Gestão de qualidade de serviço baseada em políticas

A evolução observada nas redes de comunicações durante a última década traduziu-se na diversificação de serviços que utilizam a rede, no aumento das taxas de transferência e na massificação da utilização de serviços de acesso à Internet e de comunicações celulares. Durante esta década, várias organizações, das quais se destacam os operadores de telecomunicações, têm dedicado consideráveis esforços no sentido de definir e normalizar arquitecturas de redes de próxima geração. A principal característica deste tipo de rede reside no facto de possuir uma arquitectura modular capaz de fornecer serviços multimédia a clientes de uma rede de acesso com características tecnológicas heterogéneas. Os trabalhos de normalização das arquitecturas de rede NGN têm-se limitado, até ao momento, a especificar detalhes relativos ao funcionamento da rede não tendo ainda sido definida a arquitectura de gestão. Em termos de tecnologias de gestão de redes, foram propostos nas últimas duas décadas novos paradigmas de gestão, novos modelos de dados, novos protocolos de transporte e várias linguagens de definição de informação de gestão. Os modelos de dados têm vindo a ser enriquecidos, os protocolos são mais flexíveis e poderosos, as soluções de gestão oferecem interoperabilidade acrescida e as linguagens permitem definir formatos de configuração mais ricos. Simultaneamente tem crescido a complexidade das soluções de gestão, aumentado a sobrecarga causada pelo aumento de complexidade nos equipamentos bem como nas plataformas computacionais que suportam os sistemas de gestão. O presente trabalho propõe uma solução de gestão para redes NGN capaz de gerir os recursos de rede garantindo Qualidade de Serviço. A solução de gestão proposta inclui uma plataforma de execução de políticas que utiliza os eventos ocorridos na rede para empreender acções de configuração, autonomizando o processo de gestão. Inclui uma avaliação da complexidade de várias tecnologias de gestão estudando a sobrecarga causada pela tecnologia tanto no processo de gestão como na operação da rede. É ainda estudada a escalabilidade das várias tecnologias e analisado o seu comportamento num cenário da rede de um operador de telecomunicações. O trabalho propõe ainda uma metodologia de configuração integrada dos elementos de gestão, através de uma interface de configuração amigável para o administrador do sistema.

Modelação molecular de associações entre aniões e receptores sintéticos

A aplicação de simulações de mecânica e dinâmica molecular ao estudo de sistemas supramoleculares tem adquirido, ao longo dos últimos anos, enorme relevância. A sua utilização não só tem levado a uma melhor compreensão dos mecanismos de formação desses mesmos sistemas, como também tem fornecido um meio para o desenvolvimento de novas arquitecturas supramoleculares. Nesta tese são descritos os trabalhos de mecânica e dinâmica molecular desenvolvidos no âmbito do estudo de associações supramoleculares entre aniões e receptores sintéticos do tipo [2]catenano, [2]rotaxano e pseudorotaxano. São ainda estudados complexos supramoleculares envolvendo receptores heteroditópicos do tipo calix[4]diquinona e pares iónicos formados por aniões halogeneto e catiões alcalinos e amónio. Os estudos aqui apresentados assentam essencialmente em duas vertentes: no estudo das propriedades dinâmicas em solução dos vários complexos supramoleculares considerados e no cálculo das energias livres de Gibbs de associação relativas dos vários iões aos receptores sintéticos. As metodologias utilizadas passaram por dinâmica molecular convencional e REMD (Replica Exchange Molecular Dynamics), para o estudo das propriedades em solução, e por cálculos de integração termodinâmica e MMPBSA (Molecular Mechanics – Poisson Boltzmann Surface Area), para a computação das energias livres de associação relativas. Os resultados obtidos, além de terem permitido uma visão mais detalhada dos mecanismos envolvidos no reconhecimento e associação dos vários receptores aos aniões e pares iónicos abordados, encontram-se, globalmente, de acordo com os análogos determinados experimentalmente, validando assim as metodologias empregadas. Em jeito de conclusão, investigou-se ainda a capacidade de um dos receptores heteroditópicos estudados para assistir favoravelmente na migração do par iónico KCl através da interface água-clorofórmio. Para tal, foram utilizadas simulações SMD (Steered Molecular Dynamics) para a computação do perfil de energia livre de Gibbs associada à migração do par iónico através da interface.

