Radio Resource Management Optimization For Next Generation Wireless Networks

The prominent versatility of today’s mobile broadband services and the rapid advancements in the cellular phones industry have led to a tremendous expansion in the wireless market volume. Despite the continuous progress in the radio-access technologies to cope with that expansion, many challenges still remain that need to be addressed by both the research and industrial sectors. One of the many remaining challenges is the efficient allocation and management of wireless network resources when using the latest cellular radio technologies (e.g., 4G). The importance of the problem stems from the scarcity of the wireless spectral resources, the large number of users sharing these resources, the dynamic behavior of generated traffic, and the stochastic nature of wireless channels. These limitations are further tightened as the provider’s commitment to high quality-of-service (QoS) levels especially data rate, delay and delay jitter besides the system’s spectral and energy efficiencies. In this dissertation, we strive to solve this problem by presenting novel cross-layer resource allocation schemes to address the efficient utilization of available resources versus QoS challenges using various optimization techniques. The main objective of this dissertation is to propose a new predictive resource allocation methodology using an agile ray tracing (RT) channel prediction approach. It is divided into two parts. The first part deals with the theoretical and implementational aspects of the ray tracing prediction model, and its validation. In the second part, a novel RT-based scheduling system within the evolving cloud radio access network (C-RAN) architecture is proposed. The impact of the proposed model on addressing the long term evolution (LTE) network limitations is then rigorously investigated in the form of optimization problems. The main contributions of this dissertation encompass the design of several heuristic solutions based on our novel RT-based scheduling model, developed to meet the aforementioned objectives while considering the co-existing limitations in the context of LTE networks. Both analytical and numerical methods are used within this thesis framework. Theoretical results are validated with numerical simulations. The obtained results demonstrate the effectiveness of our proposed solutions to meet the objectives subject to limitations and constraints compared to other published works

Speech quality prediction for voice over Internet protocol networks

Merged with duplicate record 10026.1/878 on 03.01.2017 by CS (TIS). Merged with duplicate record 10026.1/1657 on 15.03.2017 by CS (TIS)This is a digitised version of a thesis that was deposited in the University Library. If you are the author please contact PEARL Admin ([email protected]) to discuss options.IP networks are on a steep slope of innovation that will make them the long-term carrier of all types of traffic, including voice. However, such networks are not designed to support real-time voice communication because their variable characteristics (e.g. due to delay, delay variation and packet loss) lead to a deterioration in voice quality. A major challenge in such networks is how to measure or predict voice quality accurately and efficiently for QoS monitoring and/or control purposes to ensure that technical and commercial requirements are met. Voice quality can be measured using either subjective or objective methods. Subjective measurement (e.g. MOS) is the benchmark for objective methods, but it is slow, time consuming and expensive. Objective measurement can be intrusive or non-intrusive. Intrusive methods (e.g. ITU PESQ) are more accurate, but normally are unsuitable for monitoring live traffic because of the need for a reference data and to utilise the network. This makes non-intrusive methods(e.g. ITU E-model) more attractive for monitoring voice quality from IP network impairments. However, current non-intrusive methods rely on subjective tests to derive model parameters and as a result are limited and do not meet new and emerging applications. The main goal of the project is to develop novel and efficient models for non-intrusive speech quality prediction to overcome the disadvantages of current subjective-based methods and to demonstrate their usefulness in new and emerging VoIP applications. The main contributions of the thesis are fourfold: (1) a detailed understanding of the relationships between voice quality, IP network impairments (e.g. packet loss, jitter and delay) and relevant parameters associated with speech (e.g. codec type, gender and language) is provided. An understanding of the perceptual effects of these key parameters on voice quality is important as it provides a basis for the development of non-intrusive voice quality prediction models. A fundamental investigation of the impact of the parameters on perceived voice quality was carried out using the latest ITU algorithm for perceptual evaluation of speech quality, PESQ, and by exploiting the ITU E-model to obtain an objective measure of voice quality. (2) a new methodology to predict voice quality non-intrusively was developed. The method exploits the intrusive algorithm, PESQ, and a combined PESQ/E-model structure to provide a perceptually accurate prediction of both listening and conversational voice quality non-intrusively. This avoids time-consuming subjective tests and so removes one of the major obstacles in the development of models for voice quality prediction. The method is generic and as such has wide applicability in multimedia applications. Efficient regression-based models and robust artificial neural network-based learning models were developed for predicting voice quality non-intrusively for VoIP applications. (3) three applications of the new models were investigated: voice quality monitoring/prediction for real Internet VoIP traces, perceived quality driven playout buffer optimization and perceived quality driven QoS control. The neural network and regression models were both used to predict voice quality for real Internet VoIP traces based on international links. A new adaptive playout buffer and a perceptual optimization playout buffer algorithms are presented. A QoS control scheme that combines the strengths of rate-adaptive and priority marking control schemes to provide a superior QoS control in terms of measured perceived voice quality is also provided. (4) a new methodology for Internet-based subjective speech quality measurement which allows rapid assessment of voice quality for VoIP applications is proposed and assessed using both objective and traditional MOS test methods

