TY  - CHAP
A1  - Scholl, Ingrid
A1  - Bartella, Alexander K.
A1  - Moluluo, Cem
A1  - Ertural, Berat
A1  - Laing, Frederic
A1  - Suder, Sebastian
T1  - MedicVR : Acceleration and Enhancement Techniques for Direct Volume Rendering in Virtual Reality
T2  - Bildverarbeitung für die Medizin 2019 : Algorithmen – Systeme – Anwendungen
Y1  - 2019
SN  - 978-3-658-25326-4
U6  - https://doi.org/10.1007/978-3-658-25326-4_32
SP  - 152
EP  - 157
PB  - Springer Vieweg
CY  - Wiesbaden
ER  - 
TY  - CHAP
A1  - Ferrein, Alexander
T1  - golog.lua: Towards a non-prolog implementation of Golog for embedded systems
T2  - Dagstuhl Seminar Proceedings, Volume 10081
N2  - Among many approaches to address the high-level decision making problem for autonomous robots and agents, the robot program¬ming and plan language Golog follows a logic-based deliberative approach, and its successors were successfully deployed in a number of robotics applications over the past ten years. Usually, Golog interpreter are implemented in Prolog, which is not available for our target plat¬form, the bi-ped robot platform Nao. In this paper we sketch our first approach towards a prototype implementation of a Golog interpreter in the scripting language Lua. With the example of the elevator domain we discuss how the basic action theory is specified and how we implemented fluent regression in Lua. One possible advantage of the availability of a Non-Prolog implementation of Golog could be that Golog becomes avail¬able on a larger number of platforms, and also becomes more attractive for roboticists outside the Cognitive Robotics community.
Y1  - 2010
U6  - https://doi.org/10.4230/DagSemProc.10081.9
N1  - Dagstuhl Seminar 10081 "Cognitive Robotics", 21.02. to 26.02.2010, Schloss Dagstuhl - Leibniz Center for Informatics, Wadern, DE
SP  - 1
EP  - 15
ER  - 
TY  - CHAP
A1  - Hillgärtner, Michael
A1  - Kappel, U.
T1  - Radiating Impedance of Mains Cabling During Emissions Testing
T2  - Proceedings of EMC Europe 2006 Barcelona : International Symposium on Electromagnetic Compatibility
Y1  - 2006
SN  - 84-689-9439-1
N1  - MC Europe 2006, Barcelona: International Symposium on Electromagnetic Compatibility : September 4-8, 2006 Barcelona, Spain
SP  - 17
EP  - 22
CY  - Barcelona
ER  - 
TY  - CHAP
A1  - Niemüller, Tim
A1  - Ferrein, Alexander
A1  - Beck, Daniel
A1  - Lakemeyer, Gerhard
T1  - Design principles of the component-based robot software framework Fawkes
T2  - Simulation, Modeling, and Programming for Autonomous Robots
N2  - The idea of component-based software engineering was proposed more that 40 years ago, yet only few robotics software frameworks follow these ideas. The main problem with robotics software usually is that it runs on a particular platform and transferring source code to another platform is crucial. In this paper, we present our software framework Fawkes which follows the component-based software design paradigm by featuring a clear component concept with well-defined communication interfaces. We deployed Fawkes on several different robot platforms ranging from service robots to biped soccer robots. Following the component concept with clearly defined communication interfaces shows great benefit when porting robot software from one robot to the other. Fawkes comes with a number of useful plugins for tasks like timing, logging, data visualization, software configuration, and even high-level decision making. These make it particularly easy to create and to debug productive code, shortening the typical development cycle for robot software.
Y1  - 2010
U6  - https://doi.org/10.1007/978-3-642-17319-6_29
N1  - Second International Conference, SIMPAR 2010, Darmstadt, Germany, November 15-18, 2010
SP  - 300
EP  - 311
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Niemüller, Tim
A1  - Ferrein, Alexander
A1  - Lakemeyer, Gerhard
T1  - A Lua-based behavior engine for controlling the humanoid robot Nao
T2  - RoboCup 2009: Robot Soccer World Cup XIII
N2  - The high-level decision making process of an autonomous robot can be seen as an hierarchically organised entity, where strategical decisions are made on the topmost layer, while the bottom layer serves as driver for the hardware. In between is a layer with monitoring and reporting functionality. In this paper we propose a behaviour engine for this middle layer which, based on formalism of hybrid state machines (HSMs), bridges the gap between high-level strategic decision making and low-level actuator control. The behaviour engine has to execute and monitor behaviours and reports status information back to the higher level. To be able to call the behaviours or skills hierarchically, we extend the model of HSMs with dependencies and sub-skills. These Skill-HSMs are implemented in the lightweight but expressive Lua scripting language which is well-suited to implement the behaviour engine on our target platform, the humanoid robot Nao.
