MixingMasterArbeit.tex

\documentclass[	pdftex, 
								a4paper,
								11pt, DIV11, BCOR5mm,
								parskip,
								%openany,
								]{scrreprt}
\usepackage[utf8]{inputenc}
\usepackage[T1]{fontenc}

\usepackage[colorlinks=true,linkcolor=blue,citecolor=blue]{hyperref}
\usepackage{comment}
\usepackage[english]{babel}
\usepackage[nonumberlist,toc,acronym]{glossaries}

\usepackage{fancyhdr}
\usepackage[section]{placeins}
\usepackage{graphicx}
\usepackage{listings}
\usepackage[german]{babelbib}
\usepackage{array}
\usepackage{wrapfig}
\usepackage{varwidth}
\usepackage{float}
\usepackage{dirtree}
\usepackage{epstopdf}
\usepackage{textpos}
\usepackage{changepage}
\usepackage{theorem}
\usepackage{caption}
\usepackage{framed}
\usepackage{booktabs}
\usepackage{tikz}
\usetikzlibrary{decorations.markings,arrows,positioning,trees,calc,fit,shapes}
\usepackage[noend]{algorithmic}
\usepackage{amsmath}
\usepackage{algorithm}
\usepackage{environ}
\usepackage{ulem}

%Kopfzeile hinzufuegen
\renewcommand{\sectionmark}[1]{\markboth{#1}{}} % set the \leftmark

\fancypagestyle{plain}{
    
    \fancyhead[R]{\leftmark}
    
    \renewcommand{\headrulewidth}{1pt}
    %\fancyfoot[R]{\thepage}
}

\pagestyle{fancy}

%Literaturverzeichnis hinzufuegen
\bibliographystyle{babplain}

% Glossar hinzufuegen
\makeglossaries
\newacronym{usda} {USDA}{US Department of Agriculture}
\newacronym{fdc}{FDC}{FoodData Central}
\newacronym{rest}{REST}{Representational state transfer}
\newacronym{dge}{DGE}{Deutsche Gesellschaft für Ernährung}
\newacronym{pal}{PAL-Value}{physical activity level-Value}
\newacronym{json}{JSON}{JavaScript Object Notation}
\newacronym{iri}{IRI}{International Resource Identifier}
\newacronym{http}{HTTP}{HyperText Transfer Protocol}
\newacronym{xml}{XML}{Extensible Markup Language}
\newacronym{cdno}{CDNO}{Compositional Dietary Nutrition Ontology}
\newacronym{obo}{OBO}{Open Biological and Biomedical Ontology}
\newacronym{sparql}{SPARQL}{SPARQL Protocol And RDF Query Language}
\newacronym{sql}{SQL}{Structured Query Language}
\newacronym{uri}{URI}{Uniform Resource Identifier}
\newacronym{gi}{GI}{Glykämischer Index}
\newacronym{bmi}{BMI}{Body-Mass-Index}



\begin{document}
\setcounter{page}{-2}
\pagestyle{empty}
\pagenumbering{none}
\newcommand{\firstreviewer}{Prof. Michael Beetz PhD}
\newcommand{\secondreviewer}{Prof. Dr. Nico Hochgeschwender}
\newcommand{\supervisor}{Dr. Michaela Kümpel, Vanessa Hassouna}
\newcommand{\thesistype}{Master Thesis}
\newcommand{\myauthor}{Naser Azizi, Sorin Arion}
\newcommand{\mymaintitle}{A Knowledge Base with which You Can Parameterize Robot Plans for Multiple Mixing Actions}
\newcommand{\mytitle}{\centering {\Huge \mymaintitle}\\[.3in] 
    {\Large \mysubtitle}}
\newcommand{\pdftitle}{\mymaintitle - \mysubtitle}
\newcommand{\formattedfronttitle}{{\mytitle}}
\newcommand{\formattedinnertitle}{{\mytitle}}

