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Institute
- Fachbereich 4 (132) (remove)
This paper describes the robots TIAGo and Lisa used by
team homer@UniKoblenz of the University of Koblenz-Landau, Germany,
for the participation at the RoboCup@Home 2019 in Sydney,
Australia. We ended up first at RoboCup@Home 2019 in the Open Platform
League and won the competition in our league now three times
in a row (four times in total) which makes our team the most successful
in RoboCup@Home. We demonstrated approaches for learning from
demonstration, touch enforcing manipulation and autonomous semantic
exploration in the finals. A special focus is put on novel system components
and the open source contributions of our team. We have released
packages for object recognition, a robot face including speech synthesis,
mapping and navigation, speech recognition interface, gesture recognition
and imitation learning. The packages are available (and new packages
will be released) on http://homer.uni-koblenz.de.
This paper describes the robots TIAGo and Lisa used by team homer@UniKoblenz of the University of Koblenz-Landau, Germany, for the participation at the RoboCup@Home 2018 in Montreal, Canada. Further this paper serves as qualification material for the RoboCup-@Home participation in 2018. A special focus is put on novel system components and the open source contributions of our team. This year the team from Koblenz won the biggest annual scientianc robot competition in Montreal in the RoboCup@Home Open Platform track for the third time and also won the RoboCup@Home German Open for the second time. As a research highlight a novel symbolic imitation learning approach was demonstrated during the annals. The TIAGo robotic research platform was used for the first time by the team. We have released packages for object recognition, a robot face including speech synthesis, mapping and navigation, speech recognition interface via android and a GUI. The packages are available (and new packages will be released) on http://wiki.ros.org/agas-ros-pkg. Further information can be found on our project page http://homer.uni-koblenz.de.
This paper describes the robot Lisa used by team homer@UniKoblenz of the University of Koblenz Landau, Germany, for the participation at the RoboCup@Home 2017 in Nagoya, Japan. A special focus is put on novel system components and the open source contributions of our team. We have released packages for object recognition, a robot face including speech synthesis, mapping and navigation, speech recognition interface via android and a GUI. The packages are available (and new packages will be released) on
http://wiki.ros.org/agas-ros-pkg.
This paper describes the robot Lisa used by team
homer@UniKoblenz of the University of Koblenz Landau, Germany, for the participation at the RoboCup@Home 2016 in Leipzig, Germany. A special focus is put on novel system components and the open source contributions of our team. We have released packages for object recognition, a robot face including speech synthesis, mapping and navigation, speech recognition interface via android and a GUI. The packages are available (and new packages will be released) on http://wiki.ros.org/agas-ros-pkg.
The University of Koblenz-Landau would like to apply for participation in the RoboCup Mixed Reality League in Suzhou, China 2008. Our team is composed of ten team members and two supervisors. All members are graduate students of Computational Visualistics. Our supervisors are Ph.D. candidates currently researching in the working groups of artificial intelligence and computer graphics.
The paper is devoted to solving a problem of the development of the website of Russian municipal policlinics and provides a selection of a set of elements which should be posted on a website. Such elements are necessary to provide citizens with correct and ergonomic e-services. The insufficient development of an infrastructure of institutions of public and municipal administration (particularly, healthcare institutions) in Russia made it necessary to analyze webresources used in different countries at different levels of providing medical services. The information resources of medical treatment facilities of the United Kingdom, of the United Statesrnof America and of the Federal Republic of Germany were researched separately for three existing economic models of healthcare. A set of criteria for the assessment of medical webresources was developed.
Querying for meta knowledge
(2008)
The Semantic Web is based on accessing and reusing RDF data from many different sources, which one may assign different levels of authority and credibility. Existing Semantic Web query languages, like SPARQL, have targeted the retrieval, combination and reuse of facts, but have so far ignored all aspects of meta knowledge, such as origins, authorship, recency or certainty of data, to name but a few. In this paper, we present an original, generic, formalized and implemented approach for managing many dimensions of meta knowledge, like source, authorship, certainty and others. The approach re-uses existing RDF modeling possibilities in order to represent meta knowledge. Then, it extends SPARQL query processing in such a way that given a SPARQL query for data, one may request meta knowledge without modifying the query proper. Thus, our approach achieves highly flexible and automatically coordinated querying for data and meta knowledge, while completely separating the two areas of concern.
