Smart design of scaffolds obtained by biofabrication for tissue engineering applications

A engenharia de tecidos é um domínio tecnológico emergente em rápido desenvolvimento que se destina a produzir substitutos viáveis para a restauração, manutenção ou melhoria da função dos tecidos ou órgãos humanos. Uma das estratégias mais predominantes em engenharia de tecidos envolve crescimento celular sobre matrizes de suporte (scaffolds), biocompatíveis e biodegradáveis. Estas matrizes devem possuir não só elevadas propriedades mecânicas e vasculares, mas também uma elevada porosidade. Devido à incompatibilidade destes dois parâmetros, é necessário desenvolver estratégias de simulação de forma a obter estruturas optimizadas. A previsão real das propriedades mecânicas, vasculares e topológicas das matrizes de suporte, produzidas por técnicas de biofabricação, é muito importante para as diversas aplicações em engenharia de tecidos. A presente dissertação apresenta o estado da arte da engenharia de tecidos, bem como as técnicas de biofabricação envolvidas na produção de matrizes de suporte. Para o design optimizado de matrizes de suporte foi adoptada uma metodologia de design baseada tanto em métodos de elementos finitos para o cálculo do comportamento mecânico, vascular e as optimizações topológicas, como em métodos analíticos para a validação das simulações estruturais utilizando dados experimentais. Considerando que as matrizes de suporte são estruturas elementares do tipo LEGO, dois tipos de famílias foram consideradas, superfícies não periódicas e as superfícies triplas periódicas que descrevem superfícies naturais. Os objectivos principais desta dissertação são: i) avaliar as técnicas existentes de engenharia de tecidos; ii) avaliar as técnicas existentes de biofabricação para a produção de matrizes de suporte; iii) avaliar o desempenho e comportamento das matrizes de suporte; iv) implementar uma metodologia de design de matrizes de suporte em variáveis tais como a porosidade, geometria e comportamento mecânico e vascular por forma a auxiliar o processo de design; e por fim, v) validar experimentalmente a metodologia adoptada.

Arquitetura para execução segura de workflows de eGovernment dinâmicos

A integração de serviços na perspetiva dos cidadãos e empresas e a necessidade de garantir algumas características da Administração Pública como a versatilidade e a competitividade colocam alguns constrangimentos na conceção das arquiteturas de integração de serviços. Para que seja possível integrar serviços de forma a que se garanta a mutabilidade da Administração Pública, é necessário criar dinamicamente workflows. No entanto, a criação de dinâmica de workflows suscita algumas preocupações ao nível da segurança, nomeadamente em relação à privacidade dos resultados produzidos durante a execução de um workflow e em relação à aplicação de políticas de controlo de participação no workflow pelos diversos executores do mesmo. Neste trabalho apresentamos um conjunto de princípios e regras (arquitetura) que permitem a criação e execução de workflows dinâmicos resolvendo, através de um modelo de segurança, as questões referidas. A arquitetura utiliza a composição de serviços para dessa forma construir serviços complexos a que poderá estar inerente um workflow dinâmico. A arquitetura usa ainda um paradigma de troca de mensagens-padrão entre os prestadores de serviços envolvidos num workflow dinâmico. O modelo de segurança proposto está intimamente ligado ao conjunto de mensagens definido na arquitetura. No âmbito do trabalho foram identificadas e analisadas várias arquiteturas e/ou plataformas de integração de serviços. A análise realizada teve como objetivo identificar as arquiteturas que permitem a criação de workflows dinâmicos e, destas, aquelas que utilizam mecanismos de privacidade para os resultados e de controlo de participação dos executores desses workflows. A arquitetura de integração que apresentamos é versátil, escalável, permite a prestação concorrente de serviços entre prestadores de serviços e permite criar workflows dinâmicos. A arquitetura permite que as entidades executoras do workflow decidam sobre a sua participação, decidam sobre a participação de terceiros (a quem delegam serviços) e decidam a quem entregam os resultados. Os participantes são acreditados por entidades certificadores reconhecidas pelos demais participantes. As credenciais fornecidas pelas entidades certificadoras são o ponto de partida para a aplicação de políticas de segurança no âmbito da arquitetura. Para validar a arquitetura proposta foram identificados vários casos de uso que exemplificam a necessidade de construção de workflows dinâmicos para atender a serviços complexos (não prestados na íntegra por uma única entidade). Estes casos de uso foram implementados num protótipo da arquitetura desenvolvido para o efeito. Essa experimentação permitiu concluir que a arquitetura está adequada para prestar esses serviços usando workflows dinâmicos e que na execução desses workflows os executores dispõem dos mecanismos de segurança adequados para controlar a sua participação, a participação de terceiros e a privacidade dos resultados produzidos no âmbito dos mesmos.

