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This work takes a close look at several quite different research areas related to the design of networked embedded sensor/actuator systems. The variety of the topics illustrates the potential complexity of current sensor network applications; especially when enriched with actuators for proactivity and environmental interaction. Besides their conception, development, installation and long-term operation, we'll mainly focus on more "low-level" aspects: Compositional hardware and software design, task cooperation and collaboration, memory management, and real-time operation will be addressed from a local node perspective. In contrast, inter-node synchronization, communication, as well as sensor data acquisition, aggregation, and fusion will be discussed from a rather global network view. The diversity in the concepts was intentionally accepted to finally facilitate the reliable implementation of truly complex systems. In particular, these should go beyond the usual "sense and transmit of sensor data", but show how powerful today's networked sensor/actuator systems can be despite of their low computational performance and constrained hardware: If their resources are only coordinated efficiently!
An approach to aerodynamically optimizing cycling posture and reducing drag in an Ironman (IM) event was elaborated. Therefore, four commonly used positions in cycling were investigated and simulated for a flow velocity of 10 m/s and yaw angles of 0–20° using OpenFoam-based Nabla Flow CFD simulation software software. A cyclist was scanned using an IPhone 12, and a special-purpose meshing software BLENDER was used. Significant differences were observed by changing and optimizing the cyclist’s posture. Aerodynamic drag coefficient (CdA) varies by more than a factor of 2, ranging from 0.214 to 0.450. Within a position, the CdA tends to increase slightly at yaw angles of 5–10° and decrease at higher yaw angles compared to a straight head wind, except for the time trial (TT) position. The results were applied to the IM Hawaii bike course (180 km), estimating a constant power output of 300 W. Including the wind distributions, two different bike split models for performance prediction were applied. Significant time saving of roughly 1 h was found. Finally, a machine learning approach to deduce 3D triangulation for specific body shapes from 2D pictures was tested.
In the last years, visual methods have been introduced in industrial software production and teaching of software engineering. In particular, the international standardization of a graphical software engineering language, the Unified Modeling Language (UML) was a reason for this tendency. Unfortunately, various problems exist in concrete realizations of tools, e.g. due to a missing compliance to the standard. One problem is the automatic layout, which is required for a consistent automatic software design. The thesis derives reasons and criteria for an automatic layout method, which produces drawings of UML class diagrams according to the UML specification and issues of human computer interaction, e.g. readability. A unique set of aesthetic criteria is combined from four different disciplines involved in this topic. Based on these aethetic rules, a hierarchical layout algorithm is developed, analyzed, measured by specialized measuring techniques and compared to related work. Then, the realization of the algorithm as a Java framework is given as an architectural description. Finally, adaptions to anticipated future changes of the UML, improvements of the framework and example drawings of the implementation are given.
Realistic and lifelike 3D-reconstruction of virtual humans has various exciting and important use cases. Our and others’ appearances have notable effects on ourselves and our interaction partners in virtual environments, e.g., on acceptance, preference, trust, believability, behavior (the Proteus effect), and more. Today, multiple approaches for the 3D-reconstruction of virtual humans exist. They significantly vary in terms of the degree of achievable realism, the technical complexities, and finally, the overall reconstruction costs involved. This article compares two 3D-reconstruction approaches with very different hardware requirements. The high-cost solution uses a typical complex and elaborated camera rig consisting of 94 digital single-lens reflex (DSLR) cameras. The recently developed low-cost solution uses a smartphone camera to create videos that capture multiple views of a person. Both methods use photogrammetric reconstruction and template fitting with the same template model and differ in their adaptation to the method-specific input material. Each method generates high-quality virtual humans ready to be processed, animated, and rendered by standard XR simulation and game engines such as Unreal or Unity. We compare the results of the two 3D-reconstruction methods in an immersive virtual environment against each other in a user study. Our results indicate that the virtual humans from the low-cost approach are perceived similarly to those from the high-cost approach regarding the perceived similarity to the original, human-likeness, beauty, and uncanniness, despite significant differences in the objectively measured quality. The perceived feeling of change of the own body was higher for the low-cost virtual humans. Quality differences were perceived more strongly for one’s own body than for other virtual humans.
This document presents a networking latency measurement setup that focuses on affordability and universal applicability, and can provide sub-microsecond accuracy. It explains the prerequisites, hardware choices, and considerations to respect during measurement. In addition, it discusses the necessity for exhaustive latency measurements when dealing with high availability and low latency requirements. Preliminary results show that the accuracy is within ±0.02 μs when used with the Intel I350-T2 network adapter.
The success of diagnostic knowledge systems has been proved over the last decades. Nowadays, intelligent systems are embedded in machines within various domains or are used in interaction with a user for solving problems. However, although such systems have been applied very successfully the development of a knowledge system is still a critical issue. Similarly to projects dealing with customized software at a highly innovative level a precise specification often cannot be given in advance. Moreover, necessary requirements of the knowledge system can be defined not until the project has been started or are changing during the development phase. Many success factors depend on the feedback given by users, which can be provided if preliminary demonstrations of the system can be delivered as soon as possible, e.g., for interactive systems validation the duration of the system dialog. This thesis motivates that classical, document-centered approaches cannot be applied in such a setting. We cope with this problem by introducing an agile process model for developing diagnostic knowledge systems, mainly inspired by the ideas of the eXtreme Programming methodology known in software engineering. The main aim of the presented work is to simplify the engineering process for domain specialists formalizing the knowledge themselves. The engineering process is supported at a primary level by the introduction of knowledge containers, that define an organized view of knowledge contained in the system. Consequently, we provide structured procedures as a recommendation for filling these containers. The actual knowledge is acquired and formalized right from start, and the integration to runnable knowledge systems is done continuously in order to allow for an early and concrete feedback. In contrast to related prototyping approaches the validity and maintainability of the collected knowledge is ensured by appropriate test methods and restructuring techniques, respectively. Additionally, we propose learning methods to support the knowledge acquisition process sufficiently. The practical significance of the process model strongly depends on the available tools supporting the application of the process model. We present the system family d3web and especially the system d3web.KnowME as a highly integrated development environment for diagnostic knowledge systems. The process model and its activities, respectively, are evaluated in two real life applications: in a medical and in an environmental project the benefits of the agile development are clearly demonstrated.
We use algebraic closures and structures which are derived from these in complexity theory. We classify problems with Boolean circuits and Boolean constraints according to their complexity. We transfer algebraic structures to structural complexity. We use the generation problem to classify important complexity classes.
Mobile laser scanning puts high requirements on the accuracy of the positioning systems and the calibration of the measurement system. We present a novel algorithmic approach for calibration with the goal of improving the measurement accuracy of mobile laser scanners. We describe a general framework for calibrating mobile sensor platforms that estimates all configuration parameters for any arrangement of positioning sensors, including odometry. In addition, we present a novel semi-rigid Simultaneous Localization and Mapping (SLAM) algorithm that corrects the vehicle position at every point in time along its trajectory, while simultaneously improving the quality and precision of the entire acquired point cloud. Using this algorithm, the temporary failure of accurate external positioning systems or the lack thereof can be compensated for. We demonstrate the capabilities of the two newly proposed algorithms on a wide variety of datasets.
Graphs provide a key means to model relationships between entities.
They consist of vertices representing the entities,
and edges representing relationships between pairs of entities.
To make people conceive the structure of a graph,
it is almost inevitable to visualize the graph.
We call such a visualization a graph drawing.
Moreover, we have a straight-line graph drawing
if each vertex is represented as a point
(or a small geometric object, e.g., a rectangle)
and each edge is represented as a line segment between its two vertices.
A polyline is a very simple straight-line graph drawing,
where the vertices form a sequence according to which the vertices are connected by edges.
An example of a polyline in practice is a GPS trajectory.
The underlying road network, in turn, can be modeled as a graph.
This book addresses problems that arise
when working with straight-line graph drawings and polylines.
In particular, we study algorithms
for recognizing certain graphs representable with line segments,
for generating straight-line graph drawings,
and for abstracting polylines.
In the first part, we first examine,
how and in which time we can decide
whether a given graph is a stick graph,
that is, whether its vertices can be represented as
vertical and horizontal line segments on a diagonal line,
which intersect if and only if there is an edge between them.
We then consider the visual complexity of graphs.
Specifically, we investigate, for certain classes of graphs,
how many line segments are necessary for any straight-line graph drawing,
and whether three (or more) different slopes of the line segments
are sufficient to draw all edges.
Last, we study the question,
how to assign (ordered) colors to the vertices of a graph
with both directed and undirected edges
such that no neighboring vertices get the same color
and colors are ascending along directed edges.
Here, the special property of the considered graph is
that the vertices can be represented as intervals
that overlap if and only if there is an edge between them.
The latter problem is motivated by an application
in automated drawing of cable plans with vertical and horizontal line segments,
which we cover in the second part.
We describe an algorithm that
gets the abstract description of a cable plan as input,
and generates a drawing that takes into account
the special properties of these cable plans,
like plugs and groups of wires.
We then experimentally evaluate the quality of the resulting drawings.
In the third part, we study the problem of abstracting (or simplifying)
a single polyline and a bundle of polylines.
In this problem, the objective is to remove as many vertices as possible from the given polyline(s)
while keeping each resulting polyline sufficiently similar to its original course
(according to a given similarity measure).
