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    Automatisiertes Drohnensystem zur gezielten Datenerfassung und -verwertung in Mehrzweck- und Binnenterminals
    Im Rahmen des Projekts InteGreatDrones untersucht das Institut für Maritime Logistik, inwieweit autonome Drohnensysteme in Binnenhäfen integriert werden können, um die Aktivitäten und Prozesse der Terminals möglichst vollständig digital zu erfassen. Durch das fliegende Sensornetzwerk sollen einerseits ortsfeste und teure Sensorinfrastrukturen vermieden werden und andererseits der Terminalbetrieb optimiert werden.
      78  5
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    Aqueous Electrolytes in Nanoporous Media: Structure, Dynamics and Electrochemo-Mechanical Actuation
    An electrolyte solution near a charged solid surface forms an electric double layer (EDL). While the theory of EDLs has been known since the 1850s, their structure and dynamics are much less understood in the confined geometry of nanoporous media. There, large interfacial curvatures and overlapping EDLs of opposing interfaces can lead to significant property changes compared to planar geometries. Furthermore, EDL formation can lead to changes in mechanical interfacial stresses at the single pore scale and thus to macroscopic material deformation. In this project, this electrochemo-mechanical actuation will be related to the structure and dynamics of the EDL for aqueous electrolytes in nanoporous carbons. For this purpose, experiments and molecular simulation will be combined from the nanoscopic single-pore scale to the macroscopic scale of the porous medium.We will synthesize electrically conducting nanoporous carbons with high specific surface area, defined pore sizes (1-10 nm) and pore geometries. This will allow fine-tuning of the effect of the interfacial region compared to the rest of the pore volume. By adding heteroatoms to the carbon structure and controlling the defect concentrations, different surface chemistries (hydrophobic vs. hydrophilic) are introduced. Depending on the applied electrical voltage between electrolyte and solid, the surface chemistry and the pore diameter, we will investigate EDL formation and mechanical actuation in the material. We will focus on aqueous solutions of simple salts and investigate the role of salt concentration among other parameters. We will use synchrotron-based X-ray scattering to study the EDL in-operando, with special attention to the charge/discharge and thus ion transport kinetics. We will use molecular dynamics simulations to represent the structural properties of the surface of the nanoporous medium and the electrolyte. This should allow us to derive the structural, thermodynamic and transport properties of the geometrically confined electrolyte and relate them to the experimental results, both in terms of the electrochemo-mechanical couplings and the charge capacities at the scale of the single pore and the porous medium.In addition to these fundamental insights into aqueous electrolytes in geometric confinement, these studies provide the basis for supercapacitors with green, water-based electrolytes. They will also contribute to the development of materials for electromechanical actuators based on novel actuation principles, avoiding the usual piezoceramic systems that contain predominantly environmentally hazardous materials, such as lead.
      99
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    GRK 2725: Urban future-making: Professional agency across time and scale
    In the face of urban growth, climate change and natural resource exploitation, the future of cities is currently shaped by an absolute imperative to act. The ongoing coronavirus pandemic has further heightened the prevalent sense of crisis. Against this backdrop, urban areas have become crucial sites where aspired pathways towards desirable futures are imagined, forecasted and variably negotiated. Through the lens of “urban future-making”, the proposed research training group investigates the activities of experts and administrators who seek to respond to the expected threats and risks to urban societies with measures related to the urban built environment. The central question is how, or whether, reflexive and responsible professional agency with regard to urban future-making can be possible under present conditions, in which multiple crises have fundamentally heightened uncertainty and put professional routines and established solutions into question. We recognise built environment professionals as a highly diverse group of urban future-makers, operating in public administration, the private sector, the non-profit sector and in civil society initiatives.We maintain that urban future-making is shaped by two key tensions. One the one hand, we see a temporal tension, as demands for transformative change clash with maintenance requirements of the existing urban fabric. On the other hand, we see a scalar tension, as the urgency to act requires taking into account a global context of multiple interdependencies whereas the urban built environment is place-bound and local. Against the conceptual backdrop of these temporal and scalar tensions, the proposed research training group will investigate strategies and interventions related to the urban built environment which address mobility systems, energy provision and material use as interdependent fields of action where claims for transformative changes are currently most articulated. The project will join scholars and doctoral researchers from the social sciences and from academic disciplines related to the built environment. By employing the expertise of scholars from both reflection- and solution-oriented fields of research, we seek to place reflections around how professionals should or could act into systematic dialogue with empirically grounded insights on how they actually act. By doing so, the training group will foster innovative and productive cross-fertilisation across social sciences and built environment disciplines.
