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Motiviert durch ein Anwendungsbeispiel wird die Komfortzone für mobile, kinematisch redundante Manipulatoren definiert. Die Lage und Orientierung der Basis des Manipulators und die Gelenkwinkel werden so gewählt, dass ausgesuchte Zielfunktionen minimal werden. Diese Zielfunktionen werden aus bekannten Maßen wie kartesische Geschwindigkeit, Kraft und Steifigkeit abgeleitet. Sie werden abhängig von den Parametern der Basis und den Gelenkwinkeln des Manipulators bestimmt, wobei nur ein Unterraum an möglichen Konfigurationen aufgrund der vorgegebenen Lage und Orientierung des Endeffektors (EE) für die Optimierung frei wählbar ist. Es werden im Sinne der multikriteriellen Optimierung Pareto-Fronten errechnet, welche durch vordefinierte Grenzen (z.B. minimale erreichbare Kraft oder minimale erreichbare Geschwindigkeit) begrenzt werden. Motivated by an application example, the comfort zone for mobile kinematically redundant manipulators is defined. The position and orientation of the mobile platform (=base of the manipulator) and the joint angles are selected in such a way that selected target functions are minimized. These objective functions are derived from known measures such as Cartesian velocity, force and stiffness. The objective functions are evaluated depending on the parameters of the base and the joint angles of the manipulator, whereby only a subspace of possible configurations is freely selectable for optimization due to the given position and orientation of the end effector (EE). Pareto-fronts are calculated in the sense of multi-criteria optimization, which are limited by, e.g., minimum achievable force or minimum achievable speed. IFToMM D-A-CH Konferenz, vol. 2020Sechste IFToMM D-A-CH Konferenz 2020: 27./28. Februar 2020, Campus Technik Lienz

Zusammenfassung Der Beitrag stellt die Frage nach den moralischen und ordnungspolitischen Aspekten der Energiewende. Dabei wird zunächst eine Analyse des derzeit vor allem durch Fracking, schwache europäische und globale Rahmengestaltung sowie die verstärkte Kohlenutzung verzögerten Ausstiegs aus der Nutzung fossiler Energieträger vorgenommen. Daran anschließend werden ethische Instrumente zur Beurteilung der Energiewende erarbeitet, wobei methodische Probleme des Risikovergleichs sowie die ungewohnten Zeithorizonte der Atommüllfrage fokussiert werden. Der Beitrag plädiert für Suffizienzstrategien, damit die Energiewende gelingen kann, und diskutiert dabei auch die Rolle der Kirchen. Im Blick auf Akteurskonstellationen, Governance-Strukturen und Kollektivgutprobleme werden Elemente einer proaktiven und kooperativen Gestaltung gesellschaftlicher Übergangsprozesse skizziert, die auf „Transformation by Design“ statt „Transformation by Disaster“ zielen. Abstract The essay investigates the moral and regulatory aspects of the energy transition. It starts with an analysis of the delayed exit from fossil-fuel energies, primarily caused by fracking and the enduring attractiveness of coal. In a second step, the essay formulates ethical instruments for evaluating the energy transition, focusing on the methodology of risk comparison and the long-term problems of nuclear waste. The essay pleads for a strategy of eco-sufficiency as a condition of a successful exit from nuclear and fossil-fuel energies. It also discusses the role of the churches in this transition process. The essay drafts elements of a proactive and cooperative design of the processes of transition in the face of actor constellations, structures of governance and problems of public good. It aims at a “transformation by design” instead of a “transformation by disaster.” Jahrbuch für Christliche Sozialwissenschaften, Vol 56 (2015): Ethische Herausforderungen der Energiewende

The design of support structures of offshore wind turbines contains high number of design variables that influence load characteristics and structural responses. These variables are stochastic and cause many uncertainties. Some of them are examined in this study. It is investigated how scattering of site conditions and load parameters affect the structural response. It is exemplified in terms of stresses that contribute to the accumulated fatigue damage within a monopile substructure. Random sampling of combinations of site conditions and load parameters is performed in order to classify the effects of parameter scattering on the stress variability by means of Sobol’ indices. Analysis shows that the highest influence on stress outputs have the variations in the load parameters. The reason is the sensitivity of the structural dynamical response to the wave height increase and decrease of distance between the wave peak frequency and the structural eigenfrequencies. © 2017 ISOPE

With the co-operation of a further 13 institutes and as a continuation of our own epidemiological-statistical survey, we recorded the total and relative distribution (frequency profile) of the blood alcohol concentration of car drivers for the 3rd quarter 1990 and the 1st quarter 1991. The participating institutes recorded almost 27,000 blood samples and compared them with results of the first part of the study (1989). The survey dealt separately with sex-, age- and time of day-distribution of drivers involved and not involved in road accidents. One of our repeatedly presented field research into the problem of "alcohol and road safety", once again, provided to be a useful method in the run-up to the unprejudiced alcohol test which we are striving for. We noticed characteristic changes in the frequency profiles of the old and the new counties (Bundesländer) in Germany in the 1st (1989) and the 2nd (1990/91) report of the study. The results of Police supervisory operations in the administrative district of Cologne have basically given useful indications as to their epidemiological-statistical value as evidence.