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Pathfinder A Robot for Experiencing and Interacting in Distant Realities

Bernd Kleinjohann, Lisa Kleinjohann, Joachim Stroop C-LAB Frstenallee 11 D-33094 Paderborn Germany e-mail: {bernd, lisa, jost}@c-lab.de
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This paper describes a new active communication approach based on the C-LAB Pathfinder. The Pathfinder is a mobile communication robot, whose actions can be observed and controlled via internet. In contrast to usual communication devices that assume at least two communication partners or simply broadcast data like TV, we propose an active communication channel. This means that the Pathfinder will actively try to chat with persons in a distant environment, even if no internet user listens. Once an internet user receives the audio/visual data transmitted by the Pathfinder on its tours, he may stepwise take over control of the communication and movement of the Pathfinder. This approach allows an internet user to build up a telecommunication to previously unknown persons in a distant environment. By leaving the initiative to the Pathfinder potential restraints in communication with unknown persons can be overcome. Thus, this approach transfers the characteristics of a communication in a chat room already offered into the real world.

munication devices with appropriate control mechanisms can be supported. However, a communication style, that allows a smooth transition from an anonymous broadcast communication to a personal point to point communication is missing. Therefore, we propose a new communication approach based on a mobile communication device that can be interactively controlled via internet by the audience, i.e. the internet user. This mobile communication device is a small robot, originally constructed to allow internet users to explore the C-LAB premises. Therefore it was called C-LAB Pathfinder in analogy to the NASA Pathfinder that explored the distant reality on Mars [1]. Up to now a lot of robots like the NASA Pathfinder were built to fulfil dedicated jobs partly autonomously or/and with remote control in distant or unwieldy environments, e.g. [7,8]. Usually the objective of constructing those service robots is to improve their function with regard to the task they should fulfil. Examples may be the construction of special mechanics and intelligent control strategies for moving in difficult terrain and increasing autonomy or the implementation of sophisticated image analysis algorithms in order to recognise certain facts. In contrast to these service robots, the idea of the C-LAB Pathfinder is to act as a new kind of communication device for private communication and entertainment. In this paper we present an approach which allows an internet user to build up a personal tele-communication and to take over control of this communication in a stepwise manner. This approach supports the initiation of personal communication between two persons at different locations who did not know each other before, the decrease of restraints in communications with unknown persons, and the exploration of and interaction with distant environments. To a certain extent this approach transfers the characteristics of a communication in a chat room already offered in the internet into the real world. The Pathfinder can be seen as an embodiment of the person establishing the communication. The paper is structured as follows. Section 2 gives an overview of the C-LAB Pathfinder (simply called Pathfinder in the remainder of this paper) and its features. Section 3 characterises the new communication paradigm supported by the Pathfinder as mobile communication device. Section 4 gives an overview of the user interface. Sections 5 and 6 describe the system architecture and the Pathfinder realisation.



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The current practice in private telecommunication is characterised by point to point communication through phones which submit audio or/and video information and by broadcast media like TV. By the increasing availability of internet a new kind of private communication is possible, a broadcast, where the audience can determine what they want to hear and see in a certain distant environment and even can interact with this environment. To clarify this idea let us have a look at a live TV transmission of an event in a certain environment. Via TV the live event is recorded and sent in a broadcast manner even if no one would watch it. The TV camera is entirely controlled by the camera operator. Hence, the camera operator (or someone else from the TV staff) determines which piece of audio/visual information is sent via TV. In this situation we have a unidirectional flow of audio and video data. There is no back channel by which a TV consumer may interact with the environment or control the camera movement. Cameras are also used in bidirectional communication like video conferences. Here primitive control of the cameras is possible by the communicating persons. Video conferences with movable web-cameras are also possible via internet. Yet, the internet offers much more communication possibilities than current video conferencing, since more sophisticated com-



