402 research outputs found
DEVELOPMENT OF AN AUTONOMOUS NAVIGATION SYSTEM FOR THE SHUTTLE CAR IN UNDERGROUND ROOM & PILLAR COAL MINES
In recent years, autonomous solutions in the multi-disciplinary field of the mining engineering have been an extremely popular applied research topic. The growing demand for mineral supplies combined with the steady decline in the available surface reserves has driven the mining industry to mine deeper underground deposits. These deposits are difficult to access, and the environment may be hazardous to mine personnel (e.g., increased heat, difficult ventilation conditions, etc.). Moreover, current mining methods expose the miners to numerous occupational hazards such as working in the proximity of heavy mining equipment, possible roof falls, as well as noise and dust. As a result, the mining industry, in its efforts to modernize and advance its methods and techniques, is one of the many industries that has turned to autonomous systems. Vehicle automation in such complex working environments can play a critical role in improving worker safety and mine productivity.
One of the most time-consuming tasks of the mining cycle is the transportation of the extracted ore from the face to the main haulage facility or to surface processing facilities. Although conveyor belts have long been the autonomous transportation means of choice, there are still many cases where a discrete transportation system is needed to transport materials from the face to the main haulage system.
The current dissertation presents the development of a navigation system for an autonomous shuttle car (ASC) in underground room and pillar coal mines. By introducing autonomous shuttle cars, the operator can be relocated from the dusty, noisy, and potentially dangerous environment of the underground mine to the safer location of a control room. This dissertation focuses on the development and testing of an autonomous navigation system for an underground room and pillar coal mine.
A simplified relative localization system which determines the location of the vehicle relatively to salient features derived from on-board 2D LiDAR scans was developed for a semi-autonomous laboratory-scale shuttle car prototype. This simplified relative localization system is heavily dependent on and at the same time leverages the room and pillar geometry. Instead of keeping track of a global position of the vehicle relatively to a fixed coordinates frame, the proposed custom localization technique requires information regarding only the immediate surroundings. The followed approach enables the prototype to navigate around the pillars in real-time using a deterministic Finite-State Machine which models the behavior of the vehicle in the room and pillar mine with only a few states. Also, a user centered GUI has been developed that allows for a human user to control and monitor the autonomous vehicle by implementing the proposed navigation system.
Experimental tests have been conducted in a mock mine in order to evaluate the performance of the developed system. A number of different scenarios simulating common missions that a shuttle car needs to undertake in a room and pillar mine. The results show a minimum success ratio of 70%
A Demonstration Scenario for the NorNet Core Multi-Homed Network Testbed
There is extensive on-going research taking place with the goal of implementing transport layer protocols that are able to utilize multi-homing on machines (connection to multiple ISPs). Multi-homing has potential to improve resilience and increase total goodput compared to using a single connection. This would e.g. benefit the trend of more and more services being moved online and into the cloud. The NorNet Core multi-homed network testbed aims to facilitate this research by offering programmable virtual machines located at multiple different sites across the world, accessible for researchers. The aim of this project is the design and implementation of a demonstration platform for NorNet Core that enables the testbed to be illustratively demonstrated to potential new users. This is done by offering users interactive experiments, and geographical visualization of various communication scenarios between nodes in the NorNet Core network in real time. The demonstration platform puts emphasis on demonstrating the unique aspects of NorNet Core compared to other networking testbeds; namely the multi-homed nature and IPv6 support for all of the nodes. This thesis discusses the technical aspects of designing and implementing the platform, as well as demonstrating the finished result with various demonstration scenarios. The Qt programming framework was chosen as the primary development framework for this application
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A New Protection Model for Component-Based
Protected operating systems multiplex programs onto resources such that they are isolated from one another — that is, concurrently executing programs cannot interfere with each other. A layer of software known as the kernel provides this protection to the software layers above it. Untrusted, ‘user’ programs are prevented from controlling the protection hardware because they are executed when the processor is in user mode — a mode of reduced privilege. In user mode, instructions that can be used to circumvent protection are unavailable; the processor’s instruction-set is reduced.
This thesis introduces a new operating system protection mechanism termed SISR — Software-based Instruction Set Reduction (pronounced scissor). Here, all software (including the kernel) executes in the same processor mode, while both language independence and protection are maintained. Untrusted (that is, ‘user level’) code is prevented from issuing privileged instructions not by reducing the processor’s instruction set, but by scanning code prior to its loading; any code found to contain privileged instructions is not loaded. Memory protection is provided through segmentation. SISR leads to improved architectures (that is, simpler and more modular), and improves performance significantly. Its low overheads make fine-grained protection practical, making it especially well-suited to component-based operating systems.
