Virtual Borders: Accurate Definition of a Mobile Robot's Workspace Using Augmented Reality

We address the problem of interactively controlling the workspace of a mobile robot to ensure a human-aware navigation. This is especially of relevance for non-expert users living in human-robot shared spaces, e.g. home environments, since they want to keep the control of their mobile robots, such as vacuum cleaning or companion robots. Therefore, we introduce virtual borders that are respected by a robot while performing its tasks. For this purpose, we employ a RGB-D Google Tango tablet as human-robot interface in combination with an augmented reality application to flexibly define virtual borders. We evaluated our system with 15 non-expert users concerning accuracy, teaching time and correctness and compared the results with other baseline methods based on visual markers and a laser pointer. The experimental results show that our method features an equally high accuracy while reducing the teaching time significantly compared to the baseline methods. This holds for different border lengths, shapes and variations in the teaching process. Finally, we demonstrated the correctness of the approach, i.e. the mobile robot changes its navigational behavior according to the user-defined virtual borders.Comment: Accepted on 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), supplementary video: https://youtu.be/oQO8sQ0JBR

This Far, No Further: Introducing Virtual Borders to Mobile Robots Using a Laser Pointer

We address the problem of controlling the workspace of a 3-DoF mobile robot. In a human-robot shared space, robots should navigate in a human-acceptable way according to the users' demands. For this purpose, we employ virtual borders, that are non-physical borders, to allow a user the restriction of the robot's workspace. To this end, we propose an interaction method based on a laser pointer to intuitively define virtual borders. This interaction method uses a previously developed framework based on robot guidance to change the robot's navigational behavior. Furthermore, we extend this framework to increase the flexibility by considering different types of virtual borders, i.e. polygons and curves separating an area. We evaluated our method with 15 non-expert users concerning correctness, accuracy and teaching time. The experimental results revealed a high accuracy and linear teaching time with respect to the border length while correctly incorporating the borders into the robot's navigational map. Finally, our user study showed that non-expert users can employ our interaction method.Comment: Accepted at 2019 Third IEEE International Conference on Robotic Computing (IRC), supplementary video: https://youtu.be/lKsGp8xtyI

A Framework for Interactive Teaching of Virtual Borders to Mobile Robots

The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in their environment as long as they keep the control over them. One important aspect is the control of a robot's workspace. Therefore, we introduce virtual borders to precisely and flexibly define the workspace of mobile robots. First, we propose a novel framework that allows a person to interactively restrict a mobile robot's workspace. To show the validity of this framework, a concrete implementation based on visual markers is implemented. Afterwards, the mobile robot is capable of performing its tasks while respecting the new virtual borders. The approach is accurate, flexible and less time consuming than explicit robot programming. Hence, even non-experts are able to teach virtual borders to their robots which is especially interesting in domains like vacuuming or service robots in home environments.Comment: 7 pages, 6 figure

Sensitivity study for the rate-based simulation of the reactive absorption of CO2

AbstractThe most promising process for Post Combustion Carbon Capture (PCC) is reactive absorption. For the design and scale-up of this process, reliable process models are needed. To achieve this, the models need to not only reliably describe the physical and chemical equilibria in the reacting systems but also to account for both mass transfer and reaction kinetics. Consequently, the models are complex and contain a large number of input parameters for describing fluid dynamics and physico-chemical properties. In order to assess the required quality of the input, the sensitivity of the simulation results to the parameters has to be known. This paper presents results from such a sensitivity study for a typical operating point of a PCC pilot plant with 0.3 g/g monoethanolamine (MEA) in water as the solvent. A rate-based model and its input parameters are introduced and describe the pilot plant results well. The most relevant input parameters of the model are systematically varied and the influence of that variation on the simulation results is monitored. Absorber and desorber are considered separately. The results are sensitive to most of the studied parameters. High sensitivities are found for the interfacial area, the Henry’s law constant and the enthalpy of absorption as well as for the parameters describing the equilibrium and kinetics of the carbamate formation and the amine protonation equilibrium

Chromosomal Aberrations Associated with Clonal Evolution and Leukemic Transformation in Fanconi Anemia: Clinical and Biological Implications

Fanconi anaemia (FA) is an inherited disease with congenital and developmental abnormalities, bone marrow failure, and extreme risk of leukemic transformation. Bone marrow surveillance is an important part of the clinical management of FA and often reveals cytogenetic aberrations. Here, we review bone marrow findings in FA and discuss the clinical and biological implications of chromosomal aberrations associated with leukemic transformation