Seguimento de plataformas móveis

Este relatório apresenta o trabalho realizado no âmbito da unidade curricular de Tese/Dissertação do Mestrado em Engenharia Electrotécnica e de Computadores - área de especialização de Telecomunicações. Pretende-se desenvolver um sistema distribuído de seguimento, no exterior, de plataformas móveis equipadas com receptores de baixo custo. O sistema deve, em tempo útil, realizar a aquisição, descodificação e tratamento dos dados emiti- dos pelo Global Navigation Satellite System (GNSS), das observações efectuadas pelo receptor e da informação proveniente do European Geostationary Navigation Overlay System (EGNOS). O objectivo é determinar, a partir deste conjunto de informação e para cada plataforma ligada, a posição em modo absoluto, as correcções diferenciais e, finalmente, a posição em modo diferencial. Optou-se por receber as correcções diferenciais de área alargada do EGNOS através da Internet, permitindo, assim, que receptores sem capacidade de receber directamente informação do EGNOS possam também usufruir desta fonte de informação complementar. As correcções diferenciais a aplicar às observações de cada receptor são geradas através do conceito de estacão de referência virtual - Virtual Reference Station (VRS) - a partir da posição aproximada do receptor e das correcções de área alargada provenientes do EGNOS. A determinação da posição em modo diferencial das plataformas móveis é efectuada segundo o conceito de Inverted Di®erential Global Navigation Satellite System (IDGNSS) e utilizando uma arquitectura do tipo Cliente-Servidor. Por último, os resultados, que são armazenados numa base de dados, são disponibilizados ao utilizador através de uma aplicação Web. O utilizador pode, assim, efectuar o seguimento de qualquer plataforma móvel ligada ao sistema a partir de qualquer dispositivo com navegador e acesso à Internet.

Clustering an interval data set : are the main partitions similar to a priori partition?

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Disseminating data using broadcast when topology is unknown

Consider the problem of disseminating data from an arbitrary source node to all other nodes in a distributed computer system, like Wireless Sensor Networks (WSNs). We assume that wireless broadcast is used and nodes do not know the topology. We propose new protocols which disseminate data faster and use fewer broadcasts than the simple broadcast protocol.

Ethernet-based systems: contributions to the holistic analysis

A number of characteristics are boosting the eagerness of extending Ethernet to also cover factory-floor distributed real-time applications. Full-duplex links, non-blocking and priority-based switching, bandwidth availability, just to mention a few, are characteristics upon which that eagerness is building up. But, will Ethernet technologies really manage to replace traditional Fieldbus networks? To this question, Fieldbus fundamentalists often argue that the two technologies are not comparable. In fact, Ethernet technology, by itself, does not include features above the lower layers of the OSI communication model. Where are the higher layers that permit building real industrial applications? And, taking for free that they are available, what is the impact of those protocols, mechanisms and application models on the overall performance of Ethernetbased distributed factory-floor applications? In this paper we provide some contributions that may pave the way towards providing some reasonable answers to these issues.

Industrial ethernet: building blocks for a holistic approach

For industrial environments it is true that Ethernet technologies are there to stay. In fact, a number of characteristics are boosting the eagerness of extending Ethernet to also cover factory-floor applications. Fullduplex links, non-blocking and priority-based switching, bandwidth availability, just to mention a few, are characteristics upon which that eagerness is building up. But, will Ethernet technologies really manage to replace traditional field bus networks? Fieldbus fundamentalists often argue that the two things are not comparable. In fact, Ethernet technology, by itself, does not include features above the lower layers of the OSI communication model. Where are the higher layers and the application enablers that permit building real industrial applications? And, taking for free that they are available, what is the impact of those protocols, mechanisms and application models on the overall performance of Ethernet-based distributed factory-floor applications?

