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3D-Curve-Skeletons are often used, because the object surface repesentation is less complex and also needs less computing power in further processing, compared to the representation created by the Medial Axis Transformation introduced 1967 by Harry Blum.
This theses aims at developing a 3D curve skelton approximation algorithm that keeps these advantages and is also able to handle different scenarios of the object surface input data.
Robotics research today is primarily about enabling autonomous, mobile robots to seamlessly interact with arbitrary, previously unknown environments. One of the most basic problems to be solved in this context is the question of where the robot is, and what the world around it, and in previously visited places looks like " the so-called simultaneous localization and mapping (SLAM) problem. We present a GraphSLAM system, which is a graph-based approach to this problem. This system consists of a frontend and a backend: The frontend- task is to incrementally construct a graph from the sensor data that models the spatial relationship between measurements. These measurements may be contradicting and therefore the graph is inconsistent in general. The backend is responsible for optimizing this graph, i. e. finding a configuration of the nodes that is least contradicting. The nodes represent poses, which do not form a regular vector space due to the contained rotations. We respect this fact by treating them as what they really are mathematically: manifolds. This leads to a very efficient and elegant optimization algorithm.
Computers assist humans in many every-day situations. Their advancing miniaturisation broadens their fields of use and leads to an even higher significance and spread throughout society. Already, these small and powerful machines are wide-spread in every-day objects and the spread increases still as the mobility-aspect grows in importance. From laptops, smartphones and tables to systems worn on the body (wearable computing) or even inside the body as cyber-implants, these systems help humans actively and context-sensitively in the accomplishment of their every-day business.
A part of the wearable-computing-domain is taken up by the development of Head-mounted displays (HMD). These helmets or goggles feature one or more displays enabling their users to see computer-rendered images or images of their environment enriched with computer-generated information. At the moment, most of this HMD feature LC-Displays, but newer systems start appearing that allow the projection of the image onto the user's retina. Newest break-throughs in the field of study already produced contact lenses with an integrated display. The data shown by a HMD is compiled using a multitude of sensors, like a Head-Tracker or a GPS. Increasing computational performance and miniaturisation lead to a wide spread of HMD in a lot of fields.rnThe multiple scenarios in which a HMD can be used to help improve human-perception and -interaction led the "Institut für Integrierte Naturwissenschaften" of the University of Koblenz-Landau to come up with a HMD on the basis of Apple's iOS-devices featuring Retina Displays. The high pixel density of these displays combined with condensor lenses into a HMD offer a highly immersive environment for stereoscopic imagery, while other systems only display a relatively small image projected a few feet away of the user. Furthermore, the iPhone/ iPod Touch and iPad exhibit a lot of potential given by their variety of offered sensors and computational power. While producing a similarly feature-rich HMD is very costy, using simple iPod Touches 4th Gen as the basis of a HMD results in a very inexpensive solution with a high potential. The increasing popularity and spread of Apple devices would reduce the costs even more, as users of the HMD could simply integrate their device into the system. A software designed with the specific intent to support a large variety of Apple iOS-devices that could easily be extended to support newer devices, would allow for a universal use of such a HMD-solution as the new device could simply replace an old device.rnrnThe focus of this thesis is the conception and development of an application designed for Apple's iOS 5 operating system that will be used in a HMD evolving around the use of Apple iOS-devices featuring Retina Displays. The Rollercoaster2000-project depicting a ride in a virtual rollercoaster will be used as the application's core. A server will syncronize the display of clients conntected to it which are combined to form a HMD. Furthermore the gyroscope of the iOS-devices combined into a HMD will be used to track the wearer's head-movements. Another feature will be the use of the devices cameras as a mean of orientation while wearing the HMD.
As a first step in the realization of a software meeting the set specifications is the introduction of the Objective-C programming languages used to develop iOS-Applications. In conjunction with the compiler and runtime environment, Objective-C makes up the base of the second step, the introduction of the iOS-SDK. Aimed with this iOS-app-development-knowledge, the last part of the thesis consists of the ascertainment of requirements and development of a software complying to the goals of a software written specifically for the used in a HMD.
