[The link
to open theses is accessible only from within the University of Osnabrück.]
Please contact me if you are interested!
Further Down this Page ...
- FAQ: Format and Size of a Thesis
- FAQ: What's in a Thesis Exposé?
- About Reproducibility (a non-FAQ, sadly)
- Past Theses
Theses differ in breadth, depth, and size, depending on the grade they
are for, i.e., Bachelor, Master, Diploma, or Doctoral thesis, but
their structure is essentially the same:
- Introduction: Summarize scientific and/or
application background, formulate precisely the scientific and/or technical
problem that the thesis tackles,
state clearly the contribution that the thesis makes (YES, even in the
introduction – the reader has a right to know what is in the
thesis in order to decide whether s/he considers it worth reading),
outline thesis structure.
- State of the art: Review in necessary depth and breadth the
literature, systems etc. that existed before the thesis has started,
i.e., the body of scientific knowledge that the thesis sets out to
improve at some point.
- Technical part: The main part of the thesis describing your
contribution – its internal structure differs wildly over
different theses, depending
on what the contribution actually is.
- Summary, Conclusion, Outlook: The wrap-up part reformulating the
contribution, drawing conclusions, if there are any (a summary is
not the same thing like a conclusion!), and sketching open issues
(only dumb or ingenious theses claim to have solved everything in
their ballpark – decide yourself whether you want me to judge
your thesis between these two categories!).
Unless you have had some prior instruction about how to write a thesis, you should give
this matter a bit of thought. There are three things to do here:
- Ask your instructor.
- Read prior theses. I have never understood candidates setting out
for writing a thesis who tell me they have never before seen other
peoples' theses (and don't even seem to find that
puzzling). "Humans are case-based" (Roger Schank). Act human-like!
- Get yourself some guidance. There's tons of stuff out on the Web
and on the bookmarket about how to write theses. A good point to start
with for an Informatics-related thesis would be Justin Zobel's Web
page "Writing for Computer Science",
comprising links to texts (including a book by
himself, which is available in the library) about scientific writing in Computer Science and nearby
fields, giving technical presentations, scientific ethics, and more.
And how long should my thesis be?
There is no fixed rule about that ("If a Bachelor thesis has 90
pages, then it's probably an A" – no!). What matters is the
contents and the presentation, where writing concisely is a virtue, but
writing too scant means you won't be understood.
As a rough guidance, think of the following sizes as defaults:
- Bachelor thesis: 60 pages,
- Master or Diploma thesis: 80 pages,
- Doctoral thesis: 150 pages,
assuming common-sense formatting. Deviations of these default sizes are
welcome if they make sense. For example, if your topic is in image processing,
and your thesis contains many images, then it is very likely to be
significantly longer. On the other hand, if a bachelor candidate
manages to write down the proof that P is unequal to NP in
three pages, then he or she will most probably pass.
A point about formatting. You need not use LaTeX. However, if a
student/candidate in Informatics delivers a thesis in a layout that is
significantly worse than what TeX/LaTeX has been achieving since 25
years now, then s/he needs to explain that to me. (Remember: Science
is all about improving on existing results!) This is particularly true
for bibliographies that BibTeX would produce for you as a bibliography
has to be, without any further effort.
When I accept to supervise a thesis (be it a Bachelor, Master, or Doctoral Thesis), I will
ask the candidate to produce, as the first milestone in the project, an exposé of his
or her thesis. Its size and the time available for producing it differ for the three types
of theses: For a Bachelor thesis, it should be available about 2-3 weeks after the formal
thesis start; for a Master thesis after 1 month; for a Doctoral thesis after 3 months.
However, the idea and structure are equal in all three cases.
A thesis is a one-person research project, and think of the exposé as a project
plan. It needs to answer the questions: What is the goal of the project? Where does it start
from? Why bother? What is the plan to run it in time? In terms of a research project and a
thesis exposé, this leads, more sternly, to the sections
- Goal
- Describe the goal of your work. This may concern an analytical result (e.g., proving that
P=/=NP), or an empirical one (e.g., examine the performance of the HAYAI algorithm on gravel
paths), or a constructive one (e.g., a new algorithm for
stereo matching of images taken in complete darkness),
or most frequently for an Informatics thesis a combination of the three
(e.g., a new 3D scan matching algorithm running in O(log log n) and its evaluation in a
botanical garden). Normally, the title of the thesis would reflect the goal.