Heat and excessive solar radiation can produce abiotic stresses during apple maturation, resulting fruit quality. Therefore, the monitoring of temperature on fruit surface (FST) over the growing period can allow to identify thresholds, above of which several physiological disorders such as sunburn may occur in apple.
The current approaches neglect spatial variation of FST and have reduced repeatability, resulting in unreliable predictions. In this study, LiDAR laser scanning and thermal imaging were employed to detect the temperature on fruit surface by means of 3D point cloud. A process for calibrating the two sensors based on an active board target and producing a 3D thermal point cloud was suggested. After calibration, the sensor system was utilised to scan the fruit trees, while temperature values assigned in the corresponding 3D point cloud were based on the extrinsic calibration. Whereas a fruit detection algorithm was performed to segment the FST from each apple.
• The approach allows the calibration of LiDAR laser scanner with thermal camera in order to produce a 3D thermal point cloud.
• The method can be applied in apple trees for segmenting FST in 3D. Whereas the approach can be utilised to predict several physiological disorders including sunburn on fruit surface.
With the introduction of OpenFlow by the Stanford University in 2008, a process began in the area of network research, which questions the predominant approach of fully distributed network control. OpenFlow is a communication protocol that allows the externalization of the network control plane from the network devices, such as a router, and to realize it as a logically-centralized entity in software. For this concept, the term "Software Defined Networking" (SDN) was coined during scientific discourse.
For the network operators, this concept has several advantages. The two most important can be summarized under the points cost savings and flexibility. Firstly, it is possible through the uniform interface for network hardware ("Southbound API"), as implemented by OpenFlow, to combine devices and software from different manufacturers, which increases the innovation and price pressure on them. Secondly, the realization of the network control plane as a freely programmable software with open interfaces ("Northbound API") provides the opportunity to adapt it to the individual circumstances of the operator's network and to exchange information with the applications it serves. This allows the network to be more flexible and to react more quickly to changing circumstances as well as transport the traffic more effectively and tailored to the user’s "Quality of Experience" (QoE).
The approach of a separate network control layer for packet-based networks is not new and has already been proposed several times in the past. Therefore, the SDN approach has raised many questions about its feasibility in terms of efficiency and applicability. These questions are caused to some extent by the fact that there is no generally accepted definition of the SDN concept to date. It is therefore a part of this thesis to derive such a definition. In addition, several of the open issues are investigated. This Investigations follow the three aspects: Performance Evaluation of Software Defined Networking, applications on the SDN control layer, and the usability of SDN Northbound-API for creation application-awareness in network operation.
Performance Evaluation of Software Defined Networking: The question of the efficiency of an SDN-based system was from the beginning one of the most important. In this thesis, experimental measurements of the performance of OpenFlow-enabled switch hardware and control software were conducted for the purpose of answering this question. The results of these measurements were used as input parameters for establishing an analytical model of the reactive SDN approach. Through the model it could be determined that the performance of the software control layer, often called "Controller", is crucial for the overall performance of the system, but that the approach is generally viable. Based on this finding a software for analyzing the performance of SDN controllers was developed. This software allows the emulation of the forwarding layer of an SDN network towards the control software and can thus determine its performance in different situations and configurations. The measurements with this software showed that there are quite significant differences in the behavior of different control software implementations. Among other things it has been shown that some show different characteristics for various switches, in particular in terms of message processing speed. Under certain circumstances this can lead to network failures.
Applications on the SDN control layer: The core piece of software defined networking are the intelligent network applications that operate on the control layer. However, their development is still in its infancy and little is known about the technical possibilities and their limitations. Therefore, the relationship between an SDN-based and classical implementation of a network function is investigated in this thesis. This function is the monitoring of network links and the traffic they carry. A typical approach for this task has been built based on Wiretapping and specialized measurement hardware and compared with an implementation based on OpenFlow switches and a special SDN control application. The results of the comparison show that the SDN version can compete in terms of measurement accuracy for bandwidth and delay estimation with the traditional measurement set-up. However, a compromise has to be found for measurements below the millisecond range.
Another question regarding the SDN control applications is whether and how well they can solve existing problems in networks. Two programs have been developed based on SDN in this thesis to solve two typical network issues. Firstly, the tool "IPOM", which enables considerably more flexibility in the study of effects of network structures for a researcher, who is confined to a fixed physical test network topology.
The second software provides an interface between the Cloud Orchestration Software "OpenNebula" and an OpenFlow controller. The purpose of this software was to investigate experimentally whether a pre-notification of the network of an impending relocation of a virtual service in a data center is sufficient to ensure the continuous operation of that service. This was demonstrated on the example of a video service.
Usability of the SDN Northbound API for creating application-awareness in network operation: Currently, the fact that the network and the applications that run on it are developed and operated separately leads to problems in network operation. SDN offers with the Northbound-API an open interface that enables the exchange between information of both worlds during operation. One aim of this thesis was to investigate whether this interface can be exploited so that the QoE experienced by the user can be maintained on high level. For this purpose, the QoE influence factors were determined on a challenging application by means of a subjective survey study. The application is cloud gaming, in which the calculation of video game environments takes place in the cloud and is transported via video over the network to the user. It was shown that apart from the most important factor influencing QoS, i.e., packet loss on the downlink, also the type of game type and its speed play a role. This demonstrates that in addition to QoS the application state is important and should be communicated to the network. Since an implementation of such a state conscious SDN for the example of Cloud Gaming was not possible due to its proprietary implementation, in this thesis the application “YouTube video streaming” was chosen as an alternative. For this application, status information is retrievable via the "Yomo" tool and can be used for network control. It was shown that an SDN-based implementation of an application-aware network has distinct advantages over traditional network management methods and the user quality can be obtained in spite of disturbances.
A procedure to control all six DOF (degrees of freedom) of a UAV (unmanned aerial vehicle) without an external reference system and to enable fully autonomous flight is presented here. For 2D positioning the principle of optical flow is used. Together with the output of height estimation, fusing ultrasonic, infrared and inertial and pressure sensor data, the 3D position of the UAV can be computed, controlled and steered. All data processing is done on the UAV. An external computer with a pathway planning interface is for commanding purposes only. The presented system is part of the AQopterI8 project, which aims to develop an autonomous flying quadrocopter for indoor application. The focus of this paper is 2D positioning using an optical flow sensor. As a result of the performed evaluation, it can be concluded that for position hold, the standard deviation of the position error is 10cm and after landing the position error is about 30cm.
An Intelligent Semi-Automatic Workflow for Optical Character Recognition of Historical Printings
(2020)
Optical Character Recognition (OCR) on historical printings is a challenging task mainly due to the complexity of the layout and the highly variant typography. Nevertheless, in the last few years great progress has been made in the area of historical OCR resulting in several powerful open-source tools for preprocessing, layout analysis and segmentation, Automatic Text Recognition (ATR) and postcorrection. Their major drawback is that they only offer limited applicability by non-technical users like humanist scholars, in particular when it comes to the combined use of several tools in a workflow. Furthermore, depending on the material, these tools are usually not able to fully automatically achieve sufficiently low error rates, let alone perfect results, creating a demand for an interactive postcorrection functionality which, however, is generally not incorporated.
This thesis addresses these issues by presenting an open-source OCR software called OCR4all which combines state-of-the-art OCR components and continuous model training into a comprehensive workflow. While a variety of materials can already be processed fully automatically, books with more complex layouts require manual intervention by the users. This is mostly due to the fact that the required Ground Truth (GT) for training stronger mixed models (for segmentation as well as text recognition) is not available, yet, neither in the desired quantity nor quality.
To deal with this issue in the short run, OCR4all offers better recognition capabilities in combination with a very comfortable Graphical User Interface (GUI) that allows error corrections not only in the final output, but already in early stages to minimize error propagation. In the long run this constant manual correction produces large quantities of valuable, high quality training material which can be used to improve fully automatic approaches. Further on, extensive configuration capabilities are provided to set the degree of automation of the workflow and to make adaptations to the carefully selected default parameters for specific printings, if necessary. The architecture of OCR4all allows for an easy integration (or substitution) of newly developed tools for its main components by supporting standardized interfaces like PageXML, thus aiming at continual higher automation for historical printings.
In addition to OCR4all, several methodical extensions in the form of accuracy improving techniques for training and recognition are presented. Most notably an effective, sophisticated, and adaptable voting methodology using a single ATR engine, a pretraining procedure, and an Active Learning (AL) component are proposed. Experiments showed that combining pretraining and voting significantly improves the effectiveness of book-specific training, reducing the obtained Character Error Rates (CERs) by more than 50%.
The proposed extensions were further evaluated during two real world case studies: First, the voting and pretraining techniques are transferred to the task of constructing so-called mixed models which are trained on a variety of different fonts. This was done by using 19th century Fraktur script as an example, resulting in a considerable improvement over a variety of existing open-source and commercial engines and models. Second, the extension from ATR on raw text to the adjacent topic of typography recognition was successfully addressed by thoroughly indexing a historical lexicon that heavily relies on different font types in order to encode its complex semantic structure.
During the main experiments on very complex early printed books even users with minimal or no experience were able to not only comfortably deal with the challenges presented by the complex layout, but also to recognize the text with manageable effort and great quality, achieving excellent CERs below 0.5%. Furthermore, the fully automated application on 19th century novels showed that OCR4all (average CER of 0.85%) can considerably outperform the commercial state-of-the-art tool ABBYY Finereader (5.3%) on moderate layouts if suitably pretrained mixed ATR models are available.
