Internet of Things From Hype to Reality

The Internet of Things (IoT) has gained significant mindshare, let alone attention, in academia and the industry especially over the past few years. The reasons behind this interest are the potential capabilities that IoT promises to offer. On the personal level, it paints a picture of a future world where all the things in our ambient environment are connected to the Internet and seamlessly communicate with each other to operate intelligently. The ultimate goal is to enable objects around us to efficiently sense our surroundings, inexpensively communicate, and ultimately create a better environment for us: one where everyday objects act based on what we need and like without explicit instructions

Multi-Agent Systems

A multi-agent system (MAS) is a system composed of multiple interacting intelligent agents. Multi-agent systems can be used to solve problems which are difficult or impossible for an individual agent or monolithic system to solve. Agent systems are open and extensible systems that allow for the deployment of autonomous and proactive software components. Multi-agent systems have been brought up and used in several application domains

The Design Of A Community-Informed Socially Interactive Humanoid Robot And End-Effectors For Novel Edge-Rolling

This dissertation discusses my work in building an HRI platform called Quori and my once separate now integrated work on a manipulation method that can enable robots like Quori, or any more capable robot, to move large circular cylindrical objects. Quori is a novel, affordable, socially interactive humanoid robot platform for facilitating non-contact human-robot interaction (HRI) research. The design of the system is motivated by feedback sampled from the HRI research community. The overall design maintains a balance of affordability and functionality. Ten Quori platforms have been awarded to a diverse group of researchers from across the United States to facilitate HRI research to build a community database from a common platform. This dissertation concludes with a demonstration of Quori transporting a large cylinder for which Quori does not have the power to lift nor the range of motion to dexterously manipulate. Quori is able to achieve this otherwise insurmountable task through a novel robotic manipulation technique called robotic edge-rolling. Edge-rolling refers to transporting a cylindrical object by rolling on its circular edge, as human workers maneuver a gas cylinder on the ground for example. This robotic edge-rolling is achieved by controlling the object to roll on the bottom edge in contact with the ground, and to slide on the surface of the robot\u27s end-effector. It can thus be regarded as a form of robotic dexterous, in-hand manipulation with nonprehensile grasps. This work mainly addresses the problem of grasp planning for edge-rolling by studying how to design appropriately shaped end-effectors with zero internal mobility and how to find feasible grasps for stably rolling the object with the simple end-effectors

Enhancing the security of wireless sensor network based home automation systems

Home automation systems (HASs)seek to improve the quality of life for individuals through the automation of household devices. Recently, there has been a trend, in academia and industry, to research and develop low-cost Wireless Sensor Network (WSN) based HASs (Varchola et al. 2007). WSNs are designed to achieve a low-cost wireless networking solution, through the incorporation of limited processing, memory, and power resources. Consequently, providing secure and reliable remote access for resource limited WSNs, such as WSN based HASs, poses a significant challenge (Perrig et al. 2004). This thesis introduces the development of a hybrid communications approach to increase the resistance of WSN based HASs to remote DoS flooding attacks targeted against a third party. The approach is benchmarked against the dominant GHS remote access approach for WSN based HASs (Bergstrom et al. 2001), on a WSN based HAS test-bed, and shown to provide a minimum of a 58.28%, on average 59.85%, and a maximum of 61.45% increase in remote service availability during a DoS attack. Additionally, a virtual home incorporating a cryptographic based DoS detection algorithm, is developed to increase resistance to remote DoS flooding attacks targeted directly at WSN based HASs. The approach is benchmarked against D-WARD (Mirkovic 2003), the most effective DoS defence identified from the research, and shown to provide a minimum 84.70%, an average 91.13% and a maximum 95.6% reduction in packets loss on a WSN based HAS during a DoS flooding attack. Moreover, the approach is extended with the integration of a virtual home, hybrid communication approach, and a distributed denial of defence server to increase resistance to remote DoS attacks targeting the home gateway. The approach is again benchmarked against the D-WARD defence and shown to decrease the connection latency experienced by remote users by a minimum of 90.14%, an average 90.90%, and a maximum 91.88%.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Control over the Cloud : Offloading, Elastic Computing, and Predictive Control

