Pyro

Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

Autonomous robots are complex systems that require the interaction between numerous heterogeneous components (software and hardware). Because of the increase in complexity of robotic applications and the diverse range of hardware, robotic middleware is designed to manage the complexity and heterogeneity of the hardware and applications, promote the integration of new technologies, simplify software design, hide the complexity of low-level communication and the sensor heterogeneity of the sensors, improve software quality, reuse robotic software infrastructure across multiple research efforts, and to reduce production costs. This paper presents a literature survey and attribute-based bibliography of the current state of the art in robotic middleware design. The main aim of the survey is to assist robotic middleware researchers in evaluating the strengths and weaknesses of current approaches and their appropriateness for their applications. Furthermore, we provide a comprehensive set of appropriate bibliographic references that are classified based on middleware attributes.

Segmenting words from natural speech: subsegmental variation in segmental cues

Most computational models of word segmentation are trained and tested on transcripts of speech, rather than the speech itself, and assume that speech is converted into a sequence of symbols prior to word segmentation. We present a way of representing speech corpora that avoids this assumption, and preserves acoustic variation present in speech. We use this new representation to re-evaluate a key computational model of word segmentation. One finding is that high levels of phonetic variability degrade the model's performance. While robustness to phonetic variability may be intrinsically valuable, this finding needs to be complemented by parallel studies of the actual abilities of children to segment phonetically variable speech.