TY - JOUR A1 - Loh, Frank A1 - Wamser, Florian A1 - Poignée, Fabian A1 - Geißler, Stefan A1 - Hoßfeld, Tobias T1 - YouTube Dataset on Mobile Streaming for Internet Traffic Modeling and Streaming Analysis JF - Scientific Data N2 - Around 4.9 billion Internet users worldwide watch billions of hours of online video every day. As a result, streaming is by far the predominant type of traffic in communication networks. According to Google statistics, three out of five video views come from mobile devices. Thus, in view of the continuous technological advances in end devices and increasing mobile use, datasets for mobile streaming are indispensable in research but only sparsely dealt with in literature so far. With this public dataset, we provide 1,081 hours of time-synchronous video measurements at network, transport, and application layer with the native YouTube streaming client on mobile devices. The dataset includes 80 network scenarios with 171 different individual bandwidth settings measured in 5,181 runs with limited bandwidth, 1,939 runs with emulated 3 G/4 G traces, and 4,022 runs with pre-defined bandwidth changes. This corresponds to 332 GB video payload. We present the most relevant quality indicators for scientific use, i.e., initial playback delay, streaming video quality, adaptive video quality changes, video rebuffering events, and streaming phases. KW - internet traffic KW - mobile streaming KW - YouTube Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-300240 VL - 9 IS - 1 ER - TY - THES A1 - Heck, Klaus T1 - Wireless LAN performance studies in the context of 4G networks N2 - Wireless communication is nothing new. The first data transmissions based on electromagnetic waves have been successfully performed at the end of the 19th century. However, it took almost another century until the technology was ripe for mass market. The first mobile communication systems based on the transmission of digital data were introduced in the late 1980s. Within just a couple of years they have caused a revolution in the way people communicate. The number of cellular phones started to outnumber the fixed telephone lines in many countries and is still rising. New technologies in 3G systems, such as UMTS, allow higher data rates and support various kinds of multimedia services. Nevertheless, the end of the road in wireless communication is far from being reached. In the near future, the Internet and cellular phone systems are expected to be integrated to a new form of wireless system. Bandwidth requirements for a rich set of wireless services, e.g.\ video telephony, video streaming, online gaming, will be easily met. The transmission of voice data will just be another IP based service. On the other hand, building such a system is by far not an easy task. The problems in the development of the UMTS system showed the high complexity of wireless systems with support for bandwidth-hungry, IP-based services. But the technological challenges are just one difficulty. Telecommunication systems are planned on a world-wide basis, such that standard bodies, governments, institutions, hardware vendors, and service providers have to find agreements and compromises on a number of different topics. In this work, we provide the reader with a discussion of many of the topics involved in the planning of a Wireless LAN system that is capable of being integrated into the 4th generation mobile networks (4G) that is being discussed nowadays. Therefore, it has to be able to cope with interactive voice and video traffic while still offering high data rates for best effort traffic. Let us assume a scenario where a huge office complex is completely covered with Wireless LAN access points. Different antenna systems are applied in order to reduce the number of access points that are needed on the one hand, while optimizing the coverage on the other. No additional infrastructure is implemented. Our goal is to evaluate whether the Wireless LAN technology is capable of dealing with the various demands of such a scenario. First, each single access point has to be capable of supporting best-effort and Quality of Service (QoS) demanding applications simultaneously. The IT infrastructure in our scenario consists solely of Wireless LAN, such that it has to allow users surfing the Web, while others are involved in voice calls or video conferences. Then, there is the problem of overlapping cells. Users attached to one access point produce interference for others. However, the QoS support has to be maintained, which is not an easy task. Finally, there are nomadic users, which roam from one Wireless LAN cell to another even during a voice call. There are mechanisms in the standard that allow for mobility, but their capabilities for QoS support are yet to be studied. This shows the large number of unresolved issues when it comes to Wireless LAN in the context of 4G networks. In this work we want to tackle some of the problems. KW - Drahtloses lokales Netz KW - Wireless LAN KW - Voice-over-IP (VoIP) KW - Quality-of-Service (QoS) KW - IEEE 802.11e KW - 4G Networks KW - Wireless LAN KW - Voice-over-IP (VoIP) KW - Quality-of-Service (QoS) KW - IEEE 802.11e KW - 4G Networks Y1 - 2005 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-14896 ER - TY - JOUR A1 - Rack, Christian A1 - Fernando, Tamara A1 - Yalcin, Murat A1 - Hotho, Andreas A1 - Latoschik, Marc Erich T1 - Who is Alyx? A new behavioral biometric dataset for user identification in XR JF - Frontiers in Virtual Reality N2 - Introduction: This paper addresses the need for reliable user identification in Extended Reality (XR), focusing on the scarcity of public datasets in this area. Methods: We present a new dataset collected from 71 users who played the game “Half-Life: Alyx” on an HTC Vive Pro for 45 min across two separate sessions. The dataset includes motion and eye-tracking data, along with physiological data from a subset of 31 users. Benchmark performance is established using two state-of-the-art deep learning architectures, Convolutional Neural Networks (CNN) and Gated Recurrent Units (GRU). Results: The best model achieved a mean accuracy of 95% for user identification within 2 min when trained on the first session and tested on the second. Discussion: The dataset is freely available and serves as a resource for future research in XR user identification, thereby addressing a significant gap in the field. Its release aims to facilitate advancements in user identification methods and promote reproducibility in XR research. KW - dataset KW - behaviometric KW - deep learning KW - physiological dataset KW - user identification Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-353979 SN - 2673-4192 VL - 4 ER - TY - RPRT ED - Hoßfeld, Tobias ED - Wunderer, Stefan T1 - White Paper on Crowdsourced Network and QoE Measurements – Definitions, Use Cases and Challenges N2 - The goal of the white paper at hand is as follows. The definitions of the terms build a framework for discussions around the hype topic ‘crowdsourcing’. This serves as a basis for differentiation and a consistent view from different perspectives on crowdsourced network measurements, with the goal to provide a commonly accepted definition in the community. The focus is on the context of mobile and fixed network operators, but also on measurements of different layers (network, application, user layer). In addition, the white paper shows the value of crowdsourcing for selected use cases, e.g., to improve QoE or regulatory issues. Finally, the major challenges and issues for researchers and practitioners are highlighted. This white paper is the outcome of the Würzburg seminar on “Crowdsourced Network and QoE Measurements” which took place from 25-26 September 2019 in Würzburg, Germany. International experts were invited from industry and academia. They are well known in their communities, having different backgrounds in crowdsourcing, mobile networks, network measurements, network performance, Quality of Service (QoS), and Quality of Experience (QoE). The discussions in the seminar focused on how crowdsourcing will support vendors, operators, and regulators to determine the Quality of Experience in new 5G networks that enable various new applications and network architectures. As a result of the discussions, the need for a white paper manifested, with the goal of providing a scientific discussion of the terms “crowdsourced network measurements” and “crowdsourced QoE measurements”, describing relevant use cases for such crowdsourced data, and its underlying challenges. During the seminar, those main topics were identified, intensively discussed in break-out groups, and brought back into the plenum several times. The outcome of the seminar is this white paper at hand which is – to our knowledge – the first one covering the topic of crowdsourced network and QoE measurements. KW - Crowdsourcing KW - Network Measurements KW - Quality of Service (QoS) KW - Quality of Experience (QoE) KW - crowdsourced network measurements KW - crowdsourced QoE measurements Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-202327 ER - TY - THES A1 - Karch, Oliver T1 - Where am I? - Indoor localization based on range measurements T1 - Wo bin ich? - Lokalisation mit Hilfe von Entfernungsmesswerten N2 - Nowadays, robotics plays an important role in increasing fields of application. There exist many environments or situations where mobile robots instead of human beings are used, since the tasks are too hazardous, uncomfortable, repetitive, or costly for humans to perform. The autonomy and the mobility of the robot are often essential for a good solution of these problems. Thus, such a robot should at least be able to answer the question "Where am I?". This thesis investigates the problem of self-localizing a robot in an indoor environment using range measurements. That is, a robot equipped with a range sensor wakes up inside a building and has to determine its position using only its sensor data and a map of its environment. We examine this problem from an idealizing point of view (reducing it into a pure geometric one) and further investigate a method of Guibas, Motwani, and Raghavan from the field of computational geometry to solving it. Here, so-called visibility skeletons, which can be seen as coarsened representations of visibility polygons, play a decisive role. In the major part of this thesis we analyze the structures and the occurring complexities in the framework of this scheme. It turns out that the main source of complication are so-called overlapping embeddings of skeletons into the map polygon, for which we derive some restrictive visibility constraints. Based on these results we are able to improve one of the occurring complexity bounds in the sense that we can formulate it with respect to the number of reflex vertices instead of the total number of map vertices. This also affects the worst-case bound on the preprocessing complexity of the method. The second part of this thesis compares the previous idealizing assumptions with the properties of real-world environments and discusses the occurring problems. In order to circumvent these problems, we use the concept of distance functions, which model the resemblance between the sensor data and the map, and appropriately adapt the above method to the needs of realistic scenarios. In particular, we introduce a distance function, namely the polar coordinate metric, which seems to be well suited to the localization problem. Finally, we present the RoLoPro software where most of the discussed algorithms are implemented (including the polar coordinate metric). N2 - Heutzutage spielen autonome Roboter bei einer wachsenden Zahl von Anwendungsgebieten eine entscheidende Rolle. Sie werden überall dort anstelle von menschlichen Arbeitskräften eingesetzt, wo die jeweiligen Aufgaben für Menschen zu gefährlich, unangenehm, monoton oder schlicht zu teuer sind. Dabei sind die Autonomie und Mobilität des Roboters sehr oft grundlegend für eine gute Problemlösung. Ein solcher Roboter sollte also zumindest die Frage "Wo bin ich?" zufriedenstellend beantworten können. Diese Arbeit behandelt das Problem der Selbstlokalisation in einer Gebäudeumgebung mit Hilfe von Entfernungsmesswerten. Das heißt, ein Roboter - ausgestattet mit einem Entfernungssensor - wacht innerhalb eines Gebäudes auf und muss mit Hilfe seiner Sensordaten und einer Karte seiner Einsatzumgebung seine Position bestimmen. Wir betrachten eine idealisierte Variante dieser Aufgabe, die ein rein geometrisches Problem zum Inhalt hat, und untersuchen ein Verfahren von Guibas, Motwani und Raghavan aus dem Gebiet der Algorithmischen Geometrie, welches dieses löst. Hierbei spielen sogenannte Sichtbarkeitsskelette (vergröberte Darstellungen von Sichtbarkeitspolygonen) eine entscheidende Rolle. Im Hauptteil der Arbeit analysieren wir die Strukturen und die auftretenden Komplexitäten im Rahmen dieses Verfahrens. Es stellt sich heraus, dass die Hauptschwierigkeiten sogenannte überlappende Einbettungen von Skeletten in das Kartenpolygon zur Ursache haben, für die wir einige einschränkende Sichtbarkeitsbedingungen zeigen. Gestützt auf diese Resultate können wir die auftretenden Komplexitätsschranken dahingehend verbessern, dass wir diese nicht nur in Abhängigkeit der Gesamtzahl aller Kartenecken angeben, sondern in Abhängigkeit der Zahl der konkaven Ecken. Dies hat ebenfalls Auswirkungen auf die Worst-Case-Schranken für die Preprocessing-Komplexität des Verfahrens. Der zweite Teil der Arbeit vergleicht die anfangs gemachten idealisierenden Annahmen mit den Gegebenheiten realer Umgebungen und adressiert die auftretenden Probleme. Um diese zu umgehen verwenden wir das Konzept sogenannter Distanzfunktionen, welche die Ähnlichkeit zwischen den Sensordaten und der Karte modellieren, und passen das Verfahren auf geeignete Weise an die Bedürfnisse realistischer Szenarien an. Insbesondere führen wir eine Distanzfunktion ein - die Polarkoordinatenmetrik - welche sich für das Lokalisationsproblem besonders gut zu eignen scheint. Schlussendlich stellen wir die Software RoLoPro vor, in der die meisten der diskutierten Algorithmen (einschließlich der Polarkoordinatenmetrik) implementiert sind. KW - Autonomer Roboter KW - Mobiler Roboter KW - Lokalisation KW - Lokalisation KW - Autonomer Roboter KW - Sichtbarkeit KW - Ähnlichkeitsmaß KW - Algorithmische Geometrie KW - Localization KW - Autonomous Robot KW - Visibility KW - Similarity Measure KW - Computational Geometry Y1 - 2002 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-8442 ER - TY - JOUR A1 - Gageik, Nils A1 - Strohmeier, Michael A1 - Montenegro, Sergio T1 - Waypoint flight parameter comparison of an autonomous UAV JF - International Journal of Artificial Intelligence & Applications (IJAIA) N2 - The present paper compares the effect of different waypoint parameters on the flight performance of a special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for reaching a waypoint as well as the maximal waypoint step size or block size. The effect of these parameters on the flight time and accuracy of the flight path is investigated. Therefore the paper addresses how the acceptance threshold and step size influence the speed and accuracy of the autonomous flight and thus influence the performance of the presented autonomous quadrocopter under real indoor navigation circumstances. Furthermore the paper demonstrates a drawback of the standard potential field method for navigation of such autonomous quadrocopters and points to an improvement. KW - autonomous UAV KW - Quadrocopter KW - Quadrotor KW - waypoint parameter KW - navigation Y1 - 2013 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-96833 ER - TY - RPRT A1 - Großmann, Marcel A1 - Le, Duy Thanh T1 - Visualization of Network Emulation Enabled by Kathará T2 - KuVS Fachgespräch - Würzburg Workshop on Modeling, Analysis and Simulation of Next-Generation Communication Networks 2023 (WueWoWAS’23) N2 - In network research, reproducibility of experiments is not always easy to achieve. Infrastructures are cumbersome to set up or are not available due to vendor-specific devices. Emulators try to overcome those issues to a given extent and are available in different service models. Unfortunately, the usability of emulators requires time-consuming efforts and a deep understanding of their functionality. At first, we analyze to which extent currently available open-source emulators support network configurations and how user-friendly they are. With these insights, we describe, how an ease-to-use emulator is implemented and may run as a Network Emulator as a Service (NEaaS). Therefore, virtualization plays a major role in order to deploy a NEaaS based on Kathará. KW - Network Emulator KW - Visualized Kathará KW - Containerization Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-322189 ER - TY - RPRT A1 - Lhamo, Osel A1 - Nguyen, Giang T. A1 - Fitzek, Frank H. P. T1 - Virtual Queues for QoS Compliance of Haptic Data Streams in Teleoperation T2 - Würzburg Workshop on Next-Generation Communication Networks (WueWoWas'22) N2 - Tactile Internet aims at allowing perceived real-time interactions between humans and machines. This requires satisfying a stringent latency requirement of haptic data streams whose data rates vary drastically as the results of perceptual codecs. This introduces a complex problem for the underlying network infrastructure to fulfill the pre-defined level