Teleoperation of passivity-based model reference robust control over the internet

This dissertation offers a survey of a known theoretical approach and novel experimental results in establishing a live communication medium through the internet to host a virtual communication environment for use in Passivity-Based Model Reference Robust Control systems with delays. The controller which is used as a carrier to support a robust communication between input-to-state stability is designed as a control strategy that passively compensates for position errors that arise during contact tasks and strives to achieve delay-independent stability for controlling of aircrafts or other mobile objects. Furthermore the controller is used for nonlinear systems, coordination of multiple agents, bilateral teleoperation, and collision avoidance thus maintaining a communication link with an upper bound of constant delay is crucial for robustness and stability of the overall system. For utilizing such framework an elucidation can be formulated by preparing site survey for analyzing not only the geographical distances separating the nodes in which the teleoperation will occur but also the communication parameters that define the virtual topography that the data will travel through. This survey will first define the feasibility of the overall operation since the teleoperation will be used to sustain a delay based controller over the internet thus obtaining a hypothetical upper bound for the delay via site survey is crucial not only for the communication system but also the delay is required for the design of the passivity-based model reference robust control. Following delay calculation and measurement via site survey, bandwidth tests for unidirectional and bidirectional communication is inspected to ensure that the speed is viable to maintain a real-time connection. Furthermore from obtaining the results it becomes crucial to measure the consistency of the delay throughout a sampled period to guarantee that the upper bound is not breached at any point within the communication to jeopardize the robustness of the controller. Following delay analysis a geographical and topological overview of the communication is also briefly examined via a trace-route to understand the underlying nodes and their contribution to the delay and round-trip consistency. To accommodate the communication channel for the controller the input and output data from both nodes need to be encapsulated within a transmission control protocol via a multithreaded design of a robust program within the C language. The program will construct a multithreaded client-server relationship in which the control data is transmitted. For added stability and higher level of security the channel is then encapsulated via an internet protocol security by utilizing a protocol suite for protecting the communication by authentication and encrypting each packet of the session using negotiation of cryptographic keys during each session

Recursive internetwork architecture, investigating RINA as an alternative to TCP/IP (IRATI)

Driven by the requirements of the emerging applications and networks, the Internet has become an architectural patchwork of growing complexity which strains to cope with the changes. Moore’s law prevented us from recognising that the problem does not hide in the high demands of today’s applications but lies in the flaws of the Internet’s original design. The Internet needs to move beyond TCP/IP to prosper in the long term, TCP/IP has outlived its usefulness. The Recursive InterNetwork Architecture (RINA) is a new Internetwork architecture whose fundamental principle is that networking is only interprocess communication (IPC). RINA reconstructs the overall structure of the Internet, forming a model that comprises a single repeating layer, the DIF (Distributed IPC Facility), which is the minimal set of components required to allow distributed IPC between application processes. RINA supports inherently and without the need of extra mechanisms mobility, multi-homing and Quality of Service, provides a secure and configurable environment, motivates for a more competitive marketplace and allows for a seamless adoption. RINA is the best choice for the next generation networks due to its sound theory, simplicity and the features it enables. IRATI’s goal is to achieve further exploration of this new architecture. IRATI will advance the state of the art of RINA towards an architecture reference model and specifcations that are closer to enable implementations deployable in production scenarios. The design and implemention of a RINA prototype on top of Ethernet will permit the experimentation and evaluation of RINA in comparison to TCP/IP. IRATI will use the OFELIA testbed to carry on its experimental activities. Both projects will benefit from the collaboration. IRATI will gain access to a large-scale testbed with a controlled network while OFELIA will get a unique use-case to validate the facility: experimentation of a non-IP based Internet

Where is My Next Hop ? The Case of Indian Ocean Islands

Internet has become a foundation of our modern society. However, all regions or countries do not have the same Internet access regarding quality especially in the Indian Ocean Area (IOA). To improve this quality it is important to have a deep knowledge of the Internet physical and logical topology and associated performance. However, these knowledges are not shared by Internet service providers. In this paper, we describe a large scale measurement study in which we deploy probes in different IOA countries, we generate network traces, develop a tool to extract useful information and analyze these information. We show that most of the IOA traffic exits through one point even if there exists multiple exit points

SDN Architecture and Southbound APIs for IPv6 Segment Routing Enabled Wide Area Networks

The SRv6 architecture (Segment Routing based on IPv6 data plane) is a promising solution to support services like Traffic Engineering, Service Function Chaining and Virtual Private Networks in IPv6 backbones and datacenters. The SRv6 architecture has interesting scalability properties as it reduces the amount of state information that needs to be configured in the nodes to support the network services. In this paper, we describe the advantages of complementing the SRv6 technology with an SDN based approach in backbone networks. We discuss the architecture of a SRv6 enabled network based on Linux nodes. In addition, we present the design and implementation of the Southbound API between the SDN controller and the SRv6 device. We have defined a data-model and four different implementations of the API, respectively based on gRPC, REST, NETCONF and remote Command Line Interface (CLI). Since it is important to support both the development and testing aspects we have realized an Intent based emulation system to build realistic and reproducible experiments. This collection of tools automate most of the configuration aspects relieving the experimenter from a significant effort. Finally, we have realized an evaluation of some performance aspects of our architecture and of the different variants of the Southbound APIs and we have analyzed the effects of the configuration updates in the SRv6 enabled nodes