The Human in the Loop: User Participation in Self-Adaptive Software

Self-adaptive software provides a profound solution for adapting applications to changing contexts in dynamic and heterogeneous environments. Having emerged from Autonomic Computing, it incorporates fully autonomous decision making based on predefined structural and behavioural models. The most common approach for architectural runtime adaptation is the MAPE-K adaptation loop implementing an external adaptation manager without manual user control. However, it has turned out that adaptation behaviour lacks acceptance if it does not correspond to a user’s expectations – particularly for Ubiquitous Computing scenarios with user interaction. Adaptations can be irritating and distracting if they are not appropriate for a certain situation. In general, uncertainty during development and at run-time causes problems with users being outside the adaptation loop. In a literature study, we analyse publications about self-adaptive software research. The results show a discrepancy between the motivated application domains, the maturity of examples, and the quality of evaluations on the one hand and the provided solutions on the other hand. Only few publications analysed the impact of their work on the user, but many employ user-oriented examples for motivation and demonstration. To incorporate the user within the adaptation loop and to deal with uncertainty, our proposed solutions enable user participation for interactive selfadaptive software while at the same time maintaining the benefits of intelligent autonomous behaviour. We define three dimensions of user participation, namely temporal, behavioural, and structural user participation. This dissertation contributes solutions for user participation in the temporal and behavioural dimension. The temporal dimension addresses the moment of adaptation which is classically determined by the self-adaptive system. We provide mechanisms allowing users to influence or to define the moment of adaptation. With our solution, users can have full control over the moment of adaptation or the self-adaptive software considers the user’s situation more appropriately. The behavioural dimension addresses the actual adaptation logic and the resulting run-time behaviour. Application behaviour is established during development and does not necessarily match the run-time expectations. Our contributions are three distinct solutions which allow users to make changes to the application’s runtime behaviour: dynamic utility functions, fuzzy-based reasoning, and learning-based reasoning. The foundation of our work is a notification and feedback solution that improves intelligibility and controllability of self-adaptive applications by implementing a bi-directional communication between self-adaptive software and the user. The different mechanisms from the temporal and behavioural participation dimension require the notification and feedback solution to inform users on adaptation actions and to provide a mechanism to influence adaptations. Case studies show the feasibility of the developed solutions. Moreover, an extensive user study with 62 participants was conducted to evaluate the impact of notifications before and after adaptations. Although the study revealed that there is no preference for a particular notification design, participants clearly appreciated intelligibility and controllability over autonomous adaptations.

tRNA anticodon loop modifications ensure protein homeostasis and cell morphogenesis in yeast

Using budding yeast, we investigated a negative interaction network among genes for tRNA modifications previously implicated in anticodon-codon interaction: 5-methoxy-carbonyl-methyl-2-thio-uridine (mcm5s2U34: ELP3, URM1), pseudouridine (Ψ38/39: DEG1) and cyclic N6-threonyl-carbamoyl-adenosine (ct6A37: TCD1). In line with functional cross talk between these modifications, we find that combined removal of either ct6A37 or Ψ38/39 and mcm5U34 or s2U34 results in morphologically altered cells with synthetic growth defects. Phenotypic suppression by tRNA overexpression suggests that these defects are caused by malfunction of tRNALysUUU or tRNAGlnUUG, respectively. Indeed, mRNA translation and synthesis of the Gln-rich prion Rnq1 are severely impaired in the absence of Ψ38/39 and mcm5U34 or s2U34, and this defect can be rescued by overexpression of tRNAGlnUUG. Surprisingly, we find that combined modification defects in the anticodon loops of different tRNAs induce similar cell polarity- and nuclear segregation defects that are accompanied by increased aggregation of cellular proteins. Since conditional expression of an artificial aggregation-prone protein triggered similar cytological aberrancies, protein aggregation is likely responsible for loss of morphogenesis and cytokinesis control in mutants with inappropriate tRNA anticodon loop modifications.

