<p>A difficult issue in stress management is to use biomedical sensor signal in the diagnosis and treatment of stress. Clinicians often make their diagnosis and decision based on manual inspection of physiological signals such as, ECG, heart rate, finger temperature etc. However, the complexity associated with manual analysis and interpretation of the signals makes it difficult even for experienced clinicians. Today the diagnosis and decision is largely dependent on how experienced the clinician is interpreting the measurements.  A computer-aided decision support system for diagnosis and treatment of stress would enable a more objective and consistent diagnosis and decisions.</p><p>A challenge in the field of medicine is the accuracy of the system, it is essential that the clinician is able to judge the accuracy of the suggested solutions. Case-based reasoning systems for medical applications are increasingly multi-purpose and multi-modal, using a variety of different methods and techniques to meet the challenges of the medical domain. This research work covers the development of an intelligent clinical decision support system for diagnosis, classification and treatment in stress management. The system uses a finger temperature sensor and the variation in the finger temperature is one of the key features in the system. Several artificial intelligence techniques have been investigated to enable a more reliable and efficient diagnosis and treatment of stress such as case-based reasoning, textual information retrieval, rule-based reasoning, and fuzzy logic. Functionalities and the performance of the system have been validated by implementing a research prototype based on close collaboration with an expert in stress. The case base of the implemented system has been initiated with 53 reference cases classified by an experienced clinician. A case study also shows that the system provides results close to a human expert. The experimental results suggest that such a system is valuable both for less experienced clinicians and for experts where the system may function as a second option.</p> / IPOS, PROEK

Sexual selection can influence the mating system of an organism through multiple mechanisms. These mechanisms result in variation in reproductive success among individuals, and include scramble competition, endurance rivalries, contests, mate choice and cryptic choice, and sperm competition. Understanding the mating system of a species requires the identification of which processes are occurring, and to what degree. In this thesis, I explored the influence of mate choice mechanisms on the mating system of the terrestrial red-legged salamander, Plethodon shermani. I also documented the potential for post-copulatory processes (such as sperm competition and cryptic choice) to influence mating system dynamics. The evolution of mate choice requires (among other factors) variation in the reproductive value of potential mates. This variation is made apparent to choosy individuals through cues. Most animals use multiples cues incorporating many modalities to assess the reproductive quality of potential mates. In Chapter 2, I tested the contribution of two cues (chemical and visual) to mate choice by female P. shermani. I found that a male visual cue ("foot-dancing") increased courtship success. In contrast, delivery of non-volatile pheromones during courtship did not influence courtship success in the laboratory setting, but did affect the duration of one of the courtship stages. In Chapter 4, I identified a tactile cue that was significantly correlated with male reproductive success. Thus, P. shermani females could use at least three modalities to assess the reproductive quality of potential mates. Mate choice can also evolve in males. In Chapter 3, I tested this possibility in P. shermani. I found that males vary the reproductive effort they invest in a particular courtship based on the reproductive value of their partner, indicating male mate choice is occurring. A male invested most when paired with a female with large, well developed ova, and invested less with females that were non-gravid or had small ova. In addition to documenting male mate choice, I showed that the male visual display ("foot-dancing") that affected female mate choice was correlated with male condition, implying foot-dancing may be an honest indicator of male quality. Finally, in Chapter 5, I explored the potential for post-copulatory processes to influence the P. shermani mating system. The opportunity for sperm from multiple males to overlap in the female reproductive tract (i.e., the opportunity for females to mate multiply) is necessary for post-copulatory processes such as cryptic choice and sperm competition. The capacity for long-term sperm storage by females can increase the likelihood that this overlap in sperm from multiple males will occur. I found that females can store viable sperm for at least 9 months and in some cases beyond oviposition. In addition, I documented one female with sperm in her sperm storage organ from a mating that occurred 17 months earlier. Such lengthy sperm storage allows the possibility of sperm from one breeding season to interact with sperm from a subsequent season. Thus, the potential for post-copulatory sexual selection within this salamander system is high. / Graduation date: 2012