Dimensioning of multilayer optical networks

Este trabalho apresenta um estudo sobre o dimensionamento de redes ópticas, com vistas a obter um modelo de dimensionamento para redes de transporte sobreviventes. No estudo utilizou-se uma abordagem estatística em detrimento à determinística. Inicialmente, apresentam-se as principais tecnologias e diferentes arquitecturas utilizadas nas redes ópticas de transporte. Bem como os principais esquemas de sobrevivência e modos de transporte. São identificadas variáveis necessárias e apresenta-se um modelo dimensionamento para redes de transporte, tendo-se dado ênfase às redes com topologia em malha e considerando os modos de transporte opaco, transparente e translúcido. É feita uma análise rigorosa das características das topologias de redes de transporte reais, e desenvolve-se um gerador de topologias de redes de transporte, para testar a validade dos modelos desenvolvidos. Também é implementado um algoritmo genético para a obtenção de uma topologia optimizada para um dado tráfego. São propostas expressões para o cálculo de variáveis não determinísticas, nomeadamente, para o número médio de saltos de um pedido, coeficiente de protecção e coeficiente de restauro. Para as duas últimas, também é analisado o impacto do modelo de tráfego. Verifica-se que os resultados obtidos pelas expressões propostas são similares às obtidas por cálculo numérico, e que o modelo de tráfego não influencia significativamente os valores obtidos para os coeficientes. Finalmente, é demonstrado que o modelo proposto é útil para o dimensionamento e cálculo dos custos de capital de redes com informação incompleta.

Alternative techniques for Raman amplification in telecommunications

O presente trabalho centra-se no estudo dos amplificadores de Raman em fibra ótica e suas aplicações em sistemas modernos de comunicações óticas. Abordaram-se tópicos específicos como a simulação espacial do amplificador de Raman, a equalização e alargamento do ganho, o uso de abordagens híbridas de amplificação através da associação de amplificadores de Raman em fibra ótica com amplificadores de fibra dopada com Érbio (EDFA) e os efeitos transitórios no ganho dos amplificadores. As actividades realizadas basearam-se em modelos teóricos, sendo os resultados validados experimentalmente. De entre as contribuições mais importantes desta tese, destaca-se (i) o desenvolvimento de um simulador eficiente para amplificadores de Raman que suporta arquitecturas de bombeamento contraprogantes e bidirecionais num contexto com multiplexagem no comprimento de onda (WDM); (ii) a implementação de um algoritmo de alocação de sinais de bombeamento usando a combinação do algoritmo genético com o método de Nelder- Mead; (iii) a apreciação de soluções de amplificação híbridas por associação dos amplificadores de Raman com EDFA em cenários de redes óticas passivas, nomeadamente WDM/TDM-PON com extensão a região espectral C+L; e (iv) a avaliação e caracterização de fenómenos transitórios em amplificadores para tráfego em rajadas/pacotes óticos e consequente desenvolvimento de soluções de mitigação baseadas em técnicas de clamping ótico.

Privacy in next generation networks

In the modern society, communications and digital transactions are becoming the norm rather than the exception. As we allow networked computing devices into our every-day actions, we build a digital lifestyle where networks and devices enrich our interactions. However, as we move our information towards a connected digital environment, privacy becomes extremely important as most of our personal information can be found in the network. This is especially relevant as we design and adopt next generation networks that provide ubiquitous access to services and content, increasing the impact and pervasiveness of existing networks. The environments that provide widespread connectivity and services usually rely on network protocols that have few privacy considerations, compromising user privacy. The presented work focuses on the network aspects of privacy, considering how network protocols threaten user privacy, especially on next generation networks scenarios. We target the identifiers that are present in each network protocol and support its designed function. By studying how the network identifiers can compromise user privacy, we explore how these threats can stem from the identifier itself and from relationships established between several protocol identifiers. Following the study focused on identifiers, we show that privacy in the network can be explored along two dimensions: a vertical dimension that establishes privacy relationships across several layers and protocols, reaching the user, and a horizontal dimension that highlights the threats exposed by individual protocols, usually confined to a single layer. With these concepts, we outline an integrated perspective on privacy in the network, embracing both vertical and horizontal interactions of privacy. This approach enables the discussion of several mechanisms to address privacy threats on individual layers, leading to architectural instantiations focused on user privacy. We also show how the different dimensions of privacy can provide insight into the relationships that exist in a layered network stack, providing a potential path towards designing and implementing future privacy-aware network architectures.