Télé-opération Corps Complet de Robots Humanoïdes

This thesis aims to investigate systems and tools for teleoperating a humanoid robot. Robotteleoperation is crucial to send and control robots in environments that are dangerous or inaccessiblefor humans (e.g., disaster response scenarios, contaminated environments, or extraterrestrialsites). The term teleoperation most commonly refers to direct and continuous control of a robot.In this case, the human operator guides the motion of the robot with her/his own physical motionor through some physical input device. One of the main challenges is to control the robot in a waythat guarantees its dynamical balance while trying to follow the human references. In addition,the human operator needs some feedback about the state of the robot and its work site through remotesensors in order to comprehend the situation or feel physically present at the site, producingeffective robot behaviors. Complications arise when the communication network is non-ideal. Inthis case the commands from human to robot together with the feedback from robot to human canbe delayed. These delays can be very disturbing for the human operator, who cannot teleoperatetheir robot avatar in an effective way.Another crucial point to consider when setting up a teleoperation system is the large numberof parameters that have to be tuned to effectively control the teleoperated robots. Machinelearning approaches and stochastic optimizers can be used to automate the learning of some of theparameters.In this thesis, we proposed a teleoperation system that has been tested on the humanoid robotiCub. We used an inertial-technology-based motion capture suit as input device to control thehumanoid and a virtual reality headset connected to the robot cameras to get some visual feedback.We first translated the human movements into equivalent robot ones by developping a motionretargeting approach that achieves human-likeness while trying to ensure the feasibility of thetransferred motion. We then implemented a whole-body controller to enable the robot to trackthe retargeted human motion. The controller has been later optimized in simulation to achieve agood tracking of the whole-body reference movements, by recurring to a multi-objective stochasticoptimizer, which allowed us to find robust solutions working on the real robot in few trials.To teleoperate walking motions, we implemented a higher-level teleoperation mode in whichthe user can use a joystick to send reference commands to the robot. We integrated this setting inthe teleoperation system, which allows the user to switch between the two different modes.A major problem preventing the deployment of such systems in real applications is the presenceof communication delays between the human input and the feedback from the robot: evena few hundred milliseconds of delay can irremediably disturb the operator, let alone a few seconds.To overcome these delays, we introduced a system in which a humanoid robot executescommands before it actually receives them, so that the visual feedback appears to be synchronizedto the operator, whereas the robot executed the commands in the past. To do so, the robot continuouslypredicts future commands by querying a machine learning model that is trained on pasttrajectories and conditioned on the last received commands.Cette thèse vise à étudier des systèmes et des outils pour la télé-opération d’un robot humanoïde.La téléopération de robots est cruciale pour envoyer et contrôler les robots dans des environnementsdangereux ou inaccessibles pour les humains (par exemple, des scénarios d’interventionen cas de catastrophe, des environnements contaminés ou des sites extraterrestres). Le terme téléopérationdésigne le plus souvent le contrôle direct et continu d’un robot. Dans ce cas, l’opérateurhumain guide le mouvement du robot avec son propre mouvement physique ou via un dispositifde contrôle. L’un des principaux défis est de contrôler le robot de manière à garantir son équilibredynamique tout en essayant de suivre les références humaines. De plus, l’opérateur humain abesoin d’un retour d’information sur l’état du robot et de son site via des capteurs à distance afind’appréhender la situation ou de se sentir physiquement présent sur le site, produisant des comportementsde robot efficaces. Des complications surviennent lorsque le réseau de communicationn’est pas idéal. Dans ce cas, les commandes de l’homme au robot ainsi que la rétroaction du robotà l’homme peuvent être retardées. Ces délais peuvent être très gênants pour l’opérateur humain,qui ne peut pas télé-opérer efficacement son avatar robotique.Un autre point crucial à considérer lors de la mise en place d’un système de télé-opérationest le grand nombre de paramètres qui doivent être réglés pour contrôler efficacement les robotstélé-opérés. Des approches d’apprentissage automatique et des optimiseurs stochastiques peuventêtre utilisés pour automatiser l’apprentissage de certains paramètres.Dans cette thèse, nous avons proposé un système de télé-opération qui a été testé sur le robothumanoïde iCub. Nous avons utilisé une combinaison de capture de mouvement basée sur latechnologie inertielle comme périphérique de contrôle pour l’humanoïde et un casque de réalitévirtuelle connecté aux caméras du robot pour obtenir un retour visuel. Nous avons d’abord traduitles mouvements humains en mouvements robotiques équivalents en développant une approchede retargeting de mouvement qui atteint la ressemblance humaine tout en essayant d’assurer lafaisabilité du mouvement transféré. Nous avons ensuite implémenté un contrôleur du corps entierpour permettre au robot de suivre le mouvement humain reciblé. Le contrôleur a ensuite étéoptimisé en simulation pour obtenir un bon suivi des mouvements de référence du corps entier,en recourant à un optimiseur stochastique multi-objectifs, ce qui nous a permis de trouver dessolutions robustes fonctionnant sur le robot réel en quelques essais.Pour télé-opérer les mouvements de marche, nous avons implémenté un mode de télé-opérationde niveau supérieur dans lequel l’utilisateur peut utiliser un joystick pour envoyer des commandesde référence au robot. Nous avons intégré ce paramètre dans le système de télé-opération, ce quipermet à l’utilisateur de basculer entre les deux modes différents.Un problème majeur empêchant le déploiement de tels systèmes dans des applications réellesest la présence de retards de communication entre l’entrée humaine et le retour du robot: mêmequelques centaines de millisecondes de retard peuvent irrémédiablement perturber l’opérateur,encore plus quelques secondes. Pour surmonter ces retards, nous avons introduit un système danslequel un robot humanoïde exécute des commandes avant de les recevoir, de sorte que le retourvisuel semble être synchronisé avec l’opérateur, alors que le robot exécutait les commandes dansle passé. Pour ce faire, le robot prédit en permanence les commandes futures en interrogeant unmodèle d’apprentissage automatique formé sur les trajectoires passées et conditionné aux dernièrescommandes reçues