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The Pathfinder is about 40 cm long and has three wheels as depicted in Figure 1. The front wheel is freely movable. Each of the two rear wheels is driven by a motor. The Pathfinder is steered like a scooter car by these engines. The speed of the motors is measured by sensors, allowing the calculation of the travelling distance and the rotation angle in relation to a starting position. On top of the chassis a movable camera head is installed which is currently equipped with a single colour camera.
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'LVWDQFHV WR REVWDFOHV the infra red distance sensors of the Pathfinder detect obstacles in a circle with radius 1 m. Several measurement generations are maintained while driving, in order to support calculation of object shapes. /LQHV DQG FURVVHV RQ WKH IORRU; they have the function of landmarks for the Pathfinder. They are detected via infra red reflex light barriers. +HDW HPLVVLRQ VRXUFHV; via this feature living creatures (but also heaters) can be detected using pyro sensors.

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Using these basic measurements higher level functionality is realised. (QYLURQPHQW PDS: The map contains location and shape of landmarks and equipment in the environment. Equipment may be fixed like walls or movable like seats. Further information about locations is provided in attributes. Such an attribute may for instance state that certain locations are frequent meeting points for people or that equipment at this location changes over time. The environment map is steadily updated during the Pathfinder operation. 'ULYLQJ SDWKV: Higher level movements like driving to a certain location in the map are supported. During a tour the chosen path segments on this way are recorded.



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Traditional communication devices like phones, videoconferencing equipment, TVs etc. provide passive communication channels. They merely exchange audio/visual information between two or more persons in a bidirectional way or distribute information in a broadcast manner like TV. In contrast, the Pathfinder allows to realise an active communication channel consisting of an internet server and a communication assistant as depicted in Figure 2. The communication assistant plays a central role for the active behaviour of the communication channel. It allows the Pathfinder to act autonomously in a certain environment even if no bidirectional communication with this environment or people in this environment is established by an internet user. Since the Pathfinder acts in a real environment, it has to provide full functionality, even if the internet user himself prefers a passive attitude. Hence, different degrees of autonomous behaviour have to be provided depending on the degree of activity shown by the internet user.

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)LJXUH  0HFKDQLFDO &RQVWUXFWLRQ RI WKH 3DWKILQGHU The Pathfinder supports the following information flows between an internet user and a distant environment: 9LGHR LQIRUPDWLRQ is currently transmitted in a unidirectional fashion from the observed environment to the internet user. $XGLR LQIRUPDWLRQ flows in a bidirectional way. &RQWURO LQIRUPDWLRQ can be transmitted unidirectionally in order to control the Pathfinder movements and the camera perspective by positioning of the camera head. 0HDVXUHPHQW LQIRUPDWLRQ gathered by the Pathfinders sensors are sent from the vehicle to the internet user. Since the target for the Pathfinder design was not to construct a technically perfect robot but to study communication behaviour via this new mobile communication device the Pathfinder is equipped with relatively simple sensors. They allow to measure the following data. (QHUJ\ VWDWH RI WKH EDWWHU\; if the energy level is below a certain threshold the Pathfinder drives to a docking station to resume energy. 'ULYLQJ YHORFLW\ GLVWDQFH DQG URWDWLRQ DQJOH; the current velocity and the distance and rotation angle compared to a defined starting position are maintained with the help of wheel sensors (see Section 6). 'ULYLQJ SDWK UHODWLYH WR D JLYHQ SRVLWLRQ; this can be recorded (see Section 6).

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)LJXUH  $FWLYH &RPPXQLFDWLRQ &KDQQHO As already mentioned in Section 2, the active communication channel provided by the Pathfinder supports the exchange of four types of information: 9LGHR: video communication is currently unidirectional. It is directed from the observed environment to the internet user. However, the installation of a screen on the Pathfinder

vehicle would allow for a bidirectional flow of video information if the internet user has a video camera installed. $XGLR audio information may be exchanged in a multicasting fashion between three involved parties, the internet user, the observed persons, and the active communication channel itself. The third party is realised by a chat robot as part of the communication assistant and the Pathfinder as its mouthpiece. &RQWURO control information is a somewhat different kind of information. It serves for controlling the activities of the communication channel. Therefore, it is not exchanged between the involved persons like video and audio data but in a unidirectional way from the internet user to the communication channel or from the communication assistant to the Pathfinder vehicle. 0HDVXUHPHQW information about the sensor measurements of the Pathfinder is presented to the internet user in a graphical way based on the environment map. This kind of information closely belongs to the control information, since it forms the basis for control decisions by the internet user or the communication assistant.

