@phdthesis{Schlosser2011, author = {Schlosser, Daniel}, title = {Quality of Experience Management in Virtual Future Networks}, doi = {10.25972/OPUS-5719}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-69986}, school = {Universit{\"a}t W{\"u}rzburg}, year = {2011}, abstract = {Aktuell beobachten wir eine drastische Vervielf{\"a}ltigung der Dienste und Anwendungen, die das Internet f{\"u}r den Datentransport nutzen. Dabei unterscheiden sich die Anforderungen dieser Dienste an das Netzwerk deutlich. Das Netzwerkmanagement wird durch diese Diversit{\"a}t der nutzenden Dienste aber deutlich erschwert, da es einem Datentransportdienstleister kaum m{\"o}glich ist, die unterschiedlichen Verbindungen zu unterscheiden, ohne den Inhalt der transportierten Daten zu analysieren. Netzwerkvirtualisierung ist eine vielversprechende L{\"o}sung f{\"u}r dieses Problem, da sie es erm{\"o}glicht f{\"u}r verschiedene Dienste unterschiedliche virtuelle Netze auf dem gleichen physikalischen Substrat zu betreiben. Diese Diensttrennung erm{\"o}glicht es, jedes einzelne Netz anwendungsspezifisch zu steuern. Ziel einer solchen Netzsteuerung ist es, sowohl die vom Nutzer erfahrene Dienstg{\"u}te als auch die Kosteneffizienz des Datentransports zu optimieren. Dar{\"u}ber hinaus wird es mit Netzwerkvirtualisierung m{\"o}glich das physikalische Netz so weit zu abstrahieren, dass die aktuell fest verzahnten Rollen von Netzwerkbesitzer und Netzwerkbetreiber entkoppelt werden k{\"o}nnen. Dar{\"u}ber hinaus stellt Netzwerkvirtualisierung sicher, dass unterschiedliche Datennetze, die gleichzeitig auf dem gleichen physikalischen Netz betrieben werden, sich gegenseitig weder beeinflussen noch st{\"o}ren k{\"o}nnen. Diese Arbeit  besch{\"a}ftigt sich mit ausgew{\"a}hlten Aspekten dieses Themenkomplexes und fokussiert sich darauf, ein virtuelles Netzwerk mit bestm{\"o}glicher Dienstqualit{\"a}t f{\"u}r den Nutzer zu betreiben und zu steuern. Daf{\"u}r wird ein Top-down-Ansatz gew{\"a}hlt, der von den Anwendungsf{\"a}llen, einer m{\"o}glichen Netzwerkvirtualisierungs-Architektur und aktuellen M{\"o}glichkeiten der Hardwarevirtualisierung ausgeht. Im Weiteren fokussiert sich die Arbeit dann in Richtung Bestimmung und Optimierung der vom Nutzer erfahrenen Dienstqualit{\"a}t (QoE) auf Applikationsschicht und diskutiert M{\"o}glichkeiten zur Messung und {\"U}berwachung von wesentlichen Netzparametern in virtualisierten Netzen.}, subject = {Netzwerkmanagement}, language = {en} } @article{SchererFleishmanJonesetal.2021, author = {Scherer, Marc and Fleishman, Sarel J. and Jones, Patrik R. and Dandekar, Thomas and Bencurova, Elena}, title = {Computational Enzyme Engineering Pipelines for Optimized Production of Renewable Chemicals}, series = {Frontiers in Bioengineering and Biotechnology}, volume = {9}, journal = {Frontiers in Bioengineering and Biotechnology}, issn = {2296-4185}, doi = {10.3389/fbioe.2021.673005}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-240598}, year = {2021}, abstract = {To enable a sustainable supply of chemicals, novel biotechnological solutions are required that replace the reliance on fossil resources. One potential solution is to utilize tailored biosynthetic modules for the metabolic conversion of CO2 or organic waste to chemicals and fuel by microorganisms. Currently, it is challenging to commercialize biotechnological processes for renewable chemical biomanufacturing because of a lack of highly active and specific biocatalysts. As experimental methods to engineer biocatalysts are time- and cost-intensive, it is important to establish efficient and reliable computational tools that can speed up the identification or optimization of selective, highly active, and stable enzyme variants for utilization in the biotechnological industry. Here, we review and suggest combinations of effective state-of-the-art software and online tools available for computational enzyme engineering pipelines to optimize metabolic pathways for the biosynthesis of renewable chemicals. Using examples relevant for biotechnology, we explain the underlying principles of enzyme engineering and design and illuminate future directions for automated optimization of biocatalysts for the assembly of synthetic metabolic pathways.