<p>Providing carrier grade characteristics for Internet Protocol (IP) communication applications is a significant problem for IP application providers in order to offer integrated services that span IP&nbsp / and telecommunication networks. This thesis addresses the provision of life-cycle management, which is only one carrier grade characteristic, for a SoftBridge application, which is an example of IP communication applications. A SoftBridge provides semi-synchronous multi-modal IP-based communication. The work related to IP-Telecommunication integrated services and the SoftBridge is analyzed with respect to life-cycle management in a literature review. It is suggested to use an Application Server in a Next Generation Network (NGN) to provide life-cyclemanagement functionality for IP-Telecommunication applications. In this thesis, the Application Server is represented by a JAIN Service Logic Execution Environment(JSLEE), in which&nbsp / a SoftBridge application can be deployed, activated, deactivated, uninstalled and upgraded online.Two methodologies are applied in this research: exploratory prototyping, which evolves the development of a SoftBridge application, and empirical comparison, which is concerned with the empirical evaluation of a SoftBridge application in terms of carriergrade capabilities. A SoftBridge application called SIMBA&nbsp / provides a Deaf Telephony service similar to aprevious Deaf Telephony SoftBridge, However, SIMBA&rsquo / s SoftBridge design and implementation are unique to this thesis. In order to test the life-cycle&nbsp / management ability of SIMBA, an empirical evaluation is carried out including the experiments oflife-cycle management and call-processing performance. The final experimental results of the evaluation show that a JSLEE is able to provide life-cycle management for SIMBA without causing a significant decrease in performance. In conclusion, the life-cycle management can be provided&nbsp / or a SoftBridge application by using an Application Server such as a JSLEE. Futhermore, the results indicate that&nbsp / approach of using Application Server (JSLEE) integration should be&nbsp / sufficiently general to provide life cycle management, and indeed other carrier grade capabilities, for other IP communication applications. This allows IP communication applications to be&nbsp / &nbsp / &nbsp / integrated into an NGN.</p>

The objective of this dissertation is to incorporate the concept of optimality to multi-modal control and apply the theoretical results to obtain successful navigation strategies for autonomous mobile robots. The main idea in multi-modal control is to breakup a complex control task into simpler tasks. In particular, number of control modes are constructed, each with respect to a particular task, and these modes are combined according to some supervisory control logic in order to complete the overall control task. This way of modularizing the control task lends itself particularly well to the control of autonomous mobile robot, as evidenced by the success of behavior-based robotics. Many challenging and interesting research issues arise when employing multi-modal control. This thesis aims to address these issues within an optimal control framework. In particular, the contributions of this dissertation are as follows: We first addressed the problem of inferring global behaviors from a collection of local rules (i.e., feedback control laws). Next, we addressed the issue of adaptively varying the multi-modal control system to further improve performance. Inspired by adaptive multi-modal control, we presented a constructivist framework for the learning from example problem. This framework was applied to the DARPA sponsored Learning Applied to Ground Robots (LAGR) project. Next, we addressed the optimal control of multi-modal systems with infinite dimensional constraints. These constraints are formulated as multi-modal, multi-dimensional (M3D) systems, where the dimensions of the state and control spaces change between modes to account for the constraints, to ease the computational burdens associated with traditional methods. Finally, we used multi-modal control strategies to develop effective navigation strategies for autonomous mobile robots. The theoretical results presented in this thesis are verified by conducting simulated experiments using Matlab and actual experiments using the Magellan Pro robot platform and the LAGR robot. In closing, the main strength of multi-modal control lies in breaking up complex control task into simpler tasks. This divide-and-conquer approach helps modularize the control system. This has the same effect on complex control systems that object-oriented programming has for large-scale computer programs, namely it allows greater simplicity, flexibility, and adaptability.

