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Institute
- Graduate School of Science and Technology (36) (remove)
Sonstige beteiligte Institutionen
EU-Project number / Contract (GA) number
- 320377 (1)
It is the aim of this thesis to present a visual body weight estimation, which is suitable for medical applications. A typical scenario where the estimation of the body weight is essential, is the emergency treatment of stroke patients: In case of an ischemic stroke, the patient has to receive a body weight adapted drug, to solve a blood clot in a vessel. The accuracy of the estimated weight influences the outcome of the therapy directly. However, the treatment has to start as early as possible after the arrival at a trauma room, to provide sufficient treatment. Weighing a patient takes time, and the patient has to be moved. Furthermore, patients are often not able to communicate a value for their body weight due to their stroke symptoms. Therefore, it is state of the art that physicians guess the body weight. A patient receiving a too low dose has an increased risk that the blood clot does not dissolve and brain tissue is permanently damaged. Today, about one-third gets an insufficient dosage. In contrast to that, an overdose can cause bleedings and further complications. Physicians are aware of this issue, but a reliable alternative is missing.
The thesis presents state-of-the-art principles and devices for the measurement and estimation of body weight in the context of medical applications. While scales are common and available at a hospital, the process of weighing takes too long and can hardly be integrated into the process of stroke treatment. Sensor systems and algorithms are presented in the section for related work and provide an overview of different approaches.
The here presented system -- called Libra3D -- consists of a computer installed in a real trauma room, as well as visual sensors integrated into the ceiling. For the estimation of the body weight, the patient is on a stretcher which is placed in the field of view of the sensors. The three sensors -- two RGB-D and a thermal camera -- are calibrated intrinsically and extrinsically. Also, algorithms for sensor fusion are presented to align the data from all sensors which is the base for a reliable segmentation of the patient.
A combination of state-of-the-art image and point cloud algorithms is used to localize the patient on the stretcher. The challenges in the scenario with the patient on the bed is the dynamic environment, including other people or medical devices in the field of view.
After the successful segmentation, a set of hand-crafted features is extracted from the patient's point cloud. These features rely on geometric and statistical values and provide a robust input to a subsequent machine learning approach. The final estimation is done with a previously trained artificial neural network.
The experiment section offers different configurations of the previously extracted feature vector. Additionally, the here presented approach is compared to state-of-the-art methods; the patient's own assessment, the physician's guess, and an anthropometric estimation. Besides the patient's own estimation, Libra3D outperforms all state-of-the-art estimation methods: 95 percent of all patients are estimated with a relative error of less than 10 percent to ground truth body weight. It takes only a minimal amount of time for the measurement, and the approach can easily be integrated into the treatment of stroke patients, while physicians are not hindered.
Furthermore, the section for experiments demonstrates two additional applications: The extracted features can also be used to estimate the body weight of people standing, or even walking in front of a 3D camera. Also, it is possible to determine or classify the BMI of a subject on a stretcher. A potential application for this approach is the reduction of the radiation dose of patients being exposed to X-rays during a CT examination.
During the time of this thesis, several data sets were recorded. These data sets contain the ground truth body weight, as well as the data from the sensors. They are available for the collaboration in the field of body weight estimation for medical applications.
There is great interest in affordable, precise and reliable metrology underwater:
Archaeologists want to document artifacts in situ with high detail.
In marine research, biologists require the tools to monitor coral growth and geologists need recordings to model sediment transport.
Furthermore, for offshore construction projects, maintenance and inspection millimeter-accurate measurements of defects and offshore structures are essential.
While the process of digitizing individual objects and complete sites on land is well understood and standard methods, such as Structure from Motion or terrestrial laser scanning, are regularly applied, precise underwater surveying with high resolution is still a complex and difficult task.
Applying optical scanning techniques in water is challenging due to reduced visibility caused by turbidity and light absorption.
However, optical underwater scanners provide significant advantages in terms of achievable resolution and accuracy compared to acoustic systems.
This thesis proposes an underwater laser scanning system and the algorithms for creating dense and accurate 3D scans in water.
