Publikationen an der Fakultät für Informatik und Automatisierung ab 2015

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Fischedick, Söhnke B.; Richter, Kay; Wengefeld, Tim; Seichter, Daniel; Scheidig, Andrea; Döring, Nicola; Broll, Wolfgang; Werner, Stephan; Raake, Alexander; Groß, Horst-Michael
Bridging distance with a collaborative telepresence robot for older adults - report on progress in the CO-HUMANICS project. - In: ISR Europe 2023: 56th International Symposium on Robotics, (2023), S. 346-353

In an aging society, the social needs of older adults, such as regular interactions and independent living, are crucial for their quality of life. However, due to spatial separation from their family and friends, it is difficult to maintain social relationships. Our multidisciplinary project, CO-HUMANICS, aims to meet these needs, even over long distances, through the utilization of innovative technologies, including a robot-based system. This paper presents the first prototype of our system, designed to connect family members or friends virtually present through a mobile robot with an older adult. The system incorporates bi-directional video telephony, remote control capabilities, and enhanced visualization methods. A comparison is made with other state-of-the-art robotic approaches, focusing on remote control capabilities. We provide details about the hard- and software components, e.g., a projector-based pointing unit for collaborative telepresence to assist in everyday tasks. Our comprehensive scene representation is discussed, which utilizes 3D NDT maps, enabling advanced remote navigation features, such as autonomously driving to a specific object. Finally, insights about past and concepts for future evaluation are provided to assess the developed system.



https://ieeexplore.ieee.org/document/10363093
Ebner, Christian;
Modellbasierte Optimierung von mechatronischen Systemen für sicherheitsrelevante Fahrzeuganwendungen. - Ilmenau : Universitätsbibliothek, 2023. - 1 Online-Ressource (IV, 215 Seiten)
Technische Universität Ilmenau, Dissertation 2023

Die Automobilindustrie steht aufgrund sich wandelnder Anforderungen, strengerer Vorschriften und technologischem Fortschritt vor großen Herausforderungen. Hieraus resultierende Trends wie die Elektrifizierung, die Automatisierung und der Entfall mechanischer Verbindungen zwischen Fahrer oder Fahrerin und den Brems- und Lenksystemen (By-Wire-Systeme) erlauben verbesserte Konzepte für die zur Fahrzeugbewegung benötigten Systeme. Der Entfall mechanischer Verbindungen in automatisierten Systemen reduziert allerdings die Möglichkeiten eines menschlichen Eingriffs in Gefahrensituationen. Dies impliziert sicherheitsrelevante Verfügbarkeitsanforderungen an die beteiligten Systeme. Durch diese ergeben sich neue Freiheitsgrade, die bei der Bewertung potenzieller Systemvarianten berücksichtigt werden müssen. Um unter Einhaltung aller Anforderungen die optimalen Varianten zu identifizieren, wird in dieser Arbeit ein Konzept zur modellbasierten Analyse und ganzheitlichen Optimierung sicherheitsrelevanter Systeme vorgeschlagen. Dieses ermöglicht eine recheneffiziente Bewertung einzelner Systemvarianten und erlaubt somit auch die Variation und den Vergleich möglicher Systemtopologien und jeweils zugehöriger Sicherheitsmaßnahmen. Hierzu wird ein zweistufiger Modellierungsansatz eingeführt, der verhaltensbasierte und logische Systemelemente kombiniert. So wird eine Reduktion der Anzahl der Bewertungsdurchläufe zur Bestimmung der Auswirkungen aller Komponentenausfälle ermöglicht. Des Weiteren wird ein algebraischer Berechnungsansatz zur Analyse des stochastischen Verhaltens vorgeschlagen, um die relevanten Sicherheitskennzahlen unter Berücksichtigung beliebiger Wahrscheinlichkeitsverteilungen und des dynamischen Systemverhaltens zu ermitteln. Dieser Ansatz liefert im Gegensatz zu simulationsbasierten Verfahren genaue und reproduzierbare Ergebnisse bei vergleichsweise geringer Rechenzeit. Für die Variation möglicher Systemtopologien und Sicherheitsmaßnahmen wird ein Ansatz zur ganzheitlichen Optimierung vorgeschlagen, um anhand relevanter Leistungs- und Sicherheitskennwerte die vielversprechendsten Systemvarianten zu ermitteln. Die Anwendung des Konzepts sowie dessen Effektivität wird anhand der Optimierung eines elektrischen Antriebssystems unter Berücksichtigung funktionaler Anforderungen sowie unterschiedlicher sicherheitsrelevanter Verfügbarkeitsanforderungen demonstriert.



https://doi.org/10.22032/dbt.59225
Jibril, Muhammad Attahir; Al-Sayeh, Hani; Baumstark, Alexander; Sattler, Kai-Uwe
Fast and efficient update handling for graph H2TAP. - Konstanz : University of Konstanz. - 1 Online-Ressource (Seite 723-736)Online-Ausgabe: Advances in Database Technology - Volume 26 : proceedings of the 26th International Conference on Extending Database Technology (EDBT), 28th March-31st March, 2023, ISBN 978-3-89318-093-6

http://dx.doi.org/10.48786/edbt.2023.60
Kläbe, Steffen; Sattler, Kai-Uwe
Patched multi-key partitioning for robust query performance. - Konstanz : University of Konstanz. - 1 Online-Ressource (Seite 324-336)Online-Ausgabe: Advances in Database Technology - Volume 26 : proceedings of the 26th International Conference on Extending Database Technology (EDBT), 28th March-31st March, 2023, ISBN 978-3-89318-093-6

http://dx.doi.org/10.48786/edbt.2023.26
Kläbe, Steffen; Hagedorn, Stefan; Sattler, Kai-Uwe
Exploration of approaches for in-database ML. - Konstanz : University of Konstanz. - 1 Online-Ressource (Seite 311-322)Online-Ausgabe: Advances in Database Technology - Volume 26 : proceedings of the 26th International Conference on Extending Database Technology (EDBT), 28th March-31st March, 2023, ISBN 978-3-89318-093-6

http://dx.doi.org/10.48786/edbt.2023.25
Schatz, David; Altheide, Friedrich; Koerfgen, Hedwig; Roßberg, Michael; Schäfer, Günter
Virtual private networks in the quantum era: a security in depth approach. - In: SECRYPT 2023, (2023), S. 486-494

