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.     

Analysis of molecular determinants in native AMPA receptors

For this study, 194 respondents completed a biographical data sheet, the Templer (1970) Death Anxiety Scale and the Constantinople (1973) Inventory of Psychosocial Development to help assess the relationship among death anxiety, age, and psychosocial maturity. Findings showed that psychosocial maturity was a better predictor of death anxiety than age was. However, both variables were significantly negatively correlated with death anxiety, revealing that as psychosocial maturity and age increase, death anxiety decreases.     

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.     

Smoothing the electromagnetic heating pattern in polymers

In the production of polymers, particles and fibers are often added for coloring and/or improvement of mechanical, electrical, and thermal properties. Carefully choosing the electrical properties and size of these additives can allow manipulation of the electrical properties of the composite so that the material can then be heated in both the electric and magnetic fields. Heating can be induced by fields at microwave frequences, where the electric and magnetic fields tend to be concentrated in different regions, or by fields that are quasistatic. These features add a degree of freedom in smoothing the total heating pattern. Models for predicting the electrical properties with the addition of particles or fibers are developed and verified experimentally. Engineering guidelines are established in choosing the electrical properties and size of the additives. Experimentally, a rectangular cavity at 2.45 GHz is used to heat a casting resin with a 5.7 micrometer aluminum powder additive, demonstrating the dramatic smoothing in the heating, pattern made possible by using these additives. Some examples are also suggested to indicate the use of this technique in quasistatic heating configurations.     

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.     

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.