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A 10-kb DNA region of the cyanobacterium Anabaena variabilis ATCC 29413 containing the structural genes of the uptake hydrogenase (hupSL) was cloned and sequenced. In contrast to the hupL gene of Anabaena sp. strain PCC 7120, which is interrupted by a 10.5-kb DNA fragment in vegetative cells, there is no programmed rearrangement within the hupL gene during(More)
—The paper describes progress achieved in our long-term research project SHOPBOT, which aims at the development of an intelligent and interactive mobile shopping assistant for everyday use in shopping centers or home improvement stores. It is focusing on recent progress concerning two important methodological aspects: (i) the on-line building of maps of the(More)
The recognition of places that have already been visited is a fundamental requirement for a mobile robot. This particularly concerns the detection of loop closures while mapping environments as well as the global localization w.r.t. to a prior map. This paper introduces a novel solution to place recognition with 2D LIDAR scans. Existing approaches utilize(More)
— Simultaneous Localization And Mapping (SLAM) has been an important field of research in the robotics community in recent years. A successful class of SLAM algorithms are Rao-Blackwellized Particle Filters (RBPF), where the particles approximate the pose belief distribution, while each particle contains a separate map. So far, RBPF with landmark based(More)
– This paper describes the conception and realization of a Multi-Sensory Interactive Mobile Office Guide. We designed a mobile robot based on a modified Pioneer-2 robot, which is able to welcome visitors in our department and guide them to the desired staff member. The main components of the system are a vision based Multi-Person-Tracker and the existing(More)
We present a novel omnivision-based robot localiza-tion approach which utilizes the Monte Carlo Lo-calization (MCL) [2], a Bayesian filtering technique based on a density representation by means of particles. The capability of this method to approximate arbitrary likelihood densities is a crucial property for dealing with highly ambiguous localization(More)
This paper describes a user detection system which employs a saliency system working on an omnidirectional camera delivering a rough and fast estimate of the position of a potential user. It consists of a vision (skin color) and a sonar based component , which are combined to make the estimate more reliable. To make the skin color detection robust under(More)
— In this paper, the people tracking system of a mobile shopping assistant based on a SCITOS-G5 platform is explained in detail. The robot has two tasks, to find people requiring assistance and to guide a user to a target without losing contact. For that purpose, a probabilistic model and a Bayesian update scheme have been developed, where data of various(More)
The paper describes a multi-modal scheme for human-robot interaction suited for a wide range of intelligent service robot applications. Operating in un-engineered, cluttered, and crowded environments, such robots have to be able to actively contact potential users in their surroundings and to offer their services in an appropriate manner. Starting from a(More)