Aspect-orientation in PHP
(2012)
Diese Diplomarbeit hat das Thema der fehlenden Cross-Cutting-Concerns(CCCs)-Unterstützung in PHP zum Inhalt. Die Basis bilden zu definierende Anforderungen an eine AOP-Realisierung im PHP-Umfeld. Es wird analysiert, wie und ob verwandte Sprachen und Paradigmen es gestatten, CCCs zu unterstützen. Darüber hinaus wird die Möglichkeit erörtert, AOP in PHP ohne PHP-Erweiterung zu realisieren. Weiter werden die bisherigen Ansätze, AOP in PHP umzusetzen, qualitativ untersucht. Die vorliegende Arbeit zielt darauf ab, eine eigene AOP-PHP-Lösung zu präsentieren, die nicht die Schwächen existierender Lösungen teilt.
Quadrokopter sind Helikopter mit vier in einer Ebene angeordneten Rotoren. Kleine unbemannte Modelle, die oft nur eine Schubkraft von wenigen Newton erzeugen können, sind im Spielzeug- und Modellbaubereich beliebt, werden aber auch von Militär und Polizei als Drohne für Aufklärungs- und Überwachungsaufgaben eingesetzt. Diese Diplomarbeit befasst sich mit den theoretischen Grundlagen der Steuerung eines Quadrokopters und entwickelt darauf aufbauend eine kostengünstige Steuerplatine für einen Modellquadrokopter.
Die theoretischen Grundlagen enthalten eine Untersuchung der Dynamik eines frei fliegenden Quadrokopters, bei der Bewegungsgleichungen hergeleitet und mit den Ergebnissen verglichen werden, die in "Design and control of quadrotors with application to autonomous flying" ([Bou07]) vorgestellt wurden. Weiterhin wird die Funktionsweise verschiedener Sensoren beschrieben, die zur Bestimmung der aktuellen räumlichen Ausrichtung geeignet sind, und es werden Verfahren besprochen, mit denen die Ausrichtung aus den Messwerten dieser Sensoren abgeschätzt werden kann. Zusätzlich wird in den Schiefkörper der Quaternionen eingeführt, in dem dreidimensionale Rotationen kompakt dargestellt und effizient verkettet werden können.
Daran anschließend wird die Entwicklung einer einfachen Steuerplatine beschrieben, die sowohl einen autonomen Schwebeflug als auch Fernsteuerung ermöglicht. Die Platine wurde auf einem X-Ufo-Quadrokopter der Firma Silverlit entwickelt und getestet, der daher ebenfalls vorgestellt wird. Die eingesetzten Bauteile und deren Zusammenspiel werden besprochen. Dabei ist insbesondere die WiiMotionPlus hervorzuheben, die als kostengünstiges Gyrosensormodul verwendet wird. Daneben werden verschiedene Aspekte der Steuersoftware erläutert: die Auswertung der Sensordaten, die Zustandsschätzung mit Hilfe des expliziten komplementären Filters nach Mahony et al. ([MHP08]), die Umsetzung des Ausrichtungsreglers sowie die Erzeugung der Steuersignale für die Motoren. Sowohl die Steuersoftware als auch Schaltplan und Platinenlayout der Steuerplatine liegen dieser Arbeit auf einer CD bei. Schaltplan und Platinenlayout sind zusätzlich im Anhang der Arbeit abgedruckt.
Augmented Reality bedeutet eine reale Umgebung mit, meistens grafischen, virtuellen Inhalten zu erweitern. Oft sind dabei die virtuellen Inhalte der Szene jedoch nur ein Overlay und interagieren nicht mit den realen Bestandteilen der Szene. Daraus ergibt sich ein Authentizitätsproblem für Augmented Reatliy Anwendungen. Diese Arbeit betrachtet Augmented Reality in einer speziellen Umgebung, mit deren Hilfe eine authentischere Darstellung möglich ist. Ziel dieserArbeitwar die Erstellung eines Systems, das Zeichnungen durch Techniken der Augmented Reality mit virtuellen Inhalten erweitert. Durch das Anlegen einer Repräsentation soll es der Anwendung dabei möglich sein die virtuellen Szeneelementemit der Zeichnung interagieren zu lassen. Dazu wurden verschiedene Methoden aus den Bereichen des Pose Tracking und der Sketch Recognition disktutiert und für die Implementierung in einem prototypischen System ausgewählt. Als Zielhardware fungiert ein Android Smartphone. Kontext der Zeichnungen ist eine Dungeon Karte, wie sie in Rollenspielen vorkommt. Die virtuellen Inhalte nehmen dabei die Form von Bewohnern des Dungeons an, welche von einer Agentensimulation verwaltet werden. Die Agentensimulation ist Gegenstand einer eigenen Diplomarbeit [18]. Für das Pose Tracking wurde ARToolkitPlus eingesetzt, ein optisches Tracking System, das auf Basis von Markern arbeitet. Die Sketch Recognition ist dafür zuständig die Inhalte der Zeichnung zu erkennen und zu interpretieren. Dafür wurde ein eigener Ansatz implementiert der Techniken aus verschiedenen Sketch Recognition Systemen kombiniert. Die Evaluation konzentriert sich auf die technischen Aspekte des Systems, die für eine authentische Erweiterung der Zeichnung mit virtuellen Inhalten wichtig sind.
