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 - TY - JOUR A1 - Ferrein, Alexander T1 - Robot controllers for highly dynamic environments with real-time constraints JF - Künstliche Intelligenz : KI N2 - In this extended abstract we describe the robot programming and planning language READYLOG, a GOLOG dialect which was developed to support the decision making of robots acting in dynamic real-time domains like robotic soccer. The formal framework of READYLOG, which is based on the situation calculus, features imperative control structures like loops and procedures, allows for decision-theoretic planning, and accounts for a continuously changing world. We developed high-level controllers in READYLOG for our soccer robots in RoboCup’s Middle-size league, but also for service robots and for autonomous agents in interactive computer games. Y1 - 2010 U6 - https://doi.org/10.1007/s13218-010-0041-3 SN - 1610-1987 VL - 24 IS - 2 SP - 175 EP - 178 PB - Springer CY - Heidelberg ER - TY - JOUR A1 - Ferrein, Alexander T1 - golog.lua: Towards a Non-Prolog Implementation of Golog for Embedded Systems Y1 - 2010 SP - 20 EP - 28 PB - AAAI CY - Menlo Park ER - TY - JOUR A1 - Ferrein, Alexander A1 - Siebel, Nils T. A1 - Steinbauer, Gerald T1 - Hybrid control for autonomous systems — Integrating learning, deliberation and reactive control JF - Robotics and Autonomous Systems Y1 - 2010 U6 - https://doi.org/10.1016/j.robot.2010.06.003 SN - 0921-8890 VL - 58 IS - 9 SP - 1037 EP - 1038 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - von Knobelsdorf-Brenkenhoff, Florian A1 - Frauenrath, Tobias A1 - Prothmann, Marcel A1 - Dieringer, Matthias A. A1 - Hezel, Fabian A1 - Renz, Wolfgang A1 - Kretschel, Kerstin A1 - Niendorf, Thoralf A1 - Schulz-Menger, Jeanette T1 - Cardiac chamber quantification using magnetic resonance imaging at 7 Tesla—a pilot study N2 - Objectives Interest in cardiovascular magnetic resonance (CMR) at 7 T is motivated by the expected increase in spatial and temporal resolution, but the method is technically challenging. We examined the feasibility of cardiac chamber quantification at 7 T. Methods A stack of short axes covering the left ventricle was obtained in nine healthy male volunteers. At 1.5 T, steady-state free precession (SSFP) and fast gradient echo (FGRE) cine imaging with 7 mm slice thickness (STH) were used. At 7 T, FGRE with 7 mm and 4 mm STH were applied. End-diastolic volume, end-systolic volume, ejection fraction and mass were calculated. Results All 7 T examinations provided excellent blood/myocardium contrast for all slice directions. No significant difference was found regarding ejection fraction and cardiac volumes between SSFP at 1.5 T and FGRE at 7 T, while volumes obtained from FGRE at 1.5 T were underestimated. Cardiac mass derived from FGRE at 1.5 and 7 T was larger than obtained from SSFP at 1.5 T. Agreement of volumes and mass between SSFP at 1.5 T and FGRE improved for FGRE at 7 T when combined with an STH reduction to 4 mm. Conclusions This pilot study demonstrates that cardiac chamber quantification at 7 T using FGRE is feasible and agrees closely with SSFP at 1.5 T. Y1 - 2010 U6 - https://doi.org/10.1007/s00330-010-1888-2 SN - 0938-7994 VL - 20 SP - 2844 EP - 2852 PB - Springer CY - Berlin, Heidelberg ER - TY - JOUR A1 - Frauenrath, Tobias A1 - Hezel, Fabian A1 - Renz, Wolfgang A1 - de Geyer d'Orth, Thibaut A1 - Dieringer, Matthias A1 - von Knobelsdorf-Brenkenhoff, Florian A1 - Prothmann, Marcel A1 - Schulz-Menger, Jeanette A1 - Niendorf, Thoralf T1 - Acoustic cardiac triggering: a practical solution for synchronization and gating of cardiovascular magnetic resonance at 7 Tesla JF - Journal of Cardiovascular Magnetic Resonance N2 - Background To demonstrate the applicability of acoustic cardiac triggering (ACT) for imaging of the heart at ultrahigh magnetic fields (7.0 T) by comparing phonocardiogram, conventional vector electrocardiogram (ECG) and