GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

A Survey on Rapidly Deployable Solutions for Post-disaster Networks

International audienceIn post-disaster scenarios, for example, after earthquakes or floods, the traditional communication infrastructure may be unavailable or seriously disrupted and overloaded. Therefore, rapidly deployable network solutions are needed to restore connectivity and provide assistance to users and first responders in the incident area. This work surveys the solutions proposed to address the deployment of a network without any a priori knowledge about the communication environment for critical communications. The design of such a network should also allow for quick, flexible, scalable, and resilient deployment with minimal human intervention

A Framework for Enhancing the Energy Efficiency of IoT Devices in 5G Network

A wide range of services, such as improved mobile broadband, extensive machine-type communication, ultra-reliability, and low latency, are anticipated to be delivered via the 5G network. The 5G network has developed as a multi-layer network that uses numerous technological advancements to provide a wide array of wireless services to fulfil such a diversified set of requirements. Several technologies, including software-defined networking, network function virtualization, edge computing, cloud computing, and tiny cells, are being integrated into the 5G networks to meet the needs of various requirements. Due to the higher power consumption that will arise from such a complicated network design, energy efficiency becomes crucial. The network machine learning technique has attracted a lot of interest from the scientific community because it has the potential to play a crucial role in helping to achieve energy efficiency. Utilization factor, access latency, arrival rate, and other metrics are used to study the proposed scheme. It is determined that our system outperforms the present scheme after comparing the suggested scheme to these parameters

Survey on assembly sequencing: a combinatorial and geometrical perspective

A systematic overview on the subject of assembly sequencing is presented. Sequencing lies at the core of assembly planning, and variants include finding a feasible sequence—respecting the precedence constraints between the assembly operations—, or determining an optimal one according to one or several operational criteria. The different ways of representing the space of feasible assembly sequences are described, as well as the search and optimization algorithms that can be used. Geometry plays a fundamental role in devising the precedence constraints between assembly operations, and this is the subject of the second part of the survey, which treats also motion in contact in the context of the actual performance of assembly operations.Peer ReviewedPostprint (author’s final draft

Expanding Boundaries: Cross-Media Routing for Seamless Underwater and Aerial Communication

The colossal evolution of wireless communication technologies over the past few years has driven increased interest in its integration in a variety of less-explored environments, such as the underwater medium. In this magazine paper, we present a comprehensive discussion on a novel concept of routing protocol known as cross-media routing, incorporating the marine and aerial interfaces. In this regard, we discuss the limitation of single-media routing and advocate the need for cross-media routing along with the current status of research development in this direction. To this end, we also propose a novel cross-media routing protocol known as bubble routing for autonomous marine systems where different sets of AUVs, USVs, and airborne nodes are considered for the routing problem. We evaluate the performance of the proposed routing protocol by using the two key performance metrics, i.e., packet delivery ratio (PDR) and end-to-end delay. Moreover, we delve into the challenges encountered in cross-media routing, unveiling exciting opportunities for future research and innovation. As wireless communication expands its horizons to encompass the underwater and aerial domains, understanding and addressing these challenges will pave the way for enhanced cross-media communication and exploration.Comment: Submitted to IEEE Communications Magazin

UAV Command and Control, Navigation and Surveillance: A Review of Potential 5G and Satellite Systems

Drones, unmanned aerial vehicles (UAVs), or unmanned aerial systems (UAS) are expected to be an important component of 5G/beyond 5G (B5G) communications. This includes their use within cellular architectures (5G UAVs), in which they can facilitate both wireless broadcast and point-to-point transmissions, usually using small UAS (sUAS). Allowing UAS to operate within airspace along with commercial, cargo, and other piloted aircraft will likely require dedicated and protected aviation spectrum at least in the near term, while regulatory authorities adapt to their use. The command and control (C2), or control and non-payload communications (CNPC) link provides safety critical information for the control of the UAV both in terrestrial-based line of sight (LOS) conditions and in satellite communication links for so-called beyond LOS (BLOS) conditions. In this paper, we provide an overview of these CNPC links as they may be used in 5G and satellite systems by describing basic concepts and challenges. We review new entrant technologies that might be used for UAV C2 as well as for payload communication, such as millimeter wave (mmWave) systems, and also review navigation and surveillance challenges. A brief discussion of UAV-to-UAV communication and hardware issues are also provided.Comment: 10 pages, 5 figures, IEEE aerospace conferenc

