L’importance de la coopération de TRAF1 et LSP1 en aval du récepteur 4-1BB(CD137) pour la survie des lymphocytes

4-1BB (CD137) est un membre de la superfamille TNFR qui est impliqué dans la transmission des signaux de survie aux lymphocytes. TRAF1 est une protéine adaptatrice qui est recrutée par 4-1BB et autres TNFRs et est caractérisée par une expression très restreinte aux lymphocytes, cellules dendritiques et certaines cellules épithéliales. TRAF1 est nécessaire pour l’expansion et la survie des cellules T mémoire en présence d'agonistes anti-4-1BB in vivo. De plus, TRAF1 est requise en aval de 4-1BB pour activer (phosphoryler) la MAP kinase Erk impliquée dans la régulation de la molécule pro-apoptotique Bim. Suite à l’activation du récepteur 4-1BB, TRAF1 et ERK sont impliqués dans la phosphorylation de Bim et la modulation de son expression. L’activation et la régulation de TRAF1 et Bim ont un rôle important dans la survie des cellules T CD8 mémoires. Dans cette étude, nous avons utilisé une approche protéomique afin de pouvoir identifier de nouveaux partenaires de liaison de TRAF1. Utilisant cette stratégie, nous avons identifié que LSP1 (Leukocyte Specific Protein 1) est recruté dans le complexe de signalisation 4-1BB de manière TRAF1 dépendante. Une caractérisation plus poussée de l’interaction entre TRAF1 et LSP1 a montré que LSP1 lie la région unique N-terminal de TRAF1 de façon indépendante de la région conservée C-terminal. À l’instar des cellules T déficientes en TRAF1, les cellules T déficientes en LSP1 ne sont pas capables d’activer ERK en aval de 4-1BB et par conséquent ne peuvent pas réguler Bim. Ainsi, TRAF1 et LSP1 coopèrent en aval de 4-1BB dans le but d’activer ERK et réguler en aval les niveaux de Bim dans les cellules T CD8. Selon la littérature, le récepteur 4-1BB n’est pas exprimé à la surface des cellules B murines, mais le récepteur 4-1BB favorise la prolifération et la survie des cellules B humaines. Cependant, il est important d'étudier l'expression du récepteur 4-1BB dans les cellules B murines afin de disposer d'un modèle murin et de prédire la réponse clinique à la manipulation de 4-1BB. En utilisant différentes stimulations de cellules B murines primaires, nous avons identifié que le récepteur 4-1BB est exprimé à la surface des cellules B de souris suite à une stimulation avec le LPS (Lipopolysaccharides). Une caractérisation plus poussée a montré que le récepteur 4-1BB est induit dans les cellules B murines d'une manière dépendante de TLR4 (Toll Like Receptor 4). Collectivement, notre travail a démontré que la stimulation avec le LPS induit l’expression du récepteur 4-1BB à la surface des cellules B murines, menant ainsi à l'induction de TRAF1. De plus, TRAF1 et LSP1 coopèrent en aval de 4-1BB pour activer la signalisation de la Map kinase ERK dans les cellules B murines de manière similaire aux cellules T. Les cellules B déficientes en TRAF1 et les cellules B déficientes en LSP1 ne sont pas en mesure d'activer la voie ERK en aval de 4-1BB et montrent un niveau d’expression du récepteur significativement diminué comparé aux cellules B d’une souris WT. Ainsi, TRAF1 et LSP1 sont nécessaires pour une expression maximale du récepteur 4-1BB à la surface cellulaire de cellules B murines et coopèrent en aval de 4-1BB afin d'activer la cascade ERK dans les cellules B murines.

Molecular Characterization and Gene Expression Profiling of Antimicrobial Peptides in Penaeid Shrimps

