A mosaic of eyes

Autonomous navigation is a traditional research topic in intelligent robotics and vehicles, which requires a robot to perceive its environment through onboard sensors such as cameras or laser scanners, to enable it to drive to its goal. Most research to date has focused on the development of a large and smart brain to gain autonomous capability for robots. There are three fundamental questions to be answered by an autonomous mobile robot: 1) Where am I going? 2) Where am I? and 3) How do I get there? To answer these basic questions, a robot requires a massive spatial memory and considerable computational resources to accomplish perception, localization, path planning, and control. It is not yet possible to deliver the centralized intelligence required for our real-life applications, such as autonomous ground vehicles and wheelchairs in care centers. In fact, most autonomous robots try to mimic how humans navigate, interpreting images taken by cameras and then taking decisions accordingly. They may encounter the following difficulties

Performance analysis and application development of hybrid WiMAX-WiFi IP video surveillance systems

Traditional Closed Circuit Television (CCTV) analogue cameras installed in buildings and other areas of security interest necessitates the use of cable lines. However, analogue systems are limited by distance; and storing analogue data requires huge space or bandwidth. Wired systems are also prone to vandalism, they cannot be installed in a hostile terrain and in heritage sites, where cabling would distort original design. Currently, there is a paradigm shift towards wireless solutions (WiMAX, Wi-Fi, 3G, 4G) to complement and in some cases replace the wired system. A wireless solution of the Fourth-Generation Surveillance System (4GSS) has been proposed in this thesis. It is a hybrid WiMAX-WiFi video surveillance system. The performance analysis of the hybrid WiMAX-WiFi is compared with the conventional WiMAX surveillance models. The video surveillance models and the algorithm that exploit the advantages of both WiMAX and Wi-Fi for scenarios of fixed and mobile wireless cameras have been proposed, simulated and compared with the mathematical/analytical models. The hybrid WiMAX-WiFi video surveillance model has been extended to include a Wireless Mesh configuration on the Wi-Fi part, to improve the scalability and reliability. A performance analysis for hybrid WiMAX-WiFi system with an appropriate Mobility model has been considered for the case of mobile cameras. A security software application for mobile smartphones that sends surveillance images to either local or remote servers has been developed. The developed software has been tested, evaluated and deployed in low bandwidth Wi-Fi wireless network environments. WiMAX is a wireless metropolitan access network technology that provides broadband services to the connected customers. Major modules and units of WiMAX include the Customer Provided Equipment (CPE), the Access Service Network (ASN) which consist one or more Base Stations (BS) and the Connectivity Service Network (CSN). Various interfaces exist between each unit and module. WiMAX is based on the IEEE 802.16 family of standards. Wi-Fi, on the other hand, is a wireless access network operating in the local area network; and it is based on the IEEE 802.11 standards

Supporting Internet Access and Quality of Service in Distributed Wireless Ad Hoc Networks

In this era of wireless hysteria, with continuous technological advances in wireless communication and new wireless technologies becoming standardized at a fast rate, we can expect an increased interest for wireless networks, such as ad hoc and mesh networks. These networks operate in a distributed manner, independent of any centralized device. In order to realize the practical benefits of ad hoc networks, two challenges (among others) need to be considered: distributed QoS guarantees and multi-hop Internet access. In this thesis we present conceivable solutions to both of these problems. An autonomous, stand-alone ad hoc network is useful in many cases, such as search and rescue operations and meetings where participants wish to quickly share information. However, an ad hoc network connected to the Internet is even more desirable. This is because Internet plays an important role in the daily life of many people by offering a broad range of services. In this thesis we present AODV+, which is our solution to achieve this network interconnection between a wireless ad hoc network and the wired Internet. Providing QoS in distributed wireless networks is another challenging, but yet important, task mainly because there is no central device controlling the medium access. In this thesis we propose EDCA with Resource Reservation (EDCA/RR), which is a fully distributed MAC scheme that provides QoS guarantees by allowing applications with strict QoS requirements to reserve transmission time for contention-free medium access. Our scheme is compatible with existing standards and provides both parameterized and prioritized QoS. In addition, we present the Distributed Deterministic Channel Access (DDCA) scheme, which is a multi-hop extension of EDCA/RR and can be used in wireless mesh networks. Finally, we have complemented our simulation studies with real-world ad hoc and mesh network experiments. With the experience from these experiments, we obtained a clear insight into the limitations of wireless channels. We could conclude that a wise design of the network architecture that limits the number of consecutive wireless hops may result in a wireless mesh network that is able to satisfy users’ needs. Moreover, by using QoS mechanisms like EDCA/RR or DDCA we are able to provide different priorities to traffic flows and reserve resources for the most time-critical applications