The thesis studies the use of cloud native software and platforms to implement critical closed loop control. It considers technologies that provide low latency and reliable wireless communication, in terms of edge clouds and massive MIMO, but also approaches industrial IoT and the services of a distributed cloud, as an extension of commercial-of-the-shelf software and systems.First, the thesis defines the cloud control challenge, as control over the cloud and controller offloading. This is followed by a demonstration of closed loop control, using MPC, running on a testbed representing the distributed cloud.The testbed is implemented using an IoT device, clouds, next generation wireless technology, and a distributed execution platform. Platform details are provided and feasibility of the approach is shown. Evaluation includes relocating an on-line MPC to various locations in the distributed cloud. Offloaded control is examined next, through further evaluation of cloud native software and frameworks. This is followed by three controller designs, tailored for use with the cloud. The first controller solves MPC problems in parallel, to implement a variable horizon controller. The second is a hierarchical design, in which rate switching is used to implement constrained control, with a local and a remote mode. The third design focuses on reliability. Here, the MPC problem is extended to include recovery paths that represent a fallback mode. This is used by a control client if it experiences connectivity issues.An implementation is detailed and examined.In the final part of the thesis, the focus is on latency and congestion. A cloud control client can experience long and variable delays, from network and computations, and used services can become overloaded. These problems are approached by using predicted control inputs, dynamically adjusting the control frequency, and using horizontal scaling of the cloud service. Several examples are shown through simulation and on real clouds, including admitting control clients into a cluster that becomes temporarily overloaded

Industrial Applications: New Solutions for the New Era

This book reprints articles from the Special Issue "Industrial Applications: New Solutions for the New Age" published online in the open-access journal Machines (ISSN 2075-1702). This book consists of twelve published articles. This special edition belongs to the "Mechatronic and Intelligent Machines" section

State Estimator using Hybrid Kalman and Particle Filter for Indoor UAV Navigation

Master's thesis in Mechatronics (MAS500)Unmanned aerial vehicles (UAVs) are being used for outdoors inspection and surveying tasks. When operating in an outdoor environment, the global navigation satellite system (GNSS) is predominantly used for position aiding, and magnetometers are used for heading aiding. In combination with an inertial sensor, these sensors form the backbone for state estimation for drones operating in an outdoor environment. A desire to utilize UAVs for inspections in indoor environments means that new challenges are faced. One of these challenges is that the traditional GNSS is unavailable for position aiding, and magnetometers can be unreliable in the presence of industrial equipment. This thesis aims at proposing, developing, and implementing a filtering solution capable of performing indoor autonomous navigation. A Hybrid filter solution is proposed where the GNSS and magnetometer are replaced by a stereo camera for depth perception. The Hybrid-filter is composed of a Kalman filter loosely coupled with a Particle filter. The Kalman filter is the main navigation filter in this framework. The navigation solution is based on integrated inertial measurements and aided by position and heading estimates from the Particle filter. In turn, the particle filter utilizes the velocity and attitude estimates from the Kalman filter, along with the depth data from the stereo camera to estimate the position and heading of the UAV

Air Traffic Management Abbreviation Compendium

As in all fields of work, an unmanageable number of abbreviations are used today in aviation for terms, definitions, commands, standards and technical descriptions. This applies in general to the areas of aeronautical communication, navigation and surveillance, cockpit and air traffic control working positions, passenger and cargo transport, and all other areas of flight planning, organization and guidance. In addition, many abbreviations are used more than once or have different meanings in different languages. In order to obtain an overview of the most common abbreviations used in air traffic management, organizations like EUROCONTROL, FAA, DWD and DLR have published lists of abbreviations in the past, which have also been enclosed in this document. In addition, abbreviations from some larger international projects related to aviation have been included to provide users with a directory as complete as possible. This means that the second edition of the Air Traffic Management Abbreviation Compendium includes now around 16,500 abbreviations and acronyms from the field of aviation