INDEPTH: timeliness assessment of ethernet/IP-based systems

The continuous improvement of Ethernet technologies is boosting the eagerness of extending their use to cover factory-floor distributed real time applications. Indeed, it is remarkable the considerable amount of research work that has been devoted to the timing analysis of Ethernet-based technologies in the past few years. It happens, however, that the majority of those works are restricted to the analysis of sub-sets of the overall computing and communication system, thus without addressing timeliness in a holistic fashion. To this end, we address an approach, based on simulation, aiming at extracting temporal properties of commercial-off-the-shelf (COTS) Ethernet-based factory-floor distributed systems. This framework is applied to a specific COTS technology, Ethernet/IP. We reason about the modeling and simulation of Ethernet/IP-based systems, and on the use of statistical analysis techniques to provide useful results on timeliness. The approach is part of a wider framework related to the research project INDEPTH NDustrial-Ethernet ProTocols under Holistic analysis.

Timeliness in COTS factory-floor distributed systems: What role for simulation?

In the past few years, a significant amount of work has been devoted to the timing analysis of Ethernet-based technologies. However, none of these address the problem of timeliness evaluation at a holistic level. This paper describes a research framework embracing this objective. It is advocated that, simulation models can be a powerful tool, not only for timeliness evaluation, but also to enable the introduction of less pessimistic assumptions in an analytical response time approach, which, most often, are afflicted with simplifications leading to pessimistic assumptions and, therefore, delusive results. To this end, we address a few inter-linked research topics with the purpose of setting a framework for developing tools suitable to extract temporal properties of commercial-off-the-shelf (COTS) factory-floor communication systems.

Optimising protocol of acquisition and post-processing procedures in the assessment of coronary artery disease by computed tomography

Coronary artery disease (CAD) is currently one of the most prevalent diseases in the world population and calcium deposits in coronary arteries are one direct risk factor. These can be assessed by the calcium score (CS) application, available via a computed tomography (CT) scan, which gives an accurate indication of the development of the disease. However, the ionising radiation applied to patients is high. This study aimed to optimise the protocol acquisition in order to reduce the radiation dose and explain the flow of procedures to quantify CAD. The main differences in the clinical results, when automated or semiautomated post-processing is used, will be shown, and the epidemiology, imaging, risk factors and prognosis of the disease described. The software steps and the values that allow the risk of developingCADto be predicted will be presented. A64-row multidetector CT scan with dual source and two phantoms (pig hearts) were used to demonstrate the advantages and disadvantages of the Agatston method. The tube energy was balanced. Two measurements were obtained in each of the three experimental protocols (64, 128, 256 mAs). Considerable changes appeared between the values of CS relating to the protocol variation. The predefined standard protocol provided the lowest dose of radiation (0.43 mGy). This study found that the variation in the radiation dose between protocols, taking into consideration the dose control systems attached to the CT equipment and image quality, was not sufficient to justify changing the default protocol provided by the manufacturer.

Distributed computing for the factory-floor: a real-time approach using WorldFIP networks

Field communication systems (fieldbuses) are widely used as the communication support for distributed computer-controlled systems (DCCS) within all sort of process control and manufacturing applications. There are several advantages in the use of fieldbuses as a replacement for the traditional point-to-point links between sensors/actuators and computer-based control systems, within which the most relevant is the decentralisation and distribution of the processing power over the field. A widely used fieldbus is the WorldFIP, which is normalised as European standard EN 50170. Using WorldFIP to support DCCS, an important issue is “how to guarantee the timing requirements of the real-time traffic?” WorldFIP has very interesting mechanisms to schedule data transfers, since it explicitly distinguishes periodic and aperiodic traffic. In this paper, we describe how WorldFIP handles these two types of traffic, and more importantly, we provide a comprehensive analysis on how to guarantee the timing requirements of the real-time traffic.

Evaluation of a real time DGPS data server

The goal of the this paper is to show that the DGPS data Internet service we designed and developed provides campus-wide real time access to Differential GPS (DGPS) data and, thus, supports precise outdoor navigation. First we describe the developed distributed system in terms of architecture (a three tier client/server application), services provided (real time DGPS data transportation from remote DGPS sources and campus wide data dissemination) and transmission modes implemented (raw and frame mode over TCP and UDP). Then we present and discuss the results obtained and, finally, we draw some conclusions.