Maps are the main tool to represent geographical information. Users often zoom in and out to access maps at different scales. Continuous map generalization tries to make the changes between different scales smooth, which is essential to provide users with comfortable zooming experience.
In order to achieve continuous map generalization with high quality, we optimize some important aspects of maps. In this book, we have used optimization in the generalization of land-cover areas, administrative boundaries, buildings, and coastlines. According to our experiments, continuous map generalization indeed benefits from optimization.
An Overview of Design Patterns for Self-Adaptive Systems in the Context of the Internet of Things
(2020)
The Internet of Things (IoT) requires the integration of all available, highly specialized, and heterogeneous devices, ranging from embedded sensor nodes to servers in the cloud. The self-adaptive research domain provides adaptive capabilities that can support the integration in IoT systems. However, developing such systems is a challenging, error-prone, and time-consuming task. In this context, design patterns propose already used and optimized solutions to specific problems in various contexts. Applying design patterns might help to reuse existing knowledge about similar development issues. However, so far, there is a lack of taxonomies on design patterns for self-adaptive systems. To tackle this issue, in this paper, we provide a taxonomy on design patterns for self-adaptive systems that can be transferred to support adaptivity in IoT systems. Besides describing the taxonomy and the design patterns, we discuss their applicability in an Industrial IoT case study.
Routing is one of the most important issues in any communication network. It defines on which path packets are transmitted from the source of a connection to the destination. It allows to control the distribution of flows between different locations in the network and thereby is a means to influence the load distribution or to reach certain constraints imposed by particular applications. As failures in communication networks appear regularly and cannot be completely avoided, routing is required to be resilient against such outages, i.e., routing still has to be able to forward packets on backup paths even if primary paths are not working any more.
Throughout the years, various routing technologies have been introduced that are very different in their control structure, in their way of working, and in their ability to handle certain failure cases. Each of the different routing approaches opens up their own specific questions regarding configuration, optimization, and inclusion of resilience issues. This monograph investigates, with the example of three particular routing technologies, some concrete issues regarding the analysis and optimization of resilience. It thereby contributes to a better general, technology-independent understanding of these approaches and of their diverse potential for the use in future network architectures.
The first considered routing type, is decentralized intra-domain routing based on administrative IP link costs and the shortest path principle. Typical examples are common today's intra-domain routing protocols OSPF and IS-IS. This type of routing includes automatic restoration abilities in case of failures what makes it in general very robust even in the case of severe network outages including several failed components. Furthermore, special IP-Fast Reroute mechanisms allow for a faster reaction on outages. For routing based on link costs, traffic engineering, e.g. the optimization of the maximum relative link load in the network, can be done indirectly by changing the administrative link costs to adequate values.
The second considered routing type, MPLS-based routing, is based on the a priori configuration of primary and backup paths, so-called Label Switched Paths. The routing layout of MPLS paths offers more freedom compared to IP-based routing as it is not restricted by any shortest path constraints but any paths can be setup. However, this in general involves a higher configuration effort.
Finally, in the third considered routing type, typically centralized routing using a Software Defined Networking (SDN) architecture, simple switches only forward packets according to routing decisions made by centralized controller units. SDN-based routing layouts offer the same freedom as for explicit paths configured using MPLS. In case of a failure, new rules can be setup by the controllers to continue the routing in the reduced topology. However, new resilience issues arise caused by the centralized architecture. If controllers are not reachable anymore, the forwarding rules in the single nodes cannot be adapted anymore. This might render a rerouting in case of connection problems in severe failure scenarios infeasible.
Knowledge about ransomware is important for protecting sensitive data and for participating in public debates about suitable regulation regarding its security. However, as of now, this topic has received little to no attention in most school curricula. As such, it is desirable to analyze what citizens can learn about this topic outside of formal education, e.g., from news articles. This analysis is both relevant to analyzing the public discourse about ransomware, as well as to identify what aspects of this topic should be included in the limited time available for this topic in formal education. Thus, this paper was motivated both by educational and media research. The central goal is to explore how the media reports on this topic and, additionally, to identify potential misconceptions that could stem from this reporting. To do so, we conducted an exploratory case study into the reporting of 109 media articles regarding a high-impact ransomware event: the shutdown of the Colonial Pipeline (located in the east of the USA). We analyzed how the articles introduced central terminology, what details were provided, what details were not, and what (mis-)conceptions readers might receive from them. Our results show that an introduction of the terminology and technical concepts of security is insufficient for a complete understanding of the incident. Most importantly, the articles may lead to four misconceptions about ransomware that are likely to lead to misleading conclusions about the responsibility for the incident and possible political and technical options to prevent such attacks in the future.
Graphs are a frequently used tool to model relationships among entities. A graph is a binary relation between objects, that is, it consists of a set of objects (vertices) and a set of pairs of objects (edges).
Networks are common examples of modeling data as a graph. For example, relationships between persons in a social network, or network links between computers in a telecommunication network can be represented by a graph.
The clearest way to illustrate the modeled data is to visualize the graphs. The field of Graph Drawing deals with the problem of finding algorithms to automatically generate graph visualizations. The task is to find a "good" drawing, which can be measured by different criteria such as number of crossings between edges or the used area. In this thesis, we study Angular Schematization in Graph Drawing. By this, we mean drawings
with large angles (for example, between the edges at common vertices or at crossing points).
The thesis consists of three parts. First, we deal with the placement of boxes. Boxes are axis-parallel rectangles that can, for example, contain text.
They can be placed on a map to label important sites, or can be used to describe semantic relationships between words in a word network. In the second part of the thesis, we consider graph drawings visually guide the
viewer. These drawings generally induce large angles between edges that meet at a vertex. Furthermore, the edges are drawn crossing-free and in a way that
makes them easy to follow for the human eye. The third and final part is devoted to crossings with large angles. In drawings with crossings, it is important to have large angles between edges at their crossing point, preferably right angles.
This thesis contributes to several issues in the context of SDN and NFV, with an emphasis on performance and management.
The main contributions are guide lines for operators migrating to software-based networks, as well as an analytical model for the packet processing in a Linux system using the Kernel NAPI.
In this thesis, we are interested in numerically preserving stationary solutions of balance laws. We start by developing finite volume well-balanced schemes for the system of Euler equations and the system of MHD equations with gravitational source term. Since fluid models and kinetic models are related, this leads us to investigate AP schemes for kinetic equations and their ability to preserve stationary solutions. Kinetic models typically have a stiff term, thus AP schemes are needed to capture good solutions of the model. For such kinetic models, equilibrium solutions are reached after large time. Thus we need a new technique to numerically preserve stationary solutions for AP schemes. We find a criterion for SP schemes for kinetic equations which states, that AP schemes under a particular discretization are also SP. In an attempt to mimic our result for kinetic equations in the context of fluid models, for the isentropic Euler equations we developed an AP scheme in the limit of the Mach number going to zero. Our AP scheme is proven to have a SP property under the condition that the pressure is a function of the density and the latter is obtained as a solution of an elliptic equation. The properties of the schemes we developed and its criteria are validated numerically by various test cases from the literature.
Asynchronous Traffic Shaping enabled bounded latency with low complexity for time sensitive networking without the need for time synchronization. However, its main focus is the guaranteed maximum delay. Jitter-sensitive applications may still be forced towards synchronization. This work proposes traffic damping to reduce end-to-end delay jitter. It discusses its application and shows that both the prerequisites and the guaranteed delay of traffic damping and ATS are very similar. Finally, it presents a brief evaluation of delay jitter in an example topology by means of a simulation and worst case estimation.
Over the last decades, cybersecurity has become an increasingly important issue. Between 2019 and 2011 alone, the losses from cyberattacks in the United States grew by 6217%. At the same time, attacks became not only more intensive but also more and more versatile and diverse. Cybersecurity has become everyone’s concern. Today, service providers require sophisticated and extensive security infrastructures comprising many security functions dedicated to various cyberattacks. Still, attacks become more violent to a level where infrastructures can no longer keep up. Simply scaling up is no longer sufficient. To address this challenge, in a whitepaper, the Cloud Security Alliance (CSA) proposed multiple work packages for security infrastructure, leveraging the possibilities of Software-defined Networking (SDN) and Network Function Virtualization (NFV).
Security functions require a more sophisticated modeling approach than regular network functions. Notably, the property to drop packets deemed malicious has a significant impact on Security Service Function Chains (SSFCs)—service chains consisting of multiple security functions to protect against multiple at- tack vectors. Under attack, the order of these chains influences the end-to-end system performance depending on the attack type. Unfortunately, it is hard to predict the attack composition at system design time. Thus, we make a case for dynamic attack-aware SSFC reordering. Also, we tackle the issues of the lack of integration between security functions and the surrounding network infrastructure, the insufficient use of short term CPU frequency boosting, and the lack of Intrusion Detection and Prevention Systems (IDPS) against database ransomware attacks.
Current works focus on characterizing the performance of security functions and their behavior under overload without considering the surrounding infrastructure. Other works aim at replacing security functions using network infrastructure features but do not consider integrating security functions within the network. Further publications deal with using SDN for security or how to deal with new vulnerabilities introduced through SDN. However, they do not take security function performance into account. NFV is a popular field for research dealing with frameworks, benchmarking methods, the combination with SDN, and implementing security functions as Virtualized Network
Functions (VNFs). Research in this area brought forth the concept of Service Function Chains (SFCs) that chain multiple network functions after one another. Nevertheless, they still do not consider the specifics of security functions. The mentioned CSA whitepaper proposes many valuable ideas but leaves their realization open to others.