- Scientific and/or technological background
- Give a sketch of the state of the art that your thesis sets out to improve. In an
exposé, the sketch has to be very short and to the point, mentioning exactly the top
most relevant papers. For a university thesis, the background includes stating which local
equipment and results you will use, if any (e.g., a Kurt3D robot running the HAYAI
algorithm).
- Approach
- If you have absolutely no idea where to start in order to reach your goal, you will
probably not make it in time for thesis submission. State here where you will start working.
In many cases (typically in Bachelor theses, often in Master theses), a particular approach
is enforced as part of the thesis topic that you get.
- Expected scientific and/or technological contribution
- State briefly in what respect you expect your result to be significant. It should somehow
improve on the state of the art, or provide new empirical data, or lead to a result that was
never there before.
- Work program
- Break down your thesis project into smaller steps and make a schedule what you plan to do
in which order and in what time. Plan in the order of weeks and months rather than days. If
possible and useful, formulate milestones, i.e., important intermediate results. Plan the
immediate future in more detail than the distant one.
Don't plan for doing all the technical work first,
and writing everything down from scratch in the last three weeks:
That will almost never work out!
Plan to interleave the reading/thinking/programming/experimenting and the writing.
The size and detail of the exposé varies with the type of thesis, according to the
calibre of the problem and the available project time. For a Bachelor thesis, think of 1-2
pages; for a Master thesis 2-3 pages; for a doctoral dissertation 5-6 pages.
The author of the exposé is the candidate, i.e., you! Why?: Your thesis supervisors
have normally an idea of the thesis topic that they give to you. Your formulation in the
exposé shall make sure that you have the same understanding of what you are supposed
to work on. Moreover, much of the exposé text may in fact go into your final thesis: a
typical introduction shares much of the material with your exposé, and you should have
written that yourself.
Be prepared, however,
to adjust your topic while working on it! In fact, this is the norm rather than the
exception, which leads to the final remark about the exposé: This is a plan for your thesis
work, and, like all plans in life, is subject to revision in detail! Don't hesitate to change
details of what your exposé says, if it turns out to be necessary. However, do
hesitate to change significantly the topic and approach of your thesis that you have described
in your exposé before you do that, consult your instructors!
A valid scientific experiment has to be reproducible.
In Informatics, this norm is frequently violated, and even more often,
nobody seems to care about reproducing some particular experiment.
But that does not invalidate the norm.
For a good or even excellent thesis, this means:
If your thesis goals include empirical and/or constructive elements,
then your results need to be reproducible for others --
these may be your advisors, and, even better,
anybody who reads your thesis and wants to check your results or wants
to examine your examples by himself or herself.
So, if you write a program or a set of modules as a part of your thesis work,
please do make sure that they run at least on our lab computers
and that there is somebody of the staff who knows where the software is
and how it can be used.
Even better, write a little(!) simple(!) interface
(which may or may not be graphical) that allows at least your experiments
or test runs to be repeated, or, optimally, that gives everybody a chance
to do their own experiments or test runs with their own test data.
Frequently, bachelor or master candidates,
when facing texts from the literature,
complain that the reported results cannot be checked or easily varied;
and then, the same candidates would often deliver their own results
in exactly the same manner that they found so irritating about others' work.
That is inconsistent, isn't it?
And, what is worse: It is no sound science!
List of academic theses under my principal or major
supervision. Quite a number of them have led to joint publications in
the past. Please look at my publications under the names of the
authors of the past theses.