Process Commodities : Entwicklung eines Reifegradmodells alsBasis für Outsourcingentscheidungen
(2009)
Der vorliegende Arbeitsbericht behandelt die Anforderungen an Prozessmanagement als Basis für Outsourcingentscheidungen. Zu dieser Fragestellung erschien im Jahr 2005 ein Artikel von Thomas Davenport mit dem Titel "The Coming Commoditization of Processes". In diesem wird auf das Fehlen eines einheitlichen Verständnisses über Inhalte und Beschreibungen von Prozessen und Prozessschritten, Leistungsindikatoren sowie Prozessmanagementpraktiken hingewiesen. Der vorliegende Arbeitsbericht versucht diese Lücke in Teilen zu schließen, indem er ein Reifegradmodell für Prozessmanagement vorstellt. Mit Hilfe des Modells können Unternehmen einschätzen, in wieweit sie vorhandene Methoden des Prozessmanagements umsetzen und damit die Grundlage für Prozessoutsourcing geschaffen haben.
The paper deals with a specific introduction into probability propagation nets. Starting from dependency nets (which in a way can be considered the maximum information which follows from the directed graph structure of Bayesian networks), the probability propagation nets are constructed by joining a dependency net and (a slightly adapted version of) its dual net. Probability propagation nets are the Petri net version of Bayesian networks. In contrast to Bayesian networks, Petri nets are transparent and easy to operate. The high degree of transparency is due to the fact that every state in a process is visible as a marking of the Petri net. The convenient operability consists in the fact that there is no algorithm apart from the firing rule of Petri net transitions. Besides the structural importance of the Petri net duality there is a semantic matter; common sense in the form of probabilities and evidencebased likelihoods are dual to each other.
Probability propagation nets
(2007)
A class of high level Petri nets, called "probability propagation nets", is introduced which is particularly useful for modeling probability and evidence propagation. These nets themselves are well suited to represent the probabilistic Horn abduction, whereas specific foldings of them will be used for representing the flows of probabilities and likelihoods in Bayesian networks.
Pose-Tracking
(2009)
Die bildbasierte automatische Bestimmung der Pose, d. h. der Position und Blickrichtung, einer Kamera in derWelt, ist eine relevante, aber immer noch unzureichend gelöste Aufgabe im Rechnersehen. In dem diesem Bericht zugrunde liegenden Projekt werden höhere markante Merkmale in den Bildern sicherer lokalisiert, sowie deren semantische Signifikanz vom Rechner bestimmt. Eine Posebestimmung wird durch eine Registrierung der elementaren Bestandteile dieser markanten Merkmale im Bild mit Merkmalen im 3-D-Modell erreicht. Dazu werden neue Algorithmen zur Detektion, Lokalisation und Registrierung der markanten Merkmale entwickelt bzw. vorhandene Algorithmen weiter verbessert. Modelle, wie sie aus der Rekonstruktion von Mehrfachansichten entstehen, werden durch weitere Semantik angereichert. Als Anwendungsszenario wird die Posebestimmung auf dem Campusgelände unter Verwendung von Bildern und einem semantischen CG-Modell des Campus gewählt. Die allgemeinen Verfahren werden an diesem Beispiel getestet und ihre Tragfähigkeit wird in Experimenten belegt. Im modularen System entstehen problemunabhängige Einzelbausteine zur Detektion markanter Merkmale und zur 3-D-Rekonstruktion und Posebestimmung aus Merkmalen, Punkten und Linien. Damit wird belegt, dass eine robuste Detektion markanter Merkmale möglich ist und zu einer effektiven Rekonstruktion und Posebestimmung auch in teilweise wenig strukturierten Außengebieten genutzt werden kann.
The processing of data is often restricted by contractual and legal requirements for protecting privacy and IPRs. Policies provide means to control how and by whom data is processed. Conditions of policies may depend on the previous processing of the data. However, existing policy languages do not provide means to express such conditions. In this work we present a formal model and language allowing for specifying conditions based on the history of data processing. We base the model and language on XACML.
Ziel dieser Forschungsarbeit ist die Auswahl und Evaluierung von Open-Source ERPSystemen auf effiziente Anwendbarkeit in Unternehmen zum Zwecke des Aufbaus eines "ERP-Future-Labs", in welchem mittelständische Handelsunternehmen das/die installierte(n) System(e) testen können. Den Projektabschluss bildet hierbei die Installation eines lauffähigen Systems, auf welchem die vom Auftraggeber vorgegebenen Geschäftsprozesse abgewickelt werden können. Ferner sollen die Auftraggeber auf dem System geschult, eine Dokumentation der Software (Installation/Bedienung) und des Projekts erstellt werden.
