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

Testing communication reliability with fault injection : Implementation using Robot Framework and SoC-FPGA

Taajuusmuuttajia käytetään teollisuudessa laajasti, sillä merkittävän osan teollisuuden sähkönkulutuksesta muodostavat oikosulkumoottorit, joita ajetaan taajuusmuuttajien avulla. Taajuusmuuttajiin on mahdollista kytkeä optiokortteja, jotka lisäävät taajuusmuuttajaan valvonta-, ohjaus- ym. toiminnallisuuksia. Nämä kortit kommunikoivat sarjaliikenneväylän kautta taajuusmuuttajan pääyksikön kanssa. Sarjaliikennelinkissä, kuten taajuusmuuttajan väylällä, voi syntyä virheitä, jotka häiritsevät tietoliikennettä. Sen takia sarjaliikenneprotokolliin on luotu virheentunnistus- ja -korjausmekanismeja, joilla pyritään varmistamaan virheetön tiedon kuljettaminen. Luotettavuutta testaamaan voidaan väylälle generoida virheitä siihen tarkoitetulla laitteella. Tässä diplomityössä luotiin taajuusmuuttajia valmistavan yrityksen, Danfoss Drivesin (aik. Vacon), pyynnöstä häiriögeneraattorijärjestelmä. Järjestelmä koostuu SoC-FPGA-piirillä luodusta virheitä syöttävästä laitteesta, PC-työkalulle luodusta testirajapinnasta sekä Ethernet-kommunikaatiosta niiden välillä. Laite kytketään väylään, ja testirajapinta tekee testaajalle mahdolliseksi luoda mukautettavia testejä ja ajaa testejä käyttäen Robot Framework -testiympäristöä. Diplomityössä tutkittiin ensin sarjakommunikointiväylien yleisimpiä virheentunnistus- ja korjauskeinoja sekä SoC-FPGA-piirien sekä työssä käytetyn Robot Frameworkin ominaisuuksia. Järjestelmä suunniteltiin ylhäältä-alas-periaatteella ensin tunnistamalla kolmen edellä mainitun komponentin päärakenne päätyen lopulta yksittäisten ohjelmafunktioiden logiikan suunnitteluun. Tämän jälkeen laite ja testirajapinta toteutettiin C- ja Python-ohjelmointikielillä käyttäen suunnitellun kaltaista kommunikaatiota näiden kahden komponentin välillä. Lopulta järjestelmä testattiin kaikki komponentit yhteen kytkettynä. Varsinainen injektorilogiikka, joka luo virheitä väylään, ei ollut työn loppuun mennessä vielä toimittavan tahon puolelta valmis, joten järjestelmää ei voitu testata todellisessa ympäristössä. Työssä luodut osuudet voidaan kuitenkin myöhemmin kytkeä kokonaiseen järjestelmään. Työn tärkeimpänä johtopäätöksenä on, että tavoitteiden mukainen järjestelmä saatiin luotua ja testattua toimivaksi mahdollisin osin. Jatkokehityskohteeksi jäi mm. kokonaisen järjestelmän luonti ja testaus oikeaan kommunikaatioväylään kytkettynä.Frequency converters are widely used in industry because a notable part of the industrial electricity consumption is by electrical induction motors driven by frequency converters. It is possible to connect option boards into a frequency converter to add monitoring and control features. These option boards communicate with the main control unit of the frequency converter over a serial communication link. In a serial communication link, e.g. in a frequency converter, it can occur faults that interfere with the transfer. Hence, error handling mechanisms are used to secure transmission of the data without errors. A fault injector device, which generates errors into the data travelling in the link, can be used to test the communication reliability. In this master’s thesis, an error generator system was created for a company, Danfoss Drives (previously Vacon), manufacturing frequency converters. The system consists of a fault injector device created with a SoC-FPGA, a testing interface for a PC tool, and an Ethernet-based communication between these two. The device is connected to a serial communication link, and the testing interface makes it easy for a tester to create and run modifiable fault injection tests using a Robot Framework test environment. At the beginning of the thesis, the most common error detection and correction mechanisms in serial communication and properties of SoC-FPGAs, and Robot Framework were studied. Following this, the system was designed with top-down approach, first identifying the main structure of the components, and finally ending up in designing the logic of individual functions. After this, the device and the testing interface were implemented in C and Python using the designed Ethernet communication between them. After the implementation, the system was tested with all the components combined. The actual fault injection logic was not ready by the end of the thesis, so the tests were not run in a real environment. However, the work is done so that the implemented parts can be later used in a complete system. The most important conclusion is that the system was created and tested to meet the requirements with applicable parts. Further development includes creating a complete system and testing it with a real communication link

Development of Client-Server Application by Using UDP Socket Programming for Remotely Monitoring CNC Machine Environment in Fixture Process