}, language = {en} } @techreport{SavvidisRothTutsch2022, type = {Working Paper}, author = {Savvidis, Dimitrios and Roth, Robert and Tutsch, Dietmar}, title = {Static Evaluation of a Wheel-Topology for an SDN-based Network Usecase}, series = {W{\"u}rzburg Workshop on Next-Generation Communication Networks (WueWoWas'22)}, journal = {W{\"u}rzburg Workshop on Next-Generation Communication Networks (WueWoWas'22)}, doi = {10.25972/OPUS-28071}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-280715}, pages = {3}, year = {2022}, abstract = {The increased occurrence of Software-Defined-Networking (SDN) not only improves the dynamics and maintenance of network architectures, but also opens up new use cases and application possibilities. Based on these observations, we propose a new network topology consisting of a star and a ring topology. This hybrid topology will be called wheel topology in this paper. We have considered the static characteristics of the wheel topology and compare them with known other topologies.}, subject = {Datennetz}, language = {en} } @phdthesis{Sauer2010, author = {Sauer, Markus}, title = {Mixed-Reality for Enhanced Robot Teleoperation}, isbn = {978-3-923959-67-9}, doi = {10.25972/OPUS-4666}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-55083}, school = {Universit{\"a}t W{\"u}rzburg}, year = {2010}, abstract = {In den letzten Jahren ist die Forschung in der Robotik soweit fortgeschritten, dass die Mensch-Maschine Schnittstelle zunehmend die kritischste Komponente f{\"u}r eine hohe Gesamtperformanz von Systemen zur Navigation und Koordination von Robotern wird. In dieser Dissertation wird untersucht wie Mixed-Reality Technologien f{\"u}r Nutzerschnittstellen genutzt werden k{\"o}nnen, um diese Gesamtperformanz zu erh{\"o}hen. Hierzu werden Konzepte und Technologien entwickelt, die durch Evaluierung mit Nutzertest ein optimiertes und anwenderbezogenes Design von Mixed-Reality Nutzerschnittstellen erm{\"o}glichen. Er werden somit sowohl die technische Anforderungen als auch die menschlichen Faktoren f{\"u}r ein konsistentes Systemdesign ber{\"u}cksichtigt. Nach einer detaillierten Problemanalyse und der Erstellung eines Systemmodels, das den Menschen als Schl{\"u}sselkomponente mit einbezieht, wird zun{\"a}chst die Anwendung der neuartigen 3D-Time-of-Flight Kamera zur Navigation von Robotern, aber auch f{\"u}r den Einsatz in Mixed-Reality Schnittstellen analysiert und optimiert. Weiterhin wird gezeigt, wie sich der Netzwerkverkehr des Videostroms als wichtigstes Informationselement der meisten Nutzerschnittstellen f{\"u}r die Navigationsaufgabe auf der Netzwerk Applikationsebene in typischen Multi-Roboter Netzwerken mit dynamischen Topologien und Lastsituation optimieren l{\"a}sst. Hierdurch ist es m{\"o}glich in sonst in sonst typischen Ausfallszenarien den Videostrom zu erhalten und die Bildrate zu stabilisieren. Diese fortgeschrittenen Technologien werden dann auch dem entwickelten Konzept der generischen 3D Mixed Reality Schnittselle eingesetzt. Dieses Konzept erm{\"o}glicht eine integrierte 3D Darstellung der verf{\"u}gbaren Information, so dass r{\"a}umliche Beziehungen von Informationen aufrechterhalten werden und somit die Anzahl der mentalen Transformationen beim menschlichen Bediener reduziert wird. Gleichzeitig werden durch diesen Ansatz auch immersive Stereo Anzeigetechnologien unterst{\"u}tzt, welche zus{\"a}tzlich das r{\"a}umliche Verst{\"a}ndnis der entfernten Situation f{\"o}rdern. Die in der Dissertation vorgestellten und evaluierten Ans{\"a}tze nutzen auch die Tatsache, dass sich eine lokale Autonomie von Robotern heute sehr robust realisieren l{\"a}sst. Dies wird zum Beispiel zur Realisierung eines Assistenzsystems mit variabler Autonomie eingesetzt. Hierbei erh{\"a}lt der Fernbediener {\"u}ber eine Kraftr{\"u}ckkopplung kombiniert mit einer integrierten Augmented Reality Schnittstelle, einen Eindruck {\"u}ber die Situation am entfernten Arbeitsbereich, aber auch {\"u}ber die aktuelle Navigationsintention des Roboters. Die durchgef{\"u}hrten Nutzertests belegen die signifikante Steigerung der Navigationsperformanz durch den entwickelten Ansatz. Die robuste lokale Autonomie erm{\"o}glicht auch den in der Dissertation eingef{\"u}hrten Ansatz der pr{\"a}diktiven Mixed-Reality Schnittstelle. Die durch diesen Ansatz entkoppelte Regelschleife {\"u}ber den Menschen erm{\"o}glicht es die Sichtbarkeit von unvermeidbaren Systemverz{\"o}gerungen signifikant zu reduzieren. Zus{\"a}tzlich k{\"o}nnen durch diesen Ansatz beide f{\"u}r die Navigation hilfreichen Blickwinkel in einer 3D-Nutzerschnittstelle kombiniert werden - der exozentrische Blickwinkel und der egozentrische Blickwinkel als Augmented Reality Sicht.