Parallel real-time support for distributed adaptive embedded applications

Real-time embedded applications require to process large amounts of data within small time windows. Parallelize and distribute workloads adaptively is suitable solution for computational demanding applications. The purpose of the Parallel Real-Time Framework for distributed adaptive embedded systems is to guarantee local and distributed processing of real-time applications. This work identifies some promising research directions for parallel/distributed real-time embedded applications.

A framework for the development of parallel and distributed real-time embedded systems

Embedded real-time applications increasingly present high computation requirements, which need to be completed within specific deadlines, but that present highly variable patterns, depending on the set of data available in a determined instant. The current trend to provide parallel processing in the embedded domain allows providing higher processing power; however, it does not address the variability in the processing pattern. Dimensioning each device for its worst-case scenario implies lower average utilization, and increased available, but unusable, processing in the overall system. A solution for this problem is to extend the parallel execution of the applications, allowing networked nodes to distribute the workload, on peak situations, to neighbour nodes. In this context, this report proposes a framework to develop parallel and distributed real-time embedded applications, transparently using OpenMP and Message Passing Interface (MPI), within a programming model based on OpenMP. The technical report also devises an integrated timing model, which enables the structured reasoning on the timing behaviour of these hybrid architectures.

Scalable and efficient data processing in networked control systems

Network control systems (NCSs) are spatially distributed systems in which the communication between sensors, actuators and controllers occurs through a shared band-limited digital communication network. However, the use of a shared communication network, in contrast to using several dedicated independent connections, introduces new challenges which are even more acute in large scale and dense networked control systems. In this paper we investigate a recently introduced technique of gathering information from a dense sensor network to be used in networked control applications. Obtaining efficiently an approximate interpolation of the sensed data is exploited as offering a good tradeoff between accuracy in the measurement of the input signals and the delay to the actuation. These are important aspects to take into account for the quality of control. We introduce a variation to the state-of-the-art algorithms which we prove to perform relatively better because it takes into account the changes over time of the input signal within the process of obtaining an approximate interpolation.

A distributed algorithm for hexagonal topology formation in wireless sensor networks

Hexagonal wireless sensor network refers to a network topology where a subset of nodes have six peer neighbors. These nodes form a backbone for multi-hop communications. In a previous work, we proposed the use of hexagonal topology in wireless sensor networks and discussed its properties in relation to real-time (bounded latency) multi-hop communications in large-scale deployments. In that work, we did not consider the problem of hexagonal topology formation in practice - which is the subject of this research. In this paper, we present a decentralized algorithm that forms the hexagonal topology backbone in an arbitrary but sufficiently dense network deployment. We implemented a prototype of our algorithm in NesC for TinyOS based platforms. We present data from field tests of our implementation, collected using a deployment of fifty wireless sensor nodes.

Correlation modeling for a distributed scalable video codec based on the HEVC standard

The growing heterogeneity of networks, devices and consumption conditions asks for flexible and adaptive video coding solutions. The compression power of the HEVC standard and the benefits of the distributed video coding paradigm allow designing novel scalable coding solutions with improved error robustness and low encoding complexity while still achieving competitive compression efficiency. In this context, this paper proposes a novel scalable video coding scheme using a HEVC Intra compliant base layer and a distributed coding approach in the enhancement layers (EL). This design inherits the HEVC compression efficiency while providing low encoding complexity at the enhancement layers. The temporal correlation is exploited at the decoder to create the EL side information (SI) residue, an estimation of the original residue. The EL encoder sends only the data that cannot be inferred at the decoder, thus exploiting the correlation between the original and SI residues; however, this correlation must be characterized with an accurate correlation model to obtain coding efficiency improvements. Therefore, this paper proposes a correlation modeling solution to be used at both encoder and decoder, without requiring a feedback channel. Experiments results confirm that the proposed scalable coding scheme has lower encoding complexity and provides BD-Rate savings up to 3.43% in comparison with the HEVC Intra scalable extension under development. © 2014 IEEE.