The constitutive production of AMPs in shrimps ensures that animals are able to protect themselves from low-level assaults by pathogens present in the environment. As these molecules play important roles in the shrimp immune defense system, the expression level of these AMPs are possible indicators of the immune state of shrimps. The present study also indicates the antiviral property of AMPs, especially ALF, stressing the importance of their up-regulation through the application of immunostimulants/probiotics as a prophylactic strategy in aquaculture. The present study shows that shrimp defense system is equipped enough to evade WSSV infection to a certain extent, when the animals were maintained on marine yeast and probiotic diet, whereas the control diet fed group succumbed to WSSV infection. This study reveals that marine yeast and probiotic supplemented diet can delay the process of WSSV infection and confer greater protection to the animals. Particularly, the protection conferred by marine yeast, C. haemulonii S27 and Bacillus MCCB101 were highly promising imparting greater hope to the aquaculture community to overcome the prevailing disease problems in aquaculture. It may be inferred from the present study that up-regulation of AMP genes could be effected by the application of immunostimulants and probiotics. Also, AMP expression profile could be used as an effective tool for screening immunostimulants and probiotics for application in shrimp culture. Ultimately, it is likely that no single compound or strategy will provide a solution to the problem of disease within aquaculture and that, in reality, a suite of techniques will be required including the manipulation of the rearing environment, addition of probionts as a matter of routine during culture, and the use of immunostimulants and other supplements during vulnerable growth phases. Finally, the development of good management practices, the control of environmental variables, genetic improvement in the penaeid species, understanding of host-virus interaction, modulation of the shrimp immune system, supported by functional genomics and proteomics of this crustacean, as a whole suggests that the control of WSSV is not far.

An Approach Towards The Development Of An Efficient Symmetric Key Encryption Scheme

n the recent years protection of information in digital form is becoming more important. Image and video encryption has applications in various fields including Internet communications, multimedia systems, medical imaging, Tele-medicine and military communications. During storage as well as in transmission, the multimedia information is being exposed to unauthorized entities unless otherwise adequate security measures are built around the information system. There are many kinds of security threats during the transmission of vital classified information through insecure communication channels. Various encryption schemes are available today to deal with information security issues. Data encryption is widely used to protect sensitive data against the security threat in the form of “attack on confidentiality”. Secure transmission of information through insecure communication channels also requires encryption at the sending side and decryption at the receiving side. Encryption of large text message and image takes time before they can be transmitted, causing considerable delay in successive transmission of information in real-time. In order to minimize the latency, efficient encryption algorithms are needed. An encryption procedure with adequate security and high throughput is sought in multimedia encryption applications. Traditional symmetric key block ciphers like Data Encryption Standard (DES), Advanced Encryption Standard (AES) and Escrowed Encryption Standard (EES) are not efficient when the data size is large. With the availability of fast computing tools and communication networks at relatively lower costs today, these encryption standards appear to be not as fast as one would like. High throughput encryption and decryption are becoming increasingly important in the area of high-speed networking. Fast encryption algorithms are needed in these days for high-speed secure communication of multimedia data. It has been shown that public key algorithms are not a substitute for symmetric-key algorithms. Public key algorithms are slow, whereas symmetric key algorithms generally run much faster. Also, public key systems are vulnerable to chosen plaintext attack. In this research work, a fast symmetric key encryption scheme, entitled “Matrix Array Symmetric Key (MASK) encryption” based on matrix and array manipulations has been conceived and developed. Fast conversion has been achieved with the use of matrix table look-up substitution, array based transposition and circular shift operations that are performed in the algorithm. MASK encryption is a new concept in symmetric key cryptography. It employs matrix and array manipulation technique using secret information and data values. It is a block cipher operated on plain text message (or image) blocks of 128 bits using a secret key of size 128 bits producing cipher text message (or cipher image) blocks of the same size. This cipher has two advantages over traditional ciphers. First, the encryption and decryption procedures are much simpler, and consequently, much faster. Second, the key avalanche effect produced in the ciphertext output is better than that of AES.

