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.     

Hydrothermal Reaction Mechanism and Pathway for the Formation of K2Ti6O13 Nanowires

Calculations and detailed first principle and thermodynamic analyses have been performed to understand the formation mechanism of K₂Ti₆O₁₃ nanowires (NWs) by a hydrothermal reaction between bulk Na₂Ti₃O₇ crystals and a KOH solution. It is found that direct ion exchange between K⁺ and Na⁺ plus H⁺ interactions with [TiO₆] octahedra in Na₂Ti₃O₇ promote the formation of an intermediate H₂K₂Ti₆O₁₄ phase. The large lattice mismatch between this intermediate phase and the bulk Na₂Ti₃O₇ structure, and the large energy reduction associated with the formation of this intermediate phase, drive the splitting of the bulk crystal into H₂K₂Ti₆O₁₄ NWs. However, these NWs are not stable because of large [TiO₆] octahedra distortion and are subject to a dehydration process, which results in uniform K₂Ti₆O₁₃ NWs with narrowly distributed diameters of around 10 nm.     

Finite sample properties of estimators of spatial autoregressive models with autoregressive disturbances

The article investigates the finite sample properties of estimators for spatial autoregressive models where the disturbance terms may follow a spatial autoregressive process. In particular we investigate the finite sample behavior of the feasible generalized spatial two-stage least squares (FGS2SLS) estimator introduced by Kelejian and Prucha (1998), the maximum likelihood (ML) estimator, as well as that of several other estimators. We find that the FGS2SLS estimator is virtually as efficient as the ML estimator. This is important because the ML estimator is computationally burdensome, and may even be forbidding in large samples, while the FGS2SLS estimator remains computationally feasible in large samples. Received: 20 January 2001 / Accepted: 31 August 2001     

Highly oriented star-like patterns observed on GaSe epilayers grown on Si(111)

Epitaxial lamellar gallium selenide (GaSe) semiconductors have been grown on trench-patterned silicon (Si) substrates by molecular beam epitaxy. An intriguing star-like patterned morphology was identified by atomic force microscopy on these epilayers. This non-trivial feature can be correlated with the accumulation of stacking faults of two concurrent epitaxial domains around self-oriented triangular pits developed earlier on the Si(111) surface by the chemical etching. Crystallographic considerations show how the stars can be formed.     

Results of a User Study on 2D Hurricane Visualization

We present the results from a user study looking at the ability of observers to mentally integrate wind direction and magnitude over a vector field. The data set chosen for the study is an MM5 (PSU/NCAR Mesoscale Model) simulation of Hurricane Lili over the Gulf of Mexico as it approaches the southeastern United States. Nine observers participated in the study. This study investigates the effect of layering on the observer's ability to determine the magnitude and direction of a vector field. We found a tendency for observers to underestimate the magnitude of the vectors and a counter‐clockwise bias when determining the average direction of a vector field. We completed an additional study with two observers to try to uncover the source of the counter‐clockwise bias. These results have direct implications to atmospheric scientists, but may also be able to be applied to other fields that use 2D vector fields.     

Heat resistance of Escherichia coli O157:H7 in cook‐in‐bag ground beef as affected by pH and acidulant†

Summary The heat resistance of a four‐strain mixture of Escherichia coli O157:H7 was tested. The temperature range was 55–62.5 °C and the substrate was beef at pH 4.5 or 5.5, adjusted with either acetic or lactic acid. Inoculated meat, packaged in bags, was completely immersed in a circulating water bath and cooked to an internal temperature of 55, 58, 60, or 62.5 °C in 1 h, and then held for pre‐determined lengths of time. The surviving cell population was enumerated by spiral plating meat samples on tryptic soy agar overlaid with Sorbitol MacConkey agar. Regardless of the acidulant used to modify the pH, the D ‐values at all temperatures were significantly lower (P < 0.05) in ground beef at pH 4.5 as compared with the beef at pH 5.5. At the same pH levels, acetic acid rendered E. coli O157:H7 more sensitive to the lethal effect of heat. The analysis of covariance showed evidence of a significant acidulant and pH interaction on the slopes of the survivor curves at 55 °C. Based on the thermal‐death–time values, contaminated ground beef (pH 5.5/lactic acid) should be heated to an internal temperature of 55 °C for at least 116.3 min and beef (pH 4.5/acetic acid) for 64.8 min to achieve a 4‐log reduction of the pathogen. The heating time at 62.5 °C, to achieve the same level of reduction, was 4.4 and 2.6 min, respectively. Thermal‐death–time values from this study will assist the retail food processors in designing acceptance limits on critical control points that ensure safety of beef originally contaminated with E. coli O157:H7.     