of Quality of Service (QoS). However, novel networking hardware with data plane programming capability allows processing packets differently and opens up a new opportunity. For example, a dynamic and network-aware resource management strategy can help satisfy the QoS requirements of different priority flows without wasting precious bandwidth. This paper introduces virtual queues for service differentiation between different types of traffic streams, leveraging protocol independent switch architecture (PISA). We propose coordinating the management of all the queues and dynamically adapting their sizes to minimize packet loss and delay due to network congestion and ensure QoS compliance. KW - Datennetz KW - data plane programming KW - software defined network KW - P4 KW - virtual queue KW - haptic data Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-280762 ER - TY - RPRT A1 - Bösch, Carolin A1 - Stieler, Malena A1 - Lydon, Salomon A1 - Hesse, Martin A1 - Ali, Hassan A1 - Finzel, Matthias A1 - Faraz Ali, Syed A1 - Salian, Yash A1 - Alnoor, Hiba A1 - John, Jeena A1 - Lakkad, Harsh A1 - Bhosale, Devraj A1 - Jafarian, Timon A1 - Parvathi, Uma A1 - Ezzatpoor, Narges A1 - Datar, Tanuja T1 - Venus Research Station N2 - Because of the extreme conditions in the atmosphere, Venus has been less explored than for example Mars. Only a few probes have been able to survive on the surface for very short periods in the past and have sent data. The atmosphere is also far from being fully explored. It could even be that building blocks of life can be found in more moderate layers of the planet’s atmosphere. It can therefore be assumed that the planet Venus will increasingly become a focus of exploration. One way to collect significantly more data in situ is to build and operate an atmospheric research station over an extended period of time. This could carry out measurements at different positions and at different times and thus significantly expand our knowledge of the planet. In this work, the design of a Venus Research Station floating within the Venusian atmosphere is presented, which is complemented by the design of deployable atmospheric Scouts. The design of these components is done on a conceptual basis. T3 - Raumfahrttechnik und Extraterrestrik - 4 KW - Venus KW - Research Station Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-328695 SN - 2747-9374 ER - TY - RPRT A1 - Riegler, Clemens A1 - Kayal, Hakan T1 - VELEX: Venus Lightning Experiment N2 - 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. T3 - Raumfahrttechnik und Extraterrestrik - 3 KW - Venus KW - Lightning KW - CubeSat KW - Balloon KW - Autorotation Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-282481 ER - TY - JOUR A1 - Wamser, Florian A1 - Seufert, Anika A1 - Hall, Andrew A1 - Wunderer, Stefan A1 - Hoßfeld, Tobias T1 - Valid statements by the crowd: statistical measures for precision in crowdsourced mobile measurements JF - Network N2 - Crowdsourced network measurements (CNMs) are becoming increasingly popular as they assess the performance of a mobile network from the end user's perspective on a large scale. Here, network measurements are performed directly on the end-users' devices, thus taking advantage of the real-world conditions end-users encounter. However, this type of uncontrolled measurement raises questions about its validity and reliability. The problem lies in the nature of this type of data collection. In CNMs, mobile network subscribers are involved to a large extent in the measurement process, and collect data themselves for the operator. The collection of data on user devices in arbitrary locations and at uncontrolled times requires means to ensure validity and reliability. To address this issue, our paper defines concepts and guidelines for analyzing the precision of CNMs; specifically, the number of measurements required to make valid statements. In addition to the formal definition of the aspect, we illustrate the problem and use an extensive sample data set to show possible assessment approaches. This data set consists of more than 20.4 million crowdsourced mobile measurements from across France, measured by a commercial data provider. KW - mobile networks KW - crowdsourced measurements KW - statistical validity Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-284154 SN - 2673-8732 VL - 1 IS - 2 SP - 215 EP - 232 ER - TY - JOUR A1 - Kramer, Alexander A1 - Bangert, Philip A1 - Schilling, Klaus T1 - UWE-4: First Electric Propulsion on a 1U CubeSat — In-Orbit Experiments and Characterization JF - Aerospace N2 - The electric propulsion system NanoFEEP was integrated and tested in orbit on the UWE-4 satellite, which marks the first successful demonstration of an electric propulsion system on board a 1U CubeSat. In-orbit characterization measurements of the heating process of the propellant and the power consumption of the propulsion system at different thrust levels are presented. Furthermore, an analysis of the thrust vector direction based on its effect on the attitude of the spacecraft is described. The employed heater liquefies the propellant for a duration of 30 min per orbit and consumes 103 ± 4 mW. During this time, the respective thruster can be activated. The propulsion system including one thruster head, its corresponding heater, the neutralizer and the digital components of the power processing unit consume 8.5 ± 0.1 mW ⋅μ A\(^{−1}\) + 184 ± 8.5 mW and scales with the emitter current. The estimated thrust directions of two thruster heads are at angles of 15.7 ± 7.6∘ and 13.2 ± 5.5∘ relative to their mounting direction in the CubeSat structure. In light of the very limited power on a 1U CubeSat, the NanoFEEP propulsion system renders a very viable option. The heater of subsequent NanoFEEP thrusters was already improved, such that the system can be activated during the whole orbit period. KW - CubeSat KW - UWE-4 KW - electric propulsion KW - NanoFEEP KW - power consumption KW - thrust direction KW - characterization KW - in-orbit experiments Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-236124 VL - 7 IS - 7 ER - TY - RPRT A1 - Mazigh, Sadok Mehdi A1 - Beausencourt, Marcel A1 - Bode, Max Julius A1 - Scheffler, Thomas T1 - Using P4-INT on Tofino for Measuring Device Performance Characteristics in a Network Lab T2 - KuVS Fachgespräch - Würzburg Workshop on Modeling, Analysis and Simulation of Next-Generation Communication Networks 2023 (WueWoWAS’23) N2 - This paper presents a prototypical implementation of the In-band Network Telemetry (INT) specification in P4 and demonstrates a use case, where a Tofino Switch is used to measure device and network performance in a lab setting. This work is based on research activities in the area of P4 data plane programming conducted at the network lab of HTW Berlin. KW - P4-INT Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-322084 ER - TY - JOUR A1 - Liman, Leon A1 - May, Bernd A1 - Fette, Georg A1 - Krebs, Jonathan A1 - Puppe, Frank T1 - Using a clinical data warehouse to calculate and present key metrics for the radiology department: implementation and performance evaluation JF - JMIR Medical Informatics N2 - Background: Due to the importance of radiologic examinations, such as X-rays or computed tomography scans, for many clinical diagnoses, the optimal use of the radiology department is 1 of the primary goals of many hospitals. Objective: This study aims to calculate the key metrics of this use by creating a radiology data warehouse solution, where data from radiology information systems (RISs) can be imported and then queried using a query language as well as a graphical user interface (GUI). Methods: Using a simple configuration file, the developed system allowed for the processing of radiology data exported from any kind of RIS into a Microsoft Excel, comma-separated value (CSV), or JavaScript Object Notation (JSON) file. These data were then imported into a clinical data warehouse. Additional values based on the radiology data were calculated during this import process by implementing 1 of several provided interfaces. Afterward, the query language and GUI of the data warehouse were used to configure and calculate reports on these data. For the most common types of requested reports, a web interface was created to view their numbers as graphics. Results: The tool was successfully tested with the data of 4 different German hospitals from 2018 to 2021, with a total of 1,436,111 examinations. The user feedback was good, since all their queries could be answered if the available data were sufficient. The initial processing of the radiology data for using them with the clinical data warehouse took (depending on the amount of data provided by each hospital) between 7 minutes and 1 hour 11 minutes. Calculating 3 reports of different complexities on the data of each hospital was possible in 1-3 seconds for reports with up to 200 individual calculations and in up to 1.5 minutes for reports with up to 8200 individual calculations. Conclusions: A system was developed with the main advantage of being generic concerning the export of different RISs as well as concerning the configuration of queries for various reports. The queries could be configured easily using the GUI of the data warehouse, and their results could be exported into the standard formats Excel and CSV for further processing. KW - data warehouse KW - eHealth KW - hospital data KW - electronic health records KW - radiology KW - statistics and numerical data KW - medical records Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-349411 SN - 2291-9694 VL - 11 ER - TY - JOUR A1 - Loh, Frank A1 - Poignée, Fabian A1 - Wamser, Florian A1 - Leidinger, Ferdinand A1 - Hoßfeld, Tobias T1 - Uplink vs. Downlink: Machine Learning-Based Quality Prediction for HTTP Adaptive Video Streaming JF - Sensors N2 - Streaming video is responsible for the bulk of Internet traffic these days. For this reason, Internet providers and network operators try to make predictions and assessments about the streaming quality for an end user. Current monitoring solutions are based on a variety of different machine learning approaches. The challenge for providers and operators nowadays is that existing approaches require large amounts of data. In this work, the most relevant quality of experience metrics, i.e., the initial playback delay, the video streaming quality, video quality changes, and video rebuffering events, are examined using a voluminous data set of more than 13,000 YouTube video streaming runs that were collected with the native YouTube mobile app. Three Machine Learning models are developed and compared to estimate playback behavior based on uplink request information. The main focus has been on developing a lightweight approach using as few features and as little data as possible, while maintaining state-of-the-art performance. KW - HTTP adaptive video streaming KW - quality of experience prediction KW - machine learning Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-241121 SN - 1424-8220 VL - 21 IS - 12 ER - TY - THES A1 - Dannemann, Frank T1 - Unified Monitoring of Spacecrafts T1 - Vereinheitlichte Überwachung von Raumfahrzeugen N2 - Within this thesis a new philosophy in monitoring spacecrafts is presented: the unification of the various kinds of monitoring techniques used during the different lifecylce phases of a spacecraft. The challenging requirements being set for this monitoring framework are: - "separation of concerns" as a design principle (dividing the steps of logging from registered sources, sending to connected sinks and displaying of information), - usage during all mission phases, - usage by all actors (EGSE engineers, groundstation operators, etc.), - configurable at runtime, especially regarding the level of detail of logging information, and - very low resource consumption. First a prototype of the monitoring framework was developed as a support library for the real-time operating system RODOS. This prototype was tested on dedicated hardware platforms relevant for space, and also on a satellite demonstrator used for educational purposes. As a second step, the results and lessons learned from the development and usage of this prototype were transfered to a real space mission: the first satellite of the DLR compact satellite series - a space based platform for DLR's own research activities. Within this project, the software of the avionic subsystem was supplemented by a powerful logging component, which enhances the traditional housekeeping capabilities and offers extensive filtering and debugging techniques for monitoring and FDIR needs. This logging component is the major part of the flight version of the monitoring framework. It is completed by counterparts running on the development computers and as well as the EGSE hardware in the integration room, making it most valuable already in the earliest stages of traditional spacecraft development. Future plans in terms of adding support from the groundstation as well will lead to a seamless integration of the monitoring framework not only into to the spacecraft itself, but into the whole space system. N2 - Im Rahmen dieser Arbeit wird eine neue Philosophie der Überwachung von Raumfahrzeugen vorgestellt: die Vereinigung der verschiedenen Arten von Überwachungstechniken, die während der verschiedenen Entwicklungsphasen eines Raumfahrzeuges verwendet werden. Die Anforderungen an dieses Monitoring Framework sind: - "Separation of Concerns" als Designprinzip, - Nutzung während aller Missionsphasen, - Nutzung durch alle beteiligten Akteure, - Konfigurierbarkeit zur Laufzeit, insbesondere in Bezug auf die Detailebene der Protokollierung, und - sehr niedriger Ressourcenverbrauch. Zunächst wird ein Prototyp des Frameworks als Support-Bibliothek für das Echtzeit-Betriebssystem RODOS entwickelt. Dieser Prototyp wurde auf dedizierten Raumfahrt-relevanten Hardware-Plattformen und auf einem Satelliten-Demonstrator getestet. In einem zweiten Schritt werden die Ergebnisse und Erfahrungen aus der Entwicklung und Nutzung dieses Prototypen auf eine echte Weltraummission übertragen: den ersten Satelliten der DLR Kompakt-Satelliten-Serie. Im Rahmen dieses Projektes wird die Software des Avionik-Subsystems durch eine leistungsstarke Logging-Komponente ergänzt, die das traditionelle Housekeeping erweitert und umfangreiche Filter- und Debugging-Techniken für die Überwachung und Analyse bereitstellt. Diese Logging-Komponente bildet den Hauptteil der Flug-Version des Frameworks. Sie wird ergänzt durch entsprechende Auswerte- und Konfigurations-Software, die auf den jeweiligen Entwicklungscomputern bzw. dem EGSE-Equipment im Integrationsraum ausgeführt wird. Hierdurch kommt das Unified Monitoring Framework bereits in sehr frühen Phasen der Entwicklung eines Raumfahrzeuges zum Einsatz. Zukünftige Pläne in Bezug auf die Einbettung der bodengebundenen Bestandteile des Frameworks in die Infrastruktur der Bodenstation führen letztlich zu einer nahtlosen Integration in das operationelle Szenario. KW - Raumfahrzeug KW - Überwachungstechnik KW - Monitoring KW - Software KW - Unified Monitoring KW - Spacecrafts KW - Logging KW - Onboard Y1 - 2015 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-115934 ER - TY - THES A1 - Bleier, Michael T1 - Underwater Laser Scanning - Refractive Calibration, Self-calibration and Mapping for 3D Reconstruction T1 - Laserscanning unter Wasser - Refraktive Kalibrierung, Selbstkalibrierung und Kartierung zur 3D Rekonstruktion N2 - There is great interest in affordable, precise and reliable metrology underwater: Archaeologists want to document artifacts in situ with high detail. In marine research, biologists require the tools to monitor coral growth and geologists need recordings to model sediment transport. Furthermore, for offshore construction projects, maintenance and inspection millimeter-accurate measurements of defects and offshore structures are essential. While the process of digitizing individual objects and complete sites on land is well understood and standard methods, such as Structure from Motion or terrestrial laser scanning, are regularly applied, precise underwater surveying with high resolution is still a complex and difficult task. Applying optical scanning techniques in water is challenging due to reduced visibility caused by turbidity and light absorption. However, optical underwater scanners provide significant advantages in terms of achievable resolution and accuracy compared to acoustic systems. This thesis proposes an underwater laser scanning system and the algorithms for creating dense and accurate 3D scans in water. It is based on laser triangulation and the main optical components are an underwater camera and a cross-line laser projector. The prototype is configured with a motorized yaw axis for capturing scans from a tripod. Alternatively, it is mounted to a moving platform for mobile mapping. The main focus lies on the refractive calibration of the underwater camera and laser projector, the image processing and 3D reconstruction. For highest accuracy, the refraction at the individual media interfaces must be taken into account. This is addressed by an optimization-based calibration framework using a physical-geometric camera model derived from an analytical formulation of a ray-tracing projection model. In addition to scanning underwater structures, this work presents the 3D acquisition of semi-submerged structures and the correction of refraction effects. As in-situ calibration in water is complex and time-consuming, the challenge of transferring an in-air scanner calibration to water without re-calibration is investigated, as well as self-calibration techniques for structured light. The system was successfully deployed in various configurations for both static scanning and mobile mapping. An evaluation of the calibration and 3D reconstruction using reference objects and a comparison of free-form surfaces in clear water demonstrate the high accuracy potential in the range of one millimeter to less than one centimeter, depending on the measurement distance. Mobile underwater mapping and motion compensation based on visual-inertial odometry is demonstrated using a new optical underwater scanner based on fringe projection. Continuous registration of individual scans allows the acquisition of 3D models from an underwater vehicle. RGB images captured in parallel are used to create 3D point clouds of underwater scenes in full color. 