strategic level. The communication assistant still determines how these strategic goals are realised. For the Pathfinder an internet user will be able to control the strength of a set of secondary drives and characteristic features like curiosity, communication desire, friendliness, etc. This will influence the Pathfinders movements and the chat behaviour. For each combination of goals a parameter set is sent to the Pathfinder. Parameter sets for one Pathfinder vehicle can be issued by different internet users. They are processed in the sending order. During the processing of one parameter set the internet user who initiated it is preferred to take over control at a lower level (task control or immediate control, see below). /HYHO  7DVN &RQWURO Here audio, video and control information flow through the communication channel like at level 3. But the commands an internet user gives become more concrete tasks. In order to execute a sequence of tasks at this level an internet user needs exclusive access to a Pathfinder vehicle. Tasks like driving along a wall, driving to a certain location or taking the chat initiative to a person nearby, will be executed by the Pathfinder. Although the Pathfinders attitude is determined by an internet user, it still shows some autonomous behaviour in avoiding obstacles or deciding what to talk about. /HYHO  ,PPHGLDWH &RQWURO This is the lowest communication level. Information flows in a bidirectional way like at the levels 3 and 4. Only the kind of control commands differ. At this level the communication channel, the Pathfinder respectively, does not show any autonomous behaviour but is entirely controlled by an internet user. In our realisation an internet user may give commands like turn left by 60 degrees, drive forward 2 metres with velocity 1m/s or say Hello. Via such an active communication channel an internet user may interact with a distant environment in different ways. He may simply observe the information distributed in a broadcast manner or stepwise take over the control of the mobile communication channel. This might, for instance, be helpful for shy persons to get into contact with other people. They can leave the initiative to the mobile communication device and after a communication is established take the immediate control over the communication. The remainder of the paper will describe the realisation of such an active, mobile communication channel by means of the Pathfinder. At first we will describe the user interface in order to explain the ideas of the different levels more concretely.

Depending on the presence of an internet audience and the degree of control exhibited by it five communication levels can be distinguished for this active communication channel. At all of these levels audio and video information about the environment the Pathfinder moves in and the observed people is recorded by the Pathfinder and sent to the internet server. /HYHO  ,QGHSHQGHQW ,QIRUPDWLRQ *DWKHULQJ This is the highest level of autonomy. No audience is present. This means audio and video information gathered by the Pathfinder vehicle is sent to the internet server and not distributed outside the communication channel. Vice versa, no control data is received from outside the communication channel. The Pathfinder behaves fully independently only following its own primary drives or goals. The primary drives we will consider are the Pathfinders need for energy if the batteries become empty, the need for information input, and the goal of raising attention of people passing by, in order to communicate with them. The information gathered at this level is entered into the private Pathfinder database in order to enhance the environment map. This map includes information about interesting locations, where for instance people can frequently be found. /HYHO  %URDGFDVW Here, a unidirectional broadcast communication is established by the communication channel. At least one internet user receives the audio/visual impressions gathered by the Pathfinder. Since the internet user is entirely passive and only watches the Pathfinder, it still shows fully autonomous behaviour. The main goal of the Pathfinder at this level is to keep the attention of the internet user. Hence, in addition to the primary need for energy also secondary drives as curiosity come into play. In order to keep the audiences attention the Pathfinder may visit interesting places identified for instance during independent walks and chat with people. /HYHO  6WUDWHJLF &RQWURO At this level the communication becomes bidirectional. In addition to the audio/video information distributed to the internet audience also control information is exchanged. Via this control data the activity of the communication channel is controlled at a



