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.     

Biosorption of heavy metals by Saccharomyces cerevisiae: Effects of nutrient conditions

Studies took place to investigate the effects of different nutrient conditions on the biosorption ability and selectivity of heavy metals by Saccharomyces cerevisiae. After having grown in media supplemented with additional glucose, ammonium, phosphate or cysteine, the yeast was exposed to an equimolar solution of lead, cadmium, zinc and copper. Lead removal from a mixed solution was significantly higher than that of copper, followed by zinc and cadmium. Generally, yeasts from cysteine-rich media showed greatest sorption capacity whereas phosphate addition influenced zinc selectivity. In addition, glucose, fructose and sucrose as carbon sources were examined. Cultures grown in glucose had a better uptake than those cultivated with fructose at an incubation time of 30 min.     

Differential c-fos expression in the nucleus of the solitary tract and spinal cord following noxious gastric distention in the rat

c-Fos has been used as a marker for activity in the spinal cord following noxious somatic or visceral stimulation. Although the viscera receive dual afferent innervation, distention of hollow organs (i.e. esophagus, stomach, descending colon and rectum) induces significantly more c-Fos in second order neurons in the nucleus of the solitary tract and lumbosacral spinal cord, which receive parasympathetic afferent input (vagus, pelvic nerves), than the thoracolumbar spinal cord, which receives sympathetic afferent input (splanchnic nerves). The purpose of this study was to determine the contribution of sympathetic and parasympathetic afferent input to c-Fos expression in the nucleus of the solitary tract and spinal cord, and the influence of supraspinal pathways on Fos induction in the thoracolumbar spinal cord. Noxious gastric distention to 80 mmHg (gastric distension/80) was produced by repetitive inflation of a chronically implanted gastric balloon. Gastric distension/80 induced c-Fos throughout the nucleus of the solitary tract, with the densest labeling observed within 300 microns of the rostral pole of the area postrema. This area was analysed quantitatively following several manipulations. Gastric distension/80 induced a mean of 724 c-Fos-immunoreactive nuclei per section. Following subdiaphragmatic vagotomy plus distention (vagotomy/80), the induction of c-Fos-immunoreactive nuclei was reduced to 293 per section, while spinal transection at T2 plus distention (spinal transection/80) induced a mean of 581 nuclei per nucleus of the solitary tract section. Gastric distension/80 and vagotomy/80 induced minimal c-Fos in the T8-T10 spinal cord (50 nuclei/section), but spinal transection/80 induced 200 nuclei per section. Repetitive bolus injections of norepinephrine produced transient pressor responses mimicking the pressor response produced by gastric distension/80. This manipulation induced minimal c-Fos in the nucleus of the solitary tract and none in the spinal cord. It is concluded that noxious visceral input via parasympathetic vagal afferents, and to a lesser extent sympathetic afferents and the spinosolitary tract, contribute to gastric distention-induced c-Fos in the nucleus of the solitary tract. The induction of c-Fos in the nucleus of the solitary tract is significantly greater than in the viscerotopic segments of the spinal cord, which is partially under tonic descending inhibition, but is not subject to modulation by vagal gastric afferents. Distention pressures produced by noxious gastric distention are much greater than those produced during feeding, suggesting that c-Fos induction in the nucleus of the solitary tract to noxious distention is not associated with physiological mechanisms of feeding and satiety. The large vagal nerve-mediated induction of c-Fos in the nucleus of the solitary tract following gastric distension suggests that parasympathetic afferents contribute to the processing of noxious visceral stimuli, perhaps by contributing to the affective-emotional component of visceral pain.     

Reported food intake and distribution of body fat: a repeated cross-sectional study

Background  

Body mass, as well as distribution of body fat, are predictors of both diabetes and cardiovascular disease. In Northern Sweden, despite a marked increase in average body mass, prevalence of diabetes was stagnant and myocardial infarctions decreased. A more favourable distribution of body fat is a possible contributing factor.     

Intrinsic plagiarism analysis

Research in automatic text plagiarism detection focuses on algorithms that compare suspicious documents against a collection of reference documents. Recent approaches perform well in identifying copied or modified foreign sections, but they assume a closed world where a reference collection is given. This article investigates the question whether plagiarism can be detected by a computer program if no reference can be provided, e.g., if the foreign sections stem from a book that is not available in digital form. We call this problem class intrinsic plagiarism analysis; it is closely related to the problem of authorship verification. Our contributions are threefold. (1) We organize the algorithmic building blocks for intrinsic plagiarism analysis and authorship verification and survey the state of the art. (2) We show how the meta learning approach of Koppel and Schler, termed “unmasking”, can be employed to post-process unreliable stylometric analysis results. (3) We operationalize and evaluate an analysis chain that combines document chunking, style model computation, one-class classification, and meta learning.     

DuD Recht

DuD Recht

DuD Recht     

Coping with large design spaces: design problem solving in fluidic engineering

This paper is about tool support for knowledge-intensive engineering tasks. In particular, it introduces software technology to assist the design of complex technical systems. There is a long tradition in automated design problem solving in the field of artificial intelligence, where, especially in the early stages, the search paradigm dictated many approaches. Later, in the so-called modern period, a better problem understanding led to the development of more adequate problem solving techniques. However, search still constitutes an indispensable part in computer-based design problem solving—albeit many human problem solvers get by without (almost). We tried to learn lessons from this observation, and one is presented in this paper. We introduce design problem solving by functional abstraction which follows the motto: construct a poor solution with little search, which then must be repaired. For the domain of fluidic engineering we have operationalized the paradigm by the combination of several high-level techniques. The red thread of this paper is design automation, but the presented technology does also contribute in the following respects: (a) productivity enhancement by relieving experts from auxiliary and routine tasks; (b) formulation, exchange, and documentation of knowledge about design; (c) requirements engineering, feasibility analysis, and validation. This research was supported by DFG grants Schw 120/56-3, KL 529/10-3, KL 529/7-3, and KL 529/10-1.     

Fame in the sciences: a culturomics approach

Scientometrics - Although scientists, like many other professionals, aspire to fame and recognition, research in the emergent field of fame and celebrity has as yet neglected to explore their fame...     

Cycling reliability of RF-MEMS switches with Gold–Platinum multilayers as contact material

Microsystem Technologies - Contact resistance is the main parameter used for assessing the high cycling reliability of RF microelectromechanical (RF-MEMS) switches. In this paper the use of a...     

Energy polarization and popular representation: Evidence from the Russian Duma

In this article we introduce the term “energy polarization” to explain the politics of energy market reform in the Russian Duma. Our model tests the impact of regional energy production, party cohesion and ideology, and electoral mandate on the energy policy decisions of the Duma deputies (oil, gas, and electricity bills and resolution proposals) between 1994 and 2003. We find a strong divide between Single-Member District (SMD) and Proportional Representation (PR) deputies High statistical significance of gas production is demonstrated throughout the three Duma terms and shows Gazprom's key position in the post-Soviet Russian economy. Oil production is variably significant in the two first Dumas, when the main legislative debates on oil privatization occur. There is no constant left–right continuum, which is consistent with the deputies' proclaimed party ideology. The pro- and anti-reform poles observed in our Poole-based single dimensional scale are not necessarily connected with liberal and state-oriented regulatory policies, respectively. Party switching is a solid indicator of Russia's polarized legislative dynamics when it comes to energy sector reform.