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Es ist eine alltägliche Erfahrung, daß wir Urteile über gut oder schlecht, bzw. qualitativ hochwertig oder minderwertig eines Gegenstandes mit der Wahrnehmung des emittierten Geräuschschalls in Verbindung bringen. Der Geräuschlaut ist deshalb ein wichtiges Entscheidungskriterium bei der Auswahl eines Produktes, welches wahrnehmbaren Schall erzeugt. Die Fragestellung hinsichtlich der Geräuschqualität und des Geräuschdesigns stellt daher hohe Anforderungen an den Akustik-Ingenieur. Zum heutigen Zeitpunkt ist es jedoch nicht möglich, mit einer instrumentellen Meßtechnik Aussagen über die Eignung eines Geräuschschalls für ein Produkt zu machen. Es ist nicht möglich, kognitive Faktoren über eine instrumentelle Meßtechnik zu messen. Es reicht nicht aus, eine Geräuschgüte mit Bewertungsschemata wie dem A-bewerteten Schalldruckpegel
oder Lautheitsmodellen zu definieren. Diese lassen allein keine eindeutigen Aussagen über die Wahrnehmung von Geräuschen zu. Der vorliegende Beitrag ist als Ansatz für das Soundengineering von Fahrzeuginnengeräuschen zu sehen. Es wird anhand von Hörversuchen mit Fahrzeuginnengeräuschen ein objektiver Beschreibungskatalog ermittelt, der eine Aussage über die jeweilige Hörempfindung zuläßt.
Systeme zur automatisierten Bildanalyse sind vielfältig einsetzbar und gewinnen aufgrund technologischer Weiterentwicklungen und gesellschaftlicher Akzeptanz zunehmend an Bedeutung. Schwerpunkt im Bereich der "Technischen Bildverarbeitung dynamischer Szenen" ist die Entwicklung von Methoden, die bei der Interpretation von Bildern aus verschiedenen Sensordaten Verwendung finden. Dies sind neben den herkömmlichen Kamerabildern im wesentlichen Röntgen- und Radarbilder. Unter geeigneter Berücksichtigung der durch die jeweiligen Anwendungen vorgegebenen Randbedingungen werden daraus entsprechende Verfahren abgeleitet. Derzeitige Projekte beschäftigen sich mit der Analyse von Straßenverkehrsszenen, der Detektion von Sprengstoffzündern bei der Durchleuchtung von Fluggepäck, sowie mit der Bestimmung von Art und Ausdehnung von Ölverschmutzungen bei der Meeresüberwachung.
Systems for automated image analysis are useful for a variety of tasks and their importance is still increasing due to technological advances and an increase of social acceptance. The main focus of "Technical Image Processing of Dynamic Scenes" lies
with the development of methods for the interpretation of images derived from various sensors. Apart from conventional visual images, this involves mainly X-ray and radar images. Taking into account the requirements of the various applications, suitable methods are derived. Current projects are dealing with the analysis of traffic scenes, detection of detonators when X-raying luggage and determination of type and expansion of oil pollution in maritime surveillance.
In der vorliegenden Arbeit wird ein Verfahren vorgestellt, welches textur- und konturbasierte Verfahren zur Segmentierung fusioniert. Als Kopplungsmatrix wird eine selbstorganisierte Karte nach Kohonen verwendet. Eine verbesserte Objekt- zu Hintergrundtrennung im Vergleich zu Einzelalgorithmen wird demonstriert.
Multimodaler Sensor zur Fahrzeugführung: Teilprojekt: Architektur, Rundumsicht und Objekterkennung
(1997)
We propose a new approach to object detection based on data fusion of texture and edge information. A self organizing Kohonen map is used as the coupling element of the different representations. Therefore, an extension of the proposed architecture incorporating other features, even features not derived from vision modules, is straight forward. It simplifies to a redefinition of the local feature vectors and a retraining of the network structure. The resulting hypotheses of object locations generated by the detection process are finally inspected by a neural network classifier based on co-occurence matrices.
