Universal Plug-n-Play Sensor Integration for Advanced Navigation

This research investigates the potential for Plug-n-Play sensor integration for navigation and other applications. Specifically, the requirements of such a system are outlined and attempts are made to achieve them using two separate systems: one using Robot Operating System (ROS) as middleware and the other using more traditional software design patterns. The end result is not so much a deliverable in terms of software, but more of a feasibility analysis comparing the two approaches

Actas da 10ª Conferência sobre Redes de Computadores

Universidade do MinhoCCTCCentro AlgoritmiCisco SystemsIEEE Portugal Sectio

UBIDEV: a homogeneous service framework for pervasive computing environments

This dissertation studies the heterogeneity problem of pervasive computing system from the viewpoint of an infrastructure aiming to provide a service-oriented application model. From Distributed System passing through mobile computing, pervasive computing is presented as a step forward in ubiquitous availability of services and proliferation of interacting autonomous entities. To better understand the problems related to the heterogeneous and dynamic nature of pervasive computing environments, we need to analyze the structure of a pervasive computing system from its physical and service dimension. The physical dimension describes the physical environment together wit the technology infrastructure that characterizes the interactions and the relations within the environment; the service dimension represents the services (being them software or not) the environment is able to provide [Nor99]. To better separate the constrains and the functionalities of a pervasive computing system, this dissertation classifies it in terms of resources, context, classification, services, coordination and application. UBIDEV, as the key result of this dissertation, introduces a unified model helping the design and the implementation of applications for heterogeneous and dynamic environments. This model is composed of the following concepts: • Resource: all elements of the environment that are manipulated by the application, they are the atomic abstraction unit of the model. • Context: all information coming from the environment that is used by the application to adapts its behavior. Context contains resources and services and defines their role in the application. • Classification: the environment is classified according to the application ontology in order to ground the generic conceptual model of the application to the specific environment. It defines the basic semantic level of interoperability. • Service: the functionalities supported by the system; each service manipulates one or more resources. Applications are defined as a coordination and adaptation of services. • Coordination: all aspects related to service composition and execution as well as the use of the contextual information are captured by the coordination concept. • Application Ontology: represents the viewpoint of the application on the specific context; it defines the high level semantic of resources, services and context. Applying the design paradigm proposed by UBIDEV, allows to describe applications according to a Service Oriented Architecture[Bie02], and to focus on application functionalities rather than their relations with the physical devices. Keywords: pervasive computing, homogenous environment, service-oriented, heterogeneity problem, coordination model, context model, resource management, service management, application interfaces, ontology, semantic services, interaction logic, description logic.Questa dissertazione studia il problema della eterogeneit`a nei sistemi pervasivi proponendo una infrastruttura basata su un modello orientato ai servizi. I sistemi pervasivi sono presentati come un’evoluzione naturale dei sistemi distribuiti, passando attraverso mobile computing, grazie ad una disponibilit`a ubiqua di servizi (sempre, ovunque ed in qualunque modo) e ad loro e con l’ambiente stesso. Al fine di meglio comprendere i problemi legati allintrinseca eterogeneit`a dei sistemi pervasivi, dobbiamo prima descrivere la struttura fondamentale di questi sistemi classificandoli attraverso la loro dimensione fisica e quella dei loro servizi. La dimensione fisica descrive l’ambiente fisico e tutti i dispositivi che fanno parte del contesto della applicazione. La dimensione dei servizi descrive le funzionalit`a (siano esse software o no) che l’ambiente `e in grado di fornire [Nor99]. I sistemi pervasivi vengono cos`ı classificati attraverso una metrica pi `u formale del tipo risorse, contesto, servizi, coordinazione ed applicazione. UBIDEV, come risultato di questa dissertazione, introduce un modello uniforme per la descrizione e lo sviluppo di applicazioni in ambienti dinamici ed eterogenei. Il modello `e composto dai seguenti concetti di base: • Risorse: gli elementi dell’ambiente fisico che fanno parte del modello dellapplicazione. Questi rappresentano l’unit`a di astrazione atomica di tutto il modello UBIDEV. • Contesto: le informazioni sullo stato dell’ambiente che il sistema utilizza per adattare il comportamento dell’applicazione. Il contesto include informazioni legate alle risorse, ai servizi ed alle relazioni che li legano. • Classificazione: l’ambiente viene classificato sulla base di una ontologia che rappresenta il punto di accordo a cui tutti i moduli di sistema fanno riferimento. Questa classificazione rappresenta il modello concettuale dell’applicazione che si riflette sull’intero ambiente. Si definisce cos`ı la semantica di base per tutto il sistema. • Servizi: le funzionalit`a che il sistema `e in grado di fornire; ogni servizio `e descritto in termini di trasformazione di una o pi `u risorse. Le applicazioni sono cos`ı definite in termini di cooperazione tra servizi autonomi. • Coordinazione: tutti gli aspetti legati alla composizione ed alla esecuzione di servizi cos`ı come l’elaborazione dell’informazione contestuale. • Ontologia dell’Applicazione: rappresenta il punto di vista dell’applicazione; definisce la semantica delle risorse, dei servizi e dell’informazione contestuale. Applicando il paradigma proposto da UBIDEV, si possono descrivere applicazioni in accordo con un modello Service-oriented [Bie02] ed, al tempo stesso, ridurre l’applicazione stessa alle sue funzionalit`a di alto livello senza intervenire troppo su come queste funzionalit` a devono essere realizzate dalle singole componenti fisiche