Some concepts and models usefulninthe analysis of discrete life time data

This thesis entitled Reliability Modelling and Analysis in Discrete time Some Concepts and Models Useful in the Analysis of discrete life time data.The present study consists of five chapters. In Chapter II we take up the derivation of some general results useful in reliability modelling that involves two component mixtures. Expression for the failure rate, mean residual life and second moment of residual life of the mixture distributions in terms of the corresponding quantities in the component distributions are investigated. Some applications of these results are also pointed out. The role of the geometric,Waring and negative hypergeometric distributions as models of life lengths in the discrete time domain has been discussed already. While describing various reliability characteristics, it was found that they can be often considered as a class. The applicability of these models in single populations naturally extends to the case of populations composed of sub-populations making mixtures of these distributions worth investigating. Accordingly the general properties, various reliability characteristics and characterizations of these models are discussed in chapter III. Inference of parameters in mixture distribution is usually a difficult problem because the mass function of the mixture is a linear function of the component masses that makes manipulation of the likelihood equations, leastsquare function etc and the resulting computations.very difficult. We show that one of our characterizations help in inferring the parameters of the geometric mixture without involving computational hazards. As mentioned in the review of results in the previous sections, partial moments were not studied extensively in literature especially in the case of discrete distributions. Chapters IV and V deal with descending and ascending partial factorial moments. Apart from studying their properties, we prove characterizations of distributions by functional forms of partial moments and establish recurrence relations between successive moments for some well known families. It is further demonstrated that partial moments are equally efficient and convenient compared to many of the conventional tools to resolve practical problems in reliability modelling and analysis. The study concludes by indicating some new problems that surfaced during the course of the present investigation which could be the subject for a future work in this area.

Application of Biofloc Technology (BFT) in the nursery rearing and farming of giant freshwater prawn, Macrobrachium rosenbergii (deMan)

In India a study conducted by CIFE and CIBA (1997), concluded that shrimp farming does more good than harm and it is not eco-unfriendly (Krishnan and Birthal, 2002). Upsurge in coastal aquaculture activity induced by high profitability is reported to have caused adverse impacts on coastal ecosystems and social environments (Parthasarathy and Nirmala, 2000). The crustacean farming sector has received criticism for excessive use of formulated feed containing high protein, of which around 50% gets accumulated at the pond bottom as unconsumed (Avnimelech, 1999; Hari et al., 2004, 2006). The wasted feeds undergo the process of degradation and results in the release of toxic metabolites to the culture system. Reduction of protein in the feed, manipulation and utilisation of natural food in the culture system are the remedy for the above problems. But before reducing the feed protein, it should be confirmed that the feed with reduced protein is not affecting the growth and health of the cultured animal. In the present study, biofloc technology is identified as one of the innovative technologies for ensuring the ecological and environmental Sustainability and examines the compatibility of BFT for the sustainable aquaculture of giant prawn, M. rosenbergii. This thesis starts with a general introduction (Chapter-1), a brief review of the most relevant literature (Chapter-2), results of various experiments (Chapter-3-6), summary (Chapter-7) and recommendations and future research perspectives in the field of biofloc based aquaculture (Chapter – 8). The major objectives of this thesis are, to improve the ecological and economical sustainability of prawn farming by the applicationof BFT and to improve the nutrient utilisation in aquaculture systems.

Biochemical Genetics Of Selected Commercially Important Penaeid Prawns

‘Biochemical genetics of selected commercially important penaeid prawns‘ dloted was carried out by collecting samples from different important fishing ceatres of India and the practical work was carried out in the Research Centre of CMFRI laboratories attached with those places. On the whole, in crustacea little importance has been given so far in finding out tin genetic characteristics of different species, genetic variation within and between species and ontogenetic variations in lobsters, prawns and other crustaceans. Prawn is caunercially important group where very little attention had been given so far to find out the racial divergence which may exist in cufferent species. with the increased foreign exchange earning and consequent indiscriminate over exploitation of existing resources of prawns resulting in depletion of the marine rescurces, alternative ways and augmenting production has become essential. In this connection genetic manipulation of the broodstock will surely bring about the heterogenous characters to multiply production. In order to understand racial fragmentation of sane of the coumercially important prawns such as Pengeus ggdicus and Parggenagsis sgliferg the isozyme studies were carried out. Qatogenetic variation of g. indicus showed stage specific electrophoretic variation. Inter species variation studies was carried out for the closely aligned Penaeus species

An Encoded Infrared Sheet Of Light Navigational Beacon System For Precise Localization Of Indoor Mobile Robot Vehicles

A new localization approach to increase the navigational capabilities and object manipulation of autonomous mobile robots, based on an encoded infrared sheet of light beacon system, which provides position errors smaller than 0.02m is presented in this paper. To achieve this minimal position error, a resolution enhancement technique has been developed by utilising an inbuilt odometric/optical flow sensor information. This system respects strong low cost constraints by using an innovative assembly for the digitally encoded infrared transmitter. For better guidance of mobile robot vehicles, an online traffic signalling capability is also incorporated. Other added features are its less computational complexity and online localization capability all these without any estimation uncertainty. The constructional details, experimental results and computational methodologies of the system are also described