Im vorliegenden Beitrag wird ein hochsprachenprogrammierbares System zur schritthaltenden Vollbild-Interpretation natürlich beleuchteter Szenenfolgen im Videotakt vorgestellt. Im einzelnen werden folgende Teilmodule und Subsysteme beschrieben: eine hochdynamische, pixellokal autoadaptive CMOS-Kamera mit ca. 120 dB Helligkeitsdynamik (20Bits/Pixel) ein hochsprachenprogrammierbarer Systolic Array Prozessor (für die pixelbezogenen Verarbeitungsmodule) im PCI-Kartenformat, samt optimierendem Compiler, Simulator und Emulator Systemprozeßgerüste unter Linux auf den für die Echtzeit-Anwendungen eingesetzten Hostrechnern (z.B. DEC/Alpha oder Intel/ Pentium)eine prototypische Anwendung zur bildverarbeitungsbasierten Eigenbewegungsbeobachtung (Translationsrichtung, Eotationsraten)eine prototypische, automotive Anwendung zur schritthalt enden Detektion und Kartierung des Straßen- und Spurverlaufs unter partieller monokularer 3D-Rekonstruktion, sowie prototypische Anwendungen zur Klassifikation verkehrsrelevanter Hindernisse (Verkehrsteilnehmer)
In this article we present a system for coupling different base algorithms and sensors for segmentation. Three different solutions for image segmentation by fusion are described, compared and results are shown. The fusion of base algorithms with colorinformation and a sensor fusion process of an optical and a radar sensor including a feedback over time is realized. A feature-in decision-out fusion process is solved. For the fusion process a multi layer perceptron (MLP) with one hidden layer is used as a coupling net. The activity of the output neuron represents the membership of each pixel to an initial segment.
Derzeitige Projekte am Institut für Neuroinformatik in Bochum beschäftigen sich mit der Analyse von Straßenverkehrsszenen mittels Computer Vision [12]. Dies impliziert, wegen der durch die natürliche Umwelt aufgestellten Randbedingungen, hohe Anforderungen an die zu entwickelnden Algorithmen. Im speziellen wird versucht, Verkehrsteilnehmer aus Videobildern zu extrahieren und die so gewonnenen Objekthypothesen weiter zu attributieren (z.B. Objektklasse, Abstand, Geschwindigkeit, Gefahrenpotential hinsichtlich der beabsichtigten Eigentrajektorie etc.), um im Hinblick auf den Einsatz in Assistenzsystemen in Fahrzeugen eine möglichst genaue Beschreibung der Umwelt zu erreichen. Nicht nur die große Vielfalt der unterschiedlichen Umweltszenarien, sondern auch das hohe Maß an Sicherheit, das die gestellte Aufgabe erfordert, bedingen ein breitbandiges und flexibles Gesamtsystem [6]. Ein Lösungsvorschlag wird im folgenden behandelt.
Systems for automated image analysis are useful for a variety of tasks and their importance is still increasing due to technological advances and an increase of social acceptance. Especially in the field of driver assistance systems the progress in science has reached a level of high performance. Fully or partly autonomously guided vehicles, particularly for road-based traffic, pose high demands on the development of reliable algorithms due to the conditions imposed by natural environments. At the Institut fur Neuroinformatik, methods for analyzing driving relevant scenes by computer vision are developed in cooperation with several partners from the automobile industry. We introduce a system which extracts the important information from an image taken by a CCD camera installed at the rear view mirror in a car. The approach consists of a sequential and a parallel sensor and information processing. Three main tasks namely the initial segmentation (object detection), the object tracking and the object classification are realized by integration in the sequential branch and by fusion in the parallel branch. The main gain of this approach is given by the integrative coupling of different algorithms providing partly redundant information.
Systems for automated image analysis are useful for a variety of tasks and their importance is still growing due to technological advances and an increase of social acceptance. Especially in the field of driver assistance systems the progress in science has reached a level of high performance. Fully or partly autonomously guided vehicles, particularly for road-based traffic, pose high demands on the development of reliable algorithms due to the conditions imposed by natural environments. At the Institut für Neuroinformatik methods for analyzing driving relevant scenes by computer vision are developed in cooperation with several partners from the automobile industry. We introduce a system which extracts the important information from an image taken by a CCD camera installed at the rear view mirror in a car. The approach consists of a sequential and a parallel sensor and information processing. Three main tasks namely the initial segmentation (object detection), the object tracking and the object classification are realized by integration in the sequential branch and by fusion in the parallel branch. The main gain of this approach is given by the integrative coupling of different algorithms providing partly redundant information.
