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Development of an indoor positioning system to create a digital shadow of production plant layouts
(2023)
The objective of this dissertation is to develop an indoor positioning system that allows the creation of a digital shadow of the plant layout in order to continuously represent the actual state of the physical layout in the virtual space. In order to define the requirements for such a system, potential stakeholders who could benefit from a digital shadow in the context of the plant layout were analysed. In order to generate added value for their work, the requirements were derived from their perspective. As the core of an indoor positioning system is the sensory aspect to capture the physical layout parameters, different potential technologies were compared and evaluated in terms of their suitability for this particular application. Derived from this analysis, the selected concept is based on the use of a pan-tilt-zoom (PTZ) camera in combination with fiducial markers. In order to determine specific camera parameters, a series of experiments were conducted which were necessary to develop the measurement method as well as the mathematical calculation method and coordinate transformation for the determination of poses (positions and angular orientations) of the respective facilities in the plant. In addition, an experimental validation was performed to ensure that the limit values for individual parameters determined in the requirements analysis can be met.
Gegenstand dieser Arbeit ist die Darstellung und Charakterisierung einheitlicher, mesoporöser Silica-Partikel (MPSM) im Mikrometerbereich mit maßgeschneiderten Partikel- und Porendesign für die Hochleistungsflüssigkeitschromatographie. Die Synthese umfasst die Einlagerung von Silica-Nanopartikeln (SNP) in poröse organische Template, welche anschließend bei 600°C zersetzt werden. Die Impfsuspensionspolymerisation von Polystyrol-Partikeln, unter Verwendung von Glycidylmethacrylat, Ethylenglycoldimethacrylat und Porogenen, ermöglicht die Herstellung hochgradig einheitlicher, poröser p(GMA-co-EDMA)-Template. Der Einfluss wesentlicher Faktoren, einschließlich des Monomer-Porogen-Verhältnisses, des Monomerverhältnisses und der Porogenzusammensetzung, werden systematisch untersucht sowie ihre Auswirkungen auf die Porengröße, das Porenvolumen und die spezifische Oberfläche erläutert. Die Anbindung aminofunktionalisierter Substanzen erfolgt durch die Ringöffnung der Epoxidgruppe. Im anschließenden basischen Sol-Gel-Prozess werden die Silica-Nanopartikel aufgrund der Ladungsunterschiede in die funktionalisierten p(GMA-co-EDMA)-Template eingebaut. Die Partikelgröße der SNP beeinflusst wesentlich die Poreneigenschaften der MPSM und hängt von drei Faktoren ab: (i) der Wachstumsgeschwindigkeit in der kontinuierlichen Phase, die durch die Einstellungen des Sol-Gel-Prozesses gesteuert wird, (ii) der Diffusionsrate, die durch elektrostatische Anziehung reguliert wird und vom Grad der Funktionalisierung abhängt und (iii) der Porosität des Polymer-Templats. Die gezielte Anpassung der Poreneigenschaften durch die Prozesseinstellungen erlaubt die präzise Herstellung von MPSM, die auf spezifische Trennherausforderungen zugeschnitten werden und somit die Qualität der HPLC verbessern. Die vorgestellte Synthesestrategie ermöglicht, aufgrund des stufenweisen molekularen Aufbaus, eine bessere Adaption der stationären Phase an spezifische Trennherausforderungen.
