Robotics software frameworks for multi-agent robotic systems development

Robotics is an area of research in which the paradigm of Multi-Agent Systems (MAS) can prove to be highly useful. Multi-Agent Systems come in the form of cooperative robots in a team, sensor networks based on mobile robots, and robots in Intelligent Environments, to name but a few. However, the development of Multi-Agent Robotic Systems (MARS) still presents major challenges. Over the past decade, a high number of Robotics Software Frameworks (RSFs) have appeared which propose some solutions to the most recurrent problems in robotics. Some of these frameworks, such as ROS, YARP, OROCOS, ORCA, Open-RTM, and Open-RDK, possess certain characteristics and provide the basic infrastructure necessary for the development of MARS. The contribution of this work is the identification of such characteristics as well as the analysis of these frameworks in comparison with the general-purpose Multi-Agent System Frameworks (MASFs), such as JADE and Mobile-C.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Junta de Andalucía P06-TIC-2298Junta de Andalucía P08-TIC-0386

Security and Privacy for IoT Ecosystems

Smart devices have become an integral part of our everyday life. In contrast to smartphones and laptops, Internet of Things (IoT) devices are typically managed by the vendor. They allow little or no user-driven customization. Users need to use and trust IoT devices as they are, including the ecosystems involved in the processing and sharing of personal data. Ensuring that an IoT device does not leak private data is imperative. This thesis analyzes security practices in popular IoT ecosystems across several price segments. Our results show a gap between real-world implementations and state-of-the-art security measures. The process of responsible disclosure with the vendors revealed further practical challenges. Do they want to support backward compatibility with the same app and infrastructure over multiple IoT device generations? To which extent can they trust their supply chains in rolling out keys? Mature vendors have a budget for security and are aware of its demands. Despite this goodwill, developers sometimes fail at securing the concrete implementations in those complex ecosystems. Our analysis of real-world products reveals the actual efforts made by vendors to secure their products. Our responsible disclosure processes and publications of design recommendations not only increase security in existing products but also help connected ecosystem manufacturers to develop secure products. Moreover, we enable users to take control of their connected devices with firmware binary patching. If a vendor decides to no longer offer cloud services, bootstrapping a vendor-independent ecosystem is the only way to revive bricked devices. Binary patching is not only useful in the IoT context but also opens up these devices as research platforms. We are the first to publish tools for Bluetooth firmware and lower-layer analysis and uncover a security issue in Broadcom chips affecting hundreds of millions of devices manufactured by Apple, Samsung, Google, and more. Although we informed Broadcom and customers of their technologies of the weaknesses identified, some of these devices no longer receive official updates. For these, our binary patching framework is capable of building vendor-independent patches and retrofit security. Connected device vendors depend on standards; they rarely implement lower-layer communication schemes from scratch. Standards enable communication between devices of different vendors, which is crucial in many IoT setups. Secure standards help making products secure by design and, thus, need to be analyzed as early as possible. One possibility to integrate security into a lower-layer standard is Physical-Layer Security (PLS). PLS establishes security on the Physical Layer (PHY) of wireless transmissions. With new wireless technologies emerging, physical properties change. We analyze how suitable PLS techniques are in the domain of mmWave and Visible Light Communication (VLC). Despite VLC being commonly believed to be very secure due to its limited range, we show that using VLC instead for PLS is less secure than using it with Radio Frequency (RF) communication. The work in this thesis is applied to mature products as well as upcoming standards. We consider security for the whole product life cycle to make connected devices and IoT ecosystems more secure in the long term

Development of a PC-Based Object-Oriented Real-Time Robotics Controller

The industrial world of robotics requires leading-edge controllers to match the speed of new manipulators. At the University of Waterloo, a three degree-of-freedom ultra high-speed cable-based robot was created called Deltabot. In order to improve the performance of the Deltabot, a new controller called the QNX Multi-Axis Robotic Controller (QMARC) was developed. QMARC is a PC-based controller built for the replacement of the existing commercial controller called PMAC, manufactured by Delta Tau Data Systems. Although the PMAC has its own real-time processor, the rigid and complex internal structure of the PMAC makes it difficult to apply advanced control algorithms and interpolation methods. Adding unconventional hardware to PMAC, such as a camera and vision system is also quite challenging. With the development of QMARC, the flexibility issue of the controller is resolved. QMARC?s open-sourced object-oriented software structure allows the addition of new control and interpolation techniques as required. In addition, the software structure of the main Controller process is decoupled for the hardware, so that any hardware change does not affect the main controller, just the hardware drivers. QMARC is also equipped with a user-friendly graphical user interface, and many safety protocols to make it a safe and easy-to-use system. Experimental tests has proven QMARC to be a safe and reliable controller. The stable software foundation created by the QMARC will allow for future development of the controller as research on the Deltabot progresses

