Magnebike: A magnetic wheeled robot with high mobility for inspecting complex‐shaped structures

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex‐shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slight lifting off the wheel in order to locally decrease the magnetic attraction force when passing concave edges, as well as laterally stabilizing the wheel unit. The robot has the main advantage of being compact (180 × 130 × 220 mm) and mechanically simple: it features only five active degrees of freedom (two driven wheels each equipped with an active lifter stabilizer and one steering unit). The paper presents in detail design and implementation issues that are specific to magnetic wheeled robots. Low‐level control functionalities are addressed because they are necessary to control the active system. The paper also focuses on characterizing and analyzing the implemented robot. The high mobility is shown through experimental results: the robot not only can climb vertical walls and follow circumferential paths inside pipe structures but it is also able to pass complex combinations of 90‐deg convex and concave ferromagnetic obstacles with almost any inclination regarding gravity. It requires only limited space to maneuver because turning on the spot around the rear wheel is possible. This high mobility enables the robot to access any location in the specified environment. Finally the paper analyzes the maximum payload for different types of environment complexities because this is a key feature for climbing robots and provides a security factor about the risk of falling and slipping. © 2009 Wiley Periodicals, Inc.     

A non-autonomous optimal control model of renewable energy production under the aspect of fluctuating supply and learning by doing

Given the constantly raising world-wide energy demand and the accompanying increase in greenhouse gas emissions that pushes the progression of climate change, the possibly most important task in future is to find a carbon-low energy supply that finds the right balance between sustainability and energy security. For renewable energy generation, however, especially the second aspect turns out to be difficult as the supply of renewable sources underlies strong volatility. Further on, investment costs for new technologies are so high that competitiveness with conventional energy forms is hard to achieve. To address this issue, we analyze in this paper a non-autonomous optimal control model considering the optimal composition of a portfolio that consists of fossil and renewable energy and which is used to cover the energy demand of a small country. While fossil energy is assumed to be constantly available, the supply of the renewable resource fluctuates seasonally. We further on include learning effects for the renewable energy technology, which will underline the importance of considering the whole life span of such a technology for long-term energy planning decisions.     

Familial giant hemangiomas of the liver. Study of a family and review of the literature

In this report we present for the first time strong evidence for autosomal-dominant inheritance of grant liver hemangiomas. Furthermore, we review the current literature about incidence, pathogenesis, clinics, as well as diagnostic and therapeutic aspects of LH. A large family of Italian origin is described where three female patients in three successive generations suffered from large symptomatic LH. In addition, two other female relatives exhibited asymptomatic LH on sonographic scans. The restriction of the disease to the female gender could be explained by a sex-dependent difference in penetrance or expressivity of a presumable "liver-hemangioma" gene, or by known proliferative factors such as female sex hormones. We also observed an increased incidence of adenomas of the thyroidea among members with or without LH of the presented family. This uncommon familial association has also not yet been described and its genetic aspects are discussed.     

Suspended SU-8 structures for monolithic microfluidic channels

SU-8 photoresist is commonly used in the field of microfabrication as structural material or for molding of microfluidic devices. One major limitation, however, is the difficulty to process partially freestanding SU-8 structures or monolithic closed cavities and channels on-chip. We propose here a simple method for the fabrication of suspended structures, in particular of monolithic SU-8 microchannels. The method is based on the processing of a SU-8 double-layer. Appropriate modification of the optical properties of the upper layer allows for selective crosslinking in the layer sandwich. This process is suitable for versatile layouts comprising open and hollow SU-8 structures on the same chip.     

Three‐dimensional localization for the MagneBike inspection robot

The MagneBike inspection robot is a climbing robot equipped with magnetic wheels. The robot is designed to drive on three‐dimensional (3D) complexly shaped pipe structures; therefore it is necessary to provide 3D visualization tools for the user, who remotely controls the robot out of sight. The localization system is required to provide a 3D map of the unknown environment and the 3D location of the robot in the environment's map. The localization strategy proposed in this paper consists of combining 3D odometry with 3D scan registration. The odometry model is based on wheel encoders and a three‐axis accelerometer. Odometry enables the tracking of the robot trajectory between consecutive 3D scans and is used as a prior for the scan matching algorithm. The 3D scan registration facilitates the construction of a 3D map of the environment and refines the robot position computed with odometry. This paper describes in detail the implementation of the localization concept. It presents the lightweight, small‐sized 3D range finder that has been developed for the MagneBike. It also proposes an innovative 3D odometry model that estimates the local surface curvature to compensate for the absence of angular velocity inputs. The different tools are characterized in detail based on laboratory and field experiments. They show that the localization concepts reliably track the robot moving in the specific application environment. We also describe various techniques to optimize the 3D scanning process, which is time consuming, and to compensate for the identified limitations. These techniques are useful inputs for the future automatization of the robot's control and optimization of its localization process. © 2010 Wiley Periodicals, Inc.     

Coping with information overload in email communication: Evaluation of a training intervention

The present paper introduces three facets of information overload in email communication: A large amount of incoming information, inefficient workflow, and deficient communication quality. In order to cope with these facets of information overload, a training intervention was developed and evaluated. Data were collected from 90 employees on several evaluation levels within a longitudinal evaluation design (one pretest double posttest design). The results reveal that the training contributed to an increase in knowledge and media competencies. We also found evidence for a transfer of training contents to the workplace. Finally, strain diminished on several dimensions. In particular, problems with media usage and work impairment decline significantly, an effect that was stronger for those participants who face a large amount of email at their workplaces.     

Fixed-Parameter Algorithms for Cluster Vertex Deletion

We initiate the first systematic study of the NP-hard Cluster Vertex Deletion (CVD) problem (unweighted and weighted) in terms of fixed-parameter algorithmics. In the unweighted case, one searches for a minimum number of vertex deletions to transform a graph into a collection of disjoint cliques. The parameter is the number of vertex deletions. We present efficient fixed-parameter algorithms for CVD applying the fairly new iterative compression technique. Moreover, we study the variant of CVD where the maximum number of cliques to be generated is prespecified. Here, we exploit connections to fixed-parameter algorithms for (weighted) Vertex Cover.     

System specification experiments on a common benchmark

To contribute to the current effort toward the definition of a system-level design language, this article proposes a benchmark for system specification. The authors analyze the results of experiments using the benchmark with several languages     

A Reservation-Based Extended Transaction Protocol

With the advent of the new generation of Internet-based technology, in particular, web services, the automation of business activities that are distributed across multiple enterprises becomes possible. Business activities are different from traditional transactions in that they are typically asynchronous, loosely coupled, and long running. Therefore, extended transaction protocols are needed to coordinate business activities that span multiple enterprises. Existing extended transaction protocols typically rely on compensating transactions to handle exceptional conditions. In this paper, we identify a number of issues with compensation-based extended transaction protocols and describe a reservation-based extended transaction protocol that addresses those issues. Moreover, we define a set of properties, analogous to the ACID properties of traditional transactions that are more appropriate for business activities that span multiple enterprises. In addition, we compare our reservation protocol with other extended transaction protocols for coordinating business activities and present performance analyses and results.