Study of the impact from nonlinear distortion in radio receiver architectures

A dissertação de doutoramento apresentada insere-se na área de electrónica não-linear de rádio-frequência (RF), UHF e microondas, tendo como principal campo de acção o estudo da distorção nãolinear em arquitecturas de recepção rádio, nomeadamente receptores de conversão directa como Power Meters, RFID (Radio Frequency IDentification) ou SDR (Software Define Radio) front-ends. Partindo de um estudo exaustivo das actuais arquitecturas de recepção de radiofrequência e revendo todos os conceitos teóricos relacionados com o desempenho não-linear dos sistemas/componentes electrónicos, foram desenvolvidos algoritmos matemáticos de modulação dos comportamentos não-lineares destas arquitecturas, simulados e testados em laboratório e propostas novas arquitecturas para a minimização ou cancelamento do impacto negativo de grandes interferidores em frequências vizinhas ao do sistema pretendido.

Automatic information and safety systems for driving assistance

O objeto principal desta tese é o estudo de algoritmos de processamento e representação automáticos de dados, em particular de informação obtida por sensores montados a bordo de veículos (2D e 3D), com aplicação em contexto de sistemas de apoio à condução. O trabalho foca alguns dos problemas que, quer os sistemas de condução automática (AD), quer os sistemas avançados de apoio à condução (ADAS), enfrentam hoje em dia. O documento é composto por duas partes. A primeira descreve o projeto, construção e desenvolvimento de três protótipos robóticos, incluindo pormenores associados aos sensores montados a bordo dos robôs, algoritmos e arquitecturas de software. Estes robôs foram utilizados como plataformas de ensaios para testar e validar as técnicas propostas. Para além disso, participaram em várias competições de condução autónoma tendo obtido muito bons resultados. A segunda parte deste documento apresenta vários algoritmos empregues na geração de representações intermédias de dados sensoriais. Estes podem ser utilizados para melhorar técnicas já existentes de reconhecimento de padrões, deteção ou navegação, e por este meio contribuir para futuras aplicações no âmbito dos AD ou ADAS. Dado que os veículos autónomos contêm uma grande quantidade de sensores de diferentes naturezas, representações intermédias são particularmente adequadas, pois podem lidar com problemas relacionados com as diversas naturezas dos dados (2D, 3D, fotométrica, etc.), com o carácter assíncrono dos dados (multiplos sensores a enviar dados a diferentes frequências), ou com o alinhamento dos dados (problemas de calibração, diferentes sensores a disponibilizar diferentes medições para um mesmo objeto). Neste âmbito, são propostas novas técnicas para a computação de uma representação multi-câmara multi-modal de transformação de perspectiva inversa, para a execução de correcção de côr entre imagens de forma a obter mosaicos de qualidade, ou para a geração de uma representação de cena baseada em primitivas poligonais, capaz de lidar com grandes quantidades de dados 3D e 2D, tendo inclusivamente a capacidade de refinar a representação à medida que novos dados sensoriais são recebidos.

Service building in dense service provider environments

Genericamente falando, os serviços sobre redes têm vindo a afastar-se de um modelo monolítico para um modelo de criação de serviços que permite ou - como é mais frequente - requer a cooperação entre vários Provedores de Serviço. A Internet, que tem vindo a forçar a convergência de serviços, mostra que começa a ser virtualmente impossível a um único operador fornecer qualquer serviço com um mínimo de interesse para os utilizadores. Esta tese foca-se em serviços de transporte (e.g., connectividade) e discute o impacto das fronteira que as ofertas de serviços têm com o negócio. A questão central é a seguinte: o que muda quando o mesmo serviço é oferecido não apenas por um mas por mais do que um Provedor de Serviço. Por um lado, esta tese cobre, em abs tracto, a noção de Provedor se Serviço, como evoluiu e em que sentido está a evoluir, particularmente num contexto de muitos Provedores de Serviço. Os primeiros capítulos desta tese analizam e propõem arquitecturas para cooperação inter-Provedor-de-Serviço e para serviços comuns tais como multimédia. Por outro lado, oferece-se soluções práticas, com as respectivas avaliações, para alguns problemas, que ainda hoje se mantêm em aberto, tais como encaminhamento inter-domínio, Qualidade-de-Serviço, Mobilidade e distribuição de conteúdos, tais como as contribuições relacionadas com o impacto da noção administrativa de Sistemas Autónomos sobre encaminhamento inter-domínio, uma arquitectura de transporte inter-domínio e o problema que levanta da ineficiência que decorre do planeamento não- cooperativo de Redes de Entrega de Conteúdos.