<p>Providing carrier grade characteristics for Internet Protocol (IP) communication applications is a significant problem for IP application providers in order to offer integrated services that span IP&nbsp / and telecommunication networks. This thesis addresses the provision of life-cycle management, which is only one carrier grade characteristic, for a SoftBridge application, which is an example of IP communication applications. A SoftBridge provides semi-synchronous multi-modal IP-based communication. The work related to IP-Telecommunication integrated services and the SoftBridge is analyzed with respect to life-cycle management in a literature review. It is suggested to use an Application Server in a Next Generation Network (NGN) to provide life-cyclemanagement functionality for IP-Telecommunication applications. In this thesis, the Application Server is represented by a JAIN Service Logic Execution Environment(JSLEE), in which&nbsp / a SoftBridge application can be deployed, activated, deactivated, uninstalled and upgraded online.Two methodologies are applied in this research: exploratory prototyping, which evolves the development of a SoftBridge application, and empirical comparison, which is concerned with the empirical evaluation of a SoftBridge application in terms of carriergrade capabilities. A SoftBridge application called SIMBA&nbsp / provides a Deaf Telephony service similar to aprevious Deaf Telephony SoftBridge, However, SIMBA&rsquo / s SoftBridge design and implementation are unique to this thesis. In order to test the life-cycle&nbsp / management ability of SIMBA, an empirical evaluation is carried out including the experiments oflife-cycle management and call-processing performance. The final experimental results of the evaluation show that a JSLEE is able to provide life-cycle management for SIMBA without causing a significant decrease in performance. In conclusion, the life-cycle management can be provided&nbsp / or a SoftBridge application by using an Application Server such as a JSLEE. Futhermore, the results indicate that&nbsp / approach of using Application Server (JSLEE) integration should be&nbsp / sufficiently general to provide life cycle management, and indeed other carrier grade capabilities, for other IP communication applications. This allows IP communication applications to be&nbsp / &nbsp / &nbsp / integrated into an NGN.</p>

Betroffene von Rückenschmerzen fühlen sich in ihrer Gesundheit im Wesentlichen vom Schmerz und von Einschränkungen ihrer körperlichen Aktivitätsfähigkeit beeinträchtigt. Sie leiden unter einer verminderten Leistungsfähigkeit bei der Durchführung motorischer Aufgaben oder Handlungen mit der Zurückhaltung in der Teilhabe am Leben. Gleichfalls beinhalten sowohl nationale als auch internationale Richtlinien zum Management von Rückenschmerzen mit großer Übereinstimmung Interventionen, die allesamt auf Aktivität ausgerichtet sind. Eine Aktivität ist die Durchführung einer Aufgabe oder Handlung und zeigt die persönliche Ressource der funktionalen Gesundheit. Es generiert sich, dass die Messung krankheitsspezifischer, motorischer Aktivitäten ein vielschichtiges Untersuchungs-Outcome für eine gesundheitsdienliche Versorgung bietet. Es stellt sich die Frage, wie diese Aktivitäten erfasst und bewertet werden können. In der Praxis existieren bereits mehrere Testmethoden: größtenteils handelt es sich um subjektive Selbstbeurteilungsverfahren und Testverfahren auf der Körperstruktur- und -funktionsebene (Impairment- und Körperkonditions-Messungen), die indirekt Aufschluss über die Aktivitätskapazität geben sollen. Neuerdings haben sich einige Einrichtungen zur Wiederherstellung der Arbeitsfähigkeit auf eine sehr umfangreiche Evaluierung von berufsspezifischen Aktivitäten spezialisiert, die aber für eine breitflächige Implementierung unrentabel sind. Nach gründlicher Recherche der wissenschaftlichen Untersuchungen wird deutlich, dass bezüglich einer standardisierten, objektiven Fremdbeurteilungsmethode mit einer tatsächlichen Durchführung einer oder mehrerer motorischer Aktivitäten aus dem Alltag ein Mangel besteht. Ziel der dieser Dissertation zu Grunde liegenden Untersuchung war es, ein entsprechendes Testverfahren zu entwickeln und zu evaluieren. Dafür wurden zunächst mit einer neu kreierten Testbatterie die gebräuchlichen Testgüteverfahren der Reliabilität mit 59 Personen mit Rückenschmerzen analysiert. Es folgte mit 106 Patienten und ebenso vielen Kontrollprobanden eine umfangreiche Analyse der konkurrenten Validität unter Einbeziehung vielschichtiger psychologischer und motorischer Testergebnisse. Letztlich sollte eine Clusteritembildung Aufschluss über erklärende Faktoren geben. Die Reliabiltätsanalyse zeigte bei einer unkomplizierten Durchführbarkeit der Tests gute Prüfwerte für die Intra- und Retest-Reliabilität und moderate für die Inter-Reliabilität. Es zeigte sich, dass bei den Patienten die AKTIKA von der Selbstbeurteilung der körperlichen Funktionsfähigkeit abhängig ist. Bei den Gesunden zeigte sich diese Beziehung nicht. Weiter fanden wir bei den Patienten hohe Korrelationen zwischen den Ergebnissen der AKTIKA-Tests und den Körperkonditionstests und den Angst-Vermeidungs-Einstellungen. Bei den Kontrollprobanden besteht hier nur ein moderater Zusammenhang. In der Faktorenanalyse wurde bei den Patienten ein einziger Faktor gefunden, der 45% der Varianz erklärt. Dies kann so interpretiert werden, dass die Bewegungsvariabilität bei Rückenschmerzen verloren geht. Dies ist ein interessantes Ergebnis, das weitere Forschungsansätze bietet. Die AKTIKA stellt sich als Testverfahren heraus, das kostengünstig, praktikabel, patientenorientiert, zeit- und materialökonomisch ist. Zudem ist es in einem multiprofessionellen Assessment transparent kommunizierbar. Es sollte sowohl als diagnostisches Verfahren, zur Therapiewahl und -steuerung, als auch zur Therapiekontrolle innerhalb einer rehabilitativen Intervention eingesetzt werden.

