Reliable, cloud-based communication for multi-robot systems

In contrast to single robotic agent, multi-robot systems are highly dependent on reliable communication. Robots have to synchronize tasks or to share poses and sensor readings with other agents, especially for co-operative mapping task where local sensor readings are incorporated into a global map. The drawback of existing communication frameworks is that most are based on a central component which has to be constantly within reach. Additionally, they do not prevent data loss between robots if a failure occurs in the communication link. During a distributed mapping task, loss of data is critical because it will corrupt the global map. In this work, we propose a cloud-based publish/subscribe mechanism which enables reliable communication between agents during a cooperative mission using the Data Distribution Service (DDS) as a transport layer. The usability of our approach is verified by several experiments taking into account complete temporary communication loss.

Two Tools for Interprocess Communication in Distributed Data-Flow Systems

Abstract is not available.

Output feedback control of networked systems with a stochastic communication protocol

This paper addresses an output feedback control problem for a class of networked control systems (NCSs) with a stochastic communication protocol. Under the scenario that only one sensor is allowed to obtain the communication access at each transmission instant, a stochastic communication protocol is first defined, where the communication access is modelled by a discrete-time Markov chain with partly unknown transition probabilities. Secondly, by use of a network-based output feedback control strategy and a time-delay division method, the closed-loop system is modeled as a stochastic system with multi time-varying delays, where the inherent characteristic of the network delay is well considered to improve the control performance. Then, based on the above constructed stochastic model, two sufficient conditions are derived for ensuring the mean-square stability and stabilization of the system under consideration. Finally, two examples are given to show the effectiveness of the proposed method.

Review of Geohazard Warning Systems toward Development of a Popular Usage Geohazard Warning Communication System

The advent and evolution of geohazard warning systems is a very interesting study. The two broad fields that are immediately visible are that of geohazard evaluation and subsequent warning dissemination. Evidently, the latter field lacks any systematic study or standards. Arbitrarily organized and vague data and information on warning techniques create confusion and indecision. The purpose of this review is to try and systematize the available bulk of information on warning systems so that meaningful insights can be derived through decidable flowcharts, and a developmental process can be undertaken. Hence, the methods and technologies for numerous geohazard warning systems have been assessed by putting them into suitable categories for better understanding of possible ways to analyze their efficacy as well as shortcomings. By establishing a classification scheme based on extent, control, time period, and advancements in technology, the geohazard warning systems available in any literature could be comprehensively analyzed and evaluated. Although major advancements have taken place in geohazard warning systems in recent times, they have been lacking a complete purpose. Some systems just assess the hazard and wait for other means to communicate, and some are designed only for communication and wait for the hazard information to be provided, which usually is after the mishap. Primarily, systems are left at the mercy of administrators and service providers and are not in real time. An integrated hazard evaluation and warning dissemination system could solve this problem. Warning systems have also suffered from complexity of nature, requirement of expert-level monitoring, extensive and dedicated infrastructural setups, and so on. The user community, which would greatly appreciate having a convenient, fast, and generalized warning methodology, is surveyed in this review. The review concludes with the future scope of research in the field of hazard warning systems and some suggestions for developing an efficient mechanism toward the development of an automated integrated geohazard warning system. DOI: 10.1061/(ASCE)NH.1527-6996.0000078. (C) 2012 American Society of Civil Engineers.

Distributed Control and Optimization for Communication and Power Systems

We are at the cusp of a historic transformation of both communication system and electricity system. This creates challenges as well as opportunities for the study of networked systems. Problems of these systems typically involve a huge number of end points that require intelligent coordination in a distributed manner. In this thesis, we develop models, theories, and scalable distributed optimization and control algorithms to overcome these challenges.

This thesis focuses on two specific areas: multi-path TCP (Transmission Control Protocol) and electricity distribution system operation and control. Multi-path TCP (MP-TCP) is a TCP extension that allows a single data stream to be split across multiple paths. MP-TCP has the potential to greatly improve reliability as well as efficiency of communication devices. We propose a fluid model for a large class of MP-TCP algorithms and identify design criteria that guarantee the existence, uniqueness, and stability of system equilibrium. We clarify how algorithm parameters impact TCP-friendliness, responsiveness, and window oscillation and demonstrate an inevitable tradeoff among these properties. We discuss the implications of these properties on the behavior of existing algorithms and motivate a new algorithm Balia (balanced linked adaptation) which generalizes existing algorithms and strikes a good balance among TCP-friendliness, responsiveness, and window oscillation. We have implemented Balia in the Linux kernel. We use our prototype to compare the new proposed algorithm Balia with existing MP-TCP algorithms.

Our second focus is on designing computationally efficient algorithms for electricity distribution system operation and control. First, we develop efficient algorithms for feeder reconfiguration in distribution networks. The feeder reconfiguration problem chooses the on/off status of the switches in a distribution network in order to minimize a certain cost such as power loss. It is a mixed integer nonlinear program and hence hard to solve. We propose a heuristic algorithm that is based on the recently developed convex relaxation of the optimal power flow problem. The algorithm is efficient and can successfully computes an optimal configuration on all networks that we have tested. Moreover we prove that the algorithm solves the feeder reconfiguration problem optimally under certain conditions. We also propose a more efficient algorithm and it incurs a loss in optimality of less than 3% on the test networks.

