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In the realm of service robots recovery from faults is indispensable to foster user acceptance. Here fault is to be understood not in the sense of robot internal, rather as interaction faults while situated in and interacting with an environment (aka ex-ternal faults). We reason along the most frequent failures in typical scenarios which we observed during real-world demonstrations and competitions using our Care-O-bot III 1 robot. They take place in an apartment-like environments which is known as closed world. We suggest four different -for now adhoc -fault categories caused by disturbances, imperfect per-ception, inadequate planning or chaining of action sequences. The fault are categorized and then mapped to a handful of partly known, partly extended fault handling techniques. Among them we applied qualitative reasoning, use of simu-lation as oracle, learning for planning (aka en-hancement of plan operators) or -in future -case-based reasoning. Having laid out this frame we mainly ask open questions related to the applicability of the pre-sented approach. Amongst them: how to find new categories, how to extend them, how to as-sure disjointness, how to identify old and label new faults on the fly.
The work presented in this paper focuses on the comparison of well-known and new techniques for designing robust fault diagnosis schemes in the robot domain. The main challenge for fault diagnosis is to allow the robot to effectively cope not only with internal hardware and software faults but with external disturbances and errors from dynamic and complex environments as well.
This paper presents an approach to estimate theego-motion of a robot while moving. The employed sensor is aTime-of-Flight (ToF) camera, the SR3000 from Mesa Imaging.ToF cameras provide depth and reflectance data of the scene athigh frame rates.The proposed method utilizes the coherence of depth andreflectance data of ToF cameras by detecting image features onreflectance data and estimating the motion on depth data. Themotion estimate of the camera is fused with inertial measure-ments to gain higher accuracy and robustness.The result of the algorithm is benchmarked against referenceposes determined by matching accurate 2D range scans. Theevaluation shows that fusing the pose estimate with the datafromthe IMU improves the accuracy and robustness of the motionestimate against distorted measurements from the sensor.
This work presents a person independent pointing gesture recognition application. It uses simple but effective features for the robust tracking of the head and the hand of the user in an undefined environment. The application is able to detect if the tracking is lost and can be reinitialized automatically. The pointing gesture recognition accuracy is improved by the proposed fingertip detection algorithm and by the detection of the width of the face. The experimental evaluation with eight different subjects shows that the overall average pointing gesture recognition rate of the system for distances up to 250 cm (head to pointing target) is 86.63% (with a distance between objects of 23 cm). Considering just frontal pointing gestures for distances up to 250 cm the gesture recognition rate is 90.97% and for distances up to 194 cm even 95.31%. The average error angle is 7.28◦.
Understanding the Internet of Things: A Conceptualisation of Business-to-Thing (B2T) Interactions
(2015)
[Context and motivation] Communication in distributed software development is usually supported by issue tracking systems. Within these systems, most of the communication is stored as unstructured natural language text. The natural language text, however, contains much information with respect to requirements management, e.g. discussion, clarification and prioritization of features, bugs, and refactorings. [Question] This paper investigates the information stored in the issue tracking systems of four different open-source projects. It categorizes the text and reports on the distribution of issue types and information types. [Principal ideas/results] A manual analysis of 80 issues, using a grounded approach, is conducted to derive a taxonomy of issue types and information types. Subsequently, the taxonomy is used as a codebook, to manually categorize and structure the text in another 120 issues. [Contribution] The first contribution of this paper is the taxonomy of issue and information types and the second contribution is an in-depth analysis of the natural language data and the communication. This analysis showed, for example, that information with respect to prioritization and scheduling can be found in natural language data, whether the ITS supports such tasks in a structured way or not.
Comparison of the subject-oriented and the Petri net based approach for business process automation
(2015)
The subject-oriented modelling approach [5] significally differs from the classic Petri net based approach of many business process modeling languages like EPC [9], Business Process Model and Notation (BPMN) [11], and also Yet Another Workflow Language (YAWL) [10]. In this work, we compare the two approaches by modeling a case study called "Procure to Pay"[3], a typical business process where some equipment for a construction site is rented and finally paid. The case study is not only modelled but also automated using the Metasonic Suite for the subject-oriented and YAWL for the Petri net based approach.
Perception is one of the most important cognitive capabilities of an entity since it determines how an entity perceives its environment. The presented work focuses on providing cost efficient but realistic perceptual processes for intelligent virtual agents (IVAs) or NPCs with the goal of providing a sound information basis for the entities' decision making processes. In addition, an agent-central perception process should rovide a common interface for developers to retrieve data from the IVAs' environment. The overall process is evaluated by applying it to a scenario demonstrating its benefits. The evaluation indicates, that such a realistically simulated perception process provides a powerful instrument to enhance the (perceived) realism of an IVA's simulated behavior.