Theory and implementation of path planning by negotiation for decentralized agents

This paper presents a cooperative decentralized path-planning algorithm for a group of autonomous agents that provides guaranteed collision-free trajectories in real-time. The algorithm is robust with respect to arbitrary delays in the wireless traffic, possible sources being transmission time and error correction. Agents move on reserved areas which are guaranteed not to intersect, therefore ensuring safety. A handshaking procedure guarantees recent information states for the agents. Conflicts between agents are resolved by a cost-based negotiation process. The basic algorithm is augmented by the introduction of waypoints, which increase performance at the cost of additional wireless traffic. An implementation of the algorithm is tested in simulation and successfully applied to a real system of autonomous robots. The results are presented and discussed.     

Entwicklung Serviceorientierter Architekturen zur Integration von Produktion und Dienstleistung – Eine Konzeptionsmethode und ihre Anwendung am Beispiel des Recyclings elektronischer Geräte

Offering product-service bundles (consisting of products and services) is becoming more important for companies. Modifying the organizational structure of the cooperation as well as adapting to changing customer demands requires versatile information systems. Implementing Service Oriented Architectures (SOA) is one attempt to provide this flexibility. Currently, there is little methodical guidance for the identification, specification and implementation of services as building blocks of Service Oriented Architectures. Accounting for this need, a conceptual approach is designed, which adapts approaches of customer integration, and combines a business and IT analysis. The applicability of the method is demonstrated by designing a Service Oriented Architecture for the recycling of electronic equipment. Implementing services for other product-service bundles will support additional integration scenarios. By standardizing services, a sound integration of products and services can be backed by providing a reference architecture.     

Adaptive training of video sets for image recognition on mobile phones

We present an enhancement towards adaptive video training for PhoneGuide, a digital museum guidance system for ordinary camera-equipped mobile phones. It enables museum visitors to identify exhibits by capturing photos of them. In this article, a combined solution of object recognition and pervasive tracking is extended to a client–server-system for improving data acquisition and for supporting scale-invariant object recognition. A static as well as a dynamic training technique are presented that preprocess the collected object data differently and apply two types of neural networks (NN) for classification. Furthermore, the system enables a temporal adaptation for ensuring a continuous data acquisition to improve the recognition rate over time. A formal field experiment reveals current recognition rates and indicates the practicability of both methods under realistic conditions in a museum.

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An approach for robust PDE-constrained optimization with application to shape optimization of electrical engines and of dynamic elastic structures under uncertainty

We present a robust optimization framework that is applicable to general nonlinear programs (NLP) with uncertain parameters. We focus on design problems with partial differential equations (PDE), which involve high computational cost. Our framework addresses the uncertainty with a deterministic worst-case approach. Since the resulting min–max problem is computationally intractable, we propose an approximate robust formulation that employs quadratic models of the involved functions that can be handled efficiently with standard NLP solvers. We outline numerical methods to build the quadratic models, compute their derivatives, and deal with high-dimensional uncertainties. We apply the presented approach to the parametrized shape optimization of systems that are governed by different kinds of PDE and present numerical results.     

Psychosexual development of women with congenital adrenal hyperplasia

Women with congenital adrenal hyperplasia (CAH) (N = 31) and their unaffected sisters or female cousins (N = 15) participated in a study of psychosexual development. All participants were > or = 18 years of age (mean age, 25 years; range, 18-40). Comparisons were also made between the CAH women with the salt-wasting (SW) form of the disorder and those with simple virilization (SV). A psychosexual assessment protocol examined six variables: (1) sex assignment at birth (probands only); (2) recalled sex-typed behavior during childhood; (3) gender identity and gender role identification in adulthood; (4) relationship status; (5) sexual orientation in fantasy; and (6) sexual orientation in behavior. Salt-wasting status and sex assignment at birth were also ascertained for the CAH women who either refused to participate in the study (N = 10) or could not be traced (N = 13). Compared to the controls, the women with CAH recalled more cross-gender role behavior and less comfort with their sense of "femininity" during childhood. The two groups did not differ in degree of gender dysphoria in adulthood, although the probands showed more cross-gender role identification. Three of the nonparticipant probands were living, as adults, in the male social role (2 reared from birth as boys and 1 who changed from the female to the male social role during adolescence). The CAH women and the controls did not differ in relationship status (married/cohabiting vs. single). The CAH women had lower rates of exclusive heterosexual fantasy and fewer sexual experiences with men than the controls; however, the CAH women did not have more sexual experiences with women than the controls. Comparisons between the SW and SV revealed several differences: the SW were less likely to be assigned to the female sex at birth, recalled more cross-gender role behavior during childhood, were less likely to be married or cohabiting, and had lower rates of sexual experiences with men. The results were discussed in relation to the effects of prenatal androgens on psychosexual differentiation.