3D maps are useful to the operator during the remote control of underwater vehicles and provide the building blocks to enable offshore inspection and surveying tasks. The advancing automation of the measurement technology will allow non-experts to use it, significantly reduce acquisition time and increase accuracy, making underwater metrology more cost-effective. N2 - Das Interesse an präziser, zuverlässiger und zugleich kostengünstiger Unterwassermesstechnik ist groß. Beispielsweise wollen Archäologen Artefakte in situ mit hoher Detailtreue dokumentieren und in der Meeresforschung benötigen Biologen Messwerkzeuge zur Beobachtung des Korallenwachstums. Auch Geologen sind auf Messdaten angewiesen, um Sedimenttransporte zu modellieren. Darüber hinaus ist für die Errichtung von Offshore-Bauwerken, sowie deren Wartung und Inspektion eine millimetergenaue Vermessung von vorhandenen Strukturen und Defekten unerlässlich. Während die Digitalisierung einzelner Objekte und ganzer Areale an Land gut erforscht ist und verschiedene Standardmethoden, wie zum Beispiel Structure from Motion oder terrestrisches Laserscanning, regelmäßig eingesetzt werden, ist die präzise und hochauflösende Unterwasservermessung nach wie vor eine komplexe und schwierige Aufgabe. Die Anwendung optischer Messtechnik im Wasser ist aufgrund der eingeschränkten Sichttiefe durch Trübung und Lichtabsorption eine Herausforderung. Optische Unterwasserscanner bieten jedoch Vorteile hinsichtlich der erreichbaren Auflösung und Genauigkeit gegenüber akustischen Systemen. In dieser Arbeit werden ein Unterwasser-Laserscanning-System und die Algorithmen zur Erzeugung von 3D-Scans mit hoher Punktdichte im Wasser vorgestellt. Es basiert auf Lasertriangulation und die optischen Hauptkomponenten sind eine Unterwasserkamera und ein Kreuzlinienlaserprojektor. Das System ist mit einer motorisierten Drehachse ausgestattet, um Scans von einem Stativ aus aufzunehmen. Alternativ kann es von einer beweglichen Plattform aus für mobile Kartierung eingesetzt werden. Das Hauptaugenmerk liegt auf der refraktiven Kalibrierung der Unterwasserkamera und des Laserprojektors, der Bildverarbeitung und der 3D-Rekonstruktion. Um höchste Genauigkeit zu erreichen, muss die Brechung an den einzelnen Medienübergängen berücksichtigt werden. Dies wird durch ein physikalisch-geometrisches Kameramodell, das auf einer analytischen Beschreibung der Strahlenverfolgung basiert, und ein optimierungsbasiertes Kalibrierverfahren erreicht. Neben dem Scannen von Unterwasserstrukturen wird in dieser Arbeit auch die 3D-Erfassung von teilweise im Wasser befindlichen Strukturen und die Korrektur der dabei auftretenden Brechungseffekte vorgestellt. Da die Kalibrierung im Wasser komplex und zeitintensiv ist, wird die Übertragung einer Kalibrierung des Scanners in Luft auf die Bedingungen im Wasser ohne Neukalibrierung, sowie die Selbstkalibrierung für Lichtschnittverfahren untersucht. Das System wurde in verschiedenen Konfigurationen sowohl für statisches Scannen als auch für die mobile Kartierung erfolgreich eingesetzt. Die Validierung der Kalibrierung und der 3D-Rekonstruktion anhand von Referenzobjekten und der Vergleich von Freiformflächen in klarem Wasser zeigen das hohe Genauigkeitspotenzial im Bereich von einem Millimeter bis weniger als einem Zentimeter in Abhängigkeit von der Messdistanz. Die mobile Unterwasserkartierung und Bewegungskompensation anhand visuell-inertialer Odometrie wird mit einem neuen optischen Unterwasserscanner auf Basis der Streifenprojektion demonstriert. Dabei ermöglicht die kontinuierliche Registrierung von Einzelscans die Erfassung von 3D-Modellen von einem Unterwasserfahrzeug aus. Mit Hilfe von parallel aufgenommenen RGB-Bildern werden dabei farbige 3D-Punktwolken der Unterwasserszenen erstellt. Diese 3D-Karten dienen beispielsweise dem Bediener bei der Fernsteuerung von Unterwasserfahrzeugen und bilden die Grundlage für Offshore-Inspektions- und Vermessungsaufgaben. Die fortschreitende Automatisierung der Messtechnik wird somit auch eine Verwendung durch Nichtfachleute ermöglichen und gleichzeitig die Erfassungszeit erheblich verkürzen und die Genauigkeit verbessern, was die Vermessung im Wasser kostengünstiger und effizienter macht. T3 - Forschungsberichte in der Robotik = Research Notes in Robotics - 28 KW - Selbstkalibrierung KW - Punktwolke KW - Bildverarbeitung KW - 3D Reconstruction KW - Self-calibration KW - Underwater Scanning KW - Underwater Mapping KW - Dreidimensionale Rekonstruktion KW - 3D-Rekonstruktion Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-322693 SN - 978-3-945459-45-4 ER - TY - JOUR A1 - Bräuer-Burchardt, Christian A1 - Munkelt, Christoph A1 - Bleier, Michael A1 - Heinze, Matthias A1 - Gebhart, Ingo A1 - Kühmstedt, Peter A1 - Notni, Gunther T1 - Underwater 3D scanning system for cultural heritage documentation JF - Remote Sensing N2 - Three-dimensional capturing of underwater archeological sites or sunken shipwrecks can support important documentation purposes. In this study, a novel 3D scanning system based on structured illumination is introduced, which supports cultural heritage documentation and measurement tasks in underwater environments. The newly developed system consists of two monochrome measurement cameras, a projection unit that produces aperiodic sinusoidal fringe patterns, two flashlights, a color camera, an inertial measurement unit (IMU), and an electronic control box. The opportunities and limitations of the measurement principles of the 3D scanning system are discussed and compared to other 3D recording methods such as laser scanning, ultrasound, and photogrammetry, in the context of underwater applications. Some possible operational scenarios concerning cultural heritage documentation are introduced and discussed. A report on application activities in water basins and offshore environments including measurement examples and results of the accuracy measurements is given. The study shows that the new 3D scanning system can be used for both the topographic documentation of underwater sites and to generate detailed true-scale 3D models including the texture and color information of objects that must remain under water. KW - underwater 3D scanning KW - structured light illumination KW - object reconstruction KW - 3D model generation KW - site mapping Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-311116 SN - 2072-4292 VL - 15 IS - 7 ER - TY - RPRT A1 - Grigorjew, Alexej A1 - Schumann, Lukas Kilian A1 - Diederich, Philip A1 - Hoßfeld, Tobias A1 - Kellerer, Wolfgang T1 - Understanding the Performance of Different Packet Reception and Timestamping Methods in Linux T2 - KuVS Fachgespräch - Würzburg Workshop on Modeling, Analysis and Simulation of Next-Generation Communication Networks 2023 (WueWoWAS’23) N2 - This document briefly presents some renowned packet reception techniques for network packets in Linux systems. Further, it compares their performance when measuring packet timestamps with respect to throughput and accuracy. Both software and hardware timestamps are compared, and various parameters are examined, including frame size, link speed, network interface card, and CPU load. The results indicate that hardware timestamping offers significantly better accuracy with no downsides, and that packet reception techniques that avoid system calls offer superior measurement throughput. KW - packet reception method KW - timestamping method KW - Linux Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-322064 ER - TY - THES A1 - Becker, Martin T1 - Understanding Human Navigation using Bayesian Hypothesis Comparison T1 - Verstehen menschlichen Navigationsverhaltens mit hypothesengetriebenen Bayes'schen Methoden N2 - Understanding human navigation behavior has implications for a wide range of application scenarios. For example, insights into geo-spatial navigation in urban areas can impact city planning or public transport. Similarly, knowledge about navigation on the web can help to improve web site structures or service experience. In this work, we focus on a hypothesis-driven approach to address the task of understanding human navigation: We aim to formulate and compare ideas — for example stemming from existing theory, literature, intuition, or previous experiments — based on a given set of navigational observations. For example, we may compare whether tourists exploring a city walk “short distances” before taking their next photo vs. they tend to "travel long distances between points of interest", or whether users browsing Wikipedia "navigate semantically" vs. "click randomly". For this, the Bayesian method HypTrails has recently been proposed. However, while HypTrails is a straightforward and flexible approach, several major challenges remain: i) HypTrails does not account for heterogeneity (e.g., incorporating differently behaving user groups such as tourists and locals is not possible), ii) HypTrails does not support the user in conceiving novel hypotheses when confronted with a large set of possibly relevant background information or influence factors, e.g., points of interest, popularity of locations, time of the day, or user properties, and finally iii) formulating hypotheses can be technically challenging depending on the application scenario (e.g., due to continuous observations or temporal constraints). In this thesis, we address these limitations by introducing various novel methods and tools and explore a wide range of case studies. In particular, our main contributions are the methods MixedTrails and SubTrails which specifically address the first two limitations: MixedTrails is an approach for hypothesis comparison that extends the previously proposed HypTrails method to allow formulating and comparing heterogeneous hypotheses (e.g., incorporating differently behaving user groups). SubTrails is a method that supports hypothesis conception by automatically discovering interpretable subgroups with exceptional navigation behavior. In addition, our methodological contributions also include several tools consisting of a distributed implementation of HypTrails, a web application for visualizing geo-spatial human navigation in the context of background information, as well as a system for collecting, analyzing, and visualizing mobile participatory sensing data. Furthermore, we conduct case studies in many application domains, which encompass — among others — geo-spatial navigation based on photos from the photo-sharing platform Flickr, browsing behavior on the social tagging system BibSonomy, and task choosing behavior on a commercial crowdsourcing platform. In the process, we develop approaches to cope with application specific subtleties (like continuous observations and temporal constraints). The corresponding studies illustrate the variety of domains and facets in which navigation behavior can be studied and, thus, showcase the expressiveness, applicability, and flexibility of our methods. Using these methods, we present new aspects of navigational phenomena which ultimately help to better understand the multi-faceted characteristics of human navigation behavior. N2 - Menschliches Navigationsverhalten zu verstehen, kann in einer Reihe von Anwendungsgebieten große Fortschritte bringen. Zum Beispiel können Einblicke in räumliche Navigation, wie etwa in Innenstädten, dabei helfen Infrastrukturen und öffentliche Verkehrsmittel besser abzustimmen. Genauso kann Wissen über das Navigationsverhalten von Benutzern im Internet, Entwickler dabei unterstützen Webseiten besser zu strukturieren oder generell die Benutzererfahrung zu verbessern. In dieser Arbeit konzentrieren wir uns auf einen Hypothesen-getriebenen Ansatz, um menschliches Navigationsverhalten zu verstehen. Das heißt, wir formulieren und vergleichen Hypothesen basierend auf beobachteten Navigationspfaden. Diese Hypothesen basieren zumeist auf existierenden Theorien, Literatur, vorherigen Experimenten oder Intuition. Beispielsweise kann es interessant sein zu vergleichen, ob Touristen, die eine Stadt erkunden, eher zu nahegelegenen Sehenswürdigkeiten laufen, als vornehmlich große Strecken zurückzulegen. Weiterhin kann man in Online-Szenarien vergleichen, ob Benutzer zum Beispiel auf Wikipedia eher semantisch navigieren, als zufällig Artikel anzusurfen. Für diese Szenarien wurde HypTrails entwickelt, ein Bayes’scher Ansatz zum Vergleich von Navigationshypothesen. Doch obwohl HypTrails eine einfach zu benutzende und sehr flexible Methode darstellt, hat es einige deutliche Schwachstellen: Zum einen kann HypTrails keine heterogenen Prozesse modellieren (z.B., um das Verhalten von ver- schiedenen Nutzergruppen, wie etwa von Touristen und Einheimischen, zu unterscheiden). Außerdem bietet HypTrails dem Benutzer keine Unterstützung bei der Entwicklung neuer Hypothesen. Dies stellt vor allem in Kombination mit großen Mengen an Hintergrundinformationen und anderen Einflussgrößen (z.B., Sehenswürdigkeiten, Beliebtheit von Orten, Tageszeiten, oder verschieden Benutzereigenschaften) eine große Herausforderung dar. Außerdem kann sich das Formulieren von adäquaten Hypothesen abhängig vom Anwendungsszenario als schwierig erweisen (z.B. aufgrund von kontinuierlichen, räumlichen Koordinaten oder zeitlichen Nebenbedingungen). In dieser Arbeit setzen wir an eben jenen Problemstellungen an. Unsere Hauptbeiträge bestehen dabei aus den Ansätzen MixedTrails und SubTrails, die vor allem die ersten beiden genannten Schwachstellen adressieren: MixedTrails stellt einen Ansatz zum Vergleich von Hypothesen dar, der auf HypTrails basiert, es aber ermöglicht heterogene Hypothesen zu formulieren und zu vergleichen (z.B., bei Benutzergruppen mit unterschiedlichem Bewegungsverhalten). Während SubTrails eine Methode darstellt, die das Entwickeln neuer Hypothesen unterstützt, indem es die automatische Entdeckung von interpretierbaren Subgruppen mit außergewöhnlichen Bewegungscharakteristiken ermöglicht. Weiterhin, stellen wir eine verteitle und hochparallele Implementierung von HypTrails, ein Werkzeug zur Visualisierung von räumlicher Navigation zusammen mit Hintergrundinformationen, sowie ein System zur Sammlung, Analyse und Visualisierung von Daten aus dem Bereich des Participatory Sensing vor. Schließlich, führen wir mehrere Studien in verschiedenen Anwendungsbereichen durch. Wir untersuchen etwa räumliche Navigation basierend auf Photos der Onlineplattform Flickr, Browsing-Verhalten der Nutzer auf dem Verschlagwortungssystem BibSonomy, und das Arbeitsverhalten von Nutzern einer kommerziellen Crowdsourcing-Plattform. Dabei entwickeln wir mehrere Ansätze, um mit den Eigenheiten der spezifischen Szenarien umgehen zu können (wie etwa kontinuierliche räumliche Koordinaten oder zeitliche Nebenbedingungen). Die Ergebnisse zeigen die Vielzahl von Anwendungsgebieten und Facetten, in denen Navigationsverhalten analysiert werden kann, und illustrieren so die Ausdrucksstärke, vielseitige Anwendbarkeit und Flexibilität unserer Methoden. Gleichzeitig, geben wir neue Einblicke in verschiedene Navigationsprozesse und ermöglichen so einen wichtigen Schritt hin zum Verständnis der vielfältigen Ebenen menschlichen Navigationsverhaltens. KW - Bayesian model comparison KW - Bayes-Verfahren KW - Mensch KW - Raumverhalten KW - Hypothesis comparison KW - Model comparison KW - Web navigation KW - Geo-spatial behavior KW - Navigation analysis KW - Räumliches Verhalten KW - Data Science KW - Human behavior KW - Bayes analysis KW - Mobility KW - Mobilität KW - Statistische Hypothese KW - Spatial behavior KW - Social Media Y1 - 2018 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-163522 ER - TY - THES A1 - Drobczyk, Martin T1 - Ultra-Wideband Wireless Network for Enhanced Intra-Spacecraft Communication T1 - Drahtloses Ultra-Breitband-Netzwerk für verbesserte Intra-Spacecraft-Kommunikation N2 - Wireless communication networks already comprise an integral part of both the private and industrial sectors and are successfully replacing existing wired networks. They enable the development of novel applications and offer greater flexibility and efficiency. Although some efforts are already underway in the aerospace sector to deploy wireless communication networks on board spacecraft, none of these projects have yet succeeded in replacing the hard-wired state-of-the-art architecture for intra-spacecraft communication. The advantages are evident as the reduction of the wiring harness saves time, mass, and costs, and