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According to the communication levels described in Section 3 the user interface provides several levels of interaction. At all communication levels the recorded video and audio information gives the impression of the current environment the Pathfinder moves in. The usual Pathfinder camera perspective is comparable to the perspective of pets (see also http://www.clab.de/~pathfinder). The user interface elements for input of control commands differ according to the level of control an internet user takes over

the restricted measuring capability the exact shape of an obstacle usually cannot be determined at a single tour driven by a user. Therefore, the grey region differs from the real obstacle indicated by the black contour. A first distinction whether an obstacle is a person or a piece of equipment can be done via the pyro sensors. If a newly detected obstacle is not a person a marker is set that the Pathfinder may come back to explore its geometry. 6WUDWHJLF &RQWURO At the strategic level we will first investigate the need for communication and survival energy and the characteristic features curiosity and friendliness. Their strength can be entered via sliding bars from a discrete domain. The stronger the communication need is the more the Pathfinder will look for people and start to chat with them. If there is no communication need the Pathfinder will avoid contacts with humans. Strong curiosity will make the Pathfinder look for places it has not been yet or for places where people or environment changes can be observed frequently. If the friendliness is strong the Pathfinder will start friendly chats, if it tends to zero the Pathfinder will show aggressive behaviour in chats and movements, for instance it may curse. The strength at the survival bar restricts the Pathfinders movements within a certain distance to the docking station where it can refill its battery. )LJXUH  8VHU ,QWHUIDFH strategic, task, or immediate control remember at the two higher communication levels no control information is exchanged. As examples we will describe the immediate control of vehicle and camera movements, the task level control of vehicle movement and user interface elements for control of secondary needs and characteristics at the strategic control level (see Figure 3). ,PPHGLDWH &RQWURO For immediate vehicle control a virtual joystick depicted in the upper left corner of Figure 3 is available. When a user moves the mouse pointer to any point within the inner circle of the control element, new values for the vehicles nominal speed and rotation are calculated. The vehicle speed increases towards the border of the circle. The rotation is 0 deg. on the vertical axis and 90 deg. on the horizontal axis. The upper half of the circle is responsible for forward movement, and the lower half for backward movement. Delays in the signal transfer via internet however, make precise control difficult. Therefore we introduced two additional control elements. A fixed driving direction can be selected in the outer circle and a driving distance in centimetres is chosen on the distance bar. The lower square allows to determine the camera rotation and tilt angles. 7DVN &RQWURO For task level control of movements a schematic map is available (upper right part of Figure 3). It shows the current position of the Pathfinder and information about the current environment that has been gathered by the Pathfinder. This may be walls or other fixed equipment in the environment. The destination of a movement task may be entered by clicking at a certain location in the map. Then the Pathfinder will autonomously drive to this target location. During this movement the distance sensors may detect obstacles already contained in the map and also new ones. An obstacle is indicated by a light grey region on the map as indicated in Figure 3. The shape of the grey region is calculated from several measurements of the six distance sensors. Due to



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The system architecture is realised by a set of services as indicated in Figure 4. These services are connected using either standard internet (IP) or higher level protocols (e.g. HTTP) as well as some proprietary protocols.
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)LJXUH  &RPPXQLFDWLRQ $UFKLWHFWXUH At the centre of the architecture is a server hosting three different server tasks. The HTTP server acts as the usual WWW document server providing all the information about the project to an internet user. Embedded into some of these documents are two special active elements, a so-called browser plug-in for the presentation of streaming audio/video (AV) data at the user's terminal and a Java applet for the entry of user commands as shown in Figure 3. Live streaming of AV data is initiated on the Pathfinder vehicles. Signals from the camera and the microphone are transmitted by radio to the video coder where they are converted first into a digital representation and then into a format amenable for live streaming. The resulting streams are managed by the video server which presents them to any internet user upon request using the above mentioned video plug-in. For this chain of processes the solution from RealNetworks is employed [2].