Für das sichere Führen von Fahrzeugen im Straßenverkehr ist ein hohes Maß an Informationsverarbeitung notwendig, um aus den zur Verfügung stehenden Informationen, Handlungen für die Fahrzeugsteuerung abzuleiten. Der Mensch löst diese Aufgabe hauptsächlich auf der Basis visueller Informationen. Durch die Arbeitsweise des menschlichen Gehirns motiviert, wird am Institut für Neuroinformatik der Ruhr-Universität Bochum an einer Fahrzeugführung mittels Computer Vision gearbeitet. Fortlaufend oder zumindest in kurzen Abständen müssen hierbei Verkehrsteilnehmer aus den visuellen Informationen extrahiert und danach weiter attributiert werden. Wichtige Eigenschaften sind hierbei: Objektklasse (PKW, LKW, Fußgänger etc.), Abstand, Geschwindigkeit, Bewegungsrichtung und das Gefahrenpotential bezüglich der eigenen Ortsveränderung. Die Vielzahl der durch die Umwelt aufgestellten Randbedingungen und das aus der Aufgabenstellung implizierte hohe Maß an Sicherheit bedingen ein robustes und flexibles Gesamtsystem. Dieses Gesamtsystem besteht zum einen aus Basis-Algorithmen zur Vorverarbeitung der Eingabedaten und Extraktion von Bildmerkmalen und zum anderen aus darauf aufbauenden Verfahren zur Segmentierung, Klassifizierung und Verfolgung von Fahrzeugen.
In diesem Artikel wird ein System vorgestellt, welches eine videobasierte Hinderniserkennung zur automatisierten Bildanalyse von Straßenverkehrsszenen durchführt. Eine Unterteilung der Hinderniserkennung in Objektdetektion, Objektverfolgung und Objektklassifikation lässt eine Extraktion und eine Attributierung von Verkehrsteilnehmern zu. Eine Szeneninterpretation ist ableitbar.
In diesem Artikel wird eine flexible Architektur vorgestellt, mit deren Hilfe eine modulare Lösung von Fahrerassistenzaufgaben in Kraftfahrzeugen gezeigt werden kann. Es wird eine Objektbezogene Analyse von Sensordaten, eine Verhaltensbasierte Szeneninterpretation und eine Verhaltensplanung vorgestellt. Eine globale Wissensbasis, auf der jedes einzelne Modul arbeitet, beinhaltet die Beschreibung physikalischer Zusammenhänge, Verhaltensregeln für den Straßenverkehr, sowie Objekt- und Szenenwissen. Externes Wissen (z.B. GPS - Global Positioning System) kann ebenfalls in die Wissensbasis eingebunden werden. Als Anwendungsbeispiel der Verhaltensplanung wird ein intelligenter Tempomat vorgestellt.
Analyse dynamischer Szenen
(1999)
In diesem Artikel wird die Analyse dynamischer Szenen im Rahmen einer flexiblen Architektur zur Lösung von Fahrerassistenzaufgaben in Kraftfahrzeugen vorgestellt. Die Lösung unterschiedlicher Aufgaben mit verwandten Ansätzen bedingt einen hohen Grad an Modularität und Flexibilität. Nur so können die gestellten Aufgaben mit den vorhandenen Algorithmen optimal gelöst werden. In der vorgestellten Architektur wird eine objektbezogene Analyse von Sensordaten, eine verhaltensbasierte Szeneninterpretation und eine Verhaltensplanung durchgeführt. Eine globale Wissensbasis, auf der jedes einzelne Modul arbeitet, beinhaltet die Beschreibung physikalischer Zusammenhänge, Verhaltensregeln für den Straßenverkehr, sowie Objekt- und Szenenwissen.
Externes Wissen (z.B. GPS – Global Positioning System) kann ebenfalls in die Wissensbasis eingebunden werden. Als Anwendungsbeispiel der Verhaltensplanung ist ein intelligenter Tempomat realisiert.
To reduce the number of traffic accidents and to increase the drivers comfort, the thought of designing driver assistance systems rose in the past years. Principal problems are caused by having a moving observer (ego motion) in predominantly natural surroundings. In this paper we present a solution for a flexible architecture for a driver assistance system. The architecture can be subdivided into four different parts: the object-related analysis, the knowledge base, the behavior-based scene interpretation, and the behavior planning unit. The object-related analysis is fed with data by the sensors (e.g., vision, radar). The sensor data are preprocessed (flexible sensor fusion) and evaluated (saliency map) searching for object-related information (positions, types of objects, etc.). The knowledge base is represented by static and dynamic knowledge. It consists of a set of rules (e.g. , traffic rules, physical laws), additional information (i.e., GPS, lane-information) and it is implicitly used by algorithms in the system. The scene interpretation combines the information extracted by the object related analysis and inspects the information for contradictions. It is strongly connected to the behavior planning using only information needed for the actual task. In the scene interpretation consistent representations (i.e., bird's eye view) are organized and interpreted as well as a scene analysis is performed. The results of the scene interpretation are used for decision making in behavior planning, which is controlled by the actual task. The influence of behavior planning on the behavior of the guided vehicle is limited to advices as no mechanical control (e.g. , control of the steering angle) was implemented. An Intelligent Cruise Control (ICC) is shown as a spin-off for using this architecture.