The use of computer technology in manufacturing industries can improve manufacturing flexibility significantly, especially in manufacturing processes; many software applications have been utilized to improve machining performance. However, none of them has discussed the abilities to perform direct machining. In this paper, an integrated system for remote operation and monitoring of Computer Numerical Control (CNC) machines is put into consideration. The integrated system includes computerization, network technology, and improved holding mechanism. The work proposed by this research is mainly on the software development for such integrated system. It uses Java three-dimensional (3D) programming and Virtual Reality Modeling Language (VRML) at the client side for visualization of machining environment. This research is aimed at developing a control system to remotely operate and monitor a self-reconfiguration fixture mechanism of a CNC milling machine through internet connection and integration of Personal Computer (PC)-based CNC controller, a server side, a client side and CNC milling. The performance of the developed system was evaluated by testing with one type of common protocols particularly User Datagram Protocol (UDP). Using UDP, the developed system requires 3.9 seconds to complete the close clamping, less than 1 second to release the clamping and it can deliver 463 KiloByte

PrivacyGuard: A VPN-Based Approach to Detect Privacy Leakages on Android Devices

The Internet is now the most important and efficient way to gain information, and mobile devices are the easiest way to access the Internet. Furthermore, wearable devices, which can be considered to be the next generation of mobile devices, are becoming popular. The more people rely on mobile devices, the more private information about these people can be gathered from their devices. If a device is lost or compromised, much private information is revealed. Although today’s smartphone operating systems are trying to provide a secure environment, they still fail to provide users with adequate control over and visibility into how third-party applications use their private data. The privacy leakage problem on mobile devices is still severe. For example, according a field study [1] done by CMU recently, Android applications track users’ location every three minutes in average. After the PRISM program, a surveillance program done by NSA, is exposed, people are becoming increasingly aware of the mobile privacy leakages. However, there are few tools available to average users for privacy preserving. Most tools developed by recent work have some problems (details can be found in chapter 2). To address these problems, we present PrivacyGuard, an efficient way to simultaneously detect leakage of multiple types of sensitive data, such as a phone’s IMEI number or location data. PrivacyGuard provides real-time protection. It is possible to modify the leaked information and replace it with crafted data to achieve protection. PrivacyGuard is configurable, extensible and useful for other research. We implement PrivacyGuard on the Android platform by taking advantage of the VPNService class provided by the Android SDK. PrivacyGuard does not require root per- missions to run on a device and does not require any knowledge about VPN technology from users either. The VPN server runs on the device locally. No external servers are required. According to our experiments, PrivacyGuard can effectively detect privacy leak- ages of most applications and advertisement libraries with almost no overhead on power consumption and reasonable overhead on network speed

A Pragmatic Evaluation of Distance Vector Proactive Routing in MANETs via Open Space Real-World Experiments

Mobile Ad hoc Networks constitute a promising and fast developing technology that could significantly enhance user freedom. The flexibility provided by such networks is accompanied by unreliability due to notably dynamic conditions that render routing quite problematic. For that reason, the research community has proposed multiple protocols claimed to address this issue, however, only few have been tested via real experiments, while even fewer have reached maturity to become readily available to end users. The main purpose of this paper is to pragmatically evaluate a promising, complete, and finalized MANET protocol via real-world experimentation in open space environment. The considered protocol, with the acronym B.A.T.M.A.N, which is based on distance vector proactive routing, was tested in different networking scenarios that revealed its ability to satisfactorily handle traffic under different conditions

Performance Optimization and Dynamics Control for Large-scale Data Transfer in Wide-area Networks

Transport control plays an important role in the performance of large-scale scientific and media streaming applications involving transfer of large data sets, media streaming, online computational steering, interactive visualization, and remote instrument control. In general, these applications have two distinctive classes of transport requirements: large-scale scientific applications require high bandwidths to move bulk data across wide-area networks, while media streaming applications require stable bandwidths to ensure smooth media playback. Unfortunately, the widely deployed Transmission Control Protocol is inadequate for such tasks due to its performance limitations. The purpose of this dissertation is to conduct rigorous analytical study of the design and performance of transport solutions, and develop an integrated transport solution in a systematical way to overcome the limitations of current transport methods. One of the primary challenges is to explore and compose a set of feasible route options with multiple constraints. Another challenge essentially arises from the randomness inherent in wide-area networks, particularly the Internet. This randomness must be explicitly accounted for to achieve both goodput maximization and stabilization over the constructed routes by suitably adjusting the source rate in response to both network and host dynamics.The superior and robust performance of the proposed transport solution is extensively evaluated in a simulated environment and further verified through real-life implementations and deployments over both Internet and dedicated connections under disparate network conditions in comparison with existing transport methods