traditional pulse oximetry (POX) triggered 2D CINE acquisitions together with (i) a qualitative image quality analysis, (ii) an assessment of the left ventricular function parameter and (iii) an examination of trigger reliability and trigger detection variance derived from the signal waveforms. Results ECG was susceptible to severe distortions at 7.0 T. POX and ACT provided waveforms free of interferences from electromagnetic fields or from magneto-hydrodynamic effects. Frequent R-wave mis-registration occurred in ECG-triggered acquisitions with a failure rate of up to 30% resulting in cardiac motion induced artifacts. ACT and POX triggering produced images free of cardiac motion artefacts. ECG showed a severe jitter in the R-wave detection. POX also showed a trigger jitter of approximately Δt = 72 ms which is equivalent to two cardiac phases. ACT showed a jitter of approximately Δt = 5 ms only. ECG waveforms revealed a standard deviation for the cardiac trigger offset larger than that observed for ACT or POX waveforms. Image quality assessment showed that ACT substantially improved image quality as compared to ECG (image quality score at end-diastole: ECG = 1.7 ± 0.5, ACT = 2.4 ± 0.5, p = 0.04) while the comparison between ECG vs. POX gated acquisitions showed no significant differences in image quality (image quality score: ECG = 1.7 ± 0.5, POX = 2.0 ± 0.5, p = 0.34). Conclusions The applicability of acoustic triggering for cardiac CINE imaging at 7.0 T was demonstrated. ACT's trigger reliability and fidelity are superior to that of ECG and POX. ACT promises to be beneficial for cardiovascular magnetic resonance at ultra-high field strengths including 7.0 T. KW - Interval Time Series KW - Image Quality Score KW - Image Quality Assessment KW - Sound Pressure Level KW - Cardiovascular Magnetic Resonance Y1 - 2010 U6 - https://doi.org/10.1186/1532-429X-12-67 SN - 1532-429X VL - 12 IS - 1 PB - Elsevier CY - Amsterdam ER - TY - JOUR A1 - Hillgärtner, Michael T1 - Normative Regulations JF - ECPE Cluster Seminar EMC in Hybrid and Electric Vehicles : 18 May 2010, Fraunhofer Institute Erlangen Y1 - 2010 N1 - ECPE Workshop: EMC in Hybrid and Electric Vehicles, 18/05/2010, Erlangen, Germany PB - European Center for Power Electronics CY - Nürnberg ER - TY - JOUR A1 - Hoffmann, Ulrich A1 - Schermutzki, Margret A1 - Winckelmann-Schlieper, Katja T1 - Kompetenzbasierte Verzahnung von berufspraktischem und wissenschaftlichem Lernen : Der Studiengang Prozesstechnik der FH Aachen JF - Berufsbildung in Wissenschaft und Praxis N2 - Durch rapide gesellschaftliche Veränderungen und neue Anforderungen auf dem Arbeitsmarkt gewinnt die akademische berufliche Weiterbildung zunehmend an Bedeutung. Die Nachfrage nach entsprechenden Angeboten ist sowohl seitens der Unternehmen als auch der Arbeitnehmer/-innen hoch. Die Hochschulen sind aufgefordert, darauf zu reagieren und Wege für lebenslanges Lernen aufzuzeigen, indem sie außerhalb der Hochschule erworbene Kenntnisse auf Hochschulabschlüsse anerkennen und Möglichkeiten schaffen, diese Kenntnisse mit dem Ziel weiterzuentwickeln, einen akademischen Abschluss zu erreichen. Dieser Beitrag stellt einen Studiengang vor, der es Berufstätigen ermöglicht, durch die Anrechnung beruflich erworbener Kompetenzen bis zu 50 Prozent der zu erbringenden Studienleistung abzugelten. Y1 - 2010 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:0035-bwp-10232-7 SN - 0341-4515 VL - 39 IS - 2 SP - 32 EP - 36 PB - Bundesinstitut für Berufsbildung (BiBB) CY - Bonn ER - TY - CHAP A1 - Bitz, Andreas A1 - Kraff, O. A1 - Orzada, S. A1 - Maderwald, S. A1 - Brote, Irina A1 - Ladd, M. T1 - Experimental and Numerical Assessment of RF Safety of Transmit Coils at 7 Tesla T2 - ISMRM workshop on MR safety 2010 : RF heating of the human in MRI : workshop series. The Washington County Historic Courthouse, Stillwater, Minnesota, USA, 15 - 17 October 2010 Y1 - 2010 SN - 978-1-62276-088-6 SP - 195 ER -