Economic optimization of wind farms in function of the cost of energy produced

Esta tese apresenta um estudo sobre otimização económica de parques eólicos, com o objetivo de obter um algoritmo para otimização económica de parques eólicos através do custo da energia produzida. No estudo utilizou-se uma abordagem multidisciplinar. Inicialmente, apresentam-se as principais tecnologias e diferentes arquiteturas utilizadas nos parques eólicos. Bem como esquemas de funcionamento e gestão dos parques. São identificadas variáveis necessárias e apresenta-se um modelo dimensionamento para cálculo dos custos da energia produzida, tendo-se dado ênfase às instalações onshore e ligados a rede elétrica de distribuição. É feita uma análise rigorosa das características das topologias dos aerogeradores disponíveis no mercado, e simula-se o funcionamento de um parque eólico para testar a validade dos modelos desenvolvidos. Também é implementado um algoritmo para a obtenção de uma resposta otimizada para o ciclo de vida económico do parque eólico em estudo. A abordagem proposta envolve algoritmos para otimização do custo de produção com multiplas funções objetivas com base na descrição matemática da produção de eletricidade. Foram desenvolvidos modelos de otimização linear, que estabelece a ligação entre o custo económico e a produção de eletricidade, tendo em conta ainda as emissões de CO2 em instrumentos de política energética para energia eólica. São propostas expressões para o cálculo do custo de energia com variáveis não convencionais, nomeadamente, para a produção variável do parque eólico, fator de funcionamento e coeficiente de eficiência geral do sistema. Para as duas últimas, também é analisado o impacto da distribuição do vento predominante no sistema de conversão de energia eólica. Verifica-se que os resultados obtidos pelos algoritmos propostos são similares às obtidas por demais métodos numéricos já publicados na comunidade científica, e que o algoritmo de otimização económica sofre influência significativa dos valores obtidos dos coeficientes em questão. Finalmente, é demonstrado que o algoritmo proposto (LCOEwso) é útil para o dimensionamento e cálculo dos custos de capital e O&M dos parques eólicos com informação incompleta ou em fase de projeto. Nesse sentido, o contributo desta tese vem ser desenvolver uma ferramenta de apoio à tomada de decisão de um gestor, investidor ou ainda agente público em fomentar a implantação de um parque eólico.