It is based on laser triangulation and the main optical components are an underwater camera and a cross-line laser projector.
The prototype is configured with a motorized yaw axis for capturing scans from a tripod.
Alternatively, it is mounted to a moving platform for mobile mapping.
The main focus lies on the refractive calibration of the underwater camera and laser projector, the image processing and 3D reconstruction.
For highest accuracy, the refraction at the individual media interfaces must be taken into account.
This is addressed by an optimization-based calibration framework using a physical-geometric camera model derived from an analytical formulation of a ray-tracing projection model.
In addition to scanning underwater structures, this work presents the 3D acquisition of semi-submerged structures and the correction of refraction effects.
As in-situ calibration in water is complex and time-consuming, the challenge of transferring an in-air scanner calibration to water without re-calibration is investigated, as well as self-calibration techniques for structured light.
The system was successfully deployed in various configurations for both static scanning and mobile mapping.
An evaluation of the calibration and 3D reconstruction using reference objects and a comparison of free-form surfaces in clear water demonstrate the high accuracy potential in the range of one millimeter to less than one centimeter, depending on the measurement distance.
Mobile underwater mapping and motion compensation based on visual-inertial odometry is demonstrated using a new optical underwater scanner based on fringe projection.
Continuous registration of individual scans allows the acquisition of 3D models from an underwater vehicle.
RGB images captured in parallel are used to create 3D point clouds of underwater scenes in full color.
3D maps are useful to the operator during the remote control of underwater vehicles and provide the building blocks to enable offshore inspection and surveying tasks.
The advancing automation of the measurement technology will allow non-experts to use it, significantly reduce acquisition time and increase accuracy, making underwater metrology more cost-effective.
Dementia is a complex neurodegenerative syndrome that by 2050 could affect about 135 Million people worldwide. People with dementia experience a progressive decline in their cognitive abilities and have serious problems coping with activities of daily living, including
orientation and wayfinding tasks. They even experience difficulties in finding their way in a familiar environment. Being lost or fear of getting lost may consequently develop into other psychological deficits such as anxiety, suspicions, illusions, and aggression. Frequent results are social isolation and a reduced quality of life. Moreover, the lives of relatives and
caregivers of people with dementia are also negatively affected.
Regarding navigation and orientation, most existing approaches focus on outdoor environment and people with mild dementia, who have the capability to use mobile devices. However, Rasquin (2007) observe that even a device with three buttons may be too complicated for
people with moderate to severe dementia. In addition, people who are living in care homes mainly perform indoor activities. Given this background, we decided to focus on designing a system for indoor environments for people with moderate to severe dementia, who are unable
or reluctant to use smartphone technology.
Adopting user-centered design approach, context and requirements of people with dementia were gathered as a first step to understand needs and difficulties (especially in spatial disorientation and wayfinding problems) experienced in dementia care facilities. Then, an "Implicit Interactive Intelligent (III) Environment" for people with dementia was proposed emphasizing implicit interaction and natural interface. The backbone of this III Environment is based on supporting orientation and navigation tasks with three systems: a Monitoring system, an intelligent system, and a guiding system. The monitoring system and intelligent system automatically detect and interpret the locations and activities performed by the users i.e. people with dementia. This approach (implicit input) reduces cognitive workload as well as physical workload on the user to provide input. The intelligent system is also aware of context, predicts next situations (location, activity), and decides when to provide an appropriate service to the users. The guiding system with intuitive and dynamic environmental cues (lighting with color) has the responsibility for guiding the users to the places they need to be.
Overall, three types of a monitoring system with Ultra-Wideband and iBeacon technologies, different techniques and algorithms were implemented for different contexts of use.
They showed a high user acceptance with a reasonable price as well as decent accuracy and precision. In the intelligent system, models were built to recognize the users’ current activity, detect the erroneous activity, predict the next location and activity, and analyze the
history data, detect issues, notify them and suggest solutions to caregivers via visualized web interfaces. About the guiding systems, five studies were conducted to test and evaluate the effect of lighting with color on people with dementia. The results were promising. Although
several components of III Environment in general and three systems, in particular, are in place (implemented and tested separately), integrating them all together and employing this in the dementia context as a fully properly evaluation with formal stakeholders (people with
dementia and caregivers) are needed for the future step.
