Neurocontrol for lateral vehicle guidance

A solution to autonomous lateral vehicle guidance using a neurocontroller that can learn from measured human-driving data without knowledge of the physical car parameters is discussed. Simulations and practical tests confirm that a small-size feedforward autonomous neural network (21 neurons) can learn to steer a vehicle at high speeds only from looking at human-driving examples. In this way, the network learns the total closed-loop behavior, including the nonlinear dynamics of the vehicle and the driver's individual driving style. The main result of practical investigations is that the neutral controller trained on human-driving examples exhibits an aperiodic behavior that does not vanish at higher speeds (tests performed up to 130 km/h) and produces fewer lateral deviations than the linear state controller     

Hilfsmittel zum Auffinden einer ersten Gestalt beim methodischen Konstruieren: Gestaltbeeinflussung durch die Verwendung physikalischer Effekte

Zusammenfassung Ziel des Teilvorhabens, über das hier berichtet wird, was es, für eine Auswahl von physikalischen Effekten eine Zuordnung von gestaltbeeinflussenden Merkmalen auf sehr abstrakter Ebene zu erreichen und damit eine n?here Charakterisierung der Wirkfl?chen und Wirkr?ume zu erreichen die zur Umsetzung eines physikalischen Effektes notwendig sind. Die hieraus resultierenden Ergebnisse sind dem Abschlu?bericht zu entnehmen [1]. Weiterführende Themen, die basierend auf den vorliegenden Erkenntnissen bearbeitet werden, haben zum Ziel, die wesentlichen und entscheidenden Parameter einer Konstruktionsaufgabe zu erkennen und zukünftig zielgerichtet L?sungsvarianten zu erstellen, um somit für eine Neukonstruktion sinnvolle L?sungsfelder sehr frühzeitig abzugrenzen.     

Phase Shifter for a 915 MHz Phased Array Hyperthermia System

This paper describes a design for an analog phase shifter operating at 915 MHz and suitable for use in a phased array microwave hyperthermia system. Here, the major operating constraint was minimization of amplitude variation over a 1800 phase shift, whereas previous phase shifters were designed to obtain a linear relationship between phase and control voltage. The result is a simple, inexpensive hybrid coupler phase shifter that operates over a narrow bandwidth and provides 180°of continuous phase shift with input powers up to 1 W.     

Perthes disease--results of a containment-oriented therapy concept

INTRODUCTION: In a retrospective study a treatment concept for Perthes' disease dependent on the containment was applied. PATIENTS/METHODS: 49 hips of 41 children (9 female, 32 male) were treated between 01. 01. 1990 and 31. 12. 1995. In our concept of treatment a varus femoral osteotomy was performed in 28 cases with not contained hips or less than 4/5 coverage of the femoral head (X-ray/MRI). The other 21 well contained hips with 4/5 coverage or more were treated conservatively with physiotherapy and in case of joint effusion and pain additionally with the use of crutches (partial weight bearing) and anti-inflammatory medication. The average age in the non-operative group at the time of first investigation was 4 years and 9 months (3 y./1 m. to 7 y./1 m.) and 6 years and 3 months (4 y/2 m. to 10 y/0 m.) at our last examination (mean follow up 17.7 months, range of 6 to 72 months). At the time of indication for a varus femoral osteotomy the patients had an average age 6 years and 1 month (3 y./6 m. to 10 y./2 m.), the mean age at the last postoperative examination was 7 years and 11 months (4 y./8 m. to 12 y./5 m.) with an average follow up of 21.5 months (6 to 77 months). RESULTS: For the conservatively treated children we achieved good results (still well contained hips with 4/5 coverage, no decrease of function, no increase of pain) in 85.7% (18 of 21 cases). In 85.7% (24 of 28 cases) we found good results (well contained hips, increase of coverage, no decrease of function, no increase of pain) in the operation group. CONCLUSIONS: The presented concept of therapy in Perthes' disease was practicable for all patients and included the possibility of decision for operative or non-operative treatment. In both groups we achieved good results in 85.7% of the cases.     

The computer — a new tool for visual art

The article points out some new possibilities for using computers as an instrument for visual art, especially stressing the mathematical method of picture synthesis. It is illustrated with results of recent computer art by Herbert W. Franke and Horst Helbig.     