makes the whole integration process more flexible. It also allows for easier scaling when interconnecting different systems. This dissertation deals with the design and implementation of a wireless network architecture to enhance intra-spacecraft communications by breaking with the state-of-the-art standards that have existed in the space industry for decades. The potential and benefits of this novel wireless network architecture are evaluated, an innovative design using ultra-wideband technology is presented. It is combined with a Medium Access Control (MAC) layer tailored for low-latency and deterministic networks supporting even mission-critical applications. As demonstrated by the Wireless Compose experiment on the International Space Station (ISS), this technology is not limited to communications but also enables novel positioning applications. To adress the technological challenges, extensive studies have been carried out on electromagnetic compatibility, space radiation, and data robustness. The architecture was evaluated from various perspectives and successfully demonstrated in space. Overall, this research highlights how a wireless network can improve and potentially replace existing state-of-the-art communication systems on board spacecraft in future missions. And it will help to adapt and ultimately accelerate the implementation of wireless networks in space systems. N2 - Drahtlose Kommunikationsnetzwerke sind sowohl im privaten als auch im industriellen Bereich bereits ein fester Bestandteil und ersetzen erfolgreich bestehende drahtgebundene Netzwerke. Sie ermöglichen die Entwicklung neuer Anwendungen und bieten mehr Flexibilität und Effizienz. Obwohl in der Raumfahrt bereits einige Anstrengungen unternommen wurden, um drahtlose Kommunikationsnetzwerke an Bord von Raumfahrzeugen einzusetzen, ist es bisher noch keinem dieser Projekte gelungen, die moderne drahtgebundene Architektur für die Kommunikation innerhalb von Raumfahrzeugen zu ersetzen. Die Vorteile liegen auf der Hand: Die Reduzierung des Kabelbaums spart Zeit, Masse und Kosten und macht den gesamten Integrationsprozess flexibler. Außerdem ist eine einfachere Skalierung möglich, wenn verschiedene Systeme miteinander verbunden werden. Diese Dissertation befasst sich mit dem Entwurf und der Implementierung einer drahtlosen Netzwerkarchitektur zur Verbesserung der Kommunikation innerhalb von Raumfahrzeugen, indem mit den seit Jahrzehnten in der Raumfahrtindustrie bestehenden Standards gebrochen wird. Das Potential und die Vorteile dieser neuartigen drahtlosen Netzwerkarchitektur werden bewertet und ein innovatives Design mit Ultrabreitbandtechnologie wird vorgestellt. Es wird mit einer Medium Access Control (MAC) Schicht kombiniert, die für Netzwerke mit niedriger Latenz und Determinismus ausgelegt ist und sogar missionskritische Anwendungen unterstützt. Wie das Wireless Compose-Experiment auf der Internationalen Raumstation ISS gezeigt hat, ist diese Technologie nicht auf Kommunikation beschränkt, sondern ermöglicht auch neuartige Positionierungsanwendung. Um die technologischen Herausforderungen zu meistern, wurden umfangreiche Studien zur elektromagnetischen Verträglichkeit, Weltraumstrahlung und Robustheit der Daten durchgeführt. Die Architektur wurde aus verschiedenen Blickwinkeln bewertet und erfolgreich im Weltraum demonstriert. Insgesamt zeigt diese Forschung, wie ein drahtloses Netzwerk die bestehenden hochmodernen Kommunikationssysteme an Bord von Raumfahrzeugen bei zukünftigen Missionen verbessern und möglicherweise ersetzen kann. Darüber hinaus wird sie dazu beitragen, die Implementierung von drahtlosen Netzwerken in Raumfahrtsystemen an die jeweiligen Gegebenheiten anzupassen und damit letztlich die Integration dieser Systeme zu beschleunigen. KW - Raumfahrttechnik KW - ISS KW - Funktechnik KW - Ultraweitband KW - Avionik KW - Intra-Spacecraft Communication KW - Localization KW - Wireless Network KW - In-Orbit demonstration Y1 - 2024 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-359564 ER - TY - JOUR A1 - Strohmeier, Michael A1 - Walter, Thomas A1 - Rothe, Julian A1 - Montenegro, Sergio T1 - Ultra-wideband based pose estimation for small unmanned aerial vehicles JF - IEEE Access N2 - This paper proposes a 3-D local pose estimation system for a small Unmanned Aerial Vehicle (UAV) with a weight limit of 200 g and a very small footprint of 10 cm×10cm. The system is realized by fusing 3-D position estimations from an Ultra-Wide Band (UWB) transceiver network with Inertial Measurement Unit (IMU) sensor data and data from a barometric pressure sensor. The 3-D position from the UWB network is estimated using Multi-Dimensional Scaling (MDS) and range measurements between the transceivers. The range measurements are obtained using Double-Sided Two-Way Ranging (DS-TWR), thus eliminating the need for an additional clock synchronization mechanism. The sensor fusion is accomplished using a loosely coupled Extended Kalman Filter (EKF) architecture. Extensive evaluation of the proposed system shows that a position accuracy with a Root-Mean-Square Error (RMSE) of 0.20cm can be obtained. The orientation angle can be estimated with an RMSE of 1.93°. KW - UAV KW - navigation KW - pose estimation KW - distance measurement KW - DecaWave KW - extended Kalman filter KW - UWB Y1 - 2018 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-177503 VL - 6 ER - TY - THES A1 - Freiberg, Martina T1 - UI-, User-, & Usability-Oriented Engineering of Participative Knowledge-Based Systems T1 - UI-, Benutzer-, & Usability-orientierte Entwicklung partizipativer Wissensbasierter Systeme N2 - Knowledge-based systems (KBS) face an ever-increasing interest in various disciplines and contexts. Yet, the former aim to construct the ’perfect intelligent software’ continuously shifts to user-centered, participative solutions. Such systems enable users to contribute their personal knowledge to the problem solving process for increased efficiency and an ameliorated user experience. More precisely, we define non-functional key requirements of participative KBS as: Transparency (encompassing KBS status mediation), configurability (user adaptability, degree of user control/exploration), quality of the KB and UI, and evolvability (enabling the KBS to grow mature with their users). Many of those requirements depend on the respective target users, thus calling for a more user-centered development. Often, also highly expertise domains are targeted — inducing highly complex KBs — which requires a more careful and considerate UI/interaction design. Still, current KBS engineering (KBSE) approaches mostly focus on knowledge acquisition (KA) This often leads to non-optimal, little reusable, and non/little evaluated KBS front-end solutions. In this thesis we propose a more encompassing KBSE approach. Due to the strong mutual influences between KB and UI, we suggest a novel form of intertwined UI and KB development. We base the approach on three core components for encompassing KBSE: (1) Extensible prototyping, a tailored form of evolutionary prototyping; this builds on mature UI prototypes and offers two extension steps for the anytime creation of core KBS prototypes (KB + core UI) and fully productive KBS (core KBS prototype + common framing functionality). (2) KBS UI patterns, that define reusable solutions for the core KBS UI/interaction; we provide a basic collection of such patterns in this work. (3) Suitable usability instruments for the assessment of the KBS artifacts. Therewith, we do not strive for ’yet another’ self-contained KBS engineering methodology. Rather, we motivate to extend existing approaches by the proposed key components. We demonstrate this based on an agile KBSE model. For practical support, we introduce the tailored KBSE tool ProKEt. ProKEt offers a basic selection of KBS core UI patterns and corresponding configuration options out of the box; their further adaption/extension is possible on various levels of expertise. For practical usability support, ProKEt offers facilities for quantitative and qualitative data collection. ProKEt explicitly fosters the suggested, intertwined development of UI and KB. For seamlessly integrating KA activities, it provides extension points for two selected external KA tools: For KnowOF, a standard office based KA environment. And for KnowWE, a semantic wiki for collaborative KA. Therewith, ProKEt offers powerful support for encompassing, user-centered KBSE. Finally, based on the approach and the tool, we also developed a novel KBS type: Clarification KBS as a mashup of consultation and justification KBS modules. Those denote a specifically suitable realization for participative KBS in highly expertise contexts and consequently require a specific design. In this thesis, apart from more common UI solutions, we particularly also introduce KBS UI patterns especially tailored towards Clarification KBS. N2 - Das Interesse an wissensbasierten Systemen (WBS) in verschiedensten Fachdisziplinen und Anwendungskontexten wächst nach wie vor stetig. Das frühere Ziel — intelligente Software als Expertenersatz — verschiebt sich dabei allerdings kontinuierlich in Richtung partizipativer, nutzerzentrierter Anwendungen. Solche Systeme erlauben dem Benutzer, das vorhandene persönliche Hintergrundwissen in den Problemlösungsprozess mit einzubringen um die Effizienz des Systems zu steigern und die User Experience zu verbessern. Konkret definieren wir für partizipative WBS die folgenden, nichtfunktionalen Anforderungen: Transparenz (umfassende Vermittlung des Systemstatus), Konfigurierbarkeit (Anpassbarkeit an verschiedene Benutzer und Grad der Benutzerkontrolle und Explorationsmöglichkeit), Qualität sowohl der Wissensbasis als auch der Benutzeroberfläche und Fortentwickelbarkeit (Fähigkeit des WBS analog zu den Kenntnissen seiner Nutzer zu reifen). Viele dieser Anforderungen hängen stark von den jeweiligen Nutzern ab. Im Umkehrschluss erfordert dies eine nutzerzentriertere Entwicklung solcher Systeme. Die häufig sehr fachspezifischen Zieldomänen haben meist entsprechend komplexe Wissensbasen zur Folge. Dies verlangt erst Recht nach einem wohlüberlegten, durchdachten UI- und Inkteraktionsdesign. Dem zum Trotz fokussieren aktuelle WBS Entwicklungsansätze jedoch nach wie vor auf der Wissensformalisierung. Mit der Folge, dass oft keine optimalen, schlecht wiederverwendbare und nur teilweise (oder gar nicht) evaluierte WBS UI/Interaktionslösungen entstehen. Die vorliegende Dissertation schlägt einen allumfassenderen WBS Entwicklungsansatz vor. Unter Berücksichtigung der starken, wechselseitigen Beeinflussung von Wissensbasis und UI ist dieser geprägt durch eine starke Verzahnung von Wissensbasis- und UI-Entwicklung. Der Ansatz stützt sich auf drei Kernkomponenten für allumfassende Entwicklung wissensbasierter Systeme: (1) Extensible Prototyping, eine adaptierte Form des evolutionären Prototyping. Extensible Prototyping basiert auf hochentwickelten UI Prototypen und definiert zwei Erweiterungsschritte um jederzeit WBS-Kernprototypen (Wissensbasis und Kern-UI) beziehungsweise voll funktionale wissensbasierte Anwendungen (WBS Kernprototyp und Rahmenfunktionalität) zu erstellen. (2) WBS UI Patterns. Diese Patterns, oder Muster, definieren wiederverwendbare Lösungen für die Kern-UI und -Inkteraktion. In dieser Arbeit stellen wir eine Sammlung grundlegender WBS UI Patterns vor. (3) Passende Usability Techniken die sich speziell für die Evaluation von WBS Software eignen. Insgesamt streben wir keine weitere, in sich geschlossene WBS Entwicklungsmethodologie an. Vielmehr motivieren wir, existierende, Wissensformalisierungs-lastige Ansätze um die vorgeschlagenen Kernkomponenten zu erweitern. Wir demonstrieren das am agilen Prozessmodell für wissensbasierte Systeme. Für die praktische Umsetzung des vorgestellten Ansatzes stellen wir außerdem das spezialisierte WBS Prototyping- und Softwareentwicklungswerkzeug ProKEt vor. ProKEt unterstützt eine Auswahl der interessantesten WBS UI Patterns sowie zugehöriger Konfigurationsoptionen. Deren weitere Anpassung beziehungsweise Erweiterung ist auf verschiedenen Expertise-Leveln möglich. Um ebenso die Anwendung von Usability Techniken zu unterstützen, bietet ProKEt weiterhin Funktionalität für die quantitative und qualitative Datensammlung. Auch baut ProKEt bewusst auf die strikt verzahnte Entwicklung von UI- und Wissensbasis. Für die einfache und nahtlose Integration von Wissensformalisierung in den Gesamtprozess unterstützt ProKEt zwei externe Wissensformalisierungs-Werkzeuge: KnowOF, eine Wissensformalisierungsumgebung welche standartisierte Office Dokumente nutzt. Und KnowWE, ein semantisches Wiki für die kollaborative Wissensformalisierung im Web. Damit ist ProKEt ein mächtiges Werkzeug für umfassende, nutzerzentrierte WBS Entwicklung. Mithilfe des Entwicklungsansatzes und des Werkzeugs ProKEt haben wir weiterhin einen neuartigen WBS Typ entwickelt: Wissensbasierte Klärungssysteme, im Wesentlichen ein Mashup aus Beratungs-, Erklärungs- und Rechtfertigungskomponente. Diese Systeme stellen eine angepasste Realisierung von partizipativen WBS für höchst fachliche Kontexte dar und verlangten entsprechend nach einem sehr speziellen Design. In der vorliegenden Arbeit stellen wir daher neben allgemeinen WBS UI Patterns auch einige spezialisierte Varianten für wissensbasierte Klärungssysteme vor. KW - Wissensbasiertes System KW - Knowledge-based Systems Engineering KW - Expert System KW - Usability KW - UI and Interaction Design KW - User Participation KW - Expertensystem Y1 - 2015 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-106072 SN - 978-3-95826-012-2 (print) SN - 978-3-95826-013-9 (online) PB - Würzburg University Press ER - TY - JOUR A1 - Arhondakis, Stilianos A1 - Frousios, Kimon A1 - Iliopoulos, Costas S. A1 - Pissis, Solon P. A1 - Tischler, German A1 - Kossida, Sophia T1 - Transcriptome map of mouse isochores JF - BMC Genomics N2 - Background: The availability of fully sequenced genomes and the implementation of transcriptome technologies have increased the studies investigating the expression profiles for a variety of tissues, conditions, and species. In this study, using RNA-seq data for three distinct tissues (brain, liver, and muscle), we investigate how base composition affects mammalian gene expression, an issue of prime practical and evolutionary interest. Results: We present the transcriptome map of the mouse isochores (DNA segments with a fairly homogeneous base composition) for the three different tissues and the effects of isochores' base composition on their expression activity. Our analyses also cover the relations between the genes' expression activity and their localization in the isochore families. Conclusions: This study is the first where next-generation sequencing data are used to associate the effects of both genomic and genic compositional properties to their corresponding expression activity. Our findings confirm previous results, and further support the existence of a relationship between isochores and gene expression. This relationship corroborates that isochores are primarily a product of evolutionary adaptation rather than a simple by-product of neutral evolutionary processes. KW - Biased gene conversion KW - Human genome KW - GC-Content KW - Mammalian genomes KW - Base composition KW - Expresses genes KW - Higher rates KW - RNA-SEQ KW - Evolution KW - Rodents Y1 - 2011 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-142773 VL - 12 IS - 511 ER - TY - THES A1 - Saska, Martin T1 - Trajectory planning and optimal control for formations of autonomous robots T1 - Die Bahnplanung und die optimale Steuerung für Formationen der autonomen Roboter N2 - 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. N2 - In dieser Arbeit präsentieren wir neuartige Algorithmen für die Steuerung der Formationen der nichtholonomen Roboter und ihre optimale Bahnplanung. Die Algorithmen beruhen auf "leader-follower" Techniken. Die Formationen der "car-like" Roboter sind in einer bestimmten Form von "curvilinear" Koordinaten gehalten. Die Steuerungmethoden der Formationen sind spezialisiert und erweitert um ihre Anwendung auf das Flughafenschneeschaufeln. In dieser Arbeit werden die detaillierten Beschreibungen der Algorithmen durch entsprechende Stabilität- und Konvergenz-Studien gestellt. Ihre Anwendbarkeit wird durch verschiedene Simulationen und eine Hardware-Experiment überprüft. T3 - Forschungsberichte in der Robotik = Research Notes in Robotics - 3 KW - Autonomer Roboter KW - Mobiler Roboter KW - Optimale Kontrolle KW - Formation KW - Steuerung KW - formation driving KW - mobile robots KW - snow shoveling KW - receding horizon control KW - model predictive control KW - trajectory planning Y1 - 2009 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-53175 SN - 978-3-923959-56-3 ER - TY - RPRT A1 - Raffeck, Simon A1 - Geißler, Stefan A1 - Hoßfeld, Tobias T1 - Towards Understanding the Signaling Traffic in 5G Core Networks T2 - KuVS Fachgespräch - Würzburg Workshop on Modeling, Analysis and Simulation of Next-Generation Communication Networks 2023 (WueWoWAS’23) N2 - The Fifth Generation (5G) communication technology, its infrastructure and architecture, though already deployed in campus and small scale networks, is still undergoing continuous changes and research. Especially, in the light of future large scale deployments and industrial use cases, a detailed analysis of the performance and