Probabilistic Marching Cubes

In this paper we revisit the computation and visualization of equivalents to isocontours in uncertain scalar fields. We model uncertainty by discrete random fields and, in contrast to previous methods, also take arbitrary spatial correlations into account. Starting with joint distributions of the random variables associated to the sample locations, we compute level crossing probabilities for cells of the sample grid. This corresponds to computing the probabilities that the well‐known symmetry‐reduced marching cubes cases occur in random field realizations. For Gaussian random fields, only marginal density functions that correspond to the vertices of the considered cell need to be integrated. We compute the integrals for each cell in the sample grid using a Monte Carlo method. The probabilistic ansatz does not suffer from degenerate cases that usually require case distinctions and solutions of ill‐conditioned problems. Applications in 2D and 3D, both to synthetic and real data from ensemble simulations in climate research, illustrate the influence of spatial correlations on the spatial distribution of uncertain isocontours.     

TimeLapseAnalyzer: multi-target analysis for live-cell imaging and time-lapse microscopy

The direct observation of cells over time using time-lapse microscopy can provide deep insights into many important biological processes. Reliable analyses of motility, proliferation, invasive potential or mortality of cells are essential to many studies involving live cell imaging and can aid in biomarker discovery and diagnostic decisions. Given the vast amount of image- and time-series data produced by modern microscopes, automated analysis is a key feature to capitalize the potential of time-lapse imaging devices. To provide fast and reproducible analyses of multiple aspects of cell behaviour, we developed TimeLapseAnalyzer. Apart from general purpose image enhancements and segmentation procedures, this extensible, self-contained, modular cross-platform package provides dedicated modalities for fast and reliable analysis of multi-target cell tracking, scratch wound healing analysis, cell counting and tube formation analysis in high throughput screening of live-cell experiments. TimeLapseAnalyzer is freely available (MATLAB, Open Source) at http://www.informatik.uni-ulm.de/ni/mitarbeiter/HKestler/tla.     

Independent Hybrid Force/Motion Control of Constrained Six-Degrees-of-Freedom Manipulators

Controlling the dynamics of a constrained manipulator includesposition tracking as well as stabilization of the contact wrench.In this paper we derive a control scheme, that makes it possible to treat position and force control independently.The approach is based on a mass-orthogonal splitting of the space of joint torques, allowing independent actuation and therefore independent specification of control laws. An appropriate definition of the reference wrenchmakes it possible to achieve independent stability of the position and force loop.     

Contrast-optimal k out of n secret sharing schemes in visual cryptography

Visual cryptography and (k,n)-visual secret sharing schemes were introduced by Naor and Shamir (Advances in Cryptology — Eurocrypt 94, Springer, Berlin, 1995, pp. 1–12). A sender wishing to transmit a secret message distributes n transparencies amongst n recipients, where the transparencies contain seemingly random pictures. A (k,n)-scheme achieves the following situation: If any k recipients stack their transparencies together, then a secret message is revealed visually. On the other hand, if only k−1 recipients stack their transparencies, or analyze them by any other means, they are not able to obtain any information about the secret message. The important parameters of a scheme are its contrast, i.e., the clarity with which the message becomes visible, and the number of subpixels needed to encode one pixel of the original picture. Naor and Shamir constructed (k,k)-schemes with contrast 2^−(k−1). By an intricate result from Linial (Combinatorica 10 (1990) 349–365), they were also able to prove the optimality of these schemes. They also proved that for all fixed kn, there are (k,n)-schemes with contrast . For k=2,3,4 the contrast is approximately and . In this paper, we show that by solving a simple linear program, one is able to compute exactly the best contrast achievable in any (k,n)-scheme. The solution of the linear program also provides a representation of a corresponding scheme. For small k as well as for k=n, we are able to analytically solve the linear program. For k=2,3,4, we obtain that the optimal contrast is at least and . For k=n, we obtain a very simple proof of the optimality of Naor's and Shamir's (k,k)-schemes. In the case k=2, we are able to use a different approach via coding theory which allows us to prove an optimal tradeoff between the contrast and the number of subpixels.     

Model-driven assessment of system dependability

Designers of complex real-time systems need to address dependability requirements early on in the development process. This paper presents a model-based approach that allows developers to analyse the dependability of use cases and to discover more reliable and safe ways of designing the interactions of the system with the environment. The hardware design and the dependability of the hardware to be used also needs to be considered. We use a probabilistic extension of statecharts to formally model the interaction requirements defined in the use cases. The model is then evaluated analytically based on the success and failure probabilities of events. The analysis may lead to further refinement of the use cases by introducing detection and recovery measures to ensure dependable system interaction. A visual modelling environment for our extended statecharts formalism supporting automatic probability analysis has been implemented in AToM³, A Tool for Multi-formalism and Meta-Modelling. Our approach is illustrated with an elevator control system case study.