Software projects typically rely on several, external libraries. The interface provided by such a library is called API (application programming interface). APIs often evolve over time, thereby implying the need to adapt applications that use them. There are also reasons which may call for the replacement of one library by another one, what also results in a need to adapt the applications where the library is replaced. The process of adapting applications to use a different API is called API migration. Doing API migration manually is a cumbersome task. Automated API migration is an active research field. A related field of research is API analysis which can also provide data for developing API migration tools.
The following thesis investigates techniques and technologies for API analysis and API migration frameworks. To this end, design patterns are leveraged. These patterns are based on experience with API analysis and migration within the Software Languages Team.
A trending topic in Semantic Web research deals with the processing of queries over Linked Open Data (LOD). As has been shown in literature, the loose nature of the "web of data" and data sources within can be accounted for by employing federated query processing strategies. This approach, however, is all the more dependent on both up-to-date statistical summaries (data statistics) of the sources in use and accurate and precise estimation of cardinalities and selectivities. In general, federated data sources are to be seen as black-boxes w.r.t. data statistics, as no interchange of such information can be expected. Because of this, it is possible for individual data statistics to become obsolete, if the corresponding source is subjected to data changes cumulating over time. In this thesis an adaptive system is being proposed, that complements a given RDF-based query federator. Through observation and analysis of the error of the cardinality estimation of incoming queries, it tries to infer the obsolescence of individual data statistics, triggering updates of data statistics found to be obsolete. An evaluation of the system shows, that the approach to this solution is plausible. Yet, in practice no satisfying results could be acquired, that would prove a true practicality. Still, parts of the system proposed may be re-used for related tasks that could be more promising.
Standards are widely-used in the computer science and IT industry. Different organizations like the International Organization for Standardization (SO) are involved in the development of computer related standards. An important domain of standardization is the specification of data formats enabling the exchange of information between different applications. Such formats can be expressed in a variety of schema languages thereby defining sets of conformant documents. Often the use of multiple schema languages is required due to their varying expressive power and different kind of validation requirements.rnThis also holds for the Specification Common Cartridge which is maintained by the IMS Global Learning Consortium. The specification defines valid zip packages that can be used to aggregate different learning objects. These learning objects are represented by a set of files which are a part of the package and can be imported into a learning management system. The specification makes use of other specifications to constrain the contents of valid documents. Such documents are expressed in the eXtensible Markup Language and may contain references to other files also part of the package. The specification itself is a so-called domain profile. A domain profile allows the modification of one or more specifications to meet the needs of a particular community. Test rules can be used to determine a set of tasks in order to validate a concrete package. The execution is done by a testsystem which, as we will show, can be created automatically. Hence this method may apply to other package based data formats that are defined as a part of a specification.
This work will examine the applicability of this generic test method to the data formats that are introduced by the so called Virtual Company Dossier. These formats are used in processes related to public e-procurement. They allow the packaging of evidences that are needed to prove the fulfillment of criteria related to a public tender. The work first examines the requirements that are common to both specifications. This will introduce a new view on the requirements by introducing a higher level of abstraction. The identified requirements will then be used to create different domain profiles each capturing the requirements of a package based data format. The process is normally guided by supporting tools that ease the capturing of a domain profile and the creation of testsystems. These tools will be adapted to support the new requirements. Furtheron the generic testsystem will be modified. This system is used as a basis when a concrete testsystem is created.
Finally the author comes to a positive conclusion. Common requirements have been identified and captured. The involved systems have been adapted allowing the capturing of further types of requirements that have not been supported before. Furthermore the background of the specifications quite differ. This indicates that the use of domain profiles and generic test technologies may be suitable in a wide variety of other contexts.