}, subject = {Mobiler Roboter}, language = {en} } @phdthesis{Saska2009, author = {Saska, Martin}, title = {Trajectory planning and optimal control for formations of autonomous robots}, isbn = {978-3-923959-56-3}, doi = {10.25972/OPUS-4622}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-53175}, school = {Universit{\"a}t W{\"u}rzburg}, year = {2009}, abstract = {In this thesis, we present novel approaches for formation driving of nonholonomic robots and optimal trajectory planning to reach a target region. The methods consider a static known map of the environment as well as unknown and dynamic obstacles detected by sensors of the formation. The algorithms are based on leader following techniques, where the formation of car-like robots is maintained in a shape determined by curvilinear coordinates. Beyond this, the general methods of formation driving are specialized and extended for an application of airport snow shoveling. Detailed descriptions of the algorithms complemented by relevant stability and convergence studies will be provided in the following chapters. Furthermore, discussions of the applicability will be verified by various simulations in existing robotic environments and also by a hardware experiment.}, subject = {Autonomer Roboter}, language = {en} } @inproceedings{SanusiKlemke2021, author = {Sanusi, Khaleel Asyraaf Mat and Klemke, Roland}, title = {Immersive Multimodal Environments for Psychomotor Skills Training}, series = {Proceedings of the 1st Games Technology Summit}, booktitle = {Proceedings of the 1st Games Technology Summit}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-246016}, pages = {9-15}, year = {2021}, abstract = {Modern immersive multimodal technologies enable the learners to completely get immersed in various learning situations in a way that feels like experiencing an authentic learning environment. These environments also allow the collection of multimodal data, which can be used with artificial intelligence to further improve the immersion and learning outcomes. The use of artificial intelligence has been widely explored for the interpretation of multimodal data collected from multiple sensors, thus giving insights to support learners' performance by providing personalised feedback. In this paper, we present a conceptual approach for creating immersive learning environments, integrated with multi-sensor setup to help learners improve their psychomotor skills in a remote setting.}, language = {en} } @techreport{RossiMaurelliUnnithanetal.2021, author = {Rossi, Angelo Pio and Maurelli, Francesco and Unnithan, Vikram and Dreger, Hendrik and Mathewos, Kedus and Pradhan, Nayan and Corbeanu, Dan-Andrei and Pozzobon, Riccardo and Massironi, Matteo and Ferrari, Sabrina and Pernechele, Claudia and Paoletti, Lorenzo and Simioni, Emanuele and Maurizio, Pajola and Santagata, Tommaso and Borrmann, Dorit and N{\"u}chter, Andreas and Bredenbeck, Anton and Zevering, Jasper and Arzberger, Fabian and Reyes Mantilla, Camilo Andr{\´e}s}, title = {DAEDALUS - Descent And Exploration in Deep Autonomy of Lava Underground Structures}, isbn = {978-3-945459-33-1}, issn = {1868-7466}, doi = {10.25972/OPUS-22791}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-227911}, pages = {188}, year = {2021}, abstract = {The DAEDALUS mission concept aims at exploring and characterising the entrance and initial part of Lunar lava tubes within a compact, tightly integrated spherical robotic device, with a complementary payload set and autonomous capabilities. The mission concept addresses specifically the identification and characterisation of potential resources for future ESA exploration, the local environment of the subsurface and its geologic and compositional structure. A sphere is ideally suited to protect sensors and scientific equipment in rough, uneven environments. It will house laser scanners, cameras and ancillary payloads. The sphere will be lowered into the skylight and will explore the entrance shaft, associated caverns and conduits. Lidar (light detection and ranging) systems produce 3D models with high spatial accuracy independent of lighting conditions and visible features. Hence this will be the primary exploration toolset within the sphere. The additional payload that can be accommodated in the robotic sphere consists of camera systems with panoramic lenses and scanners such as multi-wavelength or single-photon scanners. A moving mass will trigger movements. The tether for lowering the sphere will be used for data communication and powering the equipment during the descending phase. Furthermore, the connector tether-sphere will host a WIFI access point, such that data of the conduit can be transferred to the surface relay station. During the exploration phase, the robot will be disconnected from the cable, and will use wireless communication. Emergency autonomy software will ensure that in case of loss of communication, the robot will continue the nominal mission.}, subject = {Mond}, language = {en} } @article{RodriguesWeissHewigetal.2021, author = {Rodrigues, Johannes and Weiß, Martin and Hewig, Johannes and Allen, John J. B.