05 Fakultät Informatik, Elektrotechnik und Informationstechnik
Permanent URI for this collectionhttps://elib.uni-stuttgart.de/handle/11682/6
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Item Open Access Development of an Euler-Lagrangian framework for point-particle tracking to enable efficient multiscale simulations of complex flows(2023) Kschidock, HelenaIn this work, we implement, test, and validate an Euler-Lagrangian point-particle tracking framework for the commercial aerodynamics and aeroacoustics simulation tool ultraFluidX, which is based on the Lattice Boltzmann Method and optimized for GPUs. Our framework successfully simulates one-way and two-way coupled particle-laden flows based on drag forces and gravitation. Trilinear interpolation is used for determining the fluid's macroscopic properties at the particle position. Object and domain boundary conditions are implemented using a planar surface approximation. The whole particle framework is run within three dedicated GPU kernels, and data is only copied back to the CPU upon output. We show validation for the velocity interpolation, gravitational acceleration, back-coupling forces and boundary conditions, and test runtimes and memory requirements. We also propose the next steps required to make the particle framework ready for use in engineering applications.Item Open Access Speech interface for human and robot collaboration(2018) Kashif, Moin UddinIn the past, robots and machines were mostly designed to perform specific tasks without much human interaction needed. Nowadays with the advancements in technology, intelligent robots can be designed which can perform multiple tasks, interact with the surrounding environment, assist and give valuable suggestions to humans etc. so an efficient and natural mode of communication is required for this human-robot interaction. In this thesis, we proposed an architecture to develop a speech interface for human-robot interaction. The speech interface is used to give voice commands to the robot, PR2, in order to perform 5 tasks which are designed to test the performance of the speech interface. The tasks are sorting, shaping, stacking, building and balancing of 6 objects on table-top which are designed and ordered by the level of difficulty. First two tasks are comparatively easier as the user doesn't have to follow any order to finish them, next two tasks require to follow the order and in the last task, the stack of objects must be balanced in order to finish it. The speech interface receives voice commands from the user, convert them into text, maps to the corresponding command and send to the task manager to perform the operation. After that, it processes the received command, takes the appropriate decision based on the current status of the task and available actions and sends the command to the PR2 to perform the operation. Additionally, we have designed a feedback mechanism where PR2 sends back the feedback to the task manager which is delivered back to the speech manager so that it can be converted into an audio signal and play for the user. Furthermore, the system uses a TCP connection for the exchange of data and information between the speech manager and the task manager. The speech interface is also compared with other modalities such as text input and graphical user interface with the same tasks and we have also conducted user study to evaluate the system performance. The results show that the participants prefer speech interface as it feels more natural.Item Open Access Comprehensive Support of the Lifecycle of Machine Learning Models in Model Management Systems(2019) Popp, MatthiasToday, Machine Learning (ML) is entering many economic and scientific fields. The lifecycle of ML models includes data pre-processing to transform raw data into features, training a model with the features, and providing the model to answer predictive queries. The challenge is to ensure accurate predictions by continuously updating the model with automatic or manual retraining. To be aware of all changes, e.g. datasets and parameters, it is required to store metadata over the entire ML lifecycle. In this thesis we present a concept and system for comprehensive support of the ML lifecycle. The concept includes a metadata schema, as well as a solution to collect and enrich the metadata. The metadata schema contains information about the experiment, runs, executions, executables and common artifacts in ML such as datasets, models, and metrics. The stored information can be used for comparisons, re-iterations, and backtracking of ML experiments. We achieve this by tracking the lineage of ML pipeline steps and collecting metadata such as hyperparameters. Furthermore, a prototype is implemented to demonstrate and evaluate the concept. A case study, based on a selected scenario, serves as the basis for a qualitative assessment. The case study shows that the concept meets all the requirements and is therefore a suitable approach to comprehensively support ML model lifecycle.Item Open Access Orthogonale Dünngitter-Teilraumzerlegungen(2018) Schreiber, ConstantinIn der Simulation treten Häufg hochdimensionale partielle Differentialgleichungen auf. Das Lösen dieser wird für volle Gitter sehr schnell zu teuer. In dieser Arbeit wird ein Verfahren für das Lösen partieller Differentialgleichungen mit Hilfe von Dünnen Gittern, welche für mehrdimensionale Probleme besser skalieren, sowie dessen Implementierung in das Programmpaket SG++ vorgestellt. Durch Funktionsdarstellung in einem Erzeugendensystem wird die Verwendung einer L2-orthogonalen Teilraumzerlegung ermöglicht. Projektionsoperatoren ersetzen hierbei die explizite Transformation in eine Prewavelet-Basis. Diese Zerlegung erlaubt das Lumping der Steifgkeitsmatrix, also das Weglassen von großen Blöcken der Matrix. Hiermit wird ein Algorithmus zur Matrixmultiplikation, welcher dem von Schwab und Todor ähnelt implementiert. Dieser wird in einem konjugierten Gradienten-Verfahren verwendet und auch auf krummberandete Gebieten angewendet. Des Weiteren wird die Teilraumzerlegung durch L2-Projektion mit anderen Zerlegungen in Bezug auf Laufzeit und Fehlerentwicklung verglichen.Item Open Access Vision assisted biasing for robot manipulation planning(2018) Puang, En YenSampling efficiency has been one of the major bottlenecks of sampling-based motion planner. Although being more reliable in complex environments, Rapidly-exploring Random Tree for example often requires longer planning time than its optimisation-based counterpart. Recent developments have introduced numerous methods to bias sampling in configuration-space. Gaussian mixture model, in particular, was proposed to estimate feasible regions in configuration-space for low-variance task. Unfortunately this method does not adapt its biases according to individual planning scene during inference. Therefore, this work proposes vision assisted biasing to adapt