A THREE-WHEELED MOBILE ROBOT FOR TRAVERSING UNEVEN TERRAIN WITHOUT SLIP: SIMULATION AND EXPERIMENTS

A wheeled mobile robot (WMR) can move on uneven terrains without slip if the wheels are allowed to tilt laterally. This paper deals with the analysis, design and experimentations with a WMR where the wheels can tilt laterally. The wheels of such a WMR must be equipped with two degrees of freedom suspension mechanism. A prototype three-wheeled mobile robot is fabricated with a two degree-of-freedom suspension mechanism. Simulations show that the three-wheeled mobile robot can traverse uneven terrains with very little slip and experiments with the prototype on a representative uneven terrain confirm that the slip is significantly reduced.

Operational inferences on VANETs in 802.16e and 802.11p with improved performance by Congestion alert

Mobile WiMAX is a burgeoning network technology with diverse applications, one of them being used for VANETs. The performance metrics such as Mean Throughput and Packet Loss Ratio for the operations of VANETs adopting 802.16e are computed through simulation techniques. Next we evaluated the similar performance of VANETs employing 802.11p, also known as WAVE (Wireless Access in Vehicular Environment). The simulation model proposed is close to reality as we have generated mobility traces for both the cases using a traffic simulator (SUMO), and fed it into network simulator (NS2) based on their operations in a typical urban scenario for VANETs. In sequel, a VANET application called `Street Congestion Alert' is developed to assess the performances of these two technologies. For this application, TraCI is used for coupling SUMO and NS2 in a feedback loop to set up a realistic simulation scenario. Our inferences show that the Mobile WiMAX performs better than WAVE for larger network sizes.

Advances in base- and mobile-station aided cooperative wireless communications : An overview

In recent years, there has been an upsurge of research interest in cooperative wireless communications in both academia and industry. This article presents a simple overview of the pivotal topics in both mobile station (MS)- and base station (BS)- assisted cooperation in the context of cellular radio systems. Owing to the ever-increasing amount of literature in this particular field, this article is by no means exhaustive, but is intended to serve as a roadmap by assembling a representative sample of recent results and to stimulate further research. The emphasis is initially on relay-base cooperation, relying on network coding, followed by the design of cross-layer cooperative protocols conceived for MS cooperation and the concept of coalition network element (CNE)-assisted BS cooperation. Then, a range of complexity and backhaul traffic reduction techniques that have been proposed for BS cooperation are reviewed. A more detailed discussion is provided in the context of MS cooperation concerning the pros and cons of dispensing with high-complexity, power-hungry channel estimation. Finally, generalized design guidelines, conceived for cooperative wireless communications, are presented.

Mobile agent based node monitoring protocol for MANETs

Mobile ad-hoc network is a wireless ad-hoc network with dynamic network topology. The Dynamicity, due to the random node movement, and scarcity of resources lead to a challenge in monitoring the nodes in a MANET. Monitoring the lack of resources (bandwidth, buffer, and energy), misbehavior, and mobility at node level remains, a challenge. In a MANET the proposed protocol uses both static as well as mobile agents, where the mobile agents migrate to different clusters of the zones respectively, collect the node status information periodically, and provide a high level information to the static agent (which resides at the central node) by analyzing the raw information at the nodes. This, in turn, reduces the network traffic and conserves the workload of the central node, where a static agent is available with high level information and in coordination with other modules. The protocol has been tested in different size MANETs with variable number of nodes and applications. The results shown in the simulation indicates the effectiveness of the protocol.

Method of designing an access mechanism for social networks

The rapid development of communication and networking has lessened geographical boundaries among actors in social networks. In social networks, actors often want to access databases depending upon their access rights, privacy, context, privileges, etc. Managing and handling knowledge based access of actors is complex and hard for which broad range of technologies need to be called. Access based on dynamic access rights and circumstances of actors impose major tasks on access systems. In this paper, we present an Access Mechanism for Social Networks (AMSN) to render access to actors over databases taking privacy and status of actors into consideration. The designed AMSN model is tested over an Agriculture Social Network (ASN) which utilises distinct access rights and privileges of actors related to the agriculture occupation, and provides access to actors over databases.

Report on the IUTAM Symposium on Mobile Particulate Systems: Kinematics, Rheology, and Complex Phenomena, Bangalore, India, 2012

This report summarizes the presentations and discussions conducted during the symposium, which was held under the aegis of the International Union of Theoretical and Applied Mechanics during 23-27 January 2012 in Bangalore, India. (C) 2013 AIP Publishing LLC.

Physical Layer Network Coding for the K-User Multiple Access Relay Channel

We propose a Physical layer Network Coding (PNC) scheme for the K-user wireless Multiple Access Relay Channel, in which K source nodes want to transmit messages to a destination node D with the help of a relay node R. The proposed scheme involves (i) Phase 1 during which the source nodes alone transmit and (ii) Phase 2 during which the source nodes and the relay node transmit. At the end of Phase 1, the relay node decodes the messages of the source nodes and during Phase 2 transmits a many-to-one function of the decoded messages. To counter the error propagation from the relay node, we propose a novel decoder which takes into account the possibility of error events at R. It is shown that if certain parameters are chosen properly and if the network coding map used at R forms a Latin Hypercube, the proposed decoder offers the maximum diversity order of two. Also, it is shown that for a proper choice of the parameters, the proposed decoder admits fast decoding, with the same decoding complexity order as that of the reference scheme based on Complex Field Network Coding (CFNC). Simulation results indicate that the proposed PNC scheme offers a large gain over the CFNC scheme.