}, title = {EPOS: EEG Processing Open-Source Scripts}, series = {Frontiers in Neuroscience}, volume = {15}, journal = {Frontiers in Neuroscience}, issn = {1662-453X}, doi = {10.3389/fnins.2021.660449}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-240221}, year = {2021}, abstract = {Background: Since the replication crisis, standardization has become even more important in psychological science and neuroscience. As a result, many methods are being reconsidered, and researchers' degrees of freedom in these methods are being discussed as a potential source of inconsistencies across studies. New Method: With the aim of addressing these subjectivity issues, we have been working on a tutorial-like EEG (pre-)processing pipeline to achieve an automated method based on the semi-automated analysis proposed by Delorme and Makeig. Results: Two scripts are presented and explained step-by-step to perform basic, informed ERP and frequency-domain analyses, including data export to statistical programs and visual representations of the data. The open-source software EEGlab in MATLAB is used as the data handling platform, but scripts based on code provided by Mike Cohen (2014) are also included. Comparison with existing methods: This accompanying tutorial-like article explains and shows how the processing of our automated pipeline affects the data and addresses, especially beginners in EEG-analysis, as other (pre)-processing chains are mostly targeting rather informed users in specialized areas or only parts of a complete procedure. In this context, we compared our pipeline with a selection of existing approaches. Conclusion: The need for standardization and replication is evident, yet it is equally important to control the plausibility of the suggested solution by data exploration. Here, we provide the community with a tool to enhance the understanding and capability of EEG-analysis. We aim to contribute to comprehensive and reliable analyses for neuro-scientific research.}, language = {en} } @techreport{RieglerWernerKayal2022, type = {Working Paper}, author = {Riegler, Clemens and Werner, Lennart and Kayal, Hakan}, title = {MAPLE: Marsian Autorotation Probe Lander Experiment}, doi = {10.25972/OPUS-28239}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-282390}, pages = {7}, year = {2022}, abstract = {The first step towards aerial planetary exploration has been made. Ingenuity shows extremely promising results, and new missions are already underway. Rotorcraft are capable of flight. This capability could be utilized to support the last stages of Entry, Descent, and Landing. Thus, mass and complexity could be scaled down. Autorotation is one method of descent. It describes unpowered descent and landing, typically performed by helicopters in case of an engine failure. MAPLE is suggested to test these procedures and understand autorotation on other planets. In this series of experiments, the Ingenuity helicopter is utilized. Ingenuity would autorotate a "mid-air-landing" before continuing with normal flight. Ultimately, the collected data shall help to understand autorotation on Mars and its utilization for interplanetary exploration.}, language = {en} } @techreport{RieglerKayal2022, type = {Working Paper}, author = {Riegler, Clemens and Kayal, Hakan}, title = {VELEX: Venus Lightning Experiment}, doi = {10.25972/OPUS-28248}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-282481}, pages = {6}, year = {2022}, abstract = {Lightning has fascinated humanity since the beginning of our existence. Different types of lightning like sprites and blue jets were discovered, and many more are theorized. However, it is very likely that these phenomena are not exclusive to our home planet. Venus's dense and active atmosphere is a place where lightning is to be expected. Missions like Venera, Pioneer, and Galileo have carried instruments to measure electromagnetic activity. These measurements have indeed delivered results. However, these results are not clear. They could be explained by other effects like cosmic rays, plasma noise, or spacecraft noise. Furthermore, these lightning seem different from those we know from our home planet. In order to tackle these issues, a different approach to measurement is proposed. When multiple devices in different spacecraft or locations can measure the same atmospheric discharge, most other explanations become increasingly less likely. Thus, the suggested instrument and method of VELEX incorporates multiple spacecraft. With this approach, the question about the existence of lightning on Venus could be settled.}, language = {en} }