Towards learning affordances : detection of relevant features and characteristics for reachability

Eren, Selda
In this thesis, we reviewed the affordance concept for autonomous robot control and proposed that invariant features of objects that support a specific affordance can be learned. We used a physics-based robot simulator to study the reachability affordance on the simulated KURT3D robot model. We proposed that, through training, the values of each feature can be split into strips, which can then be used to detect the relevant features and their characteristics. Our analysis showed that it is possible to achieve higher prediction accuracy on the affordance support of novel objects by using only the relevant features. This is an important gain, since failures can have high costs in robotics and better prediction accuracy is desired.


A method for decentralized business process modeling
Türetken, Oktay; Demirörs, Onur; Department of Information Systems (2007)
This thesis study proposes a method for organizations to perform business process modeling in a decentralized and concurrent manner. The Plural method is based on the idea that organizations’ processes can be modeled by individuals actually performing the processes. Instead of having a central and devoted group of people to understand, analyze, model and improve processes, individuals are held responsible to model and improve their own processes concurrently. These individual models are then integrated to f...
Environment generation tool for enabling aspect verification
Aldanmaz, Şenol Lokman; Betin Can, Aysu; Department of Information Systems (2010)
Aspects are units of aspect oriented programming developed for influencing the software behavior. In order to use an aspect confidently in any software, first it should be verified. For verification of an aspect, the mock classes for the original software should be prepared. These mock classes are a model of the aspect environment which the aspect is woven. In this study, considering that there are not enough tools for supporting the aspect oriented programming developers, we have developed a tool for enabl...
Classification of remotely sensed data by using 2D local discriminant bases
Tekinay, Çağrı; Çetin, Yasemin; Department of Information Systems (2009)
In this thesis, 2D Local Discriminant Bases (LDB) algorithm is used to 2D search structure to classify remotely sensed data. 2D Linear Discriminant Analysis (LDA) method is converted into an M-ary classifier by combining majority voting principle and linear distance parameters. The feature extraction algorithm extracts the relevant features by removing the irrelevant ones and/or combining the ones which do not represent supplemental information on their own. The algorithm is implemented on a remotely sensed...
Process based information systems evaluation: Towards the attributes of "pRISE"
Özkan Yıldırım, Sevgi; Bilgen, Semih (2007-10-31)
Purpose The purpose of this paper is to demonstrate the importance of undertaking a systemic view of information systems evaluation that augments the frequently reported prescriptive (cost/benefit) analysis approaches. Design/methodology/approach The paper adopts a qualitative case perspective and derives a framework for substantive information systems evaluation factors (PRISE). Three empirical formulations are considered and a comparison made to determine the content and context of the findings. Finding...
Evaluation and selection of case tools: a methodology and a case study
Okşar, Koray; Okşar, Koray; Department of Information Systems (2010)
Today’s Computer Aided Software Engineering (CASE) technology covers nearly all activities in software development ranging from requirement analysis to deployment.Organizations are evaluating CASE tool solutions to automate or ease their processes. While reducing human errors, these tools also increase control, visibility and auditability of the processes. However, to achieve these benefits, the right tool or tools should be selected for usage in the intended processes. This is not an easy task when the vas...
Citation Formats
S. Eren, “ Towards learning affordances : detection of relevant features and characteristics for reachability ,” M.S. - Master of Science, Middle East Technical University, 2006.