      99
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    Klima, Klimawandel und Gesellschaft
    By accepting that the world is warming and humans are largely responsible, the Paris climate agreement from December 2015 has provided a powerful impetus not only for climate policy but also for climate research. To address the resulting new challenges, the Cluster of Excellence "Climate, Climatic Change, and Society (CliCCS)" will establish a long-term program spanning the range from basic research on climate dynamics and climate-related social dynamics to the transdisciplinary exploration of human–environment interactions. CliCCS will explore climate change with a broader expertise than at any other center in Germany and worldwide. CliCCS will investigate how the climate changes and how society changes with it, thereby feeding back on climate. Understanding these changes, including how societies adapt, will enable us to assess with far greater confidence than before the range of imaginable climate futures. In taking on this challenge, CliCCS is guided by the overarching question:Which climate futures are possible and which are plausible?CliCCS will identify those climate futures that are possible, meaning that they are consistent with our joint understanding of both climate and social dynamics, and those that are plausible, meaning that we expect them to unfold with appreciable probability. CliCCS will boost the understanding of the crucial natural processes that either enhance or reduce anthropogenic climate change, allowing us to rein in more tightly our estimates of possible climate futures. CliCCS will identify which social dynamics support or prevent the deep decarbonization required to meet the climate targets of the Paris agreement; this will enable an assessment of which greenhouse-gas emissions pathways are more probable than others. CliCCS will comprehensively characterize magnitude and mechanisms of chaotic variability in a warming climate, recently found to be much larger than expected, and will explore how the resulting irreducible (aleatoric) uncertainty can be accounted for in climate-socioeconomic interactions and in decision-making processes. CliCCS will establish an understanding of the competition between climate targets and other societal goals in concrete case studies of sustainable adaption to climate change, by combining possibly unstable social dynamics with the impulses arriving from the physical system marked by unpredictable variability and extreme events.CliCCS will use observations and models of the natural, coupled human–environment, and social systems to understand the processes that govern these systems. The new ICON-based Earth system model, arguably the most modern of its kind worldwide, will provide a powerful and flexible numerical laboratory of the natural Earth system and will allow efficient use of high-performance computing systems at the German Climate Computing Centre. A central CliCCS synthesis will be provided through an expert assessment published annually in a Hamburg Climate Futures Outlook.
      213
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    Learning Conversational Action Repair for Intelligent Robots
    Conversational natural language is subject to noise, incompletions and grammatically ambiguous phrasing. To increase the robustness of communication, human conversation partners typically build on conversational repair (CR) to iteratively and interactively resolve misunderstandings. In the context of human-robot interaction, CR provides the possibility to interrupt and to repair a misunderstood instruction that is already being executed. However, current approaches do not consider the conversational repair of misunderstandings in human-robot dialog, even though this would significantly increase the robustness of human-robot interaction. The goal of this project is to fill this gap by addressing two core problems that have hindered existing approaches to successfully address conversational action repair for human-robot interaction. The first problem is the realization of an adaptive context-specific state model that integrates language with action. Most dialog systems consider only verbal communication, and they ignore that human communication is an embodied multi-modal process that is grounded in physical interaction. So how can we realize a scalable model that considers situated conceptual state representations for mixed verbal-physical interaction? To address this first problem, this project builds on a neuro-symbolic approach that integrates our previous work on embodied semantic parsing with our expertise in deep reinforcement learning. Herein, we will research a hybrid data- and knowledge-driven model for compositional interaction states that link the physical world state with semantics in language and dialog.The second problem pertains to the noise, disfluency, and polysemy of spoken natural language. Existing learning-based parsers are robust enough to parse noisy spoken language but they require large amounts of training data. So how can we realize a robust semantic parser that is data efficient while considering the mixed verbal-physical interaction? To address this second problem, this project complements our previous semantic parsing methods with a neural machine-translation approach. To this end, we will exploit the reward signal of the reinforcement learning as an additional data source to improve the data efficiency of the neural parser. The data required for this project will be generated using crowdsourcing, and the evaluation will be conducted on a humanoid robot. We expect the project to generate impact as a new approach for human-robot interaction, and to contribute novel methods for representation learning to the scientific communities in the fields of natural language understanding, machine learning, and intelligent robotics.
      70
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    Modeling a robot's peripersonal space and body schema for adaptive learning and imitation
    In this project MoReSpace, we will investigate the extent to which the transfer of learning is responsible for the development of a "self", and hypothesize that a conflict-driven attention model plays a major role. In the first part of our project, we investigate the transfer of previously learned action-effect associations to new unexpected environmental dynamics. Here, we put a strong focus on cognitive plausibility and motivate our model with psychological phenomena such as "haptic neglect". The phenomenon occurs, for example, when the computer mouse is inverted and the mouse pointer is directed in the opposite direction in each case. In such scenarios, psychologists have found reduced perception of the haptic and proprioceptive senses. Our hypothesis is that this is due to a conflict-driven attention mechanism that improves the ability to deal with such new dynamics. We will evaluate our model on a physical robot, and we will theoretically substantiate it with our collaboration partners from psychology. In the second part of the project, we will focus on imitation learning. Our hypothesis is that the attention model captures some psychological properties that are important for the human ability to change perspective and to imitate. We hypothesize that this will lead to novel methods of imitation learning for robots. We expect these methods to lead to significant improvements in the learning performance. We will evaluate this empirically and reproducibly.
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