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4th International Symposium on Autonomous Minirobots for research and Edutainment, AMiRE 2007

作者： El-Habbal, Mohamed Witkowski, Ulf Rueckert, Ulrich System and Circuit Technology Research Group Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany

Although stochastic models of speech signals (e.g. hidden Markov models, trigrams, etc) have lead to impressive improvements in speech recognition accuracy, it has been noted that these models have little relationship to speech production, and their recognition performance on some important tasks is far from perfect. However, there have been recent attempts to bridge the gap between speech production and speech recognition using models that are stochastic and yet make more reasonable assumptions about the mechanisms underlying speech production. A new technique, which is given the name "Letter Identification", is developed for the Khepera robot application, mainly to control the movement of the robot's mobile base and suit all the application's constraints. The recognition technique, together with the necessary software and hardware implementation, are described in this paper.

关键词： Speech recognition

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CSD: Cell-based service discovery in large-scale robot networks

CSD: Cell-based service discovery in large-scale robot netwo...

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作者： Du, Jia Lei Witkowski, Ulf Rückert, Ulrich System and Circuit Technology Research Group Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany

ISBN: (纸本)0780389123

If robots are deployed in large numbers in our environment in future, collaboration between the presumably specialized robots will be essential for a successful operation. The robots will set up mobile ad-hoc networks for communication and efficient routing and discovery protocols for such robot networks will provide the basic layer for a successful collaboration of the robots. In this paper we present a service discovery protocol that allows robots to efficiently discover available services in the network. It is specifically designed for large-scale robot networks. It takes into account the high dynamics of robot networks and exploits the position data of the robots to increase scalability and efficiency. A cellbased grid with master nodes in each cell forms the basic structure. Through proactive intra-cell communication and reactive inter-cell communication, scalability is ensured and the effects of node movements on the overall network are minimized. We implemented our solution in an example scenario. © 2005 IEEE.

关键词： Multipurpose robots

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Resource and service discovery for large-scale robot networks in disaster scenarios

Resource and service discovery for large-scale robot network...

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2005 IEEE International Workshop on Safety, Security and Rescue Robotics

作者： Du, Jia Lei Rührup, Stefan Witkowski, Ulf Rückert, Ulrich System and Circuit Technology Research Group Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany Algorithms and Complexity Research Group Heinz Nixdorf Institute University of Paderborn 33102 Paderborn Germany

ISBN: (纸本)078038945X

If robots are deployed in large numbers in disaster scenarios, the ability to discover and exchange resources and services with other robots in an open, heterogeneous, large-scale network will be essential for a successful operation. In this paper we present a discovery protocol that enables robots to efficiently locate resources and services available in large-scale networks. It is specifically designed for robot networks which are characterized by potentially highly dynamic network topologies and high service announcement-to-lookup ratios. The protocol exploits the position data of the robots to increase scalability and efficiency. A cell-based overlay structure is created, with master nodes in each cell. Through proactive intra-cell communication and reactive inter-cell communication, scalability is ensured and the effects of node movements on the overall network are minimized. © 2005 IEEE.

关键词： Robotics

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CSD: cell-based service discovery in large-scale robot networks

CSD: cell-based service discovery in large-scale robot netwo...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Jia Lei Du U. Witkowski U. Ruckert System and Circuit Technology Research Group Heinz Nixdorf Institute University of Paderborn Paderborn Germany

If robots are deployed in large numbers in our environment in future, collaboration between the presumably specialized robots will be essential for a successful operation. The robots will set up mobile ad-hoc networks for communication and efficient routing and discovery protocols for such robot networks will provide the basic layer for a successful collaboration of the robots. In this paper we present a service discovery protocol that allows robots to efficiently discover available services in the network. It is specifically designed for large-scale robot networks. It takes into account the high dynamics of robot networks and exploits the position data of the robots to increase scalability and efficiency. A cell-based grid with master nodes in each cell forms the basic structure. Through proactive intra-cell communication and reactive inter-cell communication, scalability is ensured and the effects of node movements on the overall network are minimized. We implemented our solution in an example scenario.

关键词： Intelligent networks Large-scale systems Robot kinematics Mobile robots Robotics and automation Mobile communication Collaboration Protocols Scalability Multirobot systems

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Resource and service discovery for large-scale robot networks in disaster scenarios

Resource and service discovery for large-scale robot network...

