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.     

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.     

Clip art rendering of smooth isosurfaces

Clip art is a simplified illustration form consisting of layered filled polygons or closed curves used to convey 3D shape information in a 2D vector graphics format. This paper focuses on the problem of direct conversion of smooth surfaces, ranging from the free-form shapes of art and design to the mathematical structures of geometry and topology, into a clip art form suitable for illustration use in books, papers and presentations.We show how to represent silhouette, shadow, gleam and other surface feature curves as the intersection of implicit surfaces, and derive equations for their efficient interrogation via particle chains. We further describe how to sort, orient, identify and fill the closed regions that overlay to form clip art. We demonstrate the results with numerous renderings used to illustrate the paper itself.     

Fluid-Induced Seismicity: Theory, Modeling, and Applications

Operations including borehole fluid injections are typical for exploration and development of hydrocarbon or geothermic reservoirs. Microseismicity occurring during such operations has a large potential for understanding physics of the seismogenic process as well as in obtaining detailed information about reservoirs at locations as far as several kilometers from boreholes. We propose that the phenomenon of microseismicity triggering by borehole fluid injections is related to the process of the Frenkel–Biot slow wave propagation. In the low-frequency range (hours or days of fluid injection durations) this process reduces to the pore-pressure diffusion. We search for diffusion-related features of induced microseismicity. Two types of such signatures are considered. The first one is related to the geometry of microseismic clouds. Another type of signature is related to the probability of microearthquakes. On this basis we introduce a concept for interpretation of microseismic data which provides a possibility to infer information about hydraulic properties of rocks. Such information can be of significant importance for industrial applications and for understanding physical properties of geological structures.     

Nondestructive and noncontact method for determining the spring constant of rectangular cantilevers

We present here an experimental setup and suggest an extension to the long existing added-mass method for the calibration of the spring constant of atomic force microscope cantilevers. Instead of measuring the resonance frequency shift that results from attaching particles of known masses to the end of cantilevers, we load them with water microdrops generated by a commercial inkjet dispenser. Such a device is capable of generating drops, and thus masses, of extremely reproducible size. This makes it an ideal tool for calibration tasks. Moreover, the major advantage of water microdrops is that they allow for a nearly contactless calibration: no mechanical micromanipulation of particles on cantilevers is required, neither for their deposition nor for removal. After some seconds the water drop is completely evaporated, and no residues are left on the cantilever surface or tip. We present two variants: we vary the size of the drops and deposit them at the free end of the cantilever, or we keep the size of the drops constant and vary their position along the cantilever. For the second variant, we implemented also numerical simulations. Spring constants measured by this method are comparable to results obtained by the thermal noise method, as we demonstrate for six different cantilevers.