Die steigenden Anforderungen an den Umweltschutz bei möglichst niedrigen Kosten betreffen auch die öffentlichen Kanalnetze und Kläranlagen. Speziell die Kanalnetze sind über Jahrzehnte gewachsen, ohne dass kostengünstig eine genaue Bilanz ihrer Leistungsfähigkeit bis in ihre Segmente möglich war. Es fehlte vor allem in kleineren Systemen an Messwerten für die Transportmengen in Abhängigkeit der Witterung zur Beurteilung des Transportverhaltens der Einzelsegmente. Erst diese Messwerte ermöglichen eine mathematische Modellbildung mit Parametrierung und damit Ansätze für eine Optimierung. In diesem Beitrag wird der Prototyp eines neuartigen Sensors vorgestellt, der die gleichzeitige, kostengünstige und zeitbegrenzte Erfassung der Abwasserströme an verschiedenen Punkten im Kanalnetz ermöglichen soll. Die im Abwasserstrom befindlichen Teile des Sensors sind preiswerte mechanische Komponenten, die kostengünstig und einfach zu ersetzen sind. Die Erfassung der Strömungsgeschwindigkeit und der durchströmten Querschnittsfläche erfolgt mit Hilfe der sich an einem Störkörper einstellenden Druckverhältnisse.
Fahrerassistenzsysteme werden eingesetzt, um dem Fahrer
eines Kraftfahrzeugs Handlungsabläufe abzunehmen. Diese Handlungsabläufe
werden definiert durch eine Aufgabenstellung, die vom Fahrer an das Fahrerassi-
stenzsystem übergeben oder systembedingt gelöst wird. Bei komplexen Fahreras-
sistenzsystemen ist an eine autonome Navigation im Straßenverkehr gedacht. Es
wird ein neues Verfahren vorgestellt, welches eine Bewegungssteuerung eines
autonomen Fahrzeugs durchführen kann. Es werden der Lenkwinkel und die Ge-
schwindigkeit beeinflußt. Für diese Aufgabe wird ein dynamischer Ansatz aus
dem Bereich der neuronalen Felder gewählt. Relevante Attribute für den Fahrt-
verlauf auf unterschiedlichem Abstraktionsniveau können dabei einfach (additiv)
verarbeitet werden.
Systems for automated image analysis are useful for a variety of tasks. Their importance is still growing due to technological advances and increased social acceptance. Especially driver assistance systems have reached a high level of sophistication. Fully or partly autonomously guided vehicles, particularly for road traffic, require highly reliable algorithms due to the conditions imposed by natural environments. At the Institut fur Neuroinformatik, methods for analyzing driving relevant scenes by computer vision are developed in cooperation with several partners from the automobile industry. We present a system extracting important information from an image taken by a CCD camera installed at the rear-view mirror in a car. The approach is divided into a sequential and a parallel phase of sensor and information processing. Three main tasks, namely initial segmentation (object detection), object tracking and object classification are realized by integration in the sequential phase and by fusion in the parallel phase. The main advantage of this approach is integrative coupling of different algorithms providing partly redundant information. q 2000 Elsevier Science B.V. All rights reserved.
The behavior planning of a vehicle in real world traffic is a difficult problem to be solved. If different hierarchies of tasks and purposes are built to structure the behavior of a driver, complex systems can be designed. But finally behavior planning in vehicles can only influence the controlled variables: steering angle and velocity. In this paper a behavior planning for a driver assistance system aiming on cruise control is proposed. In this system the controlled variables are determined by an evaluation of the dynamics of two one-dimensional neural fields. The stimuli of the field are determined according to sensor information produced by a simulation environment.
To reduce the number of traffic accidents and to increase the drivers comfort, the thought of designing driver assistance systems arose in the past years. Fully or partly autonomously guided vehicles, particularly for road traffic, pose high demands on the development of reliable algorithms. Principal problems are caused by having a moving observer in predominantly natural environments. At the Institut fur Neuroinformatik methods for analyzing driving relevant scenes by computer vision are developed in cooperation with several partners from the automobile industry. We present a solution for a driver assistance system. We concentrate on the aspects of video-based scene analysis and organization of behavior.