Influence of the interaction potential on simulated sputtering and reflection data

The TRIM.SP program which is based on the binary collision approximation was changed to handle not only repulsive interaction potentials, but also potentials with an attractive part. Sputtering yields, average depth and reflection coefficients calculated with four different potentials are compared. Three purely repulsive potentials (Meliere, Kr-C and ZBL) are used and an ab initio pair potential, which is especially calculated for silicon bombardment by silicon. The general trends in the calculated results are similar for all potentials applied, but differences between the repulsive potentials and the ab initio potential occur for the reflection coefficients and the sputtering yield at large angles of incidence.

Biomolecular interaction analysis in functional proteomics

In der funktionellen Proteomforschung werden bekannte Interaktionen eines zellulären Netzwerkes qualitativ untersucht. Diese Veröffentlichung beschreibt verschiedene biomolekulare Interaktionsanalysen, anhand des Modellsystems PKA, die zur detaillierten Charakterisierung von Bindungen herangezogen werden können. Neben den Gleichgewichtsbindungsdaten (generiert aus AlphaScreen, FP, SPR und ITC Messungen) wurden aus ITC Messungen die thermodynamischen Parameter G, H und S ermittelt. Durch Anwendung der BRET2 (Bioluminescence resonance energy transfer) Methode konnten in lebenden Zellen Aussagen über Bindungsereignisse und deren Lokalisation getroffen werden.

Characterization of DnmA, the Dnmt2 homolog in Dictyostelium discoideum

Eukaryotic DNA m5C methyltransferases (MTases) play a major role in many epigenetic regulatory processes like genomic imprinting, X-chromosome inactivation, silencing of transposons and gene expression. Members of the two DNA m5C MTase families, Dnmt1 and Dnmt3, are relatively well studied and many details of their biological functions, biochemical properties as well as interaction partners are known. In contrast, the biological functions of the highly conserved Dnmt2 family, which appear to have non-canonical dual substrate specificity, remain enigmatic despite the efforts of many researchers. The genome of the social amoeba Dictyostelium encodes Dnmt2-homolog, the DnmA, as the only DNA m5C MTase which allowed us to study Dnmt2 function in this organism without interference by the other enzymes. The dnmA gene can be easily disrupted but the knock-out clones did not show obvious phenotypes under normal lab conditions, suggesting that the function of DnmA is not vital for the organism. It appears that the dnmA gene has a low expression profile during vegetative growth and is only 5-fold upregulated during development. Fluorescence microscopy indicated that DnmA-GFP fusions were distributed between both the nucleus and cytoplasm with some enrichment in nuclei. Interestingly, the experiments showed specific dynamics of DnmA-GFP distribution during the cell cycle. The proteins colocalized with DNA in the interphase and were mainly removed from nuclei during mitosis. DnmA functions as an active DNA m5C MTase in vivo and is responsible for weak but detectable DNA methylation of several regions in the Dictyostelium genome. Nevertheless, gel retardation assays showed only slightly higher affinity of the enzyme to dsDNA compared to ssDNA and no specificity towards various sequence contexts, although weak but detectable specificity towards AT-rich sequences was observed. This could be due to intrinsic curvature of such sequences. Furthermore, DnmA did not show denaturant-resistant covalent complexes with dsDNA in vitro, although it could form covalent adducts with ssDNA. Low binding and methyltransfer activity in vitro suggest the necessity of additional factor in DnmA function. Nevertheless, no candidates could be identified in affinity purification experiments with different tagged DnmA fusions. In this respect, it should be noted that tagged DnmA fusion preparations from Dictyostelium showed somewhat higher activity in both covalent adduct formation and methylation assays than DnmA expressed in E.coli. Thus, the presence of co-purified factors cannot be excluded. The low efficiency of complex formation by the recombinant enzyme and the failure to define interacting proteins that could be required for DNA methylation in vivo, brought up the assumption that post-translational modifications could influence target recognition and enzymatic activity. Indeed, sites of phosphorylation, methylation and acetylation were identified within the target recognition domain (TRD) of DnmA by mass spectrometry. For phosphorylation, the combination of MS data and bioinformatic analysis revealed that some of the sites could well be targets for specific kinases in vivo. Preliminary 3D modeling of DnmA protein based on homology with hDNMT2 allowed us to show that several identified phosphorylation sites located on the surface of the molecule, where they would be available for kinases. The presence of modifications almost solely within the TRD domain of DnmA could potentially modulate the mode of its interaction with the target nucleic acids. DnmA was able to form denaturant-resistant covalent intermediates with several Dictyostelium tRNAs, using as a target C38 in the anticodon loop. The formation of complexes not always correlated with the data from methylation assays, and seemed to be dependent on both sequence and structure of the tRNA substrate. The pattern, previously suggested by the Helm group for optimal methyltransferase activity of hDNMT2, appeared to contribute significantly in the formation of covalent adducts but was not the only feature of the substrate required for DnmA and hDNMT2 functions. Both enzymes required Mg2+ to form covalent complexes, which indicated that the specific structure of the target tRNA was indispensable. The dynamics of covalent adduct accumulation was different for DnmA and different tRNAs. Interestingly, the profiles of covalent adduct accumulation for different tRNAs were somewhat similar for DnmA and hDNMT2 enzymes. According to the proposed catalytic mechanism for DNA m5C MTases, the observed denaturant-resistant complexes corresponded to covalent enamine intermediates. The apparent discrepancies in the data from covalent complex formation and methylation assays may be interpreted by the possibility of alternative pathways of the catalytic mechanism, leading not to methylation but to exchange or demethylation reactions. The reversibility of enamine intermediate formation should also be considered. Curiously, native gel retardation assays showed no or little difference in binding affinities of DnmA to different RNA substrates and thus the absence of specificity in the initial enzyme binding. The meaning of the tRNA methylation as well as identification of novel RNA substrates in vivo should be the aim of further experiments.