Characterization and modelling of software defined radio front-ends

O presente trabalho tem por objectivo estudar a caracterização e modelação de arquitecturas de rádio frequência para aplicações em rádios definidos por software e rádios cognitivos. O constante aparecimento no mercado de novos padrões e tecnologias para comunicações sem fios têm levantado algumas limitações à implementação de transceptores rádio de banda larga. Para além disso, o uso de sistemas reconfiguráveis e adaptáveis baseados no conceito de rádio definido por software e rádio cognitivo assegurará a evolução para a próxima geração de comunicações sem fios. A ideia base desta tese passa por resolver alguns problemas em aberto e propor avanços relevantes, tirando para isso partido das capacidades providenciadas pelos processadores digitais de sinal de forma a melhorar o desempenho global dos sistemas propostos. Inicialmente, serão abordadas várias estratégias para a implementação e projecto de transceptores rádio, concentrando-se sempre na aplicabilidade específica a sistemas de rádio definido por software e rádio cognitivo. Serão também discutidas soluções actuais de instrumentação capaz de caracterizar um dispositivo que opere simultaneamente nos domínios analógico e digital, bem como, os próximos passos nesta área de caracterização e modelação. Além disso, iremos apresentar novos formatos de modelos comportamentais construídos especificamente para a descrição e caracterização não-linear de receptores de amostragem passa-banda, bem como, para sistemas nãolineares que utilizem sinais multi-portadora. Será apresentada uma nova arquitectura suportada na avaliação estatística dos sinais rádio que permite aumentar a gama dinâmica do receptor em situações de multi-portadora. Da mesma forma, será apresentada uma técnica de maximização da largura de banda de recepção baseada na utilização do receptor de amostragem passa-banda no formato complexo. Finalmente, importa referir que todas as arquitecturas propostas serão acompanhadas por uma introdução teórica e simulações, sempre que possível, sendo após isto validadas experimentalmente por protótipos laboratoriais.