Approximation of the inverse kinematics of a robotic manipulator using a neural network

A fundamental property of a robotic manipulator system is that it is capable of accurately following complex position trajectories in three-dimensional space. An essential component of the robotic control system is the solution of the inverse kinematics problem which allows determination of the joint angle trajectories from the desired trajectory in the Cartesian space. There are several traditional methods based on the known geometry of robotic manipulators to solve the inverse kinematics problem. These methods can become impractical in a robot-vision control system where the environmental parameters can alter. Artificial neural networks with their inherent learning ability can approximate the inverse kinematics function and do not require any knowledge of the manipulator geometry. This thesis concentrates on developing a practical solution using a radial basis function network to approximate the inverse kinematics of a robot manipulator. This approach is distinct from existing approaches as the centres of the hidden-layer units are regularly distributed in the workspace, constrained training data is used and the training phase is performed using either the strict interpolation or the least mean square algorithms. An online retraining approach is also proposed to modify the network function approximation to cope with the situation where the initial training and application environments are different. Simulation results for two and three-link manipulators verify the approach. A novel real-time visual measurement system, based on a video camera and image processing software, has been developed to measure the position of the robotic manipulator in the three-dimensional workspace. Practical experiments have been performed with a Mitsubishi PA10-6CE manipulator and this visual measurement system. The performance of the radial basis function network is analysed for the manipulator operating in two and three-dimensional space and the practical results are compared to the simulation results. Advantages and disadvantages of the proposed approach are discussed

Investigation of Wireless LAN for IEC 61850 based Smart Distribution Substations

The IEC 61850 standard is receiving acceptance worldwide to deploy Ethernet Local Area Networks (LANs) for electrical substations in a smart grid environment. With the recent growth in wireless communication technologies, wireless Ethernet or Wireless LAN (WLAN), standardized in IEEE 802.11, is gaining interest in the power industry for substation automation applications, especially at the distribution level. Low Voltage (LV) / Medium Voltage (MV) distribution substations have comparatively low time-critical performance requirements. At the same time, expensive but high data-rate fiber-based Ethernet networks may not be a feasible solution for the MV/LV distribution network. Extensive work is carried out to assess wireless LAN technologies for various IEC 61850 based smart distribution substation applications: control and monitoring; automation and metering; and over-current protection. First, the investigation of wireless LANs for various smart distribution substation applications was initiated with radio noise-level measurements in total five (27.6 and 13.8 kV) substations owned by London Hydro and Hydro One in London, ON, Canada. The measured noise level from a spectrum analyzer was modeled using the Probability Distribution Function (PDF) tool in MATLAB, and parameters for these models in the 2.4 GHz band and 5.8 GHz band were obtained. Further, this measured noise models were used to simulate substation environment in OPNET (the industry-trusted communication networking simulation) tool. In addition, the efforts for developing dynamic models of WLAN-enabled IEC 61850 devices were initiated using Proto-C programming in OPNET tool. The IEC 61850 based devices, such as Protection and Control (P&C) Intelligent Electronic Devices (IEDs) and Merging Unit (MU) were developed based on the OSI-7 layer stack proposed in IEC 61850. The performance of various smart distribution substation applications was assessed in terms of average and maximum message transfer delays and throughput. The work was extended by developing hardware prototypes of WLAN enabled IEC 61850 devices in the R&D laboratory at University of Western Ontario, Canada. P&C IED, MU, Processing IED, and Echo IED were developed using industrial embedded computers over the QNX Real Time Operating System (RTOS) platform. The functions were developed using hard real-time multithreads, timers, and so on to communicate IEC 61850 application messages for analyzing WLAN performance in terms of Round Trip Time (RTT) and throughput. The laboratory was set up with WLAN-enabled IEC 61850 devices, a commercially available WLAN Access Point (AP), noise sources, and spectrum and network analyzers. Performance of various smart distribution substation applications is examined within the developed laboratory. Finally, the performance evaluation was carried out in real-world field testing at 13.8 and 27.6 kV distribution substations, by installing the devices in substation control room and switchyard. The RTT of IEC 61850 based messages and operating time of the overcurrent protection using WLAN based communication network were evaluated in the harsh environment of actual distribution substations. The important findings from the exhaustive investigation were discussed throughout this work