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.

Impact of antenna choices on the reliability of mobile broadband transmission at millimetre - wave frequencies

This paper deals with the impact of several antenna chices on the radio transmission performance within a cellular Mobile Broaband System (MBS) currently under research in Europe. Several antenna types are considered, namely switchable-beam antennas and adaptive antennas employing a phased array approach.

Impact of antenna choices on the reliability of mobile broadband transmission at mm-wave frequencies

This paper deals with the impact of several antenna choices on the radio transmission performance within a cellular Mobile Broaband System (MBS) currently under research in Europe. Several antenna types are considered, namely switchble-beam antennas and adaptive antennas employing a phased array approach.

Real-time communications over wired/wireless PROFIBUS networks supporting inter-cell mobility

PROFIBUS is an international standard (IEC 61158, EN 50170) for factory-floor communications, with several thousands of installations worldwide. Taking into account the increasing need for mobile devices in industrial environments, one obvious solution is to extend traditional wired PROFIBUS networks with wireless capabilities. In this paper, we outline the major aspects of a hybrid wired/wireless PROFIBUS-based architecture, where most of the design options were made in order to guarantee the real-time behaviour of the overall network. We also introduce the timing unpredictability problems resulting from the co-existence of heterogeneous physical media in the same network. However, the major focus of this paper is on how to guarantee real-time communications in such a hybrid network, where nodes (and whole segments) can move between different radio cells (inter-cell mobility). Assuming a simple mobility management mechanism based on mobile nodes performing periodic radio channel assessment and switching, we propose a methodology to compute values for specific parameters that enable an optimal (minimum) and bounded duration of the handoff procedure.

ESEIG Mobile: an m-learning approach in a superior school

In recent years, mobile learning has emerged as an educational approach to decrease the limitation of learning location and adapt the teaching-learning process to all type of students. However, the large number and variety of Web-enabled devices poses challenges for Web content creators who want to automatic get the delivery context and adapt the content to mobile devices. In this paper we study several approaches to adapt the learning content to mobile phones. We present an architecture for deliver uniform m-Learning content to students in a higher School. The system development is organized in two phases: firstly enabling the educational content to mobile devices and then adapting it to all the heterogeneous mobile platforms. With this approach, Web authors will not need to create specialized pages for each kind of device, since the content is automatically transformed to adapt to any mobile device capabilities from WAP to XHTML MP-compliant devices.

Can location-based mobile marketing enhance the customer experience and increase customer satisfaction and loyalty?

This study intends to explore the impact of customer experience on customer satisfaction and loyalty by trying to understand how location-based mobile marketing might enhance the customer experience. Primary data was collected from 201 smartphone users in 24 countries. Results have indicated that targeted location-based marketing positively influences customers’ experiences. Besides, the analysis has also shown a favorable impact on customers’ satisfaction and self-perceived loyalty. This suggests that location-based mobile marketing has the potential to positively add value to a customer’s experience and should therefore be considered an important tool in marketing communications.

Étude empirique du contexte d’utilisation des interfaces de vidéocommunication mobile

Ce document présente les résultats d’une étude empirique sur l’utilisation de la vidéoconférence mobile selon le contexte de l’usager afin de proposer des lignes directrices pour la conception des interfaces des dispositifs de communication vidéo mobile. Grâce à un échange riche d’informations, ce type de communication peut amener un sentiment de présence fort, mais les interfaces actuelles manquent de flexibilité qui permettrait aux usagers d’être créatifs et d’avoir des échanges plus riches lors d’une vidéoconférence. Nous avons mené une recherche avec seize participants dans trois activités où leurs conversations, leurs réactions et leurs comportements ont été observés. Deux groupes de discussion ont aussi servi à identifier les habitudes développées à partir de leur utilisation régulière de la vidéoconférence. Les résultats suggèrent une différence importante entre l’utilisation de la caméra avant et la caméra arrière de l’appareil mobile, et la nécessité de fournir des outils qui offrent plus de contrôle sur l’échange dans la conversation. L’étude propose plusieurs lignes directrices de conception pour les interfaces de communication vidéo mobiles, concernant la construction du contexte mobile de l’utilisateur.

Virtual (dis) connectivities : mobile intimacy and presence for women in long distance relationships

Nous vivons dans une époque où la mobilité internationale est une pratique très courante; ainsi, de plus en plus de partenaires doivent maintenir leurs relations à distance. Le phénomène va de pair avec le développement des nouvelles technologies, qui introduisent de nouvelles formes et de pratiques pour maintenir l’intimité. Cela soulève des questions sur les pratiques de connexion (ou déconnexion) lorsque les couples sont séparés par la distance et le temps. Ce mémoire propose d’explorer comment les femmes dans des relations amoureuses à distance utilisent divers modes d’expression (visuels, textuels, oraux et tactiles) ainsi que plusieurs sens à travers de multiples technologies mobiles, qui lui permettent de reconstruire la présence et l’intimité avec l’autre. Inspiré par le new mobilities paradigm (Sheller & Urry, 2006), ainsi que les concepts de mobile intimacy (Hjorth & Lim, 2012; Elliott & Urry, 2010) et la présence imaginée (Chayko, 2002; Elliott & Urry, 2010), je propose les notions de (dé) connectivité virtuelle, le lieu virtuel, ainsi que la présence/absence technologique. Utilisant une approche méthodologique mixte, venant des données d’entrevues semi-dirigées, de l’autoethnographie, de la recherche création et de journaux de bord multimédias, certaines pratiques de contrôle et de surveillance, des formes émergentes de travail, l’immédiateté et la réciprocité émergent dans une époque d’interconnectivité.