Motivated by the perceived great potential of chiral polymers, the presented work aimed at the investigation of synthesis, solubility and optical activity of chiral poly(2,4-disubstituted-2-oxazoline)s. A novel polymeric carrier based on ABA-type triblock copolymers poly(2-oxazoline)s with chiral and racemic hydrophobic blocks was developed for the formulation of chiral and achiral drugs (Fig. 5.1). Poly(2-methyl-2-oxazoline) (pMeOx) was used as hydrophilic A block, and poly(2-ethyl-4-ethyl-2-oxazoline) (pEtEtOx) and poly(2-propyl-4-methyl-2-oxazoline) (pPrMeOx) were used as hydrophobic B blocks. Curcumin (CUR), paclitaxel (PTX) and chiral/racemic ibuprofen (R/S/RS-IBU) were applied as model drugs. Nanoformulations were prepared consisting of these triblock copolymers and model drugs. ...
Time-resolved spectroscopy allows for analyzing light-induced energy conversion and
chromophore–chromophore interactions in molecular systems, which is a prerequisite in
the design of new materials and for improving the efficiency of opto-electronic devices.
To elucidate photo-induced dynamics of complex molecular systems, transient absorption
(TA) and coherent two-dimensional (2D) spectroscopy were employed and combined
with additional experimental techniques, theoretical approaches, and simulation models
in this work.
A systematic series of merocyanines, synthetically varied in the number of chromophores
and subsitution pattern, attached to a benzene unit was investigated in cooperation with
the group of Prof. Dr. Frank Würthner at the University of Würzburg. The global analysis
of several TA experiments, and additional coherent 2D spectroscopy experiments, provided
the basis to elaborate a relaxation scheme which was applicable for all merocyanine
systems under investigation. This relaxation scheme is based on a double minimum on the
excited-state potential energy surface. One of these minima is assigned to an intramolecular
charge-transfer state which is stabilized in the bis- and tris-chromophoric dyes by
chromphore–chromophore interactions, resulting in an increase in excited-state lifetime.
Electro-optical absorption and density functional theory (DFT) calculations revealed a
preferential chromophore orientation which compensates most of the dipole moment of
the individual chromophores. Based on this structural assignment the conformationdependent
exciton energy splitting was calculated. The linear absorption spectra of the
multi-chromophoric merocyanines could be described by a combination of monomeric and
excitonic spectra.
Subsequently, a structurally complex polymeric squaraine dye was studied in collaboration
with the research groups of Prof. Dr. Christoph Lambert and Prof. Dr. Roland Mitric
at the University of Würzburg. This polymer consists of a superposition of zigzag and
helix structures depending on the solvent. High-level DFT calculations confirmed the previous
assignment that zigzag and helix structures can be treated as J- and H-aggregates,
respectively. TA experiments revealed that in dependence on the solvent as well as the
excitation energy, ultrafast energy transfer within the squaraine polymer proceeds from
initially excited helix segments to zigzag segments or vice versa. Additionally, 2D spectroscopy
confirmed the observed sub-picosecond dynamics. In contrast to other conjugated
polymers such as MEH-PPV, which is investigated in the last chapter, ultrafast
energy transfer in squaraine polymers is based on the matching of the density of states
between donor and acceptor segments due to the small reorganization energy in cyanine-like
chromophores.
Finally, the photo-induced dynamics of the aggregated phase of the conjugated polymer
MEH-PPV was investigated in cooperation with the group of Prof. Dr. Anna Köhler at the University of Bayreuth. Our collaborators had previously described the aggregation of MEH-PPV upon cooling by the formation of so-called HJ-aggregates based on exciton
theory. By TA measurements and by making use of an affiliated band analysis distinct
relaxation processes in the excited state and to the ground state were discriminated. By
employing 2D spectroscopy the energy transfer between different conjugated segments
within the aggregated polymer was resolved. The initial exciton relaxation within the
aggregated phase indicates a low exciton mobility, in contrast to the subsequent energy
transfer between different chromophores within several picoseconds.
