05 Fakultät Informatik, Elektrotechnik und Informationstechnik
Permanent URI for this collectionhttps://elib.uni-stuttgart.de/handle/11682/6
Browse
115 results
Search Results
Item Open Access Endowing a NAO robot with practical social-touch perception(2022) Burns, Rachael Bevill; Lee, Hyosang; Seifi, Hasti; Faulkner, Robert; Kuchenbecker, Katherine J.Social touch is essential to everyday interactions, but current socially assistive robots have limited touch-perception capabilities. Rather than build entirely new robotic systems, we propose to augment existing rigid-bodied robots with an external touch-perception system. This practical approach can enable researchers and caregivers to continue to use robotic technology they have already purchased and learned about, but with a myriad of new social-touch interactions possible. This paper presents a low-cost, easy-to-build, soft tactile-perception system that we created for the NAO robot, as well as participants’ feedback on touching this system. We installed four of our fabric-and-foam-based resistive sensors on the curved surfaces of a NAO’s left arm, including its hand, lower arm, upper arm, and shoulder. Fifteen adults then performed five types of affective touch-communication gestures (hitting, poking, squeezing, stroking, and tickling) at two force intensities (gentle and energetic) on the four sensor locations; we share this dataset of four time-varying resistances, our sensor patterns, and a characterization of the sensors’ physical performance. After training, a gesture-classification algorithm based on a random forest identified the correct combined touch gesture and force intensity on windows of held-out test data with an average accuracy of 74.1%, which is more than eight times better than chance. Participants rated the sensor-equipped arm as pleasant to touch and liked the robot’s presence significantly more after touch interactions. Our promising results show that this type of tactile-perception system can detect necessary social-touch communication cues from users, can be tailored to a variety of robot body parts, and can provide HRI researchers with the tools needed to implement social touch in their own systems.Item Open Access On the impact of service-oriented patterns on software evolvability: a controlled experiment and metric-based analysis(2019) Bogner, Justus; Wagner, Stefan; Zimmermann, AlfredBackground: Design patterns are supposed to improve various quality attributes of software systems. However, there is controversial quantitative evidence of this impact. Especially for younger paradigms such as service- and Microservice-based systems, there is a lack of empirical studies. Objective: In this study, we focused on the effect of four service-based patterns - namely Process Abstraction, Service Façade, Decomposed Capability, and Event-Driven Messaging - on the evolvability of a system from the viewpoint of inexperienced developers. Method: We conducted a controlled experiment with Bachelor students (N = 69). Two functionally equivalent versions of a service-based web shop - one with patterns (treatment group), one without (control group) - had to be changed and extended in three tasks. We measured evolvability by the effectiveness and efficiency of the participants in these tasks. Additionally, we compared both system versions with nine structural maintainability metrics for size, granularity, complexity, cohesion, and coupling. Results: Both experiment groups were able to complete a similar number of tasks within the allowed 90 min. Median effectiveness was 1/3. Mean efficiency was 12% higher in the treatment group, but this difference was not statistically significant. Only for the third task, we found statistical support for accepting the alternative hypothesis that the pattern version led to higher efficiency. In the metric analysis, the pattern version had worse measurements for size and granularity while simultaneously having slightly better values for coupling metrics. Complexity and cohesion were not impacted. Interpretation: For the experiment, our analysis suggests that the difference in efficiency is stronger with more experienced participants and increased from task to task. With respect to the metrics, the patterns introduce additional volume in the system, but also seem to decrease coupling in some areas. Conclusions: Overall, there was no clear evidence for a decisive positive effect of using service-based patterns, neither for the student experiment nor for the metric analysis. This effect might only be visible in an experiment setting with higher initial effort to understand the system or with more experienced developers.Item Open Access Automated quantum hardware selection for quantum workflows(2021) Weder, Benjamin; Barzen, Johanna; Leymann, Frank; Salm, MarieThe execution of a quantum algorithm typically requires various classical pre- and post-processing tasks. Hence, workflows are a promising means to orchestrate these tasks, benefiting from their reliability, robustness, and features, such as transactional processing. However, the implementations of the tasks may be very heterogeneous and they depend on the quantum hardware used to execute the quantum circuits of the algorithm. Additionally, today’s quantum computers are still restricted, which limits the size of the quantum circuits that can be executed. As the circuit size often depends on the input data of the algorithm, the selection of quantum hardware to execute a quantum circuit must be done at workflow runtime. However, modeling all possible alternative tasks would clutter the workflow model and require its adaptation whenever a new quantum computer or software tool is released. To overcome this problem, we introduce an approach to automatically select suitable quantum hardware for the execution of quantum circuits in workflows. Furthermore, it enables the dynamic adaptation of the workflows, depending on the selection at runtime based on reusable workflow fragments. We validate our approach with a prototypical implementation and a case study demonstrating the hardware selection for Simon’s algorithm.Item Open Access Editorial - autonomous health monitoring and assistance systems with IoT(2021) Azzopardi, George; Karastoyanova, Dimka; Aiello, Marco; Schizas, Christos N.Item Open Access Nontraditional design of dynamic logics using FDSOI for ultra-efficient computing(2023) Kumar, Shubham; Chatterjee, Swetaki; Dabhi, Chetan Kumar; Chauhan, Yogesh Singh; Amrouch, HussamItem Open Access Efficient exploratory clustering analyses in large-scale exploration processes(2021) Fritz, Manuel; Behringer, Michael; Tschechlov, Dennis; Schwarz, HolgerClustering is a fundamental primitive in manifold applications. In order to achieve valuable results in exploratory clustering analyses, parameters of the clustering algorithm have to be set appropriately, which is a tremendous pitfall. We observe multiple challenges for large-scale