Control design for multicast-aware class-based networks

The expectations of citizens from the Information Technologies (ITs) are increasing as the ITs have become integral part of our society, serving all kinds of activities whether professional, leisure, safety-critical applications or business. Hence, the limitations of the traditional network designs to provide innovative and enhanced services and applications motivated a consensus to integrate all services over packet switching infrastructures, using the Internet Protocol, so as to leverage flexible control and economical benefits in the Next Generation Networks (NGNs). However, the Internet is not capable of treating services differently while each service has its own requirements (e.g., Quality of Service - QoS). Therefore, the need for more evolved forms of communications has driven to radical changes of architectural and layering designs which demand appropriate solutions for service admission and network resources control. This Thesis addresses QoS and network control issues, aiming to improve overall control performance in current and future networks which classify services into classes. The Thesis is divided into three parts. In the first part, we propose two resource over-reservation algorithms, a Class-based bandwidth Over-Reservation (COR) and an Enhanced COR (ECOR). The over-reservation means reserving more bandwidth than a Class of Service (CoS) needs, so the QoS reservation signalling rate is reduced. COR and ECOR allow for dynamically defining over-reservation parameters for CoSs based on network interfaces resource conditions; they aim to reduce QoS signalling and related overhead without incurring CoS starvation or waste of bandwidth. ECOR differs from COR by allowing for optimizing control overhead minimization. Further, we propose a centralized control mechanism called Advanced Centralization Architecture (ACA), that uses a single state-full Control Decision Point (CDP) which maintains a good view of its underlying network topology and the related links resource statistics on real-time basis to control the overall network. It is very important to mention that, in this Thesis, we use multicast trees as the basis for session transport, not only for group communication purposes, but mainly to pin packets of a session mapped to a tree to follow the desired tree. Our simulation results prove a drastic reduction of QoS control signalling and the related overhead without QoS violation or waste of resources. Besides, we provide a generic-purpose analytical model to assess the impact of various parameters (e.g., link capacity, session dynamics, etc.) that generally challenge resource overprovisioning control. In the second part of this Thesis, we propose a decentralization control mechanism called Advanced Class-based resource OverpRovisioning (ACOR), that aims to achieve better scalability than the ACA approach. ACOR enables multiple CDPs, distributed at network edge, to cooperate and exchange appropriate control data (e.g., trees and bandwidth usage information) such that each CDP is able to maintain a good knowledge of the network topology and the related links resource statistics on real-time basis. From scalability perspective, ACOR cooperation is selective, meaning that control information is exchanged dynamically among only the CDPs which are concerned (correlated). Moreover, the synchronization is carried out through our proposed concept of Virtual Over-Provisioned Resource (VOPR), which is a share of over-reservations of each interface to each tree that uses the interface. Thus, each CDP can process several session requests over a tree without requiring synchronization between the correlated CDPs as long as the VOPR of the tree is not exhausted. Analytical and simulation results demonstrate that aggregate over-reservation control in decentralized scenarios keep low signalling without QoS violations or waste of resources. We also introduced a control signalling protocol called ACOR Protocol (ACOR-P) to support the centralization and decentralization designs in this Thesis. Further, we propose an Extended ACOR (E-ACOR) which aggregates the VOPR of all trees that originate at the same CDP, and more session requests can be processed without synchronization when compared with ACOR. In addition, E-ACOR introduces a mechanism to efficiently track network congestion information to prevent unnecessary synchronization during congestion time when VOPRs would exhaust upon every session request. The performance evaluation through analytical and simulation results proves the superiority of E-ACOR in minimizing overall control signalling overhead while keeping all advantages of ACOR, that is, without incurring QoS violations or waste of resources. The last part of this Thesis includes the Survivable ACOR (SACOR) proposal to support stable operations of the QoS and network control mechanisms in case of failures and recoveries (e.g., of links and nodes). The performance results show flexible survivability characterized by fast convergence time and differentiation of traffic re-routing under efficient resource utilization i.e. without wasting bandwidth. In summary, the QoS and architectural control mechanisms proposed in this Thesis provide efficient and scalable support for network control key sub-systems (e.g., QoS and resource control, traffic engineering, multicasting, etc.), and thus allow for optimizing network overall control performance.

Grounding human vocabulary in robot perception through interaction

This thesis addresses the problem of word learning in computational agents. The motivation behind this work lies in the need to support language-based communication between service robots and their human users, as well as grounded reasoning using symbols relevant for the assigned tasks. The research focuses on the problem of grounding human vocabulary in robotic agent’s sensori-motor perception. Words have to be grounded in bodily experiences, which emphasizes the role of appropriate embodiments. On the other hand, language is a cultural product created and acquired through social interactions. This emphasizes the role of society as a source of linguistic input. Taking these aspects into account, an experimental scenario is set up where a human instructor teaches a robotic agent the names of the objects present in a visually shared environment. The agent grounds the names of these objects in visual perception. Word learning is an open-ended problem. Therefore, the learning architecture of the agent will have to be able to acquire words and categories in an openended manner. In this work, four learning architectures were designed that can be used by robotic agents for long-term and open-ended word and category acquisition. The learning methods used in these architectures are designed for incrementally scaling-up to larger sets of words and categories. A novel experimental evaluation methodology, that takes into account the openended nature of word learning, is proposed and applied. This methodology is based on the realization that a robot’s vocabulary will be limited by its discriminatory capacity which, in turn, depends on its sensors and perceptual capabilities. An extensive set of systematic experiments, in multiple experimental settings, was carried out to thoroughly evaluate the described learning approaches. The results indicate that all approaches were able to incrementally acquire new words and categories. Although some of the approaches could not scale-up to larger vocabularies, one approach was shown to learn up to 293 categories, with potential for learning many more.

