Online world modeling and path planning for an unmanned helicopter

Mission scenarios beyond line of sight or with limited ground control station access require capabilities for autonomous safe navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles. The presented approach is a novel synthesis of techniques for 3D environment perception and global path planning. A locally bounded sensor fusion approach is used to extract sparse obstacles for global incremental path planning in an anytime fashion. During the flight, a stereo camera checks the field of view along the flight path ahead by analyzing depth images. A 3D occupancy grid is built incrementally. To reduce the high data rate and storage demands of grid-type maps, an approximated polygonal world model is created. For a compacted representation, it uses prisms and ground planes. This enables the system to constantly renew and update its knowledge about obstacles. An incremental heuristic path planner uses both a-priori information as well as incremental obstacle updates to assure a collision-free path at any time. Mapping results from flight tests show the functionality of onboard world modeling from real sensor data. Path planning feasibility is demonstrated within a simulation environment considering world model changes inside the vehicle’s field of view.     

Electric field–temperature phase diagram of sodium bismuth titanate-based relaxor ferroelectrics

The electric field–temperature phase diagrams of three bismuth sodium titanate-based relaxor ferroelectrics are reported, namely 0.94(Na_1/2Bi_1/2TiO₃)–0.06(BaTiO₃), 0.80(Na_1/2Bi_1/2TiO₃)–0.20(K_1/2Bi_1/2TiO₃) and 0.75(Na_1/2Bi_1/2TiO₃)–0.25(SrTiO₃). Relaxor behavior is demonstrated by temperature-dependent dielectric permittivity measurements in the unpoled and poled states, as well as by the field-induced phase transition into a ferroelectric phase from the relaxor phase. From temperature-dependent thermometry measurements, we identified the threshold electric field to induce the ferroelectric phase and obtained the released latent heat of the phase transition. We determined the nonergodic and ergodic relaxor phase temperature range based on the absence or presence of reversibility of the relaxor to ferroelectric transition. For all three compositions, the electric field–temperature phase diagram was constructed and a critical point was identified. The constructed electric field–temperature phase diagrams are useful to find optimum operational ranges of ferroelectrics and relaxors for electromechanical and electrocaloric applications.     

Selective Enzymatic Transformation to Aldehydes in vivo by Fungal Carboxylate Reductase from Neurospora crassa

The enzymatic reduction of carboxylic acids is in its infancy with only a handful of biocatalysts available to this end. We have increased the spectrum of carboxylate‐reducing enzymes (CARs) with the sequence of a fungal CAR from Neurospora crassa OR74A (NcCAR). NcCAR was efficiently expressed in E. coli using an autoinduction protocol at low temperature. It was purified and characterized in vitro, revealing a broad substrate acceptance, a pH optimum at pH 5.5–6.0, a T_m of 45 °C and inhibition by the co‐product pyrophosphate which can be alleviated by the addition of pyrophosphatase. The synthetic utility of NcCAR was demonstrated in a whole‐cell biotransformation using the Escherichia coli K‐12 MG1655 RARE strain in order to suppress overreduction to undesired alcohol. The fragrance compound piperonal was prepared from piperonylic acid (30 mM) on gram scale in 92 % isolated yield in >98% purity. This corresponds to a productivity of 1.5 g/L/h.

     

In situ analysis of the strain evolution during welding using low transformation temperature filler materials

ABSTRACT

Compared to conventional welding consumables using low transformation temperature (LTT) filler materials is an innovative method to mitigate tensile residual stresses due to delayed martensite transformation of the weld. For the effective usage of LTT filler materials, a deeper understanding of the complex processes that lead to the final residual stress state during multi-pass welding is necessary. Transformation kinetics and the strain evolution of multi-pass welds during welding were investigated in situ at the beamline HEMS@PETRAIII, Germany. Compared to conventional welds, the total strain was reduced and compression strain was achieved when using LTT filler materials. For an optimal use of the LTT effect in the root of multi-pass welds, the alloying concept must be adapted taking care of dilution.     