Reconfigurable transmitters for software-defined radios

Flexible radio transmitters based on the Software-Defined Radio (SDR) concept are gaining an increased research importance due to the unparalleled proliferation of new wireless standards operating at different frequencies, using dissimilar coding and modulation schemes, and targeted for different ends. In this new wireless communications paradigm, the physical layer of the radio transmitter must be able to support the simultaneous transmission of multi-band, multi-rate, multi-standard signals, which in practice is very hard or very inefficient to implement using conventional approaches. Nevertheless, the last developments in this field include novel all-digital transmitter architectures where the radio datapath is digital from the baseband up to the RF stage. Such concept has inherent high flexibility and poses an important step towards the development of SDR-based transmitters. However, the truth is that implementing such radio for a real world communications scenario is a challenging task, where a few key limitations are still preventing a wider adoption of this concept. This thesis aims exactly to address some of these limitations by proposing and implementing innovative all-digital transmitter architectures with inherent higher flexibility and integration, and where improving important figures of merit, such as coding efficiency, signal-to-noise ratio, usable bandwidth and in-band and out-of-band noise will also be addressed. In the first part of this thesis, the concept of transmitting RF data using an entirely digital approach based on pulsed modulation is introduced. A comparison between several implementation technologies is also presented, allowing to state that FPGAs provide an interesting compromise between performance, power efficiency and flexibility, thus making them an interesting choice as an enabling technology for pulse-based all-digital transmitters. Following this discussion, the fundamental concepts inherent to pulsed modulators, its key advantages, main limitations and typical enhancements suitable for all-digital transmitters are also presented. The recent advances regarding the two most common classes of pulse modulated transmitters, namely the RF and the baseband-level are introduced, along with several examples of state-of-the-art architectures found on the literature. The core of this dissertation containing the main developments achieved during this PhD work is then presented and discussed. The first key contribution to the state-of-the-art presented here consists in the development of a novel ΣΔ-based all-digital transmitter architecture capable of multiband and multi-standard data transmission in a very flexible and integrated way, where the pulsed RF output operating in the microwave frequency range is generated inside a single FPGA device. A fundamental contribution regarding the simultaneous transmission of multiple RF signals is then introduced by presenting and describing novel all-digital transmitter architectures that take advantage of multi-gigabit data serializers available on current high-end FPGAs in order to transmit in a time-interleaved approach multiple independent RF carriers. Further improvements in this design approach allowed to provide a two-stage up-conversion transmitter architecture enabling the fine frequency tuning of concurrent multichannel multi-standard signals. Finally, further improvements regarding two key limitations inherent to current all-digital transmitter approaches are then addressed, namely the poor coding efficiency and the combined high quality factor and tunability requirements of the RF output filter. The followed design approach based on poliphase multipath circuits allowed to create a new FPGA-embedded agile transmitter architecture that significantly improves important figures of merit, such as coding efficiency and SNR, while maintains the high flexibility that is required for supporting multichannel multimode data transmission.

Metal-organic frameworks based on phosphonate linkers

During the last few decades, Metal-Organic Frameworks (MOFs), also known as Coordination Polymers, have attracted worldwide research attentions due to their incremented fascinating architectures and unique properties. These multidimensional materials have been potential applications in distinct areas: gas storage and separation, ion exchange, catalysis, magnetism, in optical sensors, among several others. The MOF research group at the University of Aveiro has prepared MOFs from the combination of phosphonate organic primary building units (PBUs) with, mainly, lanthanides. This thesis documents the last findings in this area involving the synthesis of multidimensional MOFs based on four di- or tripodal phosphonates ligands. The organic PBUs were designed and prepared by selecting and optimizing the best reaction conditions and synthetic routes. The self-assembly between phosphonate PBUs and rare-earths cations led to the formation of several 1D, 2D and 3D families of isotypical MOFs. The preparation of these materials was achieved by using distinct synthetic approaches: hydro(solvo)thermal, microwave- and ultrasound-assisted, one-pot and ionothermal synthesis. The selection of the organic PBUs showed to have an important role in the final architectures: while flexible phosphonate ligands afforded 1D, 2D and dense 3D structures, a large and rigid organic PBU isolated a porous 3D MOF. The crystal structure of these materials was successfully unveiled by powder or single-crystal X-ray diffraction. All multidimensional MOFs were characterized by standard solid-state techniques (FT-IR, electron microscopy (SEM and EDS), solid-state NMR, elemental and thermogravimetric analysis). Some MOF materials exhibited remarkable thermal stability and robustness up to ca. 400 ºC. The intrinsic properties of some MOFs were investigated. Photoluminescence studies revealed that the selected organic PBUs are suitable sensitizers of Tb3+ leading to the isolation of intense green-emitting materials. The suppression of the O−H quenchers by deuteration or dehydration processes improves substantially the photoluminescence of the optically-active Eu3+-based materials. Some MOF materials exhibited high heterogeneous catalytic activity and excellent regioselectivity in the ring-opening reaction of styrene oxide (PhEtO) with methanol (100% conversion of PhEtO at 55 ºC for 30 min). The porous MOF material was employed in gas separation processes. This compound showed the ability to separate propane over propylene. The ionexchanged form of this material (containing K+ cations into its network) exhibited higher affinity for CO2 being capable to separate acetylene over this environment non-friendly gas.

