MOBSY: Integration of vision and dialogue in service robots

Abstract. This contribution introduces MOBSY, a fully integrated, autonomous mobile service robot system. It acts as an automatic dialogue-based receptionist for visitors to our institute. MOBSY incorporates many techniques from different research areas into one working stand-alone system. The techniques involved range from computer vision over speech understanding to classical robotics. Along with the two main aspects of vision and speech, we also focus on the integration aspect, both on the methodological and on the technical level. We describe the task and the techniques involved. Finally, we discuss the experiences that we gained with MOBSY during a live performance at our institute.     

Prognose von 15 Zeitreihen der DGOR mit Neuronalen Netzen

In 1982, the working group “Forecasting Methods” of the Deutsche Gesellschaft für Operations Research (DGOR) carried out a forecasting comparison between 12 various models which were applied to 15 time series. The results of this study can be considered as a good benchmark for further prediction techniques. This paper reports upon the prediction of these 15 time series by using a Neural Network which was developed by the Backpropagation algorithm. The four highest autocorrelated lag-variables were used as the input variables of the Neural Network. The results show that the Neural Network delivered worse predictions than the other methods including the naive prediction by forecasting non-stationary time series. Stationary time series could be predicted better than the naive prediction, but in comparison to the other techniques the results were only average. After regarding the problem of non-stationarity by using the Dickey-Fuller-Test, first differences were chosen as the input-variables of the Neural Network. In this case, there was a considerable improvement, but the best method (Box-Jenkins' ARIMA technique) could not be surpassed.     

Effects of magnetic resonance imaging on cardiac pacemakers and electrodes

In phantom studies we investigated the effects of magnetic resonance imaging (MRI) on pacemakers and electrodes. Twenty-five electrodes were exposed to MRI in a 1.5T scanner with continuous registration of the temperature at the electrode tip. Eleven pacemakers (five single chamber and six dual chamber) were exposed to MRI. Pacemaker output was monitored to detect malfunction in VOO/DOO and VVI/DDD modes. A temperature increase at the electrode tip of up to 63.1 degrees C was observed during 90 seconds of scanning. In seven electrodes the temperature increase exceeded 15 degrees C. Although no pacemaker malfunctions were observed in asynchronous pacing mode (VOO/DOO), inhibition and rapid pacing were observed during spin-echo imaging if the pacemakers were set to VVI or DDD mode. Pacemaker function was not impaired during scanning with gradient-echo sequences. Next to pacemaker dysfunction, electrode heating has to be considered a possible adverse effect when exposing patients with pacemakers to MRI.     

Dynamic fields generated by rapid crack growth

Stresses and strains near a rapidly propagating crack tip are affected by the mass density of the material. This paper starts with a brief summary of analytical results for near-tip dynamic fields as predicted by linear elastic fracture mechanics. Next, exact expressions are derived for dynamic crack-line strains, for mode-III crack propagation in a nonlinear elastic material and in an elastic perfectly-plastic material. These expressions are valid on the crack line from the moving crack tip to the moving boundary with the region of linearly elastic deformation. For steady-state crack growth, a critical strain criterion is used to compute the relation between external load and crack tip speed. The required external load increases with crack-tip speed.     

Surface and Biocidal Properties of Gemini Cationic Surfactants Based on Propoxylated 1,6-Diaminohexane and Alkyl Bromides

Two new classes of gemini cationic surfactants—hexanediyl-1,6-bis[(isopropylol) alkylammonium] dibromide {in the abbreviation form: C_nC₆C_n[iPr-OH] and C_nC₆C_n[iPr-OH]₂; alkyl: C_nH_{2n + 1} with n = 9, 10, 12 and 14}—have been synthesized by interaction of alkyl bromides with N,N′-di-(isopropylol)-1,6-diaminohexane and N,N,N′,N′-tetra-(isopropylol)-1,6-diaminohexane. The surface tension, electrical conductivity, and dynamic light scattering (DLS) techniques were used to investigate the aggregation properties of the gemini cationic surfactants in aqueous solution. The formation of critical aggregates at two concentrations in an aqueous solution from obtained gemini cationic surfactants were determined via the tensiometric method. Thus, these gemini cationic surfactants start to form aggregates at concentrations well below their critical micelle concentrations (CMC). The surface properties and the binding degree (β) of the opposite ion were tested against the length of the surfactant hydrocarbon chain and the number of the isopropylol groups in the head group. By applying the DLS technique, it was explored that how the number of isopropylol groups in gemini cationic surfactants with C₁₂H₂₅ chain affects the sizes of micelles at concentrations greater than CMC. It was discovered that the obtained gemini cationic surfactants have a biocidal character.     

Tensile Fracture Toughness Measurements in Ceramics

A novel procedure is outlined whereby fracture toughness values for ceramics can be measured under uniaxial tension (mode I) in specimens containing a fatigue crack. Circumferentially notched rods of rapolycrystalline aluminum oxide were precracked in cyclic compression to introduce a fatigue crack at room temperature, following the technique proposed by Suresh and co-workers.^7,10,11 Subsequently, the precracked rods were fractured in pure tension. Highly reproducible values of fracture toughness were obtained using this method.     

Stiction issues and actuation of RF LIGA-MEMS variable capacitors

High aspect ratio variable capacitors have been fabricated using deep X-ray lithography and electroplating. Stiction phenomena applicable to high aspect ratio devices are presented, including the conditions for stiction to occur and the critical dimensions of structures. Actuation tests at 3 GHz are also presented and show a maximum capacitance of 0.86 pF with no actuation voltage and a minimum capacitance of 0.70 pF with an actuation voltage of 20 V just before pull-in, which gives a tuning range of 1.23:1. Corresponding Q-factor values are 49.3 and 70.8 respectively. After pull-in, the measured capacitance is 0.61 pF, corresponding to a tuning range of 1.41:1, with a maximum Q-factor of 102.9.     

Water diffusion in polymer nano-films measured with microcantilevers

We present a method to measure the absorption of water molecules from the liquid and the vapour phase into polymer nano-films and the diffusion inside these films. Film thickness can be down to 45 nm. To demonstrate the possibilities of this method we use polymer films that are deposited on the upper side of a silicon cantilever by plasma polymerization of norbornene. When a microdrop of water is deposited onto the initially straight cantilever, the drop causes the cantilever to bend while it evaporates. Evaporation of such small water drops usually takes less than a second. An upwards bending is due to capillary forces and a downwards bending is due to the diffusion of water into the polymer film – and the consequent volume expansion (swelling) of the film. The magnitude of the capillary forces and the extent of swelling continuously change during drop evaporation. When drop evaporation is over the cantilever returns to its initial straight position. We simulate the time dependent bending with a numerical model that qualitatively agrees with the experiment. From the time dependence of cantilever bending we are able to determine the diffusion coefficient of water in the thin polymer film.     

Compressed Multiresolution Hierarchies for High‐Quality Precomputed Shadows

The quality of shadow mapping is traditionally limited by texture resolution. We present a novel lossless compression scheme for high‐resolution shadow maps based on precomputed multiresolution hierarchies. Traditional multiresolution trees can compactly represent homogeneous regions of shadow maps at coarser levels, but require many nodes for fine details. By conservatively adapting the depth map, we can significantly reduce the tree complexity. Our proposed method offers high compression rates, avoids quantization errors, exploits coherency along all data dimensions, and is well‐suited for GPU architectures. Our approach can be applied for coherent shadow maps as well, enabling several applications, including high‐quality soft shadows and dynamic lights moving on fixed‐trajectories.