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Autonomous navigation is one of the main areas of research in mobile robots and intelligent connected vehicles. In this context, we are interested in presenting a general view on robotics, the progress of research, and advanced methods related to this field to improve autonomous robots’ localization. We seek to evaluate algorithms and techniques that give robots the ability to move safely and autonomously in a complex and dynamic environment. Under these constraints, we focused our work in the paper on a specific problem: to evaluate a simple, fast and light SLAM algorithm that can minimize localization errors. We presented and validated a FastSLAM 2.0 system combining scan matching and loop closure detection. To allow the robot to perceive the environment and detect objects, we have studied one of the best deep learning technique using convolutional neural networks (CNN). We validate our testing using the YOLOv3 algorithm.
Software and system development is complex and diverse, and a multitude of development approaches is used and combined with each other to address the manifold challenges companies face today. To study the current state of the practice and to build a sound understanding about the utility of different development approaches and their application to modern software system development, in 2016, we launched the HELENA initiative. This paper introduces the 2nd HELENA workshop and provides an overview of the current project state. In the workshop, six teams present initial findings from their regions, impulse talk are given, and further steps of the HELENA roadmap are discussed.
The digitization of factories will be a significant issue for the 2020s. New scenarios are emerging to increase the efficiency of production lines inside the factory, based on a new generation of robots’ collaborative functions. Manufacturers are moving towards data-driven ecosystems by leveraging product lifecycle data from connected goods. Energy-efficient communication schemes, as well as scalable data analytics, will support these various data collection scenarios. With augmented reality, new remote services are emerging that facilitate the efficient sharing of knowledge in the factory. Future communication solutions should generally ensure connectivity between the various production sites spread worldwide and new players in the value chain (e.g., suppliers, logistics) transparent, real-time, and secure. Industry 4.0 brings more intelligence and flexibility to production. Resulting in more lightweight equipment and, thus, offering better ergonomics. 5G will guarantee real-time transmissions with latencies of less than 1 ms. This will provide manufacturers with new possibilities to collect data and trigger actions automatically.
The main aim of presented in this manuscript research is to compare the results of objective and subjective measurement of sleep quality for older adults (65+) in the home environment. A total amount of 73 nights was evaluated in this study. Placing under the mattress device was used to obtain objective measurement data, and a common question on perceived sleep quality was asked to collect the subjective sleep quality level. The achieved results confirm the correlation between objective and subjective measurement of sleep quality with the average standard deviation equal to 2 of 10 possible quality points.
A configuration-management-database driven approach for fabric-process specification and automation
(2014)
In this paper we describe an approach that integrates a Configuration- Management-Database into fabric-process specification and automation in order to consider different conditions regarding to cloud-services. By implementing our approach, the complexity of fabric processes gets reduced. We developed a prototype by using formal prototyping principles as research methods and integrated the Configuration-Management-Database Command into the Workflow- Management-System Activiti. We used this prototype to evaluate our approach. We implemented three different fabric-processes and show that by using our approach the complexity of these three fabric-processes gets reduced.
Context:
Test-driven development (TDD) is an agile software development approach that has been widely claimed to improve software quality. However, the extent to which TDD improves quality appears to be largely dependent upon the characteristics of the study in which it is evaluated (e.g., the research method, participant type, programming environment, etc.). The particularities of each study make the aggregation of results untenable.
Objectives:
The goal of this paper is to: increase the accuracy and generalizability of the results achieved in isolated experiments on TDD, provide joint conclusions on the performance of TDD across different industrial and academic settings, and assess the extent to which the characteristics of the experiments affect the quality-related performance of TDD.
Method:
We conduct a family of 12 experiments on TDD in academia and industry. We aggregate their results by means of meta-analysis. We perform exploratory analyses to identify variables impacting the quality-related performance of TDD.
Results:
TDD novices achieve a slightly higher code quality with iterative test-last development (i.e., ITL, the reverse approach of TDD) than with TDD. The task being developed largely determines quality. The programming environment, the order in which TDD and ITL are applied, or the learning effects from one development approach to another do not appear to affect quality. The quality-related performance of professionals using TDD drops more than for students. We hypothesize that this may be due to their being more resistant to change and potentially less motivated than students.
Conclusion:
Previous studies seem to provide conflicting results on TDD performance (i.e., positive vs. negative, respectively). We hypothesize that these conflicting results may be due to different study durations, experiment participants being unfamiliar with the TDD process, or case studies comparing the performance achieved by TDD vs. the control approach (e.g., the waterfall model), each applied to develop a different system. Further experiments with TDD experts are needed to validate these hypotheses.