Context-based wireless mesh networks

In the modern society, new devices, applications and technologies, with sophisticated capabilities, are converging in the same network infrastructure. Users are also increasingly demanding in personal preferences and expectations, desiring Internet connectivity anytime and everywhere. These aspects have triggered many research efforts, since the current Internet is reaching a breaking point trying to provide enough flexibility for users and profits for operators, while dealing with the complex requirements raised by the recent evolution. Fully aligned with the future Internet research, many solutions have been proposed to enhance the current Internet-based architectures and protocols, in order to become context-aware, that is, to be dynamically adapted to the change of the information characterizing any network entity. In this sense, the presented Thesis proposes a new architecture that allows to create several networks with different characteristics according to their context, on the top of a single Wireless Mesh Network (WMN), which infrastructure and protocols are very flexible and self-adaptable. More specifically, this Thesis models the context of users, which can span from their security, cost and mobility preferences, devices’ capabilities or services’ quality requirements, in order to turn a WMN into a set of logical networks. Each logical network is configured to meet a set of user context needs (for instance, support of high mobility and low security). To implement this user-centric architecture, this Thesis uses the network virtualization, which has often been advocated as a mean to deploy independent network architectures and services towards the future Internet, while allowing a dynamic resource management. This way, network virtualization can allow a flexible and programmable configuration of a WMN, in order to be shared by multiple logical networks (or virtual networks - VNs). Moreover, the high level of isolation introduced by network virtualization can be used to differentiate the protocols and mechanisms of each context-aware VN. This architecture raises several challenges to control and manage the VNs on-demand, in response to user and WMN dynamics. In this context, we target the mechanisms to: (i) discover and select the VN to assign to an user; (ii) create, adapt and remove the VN topologies and routes. We also explore how the rate of variation of the user context requirements can be considered to improve the performance and reduce the complexity of the VN control and management. Finally, due to the scalability limitations of centralized control solutions, we propose a mechanism to distribute the control functionalities along the architectural entities, which can cooperate to control and manage the VNs in a distributed way.

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.

Inter layer and cooperative design strategies for green mobile networks

The promise of a truly mobile experience is to have the freedom to roam around anywhere and not be bound to a single location. However, the energy required to keep mobile devices connected to the network over extended periods of time quickly dissipates. In fact, energy is a critical resource in the design of wireless networks since wireless devices are usually powered by batteries. Furthermore, multi-standard mobile devices are allowing users to enjoy higher data rates with ubiquitous connectivity. However, the bene ts gained from multiple interfaces come at a cost in terms of energy consumption having profound e ect on the mobile battery lifetime and standby time. This concern is rea rmed by the fact that battery lifetime is one of the top reasons why consumers are deterred from using advanced multimedia services on their mobile on a frequent basis. In order to secure market penetration for next generation services energy e ciency needs to be placed at the forefront of system design. However, despite recent e orts, energy compliant features in legacy technologies are still in its infancy, and new disruptive architectures coupled with interdisciplinary design approaches are required in order to not only promote the energy gain within a single protocol layer, but to enhance the energy gain from a holistic perspective. A promising approach is cooperative smart systems, that in addition to exploiting context information, are entities that are able to form a coalition and cooperate in order to achieve a common goal. Migrating from this baseline, this thesis investigates how these technology paradigm can be applied towards reducing the energy consumption in mobile networks. In addition, we introduce an additional energy saving dimension by adopting an interlayer design so that protocol layers are designed to work in synergy with the host system, rather than independently, for harnessing energy. In this work, we exploit context information, cooperation and inter-layer design for developing new energy e cient and technology agnostic building blocks for mobile networks. These technology enablers include energy e cient node discovery and short-range cooperation for energy saving in mobile handsets, complemented by energy-aware smart scheduling for promoting energy saving on the network side. Analytical and simulations results were obtained, and veri ed in the lab on a real hardware testbed. Results have shown that up to 50% energy saving could be obtained.