Evaluation of a Novel Thiol–Norbornene-Functionalized Gelatin Hydrogel for Bioprinting of Mesenchymal Stem Cells

Introduction: Three-dimensional bioprinting can be considered as an advancement of the classical tissue engineering concept. For bioprinting, cells have to be dispersed in hydrogels. Recently, a novel semi-synthetic thiolene hydrogel system based on norbornene-functionalized gelatin (GelNB) and thiolated gelatin (GelS) was described that resulted in the photoclick hydrogel GelNB/GelS. In this study, we evaluated the printability and biocompatibility of this hydrogel system towards adipose-tissue-derived mesenchymal stem cells (ASCs). Methods: GelNB/GelS was synthesized with three different crosslinking densities (low, medium and high), resulting in different mechanical properties with moduli of elasticity between 206 Pa and 1383 Pa. These hydrogels were tested for their biocompatibility towards ASCs in terms of their viability, proliferation and differentiation. The extrusion-based bioprinting of ASCs in GelNB/GelS-high was performed to manufacture three-dimensional cubic constructs. Results: All three hydrogels supported the viability, proliferation and chondrogenic differentiation of ASCs to a similar extent. The adipogenic differentiation of ASCs was better supported by the softer hydrogel (GelNB/GelS-low), whereas the osteogenic differentiation was more pronounced in the harder hydrogel (GelNB/GelS-high), indicating that the differentiation fate of ASCs can be influenced via the adaption of the mechanical properties of the GelNB/GelS system. After the ex vivo chondrogenic differentiation and subcutaneous implantation of the bioprinted construct into immunocompromised mice, the production of negatively charged sulfated proteoglycans could be observed with only minimal inflammatory signs in the implanted material. Conclusions: Our results indicate that the GelNB/GelS hydrogels are very well suited for the bioprinting of ASCs and may represent attractive hydrogels for subsequent in vivo tissue engineering applications.     

Iron-ruthenium catalyst for the water-gas shift reaction

Iron-ruthenium catalysts prepared by impregnation of calcination products of -, , -and -iron oxide-hydroxides with either ruthenium chloride or ruthenium red were tested for the activity for the water-gas shift reaction. The effect of support, ruthenium containing impregnation agent and thermal treatment on catalyst performance was discussed.     

Interactive separating streak surfaces

Streak surfaces are among the most important features to support 3D unsteady flow exploration, but they are also among the computationally most demanding. Furthermore, to enable a feature driven analysis of the flow, one is mainly interested in streak surfaces that show separation profiles and thus detect unstable manifolds in the flow. The computation of such separation surfaces requires to place seeding structures at the separation locations and to let the structures move correspondingly to these locations in the unsteady flow. Since only little knowledge exists about the time evolution of separating streak surfaces, at this time, an automated exploration of 3D unsteady flows using such surfaces is not feasible. Therefore, in this paper we present an interactive approach for the visual analysis of separating streak surfaces. Our method draws upon recent work on the extraction of Lagrangian coherent structures (LCS) and the real-time visualization of streak surfaces on the GPU. We propose an interactive technique for computing ridges in the finite time Lyapunov exponent (FTLE) field at each time step, and we use these ridges as seeding structures to track streak surfaces in the time-varying flow. By showing separation surfaces in combination with particle trajectories, and by letting the user interactively change seeding parameters such as particle density and position, visually guided exploration of separation profiles in 3D is provided. To the best of our knowledge, this is the first time that the reconstruction and display of semantic separable surfaces in 3D unsteady flows can be performed interactively, giving rise to new possibilities for gaining insight into complex flow phenomena.     

A Python extension for the massively parallel multiphysics simulation framework waLBerla

We present a Python extension to the massively parallel HPC simulation toolkit waLBerla. waLBerla is a framework for stencil based algorithms operating on block-structured grids, with the main application field being fluid simulations in complex geometries using the lattice Boltzmann method. Careful performance engineering results in excellent node performance and good scalability to over 400,000 cores. To increase the usability and flexibility of the framework, a Python interface was developed. Python extensions are used at all stages of the simulation pipeline: they simplify and automate scenario setup, evaluation, and plotting. We show how our Python interface outperforms the existing text-file-based configuration mechanism, providing features like automatic nondimensionalization of physical quantities and handling of complex parameter dependencies. Furthermore, Python is used to process and evaluate results while the simulation is running, leading to smaller output files and the possibility to adjust parameters dependent on the current simulation state. C++ data structures are exported such that a seamless interfacing to other numerical Python libraries is possible. The expressive power of Python and the performance of C++ make development of efficient code with low time effort possible.