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

Neuartige Verfahren für die Überwachung und Diagnose von aktiv magnetgelagerten rotierenden Maschinen

Mit aktiven Magnetlagern ist es möglich, rotierende Körper durch magnetische Felder berührungsfrei zu lagern. Systembedingt sind bei aktiv magnetgelagerten Maschinen wesentliche Signale ohne zusätzlichen Aufwand an Messtechnik für Diagnoseaufgaben verfügbar. In der Arbeit wird ein Konzept entwickelt, das durch Verwendung der systeminhärenten Signale eine Diagnose magnetgelagerter rotierender Maschinen ermöglicht und somit neben einer kontinuierlichen Anlagenüberwachung eine schnelle Bewertung des Anlagenzustandes gestattet. Fehler können rechtzeitig und ursächlich in Art und Größe erkannt und entsprechende Gegenmaßnahmen eingeleitet werden. Anhand der erfassten Signale geschieht die Gewinnung von Merkmalen mit signal- und modellgestützten Verfahren. Für den Magnetlagerregelkreis erfolgen Untersuchungen zum Einsatz modellgestützter Parameteridentifikationsverfahren, deren Verwendbarkeit wird bei der Diagnose am Regler und Leistungsverstärker nachgewiesen. Unter Nutzung von Simulationsmodellen sowie durch Experimente an Versuchsständen werden die Merkmalsverläufe im normalen Referenzzustand und bei auftretenden Fehlern aufgenommen und die Ergebnisse in einer Wissensbasis abgelegt. Diese dient als Grundlage zur Festlegung von Grenzwerten und Regeln für die Überwachung des Systems und zur Erstellung wissensbasierter Diagnosemodelle. Bei der Überwachung werden die Merkmalsausprägungen auf das Überschreiten von Grenzwerten überprüft, Informationen über erkannte Fehler und Betriebszustände gebildet sowie gegebenenfalls Alarmmeldungen ausgegeben. Sich langsam anbahnende Fehler können durch die Berechnung der Merkmalstrends mit Hilfe der Regressionsanalyse erkannt werden. Über die bisher bei aktiven Magnetlagern übliche Überwachung von Grenzwerten hinaus erfolgt bei der Fehlerdiagnose eine Verknüpfung der extrahierten Merkmale zur Identifizierung und Lokalisierung auftretender Fehler. Die Diagnose geschieht mittels regelbasierter Fuzzy-Logik, dies gestattet die Einbeziehung von linguistischen Aussagen in Form von Expertenwissen sowie die Berücksichtigung von Unbestimmtheiten und ermöglicht damit eine Diagnose komplexer Systeme. Für Aktor-, Sensor- und Reglerfehler im Magnetlagerregelkreis sowie Fehler durch externe Kräfte und Unwuchten werden Diagnosemodelle erstellt und verifiziert. Es erfolgt der Nachweis, dass das entwickelte Diagnosekonzept mit beherrschbarem Rechenaufwand korrekte Diagnoseaussagen liefert. Durch Kaskadierung von Fuzzy-Logik-Modulen wird die Transparenz des Regelwerks gewahrt und die Abarbeitung der Regeln optimiert. Endresultat ist ein neuartiges hybrides Diagnosekonzept, welches signal- und modellgestützte Verfahren der Merkmalsgewinnung mit wissensbasierten Methoden der Fehlerdiagnose kombiniert. Das entwickelte Diagnosekonzept ist für die Anpassung an unterschiedliche Anforderungen und Anwendungen bei rotierenden Maschinen konzipiert.

