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Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach
(2013)
Robots interacting in complex and cluttered environments may face unexpected situations referred to as external faults which prohibit the successful completion of their tasks. In order to function in a more robust manner, robots need to recognise these faults and learn how to deal with them in the future. We present a simulation-based technique to avoid external faults occurring during execusion releasing actions of a robot. Our technique utilizes simulation to generate a set of labeled examples which are used by a histogram algorithm to compute a safe region. A safe region consists of a set of releasing states of an object that correspond to successful performances of the action. This technique also suggests a general solution to avoid the occurrence of external faults for not only the current, observable object but also for any other object of the same shape but different size.
We developed a scene text recognition system with active vision capabilities, namely: auto-focus, adaptive aperture control and auto-zoom. Our localization system is able to delimit text regions in images with complex backgrounds, and is based on an attentional cascade, asymmetric adaboost, decision trees and Gaussian mixture models. We think that text could become a valuable source of semantic information for robots, and we aim to raise interest in it within the robotics community. Moreover, thanks to the robot’s pan-tilt-zoom camera and to the active vision behaviors, the robot can use its affordances to overcome hindrances to the performance of the perceptual task. Detrimental conditions, such as poor illumination, blur, low resolution, etc. are very hard to deal with once an image has been captured and can often be prevented. We evaluated the localization algorithm on a public dataset and one of our own with encouraging results. Furthermore, we offer an interesting experiment in active vision, which makes us consider that active sensing in general should be considered early on when addressing complex perceptual problems in embodied agents.
The simulation of fluid flows is of importance to many fields of application, especially in industry and infrastructure. The modelling equations applied describe a coupled system of non-linear, hyperbolic partial differential equations given by one-dimensional shallow water equations that enable the consistent implementation of free surface flows in open channels as well as pressurised flows in closed pipes. The numerical realisation of these equations is complicated and challenging to date due to their characteristic properties that are able to cause discontinuous solutions.
Cost efficient energy monitoring in existing large buildings demands for autonomous indoor sensors with low power consumption, high performance in multipath fading channels and economic implementation. Good performance in multipath fading channels can be achieved with noncoherent chaotic modulation schemes such as chaos on-off keying (COOK) or differential chaos shift keying (DCSK). While COOK stands out in the area of power consumption, DCSK excels when it comes to its performance in noisy and multipath fading channels. This paper evaluates a combination of both schemes for autonomous indoor sensors. The simulation results show 50% less power consumption than DCSK and more than 3dB SNR gain in Rayleigh fading channels at BER=10-3 as compared to COOK, making it a promising candidate for low power transmission in autonomous wireless indoor sensors. We further present an enhanced version of this scheme showing another 1 dB SNR improvement, but at 25% less power consumption than DCSK.
Der Wechsel vom Lehren zum aktiven Lernen kann durch studentische Projekte gelingen. Studierende wenden das bisher vermittelte Wissen an und erleben dadurch Ihre eigene Handlungskompetenz während der Bearbeitung einer berufsnahen Aufgabenstellung. Lernziel ist hierbei die Steigerung der Handlungskompetenz, bestehend aus Fach-, Sozial-, Methoden- und Individualkompetenz durch die Aufgabenbearbeitung im Team. Insbesondere wird dabei auch Wert auf die Vermittlung und Erfahrung von Skills, wie z. B. Kooperationsfähigkeit, Kommunikationsverhalten und Arbeitsorganisation gelegt.
When it comes to university-level mathematics in engineering education it is getting harder and harder to bridge the gap between the requirements of the curriculum and the actual math skills of first-year students. Often students fail to realise that they lack elementary math skills. Lecturers intend to help them to learn what they have not learned at school. But obstacles like for example lapses in their concentration while working on exercises or playing down their problems can make it difficult to bridge existing gaps.
In order to increase the concentration while solving problems that deal with elementary mathematics students could communicate in a foreign language. By doing so, they have to understand the subject matter in order to talk about it. The Bonn-Rhein-Sieg University of Applied Science tries to launch a project that examines how dealing with these mathematical problems in a foreign language can support students acquiring fundamental mathematical skill. For this purpose the university is seeking for an international partnership. Via virtual communications students from both universities work in teams in English on mathematical problems. The research question if foreign language teaching can advance the acquisition of knowledge is the focus of interest.
Using an Embroidery Machine to Achieve a Deeper Understanding of Electromechanical Applications
(2013)