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.     

Impaired motor cortex inhibition in patients with amyotrophic lateral sclerosis. Evidence from paired transcranial magnetic stimulation

We investigated 14 patients with amyotrophic lateral sclerosis (ALS) by paired conditioning-test transcranial magnetic stimulation to test the hypothesis that the motor cortex is hyperexcitable in ALS. Intracortical (corticocortical) inhibition was significantly less in the ALS group than in an age-matched healthy control group (85.3 +/- 27.0% versus 45.2 +/- 15.5%, respectively; p < 0.0001). In contrast, intracortical facilitation, motor threshold, and cortical silent period duration in the ALS patients were not different from the control group. We suggest that the selective abnormality of intracortical inhibition is best compatible with an impaired function of inhibitory interneuronal circuits in the motor cortex that in turn renders the corticomotoneuron hyperexcitable.     

The Lorentz reciprocity theorem and range-dependent propagationmodeling

Modeling of electromagnetic propagation in the troposphere has been advanced in the last decade to the point where both the vertical and horizontal variation of refractivity can be accommodated readily. A hybrid ray-optics/parabolic equation model is utilized to predict propagation loss for a range-varying refractive structure to demonstrate the model obeys the Sommerfeld-Pfrang statement of the Lorentz reciprocity theorem     

Development of a physics analysis procedure for the prismatic very high temperature gas-cooled reactors

A new physics analysis procedure has been developed for a prismatic very high temperature gas-cooled reactor based on a conventional two-step procedure for the PWR physics analysis. The HELIOS and MASTER codes were employed to generate the coarse group cross sections through a transport lattice calculation, and to perform the 3-dimensional core physics analysis by a nodal diffusion calculation, respectively. Physics analysis of the prismatic VHTRs involves particular modeling issues such as a double heterogeneity of the coated fuel particles, a neutron streaming in the coolant channels, a strong core-reflector interaction, and large spectrum shifts due to changes of the surrounding environment and state parameters. Double heterogeneity effect was considered by using a recently developed reactivity-equivalent physical transformation method. Neutron streaming effect was quantified through 3-dimensional Monte Carlo transport calculations by using the MCNP code. Strong core-reflector interaction could be handled by applying an equivalence theory to the generation of the reflector cross sections. The effects of a spectrum shift could be covered by optimizing the coarse energy group structure. A two-step analysis procedure was established for the prismatic VHTR physics analysis by combining all the methodologies described above. The applicability of our code system was tested against core benchmark problems. The results of these benchmark tests show that our code system is very accurate and practical for a prismatic VHTR physics analysis.     

SBLOCA long term cooling procedure for the integral type PWR

An advanced integral-type pressurized water reactor (IPWR) with a maximum thermal power of 65 MW has been developed at the Korea Atomic Energy Research Institute (KAERI). This 65 MW IPWR enhances the safety and reliability by adopting inherent safety design characteristics and an advanced passive design feature.     

The effect of cavity-filling mutations on the thermostability of Bacillus stearothermophilus neutral protease

Cavities in the hydrophobic core of the neutral protease ofBacillus stearothermophilus were analyzed using a threedimensionalmodel that was inferred from the crystal structure of thermolysin,the highly homologous neutral protease of B.thermoproteolyticus(85% sequence identity). Site–directed mutagenesis wasused to fill some of these cavities, thereby improving hydrophobicpacking in the protein interior. The mutations had small effectson the thermostability, even after drastic changes, such asLeu284Trp and Met168Trp. The effects on T50, the temperatureat which 50% of the enzyme is irreversibly inactivated in 30min, ranged from 0.0 to +0.4°C. These results can be explainedby assuming that the mutations have positive and negative structuraleffects of approximately the same magnitude. Alternatively,it could be envisaged that the local unfolding steps, whichrender the enzyme susceptible towards autolysis and which arerate limiting in the process of thermal inactivation, are onlyslightly affected by alterations in the hydrophobic core.     

X‐ray diffraction (XRD)‐studies on the temperature dependent interface reactions on hafnium,zirconium, and nickel coated monocrystalline diamonds used in grinding segments for stone and concrete machining

Diamond impregnated metal matrix composites are the state of the art solution for the machining of mineral materials. The type of interface reactions between the metal matrix and diamond surface has an essential influence on the tool performance and durability. To improve the diamond retention, the diamonds can be coated by physical vapour deposition with metallic materials, which enforce interface reactions. Hence, this paper focuses on the investigation of the interfacial area on metal‐coated monocrystalline diamonds. Hafnium and zirconium, both known as carbide forming elements, are used as coating materials. The third coating, which is used to determine its catalytic influences when applied as a physical vapour deposition (PVD)‐layer, is nickel. Additionally, the coated diamond samples were heat‐treated to investigate the starting point of the formation of new phases. X‐ray diffraction‐analyses revealed the assumed carbide formation on hafnium and zirconium coated samples. The formation temperature was identified between 800 °C and 1000 °C for hafnium and zirconium coatings.     

Dense statistic versus sparse feature-based approach for 3D object recognition

In this article we introduce and compare two approaches towards automatic classification of 3D objects in 2D images. The first one is based on statistical modeling of wavelet features. It estimates probability density functions for all possible object classes considered in a particular recognition task. The second one uses sparse local features. For training, SURF features are extracted from the training images. During the recognition phase, features from the image are matched geometrically, providing the best fitting object for the query image. Experiments were performed for different training sets using more than 40 000 images with different backgrounds. Results show very good classification rates for both systems and point out special characteristics for each approach, which make them more suitable for different applications.     

On the adjoint-consistent formulation of interface conditions in goal-oriented error estimation and adaptivity for fluid–structure interaction

The numerical solution of fluid–structure-interaction problems poses a paradox in that most of the computational resources are consumed by the subsystem of least practical interest, viz., the fluid. Goal-oriented adaptive discretization methods provide a paradigm to bypass this paradox. Based on the solution of a dual problem, the contribution of local residuals to the error in a specific goal functional is estimated, and only the regions that yield a dominant contribution are refined. In the present work, we address a fundamental complication in the application of goal-oriented adaptivity to fluid–structure-interaction problems, namely, that the treatment of the interface conditions has nontrivial consequences for the properties of the dual problem. In the context of a linearized model problem, we consider two equivalent discretizations differing only on the formulation of the interface coupling terms. By means of an adjoint consistency analysis, we show that only one of these discretizations is adjoint consistent. Numerical experiments convey that the two discretizations behave very differently for the dual problem, and that the adjoint-consistent discretization yields more reliable error estimates. Based on the adjoint-consistent discretization, we finally present some h- and hp-adaptive results, confirming that tremendous savings in computational cost can be realized through the use of goal-oriented refinement strategies. The numerical experiments illustrate that the goal-oriented approach effectively equilibrates the error contributions of the fluid and structure subsystems, which is imperative for efficiently resolving the coupled fluid–structure-interaction problem, and which cannot be accomplished by uniform or residual-based refinement strategies.