Künstliche Intelligenz (KI)
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Journal Article EDLRIS: A European Driving License for Robots and Intelligent Systems(Springer, 2021) Kandlhofer, Martin; Steinbauer, Gerald; Lassnig, Julia; Menzinger, Manuel; Baumann, Wilfried; Ehardt-Schmiederer, Margit; Bieber, Ronald; Winkler, Thomas; Plomer, Sandra; Strobl-Zuchtriegl, Inge; Miglbauer, Marlene; Ballagi, Aron; Pozna, Claudiu; Miltenyi, Gabor; Alfoldi, Istvan; Szalay, ImreThis article presents a novel educational project aiming at the development and implementation of a professional, standardized, internationally accepted system for training and certifying teachers, school students and young people in Artificial Intelligence (AI) and Robotics. In recent years, AI and Robotics have become major topics with a huge impact not only on our everyday life but also on the working environment. Hence, sound knowledge about principles and concepts of AI and Robotics are key skills for this century. Nonetheless, hardly any systematic approaches exist that focus on teaching principles of intelligent systems at K-12 level, addressing students as well as teachers who act as multipliers. In order to meet this challenge, the European Driving License for Robots and Intelligent Systems—EDLRIS was developed. It is based on a number of previously implemented and evaluated projects and comprises teaching curricula and training modules for AI and Robotics, following a competency-based, blended learning approach. Additionally, a certification system proves peoples’ acquired competencies. After developing the training and certification system, the first 32 trainer and trainee courses with a total of 445 participants have been implemented and evaluated. By applying this innovative approach—a standardized and widely recognized training and certification system for AI and Robotics at K-12 level for both high school teachers and students—we envision to foster AI/Robotics literacy on a broad basis.Journal Article An Introduction to Hyperdimensional Computing for Robotics(Springer, 2019) Neubert, Peer; Schubert, Stefan; Protzel, PeterHyperdimensional computing combines very high-dimensional vector spaces (e.g. 10,000 dimensional) with a set of carefully designed operators to perform symbolic computations with large numerical vectors. The goal is to exploit their representational power and noise robustness for a broad range of computational tasks. Although there are surprising and impressive results in the literature, the application to practical problems in the area of robotics is so far very limited. In this work, we aim at providing an easy to access introduction to the underlying mathematical concepts and describe the existing computational implementations in form of vector symbolic architectures (VSAs). This is accompanied by references to existing applications of VSAs in the literature. To bridge the gap to practical applications, we describe and experimentally demonstrate the application of VSAs to three different robotic tasks: viewpoint invariant object recognition, place recognition and learning of simple reactive behaviors. The paper closes with a discussion of current limitations and open questions.Journal Article Catering to Real-Time Requirements of Cloud-Connected Mobile Manipulators(Springer, 2019) Walter, Christoph; Scholle, Julian-Benedikt; Elkmann, NorbertIn this contribution, we explore real-time requirements of mobile manipulators, a class of intelligent robots, in the context of the ongoing fast-robotics ( https://de.fast-zwanzig20.de/industrie/fast-robotics/ ) project. The project aims at implementing such robots based on (edge-) cloud-services using wireless communication in order to make them more capable and efficient. Instead of trying to universally achieve hard real-time in such a system, we present a mixed real-time approach with an application centered fault tolerance scheme based on transition points and pre-computed alternate plans. We argue that deliberatively addressing uncertainties in timing is similarly important than handling uncertainties e.g. in perception for future intelligent robots.Journal Article Technologies for the Fast Set-Up of Automated Assembly Processes(Springer, 2014) Krüger, Norbert; Ude, Aleš; Petersen, Henrik Gordon; Nemec, Bojan; Ellekilde, Lars-Peter; Savarimuthu, Thiusius Rajeeth; Rytz, Jimmy Alison; Fischer, Kerstin; Buch, Anders Glent; Kraft, Dirk; Mustafa, Wail; Aksoy, Eren Erdal; Papon, Jeremie; Kramberger, Aljaž; Wörgötter, FlorentinIn this article, we describe technologies facilitating the set-up of automated assembly solutions which have been developed in the context of the IntellAct project (2011–2014). Tedious procedures are currently still required to establish such robot solutions. This hinders especially the automation of so called few-of-a-kind production. Therefore, most production of this kind is done manually and thus often performed in low-wage countries. In the IntellAct project, we have developed a set of methods which facilitate the set-up of a complex automatic assembly process, and here we present our work on tele-operation, dexterous grasping, pose estimation and learning of control strategies. The prototype developed in IntellAct