Adoption of vehicular ad hoc networking protocols by networked robots

This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan

Polycyclic aromatic hydrocarbons biodegradation using isolated strains under indigenous condition

The treatment and disposal of domestic sIudge is an expensive and environmentally sensitive problem. It is also a growing problem since sludge production will continue to increase as new wastewzter treatment plants are built due to population increase. The large volume of domestic sIudge produced had made it difficult for many countries including Malaysia to assure complete treatment of the sludge before discharging to the receiving environment. Domestic sludge contains diverse range of pollutants such as pathogen, inorganic and organic compounds. These pollutants are toxic, mutagenic or carcinogenic and may threaten human health. Iiilproper disposal and handling of sludge may pose serious impact to the environment especially on soil and water cycles. Previous studies on Malaysian domestic sludge only reported on bulk parameters and heavy metals. Thus, no study reported on organic micro pollutants, namely, polycylic aromatic hydrocarbons (PAHs). Their recalcitrance and persistence make them problematic environmental contaminants. Microbial degradation is considered to be the primary mechanism of PAHs removal from the environment. Much has been reported on biodegradation of PAHs in several countries but there is a lack of information quantitative on this subject in Malaysia. This study is carried out to understand the nature of domestic sludge and to provide a better understanding on the biodegradation processes of PAHs. The methodology of this study comprised field activities, laboratory work and mathematical modelling. Field activities involved sampling of domestic sludge from Kolej Mawar, Universiti Teknologi MARA, Shah Alam, Selangor. Laboratory activities include seven phases of experimental works. First phase is characterization study of domestic sludge based on bulk parameters, heavy metals and PAHs. Second phase is enrichment and purification of bacteria isolated from domestic sludge using single PAHs and mixed PAHs as growth substrate. This was followed by identification of bacteria using BIOLOG system. The fourth phase focussed on turbidity test to monitor growth rate of the isolated bacteria. Preliminary degradation study involves optimization of the process at different substrate concentration, bacteria concentration, pH and temperature. The optimum conditions established from optimization study were used in degradation study. In biodegradation study, two experimental conditions were performed. These conditions include using bacteria isolated from single PAHs as substrate and bacteria isolated from mixed PAHs. Protein and pH tests were done during degradation study. Final activity is mathematical modelling of the biodegradation process. In general results on bulk parameters are comparable to previous studies. Zinc was the main compound with a mean concentration of 11 96.4 mglkg. PAHs were also detected in all of the samples, with total concentration between 0.72 to 5.36 mglkg dry weight for six PAHs. In the examined samples, phenanthrene was the main compound with a mean concentration of 1.0567 mglkg. The results fiom purification studies of bacteria strains sucessfull isolated 13 bacteria strains fiom single PAH substrate while three bacteria were isolated from the mixed PAHs substrate. Based on bacteria growth rates, only six strains grown on single PAHs and three strains grown on mixed PAHs were used for further studies. Results from the optimization study of biodegradation indicated that maximum rate of PAHs removal occurred at 100 mg~-' of PAHs, 10% bacteria concentration, pH 7.0 and 30°C. The results showed that bacteria grown on lower ring of PAHs are not able to grow on higher ring of PAHs. As for example Micrococcus diversus grown on napthalene as sole carbon source was unable to degrade other PAHs like acenapthylene, acenapthene, fluorene, phenanthrene and antlracene. In the case of bacteria isolated from mixed PAHs, the results showed that most of the napthalene was degraded by isolated strains with the highest average degradation rate followed by acenapthylene, acenapthene, fluorene, phenanthrene and anthracene. 377$3(53867$.$$1�781.8�781�$0,1$+ D4ff + c\,cpda~ition trends were observed in the study could be attributed to the different subsr , i,lo\~ir 'Led during isolation process. Interaction through cometabolism and synergistic ocolq bacteria strains isolated from single substrate. Thus, only synergistic interaction was oL, :a 77ed for bacteria isolated from mixed substrate. Corynebacterium urolyticum re\e;;ed I,, be the best strain in degrading PAHs. The experimental results have led to a model conccl~t desclibing I'AHs degradation

On the Benefits of a Cooperative Layer-2 based Routing Approach for Hybrid Wireless Mesh Networks