\begin{titlepage}
	\vspace*{-2.2cm}
	\begin{adjustwidth}{-0cm}{-2.3cm}
	\thispagestyle{empty}
        \begin{figure}
            \begin{minipage}{.4\linewidth}
	\begin{flushleft}
		\includegraphics[height=1.5cm]{Graphics/unilogo-transp.pdf}
	\end{flushleft}
    \end{minipage}
    \hspace{.2\linewidth}
            \begin{minipage}{.4\linewidth}
	\begin{flushright}
		\includegraphics[height=3.0cm]{Graphics/logo-ai-small.pdf}
	\end{flushright}
    \end{minipage}
\end{figure}
	  \vfill
	  %\scalebox{0.95}{
    	  %\begin{minipage}{1.2\textwidth}
    	  %{
    		%\formattedfronttitle 
    	  %}
    	  %\end{minipage}
	  %}
	\begin{center}
	  {\huge \mymaintitle}\\
	  
	  \vfill
	  {\Large \thesistype}\\[2.5ex]
	  {\Large\em \myauthor}
	  \vfill
	{  
      \renewcommand\arraystretch{1.5}
      \begin{tabular}{l@{\hspace{2em}}r@{\hspace{1ex}}p{7cm}}
     Pr\"ufer der \thesistype: & 1. & \firstreviewer\\
                                 & 2. & \secondreviewer\\
	Supervisor		    &   & \supervisor\\
   \end{tabular}
  }
	\end{center}
	\end{adjustwidth}
\end{titlepage}
	\pagenumbering{arabic}
	\setcounter{page}{1}
	\pagestyle{plain}
	%\addcontentsline{toc}{chapter}{Eidesstaatliche Erkl\"arung}
	\chapter*{Eidesstattliche Erkl\"arung}
	
	Hiermit erkl\"aren wir, dass die vorliegende Arbeit selbstst\"andig angefertigt,
	nicht anderweitig zu Pr\"ufungszwecken vorgelegt und keine anderen als die
	angegebenen Hilfsmittel verwendet habe. S\"amtliche wissentlich verwendete
	Textausschnitte, Zitate oder Inhalte anderer Verfasser wurden ausdr\"ucklich als
	solche gekennzeichnet.
	
	Bremen, den \makeatletter\@date\makeatother
	
	\vspace*{1em}
	\rule{15em}{0.16667pt}\\
	\author{Naser Azizi, Sorin Arion}
	\makeatletter\@author\makeatother
	
	
	\normalem
	%Abstrakt
	%\addcontentsline{toc}{chapter}{Abstract}


\chapter*{Motivation}

Although industrial robots have been considered standard for many years, 
the widespread adoption of AI-based autonomous household robots is still far from being anticipated in every household. 
Obstacles such as unfamiliar surroundings and a limited knowledge base can significantly hinder the ability of an autonomous robot to effectively respond in a given situation.
 Hence, the robot must precisely plan for every minor detail, even those that might appear trivial to us humans.

To achieve the defined objectives, a proficient and comprehensive robotic system including control, perception, navigation, and knowledge is necessary.
An illustrative goal could be cooking. To execute this task, the robot must possess various capabilities, including placing items, grasping objects, 
pouring liquids, cutting ingredients, and mixing components. These tasks seem trivial to us humans, but for robots, they require extensive implementation and information.

In this thesis, we aim to introduce an approach detailing how a robotic system can execute mixing actions effectively. 
The challenges arise from the diverse methods of mixing, which further vary based on the specific ingredients being combined. 
Additionally, the consideration of compatible mixing tools and mixing containers is crucial, as not every tool can be utilized with every container.

Through the incorporation of a knowledge graph containing rules related to various actions, 
we aim to empower the robotic system to make informed decisions on the appropriate motions to employ. 
This decision-making process will take into account the specific task at hand and the involved ingredients. 
By incorporating this knowledge graph, we aim to advance towards autonomous robots capable of engaging in cooking activities.

\tableofcontents
\include{sections/introduction}	

\include{sections/related_work}

\include{sections/libraries_tools_framworks}

\include{sections/data_acquisition}

\include{sections/data_representation}

\include{sections/simulation}

\include{sections/evaluation}

\include{sections/owl_visualizer}

\include{sections/conclusion_future_work}
\bibliography{literature}

\include{sections/appendix}
\end{document}