Y1  - 2010
U6  - https://doi.org/10.1007/978-3-642-11876-0_21
N1  - 13th RoboCup International Symposium, Graz, Austria, June/July, 2009
SP  - 240
EP  - 251
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Ferrein, Alexander
A1  - Steinbauer, Gerald
T1  - On the Way to High-Level Programming for Resource-Limited Embedded Systems with Golog
T2  - Simulation, Modeling, and Programming for Autonomous Robots
N2  - In order to allow an autonomous robot to perform non-trivial tasks like to explore a foreign planet the robot has to have deliberative capabilities like reasoning or planning. Logic-based approaches like the programming and planing language Golog and it successors has been successfully used for such decision-making problems. A drawback of this particular programing language is that their interpreter usually are written in Prolog and run on a Prolog back-end. Such back-ends are usually not available or feasible on resource-limited robot systems. In this paper we present our ideas and first results of a re-implementation of the interpreter based on the Lua scripting language which is available on a wide range of systems including small embedded systems.
Y1  - 2010
U6  - https://doi.org/10.1007/978-3-642-17319-6_23
N1  - Second International Conference, SIMPAR 2010, Darmstadt, Germany, November 15-18, 2010
SP  - 229
EP  - 240
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Rens, Gavin
A1  - Varzinczak, Ivan
A1  - Meyer, Thomas
A1  - Ferrein, Alexander
T1  - A Logic for Reasoning about Actions and Explicit Observations
T2  - AI 2010: Advances in Artificial Intelligence
N2  - We propose a formalism for reasoning about actions based on multi-modal logic which allows for expressing observations as first-class objects. We introduce a new modal operator, namely [o |α], which allows us to capture the notion of perceiving an observation given that an action has taken place. Formulae of the type [o |α]ϕ mean ’after perceiving observation o, given α was performed, necessarily ϕ’. In this paper, we focus on the challenges concerning sensing with explicit observations, and acting with nondeterministic effects. We present the syntax and semantics, and a correct and decidable tableau calculus for the logic
Y1  - 2010
U6  - https://doi.org/10.1007/978-3-642-17432-2_40
N1  - 23rd Australasian Joint Conference, Adelaide, Australia, December 7-10, 2010
SP  - 395
EP  - 404
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Scholl, Ingrid
A1  - Schubert, Nicole
A1  - Ziener, Pascal
A1  - Pietrzyk, Uwe
T1  - GPU-basiertes Volumenrendering von multimodalen medizinischen Bilddaten in Echtzeit
T2  - Bildverarbeitung für die Medizin 2010
N2  - Die vorliegende Arbeit zeichnet sich dadurch aus, dass registrierte unsegmentierte Volumina aus multimodalen Bilddatensätzen (z.B. MRT, PET) gleichzeitig in einer 3D-Rekonstruktion visualisiert werden und in Echtzeit manipuliert werden können. Ermöglicht wird die Echtzeitfähigkeit durch die Programmierung der Algorithmen zur direkten Volumenvisualisierung auf der Grafikkarte mittels der neuen CUDA-Technologie. Die Zuordnung der Farbeigenschaften wird über 1D-Transferfunktionen für jedes Volumen getrennt gesteuert. So können durch die interaktive Veränderung der 1D-Transferfunktion Detailinformationen aus den zwei Bilddatensätzen getrennt kontrolliert werden und die Vorteile der verschiedenen Bildmodalitäten in einer Visualisierung genutzt werden. Mittels dieses interaktiven Frameworks können neue Erkenntnisse insbesondere über neurodegenerativen Erkrankungen gewonnen werden.
Y1  - 2010
SN  - 978-3-642-11967-5
N1  - Bildverarbeitung für die Medizin 2010 - Algorithmen - Systeme - Anwendungen, Aachen, Germany, March 14-16, 2010
SP  - 400
EP  - 404
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Schmitt, Robert
A1  - Scholl, Ingrid
A1  - Cai, Yu
A1  - Xia, Ji
A1  - Dziwoki, Paul
A1  - Harding, Martin
A1  - Pavim, Alberto
T1  - Machine vision system for inline inspection in carbide insert production
T2  - Proceedings of the 36th International MATADOR Conference
N2  - In steps of the production chain of carbide inserts, such as unloading or packaging, the conformity test of the insert type is done manually, which causes a statistic increase of errors due to monotony and fatigue of the worker and the wide variety of the insert types. A machine vision system is introduced that captures digital frames of the inserts in the production line, analyses inspects automatically and measures four quality features: coating colour, edge radius, plate shape and chip-former geometry. This new method has been tested on several inserts of different types and has shown that the prevalent insert types can be inspected and robustly classified in real production environment and therefore improves the manufacturing automation.
Y1  - 2010
SN  - 978-1-84996-431-9
U6  - https://doi.org/10.1007/978-1-84996-432-6_77
N1  - 36th MATADOR Conference, University of Manchester, July 2010
SP  - 339
EP  - 342
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Bragard, Michael
A1  - Soltau, N.
A1  - De Doncker, R. W.
A1  - Schmiegel, A.
T1  - Design and implementation of a 5 kW photovoltaic system with li-ion battery and additional DC-DC converter
T2  - 2010 IEEE Energy Conversion Congress and Exposition (ECCE 2010) : Atlanta, Georgia, USA, 12 - 16 September 2010 / [sponsored by the IEEE Power Electronics and Industry Applications Societies]
Y1  - 2010
SN  - 978-1-4244-5286-6 (Print)
SN  - 978-1-4244-5287-3 (Online)
U6  - https://doi.org/10.1109/ECCE.2010.5618220
SP  - 2944
EP  - 2949
PB  - IEEE
CY  - Piscataway, NJ
ER  -