biases by changing the weights of Gaussian components upon query. It uses autoencoder to extract features directly from depth image, and the resulted latent code is then used for either nearest neighbours search or direct weights prediction. With a modified pipeline, these extensions show improvements on not only the sampling efficiency but also path optimality of simple motion planner.Item Open Access Benchmarking pre-trained language models for schema-agnostic entity resolution(2024) Bothmann, JanData integration is a process in which data from different sources are brought together to create a unified picture of the data. A vital aspect of this integration is Entity Resolution, which tries to identify elements that correspond to the same entity across multiple datasets. The complexity of ER tasks can vary significantly, as data exhibits different characteristics and levels of structuredness, which can influence the difficulty of the task. In this thesis, we evaluate how current state-of-the-art Entity Resolution systems perform when dealing with semi-structured data. To do this, several semi-structured ER benchmarks covering data from various domains were created for evaluation. Additionally, to explore how different data characteristics or other influencing factors impact the performance of matching systems, we developed the Benchmark Creator. This tool allows us and other users to generate benchmarks where data exhibits specific characteristics that may influence the complexity of the ER task. We used Ditto, Sudowoodo and the GPT4o-mini model to evaluate performance on the newly created benchmarks. Our evaluation reveals that Ditto and the GPT4o-mini model can effectively perform schema-agnostic ER on semi-structured data.Item Open Access Cost optimization for data placement strategies in an analytical cloud service(2016) Saleem, Muhammad UsmanAnalyzing a large amount of business-relevant data in near-realtime in order to assist decision making became a crucial requirement for many businesses in the last years. Therefore, all major database system vendors offer solutions that assist customers in this requirement with systems that are specially tuned for accelerating analytical workloads. Before the decision is made to buy such a huge and expensive solution, customers are interested in getting a detailed workload analysis in order to estimate potential benefits. Therefore, a more agile solution is desirable having lower barriers to entry that allows customers to assess analytical solutions for their workloads and lets data scientists experiment with available data on test systems before rolling out valuable analytical reports on a production system. In such a scenario where separate systems are deployed for handling transactional workloads of daily customers business and conducting business analytics on either a cloud service or a dedicated accelerator appliance, data management and placement strategies are of high importance. Multiple approaches exist for keeping the data set in-sync and guaranteeing data coherence with unique characteristics regarding important metrics that impact query performance, such as the latency when data will be propagated, achievable throughputs for larger data volumes, or the amount of required CPU to detect and deploy data changes. So the important heuristics are analyzed and evolved in order to develop a general model for data placement and maintenance strategies. Based on this theoretical model, a prototype is also implemented that predicts these metrics.Item Open Access Modeling recommendations for pattern-based mashup plans(2018) Das, SomeshData mashups are modeled as pipelines. The pipelines are basically a chain of data processing steps in order to integrate data from different data sources into a single one. These processing steps include data operations, such as join, filter, extraction, integration or alteration. To create and execute data mashups, modelers need to have technical knowledge in order to understand these data operations. In order to solve this issue, an extended data mashup approach was created - FlexMash developed at the University of Stuttgart - which allows users to define data mashups without technical knowledge about any execution details. Consquently, modelers with no or limited technical knowledge can design their own domain-specific mashup based on their use case scenarios. However, designing data mashups graphically is still difficult for non-IT users. When users design a model graphically, it is hard to understand which patterns or nodes should be modeled and connected in the data flow graph. In order to cope with this issue, this master thesis aims to provide users modeling recommendations during modeling time. At each modeling step, user can query for recommendations. The recommendations are generated by analyzing the existing models. To generate the recommendations from existing models, association rule mining algorithms are used in this thesis. If users accept a recommendation, the recommended node is automatically added to the partial model and connected with the node for which recommendations were given.Item Open Access Anonymisierung von Daten : von der Literatur zum Automobilbereich(2023) Herkommer, JanDie Datenanonymisierung im Automobilbereich gewinnt immer mehr an Bedeutung. Jedoch gibt es kaum Literatur und Ansätze, die sich mit der Anonymisierung von Automobildaten beschäftigen. In dieser Arbeit werden deshalb mit Hilfe einer strukturierten Literaturrecherche die aktuell verbreitetsten Verfahren und Anwendungsbereiche erörtert und die wichtigsten Erkenntnisse der Recherche zusammengefasst. So werden bei den analysierten Paper der Anwendungsbereich, die Methodik sowie der zu anonymisierende Datentyp ermittelt. DesWeiteren werden die Metriken zum Vergleich von unterschiedlichen Ansätzen betrachtet. Mit Hilfe dieser Erkenntnisse wird im Anschluss auf die Anonymisierung von Fahrzeugdaten anhand verschiedener Anwendungsfälle eingegangen und Herausforderungen und Lösungsansätze skizziert. Zuletzt wird beispielhaft ein Ansatz zur Anonymisierung von Routen implementiert, um mit Hilfe eines GPS-Sensors aufgezeichnete Fahrzeugrouten zu anonymisieren. Dabei werden zusätzliche Probleme wie der Umgang mit Messungenauigkeiten und Messfehlern sowie die tatsächlichen Auswirkungen von reduzierter Datennutzbarkeit verdeutlicht.Item Open Access Complexity analysis of meta decision processes(2017) Wu, Li YangThis thesis investigates human-robot interactions focusing on theoretical reasoning about a general formalism that is suitable to describe most HRI systems. We belief that the question whether to ask the human for help or not is a decision that should be made at the meta level. This work summarizes the milestones in the literature that contribute to HRI, compares different MDP concepts to choose from and proposes a new formalism along with several analysis' on its properties.