TY  - JOUR
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
A1  - Lakemeyer, Gerhard
T1  - Caesar: an intelligent domestic service robot
JF  - Intelligent service robotics
N2  - In this paper we present CAESAR, an intelligent domestic service robot. In domestic settings for service robots complex tasks have to be accomplished. Those tasks benefit from deliberation, from robust action execution and from flexible methods for human–robot interaction that account for qualitative notions used in natural language as well as human fallibility. Our robot CAESAR deploys AI techniques on several levels of its system architecture. On the low-level side, system modules for localization or navigation make, for instance, use of path-planning methods, heuristic search, and Bayesian filters. For face recognition and human–machine interaction, random trees and well-known methods from natural language processing are deployed. For deliberation, we use the robot programming and plan language READYLOG, which was developed for the high-level control of agents and robots; it allows combining programming the behaviour using planning to find a course of action. READYLOG is a variant of the robot programming language Golog. We extended READYLOG to be able to cope with qualitative notions of space frequently used by humans, such as “near” and “far”. This facilitates human–robot interaction by bridging the gap between human natural language and the numerical values needed by the robot. Further, we use READYLOG to increase the flexible interpretation of human commands with decision-theoretic planning. We give an overview of the different methods deployed in CAESAR and show the applicability of a system equipped with these AI techniques in domestic service robotics
Y1  - 2012
U6  - http://dx.doi.org/10.1007/s11370-012-0118-y
SN  - 1861-2776
N1  - Special Issue on Artificial Intelligence Techniques for Robotics: Sensing, Representation and Action, Part I
VL  - 5
IS  - 4
SP  - 259
EP  - 276
PB  - Springer
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
A1  - Lakemeyer, Gerhard
T1  - Fuzzy representations and control for domestic service robots in Golog
T2  - Intelligent robotics and applications : 4th International conference, ICIRA 2011, Aachen, Germany, December 6-8, 2011, proceedings, part I. (Lecture notes in computer science ; 7102)
Y1  - 2011
SN  - 978-3-642-25486-4
SP  - 241
EP  - 250
ER  - 
TY  - JOUR
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
A1  - Lakemeyer, Gerhard
T1  - Abstracting Away Low-Level Details in Service Robotics with Fuzzy Fluents
JF  - Model-Driven Knowledge Engineering for Improved Software Modularity in Robotics and Automation.
Workshop at European Robotics Forum 2015
Vienna, Austria, March 11-13, 2015.
Y1  - 2015
SP  - 1
EP  - 4
ER  - 
TY  - CHAP
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
T1  - Decision-Theoretic Planning with Linguistic Terms in Golog
T2  - FLinAl 2015 - Fuzzy Logic in Artificial Intelligence : Proceedings of the Workshop on Fuzzy Logic in AI (FLinAI-15) co-located with the 24th International Joint Conference on Artificial Intelligence (IJCAI 2015) Buenos Aires, Argentina, July 25, 2015.
Y1  - 2015
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:0074-1424-4
SN  - 1613-0073
ER  - 
TY  - JOUR
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
T1  - Decision-Theoretic Planning with Fuzzy Notions in GOLOG
JF  - International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems
N2  - In this paper we present an extension of the action language Golog that allows for using fuzzy notions in non-deterministic argument choices and the reward function in decision-theoretic planning. Often, in decision-theoretic planning, it is cumbersome to specify the set of values to pick from in the non-deterministic-choice-of-argument statement. Also, even for domain experts, it is not always easy to specify a reward function. Instead of providing a finite domain for values in the non-deterministic-choice-of-argument statement in Golog, we now allow for stating the argument domain by simply providing a formula over linguistic terms and fuzzy uents. In Golog’s forward-search DT planning algorithm, these formulas are evaluated in order to find the agent’s optimal policy. We illustrate this in the Diner Domain where the agent needs to calculate the optimal serving order.
