf die Mittelschule als „neue Schulform“ nachge-zeichnet und analysiert. Die skizzierten Entwicklungslinien werden aufgegriffen und am Beispiel dieses konkreten bildungspolitischen Vorhabens, des Aufbaus einer neuen Schulform und eines zweigliedrigen Schulsystems, vor dem Hintergrund der widersprüchlichen Aufgabe, ein Schulsystem zu reformieren und dabei weder Ausgangspunkt noch Ziel der Reform genau bestimmen zu können, diskutiert und in ihrer Wirkung bewertet. Dabei werden die Bedeutung der Einzelschule bei der Transformation des Schulsystems herausgearbeitet, die Wirkung von Modellversuchsergebnissen für die weitere Gestaltung des Schulsystems kritisch untersucht und schließlich danach gefragt, welche Form von Steuerung einzelne Schulen brauchen, um sich ansprechend der sich verschärfenden Anforderung an Bildung optimal entwickeln zu können und welche Art der bildungspolitischen Steuerung des Gesamtsystems erforderlich ist, um Qualitätssicherung und Qualitätsentwicklung im Kontext der internationalen Leistungsvergleichsstudien zu realisieren. Die Analysen des Transformationsprozesses stehen unter dem Einfluss der Ergebnisse der ersten PISA-Studie und der sich daran anschließenden bildungspolitischen Diskussionen über die Qualität von Schule in Deutschland im internationalen Vergleich. Damit wird die Perspektive über den Einigungsprozess hinaus geöffnet und an bestehende Forschungsergebnisse angeknüpft, wonach sich der deutsch-deutsche Einigungsprozess hinsichtlich der mit ihm vollzogenen Öffnung in der Gestaltung der Schulverhältnisse als ein Probestück der Bundesrepublik für den europäischen Einigungsprozess verstehen lässt und sich in diesem Sinne auch bewährt hat. Mit den Debatten um Bildung und vor allem um Qualität von Bildung in der Folge der länderübergreifenden Vergleichsstudien zeigt sich aber, dass die Themen auf der bildungspolitischen Agenda raschen Veränderungen unterworfen sind. Im Lichte dieser gesellschaftlichen Debatte um die Qualität und die Steuerung von Bildung werden abschließend die Herausforderungen für die Schulforschung vor dem Hintergrund globalisierter Leistungsanforderungen und erweiterter Selbstverantwortung der Einzelschulen skizziert.

Nonlinear Control Strategies for Cooperative Control of Multi-Robot Systems

This thesis deals with distributed control strategies for cooperative control of multi-robot systems. Specifically, distributed coordination strategies are presented for groups of mobile robots. The formation control problem is initially solved exploiting artificial potential fields. The purpose of the presented formation control algorithm is to drive a group of mobile robots to create a completely arbitrarily shaped formation. Robots are initially controlled to create a regular polygon formation. A bijective coordinate transformation is then exploited to extend the scope of this strategy, to obtain arbitrarily shaped formations. For this purpose, artificial potential fields are specifically designed, and robots are driven to follow their negative gradient. Artificial potential fields are then subsequently exploited to solve the coordinated path tracking problem, thus making the robots autonomously spread along predefined paths, and move along them in a coordinated way. Formation control problem is then solved exploiting a consensus based approach. Specifically, weighted graphs are used both to define the desired formation, and to implement collision avoidance. As expected for consensus based algorithms, this control strategy is experimentally shown to be robust to the presence of communication delays. The global connectivity maintenance issue is then considered. Specifically, an estimation procedure is introduced to allow each agent to compute its own estimate of the algebraic connectivity of the communication graph, in a distributed manner. This estimate is then exploited to develop a gradient based control strategy that ensures that the communication graph remains connected, as the system evolves. The proposed control strategy is developed initially for single-integrator kinematic agents, and is then extended to Lagrangian dynamical systems.

Enabling a direct path from end-user specifications to executable protocols in a biology laboratory environment

Biomedical analyses are becoming increasingly complex, with respect to both the type of the data to be produced and the procedures to be executed. This trend is expected to continue in the future. The development of information and protocol management systems that can sustain this challenge is therefore becoming an essential enabling factor for all actors in the field. The use of custom-built solutions that require the biology domain expert to acquire or procure software engineering expertise in the development of the laboratory infrastructure is not fully satisfactory because it incurs undesirable mutual knowledge dependencies between the two camps. We propose instead an infrastructure concept that enables the domain experts to express laboratory protocols using proper domain knowledge, free from the incidence and mediation of the software implementation artefacts. In the system that we propose this is made possible by basing the modelling language on an authoritative domain specific ontology and then using modern model-driven architecture technology to transform the user models in software artefacts ready for execution in a multi-agent based execution platform specialized for biomedical laboratories.

On the path of Exploratory Search Users - A Semantic Web tool

L’Exploratory Search, paradigma di ricerca basato sulle attività di scoperta e d’apprendimento, è stato per diverso tempo ignorato dai motori di ricerca tradizionali. Invece, è spesso dalle ricerche esplorative che nascono le idee più innovative. Le recenti tecnologie del Semantic Web forniscono le soluzioni che permettono d’implementare dei motori di ricerca capaci di accompagnare gli utenti impegnati in tale tipo di ricerca. Aemoo, motore di ricerca sul quale s’appoggia questa tesi ne è un esempio efficace. A partire da quest’ultimo e sempre con l’aiuto delle tecnologie del Web of Data, questo lavoro si propone di fornire una metodologia che permette di prendere in considerazione la singolarità del profilo di ciascun utente al fine di guidarlo nella sua ricerca esplorativa in modo personalizzato. Il criterio di personalizzazione che abbiamo scelto è comportamentale, ovvero basato sulle decisioni che l’utente prende ad ogni tappa che ritma il processo di ricerca. Implementando un prototipo, abbiamo potuto testare la validità di quest’approccio permettendo quindi all’utente di non essere più solo nel lungo e tortuoso cammino che porta alla conoscenza.

Catalytic processes for the transformation of ethanol into acetonitrile

This thesis deals with the transformation of ethanol into acetonitrile. Two approaches are investigated: (a) the ammoxidation of ethanol to acetonitrile and (b) the amination of ethanol to acetonitrile. The reaction of ethanol ammoxidation to acetonitrile has been studied using several catalytic systems, such as vanadyl pyrophosphate, supported vanadium oxide, multimetal molibdates and antimonates. The main conclusions are: (I) The surface acidity must be very low, because acidity catalyzes several undesired reactions, such as the formation of ethylene, and of heavy compounds as well. (II) Supported vanadium oxide is the catalyst showing the best catalytic behaviour, but the role of the support is of crucial importance. (III) Both metal molybdates and antimonates show interesting catalytic behaviour, but are poorly active, and probably require harder conditions than those used with the V oxide-based catalysts. (IV) One key point in the reaction network is the rate of reaction between acetaldehyde (the first intermediate) and ammonia, compared to the parallel rates of acetaldehyde transformation into by-products (CO, CO2, HCN, heavy compounds). Concerning the non-oxidative process, two possible strategies are investigated: (a) the ethanol ammonolysis to ethylamine coupled with ethylamine dehydrogenation, and (b) the direct non-reductive amination of ethanol to acetonitrile. Despite the good results obtained in each single step, the former reaction does not lead to good results in terms of yield to acetonitrile. The direct amination can be catalyzed with good acetonitrile yield over catalyst based on supported metal oxides. Strategies aimed at limiting catalyst deactivation have also been investigated.