Automatische Berechnung von Grenzwerten und Implementierung in Mathematica

Grenzwertberechnung ist ein unbeliebtes Gebiet der Mathematik. Jeder Schüler hasst es. Das liegt daran, dass es kein universelles Kochrezept gibt, das einen automatisch zur Lösung führt. Statt dessen muss man verschiedenste Ansätze daraufhin überprüfen, ob sie einen einer Lösung näher bringen. Computeralgebra leidet unter dem gleichen Problem, denn Computer lieben Kochrezepte ebenfalls. Entsprechend haben manche Computeralgebrasysteme auch heute noch starke Probleme mit Grenzwerten. 1996 stellte Dominik Gruntz in seiner Dissertation "On Computing Limits in a Symbolic Manipulation System" einen Algorithmus vor, der eine Vielzahl komplexer Grenzwertaufgaben souverän und schnell lösen kann und der dennoch durch seine Einfachheit und Überschaubarkeit besticht. Ziel dieser Diplomarbeit ist es, den Algorithmus von Dominik Gruntz vorzustellen und im Computeralgebrasystem Mathematica zu implementieren.

Effects of Different Feeding Regimes on the Digestibility and Faecal Excretion of Nitrogen, Soluble Carbohydrates and Fibre Fractions in Water Buffaloes kept under Subtropical Conditions

In the course of the ‘Livestock Revolution’, extension and intensification of, among others, ruminant livestock production systems are current phenomena, with all their positive and negative side effects. Manure, one of the inevitable secondary products of livestock rearing, is a valuable source of plant nutrients and its skillful recycling to the soil-plant interface is essential for soil fertility, nutrient - and especially phosphorus - uses efficiency and the preservation or re-establishment of environmentally sustainable farming systems, for which organic farming systems are exemplarily. Against this background, the PhD research project presented here, which was embedded in the DFG-funded Research Training Group 1397 ‘Regulation of soil organic matter and nutrient turnover in organic agriculture ’ investigated possibilities to manipulate the diets of water buffalo (Bubalus bubalis L.) so as to produce manure of desired quality for organic vegetable production, without affecting the productivity of the animals used. Consisting of two major parts, the first study (chapter 2) tested the effects of diets differing in their ratios of carbon (C) to nitrogen (N) and of structural to non-structural carbohydrates on the quality of buffalo manure under subtropical conditions in Sohar, Sultanate of Oman. To this end, two trials were conducted with twelve water buffalo heifers each, using a full Latin Square design. One control and four tests diets were examined during three subsequent 7 day experimental periods preceded each by 21 days adaptation. Diets consisted of varying proportions of Rhodes grass hay, soybean meal, wheat bran, maize, dates, and a commercial concentrate to achieve a (1) high C/N and high NDF (neutral detergent fibre)/SC (soluble carbohydrate) ratio (HH), (2) low C/N and low NDF/SC ratio (LL); (3) high C/N and low NDF/SC ratio (HL) and (4) low C/N and high NDF/SC (LH) ratio. Effects of these diets, which were offered at 1.45 times maintenance requirements of metabolizable energy, and of individual diet characteristics, respectively, on the amount and quality of faeces excreted were determined and statistically analysed. The faeces produced from diets HH and LL were further tested in a companion PhD study (Mr. K. Siegfried) concerning their nutrient release in field experiments with radish and cabbage. The second study (chapter 3) focused on the effects of the above-described experimental diets on the rate of passage of feed particles through the gastrointestinal tract of four randomly chosen animals per treatment. To this end, an oral pulse dose of 683 mg fibre particles per kg live weight marked with Ytterbium (Yb; 14.5 mg Yb g-1 organic matter) was dosed at the start of the 7 day experimental period which followed 21 days of adaptation. During the first two days a sample for Yb determination was kept from each faecal excretion, during days 3 – 7 faecal samples were kept from the first morning and the first evening defecation only. Particle passage was modelled using a one-compartment age-dependent Gamma-2 model. In both studies individual feed intake and faecal excretion were quantified throughout the experimental periods and representative samples of feeds and faeces were subjected to proximate analysis following standard protocols. In the first study the organic matter (OM) intake and excretion of LL and LH buffaloes were significantly lower than of HH and HL animals, respectively. Digestibility of N was highest in LH (88%) and lowest in HH (74%). While NDF digestibility was also highest in LH (85%) it was lowest in LL (78%). Faecal N concentration was positively correlated (P≤0.001) with N intake, and was significantly higher in faeces excreted by LL than by HH animals. Concentrations of fibre and starch in faecal OM were positively affected by the respective dietary concentrations, with NDF being highest in HH (77%) and lowest in LL (63%). The faecal C/N ratio was positively related (P≤0.001) to NDF intake; C/N ratios were 12 and 7 for HH and LL (P≤0.001), while values for HL and LH were 11.5 and 10.6 (P>0.05). The results from the second study showed that dietary N concentration was positively affecting faecal N concentration (P≤0.001), while there was a negative correlation with the faecal concentration of NDF (P≤0.05) and the faecal ratios of NDF/N and C/N (P≤0.001). Particle passage through the mixing compartment was lower (P≤0.05) for HL (0.033 h-1) than for LL (0.043 h-1) animals, while values of 0.034 h-1 and 0.038 h-1 were obtained for groups LH and HH. At 55.4 h, total tract mean retention time was significantly (P≤0.05) lower in group LL that in all other groups where these values varied between 71 h (HH) and 79 h (HL); this was probably due to the high dietary N concentration of diet LL which was negatively correlated with time of first marker appearance in faeces (r= 0.84, P≤0.001), while the dietary C concentration was negatively correlated with particle passage through the mixing compartment (r= 0.57, P≤0.05). The results suggest that manure quality of river buffalo heifers can be considerably influenced by diet composition. Despite the reportedly high fibre digestion capacity of buffalo, digestive processes did not suppress the expression of diet characteristics in the faeces. This is important when aiming at producing a specific manure quality for fertilization purposes in (organic) crop cultivation. Although there was a strong correlation between the ingestion and the faecal excretion of nitrogen, the correlation between diet and faecal C/N ratio was weak. To impact on manure mineralization, the dietary NDF and N concentrations seem to be the key control points, but modulating effects are achieved by the inclusion of starch into the diet. Within the boundaries defined by the animals’ metabolic and (re)productive requirements for energy and nutrients, diet formulation may thus take into account the abiotically and biotically determined manure turnover processes in the soil and the nutrient requirements of the crops to which the manure is applied, so as to increase nutrient use efficiency along the continuum of the feed, the animal, the soil and the crop in (organic) farming systems.

