A5078387676- Crystallization and Solubility Studies
- X-ray Diffraction in Crystallography
- Robotic Mechanisms and Dynamics
- Electron Spin Resonance Studies
- Dynamics and Control of Mechanical Systems
- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Robot Manipulation and Learning
- Lanthanide and Transition Metal Complexes
- Vehicle Dynamics and Control Systems
- Magnetism in coordination complexes
- Soil Mechanics and Vehicle Dynamics
- Video Surveillance and Tracking Methods
- Soft Robotics and Applications
- Crystallography and molecular interactions
- Conducting polymers and applications
- Real-time simulation and control systems
- Advanced NMR Techniques and Applications
- Advanced Numerical Analysis Techniques
- Autonomous Vehicle Technology and Safety
- Hydraulic and Pneumatic Systems
- Remote Sensing and LiDAR Applications
- Teleoperation and Haptic Systems
- Modeling and Simulation Systems
- Industrial Vision Systems and Defect Detection
Max Planck Institute for Multidisciplinary Sciences
2022-2023
Australian Centre for Robotic Vision
2022
The University of Melbourne
2022
Max Planck Institute for Biophysical Chemistry
2019-2021
Heidelberg University
1985-2021
Institute of Spectroscopy
2021
Friedrich-Alexander-Universität Erlangen-Nürnberg
2017-2020
Cytoskeleton (United States)
2018
Leipzig University
2012-2015
University of Duisburg-Essen
1994-2010
This paper presents the motion control of a six degree-of-freedom tendon-based parallel manipulator, which moves platform with high speed using seven cables. To along desired trajectories in space, nonlinear feedforward laws cable length coordinates are used. Taking account effect redundancy on actuation, optimal tension distribution should be considered to advantage laws. Using method based analysis workspace condition, constraints and limiting torque actuators, an analytical solution for...
Tracking a time-varying indefinite number of objects in video sequence over time remains challenge despite recent advances the field. Most existing approaches are not able to properly handle multi-object tracking challenges such as occlusion, part because they ignore long-term temporal information. To address these shortcomings, we present MO3TR: truly end-to-end Transformer-based online (MOT) framework that learns occlusions, track initiation and termination without need for an explicit...
A redundant wire-driven parallel robot, the WARP manipulator, is a new robot mechanism which suitable especially for high speed assembling of lightweight objects such as semiconductors. In this paper, manipulator was designed from viewpoint working space by considering conditions that travelling plate must be abbe to generate arbitrary amounts force and moment wires are not in contact. Simulation results proved validity design procedure described. prototype constructed. The kinematic...
The use of polythiophene films for the immobilization enzymes at electrodes is shown to have advantages over other conducting polymer films. Two methods by which can be immobilized—entrapment and covalent surface—are described compared. improved stability against oxidation in ambient environments expected enable construction biosensors with sensor characteristics lifetime.
Single image-level annotations only correctly describe an often small subset of image's content, particularly when complex real-world scenes are depicted. While this might be acceptable in many classification scenarios, it poses a significant challenge for applications where the set classes differs significantly between training and test time. In paper, we take closer look at implications context $\textit{few-shot learning}$. Splitting input samples into patches encoding these via help...
One‐step post‐polymerization‐functionalization of polythiophene is reported. Using the new method presented here a large variety amines carrying, for example, sterically demanding or electronically sensitive functional groups can be attached to conducting‐polymer‐modified electrodes even under aqueous conditions. The Figure shows starting material which polymerized then functionalized. following paper in this issue presents use these materials development amperometric biosensors. magnified image
This paper proposes a new type of motion base for virtual sensation acceleration by applying parallel cable drive architecture. It has outstanding advantages in comparison with conventional Stewart platforms. Especially, 1) rotational range is large; 2) the platform can be grounded on floor; 3) scene projection to all walls possible; and 4) its redundancy cables improves safety cut cables. Optimal fundamental mechanical design performed from viewpoint kinematics. Simulation results show that...
In this paper a path planning method for emergency maneuvers of autonomous vehicles is presented. The based on the theory elastic bands. Due to local disturbances caused by obstacles nominal trajectory behavior allows sufficient flexibility and minimal changes curvature. minimization curvature ensures drivability under vehicle dynamics aspect, which also considered in paper. results described demonstrated situations lane change vehicles.