The targeted design of monodisperse, mesoporous silica microspheres (MPSMs) as HPLC separation phases is still a challenge. The MPSMs can be generated via a multi-step template-assisted method. However, this method and the factors affecting the individual process steps and resulting material properties are scarcely understood, and specific control of the complex multi-step process has been hardly discussed. In this work, the key synthesis steps were systematically investigated by means of statistical Design of Experiment (DoE). In particular, three steps were considered in detail: 1) the synthesis of porous poly(glycidyl methacrylate-co-ethylene glycol dimethacrylate) (p(GMA-co-EDMA)) particles, which as template particles, determine the structure for the final MPSMs. In this context, functional models were generated, which allow the control of the template properties pore volume, pore size and specific surface area. 2) In the presence of amino-functionalized template particles, the sol-gel process was carried out under Stöber process conditions. The water to tetraethyl orthosilicate (TEOS) ratio, as well as the concentration of ammonia as basic catalyst were varied according to a face-centered central composite design (FCD). The incorporation of silica nanoparticles (SNPs) into the pore network of the porous polymers was investigated by scanning electron microscopy (SEM), evaluation of the pore properties assessed by nitrogen sorption measurements and determination of the inorganic content by thermogravimetric analysis (TGA). Here, the material properties, such as the amount of attached silica, can be specifically controlled in the resulting organic/silica hybrid material (hybrid beads, HBs). Furthermore, depending on the sol-gel conditions three, potentially four, reaction regimes were identified, leading to different HBs. These range from porous polymer particles coated with a thin protective silica layer, to interpenetrating networks of polymer and silica, to potential particles consisting of a porous polymer core coated with a silica shell. Also, the effects of the use of different precursors and solvents on silica incorporation were investigated. 3) To obtain MPSMs from the HBs, the organic polymer template was removed by calcination. The effects of sol-gel process conditions on the resulting MPSMs were evaluated and relationships between process conditions and material properties were shown in predictive models. Fully porous, spherical, monodisperse silica particles with sizes ranging from 0.5 µm to 7.8 µm and pore sizes from 3.5 nm to 72.4 nm can be prepared specifically. Subsequent to organo-functionalization, prepared MPSMs were applied as reversed-phase HPLC column materials. Here, the columns were successfully applied for the separation of proteins and amino acids. The separation performance of the materials depends largely on the property profile of the MPSMs, which is predetermined during the preparation of the HBs.
Supply chains have evolved into dynamic, interconnected supply networks, which increases the complexity of achieving end-to-end traceability of object flows and their experienced events. With its capability to ensure a secure, transparent, and immutable environment without relying on a trusted third party, the emerging blockchain technology shows strong potential to enable end-to-end traceability in such complex multitiered supply networks. However, as the dissertation’s systematic literature review reveals, the currently available blockchain-based traceability solutions lack the ability to map object-related supply chain events holistically, which involves mapping objects’ creation and deletion, aggregation and disaggregation, transformation, and transaction. Therefore, this dissertation proposes a novel blockchain-based traceability architecture that integrates governance and token concepts to overcome the limitations of existing architectures. While the governance concept manages the supply chain structure on an application level, the token concept includes all functions to conduct object-related supply chain events. For this to be possible, this dissertation’s token concept introduces token ‘blueprints’, which allow clients to group tokens into different types, where tokens of the same type are non-fungible. Furthermore, blueprints can include minting conditions, which are, for example, necessary when mapping assembly or delivery processes. In addition, the token concept contains logic for reflecting all conducted object-related events in an integrated token history. This ultimately leads to end-to-end traceability of tokens and their physical or abstract representatives on the blockchain. For validation purposes, this dissertation implements the architecture’s components and their update and request relationships in code and proves its applicability based on the Ethereum blockchain. Finally, this dissertation provides a scenario-based evaluation based on two industrial case studies from a manufacturing and logistics perspective to validate the architecture’s capabilities when applied in real-world industrial settings. The proposed blockchain-based traceability architecture thus covers all object-related supply chain events derived from the two industrial case studies and therefore proves its general-purpose end-to-end traceability capabilities of object flows.
Human recognition is an important part of perception systems, such as those used in autonomous vehicles or robots. These systems often use deep neural networks for this purpose, which rely on large amounts of data that ideally cover various situations, movements, visual appearances, and interactions. However, obtaining such data is typically complex and expensive. In addition to raw data, labels are required to create training data for supervised learning. Thus, manual annotation of bounding boxes, keypoints, orientations, or actions performed is frequently necessary. This work addresses whether the laborious acquisition and creation of data can be simplified through targeted simulation. If data are generated in a simulation, information such as positions, dimensions, orientations, surfaces, and occlusions are already known, and appropriate labels can be generated automatically. A key question is whether deep neural networks, trained with simulated data, can be applied to real data. This work explores the use of simulated training data using examples from the field of pedestrian detection for autonomous vehicles. On the one hand, it is shown how existing systems can be improved by targeted retraining with simulation data, for example to better recognize corner cases. On the other hand, the work focuses on the generation of data that hardly or not occur at all in real standard datasets. It will be demonstrated how training data can be generated by targeted acquisition and combination of motion data and 3D models, which contain finely graded action labels to recognize even complex pedestrian situations. Through the diverse annotation data that simulations provide, it becomes possible to train deep neural networks for a wide variety of tasks with one dataset. In this work, such simulated data is used to train a novel deep multitask network that brings together diverse, previously mostly independently considered but related, tasks such as 2D and 3D human pose recognition and body and orientation estimation.