In recent years, artificial intelligence (AI) has increasingly become a relevant technology for many companies. While there are a number of studies that highlight challenges and success factors in the adoption of AI, there is a lack of guidance for firms on how to approach the topic in a holistic and strategic way. The aim of this study is therefore to develop a conceptual framework for corporate AI strategy. To address this aim, a systematic literature review of a wide spectrum of AI-related research is conducted, and the results are analyzed based on an inductive coding approach. An important conclusion is that companies should consider diverse aspects when formulating an AI strategy, ranging from technological questions to corporate culture and human resources. This study contributes to knowledge by proposing a novel, comprehensive framework to foster the understanding of crucial aspects that need to be considered when using the emerging technology of AI in a corporate context.
Purpose
Supporting the surgeon during surgery is one of the main goals of intelligent ORs. The OR-Pad project aims to optimize the information flow within the perioperative area. A shared information space should enable appropriate preparation and provision of relevant information at any time before, during, and after surgery.
Methods
Based on previous work on an interaction concept and system architecture for the sterile OR-Pad system, we designed a user interface for mobile and intraoperative (stationary) use, focusing on the most important functionalities like clear information provision to reduce information overload. The concepts were transferred into a high-fidelity prototype for demonstration purposes. The prototype was evaluated from different perspectives, including a usability study.
Results
The prototype’s central element is a timeline displaying all available case information chronologically, like radiological images, labor findings, or notes. This information space can be adapted for individual purposes (e.g., highlighting a tumor, filtering for own material). With the mobile and intraoperative mode of the system, relevant information can be added, preselected, viewed, and extended during the perioperative process. Overall, the evaluation showed good results and confirmed the vision of the information system.
Conclusion
The high-fidelity prototype of the information system OR-Pad focuses on supporting the surgeon via a timeline making all available case information accessible before, during, and after surgery. The information space can be personalized to enable targeted support. Further development is reasonable to optimize the approach and address missing or insufficient aspects, like the holding arm and sterility concept or new desired features.
A hybrid deep registration of MR scans to interventional ultrasound for neurosurgical guidance
(2021)
Despite the recent advances in image-guided neurosurgery, reliable and accurate estimation of the brain shift still remains one of the key challenges. In this paper, we propose an automated multimodal deformable registration method using hybrid learning-based and classical approaches to improve neurosurgical procedures. Initially, the moving and fixed images are aligned using classical affine transformation (MINC toolkit), and then the result is provided to the convolutional neural network, which predicts the deformation field using backpropagation. Subsequently, the moving image is transformed using the resultant deformation into a moved image. Our model was evaluated on two publicly available datasets: the retrospective evaluation of cerebral tumors (RESECT) and brain images of tumors for evaluation (BITE). The mean target registration errors have been reduced from 5.35 ± 4.29 to 0.99 ± 0.22 mm in the RESECT and from 4.18 ± 1.91 to 1.68 ± 0.65 mm in the BITE. Experimental results showed that our method improved the state-of-the-art in terms of both accuracy and runtime speed (170 ms on average). Hence, the proposed method provides a fast runtime for 3D MRI to intra-operative US pair in a GPU-based implementation, which shows a promise for its applicability in assisting the neurosurgical procedures compensating for brain shift.
While several service-based maintainability metrics have been proposed in the scientific literature, reliable approaches to automatically collect these metrics are lacking. Since static analysis is complicated for decentralized and technologically diverse microservice-based systems, we propose a dynamic approach to calculate such metrics from runtime data via distributed tracing. The approach focuses on simplicity, extensibility, and broad applicability. As a first prototype, we implemented a Java application with a Zipkin integrator, 23 different metrics, and five export formats. We demonstrated the feasibility of the approach by analyzing the runtime data of an example microservice based system. During an exploratory study with six participants, 14 of the 18 services were invoked via the system’s web interface. For these services, all metrics were calculated correctly from the generated traces.
A lot of people need help in their daily life to wash, select and manage their clothing. The goal of this work is to design an assistant system (eKlarA) to support the user by giving recommendations to choose the clothing combinations, to find the clothing and to wash the clothing. The idea behind eKlarA is to generate a system that uses sensors to identify the clothing and their state in the clothing cycle. The clothing cycle consists of the stations: closets, laundry basket and washing machine in one or several places. The system uses the information about the clothing, weather and calendar to support the user in the different steps of the clothing cycle. The first prototype of this system has been developed and tested. The test results are presented in this work.
