Echtzeitsimulation großer Grafikmodelle

Die vorliegende Arbeit entstand während meiner Zeit als wissenschaftlicher Mitarbeiter im Fachgebiet Technische Informatik an der Universität Kassel. Im Rahmen dieser Arbeit werden der Entwurf und die Implementierung eines Cluster-basierten verteilten Szenengraphen gezeigt. Bei der Implementierung des verteilten Szenengraphen wurde von der Entwicklung eines eigenen Szenengraphen abgesehen. Stattdessen wurde ein bereits vorhandener Szenengraph namens OpenSceneGraph als Basis für die Entwicklung des verteilten Szenengraphen verwendet. Im Rahmen dieser Arbeit wurde eine Clusterunterstützung in den vorliegenden OpenSceneGraph integriert. Bei der Erweiterung des OpenSceneGraphs wurde besonders darauf geachtet den vorliegenden Szenengraphen möglichst nicht zu verändern. Zusätzlich wurde nach Möglichkeit auf die Verwendung und Integration externer Clusterbasierten Softwarepakete verzichtet. Für die Verteilung des OpenSceneGraphs wurde auf Basis von Sockets eine eigene Kommunikationsschicht entwickelt und in den OpenSceneGraph integriert. Diese Kommunikationsschicht wurde verwendet um Sort-First- und Sort-Last-basierte Visualisierung dem OpenSceneGraph zur Verfügung zu stellen. Durch die Erweiterung des OpenScenGraphs um die Cluster-Unterstützung wurde eine Ansteuerung beliebiger Projektionssysteme wie z.B. einer CAVE ermöglicht. Für die Ansteuerung einer CAVE wurden mittels VRPN diverse Eingabegeräte sowie das Tracking in den OpenSceneGraph integriert. Durch die Anbindung der Geräte über VRPN können diese Eingabegeräte auch bei den anderen Cluster-Betriebsarten wie z.B. einer segmentierten Anzeige verwendet werden. Die Verteilung der Daten auf den Cluster wurde von dem Kern des OpenSceneGraphs separat gehalten. Damit kann eine beliebige OpenSceneGraph-basierte Anwendung jederzeit und ohne aufwendige Modifikationen auf einem Cluster ausgeführt werden. Dadurch ist der Anwender in seiner Applikationsentwicklung nicht behindert worden und muss nicht zwischen Cluster-basierten und Standalone-Anwendungen unterscheiden.

An algorithmic approach for collaborative-based prediction of user contexts in ubiquitous environments under consideration of legal implications

Mit Hilfe der Vorhersage von Kontexten können z. B. Dienste innerhalb einer ubiquitären Umgebung proaktiv an die Bedürfnisse der Nutzer angepasst werden. Aus diesem Grund hat die Kontextvorhersage einen signifikanten Stellenwert innerhalb des ’ubiquitous computing’. Nach unserem besten Wissen, verwenden gängige Ansätze in der Kontextvorhersage ausschließlich die Kontexthistorie des Nutzers als Datenbasis, dessen Kontexte vorhersagt werden sollen. Im Falle, dass ein Nutzer unerwartet seine gewohnte Verhaltensweise ändert, enthält die Kontexthistorie des Nutzers keine geeigneten Informationen, um eine zuverlässige Kontextvorhersage zu gewährleisten. Daraus folgt, dass Vorhersageansätze, die ausschließlich die Kontexthistorie des Nutzers verwenden, dessen Kontexte vorhergesagt werden sollen, fehlschlagen könnten. Um die Lücke der fehlenden Kontextinformationen in der Kontexthistorie des Nutzers zu schließen, führen wir den Ansatz zur kollaborativen Kontextvorhersage (CCP) ein. Dabei nutzt CCP bestehende direkte und indirekte Relationen, die zwischen den Kontexthistorien der verschiedenen Nutzer existieren können, aus. CCP basiert auf der Singulärwertzerlegung höherer Ordnung, die bereits erfolgreich in bestehenden Empfehlungssystemen eingesetzt wurde. Um Aussagen über die Vorhersagegenauigkeit des CCP Ansatzes treffen zu können, wird dieser in drei verschiedenen Experimenten evaluiert. Die erzielten Vorhersagegenauigkeiten werden mit denen von drei bekannten Kontextvorhersageansätzen, dem ’Alignment’ Ansatz, dem ’StatePredictor’ und dem ’ActiveLeZi’ Vorhersageansatz, verglichen. In allen drei Experimenten werden als Evaluationsbasis kollaborative Datensätze verwendet. Anschließend wird der CCP Ansatz auf einen realen kollaborativen Anwendungsfall, den proaktiven Schutz von Fußgängern, angewendet. Dabei werden durch die Verwendung der kollaborativen Kontextvorhersage Fußgänger frühzeitig erkannt, die potentiell Gefahr laufen, mit einem sich nähernden Auto zu kollidieren. Als kollaborative Datenbasis werden reale Bewegungskontexte der Fußgänger verwendet. Die Bewegungskontexte werden mittels Smartphones, welche die Fußgänger in ihrer Hosentasche tragen, gesammelt. Aus dem Grund, dass Kontextvorhersageansätze in erster Linie personenbezogene Kontexte wie z.B. Standortdaten oder Verhaltensmuster der Nutzer als Datenbasis zur Vorhersage verwenden, werden rechtliche Evaluationskriterien aus dem Recht des Nutzers auf informationelle Selbstbestimmung abgeleitet. Basierend auf den abgeleiteten Evaluationskriterien, werden der CCP Ansatz und weitere bekannte kontextvorhersagende Ansätze bezüglich ihrer Rechtsverträglichkeit untersucht. Die Evaluationsergebnisse zeigen die rechtliche Kompatibilität der untersuchten Vorhersageansätze bezüglich des Rechtes des Nutzers auf informationelle Selbstbestimmung auf. Zum Schluss wird in der Dissertation ein Ansatz für die verteilte und kollaborative Vorhersage von Kontexten vorgestellt. Mit Hilfe des Ansatzes wird eine Möglichkeit aufgezeigt, um den identifizierten rechtlichen Probleme, die bei der Vorhersage von Kontexten und besonders bei der kollaborativen Vorhersage von Kontexten, entgegenzuwirken.