This work contributes by its systematic study of structure-dependent relaxation dynamics
to the basic understanding of the structure-function relationship within complex
molecular systems. The investigated molecular classes display a high potential to increase
efficiencies of opto-electronic devices, e.g., organic solar cells, by the selective choice of
the molecular morphology.
This publication is dedicated to investigate strong light-matter coupling with excitons in 2D materials. This work starts with an introduction to the fundamentals of excitons in 2D materials, microcavities and strong coupling in chapter 2. The experimental methods used in this work are explained in detail in chapter 3. Chapter 4 covers basic investigations that help to select appropriate materials and cavities for the following experiments. In chapter 5, results on the formation of exciton-polaritons in various materials and cavity designs are presented. Chapter 6 covers studies on the spin-valley properties of exciton-polaritons including effects such as valley polarization, valley coherence and valley-dependent polariton propagation. Finally, the formation of hybrid-polaritons and their condensation are presented in chapter 7.
Nanoelectronics is an essential technology for down-scaling beyond the limit of silicon-based electronics. Single-Wall Carbon Nanotubes (SWNT) are semiconducting components that exhibit a large variety of properties that make them usable for sensing, telecommunication, or computational tasks. Due to their high surface to volume ratio, carbon nanotubes are strongly affected by molecular adsorptions, and almost all properties depend on surface adsorption. SWNT with smaller diameters (0.7-0.9nm) show a stronger sensitivity to surface effects. An optimized synthesis route was developed to produce these nanotubes directly. They were produced with a clean surface, high quality, and large lengths of 2 μ m. The results complement previous studies on larger diameters (0.9-1.4nm). They allow performing statistically significant assumptions for a perfect nanotube, which is selected from a subset of nanotubes with good emission intensity, and high mechanical durability. The adsorption of molecules on the surface of carbon nanotubes influences the motion and binding strength of chargeseparated states in this system. To gain insight into the adsorption processes on the surface with a minimum of concurrent overlapping effects, a microscopic setup, and a measurement technique were developed. The system was estimated to exhibit excellent properties like long exciton diffusion lengths (>350nm), and big exciton sizes (8.5(5)nm), which was substantiated by a simulation. We studied the adsorption processes at the surface of Single-Wall Carbon Nanotubes for molecules in the gas phase, solvent molecules, and surfactant molecules. The experiments were all carried out on suspended individualized carbon nanotubes on a silicon wafer substrate. The experiments in the gas-phase showed that the excitonic emission energy and intensity experiences a rapid blue shift during observation. This shift was associated with the spontaneous desorption of large clusters of gaseous molecules caused by laser heat up. The measurement of this desorption was essential for creating a reference to an initially clean surface and allows us to perform a comparison with previous measurements on this topic. Furthermore, the adsorption of hydrogen on the nanotube surface at high temperatures was investigated. It was found that a new emission mode arises slightly red-shifted to the excitonic emission in these systems. The new signal is almost equally strong as the main excitonic peak and was associated with the brightening of dark excitons at sp3-defects through a K-phonon assisted pathway. The finding is useful for the direct synthesis of spintronic devices as these systems are known to act as single-photon emitters. The suspended nanotubes were further studied to estimate the effect of solvent adsorption on the excitonic states during nanotube dispersion for each nanotube individually. A significant quantum yield loss is observable for hexane and acetonitrile, while the emission intensity was found to be the strongest in toluene. The reference to a clean surface allowed us to estimate the exact influence of the dielectric environment of adsorbing solvents on the excitonic emission energy. Solvent adsorption was found to lead to an energy shift that is almost twice as high as suggested in previous studies. The amount of this energy shift, however, was comparably similar for all solvents, which suggests that the influence of the distinct dielectric constant in the outer environment less significantly influences the energy shift than previously thought. An interesting phenomenon was found when using acetonitrile as a solvent, which leads to greatly enhanced emission properties. The emission is more than twice as high as in the same air-suspended nanotubes, which suggests a process that depends on the laser intensity. In this study, it was reasonably explained how an energy down-conversion is possible through the coupling of the excitonic