Sleep quality and in general, behavior in bed can be detected using a sleep state analysis. These results can help a subject to regulate sleep and recognize different sleeping disorders. In this work, a sensor grid for pressure and movement detection supporting sleep phase analysis is proposed. In comparison to the leading standard measuring system, which is Polysomnography (PSG), the system proposed in this project is a non invasive sleep monitoring device. For continuous analysis or home use, the PSG or wearable actigraphy devices tends to be uncomfortable. Besides this fact, they are also very expensive. The system represented in this work classifies respiration and body movement with only one type of sensor and also in a non invasive way. The sensor used is a pressure sensor. This sensor is low cost and can be used for commercial proposes. The system was tested by carrying out an experiment that recorded the sleep process of a subject. These recordings showed the potential for classification of breathing rate and body movements. Although previous researches show the use of pressure sensors in recognizing posture and breathing, they have been mostly used by positioning the sensors between the mattress and bedsheet. This project however, shows an innovative way to position the sensors under the mattress.
Context: Many companies are facing an increasingly dynamic and uncertain market environment, making traditional product roadmapping practices no longer sufficiently applicable. As a result, many companies need to adapt their product roadmapping practices for continuing to operate successfully in today’s dynamic market environment. However, transforming product roadmapping practices is a difficult process for organizations. Existing literature offers little help on how to accomplish such a process.
Objective: The objective of this paper is to present a product roadmap transformation approach for organizations to help them identify appropriate improvement actions for their roadmapping practices using an analysis of their current practices.
Method: Based on an existing assessment procedure for evaluating product roadmapping practices, the first version of a product roadmap transformation approach was developed in workshops with company experts. The approach was then given to eleven practitioners and their perceptions of the approach were gathered through interviews.
Results: The result of the study is a transformation approach consisting of a process describing what steps are necessary to adapt the currently applied product roadmapping practice to a dynamic and uncertain market environment. It also includes recommendations on how to select areas for improvement and two empirically based mapping tables. The interviews with the practitioners revealed that the product roadmap transformation approach was perceived as comprehensible, useful, and applicable. Nevertheless, we identified potential for improvements, such as a clearer presentation of some processes and the need for more improvement options in the mapping tables. In addition, minor usability issues were identified.
Active storage
(2018)
In brief, Active Storage refers to an architectural hardware and software paradigm, based on collocation storage and compute units. Ideally, it will allow to execute application-defined data ... within the physical data storage. Thus Active Storage seeks to minimize expensive data movement, improving performance, scalability, and resource efficiency. The effective use of Active Storage mandates new architectures, algorithms, interfaces, and development toolchains.
The investigation of stress requires to distinguish between stress caused by physical activity and stress that is caused by psychosocial factors. The behaviour of the heart in response to stress and physical activity is very similar in case the set of monitored parameters is reduced to one. Currently, the differentiation remains difficult and methods which only use the heart rate are not able to differentiate between stress and physical activity, without using additional sensor data input. The approach focusses on methods which generate signals providing characteristics that are useful for detecting stress, physical activity, no activity and relaxation.
The basic idea behind a wearable robotic grasp assistancesystem is to support people that suffer from severe motor impairments in daily activities. Such a system needs to act mostly autonomously and according to the user’s intent. Vision-based hand pose estimation could be an integral part of a larger control and assistance framework. In this paper we evaluate the performance of egocentric monocular hand pose estimation for a robot-controlled hand exoskeleton in a simulation. For hand pose estimation we adopt a Convolutional Neural Network (CNN). We train and evaluate this network with computer graphics, created by our own data generator. In order to guide further design decisions we focus in our experiments on two egocentric camera viewpoints tested on synthetic data with the help of a 3D-scanned hand model, with and without an exoskeleton attached to it.We observe that hand pose estimation with a wrist-mounted camera performs more accurate than with a head-mounted camera in the context of our simulation. Further, a grasp assistance system attached to the hand alters visual appearance and can improve hand pose estimation. Our experiment provides useful insights for the integration of sensors into a context sensitive analysis framework for intelligent assistance.