exploration processes. On the one hand, they require specific methods to efficiently explore large parameter search spaces. On the other hand, they often exhibit large runtimes, in particular when large datasets are analyzed using clustering algorithms with super-polynomial runtimes, which repeatedly need to be executed within exploratory clustering analyses. We address these challenges as follows: First, we present LOG-Means and show that it provides estimates for the number of clusters in sublinear time regarding the defined search space, i.e., provably requiring less executions of a clustering algorithm than existing methods. Second, we demonstrate how to exploit fundamental characteristics of exploratory clustering analyses in order to significantly accelerate the (repetitive) execution of clustering algorithms on large datasets. Third, we show how these challenges can be tackled at the same time. To the best of our knowledge, this is the first work which simultaneously addresses the above-mentioned challenges. In our comprehensive evaluation, we unveil that our proposed methods significantly outperform state-of-the-art methods, thus especially supporting novice analysts for exploratory clustering analyses in large-scale exploration processes.Item Open Access Subjective annotation for a frame interpolation benchmark using artefact amplification(2020) Men, Hui; Hosu, Vlad; Lin, Hanhe; Bruhn, Andrés; Saupe, DietmarCurrent benchmarks for optical flow algorithms evaluate the estimation either directly by comparing the predicted flow fields with the ground truth or indirectly by using the predicted flow fields for frame interpolation and then comparing the interpolated frames with the actual frames. In the latter case, objective quality measures such as the mean squared error are typically employed. However, it is well known that for image quality assessment, the actual quality experienced by the user cannot be fully deduced from such simple measures. Hence, we conducted a subjective quality assessment crowdscouring study for the interpolated frames provided by one of the optical flow benchmarks, the Middlebury benchmark. It contains interpolated frames from 155 methods applied to each of 8 contents. For this purpose, we collected forced-choice paired comparisons between interpolated images and corresponding ground truth. To increase the sensitivity of observers when judging minute difference in paired comparisons we introduced a new method to the field of full-reference quality assessment, called artefact amplification. From the crowdsourcing data (3720 comparisons of 20 votes each) we reconstructed absolute quality scale values according to Thurstone’s model. As a result, we obtained a re-ranking of the 155 participating algorithms w.r.t. the visual quality of the interpolated frames. This re-ranking not only shows the necessity of visual quality assessment as another evaluation metric for optical flow and frame interpolation benchmarks, the results also provide the ground truth for designing novel image quality assessment (IQA) methods dedicated to perceptual quality of interpolated images. As a first step, we proposed such a new full-reference method, called WAE-IQA, which weights the local differences between an interpolated image and its ground truth.Item Open Access Advances in clinical voice quality analysis with VOXplot(2023) Barsties von Latoszek, Ben; Mayer, Jörg; Watts, Christopher R.; Lehnert, BernhardBackground: The assessment of voice quality can be evaluated perceptually with standard clinical practice, also including acoustic evaluation of digital voice recordings to validate and further interpret perceptual judgments. The goal of the present study was to determine the strongest acoustic voice quality parameters for perceived hoarseness and breathiness when analyzing the sustained vowel [a:] using a new clinical acoustic tool, the VOXplot software. Methods: A total of 218 voice samples of individuals with and without voice disorders were applied to perceptual and acoustic analyses. Overall, 13 single acoustic parameters were included to determine validity aspects in relation to perceptions of hoarseness and breathiness. Results: Four single acoustic measures could be clearly associated with perceptions of hoarseness or breathiness. For hoarseness, the harmonics-to-noise ratio (HNR) and pitch perturbation quotient with a smoothing factor of five periods (PPQ5), and, for breathiness, the smoothed cepstral peak prominence (CPPS) and the glottal-to-noise excitation ratio (GNE) were shown to be highly valid, with a significant difference being demonstrated for each of the other perceptual voice quality aspects. Conclusions: Two acoustic measures, the HNR and the PPQ5, were both strongly associated with perceptions of hoarseness and were able to discriminate hoarseness from breathiness with good confidence. Two other acoustic measures, the CPPS and the GNE, were both strongly associated with perceptions of breathiness and were able to discriminate breathiness from hoarseness with good confidence.Item Open Access Resources for Turkish natural language processing : a critical survey(2022) Çöltekin, Çağrı; Doğruöz, A. Seza; Çetinoğlu, ÖzlemThis paper presents a comprehensive survey of corpora and lexical resources available for Turkish. We review a broad range of resources, focusing on the ones that are publicly available. In addition to providing information about the available linguistic resources, we present a set of recommendations, and identify gaps in the data available for conducting research and building applications in Turkish Linguistics and Natural Language Processing.Item Open Access Exploiting domain knowledge to address class imbalance and a heterogeneous feature space in multi-class classification(2023) Hirsch, Vitali; Reimann, Peter; Treder-Tschechlov, Dennis; Schwarz, Holger; Mitschang, BernhardReal-world data of multi-class classification tasks often show complex data characteristics that lead to a reduced classification performance. Major analytical challenges are a high degree of multi-class imbalance within data and a heterogeneous feature space, which increases the number and complexity of class patterns. Existing solutions to classification or data pre-processing only address one of these two challenges in isolation. We propose a novel classification approach that explicitly addresses both challenges of multi-class imbalance and heterogeneous feature space together. As main contribution, this approach exploits domain knowledge in terms of a taxonomy to systematically prepare the training data. Based on an experimental evaluation on both real-world data and several synthetically generated data sets, we show that our approach outperforms any other classification technique in terms of accuracy. Furthermore, it entails considerable practical benefits in real-world use cases, e.g., it reduces rework required in the area of product quality control.