Biologische Funktionsanalyse und Identifizierung neuer Substrate der Methyltransferase Dnmt2

Obwohl die DNA Methyltransferase 2 (Dnmt2) hoch konserviert ist und zu der am weitesten verbreiteten eukaryotischen MTase-Familie gehört, ist ihre biologische Funktion nach wie vor unklar. Nachdem lange Zeit keine DNA Methylierungsaktivität nachgewiesen werden konnte, wurde vor einigen Jahren über geringe Mengen an 5-Methylcytosin (5mC) in Retroelementen der “Dnmt2-only”-Organismen D. melanogaster, D. discoideum und E. histolytica berichtet (Kunert et al. 2003; Fisher et al. 2004; Kuhlmann et al. 2005; Phalke et al. 2009). Als kurze Zeit später robuste Methylierung der tRNAAsp durch humane Dnmt2 gezeigt wurde (Goll et al. 2006), wurde zunächst eine Dualspezifität des Enzyms vorgeschlagen (Jeltsch et al. 2006). Neuere Daten zum 5mC-Status verschiedener „Dnmt2-only“-Organismen bilden Anlass für kontroverse Diskussionen über Ausmaß und Bedeutung der DNA Methyltransferaseaktivität von Dnmt2 (Schaefer et al. 2010a; Krauss et al. 2011). Die vorliegende Arbeit konzentriert sich auf die Identifizierung neuer RNA Substrate des Dnmt2-Homologs DnmA aus D. discoideum sowie die biologische Bedeutung der tRNA-Methylierung durch Dnmt2. Wie in anderen Organismen beschrieben, fungiert auch DnmA als tRNAAsp(GUC) MTase in vitro und in vivo. Zusätzlich konnte in vitro tRNAGlu(UUC) als neues Substrat der Dnmt2-Homologe aus D. discoideum und dem Menschen identifiziert werden. In einem Kooperationsprojekt wurde außerdem auch tRNAAsp-Methylierungsaktivität für das Dnmt2-Homolog aus S. pombe (Pmt1) nachgewiesen. Crosslink-RNA-Immunopräzipitationen (RNA-CLIP) mit anschließender Next-Generation-Sequenzierung der mit DnmA assoziierten RNAs zeigen, dass DnmA mit tRNA Fragmenten interagiert, die sich vom Anticodonloop bis in den T-loop erstrecken. Neben der tRNAAsp(GUC) und tRNAGlu(UUC/CUC) sind Fragmente der tRNAGly(GCC) verstärkt angereichert. Inwiefern diese Fragmente eine biologische Funktion haben oder spezifische Degradationsprodukte darstellen, ist noch ungeklärt. Interessanterweise sind von einigen tRNAs wenige Sequenzen von antisense-Fragmenten in den RNA-CLIP Daten zu finden, die etwas kürzer, jedoch exakt komplementär zu den genannten sense-Fragmenten sind. Besonders stark sind diese Fragmente der tRNAGlu(UUC) vertreten. In einem weiteren RNA-CLIP Experiment wurden U-snRNAs, snoRNA und intergenische Sequenzen mit DnmA angereichert. Bei nachfolgenden in vitro Methylierungsstudien konnte ausschließlich die U2-snRNA als potentielles