000 Informatik, Informationswissenschaft, allgemeine Werke
Refine
Year of publication
- 2019 (5) (remove)
Document Type
- Master's Thesis (3)
- Part of Periodical (2)
Keywords
- Internet of Things (1)
- Maschinelles Lernen (1)
- Sustainability (1)
- machine learning (1)
- tracking (1)
This paper describes the robots TIAGo and Lisa used by
team homer@UniKoblenz of the University of Koblenz-Landau, Germany,
for the participation at the RoboCup@Home 2019 in Sydney,
Australia. We ended up first at RoboCup@Home 2019 in the Open Platform
League and won the competition in our league now three times
in a row (four times in total) which makes our team the most successful
in RoboCup@Home. We demonstrated approaches for learning from
demonstration, touch enforcing manipulation and autonomous semantic
exploration in the finals. A special focus is put on novel system components
and the open source contributions of our team. We have released
packages for object recognition, a robot face including speech synthesis,
mapping and navigation, speech recognition interface, gesture recognition
and imitation learning. The packages are available (and new packages
will be released) on http://homer.uni-koblenz.de.
Business Process Querying (BPQ) is a discipline in the field of Business Process Man- agement which helps experts to understand existing process models and accelerates the development of new ones. Its queries can fetch and merge these models, answer questions regarding the underlying process, and conduct compliance checking in return. Many languages have been deployed in this discipline but two language types are dominant: Logic-based languages use temporal logic to verify models as finite state machines whereas graph-based languages use pattern matching to retrieve subgraphs of model graphs directly. This thesis aims to map the features of both language types to features of the other to identify strengths and weaknesses. Exemplarily, the features of Computational Tree Logic (CTL) and The Diagramed Modeling Language (DMQL) are mapped to one another. CTL explores the valid state space and thus is better for behavioral querying. Lacking certain structural features and counting mechanisms it is not appropriate to query structural properties. In contrast, DMQL issues structural queries and its patterns can reconstruct any CTL formula. However, they do not always achieve exactly the same semantic: Patterns treat conditional flow as sequential flow by ignoring its conditions. As a result, retrieved mappings are invalid process execution sequences, i.e. false positives, in certain scenarios. DMQL can be used for behavioral querying if these are absent or acceptable. In conclusion, both language types have strengths and are specialized for different BPQ use cases but in certain scenarios graph-based languages can be applied to both. Integrating the evaluation of conditions would remove the need for logic-based languages in BPQ completely.
The Internet of Things (IoT) is a fast-growing, technological concept, which aims to integrate various physical and virtual objects into a global network to enable interaction and communication between those objects (Atzori, Iera and Morabito, 2010). The application possibilities are manifold and may transform society and economy similarly to the usage of the internet (Chase, 2013). Furthermore, the Internet of Things occupies a central role for the realisation of visionary future concepts, for example, Smart City or Smart Healthcare. In addition, the utilisation of this technology promises opportunities for the enhancement of various sustainability aspects, and thus for the transformation to a smarter, more efficient and more conscious dealing with natural resources (Maksimovic, 2017). The action principle of sustainability increasingly gains attention in the societal and academical discourse. This is reasoned by the partly harmful consumption and production patterns of the last century (Mcwilliams et al., 2016). Relating to sustainability, the advancing application of IoT technology also poses risks. Following the precautionary principle, these risks should be considered early (Harremoës et al., 2001). Risks of IoT for sustainability include the massive amounts of energy and raw materials which are required for the manufacturing and operation of IoT objects and furthermore, the disposal of those objects (Birkel et al., 2019). The exact relations in the context of IoT and sustainability are insufficiently explored to this point and do not constitute a central element within the discussion of this technology (Behrendt, 2019). Therefore, this thesis aims to develop a comprehensive overview of the relations between IoT and sustainability.
To achieve this aim, this thesis utilises the methodology of Grounded Theory in combination with a comprehensive literature review. The analysed literature primarily consists of research contributions in the field of Information Technology (IT). Based on this literature, aspects, solution approaches, effects and challenges in the context of IoT and sustainability were elaborated. The analysis revealed two central perspectives in this context. IoT for Sustainability (IoT4Sus) describes the utilisation and usage of IoT-generated information to enhance sustainability aspects. In contrast, Sustainability for IoT (Sus4IoT) fo-cuses on sustainability aspects of the applied technology and highlights methods to reduce negative impacts, which are associated with the manufacturing and operation of IoT. Elaborated aspects and relations were illustrated in the comprehensive CCIS Framework. This framework represents a tool for the capturing of relevant aspects and relations in this context and thus supports the awareness of the link between IoT and sustainability. Furthermore, the framework suggests an action principle to optimise the performance of IoT systems regarding sustainability.
The central contribution of this thesis is represented by the providence of the CCIS Framework and the contained information regarding the aspects and relations of IoT and sustainability.
Tracking is an integral part of many modern applications, especially in areas like autonomous systems and Augmented Reality. For performing tracking there are a wide array of approaches. One that has become a subject of research just recently is the utilization of Neural Networks. In the scope of this master thesis an application will be developed which uses such a Neural Network for the tracking process. This also requires the creation of training data as well as the creation and training of a Neural Network. Subsequently the usage of Neural Networks for tracking will be analyzed and evaluated. This includes several aspects. The quality of the tracking for different degrees of freedom will be checked as well as the the impact of the Neural Network on the applications performance. Additionally the amount of required training data is investigated, the influence of the network architecture and the importance of providing depth data as part of the networks input. This should provide an insight into how relevant this approach could be for its adoption in future products.