The Internet of Things, enterprise social networks, adaptive case management, mobility systems, analytics for big data, and cloud services environments are emerging to support smart connected products and services and the digital transformation. Biological metaphors of living and adaptable ecosystems provide the logical foundation for self-optimizing and resilient run-time environments for intelligent business services and related distributed information systems with service-oriented enterprise architectures. We are investigating mechanisms for flexible adaptation and evolution for the next digital enterprise architecture systems in the context of the digital transformation. Our aim is to support flexibility and agile transformation for both business and related enterprise systems through adaptation and dynamical evolution of digital enterprise architectures. The present research paper investigates digital transformations of business and IT and integrates fundamental mappings between adaptable digital enterprise architectures and service-oriented information systems. We are putting a spotlight with the example domain – Internet of Things.
Due to digitalization, constant technological progress and ever shorter product life cycles, enterprises are currently facing major challenges. In order to succeed in the market, business models have to be adapted more often and more quickly to changing market conditions than they used to be. Fast adaptability, also called agility, is a decisive competitive factor in today’s world. Because of the ever-growing IT part of products and the fact that they are manufactured using IT, changing the business model has a major impact on the enterprise architecture (EA). However, developing EAs is a very complex task, because many stakeholders with conflicting interests are involved in the decision-making process. Therefore, a lot of collaboration is required. To support organizations in developing their EA, this article introduces a novel integrative method that systematically integrates stakeholder interests into decision-making activities. By using the method, collaboration between stakeholders involved is improved by identifying points of contact between them. Furthermore, standardized activities make decision-making more transparent and comparable without limiting creativity.
Fragestellung: Das klinische Standardverfahren und Referenz der Schlafmessung und der Klassifizierung der einzelnen Schlafstadien ist die Polysomnographie (PSG). Alternative Ansätze zu diesem aufwändigen Verfahren könnten einige Vorteile bieten, wenn die Messungen auf eine komfortablere Weise durchgeführt werden. Das Hauptziel dieser Forschung Studie ist es, einen Algorithmus für die automatische Klassifizierung von Schlafstadien zu entwickeln, der ausschließlich Bewegungs- und Atmungssignale verwendet [1].
Patienten und Methoden: Nach der Analyse der aktuellen Forschungsarbeiten haben wir multinomiale logistische Regression als Grundlage für den Ansatz gewählt [2]. Um die Genauigkeit der Auswertung zu erhöhen, wurden vier Features entwickelt, die aus Bewegungs- und Atemsignalen abgeleitet wurden. Für die Auswertung wurden die nächtlichen Aufzeichnungen von 35 Personen verwendet, die von der Charité-Universitätsmedizin Berlin zur Verfügung gestellt wurden. Das Durchschnittsalter der Teilnehmer betrug 38,6 +/– 14,5 Jahre und der BMI lag bei durchschnittlich 24,4 +/– 4,9 kg/m2. Da der Algorithmus mit drei Stadien arbeitet, wurden die Stadien N1, N2 und N3 zum NREM-Stadium zusammengeführt. Der verfügbare Datensatz wurde strikt aufgeteilt: in einen Trainingsdatensatz von etwa 100 h und in einen Testdatensatz mit etwa 160 h nächtlicher Aufzeichnungen. Beide Datensätze wiesen ein ähnliches Verhältnis zwischen Männern und Frauen auf, und der durchschnittliche BMI wies keine signifikante Abweichung auf.
Ergebnisse: Der Algorithmus wurde implementiert und lieferte erfolgreiche Ergebnisse: die Genauigkeit der Erkennung von Wach-/NREM-/REM-Phasen liegt bei 73 %, mit einem Cohen’s Kappa von 0,44 für die analysierten 19.324 Schlafepochen von jeweils 30 s. Die beobachtete gewisse Überschätzung der NREM-Phase lässt sich teilweise durch ihre Prävalenz in einem typischen Schlafmuster erklären. Selbst die Verwendung eines ausbalancierten Trainingsdatensatzes konnte dieses Problem nicht vollständig lösen.
Schlussfolgerungen: Die erreichten Ergebnisse haben die Tauglichkeit des Ansatzes prinzipiell bestätigt. Dieser hat den Vorteil, dass nur Bewegungs- und Atemsignale verwendet werden, die mit weniger Aufwand und komfortabler für Benutzer aufgezeichnet werden können als z. B. Herz- oder EEG-Signale. Daher stellt das neue System eine deutliche Verbesserung im Vergleich zu bestehenden Ansätzen dar. Die Zusammenführung der beschriebenen algorithmischen Software mit dem in [1] beschriebenen Hardwaresystem zur Messung von Atem- und Körperbewegungssignalen zu einem autonomen, berührungslosen System zur kontinuierlichen Schlafüberwachung ist eine mögliche Richtung zukünftiger Arbeiten.