Architectural Model for Evaluating Space Communication Networks

[ANGLÈS] The space exploration endeavor started in 1957 with the launch and operation of the first manmade satellite, the URSS Sputnik 1. Since then, multiple space programs have been developed, pushing the limits of technology and science but foremost unveiling the mysteries of the universe. In all these cases, the need for flexible and reliable communication systems has been primordial, allowing the return of collected science data and, when necessary, ensuring the well-being and safety of astronauts. To that end, multiple space communication networks have been globally deployed, be it through geographically distributed ground assets or through space relay satellites. Until now most of these systems have relied upon mature technology standards that have been adapted to the specific needs of particular missions and customers. Nevertheless, current trends in the space programs suggest that a shift of paradigm is needed: an Internet-like space network would increase the capacity and reliability of an interplanetary network while dramatically reducing its overall costs. In this context, the System Architecting Paradigm can be a good starting point. Through its formal decomposition of the system, it can help determine the architecturally distinguishing decisions and identify potential areas of commonality and cost reduction. This thesis presents a general framework to evaluate space communication relay systems for the near Earth domain. It indicates the sources of complexity in the modeling process, and discusses the validity and appropriateness of past approaches to the problem. In particular, it proposes a discussion of current models vis-à-vis the System Architecting Paradigm and how they fit into tradespace exploration studies. Next, the thesis introduces a computational performance model for the analysis and fast simulation of space relay satellite systems. The tool takes advantage of a specifically built-in rule-based expert system for storing the constitutive elements of the architecture and perform logical interactions between them. Analogously, it uses numerical models to assess the network topology over a given timeframe, perform physical layer computations and calculate plausible schedules for the overall system. In particular, it presents a newly developed heuristic scheduler that guarantees prioritization of specific missions and services while ensuring manageable computational times.[CASTELLÀ] El inicio de la carrera espacial se inició en 1957 con el lanzamiento y operación del primer satélite artificial, el Sputnik 1 de la URSS. Desde entonces se han desarrollado múltiples programas espaciales que han llevado al límite tanto la tecnología como la ciencia y han permitido desvelar los misterios del universo. En todos estos casos, la necesidad de sistemas de comunicación flexibles y fiables ha sido primordial con el fin de asegurar el retorno de los datos científicos recopilados y, en ciertos casos, garantizar la seguridad de los astronautas. Como consecuencia, múltiples redes de comunicaciones espaciales han sido desplegadas, ya sea a través de antenas globalmente distribuidas a través de la superficie terrestre o mediante satélites repetidores. Hasta ahora la mayoría de estos sistemas se ha basado en estándares tecnológicos maduros y testeados, los cuales se han adaptado con el fin de satisfacer las necesidades específicas de cada misión y cliente. Sin embargo, las tendencias actuales en el diseño de los nuevos programas espaciales indica que un cambio de paradigma es necesario: una red espacial a imagen de Internet permitiría incrementar la capacidad y fiabilidad de las comunicaciones interplanetarias y, a la vez, reducir dramáticamente sus costes. En este contexto, el paradigma de arquitectura de sistemas puede ser un buen punto de partida. Mediante la descomposición formal del sistema, puede ayudar a determinar las decisiones que tienen un impacto cabal en el diseño de la arquitectura así como identificar las áreas con tecnologías similares y de menor coste. Esta tesis presenta un marco teórico general para evaluar sistemas de comunicaciones espaciales para misiones que orbitan la Tierra. Adicionalmente, la tesis indica los principales orígenes de complejidad durante el modelado del sistema y presenta una discusión sobre la validez de anteriores estrategias para analizar el problema. En concreto, propone una comparación de anteriores modelos respecto el paradigma de arquitectura de sistemas y su grado de adecuación para evaluar y comprar arquitecturas. A continuación, la tesis introduce un modelo computacional para simular y evaluar el rendimiento de sistemas de repetidores por satélite. La herramienta utiliza un rule-based expert system específicamente diseñado con el fin de almacenar los principales elementos constitutivos de la arquitectura y comprender las interacciones lógicas entre ellos. Análogamente, el modelo usa métodos numéricos con el fin de calcular la evolución temporal de la topología de la red en un determinado intervalo de tiempo, así como su capa física y un posible programa de contactos. En concreto, presenta un nuevo scheduler heurístico que garantiza la correcta ordenación de las misiones y servicios a la vez que asegura un tiempo computacional aceptable.[CATALÀ] L'inici de la cursa espacial va iniciar-se l'any 1957 amb el llançament i operació del primer satèl·lit artificial, l'Sputnik 1 de la URSS. Des d'aleshores s'han dut a terme múltiples programes espacials que han portat al límit tant la tecnologia com la ciència i han permès desvelar els misteris de l'univers. En tots aquests casos, la necessitat de sistemes de comunicació flexibles i fiables ha sigut primordial per tal d'assegurar el retorn de les dades científiques recopilades i, en certs casos, garantir el benestar i seguretat dels astronautes. Com a conseqüència, múltiples xarxes de comunicacions espacials han sigut desplegades, ja sigui a través d'antenes globalment distribuïdes a través de la superfície terrestre o mitjançant satèl·lits repetidors. Fins ara la majoria d'aquests sistemes s'han basat en estàndards tecnològics madurs i testats, els quals s'han adaptat per tal de satisfer les necessitats específiques de cada missió i client. Això no obstant, les tendències actuals en el disseny dels nous programes espacials indica que un canvi de paradigma és necessari: una xarxa espacial a imatge d'Internet permetria incrementar la capacitat i fiabilitat de les comunicacions interplanetàries i, alhora, reduir dramàticament els seu costs. En aquest context, el paradigma d'arquitectura de sistemes pot ser un bon punt de partida. Mitjançant la descomposició formal del sistema, pot ajudar a determinar les decisions que tenen un impacte cabdal en el disseny de l'arquitectura així com permetre identificar àrees amb tecnologies similars i de menor cost. Aquesta tesi presenta un marc teòric general per avaluar sistemes de comunicacions espacials per missions orbitant la Terra. Addicionalment, la tesi indica els principals orígens de complexitat durant el modelatge del sistema i presenta una discussió sobre la validesa d'anteriors estratègies per analitzar el problema. En concret, proposa una comparació d'anteriors models respecte el paradigma d'arquitectura de sistemes i el seu grau d'adequació per avaluar i comparar arquitectures. A continuació, la tesi introdueix un model computacional per simular i avaluar el rendiment de sistemes de repetidors per satèl·lit. L'eina empra un rule-based expert system específicament dissenyat per tal d'emmagatzemar els principals elements constitutius de l'arquitectura i comprendre les interaccions lògiques entre ells. Anàlogament, el model utilitza mètodes numèrics per tal de calcular l'evolució temporal de la topologia de la xarxa en un determinat interval de temps, així com calcular la seva capa física i un possible programa de contactes. En concret, presenta un nou scheduler heurístic que garanteix la correcte ordenació de les missions i serveis tot assegurant un temps de computació acceptable