In a wireless mesh network, the convenience of a routing strategy strongly depends on the mobility of the intermediate nodes that compose the paths. Taking into account this behavior, this paper presents a routing scheme that works differently accordingly to the nodes mobility. In this sense, a proactive routing scheme is restricted to the backbone in order to promote the use of stable routes. On the other hand, the reactive protocol is used to search routes to or from a mobile destination. Both approaches are simultaneously implemented in the mesh nodes so that the routing protocols share routing information that optimize the network performance. Aiming at guaranteeing the IP compatibility, the combination of the two protocols in the core routers is carried out at the Medium Access Control (MAC) layer. Opposite to the operation at IP layer where two routing protocols are not able to concurrently work, the transfer of the routing tasks to the MAC layer enables the use of multiple independent forwarding tables. Simulation results show the goodness of the proposal in terms of packet losses and data delayTriviño, A.; Ariza, A.; Casilari, E.; Cano Escribá, JC. (2013). On the Benefits of a Cooperative Layer-2 based Routing Approach for Hybrid Wireless Mesh Networks. China Communications. 10(8):88-99. doi:10.1109/CC.2013.6633748S889910

Effective Handover Technique in Cluster Based MANET Using Cooperative Communication

Mobile ad hoc networks (MANETs) are becoming increasingly common now a days and typical network loads considered for MANETs are increasing as applications evolve. This increases the importance of bandwidth efficiency and requirements on energy consumption delay and jitter. Coordinated channel access protocols have been shown to be well suited for MANETs under uniform load distributions. However, these protocols are not well suited for non-uniform load distributions as uncoordinated channel access protocols due to the lack of on-demand dynamic channel allocation mechanisms that exist in infrastructure based coordinated protocols. We have considered a lightweight dynamic channel allocation algorithm and a cooperative load balancing strategy that are helpful for the cluster based MANETs and an effective handover technique to improve the increased packet transmission mechanism. This helps in reduce jitter, packet delay and packet transfer speed, we use a novel handover algorithm to address this problem We present protocols that utilize these mechanisms to improve performance in terms of throughput, energy consumption and inter-packet delay variation (IPDV)

A Novel Framework For Prevent The Denial Of Service Attacks in MANET

In the field of networks, the Mobile ad hoc networks (MANETs) are one of the best and lively mobile networks which are capable of shaping when the infrastructure of pre-existing communication is not present. And in further to mobility, the restricted resources like storage space, bandwidth and battery power are used to categorize a MANET. The primary theory in MANETs is that the transitional nodes assist in forwarding the packets. Mobile Ad hoc Networks are very weak in terms of Denial of Service (DoS) because of their prominent characteristics. A MANET is a self-diagnostic model includes by multiple mobile wireless nodes. The node misbehaviour is due to egocentric reasons where it can considerably reduce the performance of MANET. A self-centred node endeavours to exploit the resources simply for its own intention and it hesitates to distribute the resources with their neighbours. As a result, it plays a central role to detect the self-centred nodes to progress the concert of MANET. Initially, our proposed structural design of a MANET is constructed and the message linking in the mobile is originated. The packet drop is able to ensue in MANET because of the egocentric node or network traffic. In this proposed paper, triangular vision modelling framework exploits the detection of the misbehaving nodes and the egocentric node in the MANET. The triangular vision view depicts a clear picture in identifying the ideal route by using the behaviour of nodes where it helps to detect the egocentric nodes and misbehaving nodes in the MANET. The two methods called Report Based Method (RBM) Detection and Trace and Hope based Method (THBM) detection are used to detect the egocentric nodes and misbehaving nodes in the proposed framework for the Mobile Ad hoc network. DOI: 10.17762/ijritcc2321-8169.150514

A COMPREHENSIVE SURVEY ON DETECTING BLACK HOLE ATTACK IN MOBILE AD-HOC NETWORK (MANET)

The infrastructure-less nature and mobility of nodes in mobile ad-hoc network (MANET) make it to be very susceptible to various attacks. Besides, owing to its flexibility and simplicity, there is no predefined time or permission set for nodes to leave or join the network and each node can act as a client or server.  Nevertheless, securing communication between nodes has become a challenging problem than in other types of network. Attacks in MANET range into different categories. Black hole attack is one of the attacks that has been addressed by many researchers in the recent years. It does occur when a harmful mobile node called black hole becomes a part of the network and tries to use its malicious behaviors by sending fake route reply packets (RREP) for any received route request packets (RREQ). When these faked packets arrive to the source node, it does reply to them by sending data packet via the established route. Once the packets are received by the black hole, it drops them before reaching the destination.  Hence, preventing the source node from reaching the intended destination. In this paper, we present an overview of a wide range of techniques suggested in the literature for detecting and preventing black hole attacks in mobile ad hoc network. Additionally, the effect of each approach on the network performance is also presented