The scene interpretation and the behavior planning of a vehicle in real world traffic is a difficult problem to be solved. If different hierarchies of tasks and purposes are built to structure the behavior of a driver, complex systems can be designed. But finally behavior planning in vehicles can only influence the controlled variables: steering, angle and velocity. In this paper a scene interpretation and a behavior planning for a driver assistance system aiming on cruise control is proposed. In this system the controlled variables are determined by an evaluation of the dynamics of a two-dimensional neural field for scene interpretation and two one-dimensional neural fields controlling steering angle and velocity. The stimuli of the fields are determined according to the sensor information.
Analysis of dynamic scenes
(2000)
In this paper the proposed architecture for a dynamic scene analysis is illustrated by a driver assistance system. To reduce the number of traffic accidents and to increase the drivers comfort, the thought of designing driver assistance systems rose in the past years. Principal problems are caused by having a moving observer (ego motion) in predominantly natural surroundings. In this paper we present a solution for a flexible architecture for a driver assistance system. The architecture can be subdivided into four different parts: the object-related analysis, the knowledge base, the behavior-based scene interpretation, and the behavior planning unit. The object-related analysis is fed with data by the sensors (vision, radar). The sensor data are preprocessed (flexible sensor fusion) and evaluated (saliency map) searching for object-related information (positions, types of objects, etc.). The knowledge base is represented by static and dynamic knowledge. It consists of a set of rules (traffic rules, physical laws), additional information (GPS, lane-information) and it is implicitly used by algorithms in the system. The scene interpretation combines the information extracted by the
object-related analysis and inspects the information for contradictions. It is strongly connected to the behavior planning using only information needed for the actual task. In the scene interpretation consistent representations (i.e., bird’s eye view) are organized and interpreted as well as a scene analysis is performed. The results of the scene interpretation are used for decision making in behavior planning, which is controlled by the actual task.
In diesem Artikel stellen wir ein System zur Synchronisierung beliebiger, in Java geschriebener, Anwendungen vor. Nach einer kurzen Diskussion der Vor- und Nachteile von replizierter Datenhaltung – wie sie in unserem System verwendet wird – werden wir am Beispiel einer komplexen Diskussions- und Modellierungsumgebung
zeigen, wie man mit unserer Architektur Anwendungen partiell koppeln kann und somit flexible Kooperationsmöglichkeiten technisch unterstützen kann.
Die steigenden Anforderungen der fertigenden Industrie an Halbzeuge wie Stahl- und Aluminiumblech führen zu großen Anstrengungen bei der Entwicklung neuer und Verbesserung alter Walztechniken. Einen wesentlichen Einfluss auf die erreichbaren Flächentoleranzen der Bleche hat neben der Walzenform die Temperaturverteilung an der Walzenoberfläche.
Increasing demands from the manufacturing industry on semifinished products such as steel and aluminium plate are leading to greater efforts in the development of new and the improvement of existing rolling techniques. In addition to the shape of the roll, temperature distribution on the roll surface has a significant influence on the surface tolerances of the sheets which may be achieved.
In this paper we discuss how group processes can be influenced by designing specific tools in computer supported collaborative leaning. We present the design of a shared workspace application for co-constructive tasks that is enriched by certain functions that are able to track, analyze and feed back parameters of collaboration to group members. Thereby our interdisciplinary approach is mainly based on an integrative methodology for analyzing collaboration behavior and patterns in an implicit manner combined with explicit surveyed data of group members’ attitudes and its immediate feedback to the groups. In an exploratory study we examined the influence of this feedback function. Although we could only analyze ad-hoc groups in this study, we detected some benefits of our methodology which might enrich real life Learning Communities’ collaboration processes. The data analysis in our study showed advantages of this feedback on processes of a group’s well-being as well as parameters of participation. These results provide a basis for further empirical work on problem solving groups that are supported by means of parallel interaction analysis as well as its re-use as information resource.
In modernen Prüffeldern zur Warenendkontrolle dienen halbleitergesteuerte Frequenzumformer zur Einstellung der Drehzahl. Diese Systeme verursachen erhebliche Störungen der Strom- und Spannungssignale. Aus diesen Signalen müssen alle elektrischen Kenngrößen berechnet werden. Eine besondere Bedeutung haben dabei die Frequenz und Phasenlage. In diesem Beitrag wird ein mathematischer Algorithmus vorgestellt, der zur Berechnung von Frequenz und Phasenlage bei guter Unterdrückung dieser Störungen eingesetzt werden kann.
We describe the general concept, system architecture, hardware, and the behavioral abilities of Cora (Cooperative Robot Assistant, see Fig. 1), an autonomous non mobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed Cora anthropomorphic to allow for humanlike behavioral strategies in solving complex tasks. Although Cora was built as a prototype of a service robot system to assist a human partner in industrial assembly tasks, we will show that Cora’s behavioral abilities are also conferrable in a household environment. After the description of the hardware platform and the basic concepts of our approach, we present some experimental results by means of an assembly task.