Second, we develop efficient distributed algorithms that solve the optimal power flow (OPF) problem on distribution networks. The OPF problem determines a network operating point that minimizes a certain objective such as generation cost or power loss. Traditionally OPF is solved in a centralized manner. With increasing penetration of volatile renewable energy resources in distribution systems, we need faster and distributed solutions for real-time feedback control. This is difficult because power flow equations are nonlinear and kirchhoff's law is global. We propose solutions for both balanced and unbalanced radial distribution networks. They exploit recent results that suggest solving for a globally optimal solution of OPF over a radial network through a second-order cone program (SOCP) or semi-definite program (SDP) relaxation. Our distributed algorithms are based on the alternating direction method of multiplier (ADMM), but unlike standard ADMM-based distributed OPF algorithms that require solving optimization subproblems using iterative methods, the proposed solutions exploit the problem structure that greatly reduce the computation time. Specifically, for balanced networks, our decomposition allows us to derive closed form solutions for these subproblems and it speeds up the convergence by 1000x times in simulations. For unbalanced networks, the subproblems reduce to either closed form solutions or eigenvalue problems whose size remains constant as the network scales up and computation time is reduced by 100x compared with iterative methods.

Eurobalise-Train communication modelling to assess interferences in railway control signalling systems

The evolution of the railway sector depends, to a great extent, on the deployment of advanced railway signalling systems. These signalling systems are based on communication architectures that must cope with complex electromagnetical environments. This paper is outlined in the context of developing the necessary tools to allow the quick deployment of these signalling systems by contributing to an easier analysis of their behaviour under the effect of electromagnetical interferences. Specifically, this paper presents the modelling of the Eurobalise-train communication flow in a general purpose simulation tool. It is critical to guarantee this communication link since any lack of communication may lead to a stop of the train and availability problems. In order to model precisely this communication link we used real measurements done in a laboratory equipped with elements defined in the suitable subsets. Through the simulation study carried out, we obtained performance indicators of the physical layer such as the received power, SNR and BER. The modelling presented in this paper is a required step to be able to provide quality of service indicators related to perturbed scenarios.

Performance and power dissipation comparisons between 28 Gb/s NRZ, PAM, CAP and optical OFDM systems for data communication applications

Theoretical investigations have been carried out to analyze and compare the link power budget and power dissipation of non-return-to-zero (NRZ), pulse amplitude modulation-4 (PAM-4), carrierless amplitude and phase modulation-16 (CAP-16) and 16-quadrature amplitude modulation-orthogonal frequency division multiplexing (16-QAM-OFDM) systems for data center interconnect scenarios. It is shown that for multimode fiber (MMF) links, NRZ modulation schemes with electronic equalization offer the best link power budget margins with the least power dissipation for short transmission distances up to 200 m; while OOFDM is the only scheme which can support a distance of 300 m albeit with power dissipation as high as 4 times that of NRZ. For short single mode fiber (SMF) links, all the modulation schemes offer similar link power budget margins for fiber lengths up to 15 km, but NRZ and PAM-4 are preferable due to their system simplicity and low power consumption. For lengths of up to 30 km, CAP-16 and OOFDM are required although the schemes consume 2 and 4 times as much power respectively compared to that of NRZ. OOFDM alone allows link operation up to 35 km distances. © 1983-2012 IEEE.

On the structure of state-feedback LQG controllers for distributed systems with communication delays

This paper presents explicit solutions for a few distributed LQG problems in which players communicate their states with delays. The resulting control structure is reminiscent of a simple management hierarchy, in which a top level input is modified by newer, more localized information as it gets passed down the chain of command. It is hoped that the controller forms arising through optimization may lend insight into the control strategies of biological and social systems with communication delays. © 2011 IEEE.

Multimedia telephone systems as a valuable communication tool for the hearing-impaired

This paper discusses videoconferencing systems as a communication tool for the hearing impaired.

The sociology of childhood as scientific communication - Observations from a social systems perspective

This article begins by identifying a close relationship between the image of children generated by several sociologists working within the new sociology of childhood perspective and the claims and ambitions of the proponents of children's autonomy rights. The image of the child as a competent, self-controlled human agent are then subjected to observation from the perspective of Niklas Luhmann's social systems theory. The new sociology of childhood's constructivist approach is compared and contrasted with Niklas Luhmann's theory of 'operational constructivism'. The article applies tenets of Luhmann's theory, to the emergence of the new childhood sociologist's image of the child as a competent, self-controlled social agent, to the epistemological status of this image and, in particular, to claims that it derives from scientific endeavour. The article proceeds to identify two theoretical developments within sociology - sociology of identity and social agency - which have brought about fundamental changes in what may be considered 'sociological' and so 'scientific' and paved the way for sociological communications about what children,really are'. In conclusion, it argues that the merging of sociology with polemics, ideology, opinion and personal beliefs and, at the level of social systems, between science and politics represents in Luhmann's terms 'dedifferentiation'- a tendency he claims may have serious adverse consequences for modern society. This warning is applied to the scientific status of sociology - its claim to be able to produce 'facts' for society, upon which social systems, such as politics and law, may rely. Like the mass media, sociology may now be capable of producing only information, and not facts, about children.

Communication network analysis of the enterprise grid systems

This paper addresses the problem of performance analysis based on communication modelling of largescale heterogeneous distributed systems with emphases on enterprise grid computing systems. The study of communication layers is important because the overall performance of a distributed system is often critically hinged on the effectiveness of this part. This model considers processor as well as network heterogeneity of target system. The model is validated through comprehensive simulation, which demonstrates that the proposed model exhibits a good degree of accuracy for various system sizes and under different working conditions. The proposed model is then used to investigate the performance analysis of typical systems.