On the application of optimal control techniques in lossy fieldbuses

The performance of real-time networks is under continuous improvement as a result of several trends in the digital world. However, these tendencies not only cause improvements, but also exacerbates a series of unideal aspects of real-time networks such as communication latency, jitter of the latency and packet drop rate. This Thesis focuses on the communication errors that appear on such realtime networks, from the point-of-view of automatic control. Specifically, it investigates the effects of packet drops in automatic control over fieldbuses, as well as the architectures and optimal techniques for their compensation. Firstly, a new approach to address the problems that rise in virtue of such packet drops, is proposed. This novel approach is based on the simultaneous transmission of several values in a single message. Such messages can be from sensor to controller, in which case they are comprised of several past sensor readings, or from controller to actuator in which case they are comprised of estimates of several future control values. A series of tests reveal the advantages of this approach. The above-explained approach is then expanded as to accommodate the techniques of contemporary optimal control. However, unlike the aforementioned approach, that deliberately does not send certain messages in order to make a more efficient use of network resources; in the second case, the techniques are used to reduce the effects of packet losses. After these two approaches that are based on data aggregation, it is also studied the optimal control in packet dropping fieldbuses, using generalized actuator output functions. This study ends with the development of a new optimal controller, as well as the function, among the generalized functions that dictate the actuator’s behaviour in the absence of a new control message, that leads to the optimal performance. The Thesis also presents a different line of research, related with the output oscillations that take place as a consequence of the use of classic co-design techniques of networked control. The proposed algorithm has the goal of allowing the execution of such classical co-design algorithms without causing an output oscillation that increases the value of the cost function. Such increases may, under certain circumstances, negate the advantages of the application of the classical co-design techniques. A yet another line of research, investigated algorithms, more efficient than contemporary ones, to generate task execution sequences that guarantee that at least a given number of activated jobs will be executed out of every set composed by a predetermined number of contiguous activations. This algorithm may, in the future, be applied to the generation of message transmission patterns in the above-mentioned techniques for the efficient use of network resources. The proposed task generation algorithm is better than its predecessors in the sense that it is capable of scheduling systems that cannot be scheduled by its predecessor algorithms. The Thesis also presents a mechanism that allows to perform multi-path routing in wireless sensor networks, while ensuring that no value will be counted in duplicate. Thereby, this technique improves the performance of wireless sensor networks, rendering them more suitable for control applications. As mentioned before, this Thesis is centered around techniques for the improvement of performance of distributed control systems in which several elements are connected through a fieldbus that may be subject to packet drops. The first three approaches are directly related to this topic, with the first two approaching the problem from an architectural standpoint, whereas the third one does so from more theoretical grounds. The fourth approach ensures that the approaches to this and similar problems that can be found in the literature that try to achieve goals similar to objectives of this Thesis, can do so without causing other problems that may invalidate the solutions in question. Then, the thesis presents an approach to the problem dealt with in it, which is centered in the efficient generation of the transmission patterns that are used in the aforementioned approaches.

Communication between nodes for autonomic and distributed management

Over the last decade, the most widespread approaches for traditional management were based on the Simple Network Management Protocol (SNMP) or Common Management Information Protocol (CMIP). However, they both have several problems in terms of scalability, due to their centralization characteristics. Although the distributed management approaches exhibit better performance in terms of scalability, they still underperform regarding communication costs, autonomy, extensibility, exibility, robustness, and cooperation between network nodes. The cooperation between network nodes normally requires excessive overheads for synchronization and dissemination of management information in the network. For emerging dynamic and large-scale networking environments, as envisioned in Next Generation Networks (NGNs), exponential growth in the number of network devices and mobile communications and application demands is expected. Thus, a high degree of management automation is an important requirement, along with new mechanisms that promote it optimally and e ciently, taking into account the need for high cooperation between the nodes. Current approaches for self and autonomic management allow the network administrator to manage large areas, performing fast reaction and e ciently facing unexpected problems. The management functionalities should be delegated to a self-organized plane operating within the network, that decrease the network complexity and the control information ow, as opposed to centralized or external servers. This Thesis aims to propose and develop a communication framework for distributed network management which integrates a set of mechanisms for initial communication, exchange of management information, network (re) organization and data dissemination, attempting to meet the autonomic and distributed management requirements posed by NGNs. The mechanisms are lightweight and portable, and they can operate in di erent hardware architectures and include all the requirements to maintain the basis for an e cient communication between nodes in order to ensure autonomic network management. Moreover, those mechanisms were explored in diverse network conditions and events, such as device and link errors, di erent tra c/network loads and requirements. The results obtained through simulation and real experimentation show that the proposed mechanisms provide a lower convergence time, smaller overhead impact in the network, faster dissemination of management information, increase stability and quality of the nodes associations, and enable the support for e cient data information delivery in comparison to the base mechanisms analyzed. Finally, all mechanisms for communication between nodes proposed in this Thesis, that support and distribute the management information and network control functionalities, were devised and developed to operate in completely decentralized scenarios.