Nicht-tRNA-Substrat der hDnmt2 und DnmA identifiziert werden. Da tRNA Modifikationen im Anticodonloop die Codonerkennung beeinflussen können, wurde ein System etabliert um die Translationseffizienz eines GFP-Reportergens in Wildtyp- und dnmAKO-Zellen zu messen. In D. discoideum wird das Aspartat-Codon GAU ca. zehnmal häufiger genutzt als das GAC Codon, allerdings ist nur eine tRNAAsp(GUC) im Genom der Amöbe kodiert. Aus diesem Grund wurde zusätzlich die Frage adressiert, inwiefern die DnmA-abhängige Methylierung dieser tRNA das „Wobbling“ beeinflusst. Dazu wurde dem Reportergen jeweils eine (GAU)5- und (GAC)5-Leadersequenz vorgeschaltet. Entgegen der Annahme wurde der (GAC)5-Leader in beiden Stämmen etwas effizienter translatiert. Insgesamt zeigte der dnmAKO-Stamm eine leicht erhöhte Translationseffizienz der Reportergene. Vergleichende Analysen zur Aufnahme von Fremd-DNA zeigten signifikant reduzierte Transformationseffizienzen mit einem integrierenden Plasmid in dnmAKO-Zellen. Ein weiterer dnmAKO-Stamm zeigte diesen Effekt jedoch nicht, wobei bei derselben Mutante eine deutlich reduzierte Aufnahme eines extrachromosomalen Plasmids zu verzeichnen war. Untersuchungen zum Einfluss von DnmA auf die Regulation des Retroelements skipper ergaben keinen Zusammenhang zwischen der Generierung kleiner RNAs und der erhöhten Transkription des Retrotransposons in dnmAKO-Zellen (Kuhlmann et al. 2005). Durch Kompensationsversuche sowie Experimente mit einer weiteren dnmAKO-Mutante konnte die Mobilisierung des Retrotransposons nicht eindeutig als DnmA-Funktion eingeordnet werden. In einem weiteren Projekt wurden die Bindung des m5C-bindenden Proteins EhMLBP aus E. histolytica an DNA mittels Rasterkraftmikroskopie abgebildet (Lavi et al. 2006). Neben vermutlich unspezifischen Endbindungsereignissen konnte eine bevorzugte Bindungsstelle des Proteins an LINE DNA (long intersperesed nuclear element) identifiziert werden. Möglicherweise fällt diese mit einem von zwei A/T-reichen Bereichen der LINE DNA zusammen, von denen vermutet wird, dass diese für die Bindung von EhMLBP an DNA von Bedeutung sind. Insgesamt bestätigen die Ergebnisse dieser Arbeit die tRNAAsp Methylierungsaktivität als konservierte Dnmt2-Funktion. Darüber hinaus erweitern sie das Substratspektrum der Dnmt2-Methyltransferasen im Bereich der tRNA. Außerdem wird erstmals ein potentielles Nicht-tRNA Substrat vorgeschlagen. Zusätzlich geben neu entdeckte Phänotypen Hinweise auf vielfältige zelluläre Dnmt2-Funktionen.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.