is at a TRL4 (corresponding to ‘demonstration in lab environment’).Journal Article Reconfigurable Autonomy(Springer, 2014) Dennis, Louise A.; Fisher, Michael; Aitken, Jonathan M.; Veres, Sandor M.; Gao, Yang; Shaukat, Affan; Burroughes, GuyThis position paper describes ongoing work at the Universities of Liverpool, Sheffield and Surrey in the UK on developing hybrid agent architectures for controlling autonomous systems, and specifically for ensuring that agent-controlled dynamic reconfiguration is viable. The work outlined here forms part of the Reconfigurable Autonomy research project.Journal Article Statistic Methods for Path-Planning Algorithms Comparison(Springer, 2013) Muñoz, Pablo; Barrero, David F.; R-Moreno, María D.The path-planning problem for autonomous mobile robots has been addressed by classical search techniques such as A* or, more recently, Theta* or S-Theta*. However, research usually focuses on reducing the length of the path or the processing time. The common practice in the literature is to report the run-time/length of the algorithm with means and, sometimes, some dispersion measure. However, this practice has several drawbacks, mainly due to the loose of valuable information that this reporting practice involves such as asymmetries in the run-time, or the shape of its distribution. Run-time analysis is a type of empirical tool that studies the time consumed by running an algorithm. This paper is an attempt to bring this tool to the path-planning community. To this end the paper reports an analysis of the run-time of the path-planning algorithms with a variety of problems of different degrees of complexity, indoors, outdoors and Mars surfaces. We conclude that the time required by these algorithms follows a lognormal distribution.Journal Article How Rich Motor Skills Empower Robots at Last: Insights and Progress of the AMARSi Project(Springer, 2012) Soltoggio, Andrea; Steil, Jochen J.Flexible, robust, precise, adaptive, compliant and safe: these are some of the qualities robots must have to interact safely and productively with humans. Yet robots are still nowadays perceived as too rigid, clumsy and not sufficiently adaptive to work efficiently in interaction with people. The AMARSi Project endeavors to design and implement rich motor skills, unique flexibility, compliance and state-of-the-art learning in robots. Inspired by human-recorded motion and learning behavior, similarly versatile and constantly adaptive movements and skills endow robots with singularly human-like motor dynamics and learning. The AMARSi challenge is to integrate novel biological notions, advanced learning algorithms and cutting-edge compliant mechanics in the design of fully-fledged humanoid and quadruped robots with an unprecedented aptitude for integrating in our environments.Journal Article Affective Computing Combined with Android Science(Springer, 2011) Becker-Asano, ChristianIn this report a number of research projects are summarized that aimed at investigating the emotional effects of android robots. In particular, those robots are focused on that have been developed and are incessantly being improved by Hiroshi Ishiguro at both the Advanced Telecommunications Research Institute International (ATR) in Kyoto and Osaka University in Osaka, Japan. Parts of the reported empirical research have been conducted by the author himself during a two-year research stay at ATR as post-doctoral fellow of the Japan Society for the Promotion of Science.In conclusion, Affective Computing research is taken to the next level by employing physical androids rather than purely virtual humans, and Android Science benefits from the experience of the Affective Computing community in devising means to assess and evaluate a human observer’s subjective impressions that android robots give rise to.Journal Article Constraint Based World Modeling for Multi Agent Systems in Dynamic Environments(Springer, 2010) Göhring, DanielMobile autonomous robotics is a young and complex field of research. Since the world is uncertain and since robots can only gain partial information about it, probabilistic navigation algorithms became popular whenever a robot has to localize itself or surrounding objects. Furthermore, cooperative exploration and localization approaches have become very relevant lately, as robots begin to act not just alone but in groups. Within my thesis I analyze, how information can be exchanged between robots in order to improve their world model. Therefore I examine how communication of spatial percept-relations can help to improve the accuracy of the world model, in particular when the robots are poorly self-localized. First, percept-relations are being used to increase the modeling accuracy in static situations, later the approach is extended to moving objects. After focussing on suitable sensory data for communication, in the second part I present a Bayesian modeling approach, using constraint satisfaction techniques for complex belief functions. Constraint based localization methods will be analyzed in order to have a group of robots efficiently localized and to model their environment. The presented algorithms were implemented and tested within the RoboCup Standard Platform League (SPL).