Network convergence and QoS for future multimedia services in the VISION project

The emerging use of real-time 3D-based multimedia applications imposes strict quality of service (QoS) requirements on both access and core networks. These requirements and their impact to provide end-to-end 3D videoconferencing services have been studied within the Spanish-funded VISION project, where different scenarios were implemented showing an agile stereoscopic video call that might be offered to the general public in the near future. In view of the requirements, we designed an integrated access and core converged network architecture which provides the requested QoS to end-to-end IP sessions. Novel functional blocks are proposed to control core optical networks, the functionality of the standard ones is redefined, and the signaling improved to better meet the requirements of future multimedia services. An experimental test-bed to assess the feasibility of the solution was also deployed. In such test-bed, set-up and release of end-to-end sessions meeting specific QoS requirements are shown and the impact of QoS degradation in terms of the user perceived quality degradation is quantified. In addition, scalability results show that the proposed signaling architecture is able to cope with large number of requests introducing almost negligible delay.

Work in progress - Exploiting videoconferencing possibilities to promote the European convergence process

This paper introduces the experience of using videoconferencing and recording as a mechanism to support courses which need to be promoted or discontinued within the framework of the European convergence process. Our objective is to make these courses accessible as live streaming during the lessons as well as recorded lectures and associated documents available to the students as soon as the lesson has finished. The technology used has been developed in our university and it is all open source. Although this is a technical project the key is the human factor involved. The people managing the virtual sessions are students of the courses being recorded. However, they lack technical knowledge, so we had to train them in audiovisuals and enhance the usability of the videoconferencing tool and platform. The validation process is being carried out in five real scenarios at our university. During the whole period we are evaluating technical and pedagogical issues of this experience for both students and teachers to guide the future development of the service. Depending on the final results, the service of lectures recording will be available as educational resource for all of the teaching staff of our university.

A program transformation for continuation call-based tabled execution

The advantages of tabled evaluation regarding program termination and reduction of complexity are well known —as are the significant implementation, portability, and maintenance efforts that some proposals (especially those based on suspensión) require. This implementation effort is reduced by program transformation-based continuation cali techniques, at some eñrciency cost. However, the traditional formulation of this proposal by Ramesh and Cheng limits the interleaving of tabled and non-tabled predicates and thus cannot be used as-is for arbitrary programs. In this paper we present a complete translation for the continuation cali technique which, using the runtime support needed for the traditional proposal, solves these problems and makes it possible to execute arbitrary tabled programs. We present performance results which show that CCall offers a useful tradeoff that can be competitive with state-of-the-art implementations.

Some improvements over the continuation call tabling implementation technique

Tabled evaluation has been proved an effective method to improve several aspeets of goal-oriented query evaluation, including termination and complexity. Several "native" implementations of tabled evaluation have been developed which offer good performance, but many of them need significant changes to the underlying Prolog implementation. More portable approaches, generally using program transformation, have been proposed but they often result in lower efficieney. We explore some techniques aimed at combining the best of these worlds, i.e., developing a portable and extensible implementation, with minimal modifications at the abstract machine level, and with reasonably good performance. Our preliminary results indícate promising results.

Bridge transformation for continuation call-based tabled execution.

The advantages of tabled evaluation regarding program termination and reduction of complexity are well known —as are the significant implementation, portability, and maintenance efforts that some proposals (especially those based on suspension) require. This implementation effort is reduced by program transformation-based continuation call techniques, at some efficiency cost. However, the traditional formulation of this proposal by Ramesh and Cheng limits the interleaving of tabled and non-tabled predicates and thus cannot be used as-is for arbitrary programs. In this paper we present a complete translation for the continuation call technique which, using the runtime support needed for the traditional proposal, solves these problems and makes it possible to execute arbitrary tabled programs. We present performance results which show that CCall offers a useful tradeoff that can be competitive with state-of-the-art implementations.

