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This work addresses the challenge of calibrating multiple solid-state LIDAR systems. The study focuses on three different solid-state LIDAR sensors that implement different hardware designs, leading to distinct scanning patterns for each system. Consequently, detecting corresponding points between the point clouds generated by these LIDAR systems—as required for calibration—is a complex task. To overcome this challenge, this paper proposes a method that involves several steps. First, the measurement data are preprocessed to enhance its quality. Next, features are extracted from the acquired point clouds using the Fast Point Feature Histogram method, which categorizes important characteristics of the data. Finally, the extrinsic parameters are computed using the Fast Global Registration technique. The best set of parameters for the pipeline and the calibration success are evaluated using the normalized root mean square error. In a static real-world indoor scenario, a minimum root mean square error of 7 cm was achieved. Importantly, the paper demonstrates that the presented approach is suitable for online use, indicating its potential for real-time applications. By effectively calibrating the solid-state LIDAR systems and establishing point correspondences, this research contributes to the advancement of multi-LIDAR fusion and facilitates accurate perception and mapping in various fields such as autonomous driving, robotics, and environmental monitoring.
Focusing on the triangulation of detective fiction, masculinity studies and disability studies, "Investigating the Disabled Detective – Disabled Masculinity and Masculine Disability in Contemporary Detective Fiction" shows that disability challenges common ideals of (hegemonic) masculinity as represented in detective fiction. After a theoretical introduction to the relevant focal points of the three research fields, the dissertation demonstrates that even the archetypal detectives Dupin and Holmes undermine certain nineteenth-century masculine ideals with their peculiarities. Shifting to contemporary detective fiction and adopting a literary disability studies perspective, the dissertation investigates how male detectives with a form of neurodiversity or a physical impairment negotiate their masculine identity in light of their disability in private and professional contexts. It argues that the occupation as a detective supports the disabled investigator to achieve ‘masculine disability’. Inversing the term ‘disabled masculinity’, predominantly used in research, ‘masculine disability’ introduces a decisively gendered reading of neurodiversity and (acquired) physical impairment in contemporary detective fiction. The term implies that the disabled detective (re)negotiates his masculine identity by implementing the disability in his professional investigations and accepting it as an important, yet not defining, characteristic of his (gender) identity. By applying this approach to five novels from contemporary British and American detective fiction, the dissertation demonstrates that masculinity and disability do not negate each other, as commonly assumed. Instead, it emphasises that disability allows the detective, as much as the reader, to rethink masculinity.
Empirical studies in software engineering use software repositories as data sources to understand software development. Repository data is either used to answer questions that guide the decision-making in the software development, or to provide tools that help with practical aspects of developers’ everyday work. Studies are classified into the field of Empirical Software Engineering (ESE), and more specifically into Mining Software Repositories (MSR). Studies working with repository data often focus on their results. Results are statements or tools, derived from the data, that help with practical aspects of software development. This thesis focuses on the methods and high order methods used to produce such results. In particular, we focus on incremental methods to scale the processing of repositories, declarative methods to compose a heterogeneous analysis, and high order methods used to reason about threats to methods operating on repositories. We summarize this as technical and methodological improvements. We contribute the improvements to methods and high-order methods in the context of MSR/ESE to produce future empirical results more effectively. We contribute the following improvements. We propose a method to improve the scalability of functions that abstract over repositories with high revision count in a theoretically founded way. We use insights on abstract algebra and program incrementalization to define a core interface of highorder functions that compute scalable static abstractions of a repository with many revisions. We evaluate the scalability of our method by benchmarks, comparing a prototype with available competitors in MSR/ESE. We propose a method to improve the definition of functions that abstract over a repository with a heterogeneous technology stack, by using concepts from declarative logic programming and combining them with ideas on megamodeling and linguistic architecture. We reproduce existing ideas on declarative logic programming with languages close to Datalog, coming from architecture recovery, source code querying, and static program analysis, and transfer them from the analysis of a homogeneous to a heterogeneous technology stack. We provide a prove-of-concept of such method in a case study. We propose a high-order method to improve the disambiguation of threats to methods used in MSR/ESE. We focus on a better disambiguation of threats, operationalizing reasoning about them, and making the implications to a valid data analysis methodology explicit, by using simulations. We encourage researchers to accomplish their work by implementing ‘fake’ simulations of their MSR/ESE scenarios, to operationalize relevant insights about alternative plausible results, negative results, potential threats and the used data analysis methodologies. We prove that such way of simulation based testing contributes to the disambiguation of threats in published MSR/ESE research.
