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This paper describes the robots TIAGo and Lisa used by team homer@UniKoblenz of the University of Koblenz-Landau, Germany, for the participation at the RoboCup@Home 2018 in Montreal, Canada. Further this paper serves as qualification material for the RoboCup-@Home participation in 2018. A special focus is put on novel system components and the open source contributions of our team. This year the team from Koblenz won the biggest annual scientianc robot competition in Montreal in the RoboCup@Home Open Platform track for the third time and also won the RoboCup@Home German Open for the second time. As a research highlight a novel symbolic imitation learning approach was demonstrated during the annals. The TIAGo robotic research platform was used for the first time by the team. We have released packages for object recognition, a robot face including speech synthesis, mapping and navigation, speech recognition interface via android and a GUI. The packages are available (and new packages will be released) on http://wiki.ros.org/agas-ros-pkg. Further information can be found on our project page http://homer.uni-koblenz.de.
Knowledge-based authentication methods are vulnerable to Shoulder surfing phenomenon.
The widespread usage of these methods and not addressing the limitations it has could result in the user’s information to be compromised. User authentication method ought to be effortless to use and efficient, nevertheless secure.
The problem that we face concerning the security of PIN (Personal Identification Number) or password entry is shoulder surfing, in which a direct or indirect malicious observer could identify the user sensitive information. To tackle this issue we present TouchGaze which combines gaze signals and touch capabilities, as an input method for entering user’s credentials. Gaze signals will be primarily used to enhance targeting and touch for selecting. In this work, we have designed three different PIN entry method which they all have similar interfaces. For the evaluation, these methods were compared based on efficiency, accuracy, and usability. The results uncovered that despite the fact that gaze-based methods require extra time for the user to get familiar with yet it is considered more secure. In regards to efficiency, it has the similar error margin to the traditional PIN entry methods.
Organic substances play an essential role for the formation of stable soil structures. In this context, their physico-chemical properties, interactions with mineral soil constituents and soil-water interactions are particu-larly important. However, the underlying mechanisms contributing to soil particle cementation by swollen or-ganic substances (hydrogels) remains unclear. Up to now, no mechanistic model is available which explains the mechanisms of interparticulate hydrogel swelling and its contribution to soil-water interactions and soil structur-al stability. This mainly results from the lack of appropriate testing methods to study hydrogel swelling in soil as well as from the difficulties of adapting available methods to the system soil/hydrogel.
In this thesis, 1H proton nuclear magnetic resonance (NMR) relaxometry was combined with various soil micro- and macrostructural stability testing methods in order to identify the contribution of hydrogel swelling-induced soil-water interactions to the structural stability of water-saturated and unsaturated soils. In the first part, the potentials and limitations of 1H NMR relaxometry to enlighten soil structural stabilization mechanism and vari-ous water populations were investigated. In the second part, 1H-NMR relaxometry was combined with rheologi-cal measurements of soil to assess the contribution of interparticulate hydrogel swelling and various polymer-clay interactions on soil-water interactions and soil structural stability in an isolated manner. Finally, the effects of various organic and mineral soil fractions on soil-water interactions and soil structural stability was assessed in more detail for a natural, agriculturally cultivated soil by soil density fractionation and on the basis of the experiences gained from the previous experiments.
The increased experiment complexity in the course of this thesis enabled to link physico-chemical properties of interparticulate hydrogel structures with soil structural stability on various scales. The established mechanistic model explains the contribution of interparticulate hydrogels to the structural stability of water-saturated and unsaturated soils: While swollen clay particles reduce soil structural stability by acting as lubricant between soil particles, interparticulate hydrogel structures increase soil structural stability by forming a flexible polymeric network which interconnects mineral particles more effectively than soil pore- or capillary water. It was appar-ent that soil structural stability increases with increasing viscosity of the interparticluate hydrogel in dependence on incubation time, soil texture, soil solution composition and external factors in terms of moisture dynamics and agricultural management practices. The stabilizing effect of interparticulate hydrogel structures further in-crease in the presence of clay particles which is attributed to additional polymer-clay interactions and the incor-poration of clay particles into the three-dimensional interparticulate hydrogel network. Furthermore, the simul-taneous swelling of clay particles and hydrogel structures results in the competition for water and thus in a mu-tual restriction of their swelling in the interparticle space. Thus, polymer-clay interactions not only increase the viscosity of the interparticulate hydrogel and thus its ability to stabilize soil structures but further reduce the swelling of clay particles and consequently their negative effects on soil structural stability. The knowledge on these underlying mechanisms enhance the knowledge on the formation of stable soil structures and enable to take appropriate management practices in order to maintain a sustainable soil structure. The additionally out-lined limitations and challenges of the mechanistic model should provide information on areas with optimization and research potential, respectively.