Geographic distribution and clinical description of leishmaniasis cases in Peru

Asymmetric acetylcholinesterase (AChE) is anchored to the basal lamina (BL) of cholinergic synapses via its collagenic tail, yet the complement of matrix receptors involved in its attachment remains unknown. The development of a novel overlay technique has allowed us to identify two Torpedo BL components that bind asymmetric AChE: a polypeptide of approximately 140 kDa and a doublet of 195-215 kDa. These were found to stain metachromatically with Coomassie blue R-250, were solubilized by acetic acid, and were sensitive to collagenase treatment. Upon sequence analysis, the 140 kDa polypeptide yielded a characteristic collagenous motif. Another AChE-binding BL constituent, identified by overlay, corresponded to a heparan sulfate proteoglycan. Lastly, we established that this proteoglycan, but not the collagenous proteins, interacted with at least one heparin binding domain of the collagenic tail of AChE. Our results indicate that at least two BL receptors are likely to exist for asymmetric AChE in Torpedo electric organ.     

The estimation of efficacy of oral iron supplementation during treatment with epoetin beta (recombinant human erythropoietin) in patients undergoing cardiac surgery

OBJECTIVE: Quantitative evaluation of radiographic methods proposed to improve the detection of joint space narrowing (JSN) in femorotibial osteoarthritis (OA). METHODS: Thirty-two consecutive patients with knee OA and five normal controls had three different weight-bearing radiographs of the knee: (1) anteroposterior film of both knees in full extension (extended knees), (2) anteroposterior film of one knee in extension while the patient was standing on the homolateral foot (standing on homolateral foot), (3) posteroanterior film of both knees flexed at 30 degrees (schuss view). Joint space was analyzed blind using both an evaluation of JSN with a six-grade scale (JSN score) and an image analyser computer measurement of the mean joint space width (mean JSW). The medial compartment of medial femorotibial OA knees, the lateral compartment of lateral femorotibial OA knees, as well as both compartments of control knees, were measured. Extended knee and schuss views were made 1 year later in 10 patients for the evaluation of sensitivity to change. RESULTS: The JSN scores +/- S.D. in schuss, standing on the homolateral foot and extended knee views were 2.75 +/- 1.31, 1.95 +/- 1.3 and 1.66 +/- 1.27, respectively. The mean JSW +/- S.D. in schuss, standing on the homolateral foot, and extended knee views were 2.9 +/- 1.9 mm, 3.5 +/- 1.6 mm and 3.8 +/- 1.5 mm, respectively. Changes in JSN scores and mean JSW with schuss view increased with OA severity. In controls, JSW of the medial compartment did not vary in the three views. JSW of the lateral compartment of controls was significantly larger in the schuss view. The change in JSW after 1 year was -0.41 mm (P = 0.02) in the schuss view and -0.17 mm (P > 0.05) in the extended knee view. CONCLUSION: The schuss view is suggested as the most accurate method for the evaluation of JSW in femorotibial OA.     

Improving sub-pixel accuracy for long range stereo

Dense stereo algorithms are able to estimate disparities at all pixels including untextured regions. Typically these disparities are evaluated at integer disparity steps. A subsequent sub-pixel interpolation often fails to propagate smoothness constraints on a sub-pixel level.We propose to increase the sub-pixel accuracy in low-textured regions in four possible ways: First, we present an analysis that shows the benefit of evaluating the disparity space at fractional disparities. Second, we introduce a new disparity smoothing algorithm that preserves depth discontinuities and enforces smoothness on a sub-pixel level. Third, we present a novel stereo constraint (gravitational constraint) that assumes sorted disparity values in vertical direction and guides global algorithms to reduce false matches, especially in low-textured regions. Finally, we show how image sequence analysis improves stereo accuracy without explicitly performing tracking. Our goal in this work is to obtain an accurate 3D reconstruction. Large-scale 3D reconstruction will benefit heavily from these sub-pixel refinements.Results based on semi-global matching, obtained with the above mentioned algorithmic extensions are shown for the Middlebury stereo ground truth data sets. The presented improvements, called ImproveSubPix, turn out to be one of the top-performing algorithms when evaluating the set on a sub-pixel level while being computationally efficient. Additional results are presented for urban scenes. The four improvements are independent of the underlying type of stereo algorithm.