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Manipulating deformable linear objects - Vision-based recognition of contact state transitions -
(1999)
A new and systematic approach to machine vision-based robot manipulation of deformable (non-rigid) linear objects is introduced. This approach reduces the computational needs by using a simple state-oriented model of the objects. These states describe the relation of the object with respect to an obstacle and are derived from the object image and its features. Therefore, the object is segmented from a standard video frame using a fast segmentation algorithm. Several object features are presented which allow the state recognition of the object while being manipulated by the robot.
We present two techniques for reasoning from cases to solve classification tasks: Induction and case-based reasoning. We contrast the two technologies (that are often confused) and show how they complement each other. Based on this, we describe how they are integrated in one single platform for reasoning from cases: The Inreca system.
As global networks are being used by more and more people,they are becoming increasingly interesting for commercial appli-cations. The recent success and change in direction of the World-Wide Web is a clear indication for this. However, this success meta largely unprepared communications infrastructure. The Inter-net as an originally non-profit network did neither offer the secu-rity, nor the globally available accounting infrastructure byitself.These problems were addressed in the recent past, but in aseemingly ad-hoc manner. Several different accounting schemessensible for only certain types of commercial transactions havebeen developed, which either seem to neglect the problems ofscalability, or trade security for efficiency. Finally, some propos-als aim at achieving near perfect security at the expense of effi-ciency, thus rendering those systems to be of no practical use.In contrast, this paper presents a suitably configurable schemefor accounting in a general, widely distributed client/server envi-ronment. When developing the protocol presented in this paper,special attention has been paid to make this approach work wellin the future setting of high-bandwidth, high-latency internets.The developed protocol has been applied to a large-scale distrib-uted application, a WWW-based software development environ-ment.
Die Realisierung zunehmend komplexer Softwareprojekte erfordert das direkte und indirekteZusammenwirken einer immer größer werdenden Zahl von Personen. Die dafür benötigte Infrastrukturist mit der zunehmenden globalen Rechner-Vernetzung bereits vorhanden, doch wird ihr Potential vonherkömmlichen Werkzeugen in der Regel bei weitem nicht ausgeschöpft. Das in diesem Artikelvorgestellte Rahmenmodell für Softwareentwicklung wurde explizit im Hinblick auf die globaleKooperation von Entwicklern entworfen. WebMake, eine auf diesem Modell basierende Software-entwicklungsumgebung, adressiert das Ziel seiner Einsetzbarkeit im globalen Maßstab durch dieVerwendung des World-Wide Web als Datenspeicherungs- und Kommunikationsinfrastruktur.
In this paper, a framework for globally distributed soft-ware development and management environments, whichwe call Booster is presented. Additionally, the first experi-ences with WebMake, an application developed to serve asan experimental platform for a software developmentenvironment based on the World Wide Web and theBooster framework is introduced. Booster encompasses thebasic building blocks and mechanisms necessary tosupport a truly cooperative distributed softwaredevelopment from the very beginning to the last steps in asoftware life cycle. It is thus a precursor of the GlobalSoftware Highway, in which providers and users can meetfor the development, management, exchange and usage ofall kind of software.
In this paper, we compare the BERKOM globally ac-cessible services project (GLASS) with the well-knownWorld-Wide Web with respect to the ease of development,realization, and distribution of multimedia presentations.This comparison is based on the experiences we gainedwhen implementing a gateway between GLASS and theWorld-Wide Web. Since both systems are shown to haveobvious weaknesses, we are concluding this paper with apresentation of a better way to multimedia document en-gineering and distribution. This concept is based on awell-accepted approach to function-shipping in the Inter-net: the Java language, permitting for example a smoothintegration of GLASS92 MHEG objects and WWW HTMLpages within one common environment.
This paper describes how knowledge-based techniques can be used to overcome problems of workflow management in engineering applications. Using explicit process and product models as a basis for a workflow interpreter allows to alternate planning and execution steps, resulting in an increased flexibility of project coordination and enactment. To gain the full advantages of this flexibility, change processes have to be supported by the system. These require an improved traceability of decisions and have to be based on dependency management and change notification mechanisms. Our methods and techniques are illustrated by two applications: Urban land-use planning and software process modeling.
An unusual interlayer coupling, recently discovered in layered magnetic systems, is analysed from the experimental and theoretical points of view. This coupling favours the 90° orientation of the magnetization of the adjacent magnetic films. It can be phenomenologically described by a term in the energy expression, which is biquadratic with respect to the magnetizations of the two films. The main experimental findings, as well as the theoretical models, explaining the phenomenon are discussed.