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Jia Lei Du S. Ruhrup U. Witkowski U. Ruckert System and Circuit Technology Research Group Heinz Nixdorf Institute University of Paderborn Paderborn Germany Algorithms and Complexity Research Group Heinz Nixdorf Institute University of Paderborn Paderborn Germany

If robots are deployed in large numbers in disaster scenarios, the ability to discover and exchange resources and services with other robots in an open, heterogeneous, large-scale network would be essential for a successful operation. In this paper we present a discovery protocol that enables robots to efficiently locate resources and services available in large-scale networks. It is specifically designed for robot networks which are characterized by potentially highly dynamic network topologies and high service announcement-to-lookup ratios. The protocol exploits the position data of the robots to increase scalability and efficiency. A cell-based overlay structure is created, with master nodes in each cell. Through proactive intra-cell communication and reactive inter-cell communication, scalability is ensured and the effects of node movements on the overall network are minimized.

关键词： Large-scale systems Intelligent networks Robot sensing systems Mobile communication Mobile robots Scalability Robotics and automation Protocols Humans Robot vision systems

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Creating Coordination in the Cerebellum Catania, 2–4 October 2003

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The Cerebellum 2004年第1期3卷 39-64页

作者： Andjus, P. R. Zhu, L. Strata, P. Arata, A. Ito, M. Bearzatto, B. Servais, L. Baba-Aïssa, F. de Kerchove d’Exaerde, A. Schurmans, S. Cheron, G. Schiffmann, S. N. Bower, J. M. Devor, A. Burguière, E. Rutteman, M. De Zeeuw, C. I. Berthoz, A. Wiener, S. Rondi-Reig, L. Campana, A. Dusart, I. Wherlé, R. Weitzman, J. Yaniv, M. Sotelo, C. Mariani, J. Cavallari, P. Esposti, R. Cerri, G. Cerminara, N. L. Apps, R. Marple-Horvat, D. E. Wagstaff, J. Dan, B. Chorev, E. Manor, Y. Sohl, G. Willecke, K. Yarom, Y. Philipona, D. Dognin, E. Coenen, O. J. Sola, E. Prestori, F. Rossi, P. Taglietti, V. D’Angelo, E. De Filippi, G. Baldwinson, T. Sher, E. Ekerot, C. Jorntell, H. Fernández, G. Martínez, S. Gall, D. Roussel, C. Forti, L. Schiffmann, S. Gruol, D. L. Netzeband, J. G. Quina, L. A. Blakely Gonzalez, P. K. Hoebeek, F. E. Van Alphen, A. M. Schonewille, M. Frens, M. A. Goossens, H. H. L. M. Stahl, J. Ango, F. di Cristo, G. Hagashiyama, H. Bennett, V. Huang, Z. J. Jörntell, H. Ekerot, C.- F. Launey, T. Endo, S. Sakai, R. Harano, J. Lohof, A. M. Sherrard, R. M. Lu, H. Huang, C. Hartmann, M. J. Marshall, S. P. Lang, E. J. Michikawa, T. Mikoshiba, K. Nitschke, M. F. Erdmann, C. Melchert, U. Arp, T. Sprenger, A. Petersen, D. Kömpf, D. Binkofski, F. Heide, W. Pedroarena, C. Schwarz, C. Parsons, L. M. Schmahmann, J. D. Grill, S. E. Walker, M. S. Petacchi, A. Rokni, D. Saito, S. Kato, K. Sajdel-Sulkowska, E. M. Nguon, K. Selimi, F. Wang, Q. Cristea, I. Chait, B. Heintz, N. Serapide, M. F. Cicirata, F. De Saedeleer, C. Schwaller, B. Swinny, J. D. Ijkema-Paassen, J. Metzger, F. Kalicharan, D. Gramsbergen, A. van der Want, J. J. L. Slemmer, J. E. Weber, J. T. Winkelman, B. H. J. Chédotal, A. De Schutter, E. Maex, R. Koekkoek, S. K. E. Bouslama, L. Ghoumari, A. Ebner, T. Häusser, M. Hawkes, R. Herrup, K. Lisberger, S. G. Mugnaini, E. Nunzi, M. -G. Russo, M. Ptak, K. Orr, H. T. Zoghbi, H. Y. Rossi, F. Ruigrok, T. J. H. Sabel-Goedknegt, E. Simpson, J. I. Morando, L. Cesa, R. Dumoulin, A. Dieudonné, S. Dugué, G. Triller, A. Louvi, A. Alexandre, Department for Neuroscience University of Turin Italy Department of Physiology and Biochemistry School of Biology University of Belgrade Serbia & Montenegro Rita Levi Montalcini Center for Brain Repair Department of Neuroscience University of Turin Italy Laboratory for Memory and Learning Brain Science Institute Wako Saitama Japan Laboratory for Memory and Learning BSI (RIKEN) Japan Laboratory of Neurophysiology Université Libre de Bruxelles Campus Erasme Brussels Laboratory of Neurophysiology Université Mons-Hainaut Mons Belgium Laboratory of Electrophysiology Université Mons-Hainaut Mons Belgium Laboratory of Neurophysiology Université Libre de Bruxelles Brussels IRIBHM CP601 Université Libre de Bruxelles Campus Erasme Brussels Health Science Center The Research Imaging Center at The University of Texas San Antonio Cajal Neuroscience Research Center at the University of Texas San Antonio Biology UTSA San Antonio Research Imaging Center UTHSCSA San Antonio USA Massachusetts General Hospital Harvard Medical School NMR Center Charlestown USA CNRS-Collège de France LPPA Paris France Department of Neuroscience Erasmus University Rotterdam Rotterdam The Netherlands Department of Neuroscience Medical Faculty Erasmus MC Rotterdam The Netherlands CNRS-UMR 7102 Labo DVSN Paris Hôpital de la Salpêtrière INSERM U106 Paris France CNRS URA 1644 I. Pasteur Paris France Campus de San Juan Instituto de Neurociencias UMH-CSIC Alicante Group ‘Développement et Vieillissement du Système Nerveux’ UMR CNRS UniversitéP et M Curie Paris France University P& M Curie UMR CNRS St Bernard Paris France Dipartimento di Scienze Precliniche LITA-Vialba Universitd degli Studi Milano Italy Istituto di Fisiologia Umana II Universitd degli Studi Milano Italy Department of Physiology University of Bristol UK Centre for Biophysical and Clinical Research into Human Movement (CRM) Manchester Metropolitan University UK Department of Pediatrics and Department of Biochemistry and M