In modern collaborative production environments where industrial robots and humans are supposed to work hand in hand, it is mandatory to observe the robot’s workspace at all times. Such observation is even more crucial when the robot’s main position is also dynamic e.g. because the system is mounted on a movable platform. As current solutions like physically secured areas in which a robot can perform actions potentially dangerous for humans, become unfeasible in such scenarios, novel, more dynamic, and situation aware safety solutions need to be developed and deployed.
This thesis mainly contributes to the bigger picture of such a collaborative scenario by presenting a data-driven convolutional neural network-based approach to estimate the two-dimensional kinematic-chain configuration of industrial robot-arms within raw camera images. This thesis also provides the information needed to generate and organize the mandatory data basis and presents frameworks that were used to realize all involved subsystems. The robot-arm’s extracted kinematic-chain can also be used to estimate the extrinsic camera parameters relative to the robot’s three-dimensional origin. Further a tracking system, based on a two-dimensional kinematic chain descriptor is presented to allow for an accumulation of a proper movement history which enables the prediction of future target positions within the given image plane. The combination of the extracted robot’s pose with a simultaneous human pose estimation system delivers a consistent data flow that can be used in higher-level applications.
This thesis also provides a detailed evaluation of all involved subsystems and provides a broad overview of their particular performance, based on novel generated, semi automatically annotated, real datasets.
Customer orientation should be the core engine of every organisation. Information technology can be considered as the enabler to generate competitive advantages through customer processes in marketing, sales and service. The impact of information technologies is the biggest risk and at the same time a huge opportunity for any organisation. Research shows that Customer Relationship Management (CRM) enables organisations to perform better and focus more on their customers (e.g. market capitalisation of Amazon). While global enterprises are shaping the future of customer centricity and information technology, the question arises how German B2B organisations can shift their value contribution from product-centric to customer-centric. Therefore, these organisations are attempting to implement CRM software and putting their customers more into focus. However, the question remains, how organisations are approaching the implementation of CRM and if these attempts are paying off in terms of business performance.
Contributing to this highly topical discussion, this thesis contributes to the body of knowledge about the implementation of CRM in the German B2B sector and how it impacts their business performance. First, theoretical frameworks have been developed based on an extensive literature review. Hereby different aspects of CRM are worked-out and mapped against three dimensions of business performance, namely process efficiency, customer satisfaction and financial performance. Based on the theory, a conceptual framework was developed to test the relationships between CRM and Business Performance (BP). Therefore, a survey with 500 participants has been conducted. Based on this a measurement model was developed to test five main hypotheses.
The findings of these hypotheses suggest, that the implementation of CRM positively impacts business performance. In specific, the usage of analytical CRM and the establishment of a dedicated CRM success measurement correlate with the performance of German B2B organisations. In addition to these main findings, various key statements could be derived from the research and a measurement model was developed, which can be used for different organisational characteristics assessing BP. As a result, CRM implementations can be enhanced, and business performance can be improved.
Intracranial brain tumors are one of the ten most common malignant cancers and account for substantial morbidity and mortality. The largest histological category of primary brain tumors is the gliomas which occur with an ultimate heterogeneous appearance and can be challenging to discern radiologically from other brain lesions. Neurosurgery is mostly the standard of care for newly diagnosed glioma patients and may be followed by radiation therapy and adjuvant temozolomide chemotherapy.
However, brain tumor surgery faces fundamental challenges in achieving maximal tumor removal while avoiding postoperative neurologic deficits. Two of these neurosurgical challenges are presented as follows. First, manual glioma delineation, including its sub-regions, is considered difficult due to its infiltrative nature and the presence of heterogeneous contrast enhancement. Second, the brain deforms its shape, called “brain shift,” in response to surgical manipulation, swelling due to osmotic drugs, and anesthesia, which limits the utility of pre-operative imaging data for guiding the surgery.