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.

Network virtualisation from an operator perspective

Network virtualisation is seen as a promising approach to overcome the so-called “Internet impasse” and bring innovation back into the Internet, by allowing easier migration towards novel networking approaches as well as the coexistence of complementary network architectures on a shared infrastructure in a commercial context. Recently, the interest from the operators and mainstream industry in network virtualisation has grown quite significantly, as the potential benefits of virtualisation became clearer, both from an economical and an operational point of view. In the beginning, the concept has been mainly a research topic and has been materialized in small-scale testbeds and research network environments. This PhD Thesis aims to provide the network operator with a set of mechanisms and algorithms capable of managing and controlling virtual networks. To this end, we propose a framework that aims to allocate, monitor and control virtual resources in a centralized and efficient manner. In order to analyse the performance of the framework, we performed the implementation and evaluation on a small-scale testbed. To enable the operator to make an efficient allocation, in real-time, and on-demand, of virtual networks onto the substrate network, it is proposed a heuristic algorithm to perform the virtual network mapping. For the network operator to obtain the highest profit of the physical network, it is also proposed a mathematical formulation that aims to maximize the number of allocated virtual networks onto the physical network. Since the power consumption of the physical network is very significant in the operating costs, it is important to make the allocation of virtual networks in fewer physical resources and onto physical resources already active. To address this challenge, we propose a mathematical formulation that aims to minimize the energy consumption of the physical network without affecting the efficiency of the allocation of virtual networks. To minimize fragmentation of the physical network while increasing the revenue of the operator, it is extended the initial formulation to contemplate the re-optimization of previously mapped virtual networks, so that the operator has a better use of its physical infrastructure. It is also necessary to address the migration of virtual networks, either for reasons of load balancing or for reasons of imminent failure of physical resources, without affecting the proper functioning of the virtual network. To this end, we propose a method based on cloning techniques to perform the migration of virtual networks across the physical infrastructure, transparently, and without affecting the virtual network. In order to assess the resilience of virtual networks to physical network failures, while obtaining the optimal solution for the migration of virtual networks in case of imminent failure of physical resources, the mathematical formulation is extended to minimize the number of nodes migrated and the relocation of virtual links. In comparison with our optimization proposals, we found out that existing heuristics for mapping virtual networks have a poor performance. We also found that it is possible to minimize the energy consumption without penalizing the efficient allocation. By applying the re-optimization on the virtual networks, it has been shown that it is possible to obtain more free resources as well as having the physical resources better balanced. Finally, it was shown that virtual networks are quite resilient to failures on the physical network.

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.