The first robots are currently appearing on the consumer market. Initially they are targeted at rather simple applications such as entertainment and home convenience. For more complex areas, these robots will need to collaborate and interactively communicate with their human users, which requires appropriate man-machine interaction technologies and considerable cognitive abilities on the robot's side. Consumer acceptance will strongly depend on the integrated system. Thus, system integration and evaluation of the integrated system is becoming increasingly important. This paper describes our approach to construct a robotic assistance system. We present experience with an integrated technology demonstration and exposure of the integrated system to the public.
Mobile Walzenmesstechnik
(2003)
CORA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot's gripper (force sensing). The design objective has been to exploit the human operator's intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.
This paper deals with the question how to integrate smart devices in Java appli-
cations. It will outline how different smart devices can be used to enrich learning
environments, we will point to some of the problems one has to face while dealing
with smart devices, a differentiation of smart devices will be done and we will give an
overview about existing Java Virtual Machines available for different smart devices.
Furthermore we will tackle the question of the communication between different smart
devices and also between different kinds of smart devices. An outlook to the future
work will also be given at the end of this work
Coming out of the labs, the first robots are currently appearing on the consumer market. Initially they target rather simple application scenarios ranging from entertainment to home convenience. However, one can expect, that they will capture more complex areas soon. These robots will have a higher and higher level and a broad range of functional competence, and will collaborate and interactively communicate with their human users. All this requires considerable cognitive abilities on the robot’s side and appropriate man-machine interaction technologies. Apart from further development of individual functions and technologies it is crucial to build and evaluate fully integrated systems. This paper describes our approach to construct a robotic assistance system. We present experience with an integrated technology demonstration and the exposure of the integrated system to the public.
CoRA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand-over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot’s gripper (force sensing). The design objective has been to exploit the human operator’s intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.
This article describes the current state of our research on anthropomorphic robots. Our aim is to make the reader familiar with the two basic principles our work is based on: anthropomorphism and dynamics. The principle of anthropomorphism means a restriction to human-like robots which use version, audition and touch as their only sensors so that natural man-machine interaction is possible. The principle of dynamics stands for the mathematical framework based on which our robots generate their behavior. Both principles have their root in the idea that concepts of biological behavior and information processing can be exploited to control technical systems.
Advances in Human-Robot Interaction" provides a unique collection of recent research in human-robot interaction. It covers the basic important research areas ranging from multi-modal interfaces, interpretation, interaction, learning, or motion coordination to topics such as physical interaction, systems, and architectures. The book addresses key issues of human-robot interaction concerned with perception, modelling, control, planning and cognition, covering a wide spectrum of applications. This includes interaction and communication with robots in manufacturing environments and the collaboration and co-existence with assistive robots in domestic environments. Among the presented examples are a robotic bartender, a new programming paradigm for a cleaning robot, or an approach to interactive teaching of a robot assistant in manufacturing environment. This carefully edited book reports on contributions from leading German academic institutions and industrial companies brought together within MORPHA, a 4 year project on interaction and communication between humans and anthropomorphic robot assistants.
To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacles we have generalized the attractor dynamics approach established for vehicles to trajectory formation in robot arms. This approach is able to deal with the time-varying environments that occur when a human operator moves in a shared workspace. Stable fixed points (attractors) for the heading direction of the end-effector shift during movement and are being tracked by the system. This enables the attractor dynamics approach to avoid the spurious states that hamper potential field methods. Separating planning and control computationally, the approach is also simpler to implement. The stability properties of the movement plan make it possible to deal with fluctuating and imprecise sensory information. We implement this approach on a seven degree of freedom anthropomorphic arm reaching for objects on a working surface. We use an exact solution of the inverse kinematics, which enables us to steer the spatial position of the elbow clear of obstacles. The straight-line trajectories of the end-effector that emerge as long as the arm is far from obstacles make the movement goals of the robotic assistant predictable for the human operator, improving man-machine interaction
This paper describes an educational application that combines handhelds (PDAs) and programmable Lego bricks in a classroom scenario that deals with the problem of letting a robot escape from a maze. It is specific to our setting that the problem can be solved both in the physical world by steering a Lego robot and in a simulated software environment on a PDA or on a PC. This approach enables the students to generate successful sets of rules in the simulation and to test these sets of rules later in physical mazes, or to create new types of mazes as challenges for known rule sets. In this paper we describe the technical setting for this scenario, different pedagogical scenarios and we will report an evaluation with a group of students in a school environment.