states with solvent vibrations. The strength of this coupling, however, also suggests adsorptions to the inside of the tubular nanotube structure leading to a coupled vibration of linear acetonitrile molecules that are adsorbed to the inner surface. The findings are important for the field of nanofluidics and provide an excellent system for efficient energy down-conversion in the transmission window of biological tissue. Having separated the pure effect of solvent adsorption allowed us to study the undisturbed molecular adsorption of polymers in these systems. The addition of polyfluorene polymer leads to a slow but stepwise intensity increase. The intensity increase is overlapping with a concurrent process that leads to an intensity decrease. Unfortunately, observing the stepwise process has a low spacial resolution of only 100-250nm, which is in the range of the exciton diffusion length in these systems and hinders detailed analysis. The two competing and overlapping processes processes are considered to originate from slow π-stacking and fast side-chain binding. Insights into this process are essential for selecting suitably formed polymers. However, the findings also emphasize the importance of solvent selection during nanotube dispersion since solvent effects were proven to be far more critical on the quantum yield in these systems. These measurements can shed light on the ongoing debate on polymers adsorption during nanotube individualization and allow us to direct the discussion more towards the selection of suitable solvents. This work provides fundamental insights into the adsorption of various molecules on the surface of individually observed suspended Single-Wall Carbon Nanotubes. It allows observing the adsorption of individual molecules below the optical limit in the solid, liquid, and gas phases. Nanotubes are able to act as sensing material for detecting changes in their direct surrounding. These fundamental findings are also crucial for increasing the quantum yield of solvent-dispersed nanotubes. They can provide better light-harvesting systems for microscopy in biological tissue and set the base for a more efficient telecommunication infrastructure with nano-scale spintronics devices and lasing components. The newly discovered solvent alignment in the nanotube surrounding can potentially also be used for supercapacitors that are needed for caching the calculation results in computational devices that use polymer wrapped nanotubes as transistors. Although fundamental, these studies develop a strategy to enlighten this room that is barely only visible at the bottom of the nano-scale.
Since the first CubeSat launch in 2003, the hardware and software complexity of the nanosatellites was continuosly increasing.
To keep up with the continuously increasing mission complexity and to retain the primary advantages of a CubeSat mission, a new approach for the overall space and ground software architecture and protocol configuration is elaborated in this work.
The aim of this thesis is to propose a uniform software and protocol architecture as a basis for software development, test, simulation and operation of multiple pico-/nanosatellites based on ultra-low power components.
In contrast to single-CubeSat missions, current and upcoming nanosatellite formation missions require faster and more straightforward development, pre-flight testing and calibration procedures as well as simultaneous operation of multiple satellites.
A dynamic and decentral Compass mission network was established in multiple active CubeSat missions, consisting of uniformly accessible nodes.
Compass middleware was elaborated to unify the communication and functional interfaces between all involved mission-related software and hardware components.
All systems can access each other via dynamic routes to perform service-based M2M communication.
With the proposed model-based communication approach, all states, abilities and functionalities of a system are accessed in a uniform way.
The Tiny scripting language was designed to allow dynamic code execution on ultra-low power components as a basis for constraint-based in-orbit scheduler and experiment execution.
The implemented Compass Operations front-end enables far-reaching monitoring and control capabilities of all ground and space systems.
Its integrated constraint-based operations task scheduler allows the recording of complex satellite operations, which are conducted automatically during the overpasses.
The outcome of this thesis became an enabling technology for UWE-3, UWE-4 and NetSat CubeSat missions.
A complete simulation system is proposed that can be used as an educational tool by physicians in training basic skills of Minimally Invasive Vascular Interventions. In the first part, a surface model is developed to assemble arteries having a planar segmentation. It is based on Sweep Surfaces and can be extended to T- and Y-like bifurcations. A continuous force vector field is described, representing the interaction between the catheter and the surface. The computation time of the force field is almost unaffected when the resolution of the artery is increased.