Characterization of RSOA modulators in radio over fiber links

In this work physical and behavioral models for a bulk Reflective Semiconductor Optical Amplifier (RSOA) modulator in Radio over Fiber (RoF) links are proposed. The transmission performance of the RSOA modulator is predicted under broadband signal drive. At first, the simplified physical model for the RSOA modulator in RoF links is proposed, which is based on the rate equation and traveling-wave equations with several assumptions. The model is implemented with the Symbolically Defined Devices (SDD) in Advanced Design System (ADS) and validated with experimental results. Detailed analysis regarding optical gain, harmonic and intermodulation distortions, and transmission performance is performed. The distribution of the carrier and Amplified Spontaneous Emission (ASE) is also demonstrated. Behavioral modeling of the RSOA modulator is to enable us to investigate the nonlinear distortion of the RSOA modulator from another perspective in system level. The Amplitude-to-Amplitude Conversion (AM-AM) and Amplitude-to-Phase Conversion (AM-PM) distortions of the RSOA modulator are demonstrated based on an Artificial Neural Network (ANN) and a generalized polynomial model. Another behavioral model based on Xparameters was obtained from the physical model. Compensation of the nonlinearity of the RSOA modulator is carried out based on a memory polynomial model. The nonlinear distortion of the RSOA modulator is reduced successfully. The improvement of the 3rd order intermodulation distortion is up to 17 dB. The Error Vector Magnitude (EVM) is improved from 6.1% to 2.0%. In the last part of this work, the performance of Fibre Optic Networks for Distributed and Extendible Heterogeneous Radio Architectures and Service Provisioning (FUTON) systems, which is the four-channel virtual Multiple Input Multiple Output (MIMO), is predicted by using the developed physical model. Based on Subcarrier Multiplexing (SCM) techniques, four-channel signals with 100 MHz bandwidth per channel are generated and used to drive the RSOA modulator. The transmission performance of the RSOA modulator under the broadband multi channels is depicted with the figure of merit, EVM under di erent adrature Amplitude Modulation (QAM) level of 64 and 254 for various number of Orthogonal Frequency Division Multiplexing (OFDM) subcarriers of 64, 512, 1024 and 2048.

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.

Decentralizing IP mobility management in future networks

The massive adoption of sophisticated mobile devices and applications led to the increase of mobile data in the last decade, which it is expected to continue. This increase of mobile data negatively impacts the network planning and dimension, since core networks are heavy centralized. Mobile operators are investigating atten network architectures that distribute the responsibility of providing connectivity and mobility, in order to improve the network scalability and performance. Moreover, service providers are moving the content servers closer to the user, in order to ensure high availability and performance of content delivery. Besides the e orts to overcome the explosion of mobile data, current mobility management models are heavy centralized to ensure reachability and session continuity to the users connected to the network. Nowadays, deployed architectures have a small number of centralized mobility anchors managing the mobile data and the mobility context of millions of users, which introduces issues related to performance and scalability that require costly network mechanisms. The mobility management needs to be rethought out-of-the box to cope with atten network architectures and distributed content servers closer to the user, which is the purpose of the work developed in this Thesis. The Thesis starts with a characterization of mobility management into well-de ned functional blocks, their interaction and potential grouping. The decentralized mobility management is studied through analytical models and simulations, in which di erent mobility approaches distinctly distribute the mobility management functionalities through the network. The outcome of this study showed that decentralized mobility management brings advantages. Hence, it was proposed a novel distributed and dynamic mobility management approach, which is exhaustively evaluated through analytical models, simulations and testbed experiments. The proposed approach is also integrated with seamless horizontal handover mechanisms, as well as evaluated in vehicular environments. The mobility mechanisms are also speci ed for multihomed scenarios, in order to provide data o oading with IP mobility from cellular to other access networks. In the pursuing of the optimized mobile routing path, a novel network-based strategy for localized mobility is addressed, in which a replication binding system is deployed in the mobility anchors distributed through the access routers and gateways. Finally, we go further in the mobility anchoring subject, presenting a context-aware adaptive IP mobility anchoring model that dynamically assigns the mobility anchors that provide the optimized routing path to a session, based on the user and network context. The integration of dynamic and distributed concepts in the mobility management, such as context-aware adaptive mobility anchoring and dynamic mobility support, allow the optimization of network resources and the improvement of user experience. The overall outcome demonstrates that decentralized mobility management is a promising direction, hence, its ideas should be taken into account by mobile operators in the deployment of future networks.