This thesis explores and examines the effectiveness and efficacy of traditional machine learning (ML), advanced neural networks (NN) and state-of-the-art deep learning (DL) models for identifying mental distress indicators from the social media discourses based on Reddit and Twitter as they are immensely used by teenagers. Different NLP vectorization techniques like TF-IDF, Word2Vec, GloVe, and BERT embeddings are employed with ML models such as Decision Tree (DT), Random Forest (RF), Logistic Regression (LR) and Support Vector Machine (SVM) followed by NN models such as Convolutional Neural Network (CNN), Recurrent Neural Network (RNN) and Long Short-Term Memory (LSTM) to methodically analyse their impact as feature representation of models. DL models such as BERT, DistilBERT, MentalRoBERTa and MentalBERT are end-to-end fine tuned for classification task. This thesis also compares different text preprocessing techniques such as tokenization, stopword removal and lemmatization to assess their impact on model performance. Systematic experiments with different configuration of vectorization and preprocessing techniques in accordance with different model types and categories have been implemented to find the most effective configurations and to gauge the strengths, limitations, and capability to detect and interpret the mental distress indicators from the text. The results analysis reveals that MentalBERT DL model significantly outperformed all other model types and categories due to its specific pretraining on mental data as well as rigorous end-to-end fine tuning gave it an edge for detecting nuanced linguistic mental distress indicators from the complex contextual textual corpus. This insights from the results acknowledges the ML and NLP technologies high potential for developing complex AI systems for its intervention in the domain of mental health analysis. This thesis lays the foundation and directs the future work demonstrating the need for collaborative approach of different domain experts as well as to explore next generational large language models to develop robust and clinically approved mental health AI systems.
Predictive Process Monitoring is becoming more prevalent as an aid for organizations to support their operational processes. However, most software applications available today require extensive technical know-how by the operator and are therefore not suitable for most real-world scenarios. Therefore, this work presents a prototype implementation of a Predictive Process Monitoring dashboard in the form of a web application. The system is based on the PPM Camunda Plugin presented by Bartmann et al. (2021) and allows users to easily create metrics, visualizations to display these metrics, and dashboards in which visualizations can be arranged. A usability test is with test users of different computer skills is conducted to confirm the application’s user-friendliness.
Challenges of Implementing Innovation Strategies at Large Organizations: A case of Lotte Group
(2023)
For many decades, one of the most important focuses of research has been on determining whether or not there is a correlation between the size of an organization and its level of innovation. Unlike small companies, large companies often have well-established structure that are hard to change and change managements seems to be much more difficult especially related to innovation. Nevertheless, there are many examples to prove the opposites. Some large organization like Apple, Amazon... always show great innovation efforts and keep changing in a much positive way. Therefore, the aim of this thesis is to discuss of how large organization can be able to implement innovation when having much drawbacks compare to SMEs. Through the use of a qualitative research approach, researcher was able to explore essential information on the innovation strategies that large companies are using in order to innovate and how they could overcome existing challenges by studying the working process of Lotte Group – one of the biggest companies in Korea.
In the last decade, policy-makers around the world have turned their attention toward the creative industry as the economic engine and significant driver of employments. Yet, the literature suggests that creative workers are one of the most vulnerable work-forces of today’s economy. Because of the highly deregulated and highly individuated environment, failure or success are believed to be the byproduct of individual ability and commitment, rather than a structural or collective issue. This thesis taps into the temporal, spatial, and social resolution of digital behavioural data to show that there are indeed structural and historical issues that impact individuals’ and
groups’ careers. To this end, this thesis offers a computational social science research framework that brings together the decades-long theoretical and empirical knowledge of inequality studies, and computational methods that deal with the complexity and scale of digital data. By taking music industry and science as use cases, this thesis starts off by proposing a novel gender detection method that exploits image search and face-detection methods.
By analysing the collaboration patterns and citation networks of male and female computer scientists, it sheds lights on some of the historical biases and disadvantages that women face in their scientific career. In particular, the relation of scientific success and gender-specific collaboration patterns is assessed. To elaborate further on the temporal aspect of inequalities in scientific careers, this thesis compares the degree of vertical and horizontal inequalities among the cohorts of scientists that started their career at different point in time. Furthermore, the structural inequality in music industry is assessed by analyzing the social and cultural relations that breed from live performances and musics releases. The findings hint toward the importance of community belonging at different stages of artists’ careers. This thesis also quantifies some of the underlying mechanisms and processes of inequality, such as the Matthew Effect and the Hipster Paradox, in creative careers. Finally, this thesis argues that online platforms such as Wikipedia could reflect and amplify the existing biases.
The diversity within amphibian communities in cultivated areas in Rwanda and within two selected, taxonomically challenging groups, the genera Ptychadena and Hyperolius, were investigated in this thesis. The amphibian community of an agricultural wetland near Butare in southern Rwanda comprised 15 anuran species. Rarefaction and jackknife analyses corroborated that the complete current species richness of the assemblage had been recorded, and the results of acoustic niche analysis suggested species saturation of the community. Surveys at many other Rwandan localities showed that the species recorded in Butare are widespread in cultivated and pristine wetlands. The species were readily distinguishable using morphological, bioacoustic, and molecular (DNA barcoding) features, but only eight of the 15 species could be assigned unambiguously to nominal species. The remaining represented undescribed or currently unrecognized taxa, including three species of Hyperolius, two Phrynobatrachus species, one Ptychadena species, and one species of Amietia. The diversity of the Ridged Frogs in Rwanda was investigated in two studies (Chapters III and IV). Three species of Ptychadena were recorded in wetlands in the catchment of the Nile. They can be distinguished by morphological characters (morphometrics and qualitative features) as well as by their advertisement calls and genetics. The Rwandan species of the P. mascareniensis group was shown to differ from the topotypic population as well as from other genetic lineages in sub-Saharan Africa and an old available name, P. nilotica, was resurrected from synonymy for this lineage. Two further Ptychadena species were identified among voucher specimens from Rwanda deposited in the collection of the RMCA, P. chrysogaster and P. uzungwensis. Morphologically they can be unambiguously distinguished from each other and the three other Rwandan species. A key based on qualitative morphological characters was developed, which allows unequivocal identification of specimens of all species that have been recorded from Rwanda. DNA was isolated from a Rwandan voucher specimen of P. chrysogaster, and the genetic analysis corroborated the species" distinct status.
