AI and IoT Meet Mobile Machines

Infrastructure construction is society's cornerstone and economics' catalyst. Therefore, improving mobile machinery's efficiency and reducing their cost of use have enormous economic benefits in the vast and growing construction market. In this thesis, I envision a novel concept smart working site to increase productivity through fleet management from multiple aspects and with Artificial Intelligence (AI) and Internet of Things (IoT)

The use of Eye Tracking Technology in Maritime High-Speed Craft Navigation

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Lidar-based Obstacle Detection and Recognition for Autonomous Agricultural Vehicles

Today, agricultural vehicles are available that can drive autonomously and follow exact route plans more precisely than human operators. Combined with advancements in precision agriculture, autonomous agricultural robots can reduce manual labor, improve workflow, and optimize yield. However, as of today, human operators are still required for monitoring the environment and acting upon potential obstacles in front of the vehicle. To eliminate this need, safety must be ensured by accurate and reliable obstacle detection and avoidance systems.In this thesis, lidar-based obstacle detection and recognition in agricultural environments has been investigated. A rotating multi-beam lidar generating 3D point clouds was used for point-wise classification of agricultural scenes, while multi-modal fusion with cameras and radar was used to increase performance and robustness. Two research perception platforms were presented and used for data acquisition. The proposed methods were all evaluated on recorded datasets that represented a wide range of realistic agricultural environments and included both static and dynamic obstacles.For 3D point cloud classification, two methods were proposed for handling density variations during feature extraction. One method outperformed a frequently used generic 3D feature descriptor, whereas the other method showed promising preliminary results using deep learning on 2D range images. For multi-modal fusion, four methods were proposed for combining lidar with color camera, thermal camera, and radar. Gradual improvements in classification accuracy were seen, as spatial, temporal, and multi-modal relationships were introduced in the models. Finally, occupancy grid mapping was used to fuse and map detections globally, and runtime obstacle detection was applied on mapped detections along the vehicle path, thus simulating an actual traversal.The proposed methods serve as a first step towards full autonomy for agricultural vehicles. The study has thus shown that recent advancements in autonomous driving can be transferred to the agricultural domain, when accurate distinctions are made between obstacles and processable vegetation. Future research in the domain has further been facilitated with the release of the multi-modal obstacle dataset, FieldSAFE