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Calculation of three‐dimensional magnetic field for horseshoe electrode of vacuum interrupters

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European Transactions on Electrical Power 1993年第4期3卷 299-304页

作者： Schellekens, H. Shang, W. Lenstra, K. Dr. Hans Schellekens (1953) studied plasma physics at the Technical University of Eindhoveme Netherlands. He worked at the Holec research laboratory from 1978 to 1982 and at Kern testing laboratoriesfrom 1983 to 1985. Since 1986 he is working as a manager for the development of vacuum interrupters and vacuum circuit breakers at Holec. He is a member of CIGRE working group as well as of the Current Zero Club. (Holec Component & System B.V. P.O.Box 237550AA Hengelo The Netherlands. T+3174/464923 Fax+3174/464444) Wenkai Shang (1963) studied electrical engineering (switchgear technology) at Xi'an Jiaotong University Xi'an/P.R. China. He received the B. Sci. and the M. Sci. degrees in 1984 and 1987 respectively. He worked at Kema high power laboratory from 1988 to 1990. From 1990 till now he works at Holec as development engi- neer for vacuum interrupters and vacuum circuit breakers. (Holec Component & System B.V. P.O. Box 23 7550 AA Hengelo The Netherlands T +3174/464630 Fax +3174/464444) Klaas Lenstra (1956) studied applied physics at the Twente University/The Netherlands. After two years of research work at the Groningen University/The Netherlands in opto-electronics he joint Holec in 1986. He worked in the R & D group on vacuum circuit breakers till 1989 afterwards as manager of low voltage research group and since 1993 as product manager of vacuum components. (Holec Component & System B.V. P.O. Box 23 7550 AA Hengelo The Netherlands T+3174/465048 Fax +3174/464444)

In this paper, the integral equation method for static magnetic fields has been implemented for a three‐dimensional (3D) problem with given current distribution and geometry of different materials. These methods are suitable for general 3D magnetic field problems. The algorithms are given to calculate the 3D magnetic field of horseshoe electrode of vacuum interrupters. Examples of calculated results of axial magnetic fields are given. Copyright © 1993 John Wiley & Sons, Ltd.

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