Multi-Modal Human-Machine Communication for Instructing Robot Grasping Tasks

A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by interactive demonstration. To make this effective and convenient for the user, the machine must be capable to establish a common focus of attention and be able to use and integrate spoken instructions, visual perceptions, and non-verbal clues like gestural commands. We report progress in building a hybrid architecture that combines statistical methods, neural networks, and finite state machines into an integrated system for instructing grasping tasks by man-machine interaction. The system combines the GRAVIS-robot for visual attention and gestural instruction with an intelligent interface for speech recognition and linguistic interpretation, and an modality fusion module to allow multi-modal task-oriented man-machine communication with respect to dextrous robot manipulation of objects.Comment: 7 pages, 8 figure

Theory of spin-Hall transport of heavy holes in semiconductor quantum wells

Based on a proper definition of the spin current, we investigate the spin-Hall effect of heavy holes in narrow quantum wells in the presence of Rashba spin-orbit coupling by using a spin-density matrix approach. In contrast to previous results obtained on the basis of the conventional definition of the spin current, we arrive at the conclusion that an electric-field-induced steady-state spin-Hall current does not exist in both, pure and disordered infinite samples. Only an ac field can induce a spin-Hall effect in such systems.Comment: 6 pages, submitted to J. Phys.: Condens. Matte

Generative technologies for model animation in the TopCased platform

International audienceDomain Specific Modeling Languages (DSML) are more and more used to handle high level concepts, and thus bring complex software development under control. The increasingly recurring definition of new languages raises the problem of the definition of support tools such as editor, simulator, compiler, etc. In this paper we propose generative technologies that have been designed to ease the development of model animation tools inside the TopCased platform. These tools rely on the automatically generated graphical editors of TopCased and provide additional generators for building model animator graphical interface. We also rely on an architecture for executable metamodel (i.e., the TopCased model execution metamodeling pattern) to bind the behavioral semantics of the modeling language. These tools were designed in a pragmatic manner by abstracting the various model animators that had been hand-coded in the TopCased project, and then validated by refactoring these animators

Using standard typing algorithms incrementally

Modern languages are equipped with static type checking/inference that helps programmers to keep a clean programming style and to reduce errors. However, the ever-growing size of programs and their continuous evolution require building fast and efficient analysers. A promising solution is incrementality, aiming at only re-typing the diffs, i.e. those parts of the program that change or are inserted, rather than the entire codebase. We propose an algorithmic schema that drives an incremental usage of existing, standard typing algorithms with no changes. Ours is a grey-box approach: just the shape of the input, that of the results and some domain-specific knowledge are needed to instantiate our schema. Here, we present the foundations of our approach and the conditions for its correctmess. We show it at work to derive two different incremental typing algorithms. The first type checks an imperative language to detect information flow and non-interference, and the second infers types for a functional language. We assessed our proposal on a prototypical imple- mentation of an incremental type checker. Our experiments show that using the type checker incrementally is (almost) always rewardin

Using Standard Typing Algorithms Incrementally

Modern languages are equipped with static type checking/inference that helps programmers to keep a clean programming style and to reduce errors. However, the ever-growing size of programs and their continuous evolution require building fast and efficient analysers. A promising solution is incrementality, so one only re-types those parts of the program that are new, rather than the entire codebase. We propose an algorithmic schema driving the definition of an incremental typing algorithm that exploits the existing, standard ones with no changes. Ours is a grey-box approach, meaning that just the shape of the input, that of the results and some domain-specific knowledge are needed to instantiate our schema. Here, we present the foundations of our approach and we show it at work to derive three different incremental typing algorithms. The first two implement type checking and inference for a functional language. The last one type-checks an imperative language to detect information flow and non-interference. We assessed our proposal on a prototypical implementation of an incremental type checker. Our experiments show that using the type checker incrementally is (almost) always rewarding.Comment: corrected and updated; experimental results adde

GMF: A Model Migration Case for the Transformation Tool Contest

Using a real-life evolution taken from the Graphical Modeling Framework, we invite submissions to explore ways in which model transformation and migration tools can be used to migrate models in response to metamodel adaptation.Comment: In Proceedings TTC 2011, arXiv:1111.440

In vivo characterization of protein-protein interactions in the AP1 system with fluorescence correlation spectroscopy (FCS).

The aim of these studies is the quantitative investigation of protein-protein interactions in the AP1 system in vivo. First results of FCS measurements show an exchange in the nucleus of the proteins Fos-CFP and Jun-YFP in the stably mono-transfected HeLa-Cells. This is also shown by fitting the bleaching curves measured in the nucleus with an appropriate model. We obtained dissociation times between 10 and 20 seconds in the nucleus. In the autocorrelation function a free and an obstructed component of diffusion are shown. For further studies doubly transfected cells with both proteins, Fos-CFP and Jun-YFP, were prepared. These cells will now be characterized with FCCS to investigate the protein-protein interactions. In order to obtain the dissociation rates of the complex in the cell nucleus bleaching curves will be recorded on these cell lines. We also overexpressed and purified Jun-YFP and Fos-CFP for in vitro studies

A Comparison of Model Migration Tools

International audienceModelling languages and thus their metamodels are subject to change. When a metamodel evolves, existing models may no longer conform to the evolved metamodel. To avoid rebuilding them from scratch, existing models must be migrated to conform to the evolved metamodel. Manually migrating existing models is tedious and errorprone. To alleviate this, several tools have been proposed to build a migration strategy that automates the migration of existing models. Little is known about the advantages and disadvantages of the tools in different situations. In this paper, we thus compare a representative sample of migration tools - AML, COPE, Ecore2Ecore and Epsilon Flock - using common migration examples. The criteria used in the comparison aim to support users in selecting the most appropriate tool for their situation