Muscular capabilities and workload of flight attendants for pushing and pulling trolleys aboard aircraft

Increasingly in the recent years, passengers’ services are extended into the ascent and descent flight phases on short distance flights. Trolleys containing the required meal and beverage items are used for these service operations and pushed or pulled along the aisles of the aircraft. Flight attendants reported about increased musculo-skeletal disorders and had been complaining about high physical workload from handling trolleys. In order to ensure acceptable load levels for pushing or pulling operations of trolleys, the physical capabilities of the collective “flight attendants” had been investigated by means of force measurements at maximum voluntary contraction (MVC) level and associated relevant anthropometrical and biometrical data. CEN and ISO standards as well as international and national German methods were used to derive recommended force limits for pushing/pulling operations with respect to the physical capabilities of the target group “flight attendants”. Comparing these recommended limits with the force requirements per shift under various conditions of trolley handlings (inclination of the floor, type and weight of trolley, mode of handling, frequency of operation) showed that especially for higher floor inclinations and trolley weights, flight attendants work (substantially) above recommended limits. It became also apparent that the handling of half-size trolleys is unexpectedly high demanding due to high vertical force components, caused by the unfavorable location of their center of gravity.

Relevance to industry

On short-distance flights, passengers’ services are performed by means of trolleys from the ascent to the descent flight phases. Flight attendants had been complaining about high physical workload. This study offers recommendations on maximum force limits for the handling of trolleys with respect to the muscular capacities and work situations of flight attendants on short-distance flights.     

Physical workload of flight attendants when pushing and pulling trolleys aboard aircraft

The musculoskeletal loads from moving trolleys aboard aircraft were assessed by observation of trolley handling on planes and by physical workload analyses of pushing and pulling of trolleys in a laboratory set up. Trolley handling by a total of 15 female flight attendants was observed on 10 short- and medium-distance flights in different types of aircraft. About 25 selected flight attendants (22 females; 3 males) of five German airlines took part in the laboratory study, which comprised three-dimensional (3D) measurements of posture and hand forces during pushing and pulling of trolleys in a variety of configurations. From the on-flight observations performed, between 150 and 250 trolley movements can be projected for a work shift. The greatest physical workload is to be expected at the beginning of service: The trolleys are fully laden then, and the cabin floor can still be inclined up to 8°, as the aircraft is still climbing, particularly on short-distance flights. The laboratory investigation revealed that the musculoskeletal workload from pushing and pulling depends essentially on the trolley load and on the gradient of the cabin floor. In addition, the degree of stressing depends significantly on the trolley type, mode of handling and personal dexterity. The up/down force component perpendicular to the direction of motion often achieved considerable amplitudes-in some cases equal to or exceeding the force in the direction of movement. The posture analysis demonstrated that pulling forced the flight attendants to adopt ergonomically unfavourable postures such as pronounced flexion of the back, particularly among female subjects. The highest values for flexion of the back occurred while pulling the half-size trolley. The results demonstrate that female flight attendants are likely to overload themselves if they frequently have to move heavily laden trolleys unaided on an inclined cabin floor.

Relevance to industry

On short distance flights, flight attendants have been complaining increasingly of high physical workload from manoeuvring trolleys. On the basis of the presented data airline companies may improve the trolley handling skills of their flight attendances by practical trainings and may ergonomically optimize the general service procedures aboard aircrafts.     

Algorithms for Graphs Embeddable with Few Crossings per Edge

We consider graphs that can be embedded on a surface of bounded genus such that each edge has a bounded number of crossings. We prove that many optimization problems, including maximum independent set, minimum vertex cover, minimum dominating set and many others, admit polynomial time approximation schemes when restricted to such graphs. This extends previous results by Baker and Eppstein to a much broader class of graphs. We also prove that for the considered class of graphs, there are balanced separators of size where n is a number of vertices in the graph. On the negative side, we prove that it is intractable to recognize the graphs embeddable in the plane with at most one crossing per edge.     

Modeling Instrumental Rationality, Land Tenure and Conflict Resolution

Full instrumental rationality and perfect institutions are two cornerstoneassumptions underlying neoclassical models. However, in the real world, thesetwo assumptions never hold, especially not in developing countries. In thispaper, we develop a game theoretical model to investigate if relaxations inthe full instrumental rationality and perfect institutions premise can explainthe conflicts that have been occurring between the various principals in theNarok district in Kenya with regard to land tenure and use.