Techniques to accelerate convergence of stress-controlled molecular dynamics simulations of dislocation motion

Dislocation mobility —the relation between applied stress and dislocation velocity—is an important property to model the mechanical behavior of structural materials. These mobilities reflect the interaction between the dislocation core and the host lattice and, thus, atomistic resolution is required to capture its details. Because the mobility function is multiparametric, its computation is often highly demanding in terms of computational requirements. Optimizing how tractions are applied can be greatly advantageous in accelerating convergence and reducing the overall computational cost of the simulations. In this paper we perform molecular dynamics simulations of ½ 〈1 1 1〉 screw dislocation motion in tungsten using step and linear time functions for applying external stress. We find that linear functions over time scales of the order of 10–20 ps reduce fluctuations and speed up convergence to the steady-state velocity value by up to a factor of two.

State Convergence Theory Applied to a Delayed Teleoperation System

State convergence is a control strategy that was proposed in the early 2000s to ensure stability and transparency in a teleoperation system under specific control gains values. This control strategy has been implemented for a linear system with or without time delay. This paper represents the first attempt at demonstrating, theoretically and experimentantally, that this control strategy can also be applied to a nonlinear teleoperation system with n degrees of freedom and delay in the communication channel. It is assumed that the human operator applies a constant force on the local manipulator during the teleoperation. In addition, the interaction between the remote manipulator and the environment is considered passive. Communication between the local and remote sites is made by means of a communication channel with variable time delay. In this article the theory of Lyapunov-Krasovskii was used to demonstrate that the local-remote teleoperation system is asymptotically stable.

Control of a Nonlinear Teleoperation System by State Convergence

In this work, we proposes a control strategy that allows the remote manipulator follow the local manipulator through the state convergence even if it has a delay in the communication channel. The bilateral control of the teleoperator system considers the case were the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis was performed using Lyapunov- Krasovskii functional, it showed for the case with constant delay, that using a proposed control algorithm by state convergence resulted in asymptotically stable, local and remote the nonlinear teleoperation system.

Advances in Control of Teleoperation System by State Convergence

In this work, we proposes a control strategy by state convergence applied to bilateral control of a nonlinear teleoperator system with constant delay. The bilateral control of the teleoperator system considers the case when the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis is performed using Lyapunov-Krasovskii functional, it showed that using an control algorithm by state convergence for the case with constant delay, the nonlinear local and remote teleoperation system is asymptotically stable, also speeds converge to zero and position tracking is achieved. This work also presents the implementation of an experimental platform. The mechanical structure of the arm that is located in the remote side has been built and the electric servomechanism has been mounted to control their movement.

Control of a Teleoperation System by State Convergence with Variable Time Delay

In this paper, we propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. We consider that the human operator contains a constant force on the local manipulator. The local and remote manipulators are coupled using state convergence control scheme. By choosing a Lyapunov-Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. It is also shown that, in the case of reliable communication protocols, the proposed scheme guarantees that the remote manipulator tracks the delayed trajectory of the local manipulator. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.

Stability Analysis of Teleoperation System by State Convergence with Variable Time Delay

We propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. A major contribution from this work lies in the demonstration that the structure of a state convergence algorithm can be also applied to nth-order nonlinear teleoperation systems. By choosing a Lyapunov Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.

Using lecture recordings to support curriculum changes in the European convergence process

The aim of this paper is to present the experience of using lecture recordings to support curriculum changes within the framework of the European convergence process, mainly courses that need to be promoted or discontinued. We will explain an integrated solution for recording lectures consisting of a web portal, a videoconferencing tool and an economical and easily transportable kit. The validation process was performed recording three different courses at the Universidad Politécnica of Madrid (UPM) and using different diffusion channels, such as Moodle, an open source web portal called GlobalPlaza that supports streaming and recordings and the YouTube UPM channel. To assess the efficiency of our solution, a formal evaluation was conducted and will be also presented in this paper. The results show that lecture recordings allow teachers to support discontinued and new courses and enable students from remote areas to participate in international educational programmes, also the resulting recordings will be used as learning objects for future virtual courses.

