Krieg-Brückner, Bernd
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Krieg-Brückner, Bernd
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Krieg-Brückner, Bernd
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Item-typ:Veröffentlichung, Multimodal Shared-Control Interaction for Mobile Robots in AAL Environments(2013-12-18); ; ; This dissertation investigates the design, development and implementation of cognitively adequate, safe and robust, spatially-related, multimodal interaction between human operators and mobile robots in Ambient Assisted Living environments both from the theoretical and practical perspectives. By focusing on different aspects of the concept Interaction, the essential contribution of this dissertation is divided into three main research packages; namely, Formal Interaction, Spatial Interaction and Multimodal Interaction in AAL. As the principle package, in Formal Interaction, research effort is dedicated to developing a formal language based interaction modelling and management solution process and a unified dialogue modelling approach. This package aims to enable a robust, flexible, and context-sensitive, yet formally controllable and tractable interaction. This type of interaction can be used to support the interaction management of any complex interactive systems, including the ones covered in the other two research packages. In the second research package, Spatial Interaction, a general qualitative spatial knowledge based multi-level conceptual model is developed and proposed. The goal is to support a spatially-related interaction in human-robot collaborative navigation. With a model-based computational framework, the proposed conceptual model has been implemented and integrated into a practical interactive system which has been evaluated by empirical studies. It has been particularly tested with respect to a set of high-level and model-based conceptual strategies for resolving the frequent spatially-related communication problems in human-robot interaction. Last but not least, in Multimodal Interaction in AAL, attention is drawn to design, development and implementation of multimodal interaction for elderly persons. In this elderly-friendly scenario, ageing-related characteristics are carefully considered for an effective and efficient interaction. Moreover, a standard model based empirical framework for evaluating multimodal interaction is provided. This framework was especially applied to evaluate a minutely developed and systematically improved elderly-friendly multimodal interactive system through a series of empirical studies with groups of elderly persons.Dissertation422 131 - Some of the metrics are blocked by yourconsent settings
Item-typ:Veröffentlichung, Postdictive Reasoning in Epistemic Action Theory(2013-12-18); ; ; If an agent executes an action, this will not only change the world physically, but also the agent's knowledge about the world. Therefore the occurrence of an action can be modeled as an epistemic state transition which maps the knowledge state of an agent to a successor knowledge state. For example, consider that an agent in a state s_0 executes an action a. This causes a transition to a state s_1. Subsequently, the agent executes a sensing action a_s, which produces knowledge and causes a transition to a state s_2. With the information which is gained by the sensation, the agent can not only extend its knowledge about s_2, but also infer additional knowledge about the initial state s_0. That is, the agent uses knowledge about the present to retrospectively acquire additional information about the past. We refer to this temporal form of epistemic inference as postdiction. Existing action theories are not capable of efficiently performing postdictive reasoning because they require an exponential number of state variables to represent an agent's knowledge state. The contribution of this thesis is an approximate epistemic action theory which is capable of postdictive reasoning while it requires only a linear number of state variables to represent an agent's knowledge state. In addition, the theory is able to perform a more general temporal form of postdiction, which most existing approaches do not support. We call the theory the h-approximation (HPX) because it explicitly represents "historical" knowledge about past world states. In addition to the operational semantics of HPX, we present its formalization in terms of Answer Set Programming (ASP) and provide respective soundness results. The ASP implementation allows us to apply HPX in real robotic applications by using off-the-shelf ASP solvers. Specifically, we integrate of HPX in an online planning framework for Cognitive Robotics where planning, plan execution and abductive explanation tasks are interleaved. As a proof-of-concept, we provide a case-study which demonstrates the application of HPX for high-level robot control in a Smart Home. The case-study emphasizes the usefulness of postdiction for abnormality detection in robotics: actions which are performed by robots are often not successful due to unforeseen practical problems. A solution is to verify action success by observing the effects of the action. If the desired effects do not hold after action execution, then one can postdict the existence of an abnormality.Dissertation474 137 - Some of the metrics are blocked by yourconsent settings