The mechanical properties of arteries play an essential role in the study of the circulatory system dynamics, which has been becoming increasingly important in the treatment of cardiovascular diseases. In Virtual Reality Simulators, it is crucial to have a tissue model that responds in real time. In this work, the arteries are discretized by a two dimensional mesh and the nodes are connected by three kinds of linear springs. Three tissue layers (Intima, Media, Adventitia) are considered and, starting from the stretch-energy density, some of the elasticity tensor components are calculated. The physical model linearizes and homogenizes the material response, but it still contemplates the geometric nonlinearity. In general, if the arterial stretch varies by 1% or less, then the agreement between the linear and nonlinear models is trustworthy.
In the last part, the physical model of the wire proposed by Konings is improved. As a result, a simpler and more stable method is obtained to calculate the equilibrium configuration of the wire. In addition, a geometrical method is developed to perform relaxations. It is particularly useful when the wire is hindered in the physical method because of the boundary conditions. The physical and the geometrical methods are merged, resulting in efficient relaxations. Tests show that the shape of the virtual wire agrees with the experiment. The proposed algorithm allows real-time executions and the hardware to assemble the simulator has a low cost.
Almost once a week broadcasts about earthquakes, hurricanes, tsunamis, or forest fires are filling the news. While oneself feels it is hard to watch such news, it is even harder for rescue troops to enter such areas. They need some skills to get a quick overview of the devastated area and find victims. Time is ticking, since the chance for survival shrinks the longer it takes till help is available. To coordinate the teams efficiently, all information needs to be collected at the command center. Therefore, teams investigate the destroyed houses and hollow spaces for victims. Doing so, they never can be sure that the building will not fully collapse while they
are inside. Here, rescue robots are welcome helpers, as they are replaceable and make work more secure. Unfortunately, rescue robots are not usable off-the-shelf, yet.
There is no doubt, that such a robot has to fulfil essential requirements to successfully accomplish a rescue mission. Apart from the mechanical requirements it has to be able to build
a 3D map of the environment. This is essential to navigate through rough terrain and fulfil manipulation tasks (e.g. open doors). To build a map and gather environmental information, robots are equipped with multiple sensors. Since laser scanners produce precise measurements and support a wide scanning range, they are common visual sensors utilized for mapping.
Unfortunately, they produce erroneous measurements when scanning transparent (e.g. glass, transparent plastic) or specular reflective objects (e.g. mirror, shiny metal). It is understood that such objects can be everywhere and a pre-manipulation to prevent their influences is impossible. Using additional sensors also bear risks.
The problem is that these objects are occasionally visible, based on the incident angle of the laser beam, the surface, and the type of object. Hence, for transparent objects, measurements might result from the object surface or objects behind it. For specular reflective objects, measurements might result from the object surface or a mirrored object. These mirrored objects are illustrated behind the surface which is wrong. To obtain a precise map, the surfaces need to
be recognised and mapped reliably. Otherwise, the robot navigates into it and crashes. Further, points behind the surface should be identified and treated based on the object type. Points behind a transparent surface should remain as they represent real objects. In contrast, Points behind a specular reflective surface should be erased. To do so, the object type needs to be classified. Unfortunately, none of the current approaches is capable to fulfil these requirements.
Therefore, the following thesis addresses this problem to detect transparent and specular reflective objects and to identify their influences. To give the reader a start up, the first chapters
describe: the theoretical background concerning propagation of light; sensor systems applied for range measurements; mapping approaches used in this work; and the state-of-the-art concerning detection and identification of transparent and specular reflective objects. Afterwards, the Reflection-Identification-Approach, which is the core of subject thesis is presented. It describes 2D and a 3D implementation to detect and classify such objects. Both are available as ROS-nodes. In the next chapter, various experiments demonstrate the applicability and reliability of these nodes. It proves that transparent and specular reflective objects can be detected and classified. Therefore, a Pre- and Post-Filter module is required in 2D. In 3D, classification is possible solely with the Pre-Filter. This is due to the higher amount of measurements. An
example shows that an updatable mapping module allows the robot navigation to rely on refined maps. Otherwise, two individual maps are build which require a fusion afterwards. Finally, the
last chapter summarizes the results and proposes suggestions for future work.