Image-guided systems provide physicians with invaluable insight into anatomical or pathological targets based on modern imaging modalities such as magnetic resonance imaging (MRI) and Ultrasound (US). The image-guided toolkits are mainly computer-based systems, employing computer vision methods to facilitate the performance of peri-operative surgical procedures. However, surgeons still need to mentally fuse the surgical plan from pre-operative images with real-time information while manipulating the surgical instruments inside the body and monitoring target delivery. Hence, the need for image guidance during neurosurgical procedures has always been a significant concern for physicians.
This research aims to develop a novel peri-operative image-guided neurosurgery (IGN) system, namely DeepIGN, that can achieve the expected outcomes of brain tumor surgery, thus maximizing the overall survival rate and minimizing post-operative neurologic morbidity. In the scope of this thesis, novel methods are first proposed for the core parts of the DeepIGN system of brain tumor segmentation in MRI and multimodal pre-operative MRI to the intra-operative US (iUS) image registration using the recent developments in deep learning. Then, the output prediction of the employed deep learning networks is further interpreted and examined by providing human-understandable explainable maps. Finally, open-source packages have been developed and integrated into widely endorsed software, which is responsible for integrating information from tracking systems, image visualization, image fusion, and displaying real-time updates of the instruments relative to the patient domain.
The components of DeepIGN have been validated in the laboratory and evaluated in the simulated operating room. For the segmentation module, DeepSeg, a generic decoupled deep learning framework for automatic glioma delineation in brain MRI, achieved an accuracy of 0.84 in terms of the dice coefficient for the gross tumor volume. Performance improvements were observed when employing advancements in deep learning approaches such as 3D convolutions over all slices, region-based training, on-the-fly data augmentation techniques, and ensemble methods.
To compensate for brain shift, an automated, fast, and accurate deformable approach, iRegNet, is proposed for registering pre-operative MRI to iUS volumes as part of the multimodal registration module. Extensive experiments have been conducted on two multi-location databases: the BITE and the RESECT. Two expert neurosurgeons conducted additional qualitative validation of this study through overlaying MRI-iUS pairs before and after the deformable registration. Experimental findings show that the proposed iRegNet is fast and achieves state-of-the-art accuracies. Furthermore, the proposed iRegNet can deliver competitive results, even in the case of non-trained images, as proof of its generality and can therefore be valuable in intra-operative neurosurgical guidance.
For the explainability module, the NeuroXAI framework is proposed to increase the trust of medical experts in applying AI techniques and deep neural networks. The NeuroXAI includes seven explanation methods providing visualization maps to help make deep learning models transparent. Experimental findings showed that the proposed XAI framework achieves good performance in extracting both local and global contexts in addition to generating explainable saliency maps to help understand the prediction of the deep network. Further, visualization maps are obtained to realize the flow of information in the internal layers of the encoder-decoder network and understand the contribution of MRI modalities in the final prediction. The explainability process could provide medical professionals with additional information about tumor segmentation results and therefore aid in understanding how the deep learning model is capable of processing MRI data successfully.
Furthermore, an interactive neurosurgical display has been developed for interventional guidance, which supports the available commercial hardware such as iUS navigation devices and instrument tracking systems. The clinical environment and technical requirements of the integrated multi-modality DeepIGN system were established with the ability to incorporate: (1) pre-operative MRI data and associated 3D volume reconstructions, (2) real-time iUS data, and (3) positional instrument tracking. This system's accuracy was tested using a custom agar phantom model, and its use in a pre-clinical operating room is simulated. The results of the clinical simulation confirmed that system assembly was straightforward, achievable in a clinically acceptable time of 15 min, and performed with a clinically acceptable level of accuracy.
In this thesis, a multimodality IGN system has been developed using the recent advances in deep learning to accurately guide neurosurgeons, incorporating pre- and intra-operative patient image data and interventional devices into the surgical procedure. DeepIGN is developed as open-source research software to accelerate research in the field, enable ease of sharing between multiple research groups, and continuous developments by the community. The experimental results hold great promise for applying deep learning models to assist interventional procedures - a crucial step towards improving the surgical treatment of brain tumors and the corresponding long-term post-operative outcomes.