Comprehensive reuse and systematic evolution of reuse artifacts as proposed by the Quality Improvement Paradigm (QIP) do not only require tool support for mere storage and retrieval. Rather, an integrated management of (potentially reusable) experience data as well as project-related data is needed. This paper presents an approach exploiting object-relational database technology to implement the QIP-driven reuse repository of the SFB 501. Requirements, concepts, and implementational aspects are discussed and illustrated through a running example, namely the reuse and continuous improvement of SDL patterns for developing distributed systems. Based on this discussion, we argue that object-relational database management systems (ORDBMS) are best suited to implement such a comprehensive reuse repository. It is demonstrated how this technology can be used to support all phases of a reuse process and the accompanying improvement cycle. Although the discussions of this paper are strongly related to the requirements of the SFB 501 experience base, the basic realization concepts, and, thereby, the applicability of ORDBMS, can easily be extended to similar applications, i. e., reuse repositories in general.
The development of complex software systems is driven by many diverse and sometimes contradictory requirements such as correctness and maintainability of resulting products, development costs, and time-to-market. To alleviate these difficulties, we propose a development method for distributed systems that integrates different basic approaches. First, it combines the use of the formal description technique SDL with software reuse concepts. This results in the definition of a use-case driven, incremental development method with SDL-patterns as the main reusable artifacts. Experience with this approach has shown that there are several other factors of influence, such as the quality of reuse artifacts or the experience of the development team. Therefore, we further combined our SDL-pattern approach with an improvement methodology known from the area of experimental software engineering. In order to demonstrate the validity of this integrating approach, we sketch some representative outcomings of a case study.
Mn-Si-C alloy films are prepared by e-beam coevaporation onto a Si substrate held at 600 °C. Ferromagnetism is observed below T = (360 +/- 5) K with SQUID magnetometry and magneto-optical Kerr effect. This is the highest Curie temperature T yet observed for a Mn-based alloy. Although the composition determined by Auger depth profiling varies appreciably for different films, their T is the same indicating that ferromagnetism is caused by an alloy of well-defined composition independent of precipitations.
A novel method is presented which allows a fast computation of complex energy resonance states in Stark systems, i.e. systems in a homogeneous field. The technique is based on the truncation of a shift-operator in momentum space. Numerical results for space periodic and non-periodic systems illustrate the extreme simplicity of the method.
The paper studies metastable states of a Bloch electron in the presence of external ac and dc fields. Provided resonance condition between period of the driving frequency and the Bloch period, the complex quasienergies are numerically calculated for two qualitatively different regimes (quasiregular and chaotic) of the system dynamics. For the chaotic regime an effect of quantum stabilization, which suppresses the classical decay mechanism, is found. This effect is demonstrated to be a kind of quantum interference phenomenon sensitive to the resonance condition.
The paper studies quantum states of a Bloch particle in presence of external ac and dc fields. Provided the period of the ac field and the Bloch period are commensurate, an effective scattering matrix is introduced, the complex poles of which are the system quasienergy spectrum. The statistics of the resonance width and the Wigner delay time shows a close relation of the problem to random matrix theory of chaotic scattering.
The Filter-Diagonalization Method is applied to time periodic Hamiltonians and used to find selectively the regular and chaotic quasienergies of a driven 2D rotor. The use of N cross-correlation probability amplitudes enables a selective calculation of the quasienergies from short time propagation to the time T (N). Compared to the propagation time T (1) which is required for resolving the quasienergy spectrum with the same accuracy from auto-correlation calculations, the cross-correlation time T (N) is shorter by the factor N , that is T (1) = N T (N).
Using an experience factory is one possible concept for supporting and improving reuse in software development. (i.e., reuse of products, processes, quality models, ...). In the context of the Sonderforschungsbereich 501: "Development of Large Systems with Generic methods" (SFB501), the Software Engineering Laboratory (SE Lab) runs such an experience factory as part of the infrastructure services it offers. The SE Lab also provides several tools to support the planning, developing, measuring, and analyzing activities of software development processes. Among these tools, the SE Lab runs and maintains an experience base, the SFB-EB. When an experience factory is utilized, support for experience base maintenance is an important issue. Furthermore, it might be interesting to evaluate experience base usage with regard to the number of accesses to certain experience elements stored in the database. The same holds for the usage of the tools provided by the SE LAB. This report presents a set of supporting tools that were designed to aid in these tasks. These supporting tools check the experience base's consistency and gather information on the usage of SFB-EB and the tools installed in the SE Lab. The results are processed periodically and displayed as HTML result reports (consistency checking) or bar charts (usage profiles).