Y1  - 2016
U6  - http://dx.doi.org/10.1142/S0218488516400134
SN  - 1793-6411
VL  - 24
IS  - Issue Suppl. 2
SP  - 123
EP  - 143
PB  - World Scientific
CY  - Singapur
ER  - 
TY  - CHAP
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
T1  - A System Layout for Cognitive Service Robots
T2  - Cognitive Robot Architectures. Proceedings of EUCognition 2016
Y1  - 2017
SN  - 1613-0073
N1  - CEUR-WS Vol-1855
SP  - 44
EP  - 45
ER  - 
TY  - JOUR
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
T1  - ERIKA—Early Robotics Introduction at Kindergarten Age
JF  - Multimodal Technologies Interact
N2  - In this work, we report on our attempt to design and implement an early introduction to basic robotics principles for children at kindergarten age. One of the main challenges of this effort is to explain complex robotics contents in a way that pre-school children could follow the basic principles and ideas using examples from their world of experience. What sets apart our effort from other work is that part of the lecturing is actually done by a robot itself and that a quiz at the end of the lesson is done using robots as well. The humanoid robot Pepper from Softbank, which is a great platform for human–robot interaction experiments, was used to present a lecture on robotics by reading out the contents to the children making use of its speech synthesis capability. A quiz in a Runaround-game-show style after the lecture activated the children to recap the contents they acquired about how mobile robots work in principle. In this quiz, two LEGO Mindstorm EV3 robots were used to implement a strongly interactive scenario. Besides the thrill of being exposed to a mobile robot that would also react to the children, they were very excited and at the same time very concentrated. We got very positive feedback from the children as well as from their educators. To the best of our knowledge, this is one of only few attempts to use a robot like Pepper not as a tele-teaching tool, but as the teacher itself in order to engage pre-school children with complex robotics contents.
Y1  - 2018
U6  - http://dx.doi.org/10.3390/mti2040064
SN  - 2414-4088
VL  - 2
IS  - 4
PB  - MDPI
CY  - Basel
ER  - 
TY  - CHAP
A1  - Schiffer, Fabian
A1  - Bragard, Michael
T1  - Cascaded LQ and Field-Oriented Control of a Mobile Inverse Pendulum (Segway) with Permanent Magnet Synchronous Machines
T2  - 2019 20th International Conference on Research and Education in Mechatronics (REM)
Y1  - 2019
SN  - 978-1-5386-9257-8
U6  - http://dx.doi.org/10.1109/REM.2019.8744101
SP  - 1
EP  - 8
ER  - 
TY  - JOUR
A1  - Schaefer, Thomas
A1  - Höfken, Hans-Wilhelm
A1  - Schuba, Marko
T1  - Windows Phone 7 from a Digital Forensics’ Perspective
Y1  - 2011
N1  - ICDF2C <3, 2011, Dublin>
PB  - Springer
CY  - Berlin
ER  - 
TY  - JOUR
A1  - Samm, Doris
A1  - Faissner, H.
A1  - Moers, T.
A1  - Priem, R.
T1  - Modular wall-less drift chamber for muon detection at the LHC / H. Faissner, Th. Moers, R. Priem, ... , D. Samm [u.a.]
JF  - Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment. 330 (1993), H. 1-2
Y1  - 1993
SP  - 76
EP  - 82
ER  - 
TY  - BOOK
A1  - Samm, Doris
A1  - Faissner, H.
A1  - Henrigs, W.
A1  - Preussger, A.
T1  - Further evidence for the radiative decay of a light, penetrating particle / Faissner, H. ;  Heinrigs, W. ; Preussger, A. ;  Samm, D.
Y1  - 1982
N1  - Also published in INIS-mf--9311
PB  - Technische Hochschule
CY  - Aachen
ER  - 
TY  - JOUR
A1  - Samm, Doris
A1  - Faissner, H.
A1  - Heinrigs, W.
A1  - Preussger, A.
T1  - Search for the two-photon decay of a light penetrating particle from a 590 MeV proton beam dump / Faissner, H.; Heinrigs, W.; Preussger, A.; Reitz, J.; Samm, D. [u.a.]
JF  - Zeitschrift für Physik, C Particles and Fields. 44 (1989), H. 4
Y1  - 1989
SP  - 557
EP  - 566
ER  - 
TY  - JOUR
A1  - Samm, Doris
A1  - Faissner, H.
A1  - Göttlicher, P.
A1  - Matela, H.
