Inhalt

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   Motivation and Scenario
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   Robot-Software for Mixed-Initiative HRI
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   Context: Social Robots that Learn in Interaction
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   Enabling detailed, yet general, verbal commentary
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   Continuous, bi-directional interaction-action coupling
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   Architectures for iterative development
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   Within-component composition
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   Methodology: Case studies on successive iterations
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   Reusable Software Toolkits
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   Summary
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  Experimental Scenario: The ``Curious Robot''
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   ``Intuitive'' Human-Robot-Interaction?
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   Scenario Rationale
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   Learning from Humans
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   Differences in interaction style
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   The ``Curious Robot'' Scenario
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   Main Experimental Platform
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   Development History
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   Interaction Overview
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   System Capabilities
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  Interaction Challenges and Remedies
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   Scenario Challenges
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   The Dialog Structuring Approach
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   Summary
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  The Task-Interaction Architecture
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   The Role of Architecture for Robotics
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   Scenario-related Architectural Challenges
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   System Overview
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   Components & Functionality
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   Functional sub-system Schema
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   Communication
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   Model of Computation
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   System Schema
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   Feedback Coupling
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   Concrete Architecture of the Final Demonstrator
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   Coordination
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   The Abstract Task-State Pattern
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  Overview
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   An Example Problem for Motivation
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   The Solution in a Nutshell
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  User's View
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   An example life-cycle
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   Communication
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   Using the Pattern as a Client
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   Using the Pattern as a Server
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  Implementing the Pattern in a Toolkit
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   Premises and Design Influences
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   Summary of implementation steps
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   Advantages and Responsibilities
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   Structure
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   Dynamics
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   An Example Life-Cycle
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   Alternatives
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  History & Known Uses
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   Intelligent Machine Architecture
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   Task Control Architecture
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   Task Description Language
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   DESIRE Architecture
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   Active Memory Architecture
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   XCF Task Toolkit
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   ROS ActionLib
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   Plan Execution Interchange Language
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   Consequences
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   Summary
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  Separation of Concerns in Life-Cycle Coordination
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  Pattern Identification and Analysis of Historical Use
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   Example: The COGNIRON Home-Tour
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   Verdict: Successful, but onerous to get right
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   Analysis of a typical component: ``Following''
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  The XCF Task Toolkit (XTT)
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   XTT Design Guidelines
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   XTT Structure
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   System Interaction
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   Task Server Implementations
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   Summary
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  Proof of Concept: Text-to-Speech Service
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   Preventing Insider Bias and 2nd System Effect
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   History and Use of the Text-to-Speech Component
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   System Context
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   Stakeholder Analysis
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   Study Design
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   Data Analysis
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   Summary
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  Life-Cycle Coordination for Mixed-Initiative HRI
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   Context: Initiative Generation for the Curious Robot
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   Study Design
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   Generalization and Validity
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   Goal: Validate Life-Cycle-Based Coordination
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   History and Evolution of the Scenario
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  Coordination Use Cases
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   Analysis of Coordination Integration
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   From Actions to Activities
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   Overlapping Activities or ``Implicit Completion''
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   External Synchronization for Additional Feedback
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  Discussion
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   Life-Cycle Design
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   Component Types
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   Life-Cycle Subsets
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   Overall Suitability
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   Distribution of Work
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   Composition
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  Modeling with Directed Typed Graphs and Event-Oriented Decomposition
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   Component Modeling for Distributed Systems
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   Graph-Oriented Program Models
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   Reactive Systems
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   Computer-Aided and Model-Driven-Engineering (MDE)
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  Execution models
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   Classical data-flow model
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   Kahn process networks
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   Communicating Sequential Processes
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   Synchronous Data Flow
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  The Filter-Transform-Select (FTS) Toolkit
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   Historical Overview
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   FTS Requirements & Design
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  (De-)Composition Principles
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   Decomposition for re-use
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   Multi-Level Composition Support
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  Toolkit Implementation
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   User-Visible API
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   Declarative Graph Specification
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   Execution
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  Visualization
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   Activity Diagram Semantics for FTS Graphs
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   Summary
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  Data-Flow Case Studies
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  Proof of concept: Data fusion
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   Functional component overview
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   Analysis of original action selection
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   Graph-based re-implementation
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   Adding visualization
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   Summary
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   Case study 2: Hardware independent serial robot control
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   MABOTIC robot control protocol
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   VISCA control protocol
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   ``scontrol'' protocol driver
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   Discussion
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   System and Conclusion
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  System Evolution
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   Scenario pre-test: ``What is that?''
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   Initial Object Learning System
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   Use Cases
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   Hard & software components
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   Notes on integration
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   User evaluation of the Object Learning System
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   Experimental design
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   Results of the experiment
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   Discussion
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   Relation to proposed methods
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   Extended / Alternative Scenarios
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   CeBIT demonstrator
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   Enhanced object learning system
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  Functional architecture
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   Interaction subsystem
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   Motion control subsystem
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   Non-verbal feedback subsystem
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  Related Work
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   Collaborative construction scenarios
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   Interactive mobile robots
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   Social Robots
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   Summary
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  Conclusion
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   Communication for Coordination
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   Rapid Component Composition
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   Integration in an HRI scenario
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  Software Metrics
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   Metrics vs. Case Studies
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   Tools Used
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  Full Example Frames from Interaction
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   ``What is That?'' Sequence
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  Graph and Document Examples
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  Graph Specification Language
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   Document Type Definition
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  Example graph specifications
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   Curiosity Generation Specification
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   Selection Visualization
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   Example graph visualizations
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  Data format examples
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   Saliency computation output
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   Object detector output
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   Interaction region
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  Protocol Specifications
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   MABOTIC iModule Command Specification
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  Video Study Material
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   Questionnaire for the video study
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   Translation of questionnaire
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  Transcription of subject recordings
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   Responses to free questions (German)
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   Responses to free questions (English)