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

Applying formal methods to standard development: the open distributed processing experience

Since their introduction, formal methods have been applied in various ways to different standards. This paper gives an account of these applications, focusing on one application in particular: the development of a framework for creating standards for Open Distributed Processing (ODP). Following an introduction to ODP, the paper gives an insight into the current work on formalising the architecture of the Reference Model of ODP (RM-ODP), highlighting the advantages to be gained. The different approaches currently being taken are shown, together with their associated advantages and disadvantages. The paper concludes that there is no one all-purpose approach which can be used in preference to all others, but that a combination of approaches is desirable to best fulfil the potential of formal methods in developing an architectural semantics for OD

Frameworks: the future of formal software development?

It could be argued that the primary issue to be dealt with in software engineering today is re-use of software. Current software development rarely, if ever, starts from nothing. Unfortunately, the same cannot be said for the development of specifications. To overcome this problem, various works have attempted to show how specifications can be built using architectural principles. We discuss one such approach in particular, the Architectural Semantics of Open Distributed Processing. We show the limitations of this work with regard to the architecting of specifications and propose a new approach, based on frameworks. To highlight the approach we use the work currently being done in the TOSCA project in its development of a service creation and validation environment for telecommunication services

Power Systems Monitoring and Control using Telecom Network Management Standards

Historically, different solutions have been developed for power systems control and telecommunications network management environments. The former was characterized by proprietary solutions, while the latter has been involved for years in a strong standardization process guided by criteria of openness. Today, power systems control standardization is in progress, but it is at an early stage compared to the telecommunications management area, especially in terms of information modeling. Today, control equipment tends to exhibit more computational power, and communication lines have increased their performance. These trends hint at some conceptual convergence between power systems and telecommunications networks from a management perspective. This convergence leads us to suggest the application of well-established telecommunications management standards for power systems control. This paper shows that this is a real medium-to-long term possibility

Modeling, Simulation and Emulation of Intelligent Domotic Environments

Intelligent Domotic Environments are a promising approach, based on semantic models and commercially off-the-shelf domotic technologies, to realize new intelligent buildings, but such complexity requires innovative design methodologies and tools for ensuring correctness. Suitable simulation and emulation approaches and tools must be adopted to allow designers to experiment with their ideas and to incrementally verify designed policies in a scenario where the environment is partly emulated and partly composed of real devices. This paper describes a framework, which exploits UML2.0 state diagrams for automatic generation of device simulators from ontology-based descriptions of domotic environments. The DogSim simulator may simulate a complete building automation system in software, or may be integrated in the Dog Gateway, allowing partial simulation of virtual devices alongside with real devices. Experiments on a real home show that the approach is feasible and can easily address both simulation and emulation requirement

Towards a Novel Cooperative Logistics Information System Framework

Supply Chains and Logistics have a growing importance in global economy. Supply Chain Information Systems over the world are heterogeneous and each one can both produce and receive massive amounts of structured and unstructured data in real-time, which are usually generated by information systems, connected objects or manually by humans. This heterogeneity is due to Logistics Information Systems components and processes that are developed by different modelling methods and running on many platforms; hence, decision making process is difficult in such multi-actor environment. In this paper we identify some current challenges and integration issues between separately designed Logistics Information Systems (LIS), and we propose a Distributed Cooperative Logistics Platform (DCLP) framework based on NoSQL, which facilitates real-time cooperation between stakeholders and improves decision making process in a multi-actor environment. We included also a case study of Hospital Supply Chain (HSC), and a brief discussion on perspectives and future scope of work

Dynamic resource allocation in a hierarchical multiprocessor system: A preliminary study

An integrated system approach to dynamic resource allocation is proposed. Some of the problems in dynamic resource allocation and the relationship of these problems to system structures are examined. A general dynamic resource allocation scheme is presented. A hierarchial system architecture which dynamically maps between processor structure and programs at multiple levels of instantiations is described. Simulation experiments were conducted to study dynamic resource allocation on the proposed system. Preliminary evaluation based on simple dynamic resource allocation algorithms indicates that with the proposed system approach, the complexity of dynamic resource management could be significantly reduced while achieving reasonable effective dynamic resource allocation