The face is one of the best biometrics for person identification and verification related applications, because it is natural, non-intrusive, and socially weIl accepted. Unfortunately, an human faces are similar to each other and hence offer low distinctiveness as compared with other biometrics, e.g., fingerprints and irises. Furthermore, when employing facial texture images, intra-class variations due to factors as diverse as illumination and pose changes are usually greater than inter-class ones, making 2D face recognition far from reliable in the real condition. Recently, 3D face data have been extensively investigated by the research community to deal with the unsolved issues in 2D face recognition, Le., illumination and pose changes. This Ph.D thesis is dedicated to robust face recognition based on three dimensional data, including only 3D shape based face recognition, textured 3D face recognition as well as asymmetric 3D-2D face recognition. In only 3D shape-based face recognition, since 3D face data, such as facial pointclouds and facial scans, are theoretically insensitive to lighting variations and generally allow easy pose correction using an ICP-based registration step, the key problem mainly lies in how to represent 3D facial surfaces accurately and achieve matching that is robust to facial expression changes. In this thesis, we design an effective and efficient approach in only 3D shape based face recognition. For facial description, we propose a novel geometric representation based on extended Local Binary Pattern (eLBP) depth maps, and it can comprehensively describe local geometry changes of 3D facial surfaces; while a 81FT -based local matching process further improved by facial component and configuration constraints is proposed to associate keypoints between corresponding facial representations of different facial scans belonging to the same subject. Evaluated on the FRGC v2.0 and Gavab databases, the proposed approach proves its effectiveness. Furthermore, due tq the use of local matching, it does not require registration for nearly frontal facial scans and only needs a coarse alignment for the ones with severe pose variations, in contrast to most of the related tasks that are based on a time-consuming fine registration step. Considering that most of the current 3D imaging systems deliver 3D face models along with their aligned texture counterpart, a major trend in the literature is to adopt both the 3D shape and 2D texture based modalities, arguing that the joint use of both clues can generally provides more accurate and robust performance than utilizing only either of the single modality. Two important factors in this issue are facial representation on both types of data as well as result fusion. In this thesis, we propose a biological vision-based facial representation, named Oriented Gradient Maps (OGMs), which can be applied to both facial range and texture images. The OGMs simulate the response of complex neurons to gradient information within a given neighborhood and have properties of being highly distinctive and robust to affine illumination and geometric transformations. The previously proposed matching process is then adopted to calculate similarity measurements between probe and gallery faces. Because the biological vision-based facial representation produces an OGM for each quantized orientation of facial range and texture images, we finally use a score level fusion strategy that optimizes weights by a genetic algorithm in a learning pro cess. The experimental results achieved on the FRGC v2.0 and 3DTEC datasets display the effectiveness of the proposed biological vision-based facial description and the optimized weighted sum fusion. [...]

Due to the world’s rapidly growing elderly population, dementia is becoming increasingly prevalent. This poses considerable health, social, and economic concerns as it impacts individuals, families and healthcare systems. Current research has shown that cognitive interventions may slow the decline of or improve brain functioning in older adults. This research investigates the use of intelligent socially assistive robots to engage individuals in person-centered cognitively stimulating activities. Specifically, in this thesis, a novel learning-based control architecture is developed to enable socially assistive robots to act as social motivators during an activity. A hierarchical reinforcement learning approach is used in the architecture so that the robot can learn appropriate assistive behaviours based on activity structure and personalize an interaction based on the individual’s behaviour and user state. Experiments show that the control architecture is effective in determining the robot’s optimal assistive behaviours for a memory game interaction and a meal assistance scenario.

