The growing complexity of todays technical systems demands for improved simulation techniques. One important aspect is the way how hierarchy of interconnected dynamical systems is handled. Focusing on this, some existing approaches are reviewed and a modified component connection modeling (CCM) framework is introduced. Furthermore, several conceptual considerations of CoSimMA, a modular simulator based on this theoretical foundation, are presented. As an example, the hierarchical modeling of a wind turbine and the included power electronics is outlined.

In this paper an alternative approach to the commonly used loadline construction for the analysis of circuits utilizing the series connection of resonant tunneling diodes (RTDs) is presented. The discussed method is explained by the example of the mono- and bistable transition logic element (MOBILE), which today is one of the most promising logic circuits in nanoelectronics. First, it will be shown how the configuration space, which here corresponds to the set of all possible DC operating points, can be constructed without disregarding any of them. Furthermore, the dynamics of the information storage process of the MOBILE is interpreted in a geometric manner. Especially the influence of the input current on the geometrical shape of the configuration space in conjunction with the proceeding of the trajectories will become clear by this new approach. Finally, the presented concept is used to clarify output voltage spikes, which are unresolved up to now.

Extravehicular activities (EVAs) are a hazardous and expensive procedural method to operate in outer space. A possible support or alternative for manned missions in terms of on-orbit servicing are telemanipulation-systems. Whether or not such systems can actually achieve the efficiency of suited astronauts remains a central issue in telemanipulation research. Both scenarios, extravehicular activities as well as telemanipulation-systems, are restricted by different environmental factors, especially in terms of tasks that require fine motor skills. For suited astronauts, different factors, such as restricted mobility and reduced tactile feedback through the gloves, as well as a restricted field of view, impair fine motor skills. On the other hand, time delay, limited degrees of freedom and restricted haptic and visual feedback are amongst the factors, which may cause impairment of performance during the work with telemanipulation-systems. In order to compare the efficiency of both scenarios, a testbed equipped with typical mounting tasks was developed. An experimental study showed that the testbed is a valid measure of fine motor skills. In two follow-up studies, the influence of some factors debilitating fine motor performance in telemanipulation-systems and simulated extra-vehicular activities was analysed and compared.

Telepresence-systems have the potential to take on an important role in on-orbit servicing scenarios. In comparison to manned missions, these systems offer a safer way to operate in outer space. One of the main goals of telepresence research is to learn whether immersive telepresence systems can achieve the efficiency of astronauts in typical mounting tasks, considering that astronauts' mobility is restricted by a range of factors including microgravity and space suits. In order to determine whether a telepresence system is more efficient in performing tasks compared to suited astronauts, an experimental study comparing both scenarios was accomplished.

The collaborative research center SFB453 (www.sfb453.de) aims to realize high-fidelity telepresence and teleaction systems. Telepresence and teleaction systems extend the human workspace to remote locations in order to overcome barriers like distance, scaling, danger or the human skin. Using a human-system interface the human operator controls a remotely located teleoperator. Multi-modal feedback in form of visual, auditory, and haptic data is used to increase the feeling of telepresence. Different application areas including minimally invasive surgery, on-orbit servicing, microassembly as well as tele-manufacturing and tele-maintenance are targeted.

The aim of the presented study was to measure physiological correlates of emotions that are of particular interest in the field of human-robot interaction (HRI). Therefore, we did not focus on self-induced basic emotions but rather evoked states that might occur naturally in this context. Our video shows how such states (namely stress, boredom, surprise, and perplexity) were elicited during a joint construction task with an industrial robot (see figure 1). Participants were asked to build different LEGO objects, while the robot arm was passing the bricks with predetermined velocity. States of stress and boredom were generated by varying the handover interval from 3 seconds (stress) to 5 seconds (normal working condition) up to 35 seconds (boredom). Surprise was induced by passing an unexpected component. At the end of the experiment, we additionally wanted to know how people react if the robot seems to tease them by repeatedly changing the handover position.

Contrary to common emotion recognition techniques by face or speech analysis, physiological data are involuntary and continuously available. Thus, they allow for emotion detection even in situations without spoken words or in case of non-extreme emotions, which are more likely to occur in human-robot interaction (HRI). In this paper, we describe the results of an experiment investigating non-extreme emotional states relevant for HRI scenarios (over- and underchallenge). Those states occurred naturally during the course of a LEGO construction task by manipulating working speed. Data collected from 28 subjects were analyzed and the results of different types of discriminant analysis and nearest neighbour methods were compared. Based on two physiological modalities (HR, SCR), correct classification rates of up to 76% for seven features and 74% for only two features were achieved. Overchallenge could be discriminated very well from the other two conditions (96.4 - 85.7%), whereas underchallenge is often confused with the intermediate condition with normal working speed.