Navigation is a natural way to explore and discover content in a digital environment. Hence, providers of online information systems such as Wikipedia---a free online encyclopedia---are interested in providing navigational support to their users. To this end, an essential task approached in this thesis is the analysis and modeling of navigational user behavior in information networks with the goal of paving the way for the improvement and maintenance of web-based systems. Using large-scale log data from Wikipedia, this thesis first studies information access by contrasting search and navigation as the two main information access paradigms on the Web. Second, this thesis validates and builds upon existing navigational hypotheses to introduce an adaptation of the well-known PageRank algorithm. This adaptation is an improvement of the standard PageRank random surfer navigation model that results in a more "reasonable surfer" by accounting for the visual position of links, the information network regions they lead to, and the textual similarity between the link source and target articles. Finally, using agent-based simulations, this thesis compares user models that have a different knowledge of the network topology in order to investigate the amount and type of network topological information needed for efficient navigation. An evaluation of agents' success on four different networks reveals that in order to navigate efficiently, users require only a small amount of high-quality knowledge of the network topology. Aside from the direct benefits to content ranking provided by the "reasonable surfer" version of PageRank, the empirical insights presented in this thesis may also have an impact on system design decisions and Wikipedia editor guidelines, i.e., for link placement and webpage layout.
Systemic neonicotinoids are one of the most widely used insecticide classes worldwide. In addition to their use in agriculture, they are increasingly applied on forest trees as a protective measure against insect pests. However, senescent leaves containing neonicotinoids might, inter alia during autumn leaf fall, enter nearby streams. There, the hydrophilic neonicotinoids may be remobilized from leaves to water resulting in waterborne exposure of aquatic non-target organisms. Despite the insensitivity of the standard test species Daphnia magna (Crustacea, Cladocera) toward neonicotinoids, a potential risk for aquatic organisms is evident as many other aquatic invertebrates (in particular insects and amphipods) display adverse effects when exposed to neonicotinoids in the ng/L- to low µg/L-range. In addition to waterborne exposure, in particular leaf-shredding invertebrates (= shredders) might be adversely affected by the introduction of neonicotinoid-contaminated leaves into the aquatic environment since they heavily rely on leaf litter as food source. However, dietary neonicotinoid exposure of aquatic shredders has hardly received any attention from researchers and is not considered during aquatic environmental risk assessment. The primary aim of this thesis is, therefore, (1) to characterize foliar neonicotinoid residues and exposure pathways relevant for aquatic shredders, (2) to investigate ecotoxicological effects of waterborne and dietary exposure on two model shredders, namely Gammarus fossarum (Crustacea, Amphipoda) and Chaetopteryx villosa (Insecta, Trichoptera), and (3) to identify biotic and abiotic factors potentially modulating exposure under field conditions.
During the course of this thesis, ecotoxicologically relevant foliar residues of the neonicotinoids imidacloprid, thiacloprid and acetamiprid were quantified in black alder trees treated at field relevant levels. A worst-case model – developed to simulate imidacloprid water concentrations resulting from an input of contaminated leaves into a stream – predicted only low aqueous imidacloprid concentrations (i.e., ng/L-range). However, the model identified dietary uptake as an additional exposure pathway relevant for shredders up to a few days after the leaves’ introduction into the stream. When test organisms were simultaneously exposed (= combined exposure) to neonicotinoids leaching from leaves into the water and via the consumption of contaminated leaves, adverse effects exceeded those observed under waterborne exposure alone. When exposure pathways were separated using a flow-through system, dietary exposure towards thiacloprid-contaminated leaves caused similar sublethal adverse effects in G. fossarum as observed under waterborne exposure. Moreover, the effect sizes observed under combined exposure were largely predictable using the reference model “independent action”, which assumes different molecular target sites to be affected. Dietary toxicity for shredders might, however, be reduced under field conditions since UV-induced photodegradation and leaching decreased imidacloprid residues in leaves and thereby the toxicity for G. fossarum. In contrast, both shredders were found unable to actively avoid dietary exposure. This thesis thus recommends considering dietary exposure towards systemic insecticides, such as neonicotinoids, already during their registration to safeguard aquatic shredders, associated ecosystem functions (e.g., leaf litter breakdown) and ultimately ecosystem integrity.