Wireless network-coded three-way relaying using Latin Cubes

The design of modulation schemes for the physical layer network-coded three-way wireless relaying scenario is considered. The protocol employs two phases: Multiple Access (MA) phase and Broadcast (BC) phase with each phase utilizing one channel use. For the two-way relaying scenario, it was observed by Koike-Akino et al. [4], that adaptively changing the network coding map used at the relay according to the channel conditions greatly reduces the impact of multiple access interference which occurs at the relay during the MA phase and all these network coding maps should satisfy a requirement called exclusive law. This paper does the equivalent for the three-way relaying scenario. We show that when the three users transmit points from the same 4-PSK constellation, every such network coding map that satisfies the exclusive law can be represented by a Latin Cube of Second Order. The network code map used by the relay for the BC phase is explicitly obtained and is aimed at reducing the effect of interference at the MA stage.

Performance analysis of adaptive physical layer network coding for wireless two-way Relaying

The analysis of modulation schemes for the physical layer network-coded two way relaying scenario is presented which employs two phases: Multiple access (MA) phase and Broadcast (BC) phase. Depending on the signal set used at the end nodes, the minimum distance of the effective constellation seen at the relay becomes zero for a finite number of channel fade states referred as the singular fade states. The singular fade states fall into the following two classes: (i) the ones which are caused due to channel outage and whose harmful effect cannot be mitigated by adaptive network coding called the non-removable singular fade states and (ii) the ones which occur due to the choice of the signal set and whose harmful effects can be removed called the removable singular fade states. In this paper, we derive an upper bound on the average end-to-end Symbol Error Rate (SER), with and without adaptive network coding at the relay, for a Rician fading scenario. It is shown that without adaptive network coding, at high Signal to Noise Ratio (SNR), the contribution to the end-to-end SER comes from the following error events which fall as SNR-1: the error events associated with the removable and nonremovable singular fade states and the error event during the BC phase. In contrast, for the adaptive network coding scheme, the error events associated with the removable singular fade states fall as SNR-2, thereby providing a coding gain over the case when adaptive network coding is not used. Also, it is shown that for a Rician fading channel, the error during the MA phase dominates over the error during the BC phase. Hence, adaptive network coding, which improves the performance during the MA phase provides more gain in a Rician fading scenario than in a Rayleigh fading scenario. Furthermore, it is shown that for large Rician factors, among those removable singular fade states which have the same magnitude, those which have the least absolute value of the phase - ngle alone contribute dominantly to the end-to-end SER and it is sufficient to remove the effect of only such singular fade states.

An adaptive modulation scheme for two-user fading MAC with quantized fade state feedback

For transmission over the two-user Gaussian Multiple Access Channel with fading and finite constellation at the inputs, we propose a scheme which uses only quantized knowledge of fade state at users with the feedback overhead being nominal. One of the users rotates its constellation without varying the transmit power to adapt to the existing channel conditions, in order to meet certain pre-determined minimum Euclidean distance requirement in the equivalent constellation at the destination. The optimal modulation scheme has been described for the case when both the users use symmetric M-PSK constellations at the input, where M = 2λ, λ being a positive integer. The strategy has been illustrated by considering examples where both the users use QPSK signal set at the input. It is shown that the proposed scheme has considerable better error performance compared to the conventional non-adaptive scheme, at the cost of a feedback overhead of just [log2 (M2/8 - M/4 + 2)] + 1 bits, for the M-PSK case.

A Cooperative ARQ Scheme for Infrastructure WLANs

We propose a Cooperative Opportunistic Automatic Repeat ReQuest (CoARQ) scheme to solve the HOL-blocking problem in infrastructure IEEE 802.11 WLANs. HOL blocking occurs when the head-of-the-line packet at the Access Point (AP) queue blocks the transmission of packets to other destinations resulting in severe throughput degradation. When the AP transmits a packet to a mobile station (STA), some of the nodes in the vicinity can overhear this packet transmission successfully. If the original transmission by the AP is unsuccessful, our CoARQ scheme chooses the station. STA or AP) with the best channel to the intended receiver as a relay and the chosen relay forwards the AP's packet to the receiver. This way, our scheme removes the bottleneck at the AP, thereby providing significant improvements in the throughput of the AP. We analyse the performance of our scheme in an infrastructure WLAN under a TCP controlled file download scenario and our analytical results are further validated by extensive simulations.

Joint Scheduling & Jamming for Data Secrecy in Wireless Networks

The broadcast nature of the wireless medium jeopardizes secure transmissions. Cryptographic measures fail to ensure security when eavesdroppers have superior computational capability; however, it can be assured from information theoretic security approaches. We use physical layer security to guarantee non-zero secrecy rate in single source, single destination multi-hop networks with eavesdroppers for two cases: when eavesdropper locations and channel gains are known and when their positions are unknown. We propose a two-phase solution which consists of finding activation sets and then obtaining transmit powers subject to SINR constraints for the case when eavesdropper locations are known. We introduce methods to find activation sets and compare their performance. Necessary but reasonable approximations are made in power minimization formulations for tractability reasons. For scenarios with no eavesdropper location information, we suggest vulnerability region (the area having zero secrecy rate) minimization over the network. Our results show that in the absence of location information average number of eavesdroppers who have access to data is reduced.

A context aware collaborative service provisioning system for mobile-commerce

In the process of service provisioning, providing required service to the user without user intervention, with reduction of the cognitive over loading is a real challenge. In this paper we propose a user centred context aware collaborative service provisioning system, which make use of context along with collaboration to provide the required service to the user dynamically. The system uses a novel approach of query expansion along with interactive and rating matrix based collaboration. Performance of the system is evaluated in Mobile-Commerce environment. The results show that the system is time efficient and perform with better precision and recall in comparison with context aware system.