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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 -