A species of Hyperolius collected in the Nyungwe National Park was compared to all other Rwandan species of the genus and to morphologically or genetically similar species from neighbouring countries. Its distinct taxonomic status was justified by morphological, bioacoustic, and molecular evidence and it was described as a new species, H. jackie. A species of the H. nasutus group collected at agricultural sites in Rwanda was described as a new species in the course of a revision of the species of the Hyperolius nasutus group. The group was shown to consist of 15 distinct species which can be distinguished from each other genetically, bioacoustically, and morphologically.
The aerial performance, i.e. parachuting, of the Disc-fingered Reed Frog, Hyperolius discodactylus, was described. It represents a novel observation of a behaviour that has been known from a number of Southeast Asian and Neotropical frog species. Parachuting frogs, including H. discodactylus, exhibit certain morphological characteristics and, while airborne, assume a distinct posture which is best-suited for maneuvering in the air. Another study on the species addressed the validity of the taxon H. alticola which had been considered either a synonym of H. discodactylus or a distinct species. Type material of both taxa was re-examined and the status of H. alticola reassessed using morphological data from historic and new collections, call recordings, and molecular data from animals collected on recent expeditions. A northern and a southern genetic clade were identified, a divide that is weakly supported by diverging morphology of the vouchers from the respective localities. No distinction in advertisement call features could be recovered to support this split and both genetic and morphological differences between the two geographic clades are marginal and not always congruent and more likely reflect population-level variation. Therefore it was concluded that H. alticola is not a valid taxon and should be treated as a synonym of H. discodactylus.
On the recognition of human activities and the evaluation of its imitation by robotic systems
(2023)
This thesis addresses the problem of action recognition through the analysis of human motion and the benchmarking of its imitation by robotic systems.
For our action recognition related approaches, we focus on presenting approaches that generalize well across different sensor modalities. We transform multivariate signal streams from various sensors to a common image representation. The action recognition problem on sequential multivariate signal streams can then be reduced to an image classification task for which we utilize recent advances in machine learning. We demonstrate the broad applicability of our approaches formulated as a supervised classification task for action recognition, a semi-supervised classification task for one-shot action recognition, modality fusion and temporal action segmentation.
For action classification, we use an EfficientNet Convolutional Neural Network (CNN) model to classify the image representations of various data modalities. Further, we present approaches for filtering and the fusion of various modalities on a representation level. We extend the approach to be applicable for semi-supervised classification and train a metric-learning model that encodes action similarity. During training, the encoder optimizes the distances in embedding space for self-, positive- and negative-pair similarities. The resulting encoder allows estimating action similarity by calculating distances in embedding space. At training time, no action classes from the test set are used.
Graph Convolutional Network (GCN) generalized the concept of CNNs to non-Euclidean data structures and showed great success for action recognition directly operating on spatio-temporal sequences like skeleton sequences. GCNs have recently shown state-of-the-art performance for skeleton-based action recognition but are currently widely neglected as the foundation for the fusion of various sensor modalities. We propose incorporating additional modalities, like inertial measurements or RGB features, into a skeleton-graph, by proposing fusion on two different dimensionality levels. On a channel dimension, modalities are fused by introducing additional node attributes. On a spatial dimension, additional nodes are incorporated into the skeleton-graph.
Transformer models showed excellent performance in the analysis of sequential data. We formulate the temporal action segmentation task as an object detection task and use a detection transformer model on our proposed motion image representations. Experiments for our action recognition related approaches are executed on large-scale publicly available datasets. Our approaches for action recognition for various modalities, action recognition by fusion of various modalities, and one-shot action recognition demonstrate state-of-the-art results on some datasets.
Finally, we present a hybrid imitation learning benchmark. The benchmark consists of a dataset, metrics, and a simulator integration. The dataset contains RGB-D image sequences of humans performing movements and executing manipulation tasks, as well as the corresponding ground truth. The RGB-D camera is calibrated against a motion-capturing system, and the resulting sequences serve as input for imitation learning approaches. The resulting policy is then executed in the simulated environment on different robots. We propose two metrics to assess the quality of the imitation. The trajectory metric gives insights into how close the execution was to the demonstration. The effect metric describes how close the final state was reached according to the demonstration. The Simitate benchmark can improve the comparability of imitation learning approaches.