Conventional asymmetric cryptography is threatened by the ongoing development of quantum computers. A mandatory countermeasure in the context of virtual private networks (VPNs) is to use post-quantum cryptography (PQC) as a drop-in replacement for the authenticated key exchange in the Internet Key Exchange (IKE) protocol. However, the results of the ongoing cryptanalysis of PQC cannot be predicted. Consequently, this article discusses orthogonal methods for quantum-resistant key exchanges, like quantum key distribution (QKD) and multipath key reinforcement (MKR). As each method has limitations when used on its own, we conclude that it is best to maximize security by combining all available sources of symmetric key material to protect traffic inside a VPN. As one possible realization, we propose a lightweight proxy concept that uses available symmetric keys, like QKD and MKR keys, to implement a transparent cryptographic tunnel for all IKE packets, and consequently for PQC key exchang es. In contrast to combining PQC and symmetric key material within the IKE protocol, our approach provides security in depth: If secure symmetric keys are available, attacks on IKE and hence on PQC algorithms are infeasible. But even otherwise, the security properties of IKE and thus PQC are not weakened, so the overall security of the VPN is guaranteed to increase.



https://doi.org/10.5220/0012121800003555
Altheide, Friedrich; Buttgereit, Simon; Roßberg, Michael; Schäfer, Günter
Increasing resilience of SD-WAN by distributing the control plane. - In: Proceedings of the 14th International Conference on Network of the Future: NoF 2023, (2023), S. 10-18

Modern WAN interconnects utilize SD-WAN to automatically respond to network changes and improve link utilization, latency, and availability. Therefore, they incorporate some kind of centralized controller that collects network state from all managed gateways, calculates suitable forwarding actions, and distributes them accordingly. However, this limits the robustness and availability of the network control plane, especially in the event of node or partial network outages. In this paper, we propose a distributed and highly robust SD-WAN control plane without any central or regional controller. Our solution can handle arbitrary device failures as well as network partitioning. The distributed forwarding decisions are based on user-defined, dynamically evaluated path cost functions, and consider not only path quality but also quality fluctuations. The evaluation shows that our approach can handle several thousand SD-WAN gateways and multiple hundred network policies in terms of computation. Yet, it also highlights that distributing all decisions requires additional communication bandwidth, which may limit the number of supported connections in certain scenarios.



https://doi.org/10.1109/NoF58724.2023.10302816
Saleh, Saad; Koldehofe, Boris
The future is analog: energy-efficient cognitive network functions over memristor-based analog computations. - In: HotNets '23, (2023), S. 254-262

Current network functions build heavily on fixed programmed rules and lack capacity to support more expressive learning models, e.g. brain-inspired Cognitive computational models using neuromorphic computations. The major reason for this shortcoming is the huge energy consumption and limitation in expressiveness by the underlying TCAM-based digital packet processors. In this research, we show that recent emerging technologies from the analog domain have a high potential in supporting network functions with energy efficiency and more expressiveness, so called cognitive functions. We propose an analog packet processing architecture building on a novel technology named Memristors. We develop a novel analog match-action memory called Probabilistic Content-Addressable Memory (pCAM) for supporting deterministic and probabilistic match functions. We develop the programming abstractions and show the support of pCAM for an active queue management-based analog network function. The analysis over an experimental dataset of a memristor chip showed only 0.01 fJ/bit/cell of energy consumption for corresponding analog computations which is 50 times less than digital computations.



https://doi.org/10.1145/3626111.3628192
Meyer, Friedrich; Benisch, Michael F.; Baueregger, Florian; Zimmermann, Armin
A cross-company architecture for cyber-physical production systems and its industrial use. - In: 2023 IEEE 64th International Scientific Conference on Information Technology and Management Science of Riga Technical University (ITMS), (2023), insges. 6 S.

Cyber-physical systems are expected to be an enabler for better control of production systems. They require a combination of heterogeneous sensors and systems processing data from various sources. We present an architecture for cyber-physical production systems for cross-company sensor integration, ensuring the necessary data safety. Its design targets generalizability and performance. A real-life industrial application in the area of optical components polishing demonstrates the benefits.



https://doi.org/10.1109/ITMS59786.2023.10317762
Cheng, Nuo; Li, Xiaohan; Luo, Chuanyu; Liu, Xiaotong; Li, Han; Lei, Shengguang; Li, Pu
PSCO: a point cloud scene classification model based on contrast learning. - In: 2023 IEEE International Conference on Image Processing, (2023), S. 925-929

Point cloud LiDAR data are increasingly used for detecting road situations for autonomous driving. As data acquisition is much cheaper than data annotation, the classification of the collected data and selecting a part of it for annotation is an important pre-processing step. In this study, we propose a self-supervised method and a corresponding package (PSCO) to classify driving scenes in large-scale point cloud data. We propose a contrastive learning approach which encodes each single frame of the collected raw data into a feature vector that can be effectively classified. Using this approach, the number of necessary frames for annotation to train scene-based models can be significantly reduced. In addition, our method can also select specific scenario data for different individual training stages.



https://doi.org/10.1109/ICIP49359.2023.10222104