In asynchronous collaboration scenarios, document metadata play an important role for indexing and retrieving documents in jointly used archives. However, the manual input of metadata is usually an unpleasant and error prone task. This paper describes an approach that allows the partially automatic generation of metadata in a collaborative modeling environment. It illustrates some usage scenarios for the metadata within the modelling framework – including concepts for document based social navigation and ideas for tool embedded archive queries based on the current state of the user's work.
The astronomy domain provides rich opportunities for learning about natural phenomena. It can involve and motivate a variety of mathematical and physical knowledge and skills. However it is difficult to connect astronomic observations to modelling and calculation tools and to embed them into educational scenarios. It is particularly this challenge which is focused in this paper. Concretely, we build on an existing collaborative modelling framework (Cool Modes) and extend it with specific representations to support learning activities in astronomy. A first field test has been conducted with these extensions.
This paper presents some ideas of how to use Web Services
for the implementation of innovative collaborative technologies. A major goal here is the idea to build re-usable collaborative software components to foster knowledge exchange and learning. This paper describes two examples of how we used Web Services to achieve this goal. The first example we will describe implements a digital notice board with large, public displays. Here, we used web service to provide flexible data access. Web services provide the possibility to use our infrastructure with different programming languages and devices. The second example we will present is an application that enables students to construct and
model experiments descriptions using a control plant-growth system, the biotube, remotely via Web Services.
In this paper we describe our efforts to foster educational interoperability in scenarios using mobile and wireless technologies to support hands-on scientific experimentation and learning. A special focus is given to the idea that innovative uses of mobile and wireless technologies enhance the learners' scientific experience. Specific contributions include the creation of new applications to support interoperability between different mobile devices, thus to provide "glue" between different learning situations. We describe a number of educational scenarios as well as the technologies and the architectural principles behind them.
To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacles we have generalized the attractor dynamics approach established for vehicles to trajectory formation in robot arms. This approach is able to deal with the time-varying environments that occur when a human operator moves in a shared workspace. Stable fixed-points (attractors) for the heading direction of the end-effector shift during movement and are being tracked by the system. This enables the attractor dynamics aoproach to avoid the spurious states that hamper potential field methods. Separating planning and control computationally, the approach is also simpler to implement. The stability properties of the movement plan enable to approach to deal with fluctuating and imprecise sensory information. We implement this approach on a seven degree of freedom anthropomorphic arm reaching for objects on a working surface. We use an exact solution of the inverse kinematics, which enables us to steer the spatial position of the elbow clear of obstacles. The straight-line trajectories of the end-effector that result far from obstacles make the movement goals of the robotic assistant predictable, improving man-machine interaction.
As service robotics research advances rapidly, availability of objective, reproducible test specifications and evaluation criteria and also of benchmarking is more and more felt to be desirable in the community. As a first step towards benchmarking, in this paper we propose a formalization of tests - exemplified for domestic grasp&place tasks. The underlying philosophy of our approach is to confront the robot system in a black-box manner with requirements of a “rational customer”, and characterize the performance of the system in an objective way by the outcomes of a test-suite tailored to this scenario. A formalized single test description consists of a clear and reproducible specification of the robot’s task and the full context on the one hand, and a number of figures which objectively characterize the test result on the other hand. We illustrate this methodology for the domestic assistance scenario.
For face recognition from video streams speed and accuracy are vital aspects. The first decision whether a preprocessed image region represents a human face or not is often made by a feed-forward neural network (NN), e.g. in the Viisage-FaceFINDER® video surveillance system. We describe the optimisation of such a NN by a hybrid algorithm combining evolutionary multi-objective optimisation (EMO) and gradient-based learning. The evolved solutions perform considerably faster than an expert-designed architecture without loss of accuracy. We compare an EMO and a single objective approach, both with online search strategy adaptation. It turns out that EMO is preferable to the single objective approach in several respects.
Im vorliegenden Beitrag wird das Phasen-Differenz-Verfahren zur Frequenzmessung der durch Rauschen gestörten Signale vorgestellt. Es wird gezeigt, dass Frequenzausreißer bei Anwendungen dieses Verfahrens entstehen, auch wenn das Signal-zu-Rausch-Verhältnis ausreichend groß ist. Die Ursachen der Frequenzausreißer werden analysiert. Zur Korrektur wird ein Lösungsansatz vorgeschlagen. Im Vergleich mit anderen Verfahren kann das verbesserte Phasen-Differenz-Verfahren die Frequenz der durch Rauschen gestörten Signale mit größerer Genauigkeit und vertretbarem Rechenaufwand berechnen.