Doctoral dissertations
If you like: My previous Doc students in the
Mathematics Genealogy
- S. Stiene:
Multisensorfusion zur semantisch gestützten Navigation eines autonomen Assistenzroboters
(U. Osnabrück, 06/2009,
elib
publication, UOS; print version forthcoming)
- Stefan May:
3D Time-of-Flight Ranging for Robotic Perception in Dynamic Environments
(U. Osnabrück, 03/2009)
vdi Verlag link
- I. Stratmann:
Omnidirectional Optical Flow and Visual Motion Detection for Autonomous Robot Navigation
(U. Osnabrück, 10/2007,
elib
publication, UOS)
- M. Hülse:
Multifunktionalität rekurrenter neuronaler Netze -- Synthese und Analyse
nichtlinearer Kontrolle autonomer Roboter (U. Osnabrück, 6/2006,
DISKI link)
- A. Nüchter:
Semantische dreidimensionale Karten für autonome mobile Roboter (U. Bonn, 5/2006,
DISKI link)
- S. Frintrop:
VOCUS: A Visual Attention System for Object Detection and Goal-Directed Search (U. Bonn, 4/2005,
Springer link)
- F. Schönherr:
Verankerung der Semantik veränderlicher Situations-Fakten und
symbolischer Aktionen in der hybriden Roboterkontrollarchitektur
DD&P (U. Bonn, 6/2004,
online, Shaker)
- Th. Belker: Plan
Projection, Execution, and Learning for Mobile Robot Control (U. Bonn,
1/2004, online, U. Bonn)
- A.
Asteroth: Effiziente Identifikation
parametrisierter
Kreislaufmodelle (U. Bonn, 8/2000,
online, U. Bonn)
- F. Kirchner:
Hierarchical Q-Learning in Complex Robot Control Problems (U. Bonn, 6/1999)
- M. Contzen: Planen durch Dekompositionsabstraktion (U. Bonn, 4/1997)
- S. Thiébaux:
Contribution à la planification sous incertitude et en temps
contraint (U. Rennes, 6/1995)
Diploma/Master theses
Online material for theses of U. Osnabrück may be available over
the KBS Theses page.
- S. Albrecht:
An Analysis of Visual Mono-SLAM
(U. Osnabrück, 10/2009)
- J. Sprickerhof:
Effizientes Schleifenschließen mit sechs Freiheitsgraden in Laserscans von mobilen Robotern
(U. Osnabrück, 09/2009)
- D. Borrmann, J. Elseberg:
Deforming Scans for Improving the Map Quality Using Plane Extraction and Thin Plate Splines
(U. Osnabrück, 08/2009)
- J. Poppenborg: Online-Scheduling of a Fleet of Transportation Robots (U. Osnabrück, 3/2009)
- V. Braun: Auswahl geeigneter Sortieralgorithmen für die Verwendung mit Lego-Mindstorms-Robotern
(U. Osnabrück, 3/2009)
- L. Kunze: Putting Commonsense Knowledge into Environment Models of Household Robots
(U. Osnabrück, 9/2008)
- Th. Wiemann: Automatische Rekonstruktion planarer 3D-Umgebungen (U. Osnabrück, 8/2007)
- N. Rosemann: Formvergleich auf 2D-Laserscandaten als Trackingverfahren (U. Osnabrück, 12/2006)
- Ch. Lörken: Introducing Affordances into Robot Task Execution (U. Osnabrück, 11/2006)
- N. Müller: HRI für Rettungsroboter: Offene Evaluation, Re-Design und Spezifikation
der Operatorschnittstelle eines RoboCup Rescue Roboters (U. Osnabrück, 5/2006)
- S. Stiene: Konturbasierte Objekterkennung aus Tiefenbildern eines 3D-Laserscanners (U. Osnabrück, 1/2006)
- J. Kunkemöller: Verwendung von OWL in plangestützten Web-Agenten (U. Osnabrück, 9/2005)
- J.-O. Wülfing: Modellierung eines kommunikativen
Auftragsagenten unter Berücksichtigung der Sprechakttheorie
(U. Trier, 1/2005)