Veränderungen im Öko-Lebensmittelkonsum in Familien mit Kindern und deren Hintergründe

Im Rahmen der Arbeit wird den Fragen nachgegangen, inwiefern der Konsum von Öko-Lebensmitteln in Familien mit Kindern im zeitlichen Verlauf Veränderungen unterliegt und worin Veränderungen im Öko-Lebensmittelkonsum in Familien mit Kindern begründet sind. Aus den hierzu gewonnenen Erkenntnissen werden Schlussfolgerungen für die Konsumentenforschung und das Marketing von Öko-Produkten gezogen. Theoretische Grundlage stellen der Familienzyklus sowie Forschungsergebnisse zum Konsumentenverhalten in Familien und zum Konsum von Öko-Lebensmitteln in Familien dar. Für die empirische Bearbeitung der Forschungsfragen wurde ein qualitatives Forschungsdesign gewählt. Der Forschungsprozess gliederte sich in drei Wellen der Datenerhebung und -auswertung. Im Rahmen dessen wurden Eltern mithilfe problemzentrierter Interviews zur Entwicklung des Öko-Konsums in ihren Familien befragt. Die Interviews wurden computergestützt und in Anlehnung an die Kodierprozeduren offenes und axiales Kodieren der Grounded Theory ausgewertet. Ergebnis der Datenanalyse sind drei Zusammenhangsmodelle, die zu einer Erklärung von Veränderungen im Öko-Lebensmittelkonsum von Familien beitragen. Veränderungen können demnach erstens in einer Erhöhung der Konsumintensität während einer Schwangerschaft bestehen. Als Bedingungen hierfür konnten ein verstärktes Bewusstsein für Öko-Produkte, die körperliche Konstitution der Mutter sowie die Unterstützung durch die soziale Umwelt identifiziert werden. Weitere Bedingungen stellen Lebensmittelskandale sowie eine gute Verfügbarkeit von Öko-Produkten dar. Handlungsstrategien der Eltern beziehen sich auf das Wohlergehen des noch ungeborenen Kindes (Förderung der Gesundheit, Erhalten der zukünftigen Lebenswelt, Orientierung für die spätere Ernährung des Kindes) sowie auf das Wohlergehen der werdenden Mutter (Förderung der Gesundheit, Förderung des Wohlbefindens, Umgang mit schwangerschaftsbedingten Beschwerden). Zweitens können Veränderungen des Öko-Lebensmittelkonsums in einer Erhöhung der Konsumintensität ab dem Zeitpunkt der Umstellung der Ernährung eines Kindes auf eine Beikosternährung bestehen. Bedingungen hierfür sind eine verstärkte Beachtung von Öko-Produkten, die körperliche Konstitution des Kindes, die Abstimmung von Familien- und Baby-Kost, der Austausch mit und die Unterstützung durch die soziale Umwelt sowie der Wunsch von Eltern, einen Beitrag zum Öko-Landbau zu liefern. Bedingungen können außerdem eine gute Verfügbarkeit von Öko-Produkten sowie der Einfluss von Medien darstellen. Handlungsstrategien der Eltern beziehen sich auf die Ernährung des Kindes (Förderung der Gesundheit, Förderung der Geschmackssozialisation) und auf die Ernährung der restlichen Familie (effiziente Beschaffung und Verwendung von Lebensmitteln, Förderung des Wohlbefindens der Eltern). Drittens können Veränderungen im Öko-Lebensmittelkonsum in Familien in einem Rückgang der Konsumintensität während des Übergangs von Kindern ins Jugendalter bestehen. Bedingungen hierfür bestehen in der Konsequenz, mit der Eltern konventionellen Lebensmittelwünschen ihrer Kinder nachgeben, in der Beurteilung von Lebensmitteln durch die Eltern sowie in der Intensität, mit der Kinder ihre Wünsche einfordern. Handlungsstrategien der Eltern sind darauf ausgerichtet Kindern einen Wunsch zu erfüllen, sich gegenüber diesen liberal zu verhalten, Konflikte mit Kindern zu vermeiden oder diese ihre eigenen Erfahrungen sammeln zu lassen. Die Ergebnisse tragen zu einer theoretischen Fundierung des Zusammenhangs zwischen Familienzyklus und dem Öko-Lebensmittelkonsum in Familien bei und zeigen, dass dieser ein sinnvolles theoretisches Bezugssystem für Veränderungen der Konsumintensität von Öko-Produkten darstellt. Für die Konsumentenforschung tragen die Ergebnisse zu einem differenzierten Verständnis von Ober- und Untergrenzen von Familienzyklusstadien bei. Es zeigt sich weiterhin, dass Veränderungen des Öko-Konsums unter anderem unter dem Einfluss der sozialen Umwelt stehen. Im Hinblick auf das Marketing kann insbesondere geschlussfolgert werden, dass bei bestimmten Produktkategorien die Bedürfnisse jugendlicher Zielgruppen verstärkt berücksichtigt werden sollten. Zur Bindung junger Familien ist darauf hinzuwirken, einen Mehraufwand bei der Beschaffung von Öko-Produkten auszuschließen. Für die Ansprache der Zielgruppe Schwangere erscheinen Kommunikationsbotschaften geeignet, die sich auf das Wohlbefinden von Kind und Mutter und auf Nachhaltigkeitsaspekte beziehen. Eltern mit Kindern im Übergang zu einer Beikosternährung könnten gezielt durch Kommunikationsbotschaften angesprochen werden, die in Zusammenhang mit der Förderung der Gesundheit und der Geschmacksozialisation von Kindern stehen.

