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Entwicklung eines Regelungsverfahrens zur Pfadverfolgung für ein Modellfahrzeug mit Sattelanhänger
(2009)
Besides the progressive automation of internal goods traffic, there is an important area that should also be considered. This area is the carriage of goods in selected external areas. The use of driverless trucks in logistic centers can report economic efficiency. In particular, these precise control procedures require that trucks drive on predetermined paths. The general aim of this work is the adaption and evaluation of a path following control method for articulated vehicles. The differences in the kinematic behavior between trucks with one-axle trailer and semi-trailer vehicles will be emphasized. Additionally, the characteristic kinematic properties of semi-trailers for the adaptation of a control procedure will be considered. This control procedure was initially designed for trucks with one-axle trailer. It must work in forwards and backwards movements. This control process will be integrated as a closed component on the control software of the model vehicle. Thus, the geometry of the model vehicle will be specified, and the possible special cases of the control process will be discovered. The work also documents the most relevant software components of the implemented control process.
Im Rahmen dieser Arbeit wird untersucht, wie sich Modellfehler auf die Positionsgenauigkeit und Handhabbarkeit beim Rangieren mit einem Fahrerassistenzsystem auswirken. Besonderer Wert wird dabei auf die Bestimmung von Fehlergrenzen gelegt. Es wird der Frage nachgegangen, wie groß der Eingangsfehler sein darf, damit die Assistenz noch hinreichende Qualitätseigenschaften hinsichtlich ihrer Präzision und Robustheit aufweist. Dazu erfolgt zunächst eine quantitative Betrachtung der Fehler anhand des kinematischen Modells. Danach wird eine qualitative Betrachtung anhand von systematischen Experimenten durchgeführt. Es wird zunächst ein Controller entwickelt, mit dem sich ein Manöver mithilfe der visuellen Informationen der Assistenz simulieren lässt.
Dann wird eine Methode vorgestellt, mit deren Hilfe man das Manöver anhand definierter Fehlergrenzen bewerten kann. Um einen großen Raum möglicher Fehlerkombinationen effizient zu durchsuchen, wird das probabilistische Verfahren des Annealed Particle Filters benutzt. Mithilfe einer Testumgebung werden schließlich systematische Experimente durchgeführt. Zur weiteren Evaluation des Assistenzsystems in einer kontrollierten Umgebung erfolgte in Zusammenarbeit mit dem Fraunhofer ITWM in Kaiserslautern die Portierung des Assistenzsystems auf die dortige Simulationsumgebung RODOS.
Data flow models in the literature are often very fine-grained, which transfers to the data flow analysis performed on them and thus leads to a decrease in the analysis' understandability. Since a data flow model, which abstracts from the majority of implementation details of the program modeled, allows for potentially easier to understand data flow analyses, this master thesis deals with the specification and construction of a highly abstracted data flow model and the application of data flow analyses on this model. The model and the analyses performed on it have been developed in a test-driven manner, so that a wide range of possible data flow scenarios could be covered. As a concrete data flow analysis, a static security check in the form of a detection of insufficient user input sanitization has been performed. To date, there's no data flow model on a similarly high level of abstraction. The proposed solution is therefore unique and facilitates developers without expertise in data flow analysis to perform such analyses.
Mapping ORM to TGraph
(2017)
Object Role Modeling (ORM) is a semantic modeling language used to describe objects and their relations amongst each other. Both objects and relations may be subject to rules or ORM constraints.
TGraphs are ordered, attributed, typed and directed graphs. The type of a TGraph and its components, the edges and vertices, is defined using the schema language graph UML (grUML), a profiled version of UML class diagrams. The goal of this thesis is to map ORM schemas to grUML schemas in order to be able to represent ORM schema instances as TGraphs.
Up to this point, the preferred representation for ORM schema instances is in form of relational tables. Though mappings from ORM schemas to relational schemas exist, those publicly available do not support most of the constraints ORM has to offer.
Constraints can be added to grUML schemas using the TGraph query language GReQL, which can efficiently check whether a TGraph validates the constraint or not. The graph library JGraLab provides efficient implementations of TGraphs and their query language GReQL and supports the generation of grUML schemas.
The first goal of this work is to perform a complete mapping from ORM schemas to grUML schemas, using GReQL to sepcify constraints. The second goal is to represent ORM instances in form of TGraphs.
This work gives an overview of ORM, TGraphs, grUML and GReQL and the theoretical mapping from ORM schemas to grUML schemas. It also describes the implementation of this mapping, deals with the representation of ORM schema instances as TGraphs and the question how grUML constraints can be validated.
Web application testing is an active research area. Garousi et al. did a systematic mapping study and classified 79 papers published between 2000-2011. However, there seems to be a lack of information exchange between the scientific community and tool developers.
This thesis systematically analyzes the field of functional, system level web application testing tools. 194 candidate tools were collected in the tool search and screened, with 23 tools being selected as foundation of this thesis. These 23 tools were systematically used to generate a feature model of the domain. The methodology to support this is an additional contribution of this thesis. It processes end user documentation of tools belonging to an examined domain and creates a feature model. The feature model gives an overview over the existing features, their alternatives and their distribution. It can be used to identify trends and problems, extraordinary features, help decision making of tool purchase or guide scientists how to focus research.
Code package managers like Cabal track dependencies between packages. But packages rarely use the functionality that their dependencies provide. This leads to unnecessary compilation of unused parts and to speculative conflicts between package versions where there are no conflicts. In two case studies we show how relevant these two problems are. We then describe how we could avoid them by tracking dependencies not between packages but between individual code fragments.