Due to the world’s rapidly growing elderly population, dementia is becoming increasingly prevalent. This poses considerable health, social, and economic concerns as it impacts individuals, families and healthcare systems. Current research has shown that cognitive interventions may slow the decline of or improve brain functioning in older adults. This research investigates the use of intelligent socially assistive robots to engage individuals in person-centered cognitively stimulating activities. Specifically, in this thesis, a novel learning-based control architecture is developed to enable socially assistive robots to act as social motivators during an activity. A hierarchical reinforcement learning approach is used in the architecture so that the robot can learn appropriate assistive behaviours based on activity structure and personalize an interaction based on the individual’s behaviour and user state. Experiments show that the control architecture is effective in determining the robot’s optimal assistive behaviours for a memory game interaction and a meal assistance scenario.

Magister Scientiae - MSc / Providing carrier grade characteristics for Internet Protocol (IP) communication applications is a significant problem for IP application providers in order to offer integrated services that span IP and telecommunication networks. This thesis addresses the provision of life-cycle management, which is only one carrier grade characteristic, for a SoftBridge application, which is an example of IP communication applications. A SoftBridge provides semi-synchronous multi-modal IP-based communication. The work related to IP-Telecommunication integrated services and the SoftBridge is analyzed with respect to life-cycle management in a literature review. It is suggested to use an Application Server in a Next Generation Network (NGN) to provide life-cyclemanagement functionality for IP-Telecommunication applications. In this thesis, the Application Server is represented by a JAIN Service Logic Execution Environment(JSLEE), in which a SoftBridge application can be deployed, activated, deactivated, uninstalled and upgraded online.Two methodologies are applied in this research: exploratory prototyping, which evolves the development of a SoftBridge application, and empirical comparison, which is concerned with the empirical evaluation of a SoftBridge application in terms of carriergrade capabilities. A SoftBridge application called SIMBA provides a Deaf Telephony service similar to aprevious Deaf Telephony SoftBridge, However, SIMBA’s SoftBridge design and implementation are unique to this thesis. In order to test the life-cycle management ability of SIMBA, an empirical evaluation is carried out including the experiments oflife-cycle management and call-processing performance. The final experimental results of the evaluation show that a JSLEE is able to provide life-cycle management for SIMBA without causing a significant decrease in performance. In conclusion, the life-cycle management can be provided or a SoftBridge application by using an Application Server such as a JSLEE. Futhermore, the results indicate that approach of using Application Server (JSLEE) integration should be sufficiently general to provide life cycle management, and indeed other carrier grade capabilities, for other IP communication applications. This allows IP communication applications to be integrated into an NGN.Providing carrier grade characteristics for Internet Protocol (IP) communication applications is a significant problem for IP application providers in order to offer integrated services that span IP and telecommunication networks. This thesis addresses the provision of life-cycle management, which is only one carrier grade characteristic, for a SoftBridge application, which is an example of IP communication applications. A SoftBridge provides semi-synchronous multi-modal IP-based communication. The work related to IP-Telecommunication integrated services and the SoftBridge is analyzed with respect to life-cycle management in a literature review. It is suggested to use an Application Server in a Next Generation Network (NGN) to provide life-cyclemanagement functionality for IP-Telecommunication applications. In this thesis, the Application Server is represented by a JAIN Service Logic Execution Environment(JSLEE), in which a SoftBridge application can be deployed, activated, deactivated, uninstalled and upgraded online.Two methodologies are applied in this research: exploratory prototyping, which evolves the development of a SoftBridge application, and empirical comparison, which is concerned with the empirical evaluation of a SoftBridge application in terms of carriergrade capabilities. A SoftBridge application called SIMBA provides a Deaf Telephony service similar to aprevious Deaf Telephony SoftBridge, However, SIMBA’s SoftBridge design and implementation are unique to this thesis. In order to test the life-cycle management ability of SIMBA, an empirical evaluation is carried out including the experiments oflife-cycle management and call-processing performance. The final experimental results of the evaluation show that a JSLEE is able to provide life-cycle management for SIMBA without causing a significant decrease in performance. In conclusion, the life-cycle management can be provided or a SoftBridge application by using an Application Server such as a JSLEE. Futhermore, the results indicate that approach of using Application Server (JSLEE) integration should be sufficiently general to provide life cycle management, and indeed other carrier grade capabilities, for other IP communication applications. This allows IP communication applications to be integrated into an NGN. / South Africa