Contribution to the improvement of communication services in nanosatellite constellations using delay and disruption tolerant networking based architectures

Esta tesis se desarrolla dentro del marco de las comunicaciones satelitales en el innovador campo de los pequeños satélites también llamados nanosatélites o cubesats, llamados así por su forma cubica. Estos nanosatélites se caracterizan por su bajo costo debido a que usan componentes comerciales llamados COTS (commercial off-the-shelf) y su pequeño tamaño como los Cubesats 1U (10cm*10 cm*10 cm) con masa aproximada a 1 kg. Este trabajo de tesis tiene como base una iniciativa propuesta por el autor de la tesis para poner en órbita el primer satélite peruano en mi país llamado chasqui I, actualmente puesto en órbita desde la Estación Espacial Internacional. La experiencia de este trabajo de investigación me llevo a proponer una constelación de pequeños satélites llamada Waposat para dar servicio de monitoreo de sensores de calidad de agua a nivel global, escenario que es usado en esta tesis. Es ente entorno y dadas las características limitadas de los pequeños satélites, tanto en potencia como en velocidad de datos, es que propongo investigar una nueva arquitectura de comunicaciones que permita resolver en forma óptima la problemática planteada por los nanosatélites en órbita LEO debido a su carácter disruptivo en sus comunicaciones poniendo énfasis en las capas de enlace y aplicación. Esta tesis presenta y evalúa una nueva arquitectura de comunicaciones para proveer servicio a una red de sensores terrestres usando una solución basada en DTN (Delay/Disruption Tolerant Networking) para comunicaciones espaciales. Adicionalmente, propongo un nuevo protocolo de acceso múltiple que usa una extensión del protocolo ALOHA no ranurado, el cual toma en cuenta la prioridad del trafico del Gateway (ALOHAGP) con un mecanismo de contienda adaptativo. Utiliza la realimentación del satélite para implementar el control de la congestión y adapta dinámicamente el rendimiento efectivo del canal de una manera óptima. Asumimos un modelo de población de sensores finito y una condición de tráfico saturado en el que cada sensor tiene siempre tramas que transmitir. El desempeño de la red se evaluó en términos de rendimiento efectivo, retardo y la equidad del sistema. Además, se ha definido una capa de convergencia DTN (ALOHAGP-CL) como un subconjunto del estándar TCP-CL (Transmission Control Protocol-Convergency Layer). Esta tesis muestra que ALOHAGP/CL soporta adecuadamente el escenario DTN propuesto, sobre todo cuando se utiliza la fragmentación reactiva. Finalmente, esta tesis investiga una transferencia óptima de mensajes DTN (Bundles) utilizando estrategias de fragmentación proactivas para dar servicio a una red de sensores terrestres utilizando un enlace de comunicaciones satelitales que utiliza el mecanismo de acceso múltiple con prioridad en el tráfico de enlace descendente (ALOHAGP). El rendimiento efectivo ha sido optimizado mediante la adaptación de los parámetros del protocolo como una función del número actual de los sensores activos recibidos desde el satélite. También, actualmente no existe un método para advertir o negociar el tamaño máximo de un “bundle” que puede ser aceptado por un agente DTN “bundle” en las comunicaciones por satélite tanto para el almacenamiento y la entrega, por lo que los “bundles” que son demasiado grandes son eliminados o demasiado pequeños son ineficientes. He caracterizado este tipo de escenario obteniendo una distribución de probabilidad de la llegada de tramas al nanosatélite así como una distribución de probabilidad del tiempo de visibilidad del nanosatélite, los cuales proveen una fragmentación proactiva óptima de los DTN “bundles”. He encontrado que el rendimiento efectivo (goodput) de la fragmentación proactiva alcanza un valor ligeramente inferior al de la fragmentación reactiva. Esta contribución permite utilizar la fragmentación activa de forma óptima con todas sus ventajas tales como permitir implantar el modelo de seguridad de DTN y la simplicidad al implementarlo en