Layer 2 Path Selection Protocol for Wireless Mesh Networks with Smart Antennas

In this thesis the possibilities of smart antenna systems in wireless mesh networks are examined. With respect to the individual smart antenna tradeoffs, a routing protocol (Modified HWMP, MHWMP) for IEEE 802.11s mesh networks is presented, that exploits the full range of benefits provided by smart antennas: MHWMP actively switches between the PHY-layer transmission/reception modes (multiplexing, beamforming and diversity) according to the wireless channel conditions. Spatial multiplexing and beamforming are used for unicast data transmissions, while antenna diversity is employed for efficient broadcasts. To adapt to the directional channel environment and to take full benefit of the PHY capabilities, a respective MAC scheme is employed. The presented protocol is tested in extensive simulation and the results are examined.:1 Introduction 2 Wireless Mesh Networks 3 IEEE 802.11s 4 Smart Antenna Concepts 5 State of the Art: Wireless Mesh Networks with Smart Antennas 6 New Concepts 7 System Model 8 Results and Discussion 9 Conclusion and Future Wor

Algorithms for stable clustering in vanets (vehicular ad hoc networks)

Σημείωση: διατίθεται συμπληρωματικό υλικό σε ξεχωριστό αρχείο

Software Defined Networks based Smart Grid Communication: A Comprehensive Survey

The current power grid is no longer a feasible solution due to ever-increasing user demand of electricity, old infrastructure, and reliability issues and thus require transformation to a better grid a.k.a., smart grid (SG). The key features that distinguish SG from the conventional electrical power grid are its capability to perform two-way communication, demand side management, and real time pricing. Despite all these advantages that SG will bring, there are certain issues which are specific to SG communication system. For instance, network management of current SG systems is complex, time consuming, and done manually. Moreover, SG communication (SGC) system is built on different vendor specific devices and protocols. Therefore, the current SG systems are not protocol independent, thus leading to interoperability issue. Software defined network (SDN) has been proposed to monitor and manage the communication networks globally. This article serves as a comprehensive survey on SDN-based SGC. In this article, we first discuss taxonomy of advantages of SDNbased SGC.We then discuss SDN-based SGC architectures, along with case studies. Our article provides an in-depth discussion on routing schemes for SDN-based SGC. We also provide detailed survey of security and privacy schemes applied to SDN-based SGC. We furthermore present challenges, open issues, and future research directions related to SDN-based SGC.Comment: Accepte

On Fault Tolerance Methods for Networks-on-Chip

Technology scaling has proceeded into dimensions in which the reliability of manufactured devices is becoming endangered. The reliability decrease is a consequence of physical limitations, relative increase of variations, and decreasing noise margins, among others. A promising solution for bringing the reliability of circuits back to a desired level is the use of design methods which introduce tolerance against possible faults in an integrated circuit. This thesis studies and presents fault tolerance methods for network-onchip (NoC) which is a design paradigm targeted for very large systems-onchip. In a NoC resources, such as processors and memories, are connected to a communication network; comparable to the Internet. Fault tolerance in such a system can be achieved at many abstraction levels. The thesis studies the origin of faults in modern technologies and explains the classification to transient, intermittent and permanent faults. A survey of fault tolerance methods is presented to demonstrate the diversity of available methods. Networks-on-chip are approached by exploring their main design choices: the selection of a topology, routing protocol, and flow control method. Fault tolerance methods for NoCs are studied at different layers of the OSI reference model. The data link layer provides a reliable communication link over a physical channel. Error control coding is an efficient fault tolerance method especially against transient faults at this abstraction level. Error control coding methods suitable for on-chip communication are studied and their implementations presented. Error control coding loses its effectiveness in the presence of intermittent and permanent faults. Therefore, other solutions against them are presented. The introduction of spare wires and split transmissions are shown to provide good tolerance against intermittent and permanent errors and their combination to error control coding is illustrated. At the network layer positioned above the data link layer, fault tolerance can be achieved with the design of fault tolerant network topologies and routing algorithms. Both of these approaches are presented in the thesis together with realizations in the both categories. The thesis concludes that an optimal fault tolerance solution contains carefully co-designed elements from different abstraction levelsSiirretty Doriast

Congestion control protocols in wireless sensor networks: A survey

The performance of wireless sensor networks (WSN) is affected by the lossy communication medium, application diversity, dense deployment, limited processing power and storage capacity, frequent topology change. All these limitations provide significant and unique design challenges to data transport control in wireless sensor networks. An effective transport protocol should consider reliable message delivery, energy-efficiency, quality of service and congestion control. The latter is vital for achieving a high throughput and a long network lifetime. Despite the huge number of protocols proposed in the literature, congestion control in WSN remains challenging. A review and taxonomy of the state-of-the-art protocols from the literature up to 2013 is provided in this paper. First, depending on the control policy, the protocols are divided into resource control vs. traffic control. Traffic control protocols are either reactive or preventive (avoiding). Reactive solutions are classified following the reaction scale, while preventive solutions are split up into buffer limitation vs. interference control. Resource control protocols are classified according to the type of resource to be tuned. © 2014 IEEE