@phdthesis{Baunach2012,
  author    = {Baunach, Marcel},
  title     = {Advances in Distributed Real-Time Sensor/Actuator Systems Operation - Operating Systems, Communication, and Application Design Concepts -},
  url       = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-76489},
  school      = {Universit{\"a}t W{\"u}rzburg},
  year      = {2012},
  abstract  = {This work takes a close look at several quite different research areas related to the design of networked embedded sensor/actuator systems. The variety of the topics illustrates the potential complexity of current sensor network applications; especially when enriched with actuators for proactivity and environmental interaction. Besides their conception, development, installation and long-term operation, we'll mainly focus on more "low-level" aspects: Compositional hardware and software design, task cooperation and collaboration, memory management, and real-time operation will be addressed from a local node perspective. In contrast, inter-node synchronization, communication, as well as sensor data acquisition, aggregation, and fusion will be discussed from a rather global network view. The diversity in the concepts was intentionally accepted to finally facilitate the reliable implementation of truly complex systems. In particular, these should go beyond the usual "sense and transmit of sensor data", but show how powerful today's networked sensor/actuator systems can be despite of their low computational performance and constrained hardware: If their resources are only coordinated efficiently!},
  subject      = {Eingebettetes System},
  language  = {en}
}
@phdthesis{Eckstein2019,
  author    = {Eckstein, Klaus},
  title     = {Linear and Nonlinear Spectroscopy of Doped Carbon Nanotubes},
  doi       = {10.25972/OPUS-18897},
  url       = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-188975},
  school      = {Universit{\"a}t W{\"u}rzburg},
  year      = {2019},
  abstract  = {Doping plays a decisive role for the functionality of semiconductor-based (opto-)electronic devices. Hence, the technological utilization of semiconductors necessitates control and a fundamental understanding of the doping process. However, for low-dimensional systems like carbon nanotubes, neither concentration nor distribution of charge carriers is currently well known. The research presented in this thesis investigated the doping of semiconducting carbon nanotubes by spectroscopic methods. Samples of highly purified, intrinsic (6,5) single-wall carbon nanotubes were fabricated using polymer stabilization. Chapter 4 showed that both electro- and redox chemical \$p\$-doping lead to identical bleaching, blueshift, broadening and asymmetry of the S\$_1\$ exciton absorption band. The similar spectral changes induced by both doping schemes suggest that optical spectra can not be used to infer what process was used for doping. Perhaps more importantly, it also indicates that the distribution of charges and the character of the charge transfer states does not depend on the method by which doping was achieved. The detailed analysis of the doping-induced spectral changes in chapter 5 suggests that surplus charges are distributed inhomogeneously. The hypothesis of carrier localization is consistent with the high sensitivity of the S\$_1\$ exciton photoluminescence to additional charge carriers and with the stretched-exponential decay of the exciton population following ultrafast excitation. Both aspects are in good agreement with diffusion-limited contact quenching of excitons at localized charges. Moreover, localized charges act - similar to structural defects - as perturbations to the bandstructure as evidenced by a doping-induced increase of the D-band antiresonance in the mid-infrared spectrum. Quantum mechanical model calculations also suggest that counterions play a crucial role in carrier localization. Counterion adsorption at the nanotube surface is thus believed to induce charge traps of more than 100 meV depth with a carrier localization length on the order of 3 - 4 nm. The doping-induced bleach of interband absorption is accompanied by an absorption increase in the IR region below 600 meV. The observed shift of the IR peak position indicates a continuous transition from localized to rather delocalized charge carriers. This transition is caused by the increase of the overlap of charge carrier wavefunctions at higher charge densities and was modeled by classical Monte-Carlo simulations of intraband absorption. Chapter 6 discussed the spectroscopy of heavily (degenerately) doped nanotubes, which are characterized by a Drude-response of free-carrier intraband absorption in the optical conductivity spectrum. In the NIR spectral region, the S\$_1\$ exciton and X\$+^_1\$ trion absorption is replaced by a nearly 1 eV broad and constant absorption signal, the so-called H-band. The linear and transient absorption spectra of heavily doped nanotubes suggest that the H-band can be attributed to free-carrier interband transitions. Chapter 7 dealt with the quantification of charge carrier densities by linear absorption spectroscopy. A particularly good measure of the carrier density is the S\$_1\$ exciton bleach. For a bleach below about 50 \%, the carrier density is proportional to the bleach. At higher doping levels, deviations from the linear behavior were observed. For doping levels exceeding a fully bleached S\$_1\$ band, the determination of the normalized oscillator strength f\$\text{1st}\$ over the whole first subband region (trion, exciton, free e-h pairs) is recommended for quantification of carrier densities. Based on the nanotube density of states, the carrier density \$n\$ can be estimated using \$n = 0.74\,\text{nm}^{-1} \cdot (1 - f_\text{1st})\$. In the last part of this thesis (chapter 8), the time-resolved spectroelectrochemistry was extended to systems beyond photostable carbon nanotube films. The integration of a flowelectrolysis cell into the transient absorption spectrometer allows the investigation of in-situ electrochemically generated but photounstable molecules due to a continuous exchange of sample volume. First time-resolved experiments were successfully performed using the dye methylene blue and its electrochemically reduced form leucomethylene blue.},
  subject      = {Dotierung},
  language  = {en}
}
@phdthesis{Karch2002,
  author    = {Karch, Oliver},
  title     = {Where am I? - Indoor localization based on range measurements},
  url       = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-8442},
  school      = {Universit{\"a}t W{\"u}rzburg},
  year      = {2002},
  abstract  = {Nowadays, robotics plays an important role in increasing fields of application. There exist many environments or situations where mobile robots instead of human beings are used, since the tasks are too hazardous, uncomfortable, repetitive, or costly for humans to perform. The autonomy and the mobility of the robot are often essential for a good solution of these problems. Thus, such a robot should at least be able to answer the question "Where am I?". This thesis investigates the problem of self-localizing a robot in an indoor environment using range measurements. That is, a robot equipped with a range sensor wakes up inside a building and has to determine its position using only its sensor data and a map of its environment. We examine this problem from an idealizing point of view (reducing it into a pure geometric one) and further investigate a method of Guibas, Motwani, and Raghavan from the field of computational geometry to solving it. Here, so-called visibility skeletons, which can be seen as coarsened representations of visibility polygons, play a decisive role. In the major part of this thesis we analyze the structures and the occurring complexities in the framework of this scheme. It turns out that the main source of complication are so-called overlapping embeddings of skeletons into the map polygon, for which we derive some restrictive visibility constraints. Based on these results we are able to improve one of the occurring complexity bounds in the sense that we can formulate it with respect to the number of reflex vertices instead of the total number of map vertices. This also affects the worst-case bound on the preprocessing complexity of the method. The second part of this thesis compares the previous idealizing assumptions with the properties of real-world environments and discusses the occurring problems. In order to circumvent these problems, we use the concept of distance functions, which model the resemblance between the sensor data and the map, and appropriately adapt the above method to the needs of realistic scenarios. In particular, we introduce a distance function, namely the polar coordinate metric, which seems to be well suited to the localization problem. Finally, we present the RoLoPro software where most of the discussed algorithms are implemented (including the polar coordinate metric).},
  subject      = {Autonomer Roboter},
  language  = {en}
}