utilization with regard to latency and service times constraints is crucial. To this end, a fine granular investigation of the Network Function (NF) based core system and the duration for all the tasks performed by these services is necessary. This work presents the first steps towards analyzing the signaling traffic in 5G core networks, and introduces a tool to automatically extract sequence diagrams and service times for NF tasks from traffic traces. KW - signaling traffic KW - 5G core network Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-322106 ER - TY - RPRT A1 - Vomhoff, Viktoria A1 - Geissler, Stefan A1 - Gebert, Steffen A1 - Hossfeld, Tobias T1 - Towards Understanding the Global IPX Network from an MVNO Perspective T2 - KuVS Fachgespräch - Würzburg Workshop on Modeling, Analysis and Simulation of Next-Generation Communication Networks 2023 (WueWoWAS’23) N2 - In this paper, we work to understand the global IPX network from the perspective of an MVNO. In order to do this, we provide a brief description of the global architecture of mobile carriers. We provide initial results with respect to mapping the vast and complex interconnection network enabling global roaming from the point of view of a single MVNO. Finally, we provide preliminary results regarding the quality of service observed under global roaming conditions. KW - global IPX network Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-322121 ER - TY - RPRT A1 - Höweler, Malte A1 - Xiang, Zuo A1 - Höpfner, Franz A1 - Nguyen, Giang T. A1 - Fitzek, Frank H. P. T1 - Towards Stateless Core Networks: Measuring State Access Patterns T2 - Würzburg Workshop on Next-Generation Communication Networks (WueWoWas'22) N2 - Future mobile communication networks, such as 5G and beyond, can benefit from Virtualized Network Functions (VNFs) when deployed on cloud infrastructures to achieve elasticity and scalability. However, new challenges arise as to managing states of Network Functions (NFs). Especially control plane VNFs, which are mainly found in cellular core networks like the 5G Core (5GC), received little attention since the shift towards virtualizing NFs. Most existing solutions for these core networks are often complex, intrusive, and are seldom compliant with the standard. With the emergence of 5G campus networks, UEs will be mainly machine-type devices. These devices communicate more deterministically, bringing new opportunities for elaborated state management. This work presents an emulation environment to perform rigorous measurements on state access patterns. The emulation comes with a fully parameterized Markov model for the UE to examine a wide variety of different devices. These measurements can then be used as a solid base for designing an efficient, simple, and standard conform state management solution that brings us further towards stateless core networks. KW - Datennetz KW - 5GC KW - VNF KW - SBA KW - measurements KW - MTC Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-280770 ER - TY - JOUR A1 - Kaiser, Dennis A1 - Lesch, Veronika A1 - Rothe, Julian A1 - Strohmeier, Michael A1 - Spieß, Florian A1 - Krupitzer, Christian A1 - Montenegro, Sergio A1 - Kounev, Samuel T1 - Towards Self-Aware Multirotor Formations JF - Computers N2 - In the present day, unmanned aerial vehicles become seemingly more popular every year, but, without regulation of the increasing number of these vehicles, the air space could become chaotic and uncontrollable. In this work, a framework is proposed to combine self-aware computing with multirotor formations to address this problem. The self-awareness is envisioned to improve the dynamic behavior of multirotors. The formation scheme that is implemented is called platooning, which arranges vehicles in a string behind the lead vehicle and is proposed to bring order into chaotic air space. Since multirotors define a general category of unmanned aerial vehicles, the focus of this thesis are quadcopters, platforms with four rotors. A modification for the LRA-M self-awareness loop is proposed and named Platooning Awareness. The implemented framework is able to offer two flight modes that enable waypoint following and the self-awareness module to find a path through scenarios, where obstacles are present on the way, onto a goal position. The evaluation of this work shows that the proposed framework is able to use self-awareness to learn about its environment, avoid obstacles, and can successfully move a platoon of drones through multiple scenarios. KW - self-aware computing KW - unmanned aerial vehicles KW - multirotors KW - quadcopters KW - intelligent transportation systems Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-200572 SN - 2073-431X VL - 9 IS - 1 ER - TY - JOUR A1 - Loh, Frank A1 - Mehling, Noah A1 - Hoßfeld, Tobias T1 - Towards LoRaWAN without data loss: studying the performance of different channel access approaches JF - Sensors N2 - The Long Range Wide Area Network (LoRaWAN) is one of the fastest growing Internet of Things (IoT) access protocols. It operates in the license free 868 MHz band and gives everyone the possibility to create their own small sensor networks. The drawback of this technology is often unscheduled or random channel access, which leads to message collisions and potential data loss. For that reason, recent literature studies alternative approaches for LoRaWAN channel access. In this work, state-of-the-art random channel access is compared with alternative approaches from the literature by means of collision probability. Furthermore, a time scheduled channel access methodology is presented to completely avoid collisions in LoRaWAN. For this approach, an exhaustive simulation study was conducted and the performance was evaluated with random access cross-traffic. In a general theoretical analysis the limits of the time scheduled approach are discussed to comply with duty cycle regulations in LoRaWAN. KW - LoRaWAN KW - IoT KW - channel management KW - scheduling KW - collision Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-302418 SN - 1424-8220 VL - 22 IS - 2 ER - TY - JOUR A1 - Koehler, Jonas A1 - Bauer, André A1 - Dietz, Andreas J. A1 - Kuenzer, Claudia T1 - Towards forecasting future snow cover dynamics in the European Alps — the potential of long optical remote-sensing time series JF - Remote Sensing N2 - Snow is a vital environmental parameter and dynamically responsive to climate change, particularly in mountainous regions. Snow cover can be monitored at variable spatial scales using Earth Observation (EO) data. Long-lasting remote sensing missions enable the generation of multi-decadal time series and thus the detection of long-term trends. However, there have been few attempts to use these to model future snow cover dynamics. In this study, we, therefore, explore the potential of such time series to forecast the Snow Line Elevation (SLE) in the European Alps. We generate monthly SLE time series from the entire Landsat archive (1985–2021) in 43 Alpine catchments. Positive long-term SLE change rates are detected, with the highest rates (5–8 m/y) in the Western and Central Alps. We utilize this SLE dataset to implement and evaluate seven uni-variate time series modeling and forecasting approaches. The best results were achieved by Random Forests, with a Nash–Sutcliffe efficiency (NSE) of 0.79 and a Mean Absolute Error (MAE) of 258 m, Telescope (0.76, 268 m), and seasonal ARIMA (0.75, 270 m). Since the model performance varies strongly with the input data, we developed a combined forecast based on the best-performing methods in each catchment. This approach was then used to forecast the SLE for the years 2022–2029. In the majority of the catchments, the shift of the forecast median SLE level retained the sign of the long-term trend. In cases where a deviating SLE dynamic is forecast, a discussion based on the unique properties of the catchment and past SLE dynamics is required. In the future, we expect major improvements in our SLE forecasting efforts by including external predictor variables in a multi-variate modeling approach. KW - forecast KW - Earth Observation KW - time series KW - Snow Line Elevation KW - Alps KW - mountains KW - environmental modeling KW - machine learning Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-288338 SN - 2072-4292 VL - 14 IS - 18 ER - TY - JOUR A1 - Lopez-Arreguin, A. J. R. A1 - Montenegro, S. T1 - Towards bio-inspired robots for underground and surface exploration in planetary environments: An overview and novel developments inspired in sand-swimmers JF - Heliyon N2 - Dessert organisms like sandfish lizards (SLs) bend and generate thrust in granular mediums to scape heat and hunt for prey [1]. Further, SLs seems to have striking capabilities to swim in undulatory form keeping the same wavelength even in terrains with different volumetric densities, hence behaving as rigid bodies. This paper tries to recommend new research directions for planetary robotics, adapting principles of sand swimmers for improving robustness of surface exploration robots. First, we summarize previous efforts on bio-inspired hardware developed for granular terrains and accessing complex geological features. Later, a rigid wheel design has been proposed to imitate SLs locomotion capabilities. In order to derive the force models to predict performance of such bio-inspired mobility system, different approaches as RFT (Resistive Force Theory) and analytical terramechanics are introduced. Even in typical wheeled robots the slip and sinkage increase with time, the new design intends to imitate traversability capabilities of SLs, that seem to keep the same slip while displacing at subsurface levels. KW - aerospace engineering KW - mechanical engineering KW - biomimetics KW - biomechanic KW - biomechanical engineering KW - mechanics KW - sandfish KW - granular KW - locomotion KW - slip Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-230309 VL - 6 ER - TY - RPRT A1 - Martino, Luigi A1 - Deutschmann, Jörg A1 - Hielscher, Kai-Steffen A1 - German, Reinhard T1 - Towards a 5G Satellite Communication Framework for V2X T2 - KuVS Fachgespräch - Würzburg Workshop on Modeling, Analysis and Simulation of Next-Generation Communication Networks 2023 (WueWoWAS’23) N2 - In recent years, satellite communication has been expanding its field of application in the world of computer networks. This paper aims to provide an overview of how a typical scenario involving 5G Non-Terrestrial Networks (NTNs) for vehicle to everything (V2X) applications is characterized. In particular, a first implementation of a system that integrates them together will be described. Such a framework will later be used to evaluate the performance of applications such as Vehicle Monitoring (VM), Remote Driving (RD), Voice Over IP (VoIP), and others. Different configuration scenarios such as Low Earth Orbit and Geostationary Orbit will be considered. KW - 5G KW - non-terrestrial networks KW - satellite communication Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-322148 ER - TY - JOUR A1 - Werner, Lennart A1 - Strohmeier, Michael A1 - Rothe, Julian A1 - Montenegro, Sergio T1 - Thrust vector observation for force feedback-controlled UAVs JF - Drones N2 - This paper presents a novel approach to Thrust Vector Control (TVC) for small Unmanned Aerial Vehicles (UAVs). The difficulties associated with conventional feed-forward TVC are outlined, and a practical solution to conquer these challenges is derived. The solution relies on observing boom deformations that are created by different thrust vector directions and high-velocity air inflow. The paper describes the required measurement electronics as well as the implementation of a dedicated testbed that allows the evaluation of mid-flight force measurements. Wind-tunnel tests show that the presented method for active thrust vector determination is able to quantify the disturbances due to the incoming air flow. KW - unmanned aerial vehicles KW - thrust vector control KW - force feedback Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-262153 SN - 2504-446X VL - 6 IS - 2 ER - TY - THES A1 - Kobs, Konstantin T1 - Think outside the Black Box: Model-Agnostic Deep Learning with Domain Knowledge T1 - Think outside the Black Box: Modellagnostisches Deep Learning mit Domänenwissen N2 - Deep Learning (DL) models are trained on a downstream task by feeding (potentially preprocessed) input data through a trainable Neural Network (NN) and updating its parameters to minimize the loss function between the predicted and the desired output. While this general framework has mainly remained unchanged over the years, the architectures of the trainable models have greatly evolved. Even though it is undoubtedly important to choose the right architecture, we argue that it is also beneficial to develop methods that address other components of the training process. We hypothesize that utilizing domain knowledge can be helpful to improve DL models in terms of performance and/or efficiency. Such model-agnostic methods can be applied to any existing or future architecture. Furthermore, the black box nature of DL models motivates the development of techniques to understand their inner workings. Considering the rapid advancement of DL architectures, it is again crucial to develop model-agnostic methods. In this thesis, we explore six principles that incorporate domain knowledge to understand or improve models. They are applied either on the input or output side of the trainable model. Each principle is applied to at least two DL tasks, leading to task-specific implementations. To understand DL models, we propose to use Generated Input Data coming from a controllable generation process requiring knowledge about the data properties. This way, we can understand the model’s behavior by analyzing how it changes when one specific high-level input feature changes in the generated data. On the output side, Gradient-Based Attribution methods create a gradient at the end of the NN and then propagate it back to the input, indicating which low-level input features have a large influence on the model’s prediction. The resulting input features can be interpreted by humans using domain knowledge. To improve the trainable model in terms of downstream performance, data and compute efficiency, or robustness to unwanted features, we explore principles that each address one of the training components besides the trainable model. Input Masking and Augmentation directly modifies the training input data, integrating knowledge about the data and its impact on the model’s output. We also explore the use of Feature Extraction using Pretrained Multimodal Models which can be seen as a beneficial preprocessing step to extract useful features. When no training data is available for the downstream task, using such features and domain knowledge expressed in other modalities can result in a Zero-Shot Learning (ZSL) setting, completely eliminating the trainable model. The Weak Label Generation principle produces new desired outputs using knowledge about the labels, giving either a good pretraining or even exclusive training dataset to solve the downstream task. Finally, improving and choosing the right Loss Function is another principle we explore in this thesis. Here, we enrich existing loss functions with knowledge about label interactions or utilize and combine multiple task-specific loss functions in a multitask setting. We apply the principles to classification, regression, and representation tasks as well as to image and text modalities. We propose, apply, and evaluate existing and novel methods to understand and improve the model. Overall, this thesis introduces and evaluates methods that complement the development and choice of DL model architectures. N2 - Deep-Learning-Modelle (DL-Modelle) werden trainiert, indem potenziell vorverarbeitete Eingangsdaten durch ein trainierbares Neuronales Netz (NN) geleitet und dessen Parameter aktualisiert werden, um die Verlustfunktion zwischen der Vorhersage und der gewünschten Ausgabe zu minimieren. Während sich dieser allgemeine Ablauf kaum geändert hat, haben sich die verwendeten NN-Architekturen erheblich weiterentwickelt. Auch wenn die Wahl der Architektur für die Aufgabe zweifellos wichtig ist, schlagen wir in dieser Arbeit vor, Methoden für andere Komponenten des Trainingsprozesses zu entwickeln. Wir vermuten, dass die Verwendung von Domänenwissen hilfreich bei der Verbesserung von DL-Modellen bezüglich ihrer Leistung und/oder Effizienz sein kann. Solche modellagnostischen Methoden sind dann bei jeder bestehenden oder zukünftigen NN-Architektur anwendbar. Die Black-Box-Natur von DL-Modellen motiviert zudem die Entwicklung von Methoden, die zum Verständnis der Funktionsweise dieser Modelle beitragen. Angesichts der schnellen Architektur-Entwicklung ist es wichtig, modellagnostische Methoden zu entwickeln. In dieser Arbeit untersuchen wir sechs Prinzipien, die Domänenwissen verwenden, um Modelle zu verstehen oder zu verbessern. Sie werden auf Trainingskomponenten im Eingang oder Ausgang des Modells angewendet. Jedes Prinzip wird dann auf mindestens zwei DL-Aufgaben angewandt, was zu aufgabenspezifischen Implementierungen führt. Um DL-Modelle zu verstehen, verwenden wir kontrolliert generierte Eingangsdaten, was Wissen über die Dateneigenschaften benötigt. So können wir das Verhalten des Modells verstehen, indem wir die Ausgabeänderung bei der Änderung von abstrahierten