In this paper we describe a session management system for setting up various collabora- tive classroom ,scenarios. The approach ,is addressing the additional workload ,of administrating classroom networks on the teacher, which is an important aspect for teachers' willingness to im- plement technology enhanced,learning in schools. The system facilitates preparation of classroom scenarios and the adhoc installation of networked collaborative sessions. We provided a graphical interface, which is usable for administration, monitoring, and for specification of a wide variety of different classroom ,situations with group work. The resulting graphical specifications are well suited to be re-used in the more formal learning design format IMS/LD; this is achieved by a auto- matable transformation of the scenarios to LD documents. Keywords: Collaborative classroom scenarios, lightweight classroom orchestration, learning de- sign, shared workspaces.
NewsGrid
(2005)
Film archives—particularly those storing video material on all kinds of news items—are important information sources for TV stations. Each TV station creates and maintains its own archive by storing video material received via satellite and/or internet on tapes in analogue and/or digital form. It cannot be predicted in advance which of this archived material will actually be used. Thus all material received must be catalogued and stored. On average only a small percentage of the material stored is actually used. Due to the increase in data volumes the cost of maintaining such repositories and retrieving particular stored items has become prohibitive. To-day digital videos are increasingly replacing analogue material. Digital videos offer the advantage that the can be stored in distributed databases and then be transferred without loss of quality to the transmitting station. Such digital archives can be made accessible to many TV stations, thus spreading the maintenance cost. Individual stations can retrieve only the material they actually need for particular news casts. In this paper a grid architecture for distributed video archives for news broadcasts is proposed. A crucial aspect of such a grid approach is that advanced methods for retrieving data must be available.
Sensing and processing of multimedia information is one of the basic traits of human beings. The development of digital technologies and applications allows the production of huge amounts of multimedia data. The rapidly decreasing prices for hardware such as digital cameras/camcorders, sound cards and the corresponding displays led to wide distribution of multimedia-capable input and output devices in all fields of the everyday life, from home entertainment to companies and educational organisations. Thus, multimedia information in terms of digital pictures, videos, and music can be created intuitively and is affordable for a broad spectrum of users.
The harmonic and interharmonic analysis recommendations are contained in the latest International Electrotechnical Commission (IEC) standards on power quality. Measurement and analysis experiences have shown that great difficulties arise in the interharmonics detection and measurement with acceptable levels of accuracy. In this paper, the spectral leakage problems of the discrete Fourier transform due to synchronization errors of interharmonics are analyzed. The time-domain averaging is investigated for the processing of harmonics in the framework of the IEC standards. A difference filter is proposed to detect interharmonics and can be compatible with the IEC standards. Simulations and the field results show the usefulness of the proposed methods.
We extend the attractor dynamics approach to generate goal-directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. To make the robot's movements human-like, we generate approximately straight-line trajectories by using two heading direction angles of the tool-point quite analogously to how movement is represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. A fifth equation governs the redundancy angle, which controls the elevation of the elbow so as to avoid obstacles and respect joint limits. These variables make it possible to generate movement while sitting in an attractor (or, in the language of the potential field approach, in a minimum). We demonstrate the approach on an assistant robot, which interacts with human users in a shared workspace
Das übergeordnete Forschungsgebiet, in das sich die vorliegende Arbeit einbettet, befasst sich mit der Erforschung von informationsverabeitenden Prozessen im Gehirn und der Anwendung der resultierenden Erkenntnisse auf technische Systeme. In Analogie zu biologischen Systemen, deren Beschaffenheit aus den Anforderungen der Umwelt an ihr Verhalten resultiert, leitet sich die Anthropomorphie als Entwurfsprinzip für die Struktur des mit den Menschen interagierenden robotischen Assistenzsystemen ab. Der Autor behandelt in der vorliegende Arbeit das Problem der Erzeugung von Motorverhalten im dreidimensionalen Raum am Beispiel eines anthropomorphen Roboterarmes in einem anthropomorphen robotischen Assistenzsystem. Entwickelt wurde hierbei ein allgemeiner Ansatz, der die Konzepte der Erzeugung von Motorverhalten im 3D-Raum, der Voraussimulation dynamischer Systeme zur Systemdiagnose und zur Suche gewünschter Systemzustände, sowie ein Konzept der Organisation von Verhalten enthält und vereinigt. Nichtlineare dynamische Systeme bilden das mathematische Fundament, die einheitlich, formale Sprache des Ansatzes, mit der sowohl das Motorverhalten des Roboters als auch dessen zeitkontinuierliche Teilsysteme rückgekoppelt werden.