This thesis presents solutions to increase the performance of single security functions using SDN, performance modeling, a framework for attack-aware SSFC reordering, a solution to make better use of CPU frequency boosting, and an IDPS against database ransomware.
Specifically, the primary contributions of this work are:
• We present approaches to dynamically bypass Intrusion Detection Systems (IDS) in order to increase their performance without reducing the security level. To this end, we develop and implement three SDN-based approaches (two dynamic and one static).
We evaluate the proposed approaches regarding security and performance and show that they significantly increase the performance com- pared to an inline IDS without significant security deficits. We show that using software switches can further increase the performance of the dynamic approaches up to a point where they can eliminate any throughput drawbacks when using the IDS.
• We design a DDoS Protection System (DPS) against TCP SYN flood at tacks in the form of a VNF that works inside an SDN-enabled network. This solution eliminates known scalability and performance drawbacks of existing solutions for this attack type.
Then, we evaluate this solution showing that it correctly handles the connection establishment and present solutions for an observed issue. Next, we evaluate the performance showing that our solution increases performance up to three times. Parallelization and parameter tuning yields another 76% performance boost. Based on these findings, we discuss optimal deployment strategies.
• We introduce the idea of attack-aware SSFC reordering and explain its impact in a theoretical scenario. Then, we discuss the required information to perform this process.
We validate our claim of the importance of the SSFC order by analyzing the behavior of single security functions and SSFCs. Based on the results, we conclude that there is a massive impact on the performance up to three orders of magnitude, and we find contradicting optimal orders
for different workloads. Thus, we demonstrate the need for dynamic reordering.
Last, we develop a model for SSFC regarding traffic composition and resource demands. We classify the traffic into multiple classes and model the effect of single security functions on the traffic and their generated resource demands as functions of the incoming network traffic. Based on our model, we propose three approaches to determine optimal orders for reordering.
• We implement a framework for attack-aware SSFC reordering based on this knowledge. The framework places all security functions inside an SDN-enabled network and reorders them using SDN flows.
Our evaluation shows that the framework can enforce all routes as desired. It correctly adapts to all attacks and returns to the original state after the attacks cease. We find possible security issues at the moment of reordering and present solutions to eliminate them.
• Next, we design and implement an approach to load balance servers while taking into account their ability to go into a state of Central Processing Unit (CPU) frequency boost. To this end, the approach collects temperature information from available hosts and places services on the host that can attain the boosted mode the longest.
We evaluate this approach and show its effectiveness. For high load scenarios, the approach increases the overall performance and the performance per watt. Even better results show up for low load workloads, where not only all performance metrics improve but also the temperatures and total power consumption decrease.
• Last, we design an IDPS protecting against database ransomware attacks that comprise multiple queries to attain their goal. Our solution models these attacks using a Colored Petri Net (CPN).
A proof-of-concept implementation shows that our approach is capable of detecting attacks without creating false positives for benign scenarios. Furthermore, our solution creates only a small performance impact.
Our contributions can help to improve the performance of security infrastructures. We see multiple application areas from data center operators over software and hardware developers to security and performance researchers. Most of the above-listed contributions found use in several research publications.
Regarding future work, we see the need to better integrate SDN-enabled security functions and SSFC reordering in data center networks. Future SSFC should discriminate between different traffic types, and security frameworks should support automatically learning models for security functions. We see the need to consider energy efficiency when regarding SSFCs and take CPU boosting technologies into account when designing performance models as well as placement, scaling, and deployment strategies. Last, for a faster adaptation against recent ransomware attacks, we propose machine-assisted learning for database IDPS signatures.
In this paper we study connectivity augmentation problems. Given a connected graph G with some desirable property, we want to make G 2-vertex connected (or 2-edge connected) by adding edges such that the resulting graph keeps the property. The aim is to add as few edges as possible. The property that we consider is planarity, both in an abstract graph-theoretic and in a geometric setting, where vertices correspond to points in the plane and edges to straight-line segments.
We show that it is NP-hard to nd a minimum-cardinality augmentation that makes a planar graph 2-edge connected. For making a planar graph 2-vertex connected this was known. We further show that both problems are hard in the geometric setting, even when restricted to trees. The problems remain hard for higher degrees of connectivity. On the other hand we give polynomial-time algorithms for the special case of convex geometric graphs.
We also study the following related problem. Given a planar (plane geometric) graph G, two vertices s and t of G, and an integer c, how many edges have to be added to G such that G is still planar (plane geometric) and contains c edge- (or vertex-) disjoint s{t paths? For the planar case we give a linear-time algorithm for c = 2. For the plane geometric case we give optimal worst-case bounds for c = 2; for c = 3 we characterize the cases that have a solution.
Background
Colorectal cancer is a leading cause of cancer-related deaths worldwide. The best method to prevent CRC is a colonoscopy. However, not all colon polyps have the risk of becoming cancerous. Therefore, polyps are classified using different classification systems. After the classification, further treatment and procedures are based on the classification of the polyp. Nevertheless, classification is not easy. Therefore, we suggest two novel automated classifications system assisting gastroenterologists in classifying polyps based on the NICE and Paris classification.
Methods
We build two classification systems. One is classifying polyps based on their shape (Paris). The other classifies polyps based on their texture and surface patterns (NICE). A two-step process for the Paris classification is introduced: First, detecting and cropping the polyp on the image, and secondly, classifying the polyp based on the cropped area with a transformer network. For the NICE classification, we design a few-shot learning algorithm based on the Deep Metric Learning approach. The algorithm creates an embedding space for polyps, which allows classification from a few examples to account for the data scarcity of NICE annotated images in our database.
Results
For the Paris classification, we achieve an accuracy of 89.35 %, surpassing all papers in the literature and establishing a new state-of-the-art and baseline accuracy for other publications on a public data set. For the NICE classification, we achieve a competitive accuracy of 81.13 % and demonstrate thereby the viability of the few-shot learning paradigm in polyp classification in data-scarce environments. Additionally, we show different ablations of the algorithms. Finally, we further elaborate on the explainability of the system by showing heat maps of the neural network explaining neural activations.
Conclusion
Overall we introduce two polyp classification systems to assist gastroenterologists. We achieve state-of-the-art performance in the Paris classification and demonstrate the viability of the few-shot learning paradigm in the NICE classification, addressing the prevalent data scarcity issues faced in medical machine learning.
These days, we are living in a digitalized world. Both our professional and private lives are pervaded by various IT services, which are typically operated using distributed computing systems (e.g., cloud environments). Due to the high level of digitalization, the operators of such systems are confronted with fast-paced and changing requirements. In particular, cloud environments have to cope with load fluctuations and respective rapid and unexpected changes in the computing resource demands. To face this challenge, so-called auto-scalers, such as the threshold-based mechanism in Amazon Web Services EC2, can be employed to enable elastic scaling of the computing resources. However, despite this opportunity, business-critical applications are still run with highly overprovisioned resources to guarantee a stable and reliable service operation. This strategy is pursued due to the lack of trust in auto-scalers and the concern that inaccurate or delayed adaptations may result in financial losses.
To adapt the resource capacity in time, the future resource demands must be "foreseen", as reacting to changes once they are observed introduces an inherent delay. In other words, accurate forecasting methods are required to adapt systems proactively. A powerful approach in this context is time series forecasting, which is also applied in many other domains. The core idea is to examine past values and predict how these values will evolve as time progresses. According to the "No-Free-Lunch Theorem", there is no algorithm that performs best for all scenarios. Therefore, selecting a suitable forecasting method for a given use case is a crucial task. Simply put, each method has its benefits and drawbacks, depending on the specific use case. The choice of the forecasting method is usually based on expert knowledge, which cannot be fully automated, or on trial-and-error. In both cases, this is expensive and prone to error.
Although auto-scaling and time series forecasting are established research fields, existing approaches cannot fully address the mentioned challenges: (i) In our survey on time series forecasting, we found that publications on time series forecasting typically consider only a small set of (mostly related) methods and evaluate their performance on a small number of time series with only a few error measures while providing no information on the execution time of the studied methods. Therefore, such articles cannot be used to guide the choice of an appropriate method for a particular use case; (ii) Existing open-source hybrid forecasting methods that take advantage of at least two methods to tackle the "No-Free-Lunch Theorem" are computationally intensive, poorly automated, designed for a particular data set, or they lack a predictable time-to-result. Methods exhibiting a high variance in the time-to-result cannot be applied for time-critical scenarios (e.g., auto-scaling), while methods tailored to a specific data set introduce restrictions on the possible use cases (e.g., forecasting only annual time series); (iii) Auto-scalers typically scale an application either proactively or reactively. Even though some hybrid auto-scalers exist, they lack sophisticated solutions to combine reactive and proactive scaling. For instance, resources are only released proactively while resource allocation is entirely done in a reactive manner (inherently delayed); (iv) The majority of existing mechanisms do not take the provider's pricing scheme into account while scaling an application in a public cloud environment, which often results in excessive charged costs. Even though some cost-aware auto-scalers have been proposed, they only consider the current resource demands, neglecting their development over time. For example, resources are often shut down prematurely, even though they might be required again soon.