For the opposite direction commands entered at the applet based user interface are forwarded to the control server. This server manages the set of command streams from the users sites as well as the set of available vehicles and matches both sets using additional information such as priority lists etc. Commands are thus arriving at an appropriate robot server where they are translated into concrete actions by means of the control component and sent to the vehicle by radio. A further source for commands is the autonomy component of the robot server itself. Its degree of activity depends on the current communication level. In any case the information flow may be bidirectional, i.e. data from the vehicle can be sent back to the command source. The robot servers are independent components. Therefore, also two vehicles can communicate with each other directly. The robot servers consists of seven modules as depicted in Figure 5.

actual sensory input. If, for instance, an obstacle not contained in the map is detected the map takes this into account when generating new driving commands. A KLVWRU\ PRGXOH records previous tours and chats. ThH VWUDWHJ\ PRGXOH has the task to control the Pathfinder with different degrees of autonomy depending on the level of control performed by an internet user at the five communication levels described in Section 3. As described in Section 4 commands at the strategic control level (level 3) are entered via sliding bars determining the strength of four Pathfinder drives or features. The task of the VWUDWHJ\ PRGXOH is to interpolate between these drives and transform them into movement and chat tasks. These tasks can either be directly handled by other modules or have to be transformed into immediate control commands. These modules run on a Personal Computer. The software realised on the Pathfinder vehicles is described in the next section.

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)LJXUH  5RERW 6HUYHU $UFKLWHFWXUH The FRQWURO component translates the user commands into concrete actions for the Pathfinder. It manages the allocation of a Pathfinder vehicle to an internet user. 6SHHFK UHFRJQLWLRQ and VSHHFK V\QWKHVLV together with the FKDW URERW allow to process audio information in two principle ways. At first an autonomous audio-communication between the Pathfinder (the chat robot) and people observed in the environment can take place. An internet user can take up this communication by typing phrases that are converted into audio streams by the VSHHFK V\QWKHVLV Secondly, an observed person may give a command to the Pathfinder like get away. This command cannot be handled by the chat robot directly. It is forwarded to the VWUDWHJ\ PRGXOH that transforms it into appropriate control instructions for the FKDW URERW or the DFWLYH PDS explained below. Furthermore ASCII-chats between the internet user and the FKDW URERW are possible. The modules are realised by existing software solutions. As chat robot we use Bob [3], for speech synthesis we use Mbrola [4] and Hadifix [5], and speech recognition is done by Dragon Natural Speeking 3.5. The DFWLYH PDS is responsible for maintaining the environment map with its attributes. It is called active, because it guides the Pathfinder to locations with certain attributes by generating the appropriate movement commands. Furthermore, it reacts on the

The Pathfinder is realised on five C167 microcontroller from Siemens AG that communicate via CAN bus. The C167 is a 16 bit microcontroller with 64 Kbytes RAM and 256 Kbytes Flash. It runs at a clock rate of 20 MHz. Figure 6 shows the software distribution on the five microcontrollers. Each microcontroller is responsible for one of the tasks described below: Protocol handling (PH) Motor and power management (MPM), Environment management (EM), Head and camera control (HCC), and Speech management (SM).

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)LJXUH  +DUGZDUH6RIWZDUH $UFKLWHFWXUH 3URWRFRO +DQGOLQJ 3+ The PH acts as a bridge between the transmitter and the CAN bus. It decodes the control information generated by the robot server (either autonomously or from user commands) and distributes it to the corresponding microcontroller. Furthermore it gathers the measurement results received from the other microcontroller and sends them to the robot server. 6SHHFK 0DQDJHPHQW 60 The SM realises compression and decompression of audio data received from the microphone and sent to the loudspeakers