T1  - Search for scalar and pseudoscalar bosons emitted in nuclear decays via their interactions / Faissner, H.; Goettlicher, P. ; Matela, H. ; Samm, D.
JF  - Zeitschrift für Physik A Hadrons and Nuclei. 341 (1992), H. 3
Y1  - 1992
SP  - 359
EP  - 364
ER  - 
TY  - JOUR
A1  - Samm, Doris
A1  - Faissner, H.
A1  - Frenzel, E.
A1  - Heinrigs, W.
T1  - Limit on axion decay into an electron pair / H. Faissner, E. Frenzel, W. Heinrigs, A. Preussger, D. Samm und U. Samm
JF  - Physics Letters B. Vol. 96 (1980), H. Issues 1-2
Y1  - 1980
SP  - 201
EP  - 205
ER  - 
TY  - JOUR
A1  - Samm, Doris
A1  - Faissner, H.
A1  - Frenzel, E.
A1  - Heinrigs, W.
T1  - Observation of the two-photon decay of a light penetrating particle / H. Faissner, E. Frenzel, W. Heinrigs, A. Preussger, D. Samm und U. Samm
JF  - Physics Letters B. Vol. 103 (1980), H. Issues 3
Y1  - 1980
SP  - 234
EP  - 240
ER  - 
TY  - JOUR
A1  - Samm, Doris
A1  - Bosetti, P.-C.
T1  - Testmessungen an einem grossflaechigen (Durchmesser 35 cm) Photomultiplier Test measurements of a large-area (diameter 35 cm) photomultiplier / Bosetti, P.-C.; ... Samm, D. [u.a.]
JF  - Verhandlungen der Deutschen Physikalischen Gesellschaft. 25 (1990), H. 1
Y1  - 1990
N1  - Fruehjahrstagung des Fachausschusses Teilchenphysik der Deutschen Physikalischen Gesellschaft e.V. (DPG), Hamburg (Germany), 21-24 Mar 1990
SP  - 33
EP  - 33
ER  - 
TY  - JOUR
A1  - Samm, Doris
A1  - Bosetti, P.-C.
T1  - DUMAND und die Suche nach extraterrestrischen Neutrinos / DUMAND and the search for extraterrestrial neutrinos / Bosetti, P.-C.; ... Samm, D. [u.a.]
JF  - Verhandlungen der Deutschen Physikalischen Gesellschaft. 25 (1990), H. 1
Y1  - 1990
N1  - Fruehjahrstagung des Fachausschusses Teilchenphysik der Deutschen Physikalischen Gesellschaft e.V. (DPG), Hamburg (Germany), 21-24 Mar 1990
SP  - 88
EP  - 88
ER  - 
TY  - JOUR
A1  - Samm, Doris
T1  - DUMAND and the search for high energy neutrino point sources / Samm, Doris [u.a.]
JF  - Trends in astroparticle physics / ed. by Peter Christian Bosetti
Y1  - 1994
SN  - 3-8154-3017-8
N1  - (Teubner-Texte zur Physik; Bd. 28); International Conference on Trends in Astroparticle-Physics ; (2 : ;
SP  - 9
EP  - 20
PB  - Teubner
CY  - Stuttgart
ER  - 
TY  - CHAP
A1  - Sajatovic, Miodrag
A1  - Rihacek, Christoph
A1  - Haindl, Bernhard
A1  - Schnell, Michael
A1  - Brandes, Sinja
A1  - Gligorevic, Snjezana
T1  - Broadband VHF (B-VHF) project achievements and follow-on activities
T2  - Integrated Communications, Navigation and Surveillance Conference : Herndon, VA, 1 - 3 May 2007
Y1  - 2007
SN  - 1-4244-1216-1
SP  - 1
EP  - 8
ER  - 
TY  - CHAP
A1  - Sadeghfam, Arash
A1  - Sadeghi-Ahangar, A.
A1  - Elgamal, Abdelrahman
A1  - Heuermann, Holger
T1  - Design and Development of a Novel Self-Igniting Microwave Plasma Jet for Industrial Applications
T2  - IEEE MTT-S International Microwave Symposium Digest
Y1  - 2019
SN  - 978-172811309-8
SP  - 63
EP  - 66
ER  -