A prototype system has been built for x86-based PCs as a ‘proof-of-concept’. Significant improvements in architectures have been delivered. Tasks that have previously been inextricably linked (such as interrupt handling and CPU scheduling) have been separated into distinct components. Experiments have demonstrated significant improvements in performance, compared even to the leanest research operating systems
A Uniform Approach to Programming the World Wide Web
We propose a uniform model for programming distributed Web applications. The model is based on the concept of Web computation places and provides mechanisms to coordinate distributed computations at these places, including peer-to-peer communication between places and a uniform mechanism to initiate computation in remote places. Computations can interact with the flow of HTTP requests and responses, typically as clients, proxies or servers in the Web architecture. We have implemented the model using the global pointers and remote service requests provided by the Nexus communication library. We present the model and its rationale, with some illustrative examples, and we describe the implementation
Encaminhamento e segurança em redes veiculares
Mestrado em Engenharia Electrónica e TelecomunicaçõesThe growing research in vehicular network solutions provided the rise of interaction in these highly dynamic environments in the market. The developed architectures do not usually focus, however, in security aspects. Common security strategies designed for the Internet require IP. Since nodes' addresses in a vehicular network are too dynamic, such solutions would require cumbersome negotiations, which would make them unsuitable to these environments. The objective of this dissertation is to develop, and test a scalable, lightweight, layer 3 security protocol for vehicular networks, in which nodes of the network are able to set up long-term security associations with a Home Network, avoiding session renegotiations due to lack of connectivity and reduce the protocol stacking. This protocol allows to provide security independent of the nodes (vehicles) position, of its addressing and of the established path to access the Internet, allowing the mobility of vehicles and of its active sessions seamlessly without communication failures.O crescimento da investigação em redes veiculares provocou o aumento da interação nestes ambientes muito dinâmicos no mercado. As arquiteturas desenvolvidas não se focam, no entanto, na segurança. Estratégias comuns de segurança para a Internet, requerem sessões baseadas no IP. Como os endereços dos nós numa rede veicular, e a sua localização e caminhos até à Internet, são muito dinâmicos, as soluções já desenvolvidas para outro tipo de redes iriam requerer renegociações que teriam um grande impacto no desempenho destes ambientes. O objetivo desta dissertação será, portanto, desenvolver e testar um protocolo de segurança implementado na camada 3 para redes veiculares, que seja escalável e leve, em que os nós da rede conseguirão estabelecer associações de segurança de longa duração com a Home Network, evitando renegociações devidas à falta de conectividade, e reduzir o overhead devido ao empilhamento protocolar. Este protocolo permite ter segurança independentemente da posição dos nós (os veÃculos), do seu endereçamento e do caminho estabelecido para o acesso à Internet, permitindo assim mobilidade dos veÃculos e das sessões ativas de forma transparente sem falhas na comunicação
Mobile underwater sensor networks for protection and security: field experience at the UAN11 experiment
The EU-funded project UAN (Underwater Acoustic Network) was aimed at conceiving, developing, and testing at sea an innovative and operational concept for integrating underwater and above-water sensors in a unique communication system to protect offshore and coastline critical infrastructures. This work gives details on the underwater part of the project. It introduces a set of original security features and gives details on the integration of autonomous underwater vehicles (AUVs) as mobile nodes of the network and as surveillance assets, acoustically controlled by the command and control center to respond against intrusions. Field results are given of the final UAN project sea trial, UAN11, held in May 2011 in Norway. During the experimental activities, a UAN composed of four fixed nodes, two AUVs, and one mobile node mounted on the supporting research vessel was operated continuously and integrated into a global protection system. In this article, the communication performance of the network is reported in terms of round-trip time, packet loss, and average delivery ratio. The major results of the experiment can be thus summarized: the implemented network structure was successful in continuously operating over five days with nodes seamlessly entering and exiting the network; the performance of the network varied greatly with fluctuations in the acoustic channel; the addition of security features induced a minor degradation in network performance with respect to channel variation; the AUVs were successfully controlled from a remote station through acoustic signals routed by the network
A New Simplified Federated Single Sign-on System
The work presented in this MPhil thesis addresses this challenge by developing a new simplified FSSO system that allows end-users to access desktop systems, web-based services/applications and non-web based services/applications using one authentication process. This new system achieves this using two major components: an “Authentication Infrastructure Integration Program (AIIP) and an “Integration of Desktop Authentication and Web-based Authentication (IDAWA). The AIIP acquires Kerberos tickets (for end-users who have been authenticated by a Kerberos single sign-on system in one net- work domain) from Kerberos single sign-on systems in different network domains without establishing trust between these Kerberos single sign-on systems. The IDAWA is an extension to the web-based authentication systems (i.e. the web portal), and it authenticates end-users by verifying the end-users\u27 Kerberos tickets. This research also developed new criteria to determine which FSSO system can deliver true single sign-on to the end-users (i.e. allowing end-users to access desktop systems, web-based services/applications and non-web based services/applications using one authentication process). The evaluation shows that the new simplified FSSO system (i.e. the combination of AIIP and IDAWA) can deliver true single sign-on to the end- users. In addition, the evaluation shows the new simplified FSSO system has advantages over existing FSSO systems as it does not require additional modifications to network domains\u27 existing non-web based authentication infrastructures (i.e. Kerberos single sign- on systems) and their firewall rules
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