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12th IEEE International Black Sea Conference on Communications and Networking (BlackSeaCom)

作者： Schwenteck, Paul Zimmermann, Sandra von Lengerke, Caspar Scheunert, Christian Fitzek, Frank H. P. Tech Univ Dresden Deutsch Telekom Chair Commun Networks Dresden Germany Tech Univ Dresden Chair Informat Theory & Machine Learning Dresden Germany Ctr Tactile Internet Human in the Loop CeTI Dresden Germany

ISBN: (纸本)9798350351866;9798350351859

Hardware testbeds play a crucial role in evaluating the energy consumption and performance of distributed systems. In this paper, we present a multi-functional testbed for distributed systems that is easily accessible, operable, and configurable. We describe the design, implementation, and orchestration of the testbed that consists of off-the-shelf devices with varying specifications, energy consumption, and network connectivity. Additionally, we provide all technical information in an opensource GitLab repository. Using the presented testbed, we evaluate in a specific test scenario the download time and energy consumption of a distributed caching system that operates using the InterPlanetary File System (IPFS) and the Multi Access Recoding System (MARS), an addition to IPFS using network coding. Our results show that an increase in the number of nodes in the network can significantly reduce download time for the user by 57%, while MARS is 10% faster than IPFS with less than 8 peers. The number of transmitting nodes does not affect the energy the user requires for the download process. Also, every node in the network requires less energy when more nodes are available. However, the overall energy required for the network rises significantly by 400%. Such network-wide observations are difficult to obtain in simulations or emulations, emphasizing the importance of using real testbeds to evaluate distributed systems.

关键词： Hardware testbed energy consumption distributed caching IPFS network performance analysis distributed architectures

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QGD-OE: IMU Orientation Estimation Based on Gradient Descent in the Quaternion Field

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2025年 74卷

作者： Radak, Hristina Scheunert, Christian Reisslein, Martin Fitzek, Frank H. P. Tech Univ Dresden Deutsch Telekom Chair Commun Networks D-01062 Dresden Germany Tech Univ Dresden Chair Informat Theory & Machine Learning ITML D-01062 Dresden Germany Arizona State Univ Sch Elect Comp & Energy Engn Tempe AZ 85287 USA Tech Univ Dresden Ctr Tactile Internet Human In The Loop CeTI D-01062 Dresden Germany

Orientation estimation based on inertial measurement units (IMUs) has emerged as a promising solution for real-time orientation tracking. Quaternion numbers are frequently employed by estimation algorithms to represent orientation in 3-D space. In recent years, gradient descent-based algorithms have been extensively utilized for quaternion-based orientation estimation due to their simplicity and effectiveness. However, the real functions of quaternion variables are nonanalytic. Current state-of-the-art algorithms for orientation estimation based on gradient descent methods overcome this obstacle by transforming the problem from the quaternion domain into the real domain. In contrast, we leverage the mathematical definition of the quaternion gradient based on the generalized Hamilton-real (GHR) algebra to solve the orientation estimation optimization problem based on IMUs directly in the quaternion domain. More specifically, we derive the accelerometer and magnetometer gradient descents in the quaternion domain and propose the quaternion gradient descent orientation estimation (QGD-OE) algorithm to estimate orientation from these gradient descents. We compare our QGD-OE algorithm with two state-of-the-art orientation estimation algorithms. We find that the QGD-OE algorithm achieves higher accuracy, improved robustness, and shorter convergence time than state-of-the-art methods. The comparison highlights the deficiencies of transforming from the quaternion domain into the real domain and underscores the importance of conducting gradient descent and estimation optimization in the quaternion domain.

关键词： Quaternions Estimation Magnetic field measurement Sensors Magnetometers Magnetic domains Vectors Accelerometers Sensor fusion Gyroscopes Gradient descent inertial measurement unit (IMU) orientation estimation quaternions sensor fusion

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NET Playground - A Multi-Functional Testbed for Distributed Systems

NET Playground - A Multi-Functional Testbed for Distributed ...