To address the mentioned challenges and the shortcomings of existing work, this thesis presents three contributions: (i) The first contribution-a forecasting benchmark-addresses the problem of limited comparability between existing forecasting methods; (ii) The second contribution-Telescope-provides an automated hybrid time series forecasting method addressing the challenge posed by the "No-Free-Lunch Theorem"; (iii) The third contribution-Chamulteon-provides a novel hybrid auto-scaler for coordinated scaling of applications comprising multiple services, leveraging Telescope to forecast the workload intensity as a basis for proactive resource provisioning. In the following, the three contributions of the thesis are summarized:
Contribution I - Forecasting Benchmark
To establish a level playing field for evaluating the performance of forecasting methods in a broad setting, we propose a novel benchmark that automatically evaluates and ranks forecasting methods based on their performance in a diverse set of evaluation scenarios. The benchmark comprises four different use cases, each covering 100 heterogeneous time series taken from different domains. The data set was assembled from publicly available time series and was designed to exhibit much higher diversity than existing forecasting competitions. Besides proposing a new data set, we introduce two new measures that describe different aspects of a forecast. We applied the developed benchmark to evaluate Telescope.
Contribution II - Telescope
To provide a generic forecasting method, we introduce a novel machine learning-based forecasting approach that automatically retrieves relevant information from a given time series. More precisely, Telescope automatically extracts intrinsic time series features and then decomposes the time series into components, building a forecasting model for each of them. Each component is forecast by applying a different method and then the final forecast is assembled from the forecast components by employing a regression-based machine learning algorithm. In more than 1300 hours of experiments benchmarking 15 competing methods (including approaches from Uber and Facebook) on 400 time series, Telescope outperformed all methods, exhibiting the best forecast accuracy coupled with a low and reliable time-to-result. Compared to the competing methods that exhibited, on average, a forecast error (more precisely, the symmetric mean absolute forecast error) of 29%, Telescope exhibited an error of 20% while being 2556 times faster. In particular, the methods from Uber and Facebook exhibited an error of 48% and 36%, and were 7334 and 19 times slower than Telescope, respectively.
Contribution III - Chamulteon
To enable reliable auto-scaling, we present a hybrid auto-scaler that combines proactive and reactive techniques to scale distributed cloud applications comprising multiple services in a coordinated and cost-effective manner. More precisely, proactive adaptations are planned based on forecasts of Telescope, while reactive adaptations are triggered based on actual observations of the monitored load intensity. To solve occurring conflicts between reactive and proactive adaptations, a complex conflict resolution algorithm is implemented. Moreover, when deployed in public cloud environments, Chamulteon reviews adaptations with respect to the cloud provider's pricing scheme in order to minimize the charged costs. In more than 400 hours of experiments evaluating five competing auto-scaling mechanisms in scenarios covering five different workloads, four different applications, and three different cloud environments, Chamulteon exhibited the best auto-scaling performance and reliability while at the same time reducing the charged costs. The competing methods provided insufficient resources for (on average) 31% of the experimental time; in contrast, Chamulteon cut this time to 8% and the SLO (service level objective) violations from 18% to 6% while using up to 15% less resources and reducing the charged costs by up to 45%.
The contributions of this thesis can be seen as major milestones in the domain of time series forecasting and cloud resource management. (i) This thesis is the first to present a forecasting benchmark that covers a variety of different domains with a high diversity between the analyzed time series. Based on the provided data set and the automatic evaluation procedure, the proposed benchmark contributes to enhance the comparability of forecasting methods. The benchmarking results for different forecasting methods enable the selection of the most appropriate forecasting method for a given use case. (ii) Telescope provides the first generic and fully automated time series forecasting approach that delivers both accurate and reliable forecasts while making no assumptions about the analyzed time series. Hence, it eliminates the need for expensive, time-consuming, and error-prone procedures, such as trial-and-error searches or consulting an expert. This opens up new possibilities especially in time-critical scenarios, where Telescope can provide accurate forecasts with a short and reliable time-to-result.
Although Telescope was applied for this thesis in the field of cloud computing, there is absolutely no limitation regarding the applicability of Telescope in other domains, as demonstrated in the evaluation. Moreover, Telescope, which was made available on GitHub, is already used in a number of interdisciplinary data science projects, for instance, predictive maintenance in an Industry 4.0 context, heart failure prediction in medicine, or as a component of predictive models of beehive development. (iii) In the context of cloud resource management, Chamulteon is a major milestone for increasing the trust in cloud auto-scalers. The complex resolution algorithm enables reliable and accurate scaling behavior that reduces losses caused by excessive resource allocation or SLO violations. In other words, Chamulteon provides reliable online adaptations minimizing charged costs while at the same time maximizing user experience.
A deep integration of routine care and research remains challenging in many respects. We aimed to show the feasibility of an automated transformation and transfer process feeding deeply structured data with a high level of granularity collected for a clinical prospective cohort study from our hospital information system to the study's electronic data capture system, while accounting for study-specific data and visits. We developed a system integrating all necessary software and organizational processes then used in the study. The process and key system components are described together with descriptive statistics to show its feasibility in general and to identify individual challenges in particular. Data of 2051 patients enrolled between 2014 and 2020 was transferred. We were able to automate the transfer of approximately 11 million individual data values, representing 95% of all entered study data. These were recorded in n = 314 variables (28% of all variables), with some variables being used multiple times for follow-up visits. Our validation approach allowed for constant good data quality over the course of the study. In conclusion, the automated transfer of multi-dimensional routine medical data from HIS to study databases using specific study data and visit structures is complex, yet viable.
Automation in Software Performance Engineering Based on a Declarative Specification of Concerns
(2019)
Software performance is of particular relevance to software system design, operation, and evolution because it has a significant impact on key business indicators. During the life-cycle of a software system, its implementation, configuration, and deployment are subject to multiple changes that may affect the end-to-end performance characteristics. Consequently, performance analysts continually need to provide answers to and act based on performance-relevant concerns. To ensure a desired level of performance, software performance engineering provides a plethora of methods, techniques, and tools for measuring, modeling, and evaluating performance properties of software systems. However, the answering of performance concerns is subject to a significant semantic gap between the level on which performance concerns are formulated and the technical level on which performance evaluations are actually conducted. Performance evaluation approaches come with different strengths and limitations concerning, for example, accuracy, time-to-result, or system overhead. For the involved stakeholders, it can be an elaborate process to reasonably select, parameterize and correctly apply performance evaluation approaches, and to filter and interpret the obtained results. An additional challenge is that available performance evaluation artifacts may change over time, which requires to switch between different measurement-based and model-based performance evaluation approaches during the system evolution. At model-based analysis, the effort involved in creating performance models can also outweigh their benefits.
To overcome the deficiencies and enable an automatic and holistic evaluation of performance throughout the software engineering life-cycle requires an approach that: (i) integrates multiple types of performance concerns and evaluation approaches, (ii) automates performance model creation, and (iii) automatically selects an evaluation methodology tailored to a specific scenario. This thesis presents a declarative approach —called Declarative Performance Engineering (DPE)— to automate performance evaluation based on a humanreadable specification of performance-related concerns. To this end, we separate the definition of performance concerns from their solution. The primary scientific contributions presented in this thesis are:
A declarative language to express performance-related concerns and a corresponding processing framework:
We provide a language to specify performance concerns independent of a concrete performance evaluation approach. Besides the specification of functional aspects, the language allows to include non-functional tradeoffs optionally. To answer these concerns, we provide a framework architecture and a corresponding reference implementation to process performance concerns automatically. It allows to integrate arbitrary performance evaluation approaches and is accompanied by reference implementations for model-based and measurement-based performance evaluation.
Automated creation of architectural performance models from execution traces:
The creation of performance models can be subject to significant efforts outweighing the benefits of model-based performance evaluation. We provide a model extraction framework that creates architectural performance models based on execution traces, provided by monitoring tools.The framework separates the derivation of generic information from model creation routines. To derive generic information, the framework combines state-of-the-art extraction and estimation techniques. We isolate object creation routines specified in a generic model builder interface based on concepts present in multiple performance-annotated architectural modeling formalisms. To create model extraction for a novel performance modeling formalism, developers only need to write object creation routines instead of creating model extraction software from scratch when reusing the generic framework.
Automated and extensible decision support for performance evaluation approaches:
We present a methodology and tooling for the automated selection of a performance evaluation approach tailored to the user concerns and application scenario. To this end, we propose to decouple the complexity of selecting a performance evaluation approach for a given scenario by providing solution approach capability models and a generic decision engine. The proposed capability meta-model enables to describe functional and non-functional capabilities of performance evaluation approaches and tools at different granularities. In contrast to existing tree-based decision support mechanisms, the decoupling approach allows to easily update characteristics of solution approaches as well as appending new rating criteria and thereby stay abreast of evolution in performance evaluation tooling and system technologies.
Time-to-result estimation for model-based performance prediction:
The time required to execute a model-based analysis plays an important role in different decision processes. For example, evaluation scenarios might require the prediction results to be available in a limited period of time such that the system can be adapted in time to ensure the desired quality of service. We propose a method to estimate the time-to-result for modelbased performance prediction based on model characteristics and analysis parametrization. We learn a prediction model using performancerelevant features thatwe determined using statistical tests. We implement the approach and demonstrate its practicability by applying it to analyze a simulation-based multi-step performance evaluation approach for a representative architectural performance modeling formalism.