Item-typ:Veröffentlichung, Bringing a Humanoid Robot Closer to Human Versatility : Hard Realtime Software Architecture and Deep Learning Based Tactile Sensing(2019-01-22); ; ; For centuries, it has been a vision of man to create humanoid robots, i.e., machines that not only resemble the shape of the human body, but have similar capabilities, especially in dextrously manipulating their environment. But only in recent years it has been possible to build actual humanoid robots with many degrees of freedom (DOF) and equipped with torque controlled joints, which are a prerequisite for sensitively acting in the world. In this thesis, we extend DLR's advanced mobile torque controlled humanoid robot Agile Justin into two important directions to get closer to human versatility. First, we enable Agile Justin, which was originally built as a research platform for dextrous mobile manipulation, to also be able to execute complex dynamic manipulation tasks. We demonstrate this with the challenging task of catching up to two simultaneously thrown balls with its hands. Second, we equip Agile Justin with highly developed and deep learning based tactile sensing capabilities that are critical for dextrous fine manipulation. We demonstrate its tactile capabilities with the delicate task of identifying an objects material simply by gently sweeping with a fingertip over its surface. Key for the realization of complex dynamic manipulation tasks is a software framework that allows for a component based system architecture to cope with the complexity and parallel and distributed computational demands of deep sensor-perception-planning-action loops -- but under tight timing constraints. This thesis presents the communication layer of our aRDx (agile robot development -- next generation) software framework that provides hard realtime determinism and optimal transport of data packets with zero-copy for intra- and inter-process and copy-once for distributed communication. In the implementation of the challenging ball catching application on Agile Justin, we take full advantage of aRDx's performance and advanced features like channel synchronization. Besides developing the challenging visual ball tracking using only onboard sensing while "everything is moving" and the automatic and self-contained calibration procedure to provide the necessary precision, the major contribution is the unified generation of the reaching motion for the arms. The catch point selection, motion planning and the joint interpolation steps are subsumed in one nonlinear constrained optimization problem which is solved in realtime and allows for the realization of different catch behaviors. For the highly sensitive task of tactile material classification with a flexible pressure-sensitive skin on Agile Justin's fingertip, we present our deep convolutional network architecture TactNet-II. The input is the raw 16000 dimensional complex and noisy spatio-temporal tactile signal generated when sweeping over an object's surface. For comparison, we perform a thorough human performance experiment with 15 subjects which shows that Agile Justin reaches superhuman performance in the high-level material classification task (What material id?), as well as in the low-level material differentiation task (Are two materials the same?). To increase the sample efficiency of TactNet-II, we adapt state of the art deep end-to-end transfer learning to tactile material classification leading to an up to 15 fold reduction in the number of training samples needed. The presented methods led to six publication awards and award finalists and international media coverage but also worked robustly at many trade fairs and lab demos.Dissertation479 346 - Some of the metrics are blocked by yourconsent settings
Item-typ:Veröffentlichung, Eignungseinstufung von VorgehensmodellenSoftware is an important economic factor. Software development is complex and expensive. To be able to man-age the complexity of software development projects better standard processes were developed which are usually called 'Software process model'. These are available for software development projects. Because the selection of an appropriate software process model for a specific project is difficult software process models are less often used as would be necessary. In the thesis at hand an approach for rating the suitability of software process mod-els (EVGM) is developed which concertedly respects the specific problems in a respectively given project. These Problem categories are derived from empirical studies and the respective domain literature. A semiformal mod-elling language is described which provides success factors for projects and software process models as well as their interrelationships. These factors crucial for success are derived with help of an ontology and sorted into a systematic which clarifies that significant aspects of software development projects and software process models are covered. The modelling language is based on the System Dynamics approach of Jay W. Forrester, as well as on a derivative of Peter Gomez and Gilbert Probst. With it cause-effect-diagrams can be developed which pres-ent important influences in the project and their interdependencies. Through this cross-linked modelling all sig-nificant problems of a project can be analysed in context and adequately addressed by a software process model. The EVGM provides a modular and systematic step-by-step approach that supports its users to select a software process model. These users need detailed knowledge of software projects in general and of their specific project but not of software process models. Project specific changes or enhancements of the model elements by the users are supported by the EVGM. The Applicability of the EVGM was evaluated with case studies. It is demonstrated by a case study with a virtual project. The EVGM was already used successful for project analysis in several industrial software process improvement projects. The usage of the EVGM is supported by a software tool.Dissertation667 365