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.     

Thin hard coatings fracture propagation during the impact test

One of the most significant applications of the impact test is to investigate thin hard coatings fatigue properties. Herein the test conditions and duration up to the film damage initiation, are considered in order to determine the critical stresses associated with the coating fatigue strength. Moreover, the subsequent film damage propagation is a significant mechanism as well, since it refers to the ability of the coating to withstand loads after its fatigue damage initiation. In order to describe the film fracture propagation the failed area ratio was introduced and an algorithm to determine this magnitude developed, based on the analysis of imprint scanning electron microscopy graphs. The application of the coating failed area ratio will be demonstrated in various impact test film cases, also with superficial thin layers. The top layers do not affect, in general, the failure initiation of the basic coating. However, according to the obtained results, the superficial films influence the basic coating failure propagation rate during the impact test.     

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.     

Automatic coding of dialogue acts in collaboration protocols

Although protocol analysis can be an important tool for researchers to investigate the process of collaboration and communication, the use of this method of analysis can be time consuming. Hence, an automatic coding procedure for coding dialogue acts was developed. This procedure helps to determine the communicative function of messages in online discussions by recognizing discourse markers and cue phrases in the utterances. Five main communicative functions are distinguished: argumentative, responsive, informative, elicitative, and imperative. A total of 29 different dialogue acts are specified and recognized automatically in collaboration protocols. The reliability of the automatic coding procedure was determined by comparing automatically coded dialogue acts to hand-coded dialogue acts by a human rater. The validity of the automatic coding procedure was examined using three different types of analyses. First, an examination of group differences was used (dialogue acts used by female versus male students). Ideally, the coding procedure should be able to distinguish between groups who are likely to communicate differently. Second, to examine the validity of the automatic coding procedure through examination of experimental intervention, the results of the automatic coding procedure of students, with access to a tool that visualizes the degree of participation of each student, were compared to students who did not have access to this tool. Finally, the validity of the automatic coding procedure of dialogue acts was examined using correlation analyses. Results of the automatic coding procedure of dialogue acts of utterances (form) were related to results of a manual coding procedure of the collaborative activities to which the utterances refer (content). The analyses presented in this paper indicate promising results concerning the reliability and validity of the automatic coding procedure for dialogue acts. However, limitations of the procedure were also found and discussed.     

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.     

MILLING PERFORMANCE OF COATED INSERTS WITH VARIABLE COATING THICKNESS ON THEIR RAKE AND FLANK

During the Physical Vapour Deposition of coatings, the orientation of cemented carbides insert surfaces to the plasma flux direction affects the occurring film thickness distribution on the rake and flank, which in turn might influence the wear propagation in cutting processes. In the present paper the cutting performance in milling of PVD coated cemented carbides inserts with variable film thickness on the rake and flank is introduced and with the aid of FEM-supported calculations explained. The investigation results revealed that a thicker film on the tool rake in comparison to the existing one on the flank and moreover a thick and uniformly deposited film in the cutting wedge region significantly enhances the cutting performance in milling.     

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.