Attitudes and behaviour towards food attributes and organic food – a triangular methodological investigation of occasional organic consumers

Organic food is increasingly available in the conventional food retail, where organic products are offered alongside with various other types of products and compete mainly with conventional and the so-called conventional-plus products. The latter are conventional products displaying particular quality attributes on the product packaging, such as ‘no artificial additives’, or ‘from animal welfare husbandry’. Often, these quality attributes also apply to organic products. Occasional organic consumers might prefer such conventional-plus alternatives that are perceived to be ‘between’ organic and conventional products. The overall objective of this PhD thesis was to provide information about the segment of occasional organic consumers. In particular, the thesis focussed on consumer perceptions and attitudes towards the quality of, and preferences for, organic, conventional and conventional-plus products in two countries: Germany and Switzerland. To achieve these objectives, qualitative and quantitative consumer research was combined in order to explore occasional organic consumers’ perceptions and attitudes as well as to observe their preferences and buying behaviour regarding different types of food products: organic, conventional and conventional-plus products. The qualitative research showed that, depending on single criteria, organic production was both positively as well as negatively assessed by consumers. Consumer perception of organic food was found to be highly selective and primarily focussed on the final stage of the particular production process. A major problem is that consumers are still mostly unfamiliar with factors associated with organic production, have a lack of confidence, and often confuse organic with conventional products. Besides this, consumer expectations of organic products are different from the expectations of conventional products. The quantitative research revealed that attitudes strongly determine consumers’ preferences for organic, conventional and conventional-plus products. Consumer attitudes tended to differ more between organic and conventional choices rather than conventional-plus and conventional choices. Furthermore, occasional organic consumers are heterogeneous in their preferences. They can be grouped into two segments: the consumers in one segment were less price sensitive and preferred organic products. The consumers in the other segment were more price sensitive and rather preferred conventional-plus or conventional products. To conclude, given the selective and subjective nature of consumer perception and the strong focus of consumer perception on the final stage of the food production process, specific additional values of organic farming should be communicated in clear and catchy messages. At the same time, these messages should be particularly focussed on the final stage of organic food production. The communication of specific added values in relation with organic products to improve the perceived price-performance-ratio is important since conventional-plus products represent an interesting alternative particularly for price sensitive occasional organic consumers. Besides this, it is important to strengthen affirmative consumer attitudes towards organic production. Therefore, policy support should emphasise on long-term communication campaigns and education programmes to increase the consumer awareness and knowledge of organic food and farming. Since consumers expect that organic food is regionally or at least domestically produced while they less accept organic imports, policy support of domestic and regional producers is a crucial measure to fill the current gap between the increasing consumer demand of organic food and the stagnation of the domestic and regional organic food supply.