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Dependability of Mobile Robots in Direct Interaction with Humans
Operating interactive mobile robots in unmodified natural environments such as in museums or at exposition areas impose requirements on the robots,...
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Next Generation Teach Pendants for Industrial Robots
Teach pendants for industrial robots have sometimes been quite rudimentary in the past, and often enough users had to learn to cope with whatever is...
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4 Co-existence: Physical Interaction and Coordinated Motion
Co-existence an co-operation between a human and a machine which can move and act in an autonomous mode involves a form of interaction which goes...
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The Robotic Bar – An Integrated Demonstration of a Robotic Assistant
Coming out of the labs, the first robots are currently appearing on the consumer market. Initially they target rather simple application scenarios...
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Learning Behavioral Sequences by Means of Nonlinear Dynamics
We present a software architecture for the behavioral organization of a mobile robot which is entirely based on nonlinear dynamical systems. The...
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The Control Architecture of Care-O-bot II
Robot assistants act in dynamic environments and have to cope with changing situations: they must be able to sense the world and to control their...
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Robotic Home Assistant Care-O-bot II
Technical aids allow elderly and handicapped people to live independently in their private homes as long as they wish. As a contribution to these...
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Statistical Recognition of Motion Patterns
One key prerequisite for a machine to interact intelligently with people is its ability to recognize humans as interaction partners and to understand...
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6 Beamforming Combined with Multi-channel Acoustic Echo Cancellation
For audio signal acquisition, beamforming microphone arrays can be efficiently used for enhancing a desired signal while suppressing...
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4 Optimum Beamforming for Wideband Non-stationary Signals
Array processing techniques strive for extraction of maximum information from a propagating wave field using groups of sensors, which are located at...
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B Experimental Setups and Acoustic Environments
In this chapter, the experimental setup and the acoustic environments are described, which are used in this work for illustrating the properties of...
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Applications of Fuzzy Logic in Mobile Robots Control
Fuzzy logic is a mathematical tool that can manipulate human reasoning, concepts and linguistic terms. It suits ill-defined systems since it can...
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A Fuzzy Approach on Guiding Model for Interception Flight
This chapter presents an original moving control model based on the fuzzy logic, applied to some navigation special issues. The steps taken on...
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A Qualitative Approach for Symbolic Data Manipulation Under Uncertainty
In decision making problems, the experts knowledge has different natures: numerical, interval-valued, symbolic, linguistic, . . . In other terms, the...
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5 A Practical Audio Acquisition System Using a Robust GSC (RGSC)
In the preceding chapter, we have seen that data-dependent beamformers can be efficiently realized in GSC structures. However, GSCs, or more general...
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3 Optimum Linear Filtering
In this chapter, we introduce the concept of optimum linear filtering for multiple-input multiple-output (MIMO) digital systems for solving...
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Modeling the Tennessee Eastman Chemical Process Reactor Using Fuzzy Logic
The goal of this research is to introduce the challenges associated with modeling nonlinear dynamical systems. Some of these challenges are the...
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8 Summary and Conclusions
Convenient human/machine interaction requires acoustic front-ends which allow seamless and hands-free audio communication. For suppressing...
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Adaptation of Fuzzy Inference System Using Neural Learning
The integration of neural networks and fuzzy inference systems could be formulated into three main categories: cooperative, concurrent and integrated...
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Motion Planning for Domestic Robot Assistants
Service robots serve and assist human beings sharing a common work space. Collision-free motion paths have to be generated in short times for a...