A multiple-building diffraction attenuation function expressed in terms of UTD coefficients for microcellular communications

This work presents an explicit formulation for multiple- edge diffraction for mobile radiowave propagation in terms of uniform theory of diffraction (UTD) coefficients when a spherical incident wave is considered. This solution can be used in an UTD context and sharply reduces the computing time over existing formulation. Results can be applied in the planning of microcellular systems

Energy-Efficient Cluster based Routing Schemes for Static and Mobile Sensor Networks

The theme of the thesis is centred around one important aspect of wireless sensor networks; the energy-efficiency.The limited energy source of the sensor nodes calls for design of energy-efficient routing protocols. The schemes for protocol design should try to minimize the number of communications among the nodes to save energy. Cluster based techniques were found energy-efficient. In this method clusters are formed and data from different nodes are collected under a cluster head belonging to each clusters and then forwarded it to the base station.Appropriate cluster head selection process and generation of desirable distribution of the clusters can reduce energy consumption of the network and prolong the network lifetime. In this work two such schemes were developed for static wireless sensor networks.In the first scheme, the energy wastage due to cluster rebuilding incorporating all the nodes were addressed. A tree based scheme is presented to alleviate this problem by rebuilding only sub clusters of the network. An analytical model of energy consumption of proposed scheme is developed and the scheme is compared with existing cluster based scheme. The simulation study proved the energy savings observed.The second scheme concentrated to build load-balanced energy efficient clusters to prolong the lifetime of the network. A voting based approach to utilise the neighbor node information in the cluster head selection process is proposed. The number of nodes joining a cluster is restricted to have equal sized optimum clusters. Multi-hop communication among the cluster heads is also introduced to reduce the energy consumption. The simulation study has shown that the scheme results in balanced clusters and the network achieves reduction in energy consumption.The main conclusion from the study was the routing scheme should pay attention on successful data delivery from node to base station in addition to the energy-efficiency. The cluster based protocols are extended from static scenario to mobile scenario by various authors. None of the proposals addresses cluster head election appropriately in view of mobility. An elegant scheme for electing cluster heads is presented to meet the challenge of handling cluster durability when all the nodes in the network are moving. The scheme has been simulated and compared with a similar approach.The proliferation of sensor networks enables users with large set of sensor information to utilise them in various applications. The sensor network programming is inherently difficult due to various reasons. There must be an elegant way to collect the data gathered by sensor networks with out worrying about the underlying structure of the network. The final work presented addresses a way to collect data from a sensor network and present it to the users in a flexible way.A service oriented architecture based application is built and data collection task is presented as a web service. This will enable composition of sensor data from different sensor networks to build interesting applications. The main objective of the thesis was to design energy-efficient routing schemes for both static as well as mobile sensor networks. A progressive approach was followed to achieve this goal.

Mobility Metric based LEACH-Mobile Protocol

Cluster based protocols like LEACH were found best suited for routing in wireless sensor networks. In mobility centric environments some improvements were suggested in the basic scheme. LEACH-Mobile is one such protocol. The basic LEACH protocol is improved in the mobile scenario by ensuring whether a sensor node is able to communicate with its cluster head. Since all the nodes, including cluster head is moving it will be better to elect a node as cluster head which is having less mobility related to its neighbours. In this paper, LEACH-Mobile protocol has been enhanced based on a mobility metric “remoteness” for cluster head election. This ensures high success rate in data transfer between the cluster head and the collector nodes even though nodes are moving. We have simulated and compared our LEACH-Mobile-Enhanced protocol with LEACHMobile. Results show that inclusion of neighbouring node information improves the routing protocol.

Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

Knowledge integration within an applied mobile robot summer course

This paper presents the use of a mobile robot platform as an innovative educational tool in order to promote and integrate different curriculum knowledge. Hence, it is presented the acquired experience within a summer course named ldquoapplied mobile roboticsrdquo. The main aim of the course is to integrate different subjects as electronics, programming, architecture, perception systems, communications, control and trajectory planning by using the educational open mobile robot platform PRIM. The summer course is addressed to a wide range of student profiles. However, it is of special interests to the students of electrical and computer engineering around their final academic year. The summer course consists of the theoretical and laboratory sessions, related to the following topics: design & programming of electronic devices, modelling and control systems, trajectory planning and control, and computer vision systems. Therefore, the clues for achieving a renewed path of progress in robotics are the integration of several knowledgeable fields, such as computing, communications, and control sciences, in order to perform a higher level reasoning and use decision tools with strong theoretical base