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.

Learning-Based Approach to Real Time Tracking and Analysis of Faces

This paper describes a trainable system capable of tracking faces and facialsfeatures like eyes and nostrils and estimating basic mouth features such as sdegrees of openness and smile in real time. In developing this system, we have addressed the twin issues of image representation and algorithms for learning. We have used the invariance properties of image representations based on Haar wavelets to robustly capture various facial features. Similarly, unlike previous approaches this system is entirely trained using examples and does not rely on a priori (hand-crafted) models of facial features based on optical flow or facial musculature. The system works in several stages that begin with face detection, followed by localization of facial features and estimation of mouth parameters. Each of these stages is formulated as a problem in supervised learning from examples. We apply the new and robust technique of support vector machines (SVM) for classification in the stage of skin segmentation, face detection and eye detection. Estimation of mouth parameters is modeled as a regression from a sparse subset of coefficients (basis functions) of an overcomplete dictionary of Haar wavelets.

A Conservative Front Tracking Algorithm

The discontinuities in the solutions of systems of conservation laws are widely considered as one of the difficulties in numerical simulation. A numerical method is proposed for solving these partial differential equations with discontinuities in the solution. The method is able to track these sharp discontinuities or interfaces while still fully maintain the conservation property. The motion of the front is obtained by solving a Riemann problem based on the state values at its both sides which are reconstructed by using weighted essentially non oscillatory (WENO) scheme. The propagation of the front is coupled with the evaluation of "dynamic" numerical fluxes. Some numerical tests in 1D and preliminary results in 2D are presented.

Study on Granular Dynamics in Vertically Vibrated Beds using Tracking Technique

The study of granular material is of great interest to many researchers in both engineering and science communities. The importance of such a study derives from its complex rheological character and also its significant role in a wide range of industrial applications, such as coal, food, plastics, pharmaceutical, powder metallurgy and mineral processing. A number of recent reports have been focused on the physics of non-cohesive granular material submitted to vertical vibration in either experimental or theoretical approaches. Such a kind of system can be used to separate, mix and dry granular materials in industries. It exhibits different instability behaviour on its surface when under vertical vibration, for example, avalanching, surface fluidization and surface wave, and these phenomena have attracted particular interest of many researchers. However, its fundamental understanding of the instability mechanism is not yet well-understood. This paper is therefore to study the dynamics of granular motion in such a kind of system using Positron Emission Particle Tracking (PEPT), which allows the motion of a single tracer particle to be followed in a non-invasive way. Features of the solids motion such as cycle frequency and dispersion index were investigated via means of authors’ specially-written programmes. Regardless of the surface behaviour, particles are found to travel in rotational movement in horizontal plane. Particle cycle frequency is found to increase strongly with increasing vibration amplitude. Particle dispersion also increased strongly with vibration amplitude. Horizontal dispersion is observed to always exceed vertical dispersion.