We validate each of the contributions based on representative case studies. The evaluation of automatic performance model extraction for two case study systems shows that the resulting models can accurately predict the performance behavior. Prediction accuracy errors are below 3% for resource utilization and mostly less than 20% for service response time. The separate evaluation of the reusability shows that the presented approach lowers the implementation efforts for automated model extraction tools by up to 91%. Based on two case studies applying measurement-based and model-based performance evaluation techniques, we demonstrate the suitability of the declarative performance engineering framework to answer multiple kinds of performance concerns customized to non-functional goals. Subsequently, we discuss reduced efforts in applying performance analyses using the integrated and automated declarative approach. Also, the evaluation of the declarative framework reviews benefits and savings integrating performance evaluation approaches into the declarative performance engineering framework. We demonstrate the applicability of the decision framework for performance evaluation approaches by applying it to depict existing decision trees. Then, we show how we can quickly adapt to the evolution of performance evaluation methods which is challenging for static tree-based decision support systems. At this, we show how to cope with the evolution of functional and non-functional capabilities of performance evaluation software and explain how to integrate new approaches. Finally, we evaluate the accuracy of the time-to-result estimation for a set of machinelearning algorithms and different training datasets. The predictions exhibit a mean percentage error below 20%, which can be further improved by including performance evaluations of the considered model into the training data. The presented contributions represent a significant step towards an integrated performance engineering process that combines the strengths of model-based and measurement-based performance evaluation. The proposed performance concern language in conjunction with the processing framework significantly reduces the complexity of applying performance evaluations for all stakeholders. Thereby it enables performance awareness throughout the software engineering life-cycle. The proposed performance concern language removes the semantic gap between the level on which performance concerns are formulated and the technical level on which performance evaluations are actually conducted by the user.
The development of ICT infrastructures has facilitated the emergence of new paradigms for looking at society and the environment over the last few years. Participatory environmental sensing, i.e. directly involving citizens in environmental monitoring, is one example, which is hoped to encourage learning and enhance awareness of environmental issues. In this paper, an analysis of the behaviour of individuals involved in noise sensing is presented. Citizens have been involved in noise measuring activities through the WideNoise smartphone application. This application has been designed to record both objective (noise samples) and subjective (opinions, feelings) data. The application has been open to be used freely by anyone and has been widely employed worldwide. In addition, several test cases have been organised in European countries. Based on the information submitted by users, an analysis of emerging awareness and learning is performed. The data show that changes in the way the environment is perceived after repeated usage of the application do appear. Specifically, users learn how to recognise different noise levels they are exposed to. Additionally, the subjective data collected indicate an increased user involvement in time and a categorisation effect between pleasant and less pleasant environments.
This thesis is divided into two parts.
In the first part we contribute to a working program initiated by Pudlák (2017) who lists several major complexity theoretic conjectures relevant to proof complexity and asks for oracles that separate pairs of corresponding relativized conjectures. Among these conjectures are:
- \(\mathsf{CON}\) and \(\mathsf{SAT}\): coNP (resp., NP) does not contain complete sets that have P-optimal proof systems.
- \(\mathsf{CON}^{\mathsf{N}}\): coNP does not contain complete sets that have optimal proof systems.
- \(\mathsf{TFNP}\): there do not exist complete total polynomial search problems (also known as total NP search problems).
- \(\mathsf{DisjNP}\) and \(\mathsf{DisjCoNP}\): There do not exist complete disjoint NP pairs (coNP pairs).
- \(\mathsf{UP}\): UP does not contain complete problems.
- \(\mathsf{NP}\cap\mathsf{coNP}\): \(\mathrm{NP}\cap\mathrm{coNP}\) does not contain complete problems.
- \(\mathrm{P}\ne\mathrm{NP}\).
We construct several of the oracles that Pudlák asks for.
In the second part we investigate the computational complexity of balance problems for \(\{-,\cdot\}\)-circuits computing finite sets of natural numbers (note that \(-\) denotes the set difference). These problems naturally build on problems for integer expressions and integer circuits studied by Stockmeyer and Meyer (1973), McKenzie and Wagner (2007), and Glaßer et al. (2010).
Our work shows that the balance problem for \(\{-,\cdot\}\)-circuits is undecidable which is the first natural problem for integer circuits or related constraint satisfaction problems that admits only one arithmetic operation and is proven to be undecidable.
Starting from this result we precisely characterize the complexity of balance problems for proper subsets of \(\{-,\cdot\}\). These problems turn out to be complete for one of the classes L, NL, and NP.
Computer games are highly immersive, engaging, and motivating learning environments. By providing a tutorial at the start of a new game, players learn the basics of the game's underlying principles as well as practice how to successfully play the game. During the actual gameplay, players repetitively apply this knowledge, thus improving it due to repetition. Computer games also challenge players with a constant stream of new challenges which increase in difficulty over time. As a result, computer games even require players to transfer their knowledge to master these new challenges. A computer game consists of several game mechanics. Game mechanics are the rules of a computer game and encode the game's underlying principles. They create the virtual environments, generate a game's challenges and allow players to interact with the game. Game mechanics also can encode real world knowledge. This knowledge may be acquired by players via gameplay. However, the actual process of knowledge encoding and knowledge learning using game mechanics has not been thoroughly defined, yet. This thesis therefore proposes a theoretical model to define the knowledge learning using game mechanics: the Gamified Knowledge Encoding. The model is applied to design a serious game for affine transformations, i.e., GEtiT, and to predict the learning outcome of playing a computer game that encodes orbital mechanics in its game mechanics, i.e., Kerbal Space Program. To assess the effects of different visualization technologies on the overall learning outcome, GEtiT visualizes the gameplay in desktop-3D and immersive virtual reality. The model's applicability for effective game design as well as GEtiT's overall design are evaluated in a usability study. The learning outcome of playing GEtiT and Kerbal Space Program is assessed in four additional user studies. The studies' results validate the use of the Gamified Knowledge Encoding for the purpose of developing effective serious games and to predict the learning outcome of existing serious games. GEtiT and Kerbal Space Program yield a similar training effect but a higher motivation to tackle the assignments in comparison to a traditional learning method. In conclusion, this thesis expands the understanding of using game mechanics for an effective learning of knowledge. The presented results are of high importance for researches, educators, and developers as they also provide guidelines for the development of effective serious games.
Beyond maximum independent set: an extended integer programming formulation for point labeling
(2017)
Map labeling is a classical problem of cartography that has frequently been approached by combinatorial optimization. Given a set of features in a map and for each feature a set of label candidates, a common problem is to select an independent set of labels (that is, a labeling without label–label intersections) that contains as many labels as possible and at most one label for each feature. To obtain solutions of high cartographic quality, the labels can be weighted and one can maximize the total weight (rather than the number) of the selected labels. We argue, however, that when maximizing the weight of the labeling, the influences of labels on other labels are insufficiently addressed. Furthermore, in a maximum-weight labeling, the labels tend to be densely packed and thus the map background can be occluded too much. We propose extensions of an existing model to overcome these limitations. Since even without our extensions the problem is NP-hard, we cannot hope for an efficient exact algorithm for the problem. Therefore, we present a formalization of our model as an integer linear program (ILP). This allows us to compute optimal solutions in reasonable time, which we demonstrate both for randomly generated point sets and an existing data set of cities. Moreover, a relaxation of our ILP allows for a simple and efficient heuristic, which yielded near-optimal solutions for our instances.
This paper describes the estimation of the body weight of a person in front of an RGB-D camera. A survey of different methods for body weight estimation based on depth sensors is given. First, an estimation of people standing in front of a camera is presented. Second, an approach based on a stream of depth images is used to obtain the body weight of a person walking towards a sensor. The algorithm first extracts features from a point cloud and forwards them to an artificial neural network (ANN) to obtain an estimation of body weight. Besides the algorithm for the estimation, this paper further presents an open-access dataset based on measurements from a trauma room in a hospital as well as data from visitors of a public event. In total, the dataset contains 439 measurements. The article illustrates the efficiency of the approach with experiments with persons lying down in a hospital, standing persons, and walking persons. Applicable scenarios for the presented algorithm are body weight-related dosing of emergency patients.
This article presents an immersive virtual reality (VR) system for training classroom management skills, with a specific focus on learning to manage disruptive student behavior in face-to-face, one-to-many teaching scenarios. The core of the system is a real-time 3D virtual simulation of a classroom populated by twenty-four semi-autonomous virtual students. The system has been designed as a companion tool for classroom management seminars in a syllabus for primary and secondary school teachers. This will allow lecturers to link theory with practice using the medium of VR. The system is therefore designed for two users: a trainee teacher and an instructor supervising the training session. The teacher is immersed in a real-time 3D simulation of a classroom by means of a head-mounted display and headphone. The instructor operates a graphical desktop console, which renders a view of the class and the teacher whose avatar movements are captured by a marker less tracking system. This console includes a 2D graphics menu with convenient behavior and feedback control mechanisms to provide human-guided training sessions. The system is built using low-cost consumer hardware and software. Its architecture and technical design are described in detail. A first evaluation confirms its conformance to critical usability requirements (i.e., safety and comfort, believability, simplicity, acceptability, extensibility, affordability, and mobility). Our initial results are promising and constitute the necessary first step toward a possible investigation of the efficiency and effectiveness of such a system in terms of learning outcomes and experience.
