A Beacon based Localization System for Autonomous Mobile Robots and its Applications in Traffic and Transport Control

ACCURATE sensing of vehicle position and attitude is still a very challenging problem in many mobile robot applications. The mobile robot vehicle applications must have some means of estimating where they are and in which direction they are heading. Many existing indoor positioning systems are limited in workspace and robustness because they require clear lines-of-sight or do not provide absolute, driftfree measurements.The research work presented in this dissertation provides a new approach to position and attitude sensing system designed specifically to meet the challenges of operation in a realistic, cluttered indoor environment, such as that of an office building, hospital, industrial or warehouse. This is accomplished by an innovative assembly of infrared LED source that restricts the spreading of the light intensity distribution confined to a sheet of light and is encoded with localization and traffic information. This Digital Infrared Sheet of Light Beacon (DISLiB) developed for mobile robot is a high resolution absolute localization system which is simple, fast, accurate and robust, without much of computational burden or significant processing. Most of the available beacon's performance in corridors and narrow passages are not satisfactory, whereas the performance of DISLiB is very encouraging in such situations. This research overcomes most of the inherent limitations of existing systems.The work further examines the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. A simple and efficient method is investigated and realized using an FPGA for reducing the errors. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle.The application of encoded Digital Infrared Sheet of Light Beacon (DISLiB) system can be extended to intelligent control of the public transportation system. The system is capable of receiving traffic status input through a GSM (Global System Mobile) modem. The vehicles have infrared receivers and processors capable of decoding the information, and generating the audio and video messages to assist the driver. The thesis further examines the usefulness of the technique to assist the movement of differently-able (blind) persons in indoor or outdoor premises of his residence.The work addressed in this thesis suggests a new way forward in the development of autonomous robotics and guidance systems. However, this work can be easily extended to many other challenging domains, as well.

Bidirectional communication using delay coupled chaotic directly modulated semiconductor lasers

Chaotic synchronization of two directly modulated semiconductor lasers with negative delayed optoelectronic feedback is investigated and this scheme is found to be useful for e±cient bidirectional communication between the lasers. A symmetric bidirec- tional coupling is identified as a suitable method for isochronal synchronization of such lasers. The optimum values of coupling and feedback strength that can provide maxi- mum quality of synchronization are identified. This method is successfully employed for encoding/decoding both analog and digital messages. The importance of a symmetric coupling is demonstrated by studying the variation of decoding efficiency with respect to asymmetric coupling.

Multi-user bidirectional communication using isochronal synchronisation of array of chaotic directly modulated semiconductor lasers

Isochronal synchronisation between the elements of an array of three mutually coupled directly modulated semiconductor lasers is utilized for the purpose of simultaneous bidirectional secure communication. Chaotic synchronisation is achieved by adding the coupling signal to the self feedback signal provided to each element of the array. A symmetric coupling is effective in inducing synchronisation between the elements of the array. This coupling scheme provides a direct link between every pair of elements thus making the method suitable for simultaneous bidirectional communication between them. Both analog and digital messages are successfully encrypted and decrypted simultaneously by each element of the array.

Algebraic Geometric Codes and their relation to Cryptography using Elliptic Curves

Communication is the process of transmitting data across channel. Whenever data is transmitted across a channel, errors are likely to occur. Coding theory is a stream of science that deals with finding efficient ways to encode and decode data, so that any likely errors can be detected and corrected. There are many methods to achieve coding and decoding. One among them is Algebraic Geometric Codes that can be constructed from curves. Cryptography is the science ol‘ security of transmitting messages from a sender to a receiver. The objective is to encrypt message in such a way that an eavesdropper would not be able to read it. A eryptosystem is a set of algorithms for encrypting and decrypting for the purpose of the process of encryption and decryption. Public key eryptosystem such as RSA and DSS are traditionally being prel‘en‘ec| for the purpose of secure communication through the channel. llowever Elliptic Curve eryptosystem have become a viable altemative since they provide greater security and also because of their usage of key of smaller length compared to other existing crypto systems. Elliptic curve cryptography is based on group of points on an elliptic curve over a finite field. This thesis deals with Algebraic Geometric codes and their relation to Cryptography using elliptic curves. Here Goppa codes are used and the curves used are elliptic curve over a finite field. We are relating Algebraic Geometric code to Cryptography by developing a cryptographic algorithm, which includes the process of encryption and decryption of messages. We are making use of fundamental properties of Elliptic curve cryptography for generating the algorithm and is used here to relate both.