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International Black Sea Conference on Communications and Networking (BlackSeaCom)

作者： Paul Schwenteck Sandra Zimmermann Caspar von Lengerke Christian Scheunert Frank H. P. Fitzek Deutsche Telekom Chair of Communication Networks TU Dresden Germany Chair of Information Theory and Machine Learning TU Dresden Germany Centre for Tactile Internet with Human-in-the-Loop (CeTI)

ISBN: (数字)9798350351859

ISBN: (纸本)9798350351866

Hardware testbeds play a crucial rolerole in evaluating the energy consumption and performance of distributed systems. In this paper, we present a multi-functional testbed for distributed systems that is easily accessible, operable, and configurable. We describe the design, implementation, and orchestration of the testbed that consists of off-the-shelf devices with varying specifications, energy consumption, and network connectivity. Additionally, we provide all technical information in an open- source GitLab repository. Using the presented testbed, we evaluate in a specific test scenario the download time and energy consumption of a distributed caching system that operates using the InterPlanetary File System (IPFS) and the Multi Access Recoding System (MARS), an addition to IPFS using network coding. Our results show that an increase in the number of nodes in the network can significantly reduce download time for the user by 57%, while MARS is 10% faster than IPFS with less than 8 peers. The number of transmitting nodes does not affect the energy the user requires for the download process. Also, every node in the network requires less energy when more nodes are available. However, the overall energy required for the network rises significantly by 400 %. Such network-wide observations are difficult to obtain in simulations or emulations, emphasizing the importance of using real testbeds to evaluate distributed systems.

关键词： Performance evaluation Energy consumption Three-dimensional displays Sea measurements Energy measurement Hardware Time measurement

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Reliability and Latency Analysis for Wireless Communication Systems With a Secret-Key Budget

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IEEE TRANSACTIONS ON COMMUNICATIONS 2024年第2期72卷 1033-1044页

作者： Besser, Karl-Ludwig Schaefer, Rafael F. Poor, H. Vincent Tech Univ Carolo Wilhelmina Braunschweig Inst Commun Technol D-38106 Braunschweig Germany Princeton Univ Dept Elect & Comp Engn Princeton NJ 08544 USA Tech Univ Dresden Chair Informat Theory & Machine Learning D-01062 Dresden Germany Tech Univ Dresden BMBF Res Hub 6G life D-01062 Dresden Germany Tech Univ Dresden Cluster Excellence D-01062 Dresden Germany Tech Univ Dresden Ctr Tactile Internet Human Loop CeTI D-01062 Dresden Germany Tech Univ Dresden 5G Lab Germany D-01062 Dresden Germany

We consider a wireless communication system with a passive eavesdropper, in which a transmitter and legitimate receiver generate and use key bits to secure the transmission of their data. These bits are added to and used from a pool of available key bits. In this work, we analyze the reliability of the system in terms of the probability that the budget of available key bits will be exhausted. In addition, we investigate the latency before a transmission can take place. Since security, reliability, and latency are three important metrics for modern communication systems, it is of great interest to jointly analyze them in relation to the system parameters. In particular, we show under what conditions the system may remain in an active state indefinitely, i.e., never run out of available secret-key bits. The results presented in this work will allow system designers to adjust the system parameters in such a way that the requirements of the application in terms of both reliability and latency are met.

关键词： Physical layer security ruin theory secret-key generation reliability analysis latency analysis

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Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study

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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年第4期7卷 10296-10303页

作者： Naceri, Abdeldjallil Elsner, Jean Troebinger, Mario Sadeghian, Hamid Johannsmeier, Lars Voigt, Florian Chen, Xiao Macari, Daniela Jaehne, Christoph Berlet, Maximilian Fuchtmann, Jonas Figueredo, Luis Feussner, Hubertus Wilhelm, Dirk Haddadin, Sami Tech Univ Munich Munich Inst Robot & Machine Intelligence D-80992 Munich Germany Univ Isfahan Esfahan *** Iran Franka Emika GmbH D-80797 Munich Germany Max Planck ETH Ctr Learning Syst Max Planck Inst Intelligent Syst D-70569 Stuttgart Germany Tech Univ Munich Univ Hosp Rechts Isar MITI Grp D-80992 Munich Germany Ctr Tactile Internet Human Loop CeTI D-80992 Munich Germany

The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach to overcome this problem using robot-assisted telediagnostics, which allows medical experts to examine patients from distance. The designed telediagnostic system consists of two robotic arms. Each robot is located at the doctor and patient sites. Such a system enables the doctor to have a direct conversation via telepresence and to examine patients through robot-assisted inspection (guided tactile and audiovisual contact). The proposed bilateral teleoperation system is redundant in terms of teleoperation control algorithms and visual feedback. Specifically, we implemented two main control modes: joint-based and displacement-based teleoperation. The joint-based mode was implemented due to its high transparency and ease of mapping between Leader and Follower whereas the displacement-based is highly flexible in terms of relative pose mapping and null-space control. Tracking tests between Leader and Follower were conducted on our system using both wired and wireless connections. Moreover, our system was tested by seven medical doctors in two experiments. User studies demonstrated the system's usability and it was successfully validated by the medical experts.