Mindfulness is considered an important factor of an individual's subjective well-being. Consequently, Human-Computer Interaction (HCI) has investigated approaches that strengthen mindfulness, i.e., by inventing multimedia technologies to support mindfulness meditation. These approaches often use smartphones, tablets, or consumer-grade desktop systems to allow everyday usage in users' private lives or in the scope of organized therapies. Virtual, Augmented, and Mixed Reality (VR, AR, MR; in short: XR) significantly extend the design space for such approaches. XR covers a wide range of potential sensory stimulation, perceptive and cognitive manipulations, content presentation, interaction, and agency. These facilities are linked to typical XR-specific perceptions that are conceptually closely related to mindfulness research, such as (virtual) presence and (virtual) embodiment. However, a successful exploitation of XR that strengthens mindfulness requires a systematic analysis of the potential interrelation and influencing mechanisms between XR technology, its properties, factors, and phenomena and existing models and theories of the construct of mindfulness. This article reports such a systematic analysis of XR-related research from HCI and life sciences to determine the extent to which existing research frameworks on HCI and mindfulness can be applied to XR technologies, the potential of XR technologies to support mindfulness, and open research gaps. Fifty papers of ACM Digital Library and National Institutes of Health's National Library of Medicine (PubMed) with and without empirical efficacy evaluation were included in our analysis. The results reveal that at the current time, empirical research on XR-based mindfulness support mainly focuses on therapy and therapeutic outcomes. Furthermore, most of the currently investigated XR-supported mindfulness interactions are limited to vocally guided meditations within nature-inspired virtual environments. While an analysis of empirical research on those systems did not reveal differences in mindfulness compared to non-mediated mindfulness practices, various design proposals illustrate that XR has the potential to provide interactive and body-based innovations for mindfulness practice. We propose a structured approach for future work to specify and further explore the potential of XR as mindfulness-support. The resulting framework provides design guidelines for XR-based mindfulness support based on the elements and psychological mechanisms of XR interactions.
The emerging serverless computing may meet Edge Cloud in a beneficial manner as the two offer flexibility and dynamicity in optimizing finite hardware resources. However, the lack of proper study of a joint platform leaves a gap in literature about consumption and performance of such integration. To this end, this paper identifies the key questions and proposes a methodology to answer them.
CLIP knows image aesthetics
(2022)
Most Image Aesthetic Assessment (IAA) methods use a pretrained ImageNet classification model as a base to fine-tune. We hypothesize that content classification is not an optimal pretraining task for IAA, since the task discourages the extraction of features that are useful for IAA, e.g., composition, lighting, or style. On the other hand, we argue that the Contrastive Language-Image Pretraining (CLIP) model is a better base for IAA models, since it has been trained using natural language supervision. Due to the rich nature of language, CLIP needs to learn a broad range of image features that correlate with sentences describing the image content, composition, environments, and even subjective feelings about the image. While it has been shown that CLIP extracts features useful for content classification tasks, its suitability for tasks that require the extraction of style-based features like IAA has not yet been shown. We test our hypothesis by conducting a three-step study, investigating the usefulness of features extracted by CLIP compared to features obtained from the last layer of a comparable ImageNet classification model. In each step, we get more computationally expensive. First, we engineer natural language prompts that let CLIP assess an image's aesthetic without adjusting any weights in the model. To overcome the challenge that CLIP's prompting only is applicable to classification tasks, we propose a simple but effective strategy to convert multiple prompts to a continuous scalar as required when predicting an image's mean aesthetic score. Second, we train a linear regression on the AVA dataset using image features obtained by CLIP's image encoder. The resulting model outperforms a linear regression trained on features from an ImageNet classification model. It also shows competitive performance with fully fine-tuned networks based on ImageNet, while only training a single layer. Finally, by fine-tuning CLIP's image encoder on the AVA dataset, we show that CLIP only needs a fraction of training epochs to converge, while also performing better than a fine-tuned ImageNet model. Overall, our experiments suggest that CLIP is better suited as a base model for IAA methods than ImageNet pretrained networks.
Today’s advanced Internet-of-Things applications raise technical challenges on cloud, edge, and fog computing. The design of an efficient, virtualized, context-aware, self-configuring orchestration system of a fog computing system constitutes a major development effort within this very innovative area of research. In this paper we describe the architecture and relevant implementation aspects of a cloudless resource monitoring system interworking with an SDN/NFV infrastructure. It realizes the basic monitoring component of the fundamental MAPE-K principles employed in autonomic computing. Here we present the hierarchical layering and functionality within the underlying fog nodes to generate a working prototype of an intelligent, self-managed orchestrator for advanced IoT applications and services. The latter system has the capability to monitor automatically various performance aspects of the resource allocation among multiple hosts of a fog computing system interconnected by SDN.
Aims Acute myocardial infarction (MI) is the major cause of chronic heart failure. The activity of blood coagulation factor XIII (FXIIIa) plays an important role in rodents as a healing factor after MI, whereas its role in healing and remodelling processes in humans remains unclear. We prospectively evaluated the relevance of FXIIIa after acute MI as a potential early prognostic marker for adequate healing.
Methods and results This monocentric prospective cohort study investigated cardiac remodelling in patients with ST-elevation MI and followed them up for 1 year. Serum FXIIIa was serially assessed during the first 9 days after MI and after 2, 6, and 12 months. Cardiac magnetic resonance imaging was performed within 4 days after MI (Scan 1), after 7 to 9 days (Scan 2), and after 12 months (Scan 3). The FXIII valine-to-leucine (V34L) single-nucleotide polymorphism rs5985 was genotyped. One hundred forty-six patients were investigated (mean age 58 ± 11 years, 13% women). Median FXIIIa was 118 % (quartiles, 102–132%) and dropped to a trough on the second day after MI: 109%(98–109%; P < 0.001). FXIIIa recovered slowly over time, reaching the baseline level after 2 to 6 months and surpassed baseline levels only after 12 months: 124 % (110–142%). The development of FXIIIa after MI was independent of the genotype. FXIIIa on Day 2 was strongly and inversely associated with the relative size of MI in Scan 1 (Spearman’s ρ = –0.31; P = 0.01) and Scan 3 (ρ = –0.39; P < 0.01) and positively associated with left ventricular ejection fraction: ρ = 0.32 (P < 0.01) and ρ = 0.24 (P = 0.04), respectively.
Conclusions FXIII activity after MI is highly dynamic, exhibiting a significant decline in the early healing period, with reconstitution 6 months later. Depressed FXIIIa early after MI predicted a greater size of MI and lower left ventricular ejection fraction after 1 year. The clinical relevance of these findings awaits to be tested in a randomized trial.
To protect the health of human and environment, the European Union implemented the REACH regulation for chemical substances. REACH is an acronym for Registration, Evaluation, Authorization, and Restriction of Chemicals. Under REACH, the authorities have the task of assessing chemical substances, especially those that might pose a risk to human health or environment. The work under REACH is scientifically, technically and procedurally a complex and knowledge-intensive task that is jointly performed by the European Chemicals Agency and member state authorities in Europe. The assessment of substances under REACH conducted in the German Environment Agency is supported by the knowledge-based system KnowSEC, which is used for the screening, documentation, and decision support when working on chemical substances. The software KnowSEC integrates advanced semantic technologies and strong problem solving methods. It allows for the collaborative work on substances in the context of the European REACH regulation. We discuss the applied methods and process models and we report on experiences with the implementation and use of the system.
Combining Distributed Consensus with Robust H-infinity-Control for Satellite Formation Flying
(2019)
Control methods that guarantee stability in the presence of uncertainties are mandatory in space applications. Further, distributed control approaches are beneficial in terms of scalability and to achieve common goals, especially in multi-agent setups like formation control. This paper presents a combination of robust H-infinity control and distributed control using the consensus approach by deriving a distributed consensus-based generalized plant description that can be used in H-infinity synthesis. Special focus was set towards space applications, namely satellite formation flying. The presented results show the applicability of the developed distributed robust control method to a simple, though realistic space scenario, namely a spaceborne distributed telescope. By using this approach, an arbitrary number of satellites/agents can be controlled towards an arbitrary formation geometry. Because of the combination with robust H-infinity control, the presented method satisfies the high stability and robustness demands as found e.g., in space applications.
Scalability is often mentioned in literature, but a stringent definition is missing. In particular, there is no general scalability assessment which clearly indicates whether a system scales or not or whether a system scales better than another. The key contribution of this article is the definition of a scalability index (SI) which quantifies if a system scales in comparison to another system, a hypothetical system, e.g., linear system, or the theoretically optimal system. The suggested SI generalizes different metrics from literature, which are specialized cases of our SI. The primary target of our scalability framework is, however, benchmarking of two systems, which does not require any reference system. The SI is demonstrated and evaluated for different use cases, that are (1) the performance of an IoT load balancer depending on the system load, (2) the availability of a communication system depending on the size and structure of the network, (3) scalability comparison of different location selection mechanisms in fog computing with respect to delays and energy consumption; (4) comparison of time-sensitive networking (TSN) mechanisms in terms of efficiency and utilization. Finally, we discuss how to use and how not to use the SI and give recommendations and guidelines in practice. To the best of our knowledge, this is the first work which provides a general SI for the comparison and benchmarking of systems, which is the primary target of our scalability analysis.