An adaptive cluster based routing scheme for mobile wireless sensor networks

Clustering schemes improve energy efficiency of wireless sensor networks. The inclusion of mobility as a new criterion for the cluster creation and maintenance adds new challenges for these clustering schemes. Cluster formation and cluster head selection is done on a stochastic basis for most of the algorithms. In this paper we introduce a cluster formation and routing algorithm based on a mobility factor. The proposed algorithm is compared with LEACH-M protocol based on metrics viz. number of cluster head transitions, average residual energy, number of alive nodes and number of messages lost

Message Integrity in the World Wide Web: Use of Nested Hash Function and a Fast Stream Cipher

The focus of this work is to provide authentication and confidentiality of messages in a swift and cost effective manner to suit the fast growing Internet applications. A nested hash function with lower computational and storage demands is designed with a view to providing authentication as also to encrypt the message as well as the hash code using a fast stream cipher MAJE4 with a variable key size of 128-bit or 256-bit for achieving confidentiality. Both nested Hash function and MAJE4 stream cipher algorithm use primitive computational operators commonly found in microprocessors; this makes the method simple and fast to implement both in hardware and software. Since the memory requirement is less, it can be used for handheld devices for security purposes.

A Novel Cache Resolution Technique For Cooperative Caching In Wireless Mobile Networks

Cooperative caching is used in mobile ad hoc networks to reduce the latency perceived by the mobile clients while retrieving data and to reduce the traffic load in the network. Caching also increases the availability of data due to server disconnections. The implementation of a cooperative caching technique essentially involves four major design considerations (i) cache placement and resolution, which decides where to place and how to locate the cached data (ii) Cache admission control which decides the data to be cached (iii) Cache replacement which makes the replacement decision when the cache is full and (iv) consistency maintenance, i.e. maintaining consistency between the data in server and cache. In this paper we propose an effective cache resolution technique, which reduces the number of messages flooded in to the network to find the requested data. The experimental results gives a promising result based on the metrics of studies.

A location aided cooperative caching protocol for mobile ad hoc networks

Cooperative caching is an attractive solution for reducing bandwidth demands and network latency in mobile ad hoc networks. Deploying caches in mobile nodes can reduce the overall traffic considerably. Cache hits eliminate the need to contact the data source frequently, which avoids additional network overhead. In this paper we propose a data discovery and cache management policy for cooperative caching, which reduces the caching overhead and delay by reducing the number of control messages flooded in to the network. A cache discovery process based on location of neighboring nodes is developed for this. The cache replacement policy we propose aims at increasing the cache hit ratio. The simulation results gives a promising result based on the metrics of studies

PEER TO PEER CACHE RESOLUTION MECHANISM FOR MOBILE AD HOC NETWORKS

In this paper we investigate the problem of cache resolution in a mobile peer to peer ad hoc network. In our vision cache resolution should satisfy the following requirements: (i) it should result in low message overhead and (ii) the information should be retrieved with minimum delay. In this paper, we show that these goals can be achieved by splitting the one hop neighbours in to two sets based on the transmission range. The proposed approach reduces the number of messages flooded in to the network to find the requested data. This scheme is fully distributed and comes at very low cost in terms of cache overhead. The experimental results gives a promising result based on the metrics of studies.

Energy Efficient Cache Discovery in Wireless Mobile Ad oc Networks

Data caching is an attractive solution for reducing bandwidth demands and network latency in mobile ad hoc networks. Deploying caches in mobile nodes can reduce the overall traf c considerably. Cache hits eliminate the need to contact the data source frequently, which avoids additional network overhead. In this paper we propose a data discovery and cache management policy for cooperative caching, which reduces the power usage, caching overhead and delay by reducing the number of control messages flooded into the network .A cache discovery process based on position cordinates of neighboring nodes is developed for this .The stimulstion results gives a promising result based on the metrics of the studies.

Jerim-320: A New 320-Bit Hash Function Compared To Hash Functions With Parallel Branches

This paper describes JERIM-320, a new 320-bit hash function used for ensuring message integrity and details a comparison with popular hash functions of similar design. JERIM-320 and FORK -256 operate on four parallel lines of message processing while RIPEMD-320 operates on two parallel lines. Popular hash functions like MD5 and SHA-1 use serial successive iteration for designing compression functions and hence are less secure. The parallel branches help JERIM-320 to achieve higher level of security using multiple iterations and processing on the message blocks. The focus of this work is to prove the ability of JERIM 320 in ensuring the integrity of messages to a higher degree to suit the fast growing internet applications

Energy Aware Cluster-based Multihop Routing Protocol for Sensor Networks

Clustering combined with multihop communication is a promising solution to cope with the energy requirements of large scale Wireless Sensor Networks. In this work, a new cluster based routing protocol referred to as Energy Aware Cluster-based Multihop (EACM) Routing Protocol is introduced, with multihop communication between cluster heads for transmitting messages to the base station and direct communication within clusters. We propose EACM with both static and dynamic clustering. The network is partitioned into near optimal load balanced clusters by using a voting technique, which ensures that the suitability of a node to become a cluster head is determined by all its neighbors. Results show that the new protocol performs better than LEACH on network lifetime and energy dissipation