关键词： Telemedicine telediagnostics medical robots tactile robotic Covid-19

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Algorithmic Computability and Approximability of Capacity-Achieving Input Distributions

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IEEE TRANSACTIONS ON INFORMATION THEORY 2023年第9期69卷 5449-5462页

作者： Boche, Holger Schaefer, Rafael F. Poor, H. Vincent Tech Univ Munich Inst Theoret Informat Technol D-80290 Munich Germany BMBF Res Hub 6G Life D-80333 Munich Germany Munich Quantum Valley MQV D-80290 Munich Germany Ruhr Univ Bochum Excellence Cluster Cyber Secur Age Large Scale Adv D-44801 Bochum Germany Tech Univ Dresden Chair Informat Theory & Machine Learning D-01069 Dresden Germany Tech Univ Dresden Cluster Excellence Ctr Tactile Internet Human Loop BMBF Res Hub 6G Life D-01069 Dresden Germany Tech Univ Dresden 5G Lab Germany D-01069 Dresden Germany Princeton Univ Dept Elect & Comp Engn Princeton NJ 08544 USA

The capacity of a channel can usually be characterized as a maximization of certain entropic quantities. From a practical point of view it is of primary interest to not only compute the capacity value, but also to find the corresponding optimizer, i.e., the capacity-achieving input distribution. This paper addresses the general question of whether or not it is possible to find algorithms that can compute the optimal input distribution depending on the channel. For this purpose, the concept of Turing machines is used which provides the fundamental performance limits of digital computers and there-with fully specifies which tasks are algorithmically feasible in principle. It is shown for discrete memoryless channels that it is impossible to algorithmically compute the capacity-achieving input distribution, where the channel is given as an input to the algorithm (or Turing machine). Finally, it is further shown that it is even impossible to algorithmically approximate these input distributions.

关键词： Capacity-achieving input distribution turing machine computability approximability

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Can surgeons trust AI? Perspectives on machine learning in surgery and the importance of eXplainable Artificial Intelligence (XAI)

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LANGENBECKS ARCHIVES OF SURGERY 2025年第1期410卷 1-5页

作者： Brandenburg, Johanna M. Mueller-Stich, Beat P. Wagner, Martin van der Schaar, Mihaela Heidelberg Univ Hosp Dept Gen Visceral & Transplantat Surg Heidelberg Germany Natl Ctr Tumor Dis NCT Heidelberg Germany Univ Digest Healthcare Ctr Basel Basel Switzerland Tech Univ Dresden Univ Hosp Carl Gustav Carus Dept Visceral Thorac & Vasc Surg Fetscherstr 74 D-01307 Dresden Germany Natl Ctr Tumor Dis NCT UCC Dresden Germany Tech Univ Dresden Ctr Tactile Internet Human Inthe Loop CeTI Dresden Germany Univ Cambridge Cambridge England Univ Calif Los Angeles Dept Elect & Comp Engn Los Angeles CA 90095 USA Alan Turing Inst London England Univ Cambridge Fac Math Ctr Math Imaging Healthcare Machine Learning & Art Wilberforce Rd Cambridge CB3 0WA England

PurposeThis brief report aims to summarize and discuss the methodologies of eXplainable Artificial Intelligence (XAI) and their potential applications in *** briefly introduce explainability methods, including global and individual explanatory features, methods for imaging data and time series, as well as similarity classification, and unraveled rules and *** the increasing interest in artificial intelligence within the surgical field, we emphasize the critical importance of transparency and interpretability in the outputs of applied *** and interpretability are essential for the effective integration of AI models into clinical practice.

关键词： Artificial intelligence Explainable artificial intelligence machine learning Minimally invasive surgery

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Beyond a One-Size-Fits-All Approach: Towards Personalizing Multi-device Setups in Crowdwork

Beyond a One-Size-Fits-All Approach: Towards Personalizing M...