Automated Agent Ontology Creation for Distributed Databases

In distributed database environments, the combination of resources from multiple sources requiring different interfaces is a universal problem. The current solution requires an expert to generate an ontology, or mapping, which contains all interconnections between the various fields in the databases. This research proposes the application of software agents in automating the ontology creation for distributed database environments with minimal communication. The automatic creation of a domain ontology alleviates the need for experts to manually map one database to other databases in the environment. Using several combined comparison methods, these agents communicate and negotiate similarities between information sources and retain these similarities for client agent queries without the manual mapping of different data sources achieving an average accuracy of 57% before leader negotiation and an average accuracy of 61% after leader negotiation. The best matching accuracy achieved in a single test is 79%. This is directly applicable to the Department of Defense (DOD) that possesses many systems, which share information that enables the military to achieve their objectives. The DOD created an environment called the Joint Battlespace Infosphere (JBI) to solve this integration problem. This research improves upon the JBI\u27s use of exact matching of field names for integrating the information within the environment. It simulates this type of interaction by demonstrating agents wrapped around different databases negotiating and generating an ontology. An agent-generated ontology is compared with an expert generated ontology and testing uses a set of queries run against the ontologies show that this technique can be useful in a distributed information environment

An Ontology Based Approach Towards A Universal Description Framework for Home Networks

Current home networks typically involve two or more machines sharing network resources. The vision for the home network has grown from a simple computer network, to every day appliances embedded with network capabilities. In this environment devices and services within the home can interoperate, regardless of protocol or platform. Network clients can discover required resources by performing network discovery over component descriptions. Common approaches to this discovery process involve simple matching of keywords or attribute/value pairings. Interest emerging from the Semantic Web community has led to ontology languages being applied to network domains, providing a logical and semantically rich approach to both describing and discovering network components. In much of the existing work within this domain, developers have focused on defining new description frameworks in isolation from existing protocol frameworks and vocabularies. This work proposes an ontology-based description framework which takes the ontology approach to the next step, where existing description frameworks are in- corporated into the ontology-based framework, allowing discovery mechanisms to cover multiple existing domains. In this manner, existing protocols and networking approaches can participate in semantically-rich discovery processes. This framework also includes a system architecture developed for the purpose of reconciling existing home network solutions with the ontology-based discovery process. This work also describes an implementation of the approach and is deployed within a home-network environment. This implementation involves existing home networking frameworks, protocols and components, allowing the claims of this work to be examined and evaluated from a ‘real-world’ perspective

Remote Data Acquisition Of Embedded Systems Using Internet Technologies: A Role-based Generic System Specification

Data Acquisition Systems (DAS) are the basis for building monitoring tools that enable the supervision of local and remote systems. DASs are complex systems. It is difficult for developers to compare proprietary generic DAS products and/or standards, and the design of a specific DAS is costly. In this thesis we propose an implementation independent specification, based on conceptual and role-based use case modeling, of a generic architecture for DASs. This generic DAS specification gives DAS developers an abstraction of DASs, it enables them to compare existing DAS products and standards, and it provides the DAS developers that aim to develop a specific DAS with a starting point for the design of a specific DAS. A generic system specification has many advantages. We propose patterns and techniques that are useful for the development of specifications of generic systems. Additionally, the generic DAS specification provides a case study on the development, based on conceptual and role-based use case modeling, of implementation independent specifications of generic systems that demonstrates, by means of an industrial example, the advantages of these techniques for the development of specifications of generic systems

Virtual Laboratory Enabling Collaborative Research in Applied Vehicle Technologies

The virtual laboratory is a new technology, based on the internet, that has had wide usage in a variety of technical fields because of its inherent ability to allow many users to participate simultaneously in instruction (education) or in the collaborative study of a common problem (real-world application). The leadership in the Applied Vehicle Technology panel has encouraged the utilization of this technology in its task groups for some time and its parent organization, the Research and Technology Agency, has done the same for its own administrative use. This paper outlines the application of the virtual laboratory to those fields important to applied vehicle technologies, gives the status of the effort, and identifies the benefit it can have on collaborative research. The latter is done, in part, through a specific example, i.e. the experience of one task group