- K. Lingemann: Schnelles Pose-Tracking auf Laserscan-Daten für autonome mobile Roboter (U. Bonn, 1/2004)
(online, Shaker)
- E. Delipetkos: Particle Filters zur Lokalisiernug autonomer mobiler Roboter (FH Bonn-Rhein-Sieg, 1/2004)
- M. Hammel: Planbasierte Robotersteuerung mit HTNs (U. Bonn, 5/2003)
- M. Lies: Erkennen von Büroobjekten aus Laserscandaten von
einer mobilen Plattform aus (U. Bonn, 8/2002)
- A. Nüchter: Autonome Exploration und Modellierung von 3D-Umgebungen (U. Bonn, 8/2002)
- S. Frintrop: Robuste Roboterlokalisierung mit omnidirektionaler Bildsensorik (U. Bonn, 11/2001)
- E. Degen: Verteilte Reaktive Tupelräume als Basis von
Multiagenten-Anwendungen (U. Bonn, 10/2001)
- M. Hassel: Sensorfusion zur Selbstlokalisation eines autonomen
mobilen Roboters außerhalb von Gebäuden (U. Bonn,12/2000)
- A. Arghir: Planbasierte Navigation eines autonomen mobilen
Roboters in einer aktiven, strukturierten Umgebung (U. Bonn, 9/2000)
- J. Thievessen: Vergleich von POMDP-Verfahren zur Berechnung
optimaler Politik zur Agentensteuerung (U. Bonn, 6/2000)
- L. Ngbwa: Über die Ausführung propositionaler
Pläne durch autonome Roboter (U. Bonn, 1/2000)
- G. Faßbender: Modularisierung des Roboter-Kontroll-Problems
(U. Bonn, 11/1999)
- F. Ivancic: Lernen von Regelmengen
zur Fuzzy-Mustererkennung durch mehrphasige Clusteranalyse
(U. Bonn, 1/1999)
- J. Steffens: Einsatz von
Hierarchischem Q-Learning zur Steuerung von Laufmaschinen (U. Bonn, 1/1999)
- F. Schönherr: Ergänzung topologischer
Roboternavigationskarten im Falle schwacher Odometrie (U. Bonn, 5/1998)
- A. Güttner: Entwicklung eines fuzzygestützten,
wissensbasierten Systems zur Ermittlung von
Technologieparametern
für das Roboterbahnschweißen
(U. Dortmund, 9/1994)
- S. Kalenka: Methodische Anwendung
verschiedener klassischer Wissensakquisitionsverfahren am Beispiel der
Werkstofftechnik (Dortmund, 9/1994)
- H. Bewernick:
Dokumentkonfiguration am Beispiel des deutschen Ehescheidungsrechts
(U. Hamburg, 8/1991)
- S. Thiébaux: Possible Worlds
Planning -- The System PASCALE (U. Rennes, 5/1991)
Bachelor theses
- J.M. Wülfing:
Localization of a Mobile Robot in 3D with 6D Poses Using a 3D Camera
(U. Osnabrück, 10/2009)
- A. Ellmer:
Probabilistic Modeling of Grasping Affordances in Robots Using Bayesian Networks
(U. Osnabrück, 9/2009)
- S. Stock:
Pfadplanung basierend auf der Umgebungsbefahrbarkeit am Beispiel zweier sich verfolgender Roboter
(U. Osnabrück, 8/2009)
- H. Gräuler:
Integration von Ontologien in eine Webanwendung für Produktanfragen
(U. Osnabrück, 5/2008)
- F. Meyer:
Surface detection in 3D range data for mobile crane manipulation
(U. Osnabrück, 3/2008)
- A. Rickling:
Effiziente 3D-Hough-transformation für die Ebenengewinnung in Punktwolken
(U. Osnabrück, 9/2007)
- A. Flügge:
Positioning of automated-guided vehicles by camera and artificial landmarks
(U. Osnabrück, 8/2007)
- L. Kunze:
Visual Features to Help Close the Loop in 6D-SLAM
(U. Osnabrück, 10/2006)
- D. Engelhardt:
Webinterface zur Steuerung eines Rettungsroboters
(U. Osnabrück, 10/2006)
- D. Borrmann, J. Elseberg:
Global konsistente 3D Kartierung am Beispiel des Botanischen Gartens in Osnabrück
(U. Osnabrück, 10/2006)
| Last changed: 2009-Apr-15 |