Failure-Oblivious Computing and Boundless Memory Blocks

Memory errors are a common cause of incorrect software execution and security vulnerabilities. We have developed two new techniques that help software continue to execute successfully through memory errors: failure-oblivious computing and boundless memory blocks. The foundation of both techniques is a compiler that generates code that checks accesses via pointers to detect out of bounds accesses. Instead of terminating or throwing an exception, the generated code takes another action that keeps the program executing without memory corruption. Failure-oblivious code simply discards invalid writes and manufactures values to return for invalid reads, enabling the program to continue its normal execution path. Code that implements boundless memory blocks stores invalid writes away in a hash table to return as the values for corresponding out of bounds reads. he net effect is to (conceptually) give each allocated memory block unbounded size and to eliminate out of bounds accesses as a programming error. We have implemented both techniques and acquired several widely used open source servers (Apache, Sendmail, Pine, Mutt, and Midnight Commander).With standard compilers, all of these servers are vulnerable to buffer overflow attacks as documented at security tracking web sites. Both failure-oblivious computing and boundless memory blocks eliminate these security vulnerabilities (as well as other memory errors). Our results show that our compiler enables the servers to execute successfully through buffer overflow attacks to continue to correctly service user requests without security vulnerabilities.

Policy gradient based Reinforcement Learning for real autonomous underwater cable tracking

This paper proposes a field application of a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot in cable tracking task. The learning system is characterized by using a direct policy search method for learning the internal state/action mapping. Policy only algorithms may suffer from long convergence times when dealing with real robotics. In order to speed up the process, the learning phase has been carried out in a simulated environment and, in a second step, the policy has been transferred and tested successfully on a real robot. Future steps plan to continue the learning process on-line while on the real robot while performing the mentioned task. We demonstrate its feasibility with real experiments on the underwater robot ICTINEU AUV

Adaption of Courses and Learning Environment to the User Context in dotLRN

The explosive growth of Internet during the last years has been reflected in the ever-increasing amount of the diversity and heterogeneity of user preferences, types and features of devices and access networks. Usually the heterogeneity in the context of the users which request Web contents is not taken into account by the servers that deliver them implying that these contents will not always suit their needs. In the particular case of e-learning platforms this issue is especially critical due to the fact that it puts at stake the knowledge acquired by their users. In the following paper we present a system that aims to provide the dotLRN e-learning platform with the capability to adapt to its users context. By integrating dotLRN with a multi-agent hypermedia system, online courses being undertaken by students as well as their learning environment are adapted in real time

Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar

In dam inspection tasks, an underwater robot has to grab images while surveying the wall meanwhile maintaining a certain distance and relative orientation. This paper proposes the use of an MSIS (mechanically scanned imaging sonar) for relative positioning of a robot with respect to the wall. An imaging sonar gathers polar image scans from which depth images (range & bearing) are generated. Depth scans are first processed to extract a line corresponding to the wall (with the Hough transform), which is then tracked by means of an EKF (Extended Kalman Filter) using a static motion model and an implicit measurement equation associating the sensed points to the candidate line. The line estimate is referenced to the robot fixed frame and represented in polar coordinates (rho&thetas) which directly corresponds to the actual distance and relative orientation of the robot with respect to the wall. The proposed system has been tested in simulation as well as in water tank conditions

TU Graz: Course: 707.000 Web Science and Web Technology: Lecture 12: User Intentions and Intentional Structures on the Web II

In this lecture, we will focus on analyzing user goals in search query logs. Readings: M. Strohmaier, P. Prettenhofer, M. Lux, Different Degrees of Explicitness in Intentional Artifacts - Studying User Goals in a Large Search Query Log, CSKGOI'08 International Workshop on Commonsense Knowledge and Goal Oriented Interfaces, in conjunction with IUI'08, Canary Islands, Spain, 2008.

TU Graz: Course: 707.000 Web Science and Web Technology: Lecture 11: User Intentions and Intentional Structures on the Web

Search engines - such as Google - have been characterized as "Databases of intentions". This class will focus on different aspects of intentionality on the web, including goal mining, goal modeling and goal-oriented search. Readings: M. Strohmaier, M. Lux, M. Granitzer, P. Scheir, S. Liaskos, E. Yu, How Do Users Express Goals on the Web? - An Exploration of Intentional Structures in Web Search, We Know'07 International Workshop on Collaborative Knowledge Management for Web Information Systems in conjunction with WISE'07, Nancy, France, 2007. [Web link] Readings: Automatic identification of user goals in web search, U. Lee and Z. Liu and J. Cho WWW '05: Proceedings of the 14th International World Wide Web Conference 391--400 (2005) [Web link]

A user receiving help at Hartley Library reception desk 3

An image of a user receiving help at Hartley Library reception desk, taken 2009.

A user receiving help at Hartley Library reception desk 2

An image of a user receiving help at Hartley Library reception desk, taken 2009

A user receiving help at the subject enquiry desk

An image of a user sitting down while receiving help at the subject enquiry desk, taken 2009