TY - CHAP A1 - Schmidt, Jochen A1 - Vogt, F. A1 - Niemann, H. T1 - Robust Hand-Eye Calibration of an Endoscopic Surgery Robot Using Dual Quaternions T2 - Pattern Recognition, Proceedings of the 25th DAGM Symposium, Magdeburg N2 - This paper presents an approach for applying a dual quaternion hand–eye calibration algorithm on an endoscopic surgery robot. Special focus is on robustness, since the error of position and orientation data provided by the robot can be large depending on the movement actually executed. Another inherent problem to all hand–eye calibration methods is that non–parallel rotation axes must be used; otherwise, the calibration will fail. Thus we propose a method for increasing the numerical stability by selecting an optimal set of relative movements from the recorded sequence. Experimental evaluation shows the error in the estimated transformation when using well–suited and ill–suited data. Additionally, we show how a RANSAC approach can be used for eliminating the erroneous robot data from the selected movements. KW - Pattern Recognition KW - Temporal Orderr KW - Numerical Stability KW - Dual Quaternion  KW - Calibration Pattern  Y1 - 2018 ER - TY - CHAP A1 - Zenger, A. A1 - Schmidt, Jochen A1 - Krödel, M. T1 - Towards the Intelligent Home: Using Reinforcement-Learning for Optimal Heating Control T2 - Advances in Artificial Intelligence, Proceedings of the 36th Annual Conference on AI, volume 8077 of Lecture Notes in Artificial Intelligence N2 - We propose a reinforcement learning approach to heating control in home automation, that can acquire a set of rules enabling an agent to heat a room to the desired temperature at a defined time while conserving as much energy as possible. Experimental results are presented that show the feasibility of our method. KW - Target Temperature KW - Reward Function KW - Heating control KW - Home Automation KW - Approximate dynamic program Y1 - 2013 PB - Springer ER - TY - CHAP A1 - Goeller, Toni A1 - Wenninger, Marc A1 - Schmidt, Jochen T1 - Towards Cost-Effective Utility Business Models - Selecting a Communication Architecture for the Rollout of New Smart Energy Services T2 - Proceedings of the 7th International Conference on Smart Cities and Green ICT Systems - Volume 1: SMARTGREENS N2 - The IT architecture for meter reading and utility services is at the core of new business models and has a decisive role as an enabler for resource efficiency measures. The communication architecture used by those services has significant impact on cost, flexibility and speed of new service rollout. This article describes how the dominant system model for meter reading came about, what alternative models exist, and what trade-offs those models have for rollout of new services by different stakeholders. Control of a self learning home automation system by dynamic tariff information (Real-Time-Pricing) is given as an application example. KW - Smart Meter, Advanced Metering Infrastructure, AMI Y1 - 2018 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:861-opus4-8332 SN - 978-989-758-292-9 SP - 231 EP - 237 PB - SciTePress ER - TY - CHAP A1 - Wenninger, Marc A1 - Schmidt, Jochen A1 - Goeller, Toni T1 - Appliance Usage Prediction for the Smart Home with an Application to Energy Demand Side Management - And Why Accuracy is not a Good Performance Metric for this Problem. T2 - 6th International Conference on Smart Cities and Green ICT Systems (SMARTGREENS) N2 - Shifting energy peak load is a subject that plays a huge role in the currently changing energy market, where renewable energy sources no longer produce the exact amount of energy demanded. Matching demand to supply requires behavior Changes on the customerside, which can be achieved by incentives suchas Real-Time-Pricing (RTP). Various studies show that such incentives cannot be utilized without a complexity reduction, e.g., by smart home automation systems that inform the customer about possible savings or automatically schedule appliances to off-peak load phases. We propose a probabilistic appliance usage prediction based on historical energy data that can be used to identify the times of day where an appliance will be used and therefore make load shift recommendations that suite the customer’s usage profile. A huge issue is how to provide a valid performance evaluation for this particular problem. We will argue why the commonly used accuracy metric is not suitable, and suggest to use other metrics like the area under the Receiver Operating Characteristic (ROC) curve, Matthews Correlation Coefficient (MCC) or F1-Score instead. KW - Real Time Pricing (RTP) KW - Household Appliance Usage Prediction KW - Demand Side Management Y1 - 2017 ER - TY - CHAP A1 - Zobel, M. A1 - Denzler, J. A1 - Heigl, B. A1 - Nöth, E. A1 - Paulus, D. A1 - Schmidt, Jochen A1 - Stemmer, G. T1 - MOBSY: Integration of vision and dialogue in service robots T2 - Computer Vision Systems, Proceedings Second International Workshop, ICVS 2001, Vancouver, Canada N2 - MOBSY is a fully integrated autonomous mobile service robot system. It acts as an automatic dialogue based receptionist for visitors of our institute. MOBSY incorporates many techniques from different research areas into one working stand-alone system. Especially the computer vision and dialogue aspects are of main interest from the pattern recognition’s point of view. To summarize shortly, the involved techniques range from object classification over visual self-localization and recalibration to object tracking with multiple cameras. A dialogue component has to deal with speech recognition, understanding and answer generation. Further techniques needed are navigation, obstacle avoidance, and mechanisms to provide fault tolerant behavior. This contribution introduces our mobile system MOBSY. Among the main aspects vision and speech, we focus also on the integration aspect, both on the methodological and on the technical level. We describe the task and the involved techniques. Finally, we discuss the experiences that we gained with MOBSY during a live performance at the 25th anniversary of our institute KW - Speech recognition KW - Obstacle Avoidance  KW - Humanoid Robot  KW - Service Robot Y1 - 2001 ER -