Varying the dietary supply of C and N to manipulate the manure composition of water buffalo heifers in Oman

Optimizing the composition of manure has the potential to reduce nutrient losses to the environment and to increase crop yields. In this study the effect of dietary ratios of carbon (C) to nitrogen (N) and neutral detergent fibre (NDF) to soluble carbohydrates (SC) on faeces composition of water buffalo heifers was assessed. Two digestibility trials were conducted with 12 animals each, fed one control and four test diets composed to achieve (1) high C/N and high NDF/SC ratios (HH), (2) low C/N and low NDF/SC ratios (LL), (3) high C/N and low NDF/SC ratios (HL) and (4) low C/N and high NDF/SC (LH) ratios. Faecal C/N ratios were generally lower than dietary C/N ratios, but the reduction was especially large for high C/N ratio diets (HH=55 %, HL=51 %). Faecal N concentration was positively correlated (r^2 = 0.6; P < 0.001) with N intake, but the increase in faecal N was more pronounced for diets that supplied low amounts of N. Faecal NDF concentration was positively related to NDF intake (r^2 = 0.42; P < 0.001), as well as the faecal C/N ratio (r^2 = 0.3; P < 0.001). Results demonstrate that C/N ratio and NDF concentration of buffalo manure were affected by diet composition. Diets with high C/N ratio and low NDF/SC ratio are preferable with regard to manure quality, but may not satisfy the nutritional requirements of producing animals, since N concentration in these diets was low and fibre concentration simultaneously high.