Entrepreneurship plays a vital role in scientific literature and in public debates. Especially in these hightech and digitized times it happens more and more frequently that young entrepreneurs with a good idea make the breakthrough and set up an established company. Basically, there are an increasing number of start-ups and a trend towards independence. The economy of a country depends on young entrepreneurs in order to remain economically competitive in international competition. It follows that young entrepreneurs must be encouraged and supported. This support is expressed in various stages of foundation and through various fields of action. In the meantime, there are many offers for start-up support. These networks satisfy different fields of action along a foundation. However, a structured overview of these networks on which a young founder can orient himself and gain easily access to the offers of the networks, is missing until then.
This work attempts to present these offers clearly on a map and to categorize and present the commitment in the respective fields of action. In addition to this main objective, the following three key questions are investigated and answered in this work:
1. How can the Entrepreneurship Networks be assigned to the respective fields of action of Entrepreneurship Education?
2. What is the benefit of such a classification for potential entrepreneurs in detail?
3. Are these Entrepreneurship networks missing an important step? Might they improve their offer? Does the value chain cover every need a young entrepreneur might have?
For this purpose, the respective fields of action of the networks are first separated from each other along a founding and defined individually. Subsequently, a combination of quantitative and qualitative approaches was used to filter and analyze the contents of the websites of the networks. The results of this investigation were transformed in a classification
The aim of this work is to produce a map that displays the existing networks in the world clearly. The map also contains information that is more detailed and the classifica-tion of the networks in the respective fields of action.
Within aquatic environments sediment water interfaces (SWIs) are the most important areas concerning exchange processes between the water body and the sediment. These spatially restricted regions are characterized by steep biogeochemical gradients that determine the speciation and fate of natural or artificial substances. Apart from biological mediated processes (e.g., burrowing organisms, photosynthesis) the determining exchange processes are diffusion or a colloid-mediated transport. Hence, methods are required enabling to capture the fine scale structures at the boundary layer and to distinguish between the different transport pathways. Regarding emerging substances that will probably reach the aquatic environment engineered nanomaterials (ENMs) are of great concern due to their increased use in many products and applications. Since they are determined based on their size (<100 nm) they include a variety of different materials behaving differently in the environment. Once released, they will inevitable mix with naturally present colloids (< 1 μm) including natural nanomaterials.
With regard to existing methodological gaps concerning the characterization of ENMs (as emerging substances) and the investigation of SWIs (as receiving environmental compartments), the aim of this thesis was to develop, validate and apply suitable analytical tools. The challenges were to i) develop methods that enable a high resolution and low-invasive sampling of sediment pore water. To ii) develop routine-suitable methods for the characterization of metal-based engineered nanoparticles and iii) to adopt and optimize size-fractionation approaches for pore water samples of sediment depth profiles to obtain size-related information on element distributions at SWIs.
Within the first part, an available microprofiling system was combined with a novel micro sampling system equipped with newly developed sample filtration-probes. The system was thoroughly validated and applied to a freshwater sediment proving the applicability for an automatic sampling of sediment pore waters in parallel to microsensor measurements. Thereby, for the first time multi-element information for sediment depth profiles were obtained at a millimeter scale that could directly be related to simultaneously measured sediment parameters.
Due to the expected release of ENMs to the environment the aim was to develop methods that enable the investigation of fate and transport of ENMs at sediment water interfaces. Since standardized approaches are still lacking, methods were developed for the determination of the total mass concentration and the determination of the dissolved fraction of (nano)particle suspensions. Thereby, validated, routine suitable methods were provided enabling for the first time a routine-suitable determination of these two, among the most important properties regarding the analyses of colloidal systems, also urgently needed as a basis for the development of appropriate (future) risk assessments and regulatory frameworks. Based on this methodological basis, approaches were developed enabling to distinguish between dissolved and colloidal fractions of sediment pore waters. This made it possible for the first time to obtain fraction related element information for sediment depth profiles at a millimeter scale, capturing the fine scale structures and distinguishing between diffusion and colloid-mediated transport. In addition to the research oriented parts of this thesis, questions concerning the regulation of ENPs in the case of a release into aquatic systems were addressed in a separate publication (included in the Appendix) discussing the topic against the background of the currently valid German water legislation and the actual state of the research.