equipos con muchas limitaciones de CPU y memoria. La implementación de estas contribuciones se han contemplado inicialmente como parte de la carga útil del nanosatélite QBito, que forma parte de la constelación de 50 nanosatélites que se está llevando a cabo dentro del proyecto QB50. ABSTRACT This thesis is developed within the framework of satellite communications in the innovative field of small satellites also known as nanosatellites (<10 kg) or CubeSats, so called from their cubic form. These nanosatellites are characterized by their low cost because they use commercial components called COTS (commercial off-the-shelf), and their small size and mass, such as 1U Cubesats (10cm * 10cm * 10cm) with approximately 1 kg mass. This thesis is based on a proposal made by the author of the thesis to put into orbit the first Peruvian satellite in his country called Chasqui I, which was successfully launched into orbit from the International Space Station in 2014. The experience of this research work led me to propose a constellation of small satellites named Waposat to provide water quality monitoring sensors worldwide, scenario that is used in this thesis. In this scenario and given the limited features of nanosatellites, both power and data rate, I propose to investigate a new communications architecture that allows solving in an optimal manner the problems of nanosatellites in orbit LEO due to the disruptive nature of their communications by putting emphasis on the link and application layers. This thesis presents and evaluates a new communications architecture to provide services to terrestrial sensor networks using a space Delay/Disruption Tolerant Networking (DTN) based solution. In addition, I propose a new multiple access mechanism protocol based on extended unslotted ALOHA that takes into account the priority of gateway traffic, which we call ALOHA multiple access with gateway priority (ALOHAGP) with an adaptive contention mechanism. It uses satellite feedback to implement the congestion control, and to dynamically adapt the channel effective throughput in an optimal way. We assume a finite sensor population model and a saturated traffic condition where every sensor always has frames to transmit. The performance was evaluated in terms of effective throughput, delay and system fairness. In addition, a DTN convergence layer (ALOHAGP-CL) has been defined as a subset of the standard TCP-CL (Transmission Control Protocol-Convergence Layer). This thesis reveals that ALOHAGP/CL adequately supports the proposed DTN scenario, mainly when reactive fragmentation is used. Finally, this thesis investigates an optimal DTN message (bundles) transfer using proactive fragmentation strategies to give service to a ground sensor network using a nanosatellite communications link which uses a multi-access mechanism with priority in downlink traffic (ALOHAGP). The effective throughput has been optimized by adapting the protocol parameters as a function of the current number of active sensors received from satellite. Also, there is currently no method for advertising or negotiating the maximum size of a bundle which can be accepted by a bundle agent in satellite communications for storage and delivery, so that bundles which are too large can be dropped or which are too small are inefficient. We have characterized this kind of scenario obtaining a probability distribution for frame arrivals to nanosatellite and visibility time distribution that provide an optimal proactive fragmentation of DTN bundles. We have found that the proactive effective throughput (goodput) reaches a value slightly lower than reactive fragmentation approach. This contribution allows to use the proactive fragmentation optimally with all its advantages such as the incorporation of the security model of DTN and simplicity in protocol implementation for computers with many CPU and memory limitations. The implementation of these contributions was initially contemplated as part of the payload of the nanosatellite QBito, which is part of the constellation of 50 nanosatellites envisaged under the QB50 project.