Essential points in robotic facilities for search and rescue at large-scale urban earthquakes were investigated. A parallel robot driven by multiple cables is proposed transfer of debris. It portable assembled rapidly destroyed houses. An identification algorithm mechanism parameters peculiar to this was studied. On the basis error analysis, optimal number measurement size an reference frame obtained.
A method for the experimental determination of ligand-field (LF) energy splitting in mononuclear lanthanide complexes, based purely on variable-temperature NMR spectroscopy, was developed. The application this an isostructural series anionic bis(cyclooctatetraenide) double-decker compounds bearing large rigid substituents is demonstrated. Using three-nuclei plot approach devised by Reilley, isostructurality compound and identical orientation magnetic main axis all Ln3+ ions Tb3+ to Tm3+ are...
Polarization transfer efficiency in liquid-state dynamic nuclear polarization (DNP) depends on the interaction between polarizing agents (PAs) and target nuclei modulated by molecular motions. We show how translational rotational diffusion differently affect DNP efficiency. These contributions were disentangled measuring 1H-DNP enhancements of toluene chloroform doped with nitroxide derivatives at 0.34 T as a function either temperature or size PA. The results employed to analyze 13C-DNP...
In complex multibody systems the motion of bodies may depend on only a few degrees freedom. For these systems, equations minimal order, although more difficult to obtain, give very efficient formulation. The present paper describes an approach for automatic generation equations, which avoids use LAGRANGE-multipliers. By particular concept, designated “kinematical differentials”, problem determining partial derivatives required state is reduced simple re-evaluation kinematics. These cover...
Cyclooctatetraene derivatives (COTR) with two carbocycles attached to the central ring have been used as dianionic ligands for synthesis of double-decker complexes type [(COTR)2M]−. Two ligand were combined diamagnetic Y3+ and five paramagnetic lanthanide ions from Tb3+ Tm3+. The more complex substitution pattern in comparison parent COT or popular bis-trimethylsilyl derivative allows a sufficient number signals be obtained comprehensive NMR analysis. anionic gave well-resolved spectra where...
Multiple-target tracking has increasingly gained attention over the last 60 years, with data association task being one of most challenging aspects in sensor fusion due to its computational burden. Hence, a plethora algorithms been proposed solve this problem. However, approaches are solely evaluated comparison same class. Therefore, paper tries give an overview and intends evaluate systematically four main classes multiple-target filters, namely non-Bayesian Bayesian intensity filters...
Today's mobile robots are expected to operate in complex environments they share with humans. To allow intuitive human-robot collaboration, require a human-like understanding of their surroundings terms semantically classified instances. In this paper, we propose new approach for deriving such instance-based semantic maps purely from occupancy grids. We employ combination deep learning techniques detect, segment and extract door hypotheses random-sized map. The extraction is followed by...
Pulsed 19F ENDOR spectroscopy provides a selective method for measuring angstrom to nanometer distances in structural biology. Here, the performance of at fields 3.4 T and 9.4 is compared using model compounds containing one three atoms. CF3 groups are included two compounds, which possible occurrence uniaxial rotation might affect distance distribution. At T, pronounced asymmetric features observed many presented spectra. Data analysis by spectral simulations shows that these arise from...
ENDOR spectroscopy is a fundamental method to detect nuclear spins in the vicinity of paramagnetic centers and their mutual hyperfine interaction. Recently, site-selective introduction 19F as labels has been proposed tool for ENDOR-based distance determination biomolecules, complementing pulsed dipolar range angstrom nanometer. Nevertheless, one main challenge still consists its spectral analysis, which aggravated by large parameter space broad resonances from interactions. Additionally, at...
Over the next few years, autonomous robots and functionalities are expected to gain increased importance for shop floor. Perception derivation of behavior is crucial in this context. We present a combined object recognition pose estimation pipeline generate estimates with six degrees freedom (6DoF) bin picking, specifically targeting suitability challenging scenarios texture-less, metallic parts industrial environments. The based on open source algorithms, combining Convolutional Neural...
Scalar liquid DNP performance scales of a factor ∼5 depending on the spin density distribution and accessibility radical.