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Adjunct Proceedings of the 2022 ACM International Joint Conference on Pervasive and Ubiquitous Computing and the 2022 ACM International Symposium on Wearable Computers

作者： Senjuti Dutta Rhema Linder Scott Ruoti Alex Williams Anastasia Kuzminykh Department of Electrical Engineering and Computer Science University of Tennessee Knoxville United States Department of Electrical Engineering and Computer Science The University of Tennessee United States Electrical Engineering and Computer Science The University of Tennessee United States Human-in-the-Loop and Machine Learning Amazon United States Faculty of Information University of Toronto Canada

ISBN: (纸本)9781450394239

Non-workstation devices provide mobility in the sense that they enable work and play in less constrained environments and configurations. Workers have different needs and preferences in terms of work practices that impact work-life balance. One way to increase mobility is to allow for more choices in both workstation and non-workstation devices. This paper investigates whether workers’ preferences for using different devices are distinct. To understand whether these differences in preference exist, we use data from an exploratory qualitative survey of 150 crowdworkers from Amazon Mechanical Turk. We first identify the aspects that influence crowdworkers’ preferences in using non-workstation devices. Next, our thematic analysis of open-ended data indicates that different workers have different preferences for multi-device configuration. Finally, this leads to a discussion of how people have different preferences which would require different non-workstation devices.

关键词： Crowdwork human Intelligence Tasks Personalizing multi-device

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Compositional Construction of Barrier Functions for Switched Impulsive Systems

Compositional Construction of Barrier Functions for Switched...

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IEEE Conference on Decision and Control

作者： Katharina Bieker Hugo Kussaba Philipp Scholl Jaesug Jung Abdalla Swikir Sami Haddadin Gitta Kutyniok Department of Mathematics Ludwig-Maximilians-Universität München Germany Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich (TUM) Germany Department of Electrical and Electronic Engineering Omar Al-Mukhtar University (OMU) Albaida Libya Aalto University Finland MBUZAI Abu Dhabi UAE Centre for Tactile Internet with Human-in-the-Loop (CeTI) Munich Center for Machine Learning (MCML) Germany Department of Physics and Technology University of Tromsø Norway Institute of Robotics and Mechatronics DLR-German Aerospace Center Germany

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Many systems occurring in real-world applications, such as controlling the motions of robots or modeling the spread of diseases, are switched impulsive systems. To ensure that the system state stays in a safe region (e.g., to avoid collisions with obstacles), barrier functions are widely utilized. As the system dimension increases, deriving suitable barrier functions becomes extremely complex. Fortunately, many systems consist of multiple subsystems, such as different areas where the disease occurs. In this work, we present sufficient conditions for interconnected switched impulsive systems to maintain safety by constructing local barrier functions for the individual subsystems instead of a global one, allowing for much easier and more efficient derivation. To validate our results, we numerically demonstrate its effectiveness using an epidemiological model.

关键词： Sufficient conditions Computational modeling Switches Interconnected systems Control systems Polynomials Numerical models Safety Robots Diseases

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Why is the winner the best?

Why is the winner the best?