En el principio era Távora - : itinerario para la transmisión de una síntesis arquitectónica

La tesis afronta el análisis del itinerario vital de Fernando Távora, una vida entregada apasionadamente a una causa de refundación estética y conceptual de una arquitectura portuguesa condenada a la mediocridad y al ostracismo en el momento en que empieza a ejercer la profesión. La investigación se adentra en todos los aspectos que convergen en su dedicación al logro de aquella misión, pues la que él mismo probablemente llamaría orteguianamente su circunstancia, resulta inseparable de su pensamiento y de su obra. Se pretende establecer la riqueza y complejidad de la figura de Fernando Távora y su importancia como punto de inflexión en la evolución de la arquitectura portuguesa, que ha llegado a alcanzar el reconocimiento internacional en las últimas décadas, fundamentalmente a partir de la consagración de Álvaro Siza Vieira y la denominada Escuela de Oporto. Desde una posición de absoluta autonomía respecto de lo que acontece dentro y fuera de las fronteras portuguesas, su labor se distinguirá por su singularidad teórica y arquitectónica, no dejando por ello de influir decisivamente en su entorno cercano. Dos manifiestos escritos, el juvenil O problema da Casa Portuguesa y el posterior Da Organização do Espaço son elementos estructurantes de un pensamiento teórico que germina en una obra construida inseparable de aquel, de cuya coherencia dan testimonio los aquí considerados verdaderos manifiestos proyectuales del arquitecto. Efectivamente, se analizarán detalladamente como tales la Casa sobre o Mar –manifiesto inicial-, el Pabellón de Tenis –manifiesto de confirmación- y la Casa dos 24 -manifiesto final-, proyectos que vieron la luz en diferentes etapas de su trayectoria y constituyen la aplicación práctica de sus teorías en una sintaxis magistral. En estos tres proyectos es donde verdaderamente la tesis cobra cuerpo, pues suponen el reflejo de la verdadera aportación del arquitecto al pensamiento arquitectónico europeo, la foto fija de la proclamación de resultados de un proyecto arquitectónico integral en momentos muy significativos de su itinerario vital, cuya complejidad se entiende a través de las fases más descriptivas de este documento. Se mostrará cómo para acometer su proyecto integral de arquitectura, una causa de regeneración de la arquitectura portuguesa a partir de la síntesis entre modernidad y tradición, entre universalidad y localidad, tomaría de sus dos personajes más admirados, Le Corbusier y Pessoa, la fuerza moral y la energía que le permitieron acometer apasionadamente tamaña misión. En una infatigable búsqueda en lo global y lo local, Távora conseguirá prestar gran atención al contexto del lugar de intervención sin renunciar a sus convicciones modernas, introduciendo la historia y el dibujo como herramientas de conocimiento del mismo y posteriormente del proceso creativo. El método proyectivo resultante de este modelo, que transmitirá a través de su ejercicio docente a sucesivas generaciones de arquitectos, se convertirá en elemento estructurante de una tendencia surgida de las aulas portuenses, que la crítica internacional acabará denominando Escuela de Oporto en un sentido más amplio. Por su importancia dentro del itinerario profesional del[os] arquitecto[s] portuense[s], las fases más destacadas de su evolución a partir de los años 50 se analizarán en paralelo a una serie de obras representativas de diferentes momentos de la trayectoria de Fernando Távora. En este itinerario vital, a pesar de la originalidad de su pensamiento y su obra, se atisban ciertos paralelismos con grandes arquitectos del siglo XX, que esta tesis afronta. Se puede distinguir entre influencias pasajeras de algunos maestros modernos en los que Távora buscaba la confirmación a sus propias teorías, similitudes con arquitectos coetáneos cuya obra conoció y a los que se encontró cercano por la convergencia de algunos de sus criterios e incluso sorprendentes coincidencias con arquitectos desconocidos para él, entre las que cabe destacar la de los maestros de la Escuela de Madrid Alejandro de la Sota y Javier Sáenz de Oiza. Por último, en una alegoría con los heterónimos de Fernando Pessoa, se analiza desde una perspectiva personal fruto de la investigación y de las entrevistas mantenidas con todos ellos, la importante labor de Álvaro Siza Vieira, Alexandre Alves Costa y su hijo José Bernardo Távora como agentes coadyuvantes en la consecución del proyecto integral de arquitectura [y vida] de Fernando Távora. Sin lugar a dudas, Álvaro Siza constituye el personaje fundamental e imprescindible para que la arquitectura portuguesa alcanzase la privilegiada consideración que en la actualidad ostenta en la escena internacional. Un arquitecto consagrado que ocupa ya, y ocupará siempre, un lugar privilegiado en la breve lista de maestros míticos e irrepetibles de la arquitectura contemporánea. Con todo, cabe afirmar con la paráfrasis bíblica que da título a la tesis que ‘En el principio era Távora...’ ABSTRACT This thesis addresses the analysis of Fernando Távora’s life journey, a life that was passionately devoted to the cause of aesthetically and conceptually overhauling Portuguese architecture, which was doomed to mediocrity and ostracism at the time when he started practicing professionally. This research delves into all aspects converging in his dedication to achieving that mission, since what he himself would probably call his circumstance – in the manner of José Ortega y Gasset – is inseparable from his thinking and his work. This thesis seeks also to establish the richness and complexity of Fernando Távora’s figure and his importance as a turning point in the evolution of Portuguese architecture, which has gone on to achieve international recognition in recent decades, especially after the consecration of Álvaro Siza Vieira and the so-called School of Oporto. From an absolutely autonomous position with regard to what is happening within and outside Portuguese borders, his work will stand out due to its theoretical and architectural uniqueness – this not being a reason to prevent its decisive influence on his close surroundings. Two written manifestos, his early O problema da Casa Portuguesa and his subsequent Da Organização do Espaço, become structural elements of the theoretical thinking that develops into works which are built in parallel with the former. The coherence of this thinking is reflected on the hereby considered the architect’s true project manifestos. Indeed, we will analyse as such the Casa sobre o Mar (initial manifesto), the Tennis Pavilion (confirmation manifesto) and Casa dos 24 (final manifesto), projects which saw the light at different stages of his career and constitute the practical application of his theories in a masterful syntax. These are the three projects where the thesis takes shape, as they become the reflection of the architect’s true contribution to the European architectural school of thought; the still picture of the results proclamation of a whole architectural project at highly significant moments in his life journey, whose complexity can be understood through this document’s most descriptive phases. This study will show how, in order to carry out his architectural project – regenerate Portuguese architecture by synthesizing modernity and tradition, universality and locality –, Távora would take the moral strength and energy from his two most admired figures, Le Corbusier and Pessoa, allowing him to passionately undertake such a colossal mission. In a tireless search within the global and the local, Távora will manage to pay more attention to the context of the intervention place without compromising his modern convictions, by introducing history and drawing as knowledge tools of the place and eventually of the creative process. The resulting projective method of this model, which he will transmit to successive generations of architects through his teaching, will become a structural element of a trend emerged from the Oporto classrooms which international critique will end up denominating School of Porto in a broader sense. Due to its importance within Porto architect[s]’ professional career, the most prominent phases of its evolution as of the 50s will be analysed in parallel to a series of representative works from different moments in Fernando Távora’s career. Despite the originality of his thinking and his work, certain parallelisms with great architects from the 20th century can be found in Távora’s life journey, which this thesis will address. Amongst temporary influences of some modern masters in whom Távora sought confirmation of his own theories, similarities can be spotted with contemporary architects whose work he knew and to whom he felt close because of the convergence of some of his views. It is also possible to see surprising coincidences with architects he did not know, such as Alejandro de la Sota and Javier Sáenz de Oiza, masters from the School of Madrid. Finally, in an allegory with Fernando Pessoa’s heteronyms, this thesis studies – from a personal perspective based on research and the interviews held with all of them – the important work of Álvaro Siza Vieira, Alexandre Alves Costa and his son Jose Bernardo Távora as auxiliaries in the achievement of Fernando Távora’s complete architectural [and life] project. Without the slightest doubt, Álvaro Siza constitutes the essential figure thanks to whom Portuguese architecture would reach the advantaged position it holds nowadays in the international arena. An acclaimed architect, Siza already holds a privileged spot in the brief list of legendary and unrepeatable masters of contemporary architecture. Nevertheless, with the biblical paraphrase that entitles this thesis it can be claimed that ‘In the beginning was Távora…’