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.
A new and systematic basic approach to force- and 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 between the deformable and rigid obstacles, and are derived from the object image and its features. We give an enumeration of possible contact states and discuss the main characteristics of each state. We investigate the performance of robust transitions between the contact states and derive criteria and conditions for each of the states and for two sensor systems, i.e. a vision sensor and a force/torque sensor. This results in a new and task-independent approach in regarding the handling of deformable objects and in a sensor-based implementation of manipulation primitives for industrial robots. Thus, the usage of sensor processing is an appropriate solution for our problem. Finally, we apply the concept of contact states and state transitions to the description of a typical assembly task. Experimental results show the feasibility of our approach: A robot performs several contact state transitions which can be combined for solving a more complex task.
Self-adaptation allows software systems to autonomously adjust their behavior during run-time by handling all possible
operating states that violate the requirements of the managed system. This requires an adaptation engine that receives adaptation
requests during the monitoring process of the managed system and responds with an automated and appropriate adaptation
response. During the last decade, several engineering methods have been introduced to enable self-adaptation in software systems.
However, these methods lack addressing (1) run-time uncertainty that hinders the adaptation process and (2) the performance
impacts resulted from the complexity and the large number of the adaptation space. This paper presents CRATER, a framework
that builds an external adaptation engine for self-adaptive software systems. The adaptation engine, which is built on Case-based
Reasoning, handles the aforementioned challenges together. This paper is braced with an experiment illustrating the benefits of
this framework. The experimental results shows the potential of CRATER in terms handling run-time uncertainty and adaptation
remembrance that enhances the performance for large number of adaptation space.
Building interoperation among separately developed software units requires checking their conceptual assumptions and constraints. However, eliciting such assumptions and constraints is time consuming and is a challenging task as it requires analyzing each of the interoperating software units. To address this issue we proposed a new conceptual interoperability analysis approach which aims at decreasing the analysis cost and the conceptual mismatches between the interoperating software units. In this report we present the design of a planned controlled experiment for evaluating the effectiveness, efficiency, and acceptance of our proposed conceptual interoperability analysis approach. The design includes the study objectives, research questions, statistical hypotheses, and experimental design. It also provides the materials that will be used in the execution phase of the planned experiment.
Typically software engineers implement their software according to the design of the software
structure. Relations between classes and interfaces such as method-call relations and inheritance
relations are essential parts of a software structure. Accordingly, analyzing several types of
relations will benefit the static analysis process of the software structure. The tasks of this
analysis include but not limited to: understanding of (legacy) software, checking guidelines,
improving product lines, finding structure, or re-engineering of existing software. Graphs with
multi-type edges are possible representation for these relations considering them as edges, while
nodes represent classes and interfaces of software. Then, this multiple type edges graph can
be mapped to visualizations. However, the visualizations should deal with the multiplicity of
relations types and scalability, and they should enable the software engineers to recognize visual
patterns at the same time.
To advance the usage of visualizations for analyzing the static structure of software systems,
I tracked difierent development phases of the interactive multi-matrix visualization (IMMV)
showing an extended user study at the end. Visual structures were determined and classified
systematically using IMMV compared to PNLV in the extended user study as four categories:
High degree, Within-package edges, Cross-package edges, No edges. In addition to these structures
that were found in these handy tools, other structures that look interesting for software
engineers such as cycles and hierarchical structures need additional visualizations to display
them and to investigate them. Therefore, an extended approach for graph layout was presented
that improves the quality of the decomposition and the drawing of directed graphs
according to their topology based on rigorous definitions. The extension involves describing
and analyzing the algorithms for decomposition and drawing in detail giving polynomial time
complexity and space complexity. Finally, I handled visualizing graphs with multi-type edges
using small-multiples, where each tile is dedicated to one edge-type utilizing the topological
graph layout to highlight non-trivial cycles, trees, and DAGs for showing and analyzing the
static structure of software. Finally, I applied this approach to four software systems to show
This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires, or leaf springs. It investigates usable features for the vision-based detection of a changing contact situation between a DLO and a rigid polyhedral obstacle and a classification of such contact state transitions. The result is a complete classification of contact state transitions and of the most significant features for each class. This knowledge enables reliable detection of changes in the DLO contact situation, facilitating implementation of sensor-based manipulation skills for all possible contact changes.