Carabids, which are frequently distributed in agricultural landscapes, are natural enemies of different pests including slugs. Semi-natural habitats are known to affect carabids and thus, their potential to support natural pest control.
The impact of semi-natural habitats was investigated on carabids and slugs within different non-crop habitats (chapter 2). Most carabids and Deroceras reticulatum showed preferences for herbaceous semi-natural habitats, while Arion spp. occured mainly in woody habitats. An increase of predatory carabid abundance, which was linked to an inclining amount of semi-natural habitats in the landscape, and a decrease of Arion spp. densities, indicated a high potential for slug control in structural rich landscapes.
Effects of semi-natural habitats were investigated on predatory carabids and slugs in 18 wheat fields (chapter 3). Predatory carabid species richness was positively affected by the increasing amount of semi-natural habitats in the landscape, whereas predatory carabid abundance was neither influenced by adjacent habitat type nor by the proportion of semi-natural habitats in the landscape. The target pest species showed divergent patterns, whereas Arion spp. densities were highest in structural poor landscapes near woody margins. D. reticulatum was not affected by habitat type or landscape, reflecting its adaptation to agriculture. Results indicate an increased control of Arion spp. by carabids in landscapes with a high amount of semi-natural habitats.
Effects of semi-natural habitats and the influence of farming system was tested on carabid distribution within 18 pumpkin fields (chapter 4). Carabid species richness generally increased with decreasing distance to the field margins, whereas carabid abundance responded differently according to the adjacent habitat type. Farming system had no effect on carabids and landscape heterogeneity only affected carabids in organic pumpkin fields.
Slug and slug egg predation of three common carabid species was tested in single and double species treatments in the laboratory (chapter 5). Results show additive and synergistic effects depending on the carabid species. In general, semi-natural habitats can enhance the potential of slug control by carabids. This counts especially for Arionid slugs. Semi-natural habitats can support carabid communities by providing shelter, oviposition and overwintering sites as wells as complementary food sources. Therefore, it is important to provide a certain amount of non-crop habitats in agricultural landscapes.
The aquatic environment is exposed to multiple environmental pressures and mixtures of chemical substances, among them petroleum and petrochemicals, metals, and pesticides. Aquatic invertebrate communities are used as bioindicators to reflect long-term and integral effects. Information on the presence of species can be supplemented with information on their traits. SPEAR-type bioindicators integrate such trait information on the community level.
This thesis aimed at enhancing specificity of SPEAR-type bioindicators towards particular groups of chemicals, namely to mixtures of oil sands-derived compounds, hydrocarbons, and metals.
For developing a bioindicator for discontinuous contamination with oil-derived organic toxicants, a field study was conducted in the Canadian oil sands development region in Northern Alberta. The traits ‘physiological sensitivity towards organic chemicals’ and ‘generation time’ were integrated to develop the bioindicator SPEARoil, reflecting the community sensitivity towards oil sands derived contamination in relation to fluctuating hydrological conditions.
According to the SPEARorganic approach, a physiological sensitivity ranking of taxa was developed for hydrocarbon contamination originating from crude oil or petroleum distillates. For this purpose, ecotoxicological information from acute laboratory tests was enriched with rapid and mesocosm test results. The developed Shydrocarbons sensitivity values can be used in SPEAR-type bioindicators.
To specifically reflect metal contamination in streams via bioindicators, Australian field studies were re-evaluated with focus on the traits ‘physiological metal sensitivity’ and ‘feeding type’. Metal sensitivity values, however, explained community effects in the field only weakly. Instead, the trait ‘feeding type’ was strongly related to metal exposure. The fraction of predators in a community can, thus, serve as an indicator for metal contamination in the field.
Furthermore, several metrics reflecting exposure to chemical cocktails in the environment were compared using existing pesticide datasets. Exposure metrics based on the 5% fraction of species sensitivity distributions were found to perform best, however, closely followed by Toxic Unit metrics based on the most sensitive species of a community or Daphnia magna.