Athletes adapt their training daily to optimize performance, as well as avoid fatigue, overtraining and other undesirable effects on their health. To optimize training load, each athlete must take his/her own personal objective and subjective characteristics into consideration and an increasing number of wearable technologies (wearables) provide convenient monitoring of various parameters. Accordingly, it is important to help athletes decide which parameters are of primary interest and which wearables can monitor these parameters most effectively. Here, we discuss the wearable technologies available for non-invasive monitoring of various parameters concerning an athlete's training and health. On the basis of these considerations, we suggest directions for future development. Furthermore, we propose that a combination of several wearables is most effective for accessing all relevant parameters, disturbing the athlete as little as possible, and optimizing performance and promoting health.
We consider competitive location problems where two competing providers place their facilities sequentially and users can decide between the competitors. We assume that both competitors act non-cooperatively and aim at maximizing their own benefits. We investigate the complexity and approximability of such problems on graphs, in particular on simple graph classes such as trees and paths. We also develop fast algorithms for single competitive location problems where each provider places a single facilty. Voting location, in contrast, aims at identifying locations that meet social criteria. The provider wants to satisfy the users (customers) of the facility to be opened. In general, there is no location that is favored by all users. Therefore, a satisfactory compromise has to be found. To this end, criteria arising from voting theory are considered. The solution of the location problem is understood as the winner of a virtual election among the users of the facilities, in which the potential locations play the role of the candidates and the users represent the voters. Competitive and voting location problems turn out to be closely related.
The present paper describes an improved 4 DOF (x/y/z/yaw) vision based positioning solution for fully 6 DOF autonomous UAVs, optimised in terms of computation and development costs as well as robustness and performance. The positioning system combines Fourier transform-based image registration (Fourier Tracking) and differential optical flow computation to overcome the drawbacks of a single approach. The first method is capable of recognizing movement in four degree of freedom under variable lighting conditions, but suffers from low sample rate and high computational costs. Differential optical flow computation, on the other hand, enables a very high sample rate to gain control robustness. This method, however, is limited to translational movement only and performs poor in bad lighting conditions. A reliable positioning system for autonomous flights with free heading is obtained by fusing both techniques. Although the vision system can measure the variable altitude during flight, infrared and ultrasonic sensors are used for robustness. This work is part of the AQopterI8 project, which aims to develop an autonomous flying quadrocopter for indoor application and makes autonomous directed flight possible.
Complexity and Partitions
(2001)
Computational complexity theory usually investigates the complexity of sets, i.e., the complexity of partitions into two parts. But often it is more appropriate to represent natural problems by partitions into more than two parts. A particularly interesting class of such problems consists of classification problems for relations. For instance, a binary relation R typically defines a partitioning of the set of all pairs (x,y) into four parts, classifiable according to the cases where R(x,y) and R(y,x) hold, only R(x,y) or only R(y,x) holds or even neither R(x,y) nor R(y,x) is true. By means of concrete classification problems such as Graph Embedding or Entailment (for propositional logic), this thesis systematically develops tools, in shape of the boolean hierarchy of NP-partitions and its refinements, for the qualitative analysis of the complexity of partitions generated by NP-relations. The Boolean hierarchy of NP-partitions is introduced as a generalization of the well-known and well-studied Boolean hierarchy (of sets) over NP. Whereas the latter hierarchy has a very simple structure, the situation is much more complicated for the case of partitions into at least three parts. To get an idea of this hierarchy, alternative descriptions of the partition classes are given in terms of finite, labeled lattices. Based on these characterizations the Embedding Conjecture is established providing the complete information on the structure of the hierarchy. This conjecture is supported by several results. A natural extension of the Boolean hierarchy of NP-partitions emerges from the lattice-characterization of its classes by considering partition classes generated by finite, labeled posets. It turns out that all significant ideas translate from the case of lattices. The induced refined Boolean hierarchy of NP-partitions enables us more accuratly capturing the complexity of certain relations (such as Graph Embedding) and a description of projectively closed partition classes.
Presence is often considered the most important quale describing the subjective feeling of being in a computer-generated and/or computer-mediated virtual environment. The identification and separation of orthogonal presence components, i.e., the place illusion and the plausibility illusion, has been an accepted theoretical model describing Virtual Reality (VR) experiences for some time. This perspective article challenges this presence-oriented VR theory. First, we argue that a place illusion cannot be the major construct to describe the much wider scope of virtual, augmented, and mixed reality (VR, AR, MR: or XR for short). Second, we argue that there is no plausibility illusion but merely plausibility, and we derive the place illusion caused by the congruent and plausible generation of spatial cues and similarly for all the current model’s so-defined illusions. Finally, we propose congruence and plausibility to become the central essential conditions in a novel theoretical model describing XR experiences and effects.
Constraining graph layouts - that is, restricting the placement of vertices and the routing of edges to obey certain constraints - is common practice in graph drawing.
In this book, we discuss algorithmic results on two different restriction types:
placing vertices on the outer face and on the integer grid.
For the first type, we look into the outer k-planar and outer k-quasi-planar graphs, as well as giving a linear-time algorithm to recognize full and closed outer k-planar graphs Monadic Second-order Logic.
For the second type, we consider the problem of transferring a given planar drawing onto the integer grid while perserving the original drawings topology;
we also generalize a variant of Cauchy's rigidity theorem for orthogonal polyhedra of genus 0 to those of arbitrary genus.
Context-specific Consistencies in Information Extraction: Rule-based and Probabilistic Approaches
(2015)
Large amounts of communication, documentation as well as knowledge and information are stored in textual documents. Most often, these texts like webpages, books, tweets or reports are only available in an unstructured representation since they are created and interpreted by humans. In order to take advantage of this huge amount of concealed information and to include it in analytic processes, it needs to be transformed into a structured representation. Information extraction considers exactly this task. It tries to identify well-defined entities and relations in unstructured data and especially in textual documents.
Interesting entities are often consistently structured within a certain context, especially in semi-structured texts. However, their actual composition varies and is possibly inconsistent among different contexts. Information extraction models stay behind their potential and return inferior results if they do not consider these consistencies during processing. This work presents a selection of practical and novel approaches for exploiting these context-specific consistencies in information extraction tasks. The approaches direct their attention not only to one technique, but are based on handcrafted rules as well as probabilistic models.
A new rule-based system called UIMA Ruta has been developed in order to provide optimal conditions for rule engineers. This system consists of a compact rule language with a high expressiveness and strong development support. Both elements facilitate rapid development of information extraction applications and improve the general engineering experience, which reduces the necessary efforts and costs when specifying rules.
The advantages and applicability of UIMA Ruta for exploiting context-specific consistencies are illustrated in three case studies. They utilize different engineering approaches for including the consistencies in the information extraction task. Either the recall is increased by finding additional entities with similar composition, or the precision is improved by filtering inconsistent entities. Furthermore, another case study highlights how transformation-based approaches are able to correct preliminary entities using the knowledge about the occurring consistencies.
The approaches of this work based on machine learning rely on Conditional Random Fields, popular probabilistic graphical models for sequence labeling. They take advantage of a consistency model, which is automatically induced during processing the document. The approach based on stacked graphical models utilizes the learnt descriptions as feature functions that have a static meaning for the model, but change their actual function for each document. The other two models extend the graph structure with additional factors dependent on the learnt model of consistency. They include feature functions for consistent and inconsistent entities as well as for additional positions that fulfill the consistencies.
The presented approaches are evaluated in three real-world domains: segmentation of scientific references, template extraction in curricula vitae, and identification and categorization of sections in clinical discharge letters. They are able to achieve remarkable results and provide an error reduction of up to 30% compared to usually applied techniques.
This article presents a novel method for controlling a virtual audience system (VAS) in Virtual Reality (VR) application, called STAGE, which has been originally designed for supervised public speaking training in university seminars dedicated to the preparation and delivery of scientific talks. We are interested in creating pedagogical narratives: narratives encompass affective phenomenon and rather than organizing events changing the course of a training scenario, pedagogical plans using our system focus on organizing the affects it arouses for the trainees. Efficiently controlling a virtual audience towards a specific training objective while evaluating the speaker’s performance presents a challenge for a seminar instructor: the high level of cognitive and physical demands required to be able to control the virtual audience, whilst evaluating speaker’s performance, adjusting and allowing it to quickly react to the user’s behaviors and interactions. It is indeed a critical limitation of a number of existing systems that they rely on a Wizard of Oz approach, where the tutor drives the audience in reaction to the user’s performance. We address this problem by integrating with a VAS a high-level control component for tutors, which allows using predefined audience behavior rules, defining custom ones, as well as intervening during run-time for finer control of the unfolding of the pedagogical plan. At its core, this component offers a tool to program, select, modify and monitor interactive training narratives using a high-level representation. The STAGE offers the following features: i) a high-level API to program pedagogical narratives focusing on a specific public speaking situation and training objectives, ii) an interactive visualization interface iii) computation and visualization of user metrics, iv) a semi-autonomous virtual audience composed of virtual spectators with automatic reactions to the speaker and surrounding spectators while following the pedagogical plan V) and the possibility for the instructor to embody a virtual spectator to ask questions or guide the speaker from within the Virtual Environment. We present here the design, and implementation of the tutoring system and its integration in STAGE, and discuss its reception by end-users.