Eine SPARQL-Schnittstelle für OData-Services

Enterprise-Resource-Planning-Systeme (ERP-Systeme) bilden für die meisten mittleren und großen Unternehmen einen essentiellen Bestandteil ihrer IT-Landschaft zur Verwaltung von Geschäftsdaten und Geschäftsprozessen. Geschäftsdaten werden in ERP-Systemen in Form von Geschäftsobjekten abgebildet. Ein Geschäftsobjekt kann mehrere Attribute enthalten und über Assoziationen zu anderen Geschäftsobjekten einen Geschäftsobjektgraphen aufspannen. Existierende Schnittstellen ermöglichen die Abfrage von Geschäftsobjekten, insbesondere mit Hinblick auf deren Attribute. Die Abfrage mit Bezug auf ihre Position innerhalb des Geschäftsobjektgraphen ist jedoch über diese Schnittstellen häufig nur sehr schwierig zu realisieren. Zur Vereinfachung solcher Anfragen können semantische Technologien, wie RDF und die graphbasierte Abfragesprache SPARQL, verwendet werden. SPARQL ermöglicht eine wesentlich kompaktere und intuitivere Formulierung von Anfragen gegen Geschäftsobjektgraphen, als es mittels der existierenden Schnittstellen möglich ist. Die Motivation für diese Arbeit ist die Vereinfachung bestimmter Anfragen gegen das im Rahmen dieser Arbeit betrachtete SAP ERP-System unter Verwendung von SPARQL. Zur Speicherung von Geschäftsobjekten kommen in ERP-Systemen typischerweise relationale Datenbanken zum Einsatz. Die Bereitstellung von SPARQL-Endpunkten auf Basis von relationalen Datenbanken ist ein seit längerem untersuchtes Gebiet. Es existieren verschiedene Ansätze und Tools, welche die Anfrage mittels SPARQL erlauben. Aufgrund der Komplexität, der Größe und der Änderungshäufigkeit des ERP-Datenbankschemas können solche Ansätze, die direkt auf dem Datenbankschema aufsetzen, nicht verwendet werden. Ein praktikablerer Ansatz besteht darin, den SPARQL-Endpunkt auf Basis existierender Schnittstellen zu realisieren. Diese sind weniger komplex als das Datenbankschema, da sie die direkte Abfrage von Geschäftsobjekten ermöglichen. Dadurch wird die Definition des Mappings erheblich vereinfacht. Das ERP-System bietet mehrere Schnittstellen an, die sich hinsichtlich des Aufbaus, der Zielsetzung und der verwendeten Technologie unterscheiden. Unter anderem wird eine auf OData basierende Schnittstelle zur Verfügung gestellt. OData ist ein REST-basiertes Protokoll zur Abfrage und Manipulation von Daten. Von den bereitgestellten Schnittstellen weist das OData-Interface gegenüber den anderen Schnittstellen verschiedene Vorteile bei Realisierung eines SPARQL-Endpunktes auf. Es definiert eine Abfragesprache und einen Link-Adressierungsmechanismus, mit dem die zur Beantwortung einer Anfrage benötigten Service-Aufrufe und die zu übertragende Datenmenge erheblich reduziert werden können. Das Ziel dieser Arbeit besteht in der Entwicklung eines Verfahrens zur Realisierung eines SPARQL-Endpunktes auf Basis von OData-Services. Dazu wird zunächst eine Architektur vorgestellt, die als Grundlage für die Implementierung eines entsprechenden Systems dienen kann. Ausgehend von dieser Architektur, werden die durch den aktuellen Forschungsstand noch nicht abgedeckten Bereiche ermittelt. Nach bestem Wissen ist diese Arbeit die erste, welche die Abfrage von OData-Schnittstellen mittels SPARQL untersucht. Dabei wird als Teil dieser Arbeit ein neuartiges Konzept zur semantischen Beschreibung von OData-Services vorgestellt. Dieses ermöglicht die Definition von Abbildungen der von den Services bereitgestellten Daten auf RDF-Graphen. Aufbauend auf den Konzepten zur semantischen Beschreibung wird eine Evaluierungssemantik erarbeitet, welche die Auflösung von Ausdrücken der SPARQL-Algebra gegen semantisch annotierte OData-Services definiert. Dabei werden die Daten aller OData-Services ermittelt, die zur vollständigen Abarbeitung einer Anfrage benötigt werden. Zur Abfrage der relevanten Daten wurden Konzepte zur Erzeugung der entsprechenden OData-URIs entwickelt. Das vorgestellte Verfahren wurde prototypisch implementiert und anhand zweier Anwendungsfälle für die im betrachteten Szenario maßgeblichen Servicemengen evaluiert. Mit den vorgestellten Konzepten besteht nicht nur die Möglichkeit, einen SPARQL-Endpunkt für ein ERP-System zu realisieren, vielmehr kann jede Datenquelle, die eine OData-Schnittstelle anbietet, mittels SPARQL angefragt werden. Dadurch werden große Datenmengen, die bisher für die Verarbeitung mittels semantischer Technologien nicht zugänglich waren, für die Integration mit dem Semantic Web verfügbar gemacht. Insbesondere können auch Datenquellen, deren Integration miteinander bisher nicht oder nur schwierig möglich war, über Systeme zur föderierten Abfrage miteinander integriert werden.