Eingabefeatures beobachten. Wir untersuchen zudem gradienten-basierte Attribution-Methoden, die am Ausgang des NN einen Gradienten anlegen und zur Eingabe zurückführen. Eingabefeatures mit großem Einfluss auf die Modellvorhersage können so identifiziert und von Menschen mit Domänenwissen interpretiert werden. Um Modelle zu verbessern (in Bezug auf die Ergebnisgüte, Daten- und Recheneffizienz oder Robustheit gegenüber ungewollten Eingaben), untersuchen wir Prinzipien, die jeweils eine Trainingskomponente neben dem trainierbaren Modell betreffen. Das Maskieren und Augmentieren von Eingangsdaten modifiziert direkt die Trainingsdaten und integriert dabei Wissen über ihren Einfluss auf die Modellausgabe. Die Verwendung von vortrainierten multimodalen Modellen zur Featureextraktion kann als ein Vorverarbeitungsschritt angesehen werden. Bei fehlenden Trainingsdaten können die Features und Domänenwissen in anderen Modalitäten als Zero-Shot Setting das trainierbare Modell gänzlich eliminieren. Das Weak-Label-Generierungs-Prinzip erzeugt neue gewünschte Ausgaben anhand von Wissen über die Labels, was zu einem Pretrainings- oder exklusiven Trainigsdatensatz führt. Schließlich ist die Verbesserung und Auswahl der Verlustfunktion ein weiteres untersuchtes Prinzip. Hier reichern wir bestehende Verlustfunktionen mit Wissen über Label-Interaktionen an oder kombinieren mehrere aufgabenspezifische Verlustfunktionen als Multi-Task-Ansatz. Wir wenden die Prinzipien auf Klassifikations-, Regressions- und Repräsentationsaufgaben sowie Bild- und Textmodalitäten an. Wir stellen bestehende und neue Methoden vor, wenden sie an und evaluieren sie für das Verstehen und Verbessern von DL-Modellen, was die Entwicklung und Auswahl von DL-Modellarchitekturen ergänzt. KW - Deep learning KW - Neuronales Netz KW - Maschinelles Lernen KW - Machine Learning KW - Model-Agnostic KW - Domain Knowledge Y1 - 2024 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-349689 ER - TY - THES A1 - Tischler, German T1 - Theory and Applications of Parametric Weighted Finite Automata T1 - Theorie und Anwendungen parametrisch gewichteter endlicher Automaten N2 - Parametric weighted finite automata (PWFA) are a multi-dimensional generalization of weighted finite automata. The expressiveness of PWFA contains the expressiveness of weighted finite automata as well as the expressiveness of affine iterated function system. The thesis discusses theory and applications of PWFA. The properties of PWFA definable sets are studied and it is shown that some fractal generator systems can be simulated using PWFA and that various real and complex functions can be represented by PWFA. Furthermore, the decoding of PWFA and the interpretation of PWFA definable sets is discussed. N2 - Parametrisch gewichtete endliche Automaten (PWFA) sind eine multidimensionale Verallgemeinerung gewichteter endlicher Automaten, die sowohl die funktionale Mächtigkeit gewichteter endlicher Automaten als auch die affiner iterierter Funktionensystem umschließt. Die Arbeit diskutiert die Theorie und Anwendungen von PWFA. Es werden Eigenschaften der von PWFA definierbaren Mengen untersucht, gezeigt dass verschiedene fraktale Generatorsysteme mit PWFA simuliert werden können und dass viele praxisrelevante reelle und komplexe Funktionen und Relationen mit PWFA darstellbar sind. Ferner wird die Dekodierung von PWFA und die Interpretation PWFA-darstellbarer Mengen diskutiert. KW - Automat KW - Automata Theory Y1 - 2008 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-28145 ER - TY - THES A1 - Dorin, Michael T1 - The Relationship Between Software Complicacy and Software Reliability T1 - Die Beziehung zwischen Softwarekompliziertheit und Softwarezuverlässigkeit N2 - An enduring engineering problem is the creation of unreliable software leading to unreliable systems. One reason for this is source code is written in a complicated manner making it too hard for humans to review and understand. Complicated code leads to other issues beyond dependability, such as expanded development efforts and ongoing difficulties with maintenance, ultimately costing developers and users more money. There are many ideas regarding where blame lies in the reation of buggy and unreliable systems. One prevalent idea is the selected life cycle model is to blame. The oft-maligned “waterfall” life cycle model is a particularly popular recipient of blame. In response, many organizations changed their life cycle model in hopes of addressing these issues. Agile life cycle models have become very popular, and they promote communication between team members and end users. In theory, this communication leads to fewer misunderstandings and should lead to less complicated and more reliable code. Changing the life cycle model can indeed address communications ssues, which can resolve many problems with understanding requirements. However, most life cycle models do not specifically address coding practices or software architecture. Since lifecycle models do not address the structure of the code, they are often ineffective at addressing problems related to code complicacy. This dissertation answers several research questions concerning software complicacy, beginning with an investigation of traditional metrics and static analysis to evaluate their usefulness as measurement tools. This dissertation also establishes a new concept in applied linguistics by creating a measurement of software complicacy based on linguistic economy. Linguistic economy describes the efficiencies of speech, and this thesis shows the applicability of linguistic economy to software. Embedded in each topic is a discussion of the ramifications of overly complicated software, including the relationship of complicacy to software faults. Image recognition using machine learning is also investigated as a potential method of identifying problematic source code. The central part of the work focuses on analyzing the source code of hundreds of different projects from different areas. A static analysis was performed on the source code of each project, and traditional software metrics were calculated. Programs were also analyzed using techniques developed by linguists to measure expression and statement complicacy and identifier complicacy. Professional software engineers were also directly surveyed to understand mainstream perspectives. This work shows it is possible to use traditional metrics as indicators of potential project bugginess. This work also discovered it is possible to use image recognition to identify problematic pieces of source code. Finally, this work discovered it is possible to use linguistic methods to determine which statements and expressions are least desirable and more complicated for programmers. This work’s principle conclusion is that there are multiple ways to discover traits indicating a project or a piece of source code has characteristics of being buggy. Traditional metrics and static analysis can be used to gain some understanding of software complicacy and bugginess potential. Linguistic economy demonstrates a new tool for measuring software complicacy, and machine learning can predict where bugs may lie in source code. The significant implication of this work is developers can recognize when a project is becoming buggy and take practical steps to avoid creating buggy projects. N2 - Ein nach wie vor ungelöstes technisches Problem ist das Erstellen unzuverlässiger Software, was zu unzuverlässigen Systemen führt. Eine der Ursachen ist, dass Quellcode auf zu komplizierte Weise geschrieben wird, so dass es für Menschen zu schwierig wird, ihn zu überprüfen und zu verstehen. Komplizierter Code führt über die Zuverlässigkeit hinaus zu weiteren Problemen, wie z. B. erweiterte Entwicklungsanstrengungen und anhaltenden Schwierigkeiten bei der Wartung, was Entwickler und Benutzer letztendlich mehr Geld kostet. Vielfach schiebt man die Schuld an der Entwicklung von BuggySystemen auf das gewählte Lebenszyklusmodell. Das oft geschmähte "Wasserfall"-Modell wird besonders häufig beschuldigt. Als Reaktion darauf änderten viele Organisationen ihr Lebenszyklusmodell in der Hoffnung, diese Probleme zu beheben. Agile Lebenszyklusmodelle sind sehr beliebt und fördern die Kommunikation zwischen Entwicklungsteam und Endnutzern. Theoretisch führt diese Kommunikation zu weniger Missverständnissen, und ein besseres Verständnis sollte zu weniger kompliziertem und zuverlässigerem Code führen. Eine Änderung des Lebenszyklusmodells kann tatsächlich Kommunikationsprobleme lösen, insbesondere beim Verständnis der Anforderungen. Die meisten Lebenszyklusmodelle selbst befassen sich jedoch nicht speziell mit Codierungspraktiken oder Softwarearchitekturen. Da Lebenszyklusmodelle aber nicht auf die Struktur des eigentlichen Codes eingehen, sind sie bei der Lösung von Problemen im Zusammenhang mit Codekompliziertheit wenig hilfreich. Diese Dissertation behandelt mehrere Forschungsfragen zur Softwarekompliziertheit, beginnend mit einer Untersuchung traditioneller Metriken und statischer Analyse, um ihre Nützlichkeit als Messwerkzeug zu bewerten. Diese Dissertation etabliert auch ein wesentliches neues Konzept der angewandten Linguistik, indem sie auf der Basis der linguistischen Ökonomie ein Maß für Softwarekompliziertheit erstellt. Die linguistische Ökonomie beschreibt die Effizienz von Sprache, und diese Arbeit zeigt ihre Anwendbarkeit auf Software. Darin eingeschlossen ist eine Diskussion der Auswirkungen übermäßig komplizierter Software sowie des Zusammenhangs zwischen Kompliziertheit und Softwarefehlern. Als potenzielle Methode zur Identifizierung von problematischem Quellcode wird auch Bilderkennung mittels maschinellen Lernens untersucht. Der zentrale Teil der Arbeit konzentriert sich auf die Analyse des Quellcodes hunderter verschiedener Projekte aus unterschiedlichen Bereichen. Zuerst wird eine statische Analyse des Quellcodes jedes Projekts durchgeführt und traditionelle Softwaremetriken berechnet. Programme werden auch unter Verwendung linguistischenr Techniken analysiert, um die Kompliziertheit von Ausdrücken und Aussagen sowie die Kompliziertheit von Identifikatoren zu messen. Professionelle Software-Ingenieure wurden auch direkt befragt, um Mainstream-Perspektiven zu verstehen. Diese Arbeit zeigt, dass es möglich ist, traditionelle Metriken als Indikatoren für potenzielle Projektfehler zu verwenden. Sie belegt auch die Möglichkeit, vermittels Bilderkennung problematische Teile im Quellcode zu identifizieren. Schließlich beschreibt diese Arbeit die Entdeckung linguistischer Verfahren als neue Methode, Anweisungen und Ausdrücke zu identifizieren, die für Programmierer am wenigsten wünschenswert, da zu kompliziert sind. Die Hauptschlussfolgerung dieser Arbeit ist: Es gibt mehrere Möglichkeiten, Merkmale zu finden, die darauf hindeuten, dass ein Projekt oder ein StückQuellcode fehlerbehaftet ist. Herkömmliche Metriken und statische Analysen können verwendet werden, um ein Verständnis für Kompliziertheit und Fehlerpotenziale von Software zu erlangen. Die linguistische Ökonomie demonstriert ein neues Werkzeug zur Messung von Softwarekompliziertheit, und maschinelles Lernen kann vorhersagen, wo potenzielle Fehler im Quellcode liegen könnten. Das wesentliche Ergebnis dieser Arbeit ist, Entwicklern Werkzeuge zur Verfügung zu stellen, mit denen sie erkennen können, dass ein Projekt fehlerhaft wird. So können sie praktische Schritte unternehmen, um fehlerhafte Projekte zu vermeiden. KW - Softwareentwicklung KW - Complicacy KW - Zuverlässigkeit KW - Softwaremetrie KW - Softwaretest KW - Softwarewartung KW - Debugging Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-283085 ER - TY - RPRT A1 - Metzger, Florian A1 - Rafetseder, Albert A1 - Schröder, Svenja A1 - Zwickl, Patrick T1 - The Prospects of Cloud Gaming: Do the Benefits Outweigh the Costs? N2 - In recent years, cloud gaming has become a popular research topic and has claimed many benefits in the commercial domain over conventional gaming. While, cloud gaming platforms have frequently failed in the past, they have received a new impetus over the last years that brought it to the edge of commercial breakthrough. The fragility of the cloud gaming market may be caused by the high investment costs, offered pricing models or competition from existing "à la carte" platforms. This paper aims at investigating the costs and benefits of both platform types through a twofold approach. We first take on the perspective of the customers, and investigate several cloud gaming platforms and their pricing models in comparison to the costs of other gaming platforms. Then, we explore engagement metrics in order to assess the enjoyment of playing the offered games. Lastly, coming from the perspective of the service providers, we aim to identify challenges in cost-effectively operating a large-scale cloud gaming service while maintaining high QoE values. Our analysis provides initial, yet still comprehensive reasons and models for the prospects of cloud gaming in a highly competitive market. KW - Cloud Computing KW - Videospiel KW - Kosten-Nutzen-Analyse KW - Cloud Gaming KW - Video Game QoS KW - Cost-benefit analysis Y1 - 2016 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-242452 N1 - Originally written in 2016, but never published. ER - TY - JOUR A1 - Unruh, Fabian A1 - Landeck, Maximilian A1 - Oberdörfer, Sebastian A1 - Lugrin, Jean-Luc A1 - Latoschik, Marc Erich T1 - The Influence of Avatar Embodiment on Time Perception - Towards VR for Time-Based Therapy JF - Frontiers in Virtual Reality N2 - Psycho-pathological conditions, such as depression or schizophrenia, are often accompanied by a distorted perception of time. People suffering from this conditions often report that the passage of time slows down considerably and that they are “stuck in time.” Virtual Reality (VR) could potentially help to diagnose and maybe treat such mental conditions. However, the conditions in which a VR simulation could correctly diagnose a time perception deviation are still unknown. In this paper, we present an experiment investigating the difference in time experience with and without a virtual body in VR, also known as avatar. The process of substituting a person’s body with a virtual body is called avatar embodiment. Numerous studies demonstrated interesting perceptual, emotional, behavioral, and psychological effects caused by avatar embodiment. However, the relations between time perception and avatar embodiment are still unclear. Whether or not the presence or absence of an avatar is already influencing time perception is still open to question. Therefore, we conducted a between-subjects design with and without avatar embodiment as well as a real condition (avatar vs. no-avatar vs. real). A group of 105 healthy subjects had to wait for seven and a half minutes in a room without any distractors (e.g., no window, magazine, people, decoration) or time indicators (e.g., clocks, sunlight). The virtual environment replicates the real physical environment. Participants were unaware that they will be asked to estimate their waiting time duration as well as describing their experience of the passage of time at a later stage. Our main finding shows that the presence of an avatar is leading to a significantly faster perceived passage of time. It seems to be promising to integrate avatar embodiment in future VR time-based therapy applications as they potentially could modulate a user’s perception of the passage of time. We also found no significant difference in time perception between the real and the VR conditions (avatar, no-avatar), but further research is needed to better understand this outcome. KW - virtual reality KW - time perception KW - avatar embodiment KW - immersion KW - human computer interaction (HCI) Y1 - 2021 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-259076 VL - 2 ER - TY - JOUR A1 - Obremski, David A1 - Friedrich, Paula A1 - Haak, Nora A1 - Schaper, Philipp A1 - Lugrin, Birgit T1 - The impact of mixed-cultural speech on the stereotypical perception of a virtual robot JF - Frontiers in Robotics and AI N2 - Despite the fact that mixed-cultural backgrounds become of increasing importance in our daily life, the representation of multiple cultural backgrounds in one entity is still rare in socially interactive agents (SIAs). This paper’s contribution is twofold. First, it provides a survey of research on mixed-cultured SIAs. Second, it presents a study investigating how mixed-cultural speech (in this case, non-native accent) influences how a virtual robot is perceived in terms of personality, warmth, competence and credibility. Participants with English or German respectively as their first language watched a video of a virtual robot speaking in either standard English or German-accented English. It was expected that the German-accented speech would be rated more positively by native German participants as well as elicit the German stereotypes credibility and conscientiousness for both German and English participants. Contrary to the expectations, German participants rated the virtual robot lower in terms of competence and credibility when it spoke with a German accent, whereas English participants perceived the virtual robot with a German accent as more credible compared to the version without an accent. Both the native English and native German listeners classified the virtual robot with a German accent as significantly more