Understanding and controlling leakage in machine learning

Machine learning models are being increasingly adopted in a variety of real-world scenarios. However, the privacy and confidentiality implications introduced in these scenarios are not well understood. Towards better understanding such implications, we focus on scenarios involving interactions between numerous parties prior to, during, and after training relevant models. Central to these interactions is sharing information for a purpose e.g., contributing data samples towards a dataset, returning predictions via an API. This thesis takes a step toward understanding and controlling leakage of private information during such interactions. In the first part of the thesis we investigate leakage of private information in visual data and specifically, photos representative of content shared on social networks. There is a long line of work to tackle leakage of personally identifiable information in social photos, especially using face- and body-level visual cues. However, we argue this presents only a narrow perspective as images reveal a wide spectrum of multimodal private information (e.g., disabilities, name-tags). Consequently, we work towards a Visual Privacy Advisor that aims to holistically identify and mitigate private risks when sharing social photos. In the second part, we address leakage during training of ML models. We observe learning algorithms are being increasingly used to train models on rich decentralized datasets e.g., personal data on numerous mobile devices. In such cases, information in the form of high-dimensional model parameter updates are anonymously aggregated from participating individuals. However, we find that the updates encode sufficient identifiable information and allows them to be linked back to participating individuals. We additionally propose methods to mitigate this leakage while maintaining high utility of the updates. In the third part, we discuss leakage of confidential information during inference time of black-box models. In particular, we find models lend themselves to model functionality stealing attacks: an adversary can interact with the black-box model towards creating a replica `knock-off' model that exhibits similar test-set performances. As such attacks pose a severe threat to the intellectual property of the model owner, we also work towards effective defenses. Our defense strategy by introducing bounded and controlled perturbations to predictions can significantly amplify model stealing attackers' error rates. In summary, this thesis advances understanding of privacy leakage when information is shared in raw visual forms, during training of models, and at inference time when deployed as black-boxes. In each of the cases, we further propose techniques to mitigate leakage of information to enable wide-spread adoption of techniques in real-world scenarios.Modelle für maschinelles Lernen werden zunehmend in einer Vielzahl realer Szenarien eingesetzt. Die in diesen Szenarien vorgestellten Auswirkungen auf Datenschutz und Vertraulichkeit wurden jedoch nicht vollständig untersucht. Um solche Implikationen besser zu verstehen, konzentrieren wir uns auf Szenarien, die Interaktionen zwischen mehreren Parteien vor, während und nach dem Training relevanter Modelle beinhalten. Das Teilen von Informationen für einen Zweck, z. B. das Einbringen von Datenproben in einen Datensatz oder die Rückgabe von Vorhersagen über eine API, ist zentral für diese Interaktionen. Diese Arbeit verhilft zu einem besseren Verständnis und zur Kontrolle des Verlusts privater Informationen während solcher Interaktionen. Im ersten Teil dieser Arbeit untersuchen wir den Verlust privater Informationen bei visuellen Daten und insbesondere bei Fotos, die für Inhalte repräsentativ sind, die in sozialen Netzwerken geteilt werden. Es gibt eine lange Reihe von Arbeiten, die das Problem des Verlustes persönlich identifizierbarer Informationen in sozialen Fotos angehen, insbesondere mithilfe visueller Hinweise auf Gesichts- und Körperebene. Wir argumentieren jedoch, dass dies nur eine enge Perspektive darstellt, da Bilder ein breites Spektrum multimodaler privater Informationen (z. B. Behinderungen, Namensschilder) offenbaren. Aus diesem Grund arbeiten wir auf einen Visual Privacy Advisor hin, der darauf abzielt, private Risiken beim Teilen sozialer Fotos ganzheitlich zu identifizieren und zu minimieren. Im zweiten Teil befassen wir uns mit Datenverlusten während des Trainings von ML-Modellen. Wir beobachten, dass zunehmend Lernalgorithmen verwendet werden, um Modelle auf umfangreichen dezentralen Datensätzen zu trainieren, z. B. persönlichen Daten auf zahlreichen Mobilgeräten. In solchen Fällen werden Informationen von teilnehmenden Personen in Form von hochdimensionalen Modellparameteraktualisierungen anonym verbunden. Wir stellen jedoch fest, dass die Aktualisierungen ausreichend identifizierbare Informationen codieren und es ermöglichen, sie mit teilnehmenden Personen zu verknüpfen. Wir schlagen zudem Methoden vor, um diesen Datenverlust zu verringern und gleichzeitig die hohe Nützlichkeit der Aktualisierungen zu erhalten. Im dritten Teil diskutieren wir den Verlust vertraulicher Informationen während der Inferenzzeit von Black-Box-Modellen. Insbesondere finden wir, dass sich Modelle für die Entwicklung von Angriffen, die auf Funktionalitätsdiebstahl abzielen, eignen: Ein Gegner kann mit dem Black-Box-Modell interagieren, um ein Replikat-Knock-Off-Modell zu erstellen, das ähnliche Test-Set-Leistungen aufweist. Da solche Angriffe eine ernsthafte Bedrohung für das geistige Eigentum des Modellbesitzers darstellen, arbeiten wir auch an einer wirksamen Verteidigung. Unsere Verteidigungsstrategie durch die Einführung begrenzter und kontrollierter Störungen in Vorhersagen kann die Fehlerraten von Modelldiebstahlangriffen erheblich verbessern. Zusammenfassend lässt sich sagen, dass diese Arbeit das Verständnis von Datenschutzverlusten beim Informationsaustausch verbessert, sei es bei rohen visuellen Formen, während des Trainings von Modellen oder während der Inferenzzeit von Black-Box-Modellen. In jedem Fall schlagen wir ferner Techniken zur Verringerung des Informationsverlusts vor, um eine weit verbreitete Anwendung von Techniken in realen Szenarien zu ermöglichen.Max Planck Institute for Informatic