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IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Eisenmann, M. Reinke, A. Weru, V. Tizabi, M. D. Isensee, F. Adler, T. J. Ali, S. Andrearczyk, V. Aubreville, M. Baid, U. Bakas, S. Balu, N. Bano, S. Bernal, J. Bodenstedt, S. Casella, A. Cheplygina, V. Daum, M. de Bruijne, M. Depeursinge, A. Dorent, R. Egger, J. Ellis, D. G. Engelhardt, S. Ganz, M. Ghatwary, N. Girard, G. Godau, P. Gupta, A. Hansen, L. Harada, K. Heinrich, M. Heller, N. Hering, A. Huaulme, A. Jannin, P. Kavur, A. E. Kodym, O. Kozubek, M. Li, J. Li, H. Ma, J. Martin-Isla, C. Menze, B. Noble, A. Oreiller, V. Padoy, N. Pati, S. Payette, K. Raedsch, T. Rafael-Patino, J. Bawa, V. Singh Speidel, S. Sudre, C. H. van Wijnen, K. Wagner, M. Wei, D. Yamlahi, A. Yap, M. H. Yuan, C. Zenk, M. Zia, A. Zimmerer, D. Aydogan, D. Bhattarai, B. Bloch, L. Bruengel, R. Cho, J. Choi, C. Dou, Q. Ezhov, I. Friedrich, C. M. Fuller, C. Gaire, R. R. Galdran, A. Faura, A. Garcia Grammatikopoulou, M. Hong, S. Jahanifar, M. Jang, I. Kadkhodamohammadi, A. Kang, I. Kofler, F. Kondo, S. Kuijf, H. Li, M. Luu, M. Martincic, T. Morais, P. Naser, M. A. Oliveira, B. Owen, D. Pang, S. Park, J. Park, S. Plotka, S. Puybareau, E. Rajpoot, N. Ryu, K. Saeed, N. Shephard, A. Shi, P. Stepec, D. Subedi, R. Tochon, G. Torres, H. R. Urien, H. Vilaca, J. L. Wahid, K. A. Wang, H. Wang, J. Wang, L. Wang, X. Wiestler, B. Wodzinski, M. Xia, F. Xie, J. Xiong, Z. Yang, S. Yang, Y. Zhao, Z. Maier-Hein, K. Jaeger, P. F. Kopp-Schneider, A. Maier-Hein, L. German Canc Res Ctr Div Intelligent Med Syst Heidelberg Germany German Canc Res Ctr Helmholtz Imaging Heidelberg Germany Heidelberg Univ Fac Math & Comp Sci Heidelberg Germany German Canc Res Ctr Div Biostat Heidelberg Germany German Canc Res Ctr Div Med Image Comp Heidelberg Germany Univ Leeds Fac Engn & Phys Sci Sch Comp Leeds W Yorkshire England HES SO Valais Wallis Univ Appl Sci & Arts Western Inst Informat Sch Management Sierre Switzerland Lausanne Univ Hosp Dept Nucl Med & Mol Imaging Lausanne Switzerland Tech Hsch Ingolstadt Ingolstadt Germany Univ Penn Ctr Artificial Intelligence & Data Sci Integrated Philadelphia PA USA Univ Penn Ctr Biomed Image Comp & Analyt Philadelphia PA USA Univ Penn Dept Pathol & Lab Med Perelman Sch Med Philadelphia PA USA Univ Penn Dept Radiol Perelman Sch Med Philadelphia PA USA Univ Washington Dept Radiol Seattle WA USA UCL Wellcome EPSRC Ctr Intervent & Surg Sci WEISS London England UCL Dept Comp Sci London England Univ Autonoma Barcelona Barcelona Spain Comp Vis Ctr Barcelona Spain Natl Ctr Tumor Dis NCT UCC Div Translat Surg Oncol Dresden Germany Ist Italiano Tecnol Dept Adv Robot Genoa Italy Politecn Milan Dept Elect Informat & Bioengn Milan Italy IT Univ Copenhagen Copenhagen Denmark Heidelberg Univ Hosp Dept Gen Visceral & Transplantat Surg Heidelberg Germany Erasmus MC Dept Radiol & Nucl Med Biomed Imaging Grp Rotterdam Rotterdam Netherlands Univ Copenhagen Dept Comp Sci Copenhagen Denmark Univ Appl Sci Western Switzerland HES SO Inst Informat Syst Sierre Switzerland Harvard Med Sch Brigham & Womens Hosp Boston MA USA Kings Coll London Sch Biomed Engn & Imaging Sci London England Univ Hosp Essen AoR Inst Artificial Intelligence Med IKIM Essen Germany Univ Nebraska Med Ctr Omaha NE USA Heidelberg Univ Hosp Dept Internal Med 3 Heidelberg Germany Rigshosp Copenhagen Univ Hosp Neurobiol Res Unit Copenhagen Denmark Arab Acad Sci & Technol Cairo Egypt CIBM Ctr Biomed Imaging L

ISBN: (纸本)9798350301298

International benchmarking competitions have become fundamental for the comparative performance assessment of image analysis methods. However, little attention has been given to investigating what can be learnt from these competitions. Do they really generate scientific progress? What are common and successful participation strategies? What makes a solution superior to a competing method? To address this gap in the literature, we performed a multi-center study with all 80 competitions that were conducted in the scope of IEEE ISBI 2021 and MICCAI 2021. Statistical analyses performed based on comprehensive descriptions of the submitted algorithms linked to their rank as well as the underlying participation strategies revealed common characteristics of winning solutions. These typically include the use of multi-task learning (63%) and/or multi-stage pipelines (61%), and a focus on augmentation (100%), image preprocessing (97%), data curation (79%), and post-processing (66%). The "typical" lead of a winning team is a computer scientist with a doctoral degree, five years of experience in biomedical image analysis, and four years of experience in deep learning. Two core general development strategies stood out for highly-ranked teams: the reflection of the metrics in the method design and the focus on analyzing and handling failure cases. According to the organizers, 43% of the winning algorithms exceeded the state of the art but only 11% completely solved the respective domain problem. The insights of our study could help researchers (1) improve algorithm development strategies when approaching new problems, and (2) focus on open research questions revealed by this work. [GRAPHICS] .

关键词： cell microscopy Medical and biological vision

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