Passive Control Architectures for Collaborative Virtual Haptic Interaction and Bilateral Teleoperation over Unreliable Packet-Switched Digital Network

This PhD dissertation consists of two major parts: collaborative haptic interaction (CHI) and bilateral teleoperation over the Internet. For the CHI, we propose a novel hybrid peer-to-peer (P2P) architecture including the shared virtual environment (SVE) simulation, coupling between the haptic device and VE, and P2P synchronization control among all VE copies. This framework guarantees the interaction stability for all users with general unreliable packet-switched communication network which is the most challenging problem for CHI control framework design. This is achieved by enforcing our novel \emph{passivity condition} which fully considers time-varying non-uniform communication delays, random packet loss/swapping/duplication for each communication channel. The topology optimization method based on graph algebraic connectivity is also developed to achieve optimal performance under the communication bandwidth limitation. For validation, we implement a four-user collaborative haptic system with simulated unreliable packet-switched network connections. Both the hybrid P2P architecture design and the performance improvement due to the topology optimization are verified. In the second part, two novel hybrid passive bilateral teleoperation control architectures are proposed to address the challenging stability and performance issues caused by the general Internet communication unreliability (e.g. varying time delay, packet loss, data duplication, etc.). The first method--Direct PD Coupling (DPDC)--is an extension of traditional PD control to the hybrid teleoperation system. With the assumption that the Internet communication unreliability is upper bounded, the passive gain setting condition is derived and guarantees the interaction stability for the teleoperation system which interacts with unknown/unmodeled passive human and environment. However, the performance of DPDC degrades drastically when communication unreliability is severe because its feasible gain region is limited by the device viscous damping. The second method--Virtual Proxy Based PD Coupling (VPDC)--is proposed to improve the performance while providing the same interaction stability. Experimental and quantitative comparisons between DPDC and VPDC are conducted, and both interaction stability and performance difference are validated

On the Stability of Distribution Topologies in Peer-to-Peer Live Streaming Systems

Peer-to-Peer Live-Streaming-Systeme sind ständigen Störungen ausgesetzt.Insbesondere ermöglichen unzuverlässige Teilnehmer Ausfälle und Angriffe, welche überraschend Peers aus dem System entfernen. Die Folgen solcher Vorfälle werden großteils von der Verteilungstopologie bestimmt, d.h. der Kommunikationsstruktur zwischen den Peers.In dieser Arbeit analysieren wir Optimierungsprobleme welche bei der Betrachtung von Stabilitätsbegriffen für solche Verteilungstopologien auftreten. Dabei werden sowohl Angriffe als auch unkoordinierte Ausfälle berücksichtigt.Zunächst untersuchen wir die Berechnungskomplexität und Approximierbarkeit des Problems resourcen-effiziente Angriffe zu bestimmen. Dies demonstriert Beschränkungen in den Planungsmöglichkeiten von Angreifern und zeigt inwieweit die Topologieparameter die Schwierigkeit solcher Angriffsrobleme beeinflussen. Anschließend studieren wir Topologieformationsprobleme. Dabei sind Topologieparameter vorgegeben und es muss eine passende Verteilungstopologie gefunden werden. Ziel ist es Topologien zu erzeugen, welche den durch Angriffe mit beliebigen Parametern erzeugbaren maximalen Schaden minimieren.Wir identifizieren notwendige und hinreichende Eigenschaften solcher Verteilungstopologien. Dies führt zu mathematisch fundierten Zielstellungen für das Topologie-Management von Peer-to-Peer Live-Streaming-Systemen.Wir zeigen zwei große Klassen effizient konstruierbarer Verteilungstopologien, welche den maximal möglichen, durch Angriffe verursachten Paketverlust minimieren. Zusätzlich beweisen wir, dass die Bestimmung dieser Eigenschaft für beliebige Topologien coNP-vollständig ist.Soll die maximale Anzahl von Peers minimiert werden, bei denen ein Angriff zu ungenügender Stream-Qualität führt, ändern sich die Anforderungen an Verteilungstopologien. Wir zeigen, dass dieses Topologieformationsproblem eng mit offenen Problemen aus Design- und Kodierungstheorie verwandt ist.Schließlich analysieren wir Verteilungstopologien die den durch unkoordinierte Ausfälle zu erwartetenden Paketverlust minimieren. Wir zeigen Eigenschaften und Existenzbedingungen. Außerdem bestimmen wir die Berechnungskomplexität des Auffindens solcher Topologien. Unsere Ergebnisse liefern Richtlinien für das Topologie-Management von Peer-to-Peer Live-Streaming-Systemen und zeigen auf, welche Stabilitätsziele effizient erreicht werden können.The stability of peer-to-peer live streaming systems is constantly challenged. Especially, the unreliability and vulnerability of their participants allows for failures and attacks suddenly disabling certain sets of peers. The consequences of such events are largely determined by the distribution topology, i.e., the pattern of communication between the peers.In this thesis, we analyze a broad range of optimization problems concerning the stability of distribution topologies. For this, we discuss notions of stability against both attacks and failures.At first, we investigate the computational complexity and approximability of finding resource-efficient attacks. This allows to point out limitations of an attacker's planning capabilities and demonstrates the influence of the chosen system parameters on the hardness of such attack problems.Then, we turn to study topology formation problems. Here, a set of topology parameters is given and the task consists in finding an eligible distribution topology. In particular, it has to minimize the maximum damage achievable by attacks with arbitrary attack parameters.We identify necessary and sufficient conditions on attack-stable distribution topologies. Thereby, we give mathematically sound guidelines for the topology management of peer-to-peer live streaming systems.We find large classes of efficiently-constructable topologies minimizing the system-wide packet loss under attacks. Additionally, we show that determining this feature for arbitrary topologies is coNP-complete.Considering topologies minimizing the maximum number of peers for which an attack leads to a heavy decrease in perceived streaming quality, the requirements change. Here, we show that the corresponding topology formation problem is closely related to long-standing open problems of Design and Coding Theory.Finally, we study topologies minimizing the expected packet loss due to uncoordinated peer failures. We investigate properties and existence conditions of such topologies. Furthermore, we determine the computational complexity of constructing them.Our results provide guidelines for the topology management of peer-to-peer live streaming systems and mathematically determine which goals can be achieved efficiently