ERP implementation methodologies and frameworks: a literature review

Enterprise Resource Planning (ERP) implementation is a complex and vibrant process, one that involves a combination of technological and organizational interactions. Often an ERP implementation project is the single largest IT project that an organization has ever launched and requires a mutual fit of system and organization. Also the concept of an ERP implementation supporting business processes across many different departments is not a generic, rigid and uniform concept and depends on variety of factors. As a result, the issues addressing the ERP implementation process have been one of the major concerns in industry. Therefore ERP implementation receives attention from practitioners and scholars and both, business as well as academic literature is abundant and not always very conclusive or coherent. However, research on ERP systems so far has been mainly focused on diffusion, use and impact issues. Less attention has been given to the methods used during the configuration and the implementation of ERP systems, even though they are commonly used in practice, they still remain largely unexplored and undocumented in Information Systems research. So, the academic relevance of this research is the contribution to the existing body of scientific knowledge. An annotated brief literature review is done in order to evaluate the current state of the existing academic literature. The purpose is to present a systematic overview of relevant ERP implementation methodologies and frameworks as a desire for achieving a better taxonomy of ERP implementation methodologies. This paper is useful to researchers who are interested in ERP implementation methodologies and frameworks. Results will serve as an input for a classification of the existing ERP implementation methodologies and frameworks. Also, this paper aims also at the professional ERP community involved in the process of ERP implementation by promoting a better understanding of ERP implementation methodologies and frameworks, its variety and history

INTERFACE DESIGN FOR A VIRTUAL REALITY-ENHANCED IMAGE-GUIDED SURGERY PLATFORM USING SURGEON-CONTROLLED VIEWING TECHNIQUES

Initiative has been taken to develop a VR-guided cardiac interface that will display and deliver information without affecting the surgeons’ natural workflow while yielding better accuracy and task completion time than the existing setup. This paper discusses the design process, the development of comparable user interface prototypes as well as an evaluation methodology that can measure user performance and workload for each of the suggested display concepts. User-based studies and expert recommendations are used in conjunction to es­ tablish design guidelines for our VR-guided surgical platform. As a result, a better understanding of autonomous view control, depth display, and use of virtual context, is attained. In addition, three proposed interfaces have been developed to allow a surgeon to control the view of the virtual environment intra-operatively. Comparative evaluation of the three implemented interface prototypes in a simulated surgical task scenario, revealed performance advantages for stereoscopic and monoscopic biplanar display conditions, as well as the differences between three types of control modalities. One particular interface prototype demonstrated significant improvement in task performance. Design recommendations are made for this interface as well as the others as we prepare for prospective development iterations

On exploring the use of synthetic data for semantic segmentationin videos

Since the rise in popularity of deep learning with the ImageNet challenge, where it was proven that with sufficient data neural networks could outperform traditional algorithms in simple tasks. The community agreed that the main problem to solve is how to achieve reasonable performance when there is not sufficient data. Whether it comes from lack of viability (e.g. autonomous driving when human lives are at stake) or resources, due to the labelling costs, efficiently capturing enough data remains unsolved. In this context, we study the possibility of using synthetic data from simulators in order to train deep neural networks for semantic segmentation. Using state of the art domain shift algorithms, we train models with few or no real data, exploiting the unlimited labelled data provided from simulators. Our results suggest that the inclusion of synthetic data from simulators improves performance in different tasks where there is little real data. Furthermore, we find that prior training with only synthetic data as a weight initialization, leads to a significant performance increase compared to training with only real data. However, it comes with an increased need of training time as a larger dataset is employed, and the performance is highly correlated to the quality of the simulator, therefore specific synthetic generators need to be made for complex tasks. From ImageNet we inferred that when sufficient data is provided we can produce disrupting changes, and this work suggests that with simulators that are good enough any problem can be tackled

