Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Active networking : one view of the past, present, and future

All distributed computing systems face the architectural question of the location (and nature) of programmability in the telecommunications networks, computers, and other peripheral devices comprising them. The perspective of this paper is that network elements should be as programmable as possible, to enable the most flexible distributed computing systems. There has been a persistent confluence among operating systems, programming languages, networking and distributed systems. We demonstrate how these interactions led to what is called active networking , and in the spirit of vox audita perit, littera scripta manet (the spoken word perishes, but the written word remains), include an account of how it was made to happen. Lessons are drawn both from the broader research agenda, and the specific goals pursued in the SwitchWare project. We speculate on likely futures for active networking

TDRSS momentum unload planning

A knowledge-based system is described which monitors TDRSS telemetry for problems in the momentum unload procedure. The system displays TDRSS telemetry and commands in real time via X-windows. The system constructs a momentum unload plan which agrees with the preferences of the attitude control specialists and the momentum growth characteristics of the individual spacecraft. During the execution of the plan, the system monitors the progress of the procedure and watches for unexpected problems

Analysis domain model for shared virtual environments

The field of shared virtual environments, which also encompasses online games and social 3D environments, has a system landscape consisting of multiple solutions that share great functional overlap. However, there is little system interoperability between the different solutions. A shared virtual environment has an associated problem domain that is highly complex raising difficult challenges to the development process, starting with the architectural design of the underlying system. This paper has two main contributions. The first contribution is a broad domain analysis of shared virtual environments, which enables developers to have a better understanding of the whole rather than the part(s). The second contribution is a reference domain model for discussing and describing solutions - the Analysis Domain Model

A Pattern-Based Approach to Scaffold the IT Infrastructure Design Process

Context. The design of Information Technology (IT) infrastructures is a challenging task since it implies proficiency in several areas that are rarely mastered by a single person, thus raising communication problems among those in charge of conceiving, deploying, operating and maintaining/managing them. Most IT infrastructure designs are based on proprietary models, known as blueprints or product-oriented architectures, defined by vendors to facilitate the configuration of a particular solution, based upon their services and products portfolio. Existing blueprints can be facilitators in the design of solutions for a particular vendor or technology. However, since organizations may have infrastructure components from multiple vendors, the use of blueprints aligned with commercial product(s) may cause integration problems among these components and can lead to vendor lock-in. Additionally, these blueprints have a short lifecycle, due to their association with product version(s) or a specific technology, which hampers their usage as a tool for the reuse of IT infrastructure knowledge. Objectives. The objectives of this dissertation are (i) to mitigate the inability to reuse knowledge in terms of best practices in the design of IT infrastructures and, (ii) to simplify the usage of this knowledge, making the IT infrastructure designs simpler, quicker and better documented, while facilitating the integration of components from different vendors and minimizing the communication problems between teams. Method. We conducted an online survey and performed a systematic literature review to support the state of the art and to provide evidence that this research was relevant and had not been conducted before. A model-driven approach was also used for the formalization and empirical validation of well-formedness rules to enhance the overall process of designing IT infrastructures. To simplify and support the design process, a modeling tool, including its abstract and concrete syntaxes was also extended to include the main contributions of this dissertation. Results. We obtained 123 responses to the online survey. Their majority were from people with more than 15 years experience with IT infrastructures. The respondents confirmed our claims regarding the lack of formality and documentation problems on knowledge transfer and only 19% considered that their current practices to represent IT Infrastructures are efficient. A language for modeling IT Infrastructures including an abstract and concrete syntax is proposed to address the problem of informality in their design. A catalog of IT Infrastructure patterns is also proposed to allow expressing best practices in their design. The modeling tool was also evaluated and according to 84% of the respondents, this approach decreases the effort associated with IT infrastructure design and 89% considered that the use of a repository with infrastructure patterns, will help to improve the overall quality of IT infrastructures representations. A controlled experiment was also performed to assess the effectiveness of both the proposed language and the pattern-based IT infrastructure design process supported by the tool. Conclusion. With this work, we contribute to improve the current state of the art in the design of IT infrastructures replacing the ad-hoc methods with more formal ones to address the problems of ambiguity, traceability and documentation, among others, that characterize most of IT infrastructure representations. Categories and Subject Descriptors:C.0 [Computer Systems Organization]: System architecture; D.2.10 [Software Engineering]: Design-Methodologies; D.2.11 [Software Engineering]: Software Architectures-Patterns

Evaluation of the IEC 61850 Communication Solutions

Initially, when the IEC 61850 standard was prepared, it was intended to be used within the limits of a substation for information exchange between devices. In the course of time and due to the standard’s advantages, its concepts are nowadays used as well in other application areas of the power utility system. The IEC 61850 is based to the maximum extent on other existing communication standards (IEC/IEEE/ISO/OSI), offering among others: visualization of the real applications through the ASCI interface, standardized messages to be exchanged (GOOSE, SV), one configuration language regardless of the device (IED) type/brand, and mapping to already implemented computing protocols (MMS, TCP/IP, Ethernet). The features mentioned above lead to cost reduction, reliability, and interoperability, making the IEC61850 the dominant standard for intra- and inter-substation communication. The parts 90-1 and 90-5 of the IEC 61850 standard concern the application of the tunneling and routing method in order to extend the communication beyond the substation’s limits. Although they establish the theoretical background, it can be mentioned a lack of information regarding real applications. So, the objective of this thesis was at first to establish the communication link which will allow the communication of devices belonging to different LANs and second, the acquiring of the round trip times from the exchanged messages. The experiments were conducted by a combination of software (Hamachi) and embedded platform (BeagleBone) pinging to each other first via tunneling and next via 4G mobile network. The acquired round-trip times were used to evaluate and compare the tunneling and the 4G routing method, estimating in parallel what are the perspectives of these methods to be used for inter-substation communication.fi=Opinnäytetyö kokotekstinä PDF-muodossa.|en=Thesis fulltext in PDF format.|sv=Lärdomsprov tillgängligt som fulltext i PDF-format

Design and evaluation of a self-configuring wireless mesh network architecture

Wireless network connectivity plays an increasingly important role in supporting our everyday private and professional lives. For over three decades, self-organizing wireless multi-hop ad-hoc networks have been investigated as a decentralized replacement for the traditional forms of wireless networks that rely on a wired infrastructure. However, despite the tremendous efforts of the international wireless research community and widespread availability of devices that are able to support these networks, wireless ad-hoc networks are hardly ever used. In this work, the reasons behind this discrepancy are investigated. It is found that several basic theoretical assumptions on ad-hoc networks prove to be wrong when solutions are deployed in reality, and that several basic functionalities are still missing. It is argued that a hierarchical wireless mesh network architecture, in which specialized, multi-interfaced mesh nodes form a reliable multi-hop wireless backbone for the less capable end-user clients is an essential step in bringing the ad-hoc networking concept one step closer to reality. Therefore, in a second part of this work, algorithms increasing the reliability and supporting the deployment and management of these wireless mesh networks are developed, implemented and evaluated, while keeping the observed limitations and practical considerations in mind. Furthermore, the feasibility of the algorithms is verified by experiment. The performance analysis of these protocols and the ability to deploy the developed algorithms on current generation off-the-shelf hardware indicates the successfulness of the followed research approach, which combines theoretical considerations with practical implementations and observations. However, it was found that there are also many pitfalls to using real-life implementation as a research technique. Therefore, in the last part of this work, a methodology for wireless network research using real-life implementation is developed, allowing researchers to generate more reliable protocols and performance analysis results with less effort