Dealing with information in modern times involves users to cope with hundreds of thousands of documents, such as articles, emails, Web pages, or News feeds.
Above all information sources, the World Wide Web presents information seekers with great challenges.
It offers more text in natural language than one is capable to read.
The key idea for this research intends to provide users with adaptable filtering techniques, supporting them in filtering out the specific information items they need.
Its realization focuses on developing an Information Extraction system,
which adapts to a domain of concern, by interpreting the contained formalized knowledge.
Utilizing the Resource Description Framework (RDF), which is the Semantic Web's formal language for exchanging information,
allows extending information extractors to incorporate the given domain knowledge.
Because of this, formal information items from the RDF source can be recognized in the text.
The application of RDF allows a further investigation of operations on recognized information items, such as disambiguating and rating the relevance of these.
Switching between different RDF sources allows changing the application scope of the Information Extraction system from one domain of concern to another.
An RDF-based Information Extraction system can be triggered to extract specific kinds of information entities by providing it with formal RDF queries in terms of the SPARQL query language.
Representing extracted information in RDF extends the coverage of the Semantic Web's information degree and provides a formal view on a text from the perspective of the RDF source.
In detail, this work presents the extension of existing Information Extraction approaches by incorporating the graph-based nature of RDF.
Hereby, the pre-processing of RDF sources allows extracting statistical information models dedicated to support specific information extractors.
These information extractors refine standard extraction tasks, such as the Named Entity Recognition, by using the information provided by the pre-processed models.
The post-processing of extracted information items enables representing these results in RDF format or lists, which can now be ranked or filtered by relevance.
Post-processing also comprises the enrichment of originating natural language text sources with extracted information items by using annotations in RDFa format.
The results of this research extend the state-of-the-art of the Semantic Web.
This work contributes approaches for computing customizable and adaptable RDF views on the natural language content of Web pages.
Finally, due to the formal nature of RDF, machines can interpret these views allowing developers to process the contained information in a variety of applications.
The goal of this work is to develop statistical natural language models and processing techniques
based on Recurrent Neural Networks (RNN), especially the recently introduced Long Short-
Term Memory (LSTM). Due to their adapting and predicting abilities, these methods are more
robust, and easier to train than traditional methods, i.e., words list and rule-based models. They
improve the output of recognition systems and make them more accessible to users for browsing
and reading. These techniques are required, especially for historical books which might take
years of effort and huge costs to manually transcribe them.
The contributions of this thesis are several new methods which have high-performance computing and accuracy. First, an error model for improving recognition results is designed. As
a second contribution, a hyphenation model for difficult transcription for alignment purposes
is suggested. Third, a dehyphenation model is used to classify the hyphens in noisy transcription. The fourth contribution is using LSTM networks for normalizing historical orthography.
A size normalization alignment is implemented to equal the size of strings, before the training
phase. Using the LSTM networks as a language model to improve the recognition results is
the fifth contribution. Finally, the sixth contribution is a combination of Weighted Finite-State
Transducers (WFSTs), and LSTM applied on multiple recognition systems. These contributions
will be elaborated in more detail.
Context-dependent confusion rules is a new technique to build an error model for Optical
Character Recognition (OCR) corrections. The rules are extracted from the OCR confusions
which appear in the recognition outputs and are translated into edit operations, e.g., insertions,
deletions, and substitutions using the Levenshtein edit distance algorithm. The edit operations
are extracted in a form of rules with respect to the context of the incorrect string to build an
error model using WFSTs. The context-dependent rules assist the language model to find the
best candidate corrections. They avoid the calculations that occur in searching the language
model and they also make the language model able to correct incorrect words by using context-
dependent confusion rules. The context-dependent error model is applied on the university of
Washington (UWIII) dataset and the Nastaleeq script in Urdu dataset. It improves the OCR
results from an error rate of 1.14% to an error rate of 0.68%. It performs better than the
state-of-the-art single rule-based which returns an error rate of 1.0%.
