abstract: The Semantic Web contains large amounts of related information in the form of knowledge graphs such as DBpedia. These knowledge graphs are typically enormous and are not easily accessible for users as they need specialized knowledge in query languages (such as SPARQL) as well as deep familiarity of the ontologies used by these knowledge graphs. So, to make these knowledge graphs more accessible (even for non- experts) several question answering (QA) systems have been developed over the last decade. Due to the complexity of the task, several approaches have been undertaken that include techniques from natural language processing (NLP), information retrieval (IR), machine learning (ML) and the Semantic Web (SW). At a higher level, most question answering systems approach the question answering task as a conversion from the natural language question to its corresponding SPARQL query. These systems then utilize the query to retrieve the desired entities or literals. One approach to solve this problem, that is used by most systems today, is to apply deep syntactic and semantic analysis on the input question to derive the SPARQL query. This has resulted in the evolution of natural language processing pipelines that have common characteristics such as answer type detection, segmentation, phrase matching, part-of-speech-tagging, named entity recognition, named entity disambiguation, syntactic or dependency parsing, semantic role labeling, etc. This has lead to NLP pipeline architectures that integrate components that solve a specific aspect of the problem and pass on the results to subsequent components for further processing eg: DBpedia Spotlight for named entity recognition, RelMatch for relational mapping, etc. A major drawback in this approach is error propagation that is a common problem in NLP. This can occur due to mistakes early on in the pipeline that can adversely affect successive steps further down the pipeline. Another approach is to use query templates either manually generated or extracted from existing benchmark datasets such as Question Answering over Linked Data (QALD) to generate the SPARQL queries that is basically a set of predefined queries with various slots that need to be filled. This approach potentially shifts the question answering problem into a classification task where the system needs to match the input question to the appropriate template (class label). This thesis proposes a neural network approach to automatically learn and classify natural language questions into its corresponding template using recursive neural networks. An obvious advantage of using neural networks is the elimination for the need of laborious feature engineering that can be cumbersome and error prone. The input question would be encoded into a vector representation. The model will be trained and evaluated on the LC-QuAD Dataset (Large-scale Complex Question Answering Dataset). The dataset was created explicitly for machine learning based QA approaches for learning complex SPARQL queries. The dataset consists of 5000 questions along with their corresponding SPARQL queries over the DBpedia dataset spanning 5042 entities and 615 predicates. These queries were annotated based on 38 unique templates that the model will attempt to classify. The resulting model will be evaluated against both the LC-QuAD dataset and the Question Answering Over Linked Data (QALD-7) dataset. The recursive neural network achieves template classification accuracy of 0.828 on the LC-QuAD dataset and an accuracy of 0.618 on the QALD-7 dataset. When the top-2 most likely templates were considered the model achieves an accuracy of 0.945 on the LC-QuAD dataset and 0.786 on the QALD-7 dataset. After slot filling, the overall system achieves a macro F-score 0.419 on the LC- QuAD dataset and a macro F-score of 0.417 on the QALD-7 dataset. / Dissertation/Thesis / Masters Thesis Software Engineering 2018

The internet is a source of abundant information spread across different web pages. The identification and extraction of information from the internet has long been an active area of research for multiple purposes relating to both research and business intelligence. However, many of the existing systems and techniques rely on assumptions that limit their general applicability and negatively affect their performance as the web changes and evolves. This work explores the use of Recursive Neural Networks (RecNNs) along with the extensive amount of features present in the DOM-trees for web pages as a technique for identifying information on the internet without the need for strict assumptions on the structure or content of web pages. Furthermore, the use of Sparse Group LASSO (SGL) is explored as an effective tool for performing feature selection in the context of web information extraction. The results show that a RecNN model outperforms a similarly structured feedforward baseline for the task of identifying cookie consent dialogs across various web pages. Furthermore, the results suggest that SGL can be used as an effective tool for feature selection of DOM-tree features.

Soft robots have the potential to transform the way robots interact with their environment. This is due to their low inertia and inherent ability to more safely interact with the world without damaging themselves or the people around them. However, existing sensing for soft robots has at least partially limited their ability to control interactions with their environment. Tactile sensors could enable soft robots to sense interaction, but most tactile sensors are made from rigid substrates and are not well suited to applications for soft robots that can deform. In addition, the benefit of being able to cheaply manufacture soft robots may be lost if the tactile sensors that cover them are expensive and their resolution does not scale well for manufacturability. Soft robots not only need to know their interaction forces due to contact with their environment, they also need to know where they are in Cartesian space. Because soft robots lack a rigid structure, traditional methods of joint estimation found in rigid robots cannot be employed on soft robotic platforms. This requires a different approach to soft robot pose estimation. This thesis will discuss both tactile force sensing and pose estimation methods for soft-robots. A method to make affordable, high-resolution, tactile sensor arrays (manufactured in rows and columns) that can be used for sensorizing soft robots and other soft bodies isReserved developed. However, the construction results in a sensor array that exhibits significant amounts of cross-talk when two taxels in the same row are compressed. Using the same fabric-based tactile sensor array construction design, two different methods for cross-talk compensation are presented. The first uses a mathematical model to calculate a change in resistance of each taxel directly. The second method introduces additional simple circuit components that enable us to isolate each taxel electrically and relate voltage to force directly. This thesis also discusses various approaches in soft robot pose estimation along with a method for characterizing sensors using machine learning. Particular emphasis is placed on the effectiveness of parameter-based learning versus parameter-free learning, in order to determine which method of machine learning is more appropriate and accurate for soft robot pose estimation. Various machine learning architectures, such as recursive neural networks and convolutional neural networks, are also tested to demonstrate the most effective architecture to use for characterizing soft-robot sensors.