Multiplicative cases from additive cases: Extension of Kolmogorov–Feller equation to parametric Poisson white noise processes

In this paper the response of nonlinear systems driven by parametric Poissonian white noise is examined.As is well known, the response sample function or the response statistics of a system driven by external white noise processes is completely defined. Starting from the system driven by external white noise processes, when an invertible nonlinear transformation is applied, the transformed system in the new state variable is driven by a parametric type excitation. So this latter artificial system may be used as a tool to find out the proper solution to solve systems driven by parametric white noises. In fact, solving this new system, being the nonlinear transformation invertible, we must pass from the solution of the artificial system (driven by parametric noise) to that of the original one (driven by external noise, that is known). Moreover, introducing this invertible nonlinear transformation into the Itô’s rule for the original system driven by external input, one can derive the Itô’s rule for systems driven by a parametric type excitation, directly. In this latter case one can see how natural is the presence of the Wong–Zakai correction term or the presence of the hierarchy of correction terms in the case of normal and Poissonian white noise, respectively. Direct transformation on the Fokker–Planck and on the Kolmogorov–Feller equation for the case of parametric input are found.     

Efficient similarity-based operations for data integration

Dealing with discrepancies in data is still a big challenge in data integration systems. The problem occurs both during eliminating duplicates from semantic overlapping sources as well as during combining complementary data from different sources. Though using SQL operations like grouping and join seems to be a viable way, they fail if the attribute values of the potential duplicates or related tuples are not equal but only similar by certain criteria. As a solution to this problem, we present in this paper similarity-based variants of grouping and join operators. The extended grouping operator produces groups of similar tuples, the extended join combines tuples satisfying a given similarity condition. We describe the semantics of this operator, discuss efficient implementations for the edit distance similarity and present evaluation results. Finally, we give examples of application from the context of a data reconciliation project for looted art.     

Frequency weighting for the evaluation of steering wheel rotational vibration

The human perception of rotational hand–arm vibration has been investigated by means of a test rig consisting of a rigid frame, an electrodynamic shaker unit, a rigid steering wheel, a shaft assembly, bearings and an automobile seat. Fifteen subjects were tested while seated in a driving posture. Four equal sensation tests and one annoyance threshold test were performed using sinusoidal excitation at 18 frequencies in the range from 3 to 315 Hz. In order to guarantee the generality of the equal sensation data, the four tests were defined to permit checks of the possible influence of three factors: reference signal amplitude, psychophysical test procedure and temporary threshold shift caused by the test exposure. All equal sensation tests used a reference sinusoid of 63 Hz at either 1.0 or 1.5 m/s² r.m.s. in amplitude. The four equal sensation curves were similar in shape and suggested a decrease in human sensitivity to hand–arm rotational vibration with increasing frequency. The slopes of the equal sensation curves changed at transition points of approximately 6.3 and 63 Hz. A frequency weighting, called W_s, was developed for the purpose of evaluating steering wheel rotational vibration. The proposed W_s has a slope of 0 dB per octave over the frequency range from 3 to 6.3 Hz, a slope of −6 dB per octave from 6.3 to 50 Hz, a slope of 0 dB per octave from 50 to 160 Hz and a slope of −10 dB per octave from 160 to 315 Hz. W_s provides a possible alternative to the existing W_h frequency weighting defined in International Standards Organisation 5349-1 (2001) and British Standards Institution BS 6842 (1987).

Relevance to industry

For the manufacturers of tyres, steering systems and other vehicular components the proposed W_s frequency weighting provides a more accurate representation of human perception of steering wheel rotational vibration than the W_h weighting of ISO 5349-1 and BS6842.     

Performance of unitary heat pumps: review of ASHRAE Symposium session

1. 1. System design optimization and validation for single-speed heat pump by S.K. Fischer and C.K. Rice, Oak Ridge National Laboratories.

2. 2. Analysis of on/off cycling for an air-to-air heat pump operating in the heating mode by W.A. Miller, Oak Ridge National Laboratories.

3. 3. Field measured cycling, frosting and defrosting losses for a high efficiency air source heat pump by V.D. Baxter and J.C. Moyers, Oak Ridge National Laboratories.

4. 4. Design and available energy analysis of a heating-only residential heat pump for the Western Pacific Northwest by D.E. Elger, C.M. Reistad and S. Lang, Oregon State University.

5. 5. A study of heat pump service life by Nance C. Lovvorn, Alabama Power Company and Carl C. Hiller, Electric Power Research.