This thesis describes a new, simple, fast, and accurate system for generating correspondences
between real scanned historical books and their transcriptions. The alignment has many challenges, first, the transcriptions might have different modifications, and layout variations than the
original book. Second, the recognition of the historical books have misrecognition, and segmentation errors, which make the alignment more difficult especially the line breaks, and pages will
not have the same correspondences. Adapted WFSTs are designed to represent the transcription. The WFSTs process Fraktur ligatures and adapt the transcription with a hyphenations
model that allows the alignment with respect to the varieties of the hyphenated words in the line
breaks of the OCR documents. In this work, several approaches are implemented to be used for
the alignment such as: text-segments, page-wise, and book-wise approaches. The approaches
are evaluated on German calligraphic (Fraktur) script historical documents dataset from “Wan-
derungen durch die Mark Brandenburg” volumes (1862-1889). The text-segmentation approach
returns an error rate of 2.33% without using a hyphenation model and an error rate of 2.0%
using a hyphenation model. Dehyphenation methods are presented to remove the hyphen from
the transcription. They provide the transcription in a readable and reflowable format to be used
for alignment purposes. We consider the task as classification problem and classify the hyphens
from the given patterns as hyphens for line breaks, combined words, or noise. The methods are
applied on clean and noisy transcription for different languages. The Decision Trees classifier
returns better performance on UWIII dataset and returns an accuracy of 98%. It returns 97%
on Fraktur script.
A new method for normalizing historical OCRed text using LSTM is implemented for different texts, ranging from Early New High German 14th - 16th centuries to modern forms in New
High German applied on the Luther bible. It performed better than the rule-based word-list
approaches. It provides a transcription for various purposes such as part-of-speech tagging and
n-grams. Also two new techniques are presented for aligning the OCR results and normalize the
size by using adding Character-Epsilons or Appending-Epsilons. They allow deletion and insertion in the appropriate position in the string. In normalizing historical wordforms to modern
wordforms, the accuracy of LSTM on seen data is around 94%, while the state-of-the-art combined rule-based method returns 93%. On unseen data, LSTM returns 88% and the combined
rule-based method returns 76%. In normalizing modern wordforms to historical wordforms, the
LSTM delivers the best performance and returns 93.4% on seen data and 89.17% on unknown
In this thesis, a deep investigation has been done on constructing high-performance language
modeling for improving the recognition systems. A new method to construct a language model
using LSTM is designed to correct OCR results. The method is applied on UWIII and Urdu
script. The LSTM approach outperforms the state-of-the-art, especially for unseen tokens
during training. On the UWIII dataset, the LSTM returns reduction in OCR error rates from
1.14% to 0.48%. On the Nastaleeq script in Urdu dataset, the LSTM reduces the error rate
from 6.9% to 1.58%.
Finally, the integration of multiple recognition outputs can give higher performance than a
single recognition system. Therefore, a new method for combining the results of OCR systems is
explored using WFSTs and LSTM. It uses multiple OCR outputs and votes for the best output
to improve the OCR results. It performs better than the ISRI tool, Pairwise of Multiple Sequence and it helps to improve the OCR results. The purpose is to provide correct transcription
so that it can be used for digitizing books, linguistics purposes, N-grams, and part-of-speech
tagging. The method consists of two alignment steps. First, two recognition systems are aligned
using WFSTs. The transducers are designed to be more flexible and compatible with the different symbols in line and page breaks to avoid the segmentation and misrecognition errors.
The LSTM model then is used to vote the best candidate correction of the two systems and
improve the incorrect tokens which are produced during the first alignment. The approaches
are evaluated on OCRs output from the English UWIII and historical German Fraktur dataset
which are obtained from state-of-the-art OCR systems. The Experiments show that the error
rate of ISRI-Voting is 1.45%, the error rate of the Pairwise of Multiple Sequence is 1.32%, the
error rate of the Line-to-Page alignment is 1.26% and the error rate of the LSTM approach has
the best performance with 0.40%.
