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

Robust Adaptive Congestion Control for Next Generation Networks

This paper deals with the problem of congestion control in a next-generation heterogeneous network scenario. The algorithm runs in the 'edge' routers (the routers collecting the traffic between two different networks) with the aim of avoiding congestion in both the network and the edge routers. The proposed algorithm extends congestion control algorithms based on the Smith's principle: i) the controller, by exploiting on-line estimates via probe packets, adapts to the delay and rate variations; ii) the controller assures robust stability in the presence of time-varying delays

An Energy-conscious Transport Protocol for Multi-hop Wireless Networks

We present a transport protocol whose goal is to reduce power consumption without compromising delivery requirements of applications. To meet its goal of energy efficiency, our transport protocol (1) contains mechanisms to balance end-to-end vs. local retransmissions; (2) minimizes acknowledgment traffic using receiver regulated rate-based flow control combined with selected acknowledgements and in-network caching of packets; and (3) aggressively seeks to avoid any congestion-based packet loss. Within a recently developed ultra low-power multi-hop wireless network system, extensive simulations and experimental results demonstrate that our transport protocol meets its goal of preserving the energy efficiency of the underlying network.Defense Advanced Research Projects Agency (NBCHC050053

Smart grids for rural conditions and e-mobility - Applying power routers, batteries and virtual power plants

Significant reductions of greenhouse gas emission by use of renewable energy sources belong to the common targets of the European Union. Smart grids address intelligent use and integration of conventional and renewable generation in combination with controllable loads and storages. Two special aspects have also to be considered for smart grids in future: rural conditions and electric vehicles. Both, the increasing share of renewable energy sources and a rising demand for charging power by electrical vehicles lead to new challenges of network stability (congestion, voltage deviation), especially in rural distribution grids. This paper describes two lighthouse projects in Europe (“Well2Wheel” and “Smart Rural Grid”) dealing with these topics. The link between these projects is the implementation of the same virtual power plant technology and the approach of cellular grid cells. Starting with an approach for the average energy balance in 15 minutes intervals in several grid cells in the first project, the second project even allows the islanded operation of such cells as a microgrid. The integration of renewable energy sources into distribution grids primary takes place in rural areas. The lighthouse project “Smart Rural Grid”, which is founded by the European Union, demonstrates possibilities to use the existing distribution system operator infrastructure more effectively by applying an optimised and scheduled operation of the assets and using intelligent distribution power routers, called IDPR. IDPR are active power electronic devices operating at low voltage in distribution grids aiming to reduce losses due to unbalanced loads and enabling active voltage and reactive power control. This allows a higher penetration of renewable energy sources in existing grids without investing in new lines and transformers. Integrated in a virtual power plant and combined with batteries, the IDPR also allows a temporary islanded mode of grid cells. Both projects show the potential of avoiding or postponing investments in new primary infrastructure like cables, transformers and lines by using a forward-looking operation which controls generators, loads and batteries (mobile and stationary) by using new grid assets like power routers. While primary driven by physical restrictions as voltage-band violations and energy balance, these cells also define and allow local smart markets. In consequence the distribution system operators could avoid direct control access by giving an incentive to the asset owners by local price signals according to the grid situation and forecasted congestions.Peer ReviewedPostprint (published version

Joint in-network video rate adaptation and measurement-based admission control: algorithm design and evaluation

The important new revenue opportunities that multimedia services offer to network and service providers come with important management challenges. For providers, it is important to control the video quality that is offered and perceived by the user, typically known as the quality of experience (QoE). Both admission control and scalable video coding techniques can control the QoE by blocking connections or adapting the video rate but influence each other's performance. In this article, we propose an in-network video rate adaptation mechanism that enables a provider to define a policy on how the video rate adaptation should be performed to maximize the provider's objective (e.g., a maximization of revenue or QoE). We discuss the need for a close interaction of the video rate adaptation algorithm with a measurement based admission control system, allowing to effectively orchestrate both algorithms and timely switch from video rate adaptation to the blocking of connections. We propose two different rate adaptation decision algorithms that calculate which videos need to be adapted: an optimal one in terms of the provider's policy and a heuristic based on the utility of each connection. Through an extensive performance evaluation, we show the impact of both algorithms on the rate adaptation, network utilisation and the stability of the video rate adaptation. We show that both algorithms outperform other configurations with at least 10 %. Moreover, we show that the proposed heuristic is about 500 times faster than the optimal algorithm and experiences only a performance drop of approximately 2 %, given the investigated video delivery scenario

Active Queue Management for Fair Resource Allocation in Wireless Networks

This paper investigates the interaction between end-to-end flow control and MAC-layer scheduling on wireless links. We consider a wireless network with multiple users receiving information from a common access point; each user suffers fading, and a scheduler allocates the channel based on channel quality,but subject to fairness and latency considerations. We show that the fairness property of the scheduler is compromised by the transport layer flow control of TCP New Reno. We provide a receiver-side control algorithm, CLAMP, that remedies this situation. CLAMP works at a receiver to control a TCP sender by setting the TCP receiver's advertised window limit, and this allows the scheduler to allocate bandwidth fairly between the users