Enhancing the Dexterity of a Robot Hand Using Controlled Slip

Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them within their grasp. Robots, however, have none of these capabilities, they simply grasp objects rigidly in their end effectors. To investigate this common form of human manipulation, an analysis of controlled slipping of a grasped object within a robot hand was performed. The Salisbury robot hand demonstrated many of these controlled slipping techniques, illustrating many results of this analysis. First, the possible slipping motions were found as a function of the location, orientation, and types of contact between the hand and object. Second, for a given grasp, the contact types were determined as a function of the grasping force and the external forces on the object. Finally, by changing the grasping force, the robot modified the constraints on the object and affect controlled slipping slipping motions.

Generating Compliant Motion of Objects with an Articulated Hand

The flexibility of the robot is the key to its success as a viable aid to production. Flexibility of a robot can be explained in two directions. The first is to increase the physical generality of the robot such that it can be easily reconfigured to handle a wide variety of tasks. The second direction is to increase the ability of the robot to interact with its environment such that tasks can still be successfully completed in the presence of uncertainties. The use of articulated hands are capable of adapting to a wide variety of grasp shapes, hence reducing the need for special tooling. The availability of low mass, high bandwidth points close to the manipulated object also offers significant improvements I the control of fine motions. This thesis provides a framework for using articulated hands to perform local manipulation of objects. N particular, it addresses the issues in effecting compliant motions of objects in Cartesian space. The Stanford/JPL hand is used as an example to illustrate a number of concepts. The examples provide a unified methodology for controlling articulated hands grasping with point contacts. We also present a high-level hand programming system based on the methodologies developed in this thesis. Compliant motion of grasped objects and dexterous manipulations can be easily described in the LISP-based hand programming language.

The Design of Shape from Motion Constraints

This report presents a set of representations methodologies and tools for the purpose of visualizing, analyzing and designing functional shapes in terms of constraints on motion. The core of the research is an interactive computational environment that provides an explicit visual representation of motion constraints produced by shape interactions, and a series of tools that allow for the manipulation of motion constraints and their underlying shapes for the purpose of design.

Design and Control of an Anthropomorphic Robotic Finger with Multi-point Tactile Sensation

The goal of this research is to develop the prototype of a tactile sensing platform for anthropomorphic manipulation research. We investigate this problem through the fabrication and simple control of a planar 2-DOF robotic finger inspired by anatomic consistency, self-containment, and adaptability. The robot is equipped with a tactile sensor array based on optical transducer technology whereby localized changes in light intensity within an illuminated foam substrate correspond to the distribution and magnitude of forces applied to the sensor surface plane. The integration of tactile perception is a key component in realizing robotic systems which organically interact with the world. Such natural behavior is characterized by compliant performance that can initiate internal, and respond to external, force application in a dynamic environment. However, most of the current manipulators that support some form of haptic feedback either solely derive proprioceptive sensation or only limit tactile sensors to the mechanical fingertips. These constraints are due to the technological challenges involved in high resolution, multi-point tactile perception. In this work, however, we take the opposite approach, emphasizing the role of full-finger tactile feedback in the refinement of manual capabilities. To this end, we propose and implement a control framework for sensorimotor coordination analogous to infant-level grasping and fixturing reflexes. This thesis details the mechanisms used to achieve these sensory, actuation, and control objectives, along with the design philosophies and biological influences behind them. The results of behavioral experiments with a simple tactilely-modulated control scheme are also described. The hope is to integrate the modular finger into an %engineered analog of the human hand with a complete haptic system.