Lehre : Lehrveranstaltungen

Learning about the environment by analyzing acoustic information

It is a difficult task maintain a save walking and therefore a save system behaviour in unknown environments. Therefore, knowledges in different scientific disciplines like, biology, mechanics and physics are important.

A Robot must interpret the environmental signals timely and has to initiate reactions before any demolition of the acting system or the closely connected environment. The usability of sound as an additional environmental parameter points toward a timely perception and to real-time control.

By means of selected literature from practice and theory we will discuss successful methods, proceedings and products which can help us to mangage the exploration tasks of unknown environments for example by acoustical information. There are 3 topics: Real Life; Technique and Special Paradigms.

Selected Sources:

3) “Nonlinear Dilation Network for Prediction Applications” Pergamon; Engineering Application and Artifical Intelligence; Vol 9; (1996)

4) “Using sensory weighting to model the influence of canal, otolith and visual cues on spatial orientation and eye movements”    Biological Cybernetics.; Vol 86, pp. 209-230 ;  (2002)

 5) “Learning Sensory Maps with Real-World Stimuli in Real Time Using a Biophysically Realistic Learning Rule”    IEEE Transaction on Neural Networks, Vol. 13; No. 3; (May 2002)

6) „Attention mechanism and its role in invariant pattern recognition“    ELSEVIER; Neurocomputing; 38-40; 1611-1618; (2001)

7) “Neuron, Networks and Motor Behaviour”     Neurons, networks, and motor behaviour; P. Stein,  MIT Press; ISBN 0-262-19390-6; (1999)

8)  “Non destructive evaluation in the time-frequency domain by means of the Wigner-Ville-Distribution “

9) “High resolution spectral analysis NDE techniques for flaw characterisation, Prediction and discrimination”

10) “Role of peak detection and parameter estimation in non-destructive testing of materials”

8-10) Signal and Pattern Recog. in NDE non destructive evaluation. NATO ASI Series  by C.H. Chen  (1988)

11)  “Crack detection techniques “   “Advances in Fracture Research“ Vol.3,  Ritchie;  (1999)

13) “Basic Acoustic Quantities and Data Analysis”  Noise and vibration control engineering, L.Beranek, Wiley & Sons; (1992)          [13a]    “Data Analysis”

14) “Sensor Fusion: State of the Art”  “Handbook of sensors and Actuators  / Intelligent Sensors”;  Vol. 3; Yamasaki; Elsevier (2001)

15) “Optimal filtering for systems with unknown inputs” IEEE Transact. on Autom. Control; Vol. 43; No. 3; (Nov. 2000)

16) “Active Sensing Policies for Stochastic Systems”  IEEE Transact. on Autom. Control; Vol.47; No.2; (2000)

17) “Optimal Multistage Kalman Estimators” IEEE Transact. on Automatic Control; Vol. 45; No. 11; (1999)

19) “Processing of non-stationary vibrations using the Affine Wigner distribution”

20) “Time-Frequency and Time-Scale Signal Analysis by Harmonic Wavelets” (17-20) Signal Analysis and Prediction; A Prochazka; Library of Congress; ISBN 0-8176-4042-8; (1998)

22) Artifical Intelligence in Real-Time Control” „AI in Real-Time Control“  A. Krijgsman; Kononklijke Bibliothek Den Haag;  ISBN: 90-9006497-4; (1993)

24)  “Support Vector Machines” S. Russel, P.Norvig. Prentice Hall in Artifical Intelligence A modern Appraoch. (2003)