Networked RDF graphs
(2007)
Networked graphs are defined in this paper as a small syntactic extension of named graphs in RDF. They allow for the definition of a graph by explicitly listing triples as well as by SPARQL queries on one or multiple other graphs. By this extension it becomes possible to define a graph including a view onto other graphs and to define the meaning of a set of graphs by the way they reference each other. The semantics of networked graphs is defined by their mapping into logic programs. The expressiveness and computational complexity of networked graphs, varying by the set of constraints imposed on the underlying SPARQL queries, is investigated. We demonstrate the capabilities of networked graphs by a simple use case.
Hybrid automata are used as standard means for the specification and analysis of dynamical systems. Several researches have approached them to formally specify reactive Multi-agent systems situated in a physical environment, where the agents react continuously to their environment. The specified systems, in turn, are formally checked with the help of existing hybrid automata verification tools. However, when dealing with multi-agent systems, two problems may be raised. The first problem is a state space problem raised due to the composition process, where the agents have to be parallel composed into an agent capturing all possible behaviors of the multi-agent system prior to the verification phase. The second problem concerns the expressiveness of verification tools when modeling and verifying certain behaviors. Therefore, this paper tackles these problems by showing how multi-agent systems, specified as hybrid automata, can be modeled and verified using constraint logic programming(CLP). In particular, a CLP framework is presented to show how the composition of multi-agent behaviors can be captured dynamically during the verification phase. This can relieve the state space complexity that may occur as a result of the composition process. Additionally, the expressiveness of the CLP model flexibly allows not only to model multi-agent systems, but also to check various properties by means of the reachability analysis. Experiments are promising to show the feasibility of our approach.
The impact of innovation in order to secure a company- existence is increasing. Especially in the field of information and communication systems, modified conditions, reduced product life cycles (in some markets e.g. in the software market down to a few months), and increased competition force many companies to adapt their innovation speed. Long-term profit will just be obtained by those companies that will manage to consolidate or further to enlarge their competitive position with technological innovation. The increasing relevance of new developments requires a separate treatment of technological innovations and demands for a technology and innovation management. Not every innovation is thereby a result of a single, spontaneous idea. Many innovations evolve from the integration or combination of already existing technologies. Especially in markets with insignificant growing rates, this kind of innovation is quite important. The purpose of this article is a case-oriented identification of existing deficiencies within established recommendations for a strategic technology and innovation management and the discussion about the role of modularity and technology integration as an alternative way to innovate.
This paper proposes model-driven techniques to extend IBM- SOMA method towards migrating legacy systems into Service-Oriented Architectures (SOA). The proposal explores how graph-based querying and transformation techniques enable the integration of legacy assets into a new SOA. The presented approach is applied to the identification and migration of services in an open source Java software system.
Existing tools for generating application programming interfaces (APIs) for ontologies lack sophisticated support for mapping the logics-based concepts of the ontology to an appropriate object-oriented implementation of the API. Such a mapping has to overcome the fundamental differences between the semantics described in the ontology and the pragmatics, i.e., structure, functionalities, and behavior implemented in the API. Typically, concepts from the ontology are mapped one-to-one to classes in the targeted programming language. Such a mapping only produces concept representations but not an API at the desired level of granularity expected by an application developer. We present a Model-Driven Engineering (MDE) process to generate customized APIs for ontologies. This API generation is based on the semantics defined in the ontology but also leverages additional information the ontology provides. This can be the inheritance structure of the ontology concepts, the scope of relevance of an ontology concept, or design patterns defined in the ontology.
We present the user-centered, iterative design of Mobile Facets, a mobile application for the faceted search and exploration of a large, multi-dimensional data set of social media on a touchscreen mobile phone. Mobile Facets provides retrieval of resources such as places, persons, organizations, and events from an integration of different open social media sources and professional content sources, namely Wikipedia, Eventful, Upcoming, geo-located Flickr photos, and GeoNames. The data is queried live from the data sources. Thus, in contrast to other approaches we do not know in advance the number and type of facets and data items the Mobile Facets application receives in a specific contextual situation. While developingrnMobile Facets, we have continuously evaluated it with a small group of fifive users. We have conducted a task-based, formative evaluation of the fifinal prototype with 12 subjects to show the applicability and usability of our approach for faceted search and exploration on a touchscreen mobile phone.