The purpose of this thesis is to contribute methods providing correct transcriptions corresponding to the original book. This is considered to be the first step towards an accurate and
more effective use of the documents in digital libraries.
A growing share of all software development project work is being done by geographically distributed teams. To satisfy shorter product design cycles, expert team members for a development project may need to be r ecruited globally. Yet to avoid extensive travelling or r eplacement costs, distributed project work is preferred. Current-generation software engineering tools and ass ociated systems, processes, and methods were for the most part developed to be used within a single enterprise. Major innovations have lately been introduced to enable groupware applications on the Internet to support global collaboration. However, their deployment for distributed software projects requires further research. In partic ular, groupware methods must seamlessly be integrated with project and product management systems to make them attractive for industry. In this position paper we outline the major challenges concerning distributed (virtual) software projects. Based on our experiences with software process modeling and enactment environments, we then propose approaches to solve those challenges.
Information Visualization (InfoVis) and Human-Computer Interaction (HCI) have strong ties with each other. Visualization supports the human cognitive system by providing interactive and meaningful images of the underlying data. On the other side, the HCI domain cares about the usability of the designed visualization from the human perspectives. Thus, designing a visualization system requires considering many factors in order to achieve the desired functionality and the system usability. Achieving these goals will help these people in understanding the inside behavior of complex data sets in less time.
Graphs are widely used data structures to represent the relations between the data elements in complex applications. Due to the diversity of this data type, graphs have been applied in numerous information visualization applications (e.g., state transition diagrams, social networks, etc.). Therefore, many graph layout algorithms have been proposed in the literature to help in visualizing this rich data type. Some of these algorithms are used to visualize large graphs, while others handle the medium sized graphs. Regardless of the graph size, the resulting layout should be understandable from the users’ perspective and at the same time it should fulfill a list of aesthetic criteria to increase the representation readability. Respecting these two principles leads to produce a resulting graph visualization that helps the users in understanding and exploring the complex behavior of critical systems.
In this thesis, we utilize the graph visualization techniques in modeling the structural and behavioral aspects of embedded systems. Furthermore, we focus on evaluating the resulting representations from the users’ perspectives.
The core contribution of this thesis is a framework, called ESSAVis (Embedded Systems Safety Aspect Visualizer). This framework visualizes not only some of the safety aspects (e.g. CFT models) of embedded systems, but also helps the engineers and experts in analyzing the system safety critical situations. For this, the framework provides a 2Dplus3D environment in which the 2D represents the graph representation of the abstract data about the safety aspects of the underlying embedded system while the 3D represents the underlying system 3D model. Both views are integrated smoothly together in the 3D world fashion. In order to check the effectiveness and feasibility of the framework and its sub-components, we conducted many studies with real end users as well as with general users. Results of the main study that targeted the overall ESSAVis framework show high acceptance ratio and higher accuracy with better performance using the provided visual support of the framework.
The ESSAVis framework has been designed to be compatible with different 3D technologies. This enabled us to use the 3D stereoscopic depth of such technologies to encode nodes attributes in node-link diagrams. In this regard, we conducted an evaluation study to measure the usability of the stereoscopic depth cue approach, called the stereoscopic highlighting technique, against other selected visual cues (i.e., color, shape, and sizes). Based on the results, the thesis proposes the Reflection Layer extension to the stereoscopic highlighting technique, which was also evaluated from the users’ perspectives. Additionally, we present a new technique, called ExpanD (Expand in Depth), that utilizes the depth cue to show the structural relations between different levels of details in node-link diagrams. Results of this part opens a promising direction of the research in which visualization designers can get benefits from the richness of the 3D technologies in visualizing abstract data in the information visualization domain.
Finally, this thesis proposes the application of the ESSAVis frame- work as a visual tool in the educational training process of engineers for understanding the complex concepts. In this regard, we conducted an evaluation study with computer engineering students in which we used the visual representations produced by ESSAVis to teach the principle of the fault detection and the failure scenarios in embedded systems. Our work opens the directions to investigate many challenges about the design of visualization for educational purposes.