neurotic than the virtual robot speaking standard English. This work shows that by solely implementing a non-native accent in a virtual robot, stereotypes are partly transferred. It also shows that the implementation of a non-native accent leads to differences in the perception of the virtual robot. KW - non-native accent KW - social robotics KW - intelligent virtual agents KW - stereotypes KW - mixed-cultural KW - culturally aware KW - socially interactive agents Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-293531 SN - 2296-9144 VL - 9 ER - TY - THES A1 - Schmitz, Heinz T1 - The Forbidden Pattern Approach to Concatenation Hierarchies T1 - Verbotsmuster und Hierarchien regulärer sternfreier Sprachen N2 - The thesis looks at the question asking for the computability of the dot-depth of star-free regular languages. Here one has to determine for a given star-free regular language the minimal number of alternations between concatenation on one hand, and intersection, union, complement on the other hand. This question was first raised in 1971 (Brzozowski/Cohen) and besides the extended star-heights problem usually refered to as one of the most difficult open questions on regular languages. The dot-depth problem can be captured formally by hierarchies of classes of star-free regular languages B(0), B(1/2), B(1), B(3/2),... and L(0), L(1/2), L(1), L(3/2),.... which are defined via alternating the closure under concatenation and Boolean operations, beginning with single alphabet letters. Now the question of dot-depth is the question whether these hierarchy classes have decidable membership problems. The thesis makes progress on this question using the so-called forbidden pattern approach: Classes of regular languages are characterized in terms of patterns in finite automata (subgraphs in the transition graph) that are not allowed. Such a characterization immediately implies the decidability of the respective class, since the absence of a certain pattern in a given automaton can be effectively verified. Before this work, the decidability of B(0), B(1/2), B(1) and L(0), L(1/2), L(1), L(3/2) were known. Here a detailed study of these classes with help of forbidden patterns is given which leads to new insights into their inner structure. Furthermore, the decidability of B(3/2) is proven. Based on these results a theory of pattern iteration is developed which leads to the introduction of two new hierarchies of star-free regular languages. These hierarchies are decidable on one hand, on the other hand they are in close connection to the classes B(n) and L(n). It remains an open question here whether they may in fact coincide. Some evidence is given in favour of this conjecture which opens a new way to attack the dot-depth problem. Moreover, it is shown that the class L(5/2) is decidable in the restricted case of a two-letter alphabet. N2 - Die Arbeit beschaeftigt sich mit der Frage nach der Berechenbarkeit der Punkttiefe sternfreier regulaerer Sprachen. Dabei handelt es sich um die Aufgabe, zu einer gegebenen sternfreien regulaeren Sprache die minimal moegliche Anzahl von Wechseln zwischen den Operationen Konkatenation einerseits und Durchschnitt, Vereinigung, Komplement andererseits in einem sternfreien regulaeren Ausdruck fuer die gegebene Sprache zu bestimmen. Diese Frage wurde 1971 erstmals aufgeworfen (Brzozowski/Cohen) und gilt neben dem Problem der erweiterten Sternhoehe als eine der schwierigsten offenen Fragen der Theorie der regulaeren Sprachen. Formal fassen laesst sich das Problem der Punkttiefe durch Hierarchien von Klassen sternfreier regulaerer Sprachen B(0), B(1/2), B(1), B(3/2),...sowie L(0), L(1/2), L(1), L(3/2),.... die - ausgehend von einzelnen Buchstaben - mittels Alternierung zwischen Konkatenation und Booleschen Operationen definiert sind. Die Frage nach der Punkttiefe wird hier zur Frage nach der Entscheidbarkeit der Hierarchieklassen. In der Arbeit werden neue Fortschritte mittels sogenannter Verbotsmuster erzielt. Bei diesem Ansatz werden Klassen regulaerer Sprachen dadurch charakterisiert, dass in den zugehoerigen endlichen Automaten bestimmte Muster (Teilgraphen des Ueberfuehrungsgraphen) verboten werden. Gelingt eine solche Charakterisierung, folgt unmittelbar die Entscheidbarkeit der Klasse, da das Nichtvorhandensein eines Musters in einem gegebenen endlichen Automaten effektiv geprueft werden kann. Bisher war die Entscheidbarkeit von B(0), B(1/2), B(1) und L(0), L(1/2), L(1), L(3/2) bekannt. Mit Hilfe von Verbotsmustern erfolgt eine genaue Untersuchung dieser Klassen, die zu neuen Erkenntnissen ueber ihre innere Struktur fuehrt. Darueberhinaus gelingt der Nachweis der Entscheidbarkeit von B(3/2). Basierend auf diesen Ergebnissen wird eine Theorie der Verbotsmusteriteration entwickelt, die zur Einfuehrung von zwei neuen Hierarchien sternfreier regulaerer Sprachen fuehrt. Diese neuen Hierarchien sind zum einen entscheidbar, zum anderen stehen sie in enger Beziehung zu den Klassen B(n) und L(n). Es bleibt an dieser Stelle eine offene Frage, ob sie eventuell sogar mit ihnen uebereinstimmen. Fuer diese Vermutung werden einige Indizien gesammelt und somit ein neuer Weg fuer eine moegliche Loesung des Problems der Punkttiefe aufgezeigt. In diesem Zusammenhang erfolgt auch erstmals der Nachweis der Entscheidbarkeit der Klasse L(5/2) im eingeschraenkten Fall eines zweielementigen Alphabets. KW - Sternfreie Sprache KW - Dot-Depth-Hierarchie KW - Straubing-Th´erien-Hierarchie KW - Verbotenes Muster KW - Theoretische Informatik KW - reguläre Sprachen KW - endliche Automaten KW - Dot-Depth Problem KW - Entscheidbarkeit KW - Verbotsmuster KW - Theoretical Computer Science KW - regular languages KW - finite automata KW - dot-depth problem KW - decidability KW - forbidden patterns Y1 - 2000 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-2832 ER - TY - RPRT A1 - Kounev, Samuel A1 - Brosig, Fabian A1 - Huber, Nikolaus T1 - The Descartes Modeling Language N2 - This technical report introduces the Descartes Modeling Language (DML), a new architecture-level modeling language for modeling Quality-of-Service (QoS) and resource management related aspects of modern dynamic IT systems, infrastructures and services. DML is designed to serve as a basis for self-aware resource management during operation ensuring that system QoS requirements are continuously satisfied while infrastructure resources are utilized as efficiently as possible. KW - Ressourcenmanagement KW - Software Engineering KW - Resource and Performance Management KW - Software Performance Engineering KW - Software Performance Modeling KW - Performance Management KW - Quality-of-Service Y1 - 2014 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-104887 ER - TY - THES A1 - Meister, Daniel T1 - The complexity of membership problems for finite recurrent systems and minimal triangulations T1 - Die Komplexität der Enthaltenseinprobleme für rekurrente Systeme und minimale Triangulationen N2 - The dissertation thesis studies the complexity of membership problems. Generally, membership problems consider the question whether a given object belongs to a set. Object and set are part of the input. The thesis studies the complexity of membership problems for two special kinds of sets. The first problem class asks whether a given natural number belongs to a set of natural numbers. The set of natural numbers is defined via finite recurrent systems: sets are built by iterative application of operations, like union, intersection, complementation and arithmetical operations, to already defined sets. This general problem implies further problems by restricting the set of used operations. The thesis contains completeness results for well-known complexity classes as well as undecidability results for these problems. The second problem class asks whether a given graph is a minimal triangulation of another graph. A graph is a triangulation of another graph, if it is a chordal spanning supergraph of the second graph. If no proper supergraph of the first graph is a triangulation of the second graph, the first graph is a minimal triangulation of the second graph. The complexity of the membership problem for minimal triangulations of several graph classes is investigated. Restricted variants are solved by linear-time algorithms. These algorithms rely on appropriate characterisations of minimal triangulations. N2 - Die Dissertation beschäftigt sich mit der Komplexität von Enthaltenseinproblemen. Allgemein gesprochen, interessieren sich Enthaltenseinprobleme für die Frage, ob ein gegebenes Objekt zu einer Menge gehört. Sowohl Objekt als auch Menge sind Teil der Eingabe. Die Arbeit untersucht die Komplexität dieser Fragestellung für zwei konkrete Mengenklassen. Zum ersten soll entschieden werden, ob eine natürliche Zahl zu einer Menge natürlicher Zahlen gehört. Entscheidend für die Komplexität dieses Problems ist die Darstellung der Menge natürlicher Zahlen. Es werden rekurrente Systeme verwendet, die Mengen natürlicher Zahlen durch iterierte Anwendung einfacher Operationen, wie die drei Mengenoperationen Vereinigung, Durchschnitt, Komplementbildung und arithmetische Operationen, auf bereits konstruierte Mengen definieren. Beschränkt man die Menge verwendeter Operationen, ergibt sich eine Vielzahl von Problemen, deren Komplexitäten bestimmt werden. Es werden Vollständigkeitsresultate für bekannte Komplexitätsklassen wie auch Unentscheidbarkeit gezeigt. Zum zweiten soll entschieden werden, ob ein Graph eine minimale Triangulation eines anderen Graphen ist. Ein Graph ist Triangulation eines anderen Graphen, wenn er ein chordaler aufspannender Obergraph des zweiten Graphen ist. Ist kein echter Obergraph des ersten Graphen eine Triangulation des zweiten Graphen, so ist der erste Graph eine minimale Triangulation des zweiten Graphen. Ein Graph kann mehrere minimale Triangulationen besitzen. Untersucht wird die Komplexität des Enthaltenseinproblems für minimale Triangulationen für verschiedene Graphenklassen, und es werden Linearzeitalgorithmen zur Lösung einer eingeschränkten Variante des jeweiligen Problems angegeben. Die Algorithmen basieren alle auf geeigneten Charakterisierungen minimaler Triangulationen. KW - Komplexität KW - Triangulation KW - Komplexität KW - Enthaltenseinproblem KW - rekurrente Systeme KW - minimale Triangulationen KW - complexity KW - membership problem KW - finite recurrent systems KW - minimal triangulations Y1 - 2006 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-18837 ER - TY - THES A1 - Werner, Lennart T1 - Terrain Mapping for Autonomous Navigation of Lunar Rovers T1 - Geländekartierung für die autonome Navigation von Mondrovern N2 - Autonomous mobile robots operating in unknown terrain have to guide their drive decisions through local perception. Local mapping and traversability analysis is essential for safe rover operation and low level locomotion. This thesis deals with the challenge of building a local, robot centric map from ultra short baseline stereo imagery for height and traversability estimation. Several grid-based, incremental mapping algorithms are compared and evaluated in a multi size, multi resolution framework. A new, covariance based mapping update is introduced, which is capable of detecting sub- cellsize obstacles and abstracts the terrain of one cell as a first order surface. The presented mapping setup is capable of producing reliable ter- rain and traversability estimates under the conditions expected for the Cooperative Autonomous Distributed Robotic Exploreration (CADRE) mission. Algorithmic- and software architecture design targets high reliability and efficiency for meeting the tight constraints implied by CADRE’s small on-board embedded CPU. Extensive evaluations are conducted to find possible edge-case scenar- ios in the operating envelope of the map and to confirm performance parameters. The research in this thesis targets the CADRE mission, but is applicable to any form of mobile robotics which require height- and traversability mapping. N2 - Autonome mobile Roboter, die in unkartiertem Terrain operieren, müs- sen ihre Fahrentscheidungen durch lokale Wahrnehmung steuern. Lo- kale Kartierung und Passierbarkeitsanalysen sind der Schlüssel für ei- nen sicheren Betrieb des Roboters und die Fortbewegung. Diese Arbeit beschäftigt sich mit der Herausforderung, eine lokale, roboterzentrierte Karte für Höhen- und Passierbarkeitsanalysen aus Stereobildern zu erstellen. Mehrere inkrementelle Kartierungsalgorithmen werden verglichen und in einem Framework mit verschiedenen Layern für Größen und Auflö- sungen implementiert und verglichen. Ein neues, kovarianzbasiertes Kartierungsupdate wird eingeführt, das in der Lage ist, Hindernisse unterhalb der Zellgröße zu erkennen. Dieser Algorithmus abstrahiert die Umgebung einer Zelle als Oberfläche erster Ordnung. Das vorgestellte Kartierungssystem ist in der Lage, zuverlässige Gelände- und Durchquerbarkeitsschätzungen unter den CADRE Bedingungen zu liefern. Das Design der Algorithmen- und Software-Architektur zielt auf hohe Zuverlässigkeit und Effizienz ab, um die engen Vorgaben der eingebet- teten CPUs an Bord zu wahren. Umfassende Evaluierungen werden durchgeführt, um mögliche Grenz- szenarien im Betriebsbereich der Karte zu finden und die Leistungs- parameter zu bestätigen. Die Forschung in dieser Arbeit zielt auf die CADRE-Mission ab, ist aber auf jede Form der mobilen Robotik an- wendbar, die Höhen- und Durchquerbarkeitsschätzungen erfordert. T3 - Forschungsberichte in der Robotik = Research Notes in Robotics - 29 KW - Mondfahrzeug KW - mapping KW - navigation KW - hazard avoidance KW - lunar rover Y1 - 2024 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-358268 ER - TY - THES A1 - Stauffert, Jan-Philipp T1 - Temporal Confounding Effects in Virtual and Extended Reality Systems T1 - Zeitliche Störeinflüsse in Systemen der Virtuellen und erweiterten Realität N2 - Latency is an inherent problem of computing systems. Each computation takes time until the result is available. Virtual reality systems use elaborated computer resources to create virtual experiences. The latency of those systems is often ignored or assumed as small enough to provide a good experience. This cumulative thesis is comprised of published peer reviewed research papers exploring the behaviour and effects of latency. Contrary to the common description of time invariant latency, latency is shown to fluctuate. Few other researchers have looked into this time variant behaviour. This thesis explores time variant latency with a focus on randomly occurring latency spikes. Latency spikes are observed both for small algorithms and as end to end latency in complete virtual reality systems. Most latency measurements gather close to the mean latency with potentially multiple smaller clusters of larger latency values and rare extreme outliers. The latency behaviour differs for different implementations of an algorithm. Operating system schedulers and programming language environments such as garbage collectors contribute to the overall latency behaviour. The thesis demonstrates these influences on the example of different implementations of message passing. The plethora of latency sources result in an unpredictable latency behaviour. Measuring and reporting it in scientific experiments is important. This thesis describes established approaches to measuring latency and proposes an enhanced setup to gather detailed information. The thesis proposes to dissect the measured data with a stacked z-outlier-test to separate the clusters of latency measurements for better reporting. Latency in virtual reality applications can degrade the experience in multiple ways. The thesis focuses on cybersickness as a major detrimental effect. An approach to simulate time variant latency is proposed to make latency available as an independent variable in experiments to understand latency's effects. An experiment with modified latency shows that latency spikes can contribute to cybersickness. A review of related research shows that different time invariant latency behaviour also contributes to cybersickness. N2 - Latenz ist ein inhärentes Problem in Computersystemen. Jede Berechnung benötigt Zeit bis das Ergebnis verfügbar ist. Virtual Reality Systeme verwenden komplexe Rechenressourcen um virtuelle Erfahrungen zu erstellen. Die Latenz dieser Systeme wird oft ignoriert oder als klein genug angesehen um eine gute Erfahrung zu ermöglichen. Diese kumulative Doktorarbeit ist aus peer reviewten Forschungspublikationen zusammengesetzt, die das Verhalten und Effekte von Latenz erforschen. Gegensätzlich zu der landläufig verwendeten Beschreibung als zeitinvariante Latenz, wird gezeigt, dass Latenz fluktuiert. Wenige Forscher haben dieses zeitvariable Verhalten genauer untersucht. Diese Arbeit erforscht zeitvariable Latenz mit einem Fokus auf zufällig auftretende Latenzspitzen. Latenzspitzen wurden sowohl für die Ausführung kleiner Algorithmen als auch als End-to-End Latenz in kompletten Virtual Reality Systemen beobachtet. Die meisten Latenzmessungen sammeln sich nahe eines Durchschnittswertes wobei es mehrere Ballungen von höheren Latenzwerten gibt und einige seltene extreme Ausreißer. Das Latenzverhalten unterscheidet sich bei unterschiedlichen Implementierungen eines Algorithmusses. Betriebssystemsscheduler und Programmiersprachenumgebungen wie Garbage Collektoren tragen zu dem Gesamtlatenzverhalten bei. Diese Arbeit beschreibt diese