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Manuel Mühlig, Akinobu Hayashi, Soshi Iba, Michael Gienger, Takahide Yoshiike , "Receding Horizon Optimization of Robot Motions generated by Hierarchical Movement Primitives", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.
AbstractThis paper introduces an approach to couple a motion generation framework based on hierarchical movement primitives (MPs) with optimal control in form of receding horizon optimization. In order to not loose the benefits of fast reactions on the MP-level, the optimization can be overridden in risky situations to generate quick, though non-optimal solutions. By this, the system fulfills four desirable properties. It continuously adapts the r...
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Simon Manschitz, Jens Kober, Michael Gienger, Jan Peters , "Learning to Sequence Movement Primitives from Demonstrations", International Conference on Intelligent Robots and Systems (IROS), 2014.
AbstractWe present an approach for learning sequential robot skills through kinesthetic teaching. The demonstrations are represented by a sequence graph. Finding the transitions between consecutive basic movements is treated as classification problem where both Support Vector Machines and Hidden Markov Models are evaluated as classifiers. We show how the observed primitive order of all demonstrations can help to improve the movement reproduction by restr...
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Andrea Schnall and Martin Ernst Heckmann , "Integrating sequence information in the audio-visual detection of word prominence in a human-machine interaction scenario", INTERSPEECH, 2014.
AbstractDiscrimination of prominent and non-prominent words is an important human ability. By strongly increasing the prominence of a word, for example, a corrections can be indicated. Using this information in human-machine interaction systems is still a challenging task. It is known that modifying the articulatory parameters to raise the prominence of a segment of an utterance, i.e. hyperarticulating, usually is accompanied by a hypoarticualtion, i.e....
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Christian Seegelke, Charmayne Hughes, Andreas Knoblauch, Thomas Schack , "Grasp posture planning during multi-segment object manipulation tasks - interaction between cognitive and biomechanical factors", Experimental Brain Research, issue on-line Nov. 2015, 2014.
AbstractThe present experiment examined the influence of final target position on grasp posture planning during a three-segment object manipulation task in which the required object orientation at the first target position was unconstrained. Participants grasped a cylindrical object from a home position, placed it at an intermediate position in a freely chosen orientation, and subsequently placed it at one of four final targ...
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Martin Ernst Heckmann, Paschalis Mikias, Dorothea Kolossa , "The Impact of Word Alignment on Audio-visual Word Prominence Detection", 11. ITG Conference on Speech Communication, VDE/IEEE, 2014.
AbstractTo automatically detect prominent syllables or words, most approaches require a segmentation of the speech signal and a subsequent extraction of prosodic features in these segments. In this paper we investigate the impact of the precision of this segmentation on the detection. We perform the segmentation of our audio-visual prosodically rich corpus based on an HMM trained on a large dataset. Thereby, we investigate different training strategies o...
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Daniel Sieger, Stefan Menzel, Mario Botsch , "Constrained Space Deformation for Design Optimization", 23rd International Meshing Roundtable, 2014.
AbstractWe present a novel shape deformation method for its use in design optimization tasks. Our space deformation technique based on moving least squares approximation improves upon existing approaches in crucial aspects: It offers the same level of modeling flexibility as surface-based deformations, but it is independent from the underlying geometry representation and therefore highly robust against defects in the input data. It overcomes the scalab...
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Sarah Bonnin, Thomas H Weisswange, Franz Kummert, Jens Schmüdderich , "Pedestrian Crossing Prediction using Multiple Context-based Models", 17th International IEEE Conference on Intelligent Transportation Systems, 2014.
AbstractIn inner-city, most vehicle-pedestrian collisions occur when a pedestrian is crossing the road and the driver does not see or pay attention to him. Current ADAS warn the driver or apply the brakes shortly before the collision, but in some situations the collision cannot be fully avoided because most systems react only when the pedestrian is already in front of the vehicle. To fully avoid a collision, a driver should be warned earlier. Beh...
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Martin Ernst Heckmann , "Improving the Naturalness of the Human-Machine Interaction via Audio-visual Word Prominence Detection", 2nd Workshop on Multimodal Analyses enabling Artificial Agents in Human-Machine Interaction, 2014.
AbstractIn this paper we investigate how word prominence can be detected from the acoustic signal and movements of the speaker's head and mouth. Our research is based on a corpus with 12 English speakers which contains in addition to the speech signal also videos of the talker's head. To extract the word prominence information we use on one hand functionals calculated on the features and on the other hand Functional PCA (FPCA) to extract information f...
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Olga Smalikho and Markus Olhofer , "Adaptive system design by a simultaneous evolution of morphology and information processing", The 10th International Conference on Simulated Evolution and Learning, 2014.
AbstractThe continuous need to increase the efficiency of technical systems requires the utilization of complex adaptive systems which operate in environments which are not completely predictable. Reasons include the often random nature of the environment and the fact that not all phenomena can be explained in full detail. As a consequence the developer often gets confronted with the task to design an adaptive system with only little prior knowledg...
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Harsh Gandhi, Jörg Deigmöller, Nils Einecke , "Detection of Camera Artifacts from Camera Images", International IEEE Conference on Intelligent Transportation Systems, pp. 603-610, 2014.
AbstractCameras are frequently used in state-of-the-art systems in order to get detailed information of the environment. However, when cameras are used outdoors they easily get dirty or scratches on the lens which leads to image artifacts that can deteriorate a system's performance. Little work has yet been done on how to detect and cope with such artifacts. Most of the previous work has concentrated on detecting a specific artifact like rain drops ...
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