installed at the Pathfinder. The (de)compression conforms to the MPEG 2 standard. 0RWRU &RQWURO DQG 3RZHU 0DQDJHPHQW 030 The MPM is responsible for low level movement operations of the Pathfinder. Such movements correspond to driving commands given by an internet user at the immediate level of control, for instance by a virtual joy stick (see also Section 4). The MPM evaluates the wheel sensor outputs and controls the motors. It records the way between the last defined location and the present location. This allows the realisation of commands like driving back the last remembered way. Furthermore, the MPM is responsible for monitoring the energy level of the Pathfinders battery. If a certain threshold is reached, a higher level command for driving to the docking station is initiated. (QYLURQPHQW 0DQDJHPHQW (0 The EM is responsible for handling obstacles and landmarks detected by the distance sensors or the reflex light barriers. It maintains several measurement generations of the distance sensors and transfers the results to the robot server in order to allow an update of the environment map. Commands on the task level like driving along an obstacle in a certain distance or following a white line are directly realised by the EM. +HDG DQG &DPHUD &RQWURO +&&) The HCC controls the movement of the camera head and supports the detection of persons with the pyro sensors installed at the camera head. As an example we will describe the realisation of Motor Control and Power Management (MPM) as depicted in Figure 7 in more detail.
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of # positive minus # negative 3 deg. rotations from a given starting point. Furthermore, after each 20 ms a timer interrupt is generated. In the corresponding interrupt routine actual and nominal values are compared and control values are calculated for the generation of output signals after each 20 ms interval. The actual speed is calculated by #rotations / 120 / 20ms. If it deviates from the nominal speed an appropriate PWM output signal (Pulse Width Modulation) for correcting the left/right wheel motor speeds is generated. Impulses for battery loading are generated if the docking station is reached and the energy level is too low.



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The current realisation status allows task level and immediate control of the Pathfinder corresponding to the communication levels 4 and 5. For the strategy component, that is responsible for higher level behaviour, a subsumption architecture as proposed by Brooks [6] will be realised. We made experiences with a simpler version of the Pathfinder that supports immediate control by a virtual joy stick and provides no chat functionality. During several public events like the CeBIT or the WDR Computer Night (a national TV life event where about 2000 persons physically attended and about 300 persons virtually participated via internet and each controlled the Pathfinder for 10 minutes) it showed that even this simple realisation attracts a huge amount of internet users to take over control and explore distant environments with the Pathfinder.



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We want to thank Rainer Knnemeier, Carsten Rust, Dirk Stichling, Jrgen Tacken and all participants of the project group ENADES for their contributions to the development of the Pathfinder.

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)LJXUH  0RWRU DQG 3RZHU 0DQDJPHQW The main program processes in an endless loop the control instructions distributed to the MPM via the PH. If data are requested from other microcontroller it sends data from its internal memory. Here the actual location (x-pos, y-pos) and rotation angle (angle), the trace of the last movements (trace) and the actual battery load (power) are stored. If movement instructions are sent, the main program writes the nominal values for the speed and wheel rotations into the memories for the right and left wheels. The actual processing of movements is done by the interrupt routines described below. Each wheel sensor causes an interrupt for 3 deg. wheel rotation, i.e. 120 interrupts are sent for one wheel rotation. Such a wheel interrupt writes the actual value of the wheel position into the wheel memory. The wheel position is counted as the difference

[1] Mars Pathfinder Home Page. Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California. URL: http://mpfwww.jpl.nasa.gov/MPF/default.html [2] RealNetworks. URL: http://www.real.com [3] Bob, URL: http://www.geocities.com/CapeCanaveral/1630/bob.html [4] Mbrola, The Circuit Theory and Signal Processing Group, TCTS LAB at Facult Polytechnique de Mons, Mons, Belgium, URL: http://tcts.fpms.ac.be/synthesis/mbrola.html [5] Hadifix, Institut fr Kommunikationsforschung und Phonetik, IKP, at the University of Bonn, Germany, URL: http://www.ikp.uni-bonn.de/~tpo/HADIFIXforMBROLA.html [6] Rodney A. Brooks, A Robust Layered Control System for a Mobile Robot, MIT AI Lab Memo 864, September 1985. [7] Robotic Tourguide Project Minerva. Carnegie Mellon University. URL: http://www.cs.cmu.edu/~minerva/ [8] Robot Kurt for Channel Inspection. German national research center for information technology, Bonn, in GMD Pointer No 2, March 1998, URL: http://www.gmd.de/pointer/2-98/kurt.html

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