Data-Driven Evaluation of In-Vehicle Information Systems

Today’s In-Vehicle Information Systems (IVISs) are featurerich systems that provide the driver with numerous options for entertainment, information, comfort, and communication. Drivers can stream their favorite songs, read reviews of nearby restaurants, or change the ambient lighting to their liking. To do so, they interact with large center stack touchscreens that have become the main interface between the driver and IVISs. To interact with these systems, drivers must take their eyes off the road which can impair their driving performance. This makes IVIS evaluation critical not only to meet customer needs but also to ensure road safety. The growing number of features, the distraction caused by large touchscreens, and the impact of driving automation on driver behavior pose significant challenges for the design and evaluation of IVISs. Traditionally, IVISs are evaluated qualitatively or through small-scale user studies using driving simulators. However, these methods are not scalable to the growing number of features and the variety of driving scenarios that influence driver interaction behavior. We argue that data-driven methods can be a viable solution to these challenges and can assist automotive User Experience (UX) experts in evaluating IVISs. Therefore, we need to understand how data-driven methods can facilitate the design and evaluation of IVISs, how large amounts of usage data need to be visualized, and how drivers allocate their visual attention when interacting with center stack touchscreens. In Part I, we present the results of two empirical studies and create a comprehensive understanding of the role that data-driven methods currently play in the automotive UX design process. We found that automotive UX experts face two main conflicts: First, results from qualitative or small-scale empirical studies are often not valued in the decision-making process. Second, UX experts often do not have access to customer data and lack the means and tools to analyze it appropriately. As a result, design decisions are often not user-centered and are based on subjective judgments rather than evidence-based customer insights. Our results show that automotive UX experts need data-driven methods that leverage large amounts of telematics data collected from customer vehicles. They need tools to help them visualize and analyze customer usage data and computational methods to automatically evaluate IVIS designs. In Part II, we present ICEBOAT, an interactive user behavior analysis tool for automotive user interfaces. ICEBOAT processes interaction data, driving data, and glance data, collected over-the-air from customer vehicles and visualizes it on different levels of granularity. Leveraging our multi-level user behavior analysis framework, it enables UX experts to effectively and efficiently evaluate driver interactions with touchscreen-based IVISs concerning performance and safety-related metrics. In Part III, we investigate drivers’ multitasking behavior and visual attention allocation when interacting with center stack touchscreens while driving. We present the first naturalistic driving study to assess drivers’ tactical and operational self-regulation with center stack touchscreens. Our results show significant differences in drivers’ interaction and glance behavior in response to different levels of driving automation, vehicle speed, and road curvature. During automated driving, drivers perform more interactions per touchscreen sequence and increase the time spent looking at the center stack touchscreen. These results emphasize the importance of context-dependent driver distraction assessment of driver interactions with IVISs. Motivated by this we present a machine learning-based approach to predict and explain the visual demand of in-vehicle touchscreen interactions based on customer data. By predicting the visual demand of yet unseen touchscreen interactions, our method lays the foundation for automated data-driven evaluation of early-stage IVIS prototypes. The local and global explanations provide additional insights into how design artifacts and driving context affect drivers’ glance behavior. Overall, this thesis identifies current shortcomings in the evaluation of IVISs and proposes novel solutions based on visual analytics and statistical and computational modeling that generate insights into driver interaction behavior and assist UX experts in making user-centered design decisions

Receding Horizon Control of Multiagent Systems with Competitive Dynamics

We consider the problem of controlling two agents with competitive objectives. Agents are modelled as linear discrete time systems, and collect each other’s state information without delays. The competitive problem is formulated in a classical receding horizon framework, where each agent’s controllers are computed by minimizing a linear, quadratic cost function which depends on both agents’ states. The two agents specify their state tracking objective in a coordinated or competitive manner. We do not consider state constraints. The simplicity of our framework allows us to provide the following results analytically: 1) When agents compete, their states converge to an equilibrium trajectory where the steady state tracking error is finite. 2) Limit-cycles cannot occur. Numerical simulations and experiments done with a LEGO mindstorm multiagent platform match our analytical result