Harmonic cohomology groups on compact symplectic nilmanifolds

Wireless Sensor Network (WSN) have the potential to greatly affect every part of industrial and people’s lifestyle. For this reason, iPack VINN Excellence Center contributes to wireless tracking platform for fresh food and lifestyle. Every new idea or technology is attempted to integrate to the WSN for more efficient, better user experience and lower power consumption. Meanwhile Near Field Communication (NFC), a short-range wireless connectivity technology, which can make communication easily,safety and intuitively arousing iPack interest. So this master thesis focus on integrating NFC technology into existing systems to build a NFC-enable Wireless Sensor Network system. And with thissystem, only one simple touch, data from sensor node can be transmitted to mobile phone or tablet. Furthermore parameters of sensor node also can be configured easily by using above devices. So basically the NFC peer-to-peer communication protocol is mainly used. To implement and test the functions of the demonstration, a sets of hardware is needed to chosen and bought. How to design the system without changing old WSN is very tricky. To design a NFC adapter which can connect existing WSN with NFC part is thesolution of this thesis. So the main task was designing a NFC adapter which could be connected with either mobile phone/tablet or sensor node. It was the NFC adapter that makes mobile phone/tablet or sensor node NFC enabled. For the connection method, the high speed UART interface was chosen to connect with sensor node. The architecture of NFC adapter includes two main parts, A NFC chip (PN532) from NXP and a MCU(VNC2) from FTDI. The PN532 uses its antenna to send or receive data with different NFC protocols. The VNC2 is used to store sensor collected data and sends command though UART to control the PN532. Learning to use the PN532 was a tough task during the thesis work. Both official manuals and demo application are helpful for understanding the PN532 controlling. In addition, We analysed the sniffer data from demo application and code from NXP software design kit (SDK). which helped us to know the process of the PN532 peer-to-peer communication. After learning from official application, user manual and monitoring software/hardware design kid applications, we began to design our own hardware suitable SDK for the NFC adapter. At first we connected the hardware parts. When hardware connection was ready, we wrote and tested the firmware for VNC2 platform. Then due to the reason that Windows is more stable than our build VNC2 platform system at that moment, we wrote our own software design kid for NFC adapter under Windows OS first. The basic idea of software design kid is easy to use, modify and integrate into any other platforms. At the end of the thesis project, we integrated our own SDK into VNC2. When integration was done, a lot of stability and performance validation were done. Based on the result of testing, we optimized and modified our SDK and tested it again. This thesis project basically handles out a new ideal of integrating NFC to existing wireless sensor network to make WSN NFC enable. To prove the idea, we made a demo to show the enhanced sensor node and the results are satisfied. However there still has a lot of works and a lot of improvement should can be done in the future

The Convergence of Digital-Libraries and the Peer-Review Process

Pre-print repositories have seen a significant increase in use over the past fifteen years across multiple research domains. Researchers are beginning to develop applications capable of using these repositories to assist the scientific community above and beyond the pure dissemination of information. The contribution set forth by this paper emphasizes a deconstructed publication model in which the peer-review process is mediated by an OAI-PMH peer-review service. This peer-review service uses a social-network algorithm to determine potential reviewers for a submitted manuscript and for weighting the relative influence of each participating reviewer's evaluations. This paper also suggests a set of peer-review specific metadata tags that can accompany a pre-print's existing metadata record. The combinations of these contributions provide a unique repository-centric peer-review model that fits within the widely deployed OAI-PMH framework.Comment: Journal of Information Science [in press

Mode-Suppression: A Simple, Stable and Scalable Chunk-Sharing Algorithm for P2P Networks

The ability of a P2P network to scale its throughput up in proportion to the arrival rate of peers has recently been shown to be crucially dependent on the chunk sharing policy employed. Some policies can result in low frequencies of a particular chunk, known as the missing chunk syndrome, which can dramatically reduce throughput and lead to instability of the system. For instance, commonly used policies that nominally "boost" the sharing of infrequent chunks such as the well known rarest-first algorithm have been shown to be unstable. Recent efforts have largely focused on the careful design of boosting policies to mitigate this issue. We take a complementary viewpoint, and instead consider a policy that simply prevents the sharing of the most frequent chunk(s). Following terminology from statistics wherein the most frequent value in a data set is called the mode, we refer to this policy as mode-suppression. We also consider a more general version that suppresses the mode only if the mode frequency is larger than the lowest frequency by a fixed threshold. We prove the stability of mode-suppression using Lyapunov techniques, and use a Kingman bound argument to show that the total download time does not increase with peer arrival rate. We then design versions of mode-suppression that sample a small number of peers at each time, and construct noisy mode estimates by aggregating these samples over time. We show numerically that the variants of mode-suppression yield near-optimal download times, and outperform all other recently proposed chunk sharing algorithms