Architecture for real-time coordination of multiple autonomous mobile units

Interest on using teams of mobile robots has been growing, due to their potential to cooperate for diverse purposes, such as rescue, de-mining, surveillance or even games such as robotic soccer. These applications require a real-time middleware and wireless communication protocol that can support an efficient and timely fusion of the perception data from different robots as well as the development of coordinated behaviours. Coordinating several autonomous robots towards achieving a common goal is currently a topic of high interest, which can be found in many application domains. Despite these different application domains, the technical problem of building an infrastructure to support the integration of the distributed perception and subsequent coordinated action is similar. This problem becomes tougher with stronger system dynamics, e.g., when the robots move faster or interact with fast objects, leading to tighter real-time constraints. This thesis work addressed computing architectures and wireless communication protocols to support efficient information sharing and coordination strategies taking into account the real-time nature of robot activities. The thesis makes two main claims. Firstly, we claim that despite the use of a wireless communication protocol that includes arbitration mechanisms, the self-organization of the team communications in a dynamic round that also accounts for variable team membership, effectively reduces collisions within the team, independently of its current composition, significantly improving the quality of the communications. We will validate this claim in terms of packet losses and communication latency. We show how such self-organization of the communications can be achieved in an efficient way with the Reconfigurable and Adaptive TDMA protocol. Secondly, we claim that the development of distributed perception, cooperation and coordinated action for teams of mobile robots can be simplified by using a shared memory middleware that replicates in each cooperating robot all necessary remote data, the Real-Time Database (RTDB) middleware. These remote data copies, which are updated in the background by the selforganizing communications protocol, are extended with age information automatically computed by the middleware and are locally accessible through fast primitives. We validate our claim showing a parsimonious use of the communication medium, improved timing information with respect to the shared data and the simplicity of use and effectiveness of the proposed middleware shown in several use cases, reinforced with a reasonable impact in the Middle Size League of RoboCup.

Novel hardware and software combination for automotive motorsport vehicles based on direct processing of graphical functions

The main motivation for the work presented here began with previously conducted experiments with a programming concept at the time named "Macro". These experiments led to the conviction that it would be possible to build a system of engine control from scratch, which could eliminate many of the current problems of engine management systems in a direct and intrinsic way. It was also hoped that it would minimize the full range of software and hardware needed to make a final and fully functional system. Initially, this paper proposes to make a comprehensive survey of the state of the art in the specific area of software and corresponding hardware of automotive tools and automotive ECUs. Problems arising from such software will be identified, and it will be clear that practically all of these problems stem directly or indirectly from the fact that we continue to make comprehensive use of extremely long and complex "tool chains". Similarly, in the hardware, it will be argued that the problems stem from the extreme complexity and inter-dependency inside processor architectures. The conclusions are presented through an extensive list of "pitfalls" which will be thoroughly enumerated, identified and characterized. Solutions will also be proposed for the various current issues and for the implementation of these same solutions. All this final work will be part of a "proof-of-concept" system called "ECU2010". The central element of this system is the before mentioned "Macro" concept, which is an graphical block representing one of many operations required in a automotive system having arithmetic, logic, filtering, integration, multiplexing functions among others. The end result of the proposed work is a single tool, fully integrated, enabling the development and management of the entire system in one simple visual interface. Part of the presented result relies on a hardware platform fully adapted to the software, as well as enabling high flexibility and scalability in addition to using exactly the same technology for ECU, data logger and peripherals alike. Current systems rely on a mostly evolutionary path, only allowing online calibration of parameters, but never the online alteration of their own automotive functionality algorithms. By contrast, the system developed and described in this thesis had the advantage of following a "clean-slate" approach, whereby everything could be rethought globally. In the end, out of all the system characteristics, "LIVE-Prototyping" is the most relevant feature, allowing the adjustment of automotive algorithms (eg. Injection, ignition, lambda control, etc.) 100% online, keeping the engine constantly working, without ever having to stop or reboot to make such changes. This consequently eliminates any "turnaround delay" typically present in current automotive systems, thereby enhancing the efficiency and handling of such systems.