Einflüsse am Beispiel unterschiedlicher Implementierungen von Nachrichtenaustausch. Die Vielfalt an Latenzquellen resultiert in einem unvorhersehbaren Latenzverhalten. Das Messen und Dokumentieren von Latenz ist wichtig in wissenschaftlichen Experimenten. Diese Arbeit beschreibt etablierte Ansätze um Latenz zu messen und schlägt einen verbesserten Ansatz vor um detaillierte Messungen zu sammeln. Diese Arbeit beschreibt wie gemessene Daten mit Hilfe eines stacked z-Testes in separate Cluster geteilt werden können um das Verhalten besser beschreiben zu können. Latenz in Anwendungen der Virtuellen Realität kann die Erfahrung in verschiedenen Arten verschlechtern. Diese Arbeit fokussiert sich auf Cybersickness als einen bedeutenden negativen Einfluss. Es wird ein Ansatz vorgestellt um Latenz zeit-variant zu simulieren damit Latenz als unabhängige Variable in Experimenten, die Auswirkungen von Latenz untersuchen, verwendet werden kann. Ein Experiment mit modifizierter Latenz zeigt, dass Latenzspitzen zu Cybersickness beitragen können. Ein Review verwandter Arbeiten zeigt, dass auch andere Latenzverhalten Cybersickness negativ beeinflussen können. KW - Virtuelle Realität KW - latency cybersickness KW - virtuel reality KW - Latenz Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-290609 ER - TY - THES A1 - Driewer, Frauke T1 - Teleoperation Interfaces in Human-Robot Teams T1 - Benutzerschnittstellen für Teleoperation in Mensch-Roboter Teams N2 - Diese Arbeit beschäftigt sich mit der Verbesserung von Mensch-Roboter Interaktion in Mensch-Roboter Teams für Teleoperation Szenarien, wie z.B. robotergestützte Feuerwehreinsätze. Hierbei wird ein Konzept und eine Architektur für ein System zur Unterstützung von Teleoperation von Mensch-Roboter Teams vorgestellt. Die Anforderungen an Informationsaustausch und -verarbeitung, insbesondere für die Anwendung Rettungseinsatz, werden ausgearbeitet. Weiterhin wird das Design der Benutzerschnittstellen für Mensch-Roboter Teams dargestellt und Prinzipien für Teleoperation-Systeme und Benutzerschnittstellen erarbeitet. Alle Studien und Ansätze werden in einem Prototypen-System implementiert und in verschiedenen Benutzertests abgesichert. Erweiterungsmöglichkeiten zum Einbinden von 3D Sensordaten und die Darstellung auf Stereovisualisierungssystemen werden gezeigt. N2 - This work deals with teams in teleoperation scenarios, where one human team partner (supervisor) guides and controls multiple remote entities (either robotic or human) and coordinates their tasks. Such a team needs an appropriate infrastructure for sharing information and commands. The robots need to have a level of autonomy, which matches the assigned task. The humans in the team have to be provided with autonomous support, e.g. for information integration. Design and capabilities of the human-robot interfaces will strongly influence the performance of the team as well as the subjective feeling of the human team partners. Here, it is important to elaborate the information demand as well as how information is presented. Such human-robot systems need to allow the supervisor to gain an understanding of what is going on in the remote environment (situation awareness) by providing the necessary information. This includes achieving fast assessment of the robot´s or remote human´s state. Processing, integration and organization of data as well as suitable autonomous functions support decision making and task allocation and help to decrease the workload in this multi-entity teleoperation task. Interaction between humans and robots is improved by a common world model and a responsive system and robots. The remote human profits from a simplified user interface providing exactly the information needed for the actual task at hand. The topic of this thesis is the investigation of such teleoperation interfaces in human-robot teams, especially for high-risk, time-critical, and dangerous tasks. The aim is to provide a suitable human-robot team structure as well as analyze the demands on the user interfaces. On one side, it will be looked on the theoretical background (model, interactions, and information demand). On the other side, real implementations for system, robots, and user interfaces are presented and evaluated as testbeds for the claimed requirements. Rescue operations, more precisely fire-fighting, was chosen as an exemplary application scenario for this work. The challenges in such scenarios are high (highly dynamic environments, high risk, time criticality etc.) and it can be expected that results can be transferred to other applications, which have less strict requirements. The present work contributes to the introduction of human-robot teams in task-oriented scenarios, such as working in high risk domains, e.g. fire-fighting. It covers the theoretical background of the required system, the analysis of related human factors concepts, as well as discussions on implementation. An emphasis is placed on user interfaces, their design, requirements and user testing, as well as on the used techniques (three-dimensional sensor data representation, mixed reality, and user interface design guidelines). Further, the potential integration of 3D sensor data as well as the visualization on stereo visualization systems is introduced. T3 - Forschungsberichte in der Robotik = Research Notes in Robotics - 1 KW - Robotik KW - Mobiler Roboter KW - Autonomer Roboter KW - Mensch-Maschine-System KW - Mensch-Maschine-Schnittstelle KW - Mixed Reality KW - Mensch-Roboter-Interaktion KW - Situationsbewusstsein KW - Teleoperation KW - Benutzerschnittstelle KW - Rettungsroboter KW - Human-Robot-Interaction KW - Situation Awareness KW - Teleoperation KW - User Interface KW - Search-and-Rescue Y1 - 2008 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-36351 SN - 978-3-923959-57-0 N1 - Zugl. gedruckte Ausgabe: ISBN: 978-3-923959-54-9 (Paper) ER - TY - THES A1 - Krug, Markus T1 - Techniques for the Automatic Extraction of Character Networks in German Historic Novels T1 - Techniken zur automatischen Extraktion von Figurennetzwerken aus deutschen Romanen N2 - Recent advances in Natural Language Preprocessing (NLP) allow for a fully automatic extraction of character networks for an incoming text. These networks serve as a compact and easy to grasp representation of literary fiction. They offer an aggregated view of the text, which can be used during distant reading approaches for the analysis of literary hypotheses. In their core, the networks consist of nodes, which represent literary characters, and edges, which represent relations between characters. For an automatic extraction of such a network, the first step is the detection of the references of all fictional entities that are of importance for a text. References to the fictional entities appear in the form of names, noun phrases and pronouns and prior to this work, no components capable of automatic detection of character references were available. Existing tools are only capable of detecting proper nouns, a subset of all character references. When evaluated on the task of detecting proper nouns in the domain of literary fiction, they still underperform at an F1-score of just about 50%. This thesis uses techniques from the field of semi-supervised learning, such as Distant supervision and Generalized Expectations, and improves the results of an existing tool to about 82%, when evaluated on all three categories in literary fiction, but without the need for annotated data in the target domain. However, since this quality is still not sufficient, the decision to annotate DROC, a corpus comprising 90 fragments of German novels was made. This resulted in a new general purpose annotation environment titled as ATHEN, as well as annotated data that spans about 500.000 tokens in total. Using this data, the combination of supervised algorithms and a tailored rule based algorithm, which in combination are able to exploit both - local consistencies as well as global consistencies - yield an algorithm with an F1-score of about 93%. This component is referred to as the Kallimachos tagger. A character network can not directly display references however, instead they need to be clustered so that all references that belong to a real world or fictional entity are grouped together. This process widely known as coreference resolution is a hard problem in the focus of research for more than half a century. This work experimented with adaptations of classical feature based machine learning, with a dedicated rule based algorithm and with modern techniques of Deep Learning, but no approach can surpass 55% B-Cubed F1, when evaluated on DROC. Due to this barrier, many researchers do not use a fully-fledged coreference resolution when they extract character networks, but only focus on a more forgiving subset- the names. For novels such as Alice's Adventures in Wonderland by Lewis Caroll, this would however only result in a network in which many important characters are missing. In order to integrate important characters into the network that are not named by the author, this work makes use of automatic detection of speaker and addressees for direct speech utterances (all entities involved in a dialog are considered to be of importance). This problem is by itself not an easy task, however the most successful system analysed in this thesis is able to correctly determine the speaker to about 85% of the utterances as well as about 65% of the addressees. This speaker information can not only help to identify the most dominant characters, but also serves as a way to model the relations between entities. During the span of this work, components have been developed to model relations between characters using speaker attribution, using co-occurrences as well as by the usage of true interactions, for which yet again a dataset was annotated using ATHEN. Furthermore, since relations between characters are usually typed, a component for the extraction of a typed relation was developed. Similar to the experiments for the character reference detection, a combination of a rule based and a Maximum Entropy classifier yielded the best overall results, with the extraction of family relations showing a score of about 80% and the quality of love relations with a score of about 50%. For family relations, a kernel for a Support Vector Machine was developed that even exceeded the scores of the combined approach but is behind on the other labels. In addition, this work presents new ways to evaluate automatically extracted networks without the need of domain experts, instead it relies on the usage of expert summaries. It also refrains from the uses of social network analysis for the evaluation, but instead presents ranked evaluations using Precision@k and the Spearman Rank correlation coefficient for the evaluation of the nodes and edges of the network. An analysis using these metrics showed, that the central characters of a novel are contained with high probability but the quality drops rather fast if more than five entities are analyzed. The quality of the edges is mainly dominated by the quality of the coreference resolution and the correlation coefficient between gold edges and system edges therefore varies between 30 and 60%. All developed components are aggregated alongside a large set of other preprocessing modules in the Kallimachos pipeline and can be reused without any restrictions. N2 - Techniken zur automatischen Extraktion von Figurennetzwerken aus deutschen Romanen KW - Textanalyse KW - Character Networks KW - Coreference KW - Character Reference Detection KW - Relation Detection KW - Quotation Attribution KW - Netzwerkanalyse KW - Digital Humanities KW - Netzwerk Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-209186 ER - TY - RPRT A1 - Blenk, Andreas A1 - Kellerer, Wolfgang A1 - Hoßfeld, Tobias T1 - Technical Report on DFG Project SDN-App: SDN-enabled Application-aware Network Control Architectures and their Performance Assessment N2 - The DFG project “SDN-enabled Application-aware Network Control Architectures and their Performance Assessment” (DFG SDN-App) focused in phase 1 (Jan 2017 – Dec 2019) on software defined networking (SDN). Being a fundamental paradigm shift, SDN enables a remote control of networking devices made by different vendors from a logically centralized controller. In principle, this enables a more dynamic and flexible management of network resources compared to the traditional legacy networks. Phase 1 focused on multimedia applications and their users’ Quality of Experience (QoE). This documents reports the achievements of the first phase (Jan 2017 – Dec 2019), which is jointly carried out by the Technical University of Munich, Technical University of Berlin, and University of Würzburg. The project started at the institutions in Munich and Würzburg in January 2017 and lasted until December 2019. In Phase 1, the project targeted the development of fundamental control mechanisms for network-aware application control and application-aware network control in Software Defined Networks (SDN) so to enhance the user perceived quality (QoE). The idea is to leverage the QoE from multiple applications as control input parameter for application-and network control mechanisms. These mechanisms are implemented by an Application Control Plane (ACP) and a Network Control Plane (NCP). In order to obtain a global view of the current system state, applications and network parameters are monitored and communicated to the respective control plane interface. Network and application information and their demands are exchanged between the control planes so to derive appropriate control actions. To this end, a methodology is developed to assess the application performance and in particular the QoE. This requires an appropriate QoE modeling of the applications considered in the project as well as metrics like QoE fairness to be utilized within QoE management. In summary, the application-network interaction can improve the QoE for multi-application scenarios. This is ensured by utilizing information from the application layer, which are mapped by appropriate QoS-QoE models to QoE within a network control plane. On the other hand, network information is monitored and communicated to the application control plane. Network and application information and their demands are exchanged between the control planes so to derive appropriate control actions. KW - Software-defined networking KW - Quality of Experience KW - SDN KW - QoE Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-207558 ER - TY - RPRT A1 - Grigorjew, Alexej A1 - Metzger, Florian A1 - Hoßfeld, Tobias A1 - Specht, Johannes A1 - Götz, Franz-Josef A1 - Schmitt, Jürgen A1 - Chen, Feng T1 - Technical Report on Bridge-Local Guaranteed Latency with Strict Priority Scheduling N2 - Bridge-local latency computation is often regarded with caution, as historic efforts with the Credit-Based Shaper (CBS) showed that CBS requires network wide information for tight bounds. Recently, new shaping mechanisms and timed gates were applied to achieve such guarantees nonetheless, but they require support for these new mechanisms in the forwarding devices. This document presents a per-hop latency bound for individual streams in a class-based network that applies the IEEE 802.1Q strict priority transmission selection algorithm. It is based on self-pacing talkers and uses the accumulated latency fields during the reservation process to provide upper bounds with bridge-local information. The presented delay bound is proven mathematically and then evaluated with respect to its accuracy. It indicates the required information that must be provided for admission control, e.g., implemented by a resource reservation protocol such as IEEE 802.1Qdd. Further, it hints at potential improvements regarding new mechanisms and higher accuracy given more information. KW - Echtzeit KW - Rechnernetz KW - Latenz KW - Ethernet KW - Latency Bound KW - Formal analysis Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-198310 ER - TY - JOUR A1 - Lesch, Veronika A1 - König, Maximilian A1 - Kounev, Samuel A1 - Stein, Anthony A1 - Krupitzer, Christian T1 - Tackling the rich vehicle routing problem with nature-inspired algorithms JF - Applied Intelligence N2 - In the last decades, the classical Vehicle Routing Problem (VRP), i.e., assigning a set of orders to vehicles and planning their routes has been intensively researched. As only the assignment of order to vehicles and their routes is already an NP-complete problem, the application of these algorithms in practice often fails to take into account the constraints and restrictions that apply in real-world applications, the so called rich VRP (rVRP) and are limited to single aspects. In this work, we incorporate the main relevant real-world constraints and requirements. We propose a two-stage strategy and a Timeline algorithm for time windows and pause times, and apply a Genetic Algorithm (GA) and Ant Colony Optimization (ACO) individually to the problem to find optimal solutions. Our evaluation of eight different problem instances against four state-of-the-art algorithms shows that our approach handles all given constraints in a reasonable time. KW - logistics KW - rich vehicle routing problem KW - ant-colony optimization KW - genetic algorithm KW - real-world application Y1 - 2022 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-268942 SN - 1573-7497 VL - 52 ER -