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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

Although the number of deaths from fatal CO poisoning has strongly declined since the change from coal gas to natural gas, accidental and suicidal carbon monoxide intoxications still have to be expected. In motor vehicles the exhaust gases from the engine and a stationary heating are the major sources of intoxication. In closed campers and caravans the operation of gas and spirit cooking stoves etc. may also lead to an accumulation of carbon monoxide due to incomplete combustion.

Numerous phylogenetic studies look for speciation without ecological radiation (PNC = phylogenetic niche conservatism). However, they ask only rarely for the role of the habitats for niche constancy. Starting from the hypothesis of DAVIS (1951) and SNOGERUP (1971) that the rock environment is 1) an evolutionary trap, conserving many old lineages (phylogenetic relicts) and that 2) it serves as a refugium under climate change, the rock vegetation is analysed for relic-tic species and niche conservatism. Three case studies, based upon phytosociological data sets from subtropical Africa, the Mediterranean area and the Eastern Alps are analysed. Molecular phylogenetic trees from selected taxa indicate the time of the splitting of lineages and the dura-tion of niche constancy. The comparison of succulent communities on rocks in SW-Arabia (class Kleinio-Carallumetea) and on the Canary Islands (Kleinio-Euphorbietea) shows numerous vicarious taxa (synvicariism). The phylogenetic tree of Campylanthus allows assuming the origin of this vicariance pattern in a geo-graphical separation of the ancestors in Mid Tertiary. The aridisation of Northern Africa about 6 Mya ago resulted in this high distance disjunction between Macaronesia and the Eritreo-Arabian region. The separated taxa underwent allopatric speciation, without ecological radiation. They remained in their niches. The vegetation of halve-caves with soaking water (class Adiantetea capilli-veneris) in the Mediterra-nean area and adjacent subtropics shelters local endemics, forming a mosaic of vicarious species. They belong to the genus Pinguicula in the NW-Mediterranean, to Hypericum (section Adenosepalum) in the SW-Mediterranean, and to Primula subgenus Sphondylia on the Arabian Peninsula and its surroundings. These vicariance patterns date back to the Late Tertiary and the climatic conditions in the Quaternary. The constant water supply - quite independent from the macroclimatic condi-tions - and the stenothermic rock surface favour in-situ resilience and make the Adiantetea to outstanding refugia for phylogenetic and geographical relicts. The example of the Caricetum firmae demonstrates relict phenomena, dating back to the last ice age. The rock fissures and calciphilous, alpine rock turfs of the massifs fringing the Eastern Alps shelter endemic cushion plants from genera such as Potentilla, Primula, Androsace, and Gentiana. These taxa of low dispersal capacity are still located in their glacial refugia. The actual species combination of rock communities mirrors historical events. The floristic and spatial patterns are influenced by former climatic conditions, by evolutionary processes and by dispersal limitations. Because of the high variety of micro-habitats, rocks offer refugia and shelter relicts. It is a habitat of outstanding niche conservatism, resulting in patterns of vicarious species and parallel evolution. Erforschung und Erhaltung der Phytodiversität: Festschrift zum 70. Geburtstag für Prof. Dr. Dietmar Brandes, p. 281

The climate crisis and its consequences represent the greatest challenge facing human health and health care system in the 21st century. It threatens to undermine the last decades of health gains. Rising temperatures, fires, floods and droughts can directly and indirectly cause human pathologies, that are physical and mental. Extreme weather events lead to loss of life, basic life resources and cause severe mental burden. More intense and frequent heat waves due to global warming impact human health and increase mortality, especially for those most vulnerable. The heat-related health risk depends on individual state of health as well as environmental and socioeconomic characteristics of residential areas. Increasing exposure to air pollutants, due to wildfires and anthropogenic emissions, raises respiratory and cardiovascular mortality. Climate warming changes ecosystems and enhances biological invasions that can better adapt to warm environments. Pathogen profiles are changing, transmission and spread of vector-borne diseases as Malaria or Dengue are increasing. Further, rising temperatures and air pollution increase the production and allergenicity of pollen, associated with higher prevalence of allergic diseases. Protective environmental factors, as biodiversity or diverse microbiome, should be given greater consideration in future research.Health sector has the central responsibility as the fifth-largest greenhouse gas emitter to transform in a climate-neutral and sustainable way, e. g. by efficient use of resources. Further education and training in this area should be intensified and included in curricula for medical staff. Furthermore, medical professionals must educate patients about the burden of climate change, climate resilience, and the benefits of CO2 reduction - for human but also for planetary health.

The City of Dresden has no data on the perception of climate change and the associated increase in the average temperature during summer times yet. The data are needed to develop targeted action for vulnerable groups.To close this gap, a representative survey of the population was carried out in Dresden in 2017. Two urban districts, which differ from one another both in terms of urban planning and social structure, were compared, in particular, regarding the question of whether there was a fair distribution or procedural justice concerning the effects of subjective heat burden and influencing factors.The results showed that especially inhabitants of the urban area with predominantly prefabricated buildings, less green space and an increased proportion of socially disadvantaged felt more exposed to the summer heat and had fewer opportunities to adapt to the high temperature.In addition to urban development measures, the results can be used to derive measures for the prevention of heat-related illnesses. These require, for example, increased advice and health education locally to reach people.

The German Strategy for Adaptation to Climate Change (DAS, 2008) identified 'human health' as an important sector with a need for adaptation. In line with the DAS, the Federal Environment Agency (UBA) and the Robert Koch Institute jointly elaborated guidelines for decision makers and stakeholders. Building on these, in 2013/2014, UBA has conducted a nationwide survey, collecting data on completed, ongoing and planned adaptation measures. UBA also analysed 32 adaptation strategies of the Federal States. Selected best practice examples of potential health-related prevention and adaptation measures concerning heat stress, UV radiation exposure and the spread of Ambrosia artemisiifolia are presented in this article. The data collection with more than 330 activities can be found on the website of the German National Environment and Health Action Plan (APUG; www.apug.de , in German only). In the course of this project, the APUG website was also significantly extended with comprehensive information and overviews on health risks of climate change, hence creating a central platform for this particular topic.