Cooperation using a robotic ad hoc network made from Bluetooth, JXTA, OSGi and other commercial off the shelf (COTS) products

Abstract - Mobile devices in the near future will need to collaborate to fulfill their function. Collaboration will be done by communication. We use a real world example of robotic soccer to come up with the necessary structures required for robotic communication. A review of related work is done and it is found no examples come close to providing a RANET. The robotic ad hoc network (RANET) we suggest uses existing structures pulled from the areas of wireless networks, peer to peer and software life-cycle management. Gaps are found in the existing structures so we describe how to extend some structures to satisfy the design. The RANET design supports robot cooperation by exchanging messages, discovering needed skills that other robots on the network may possess and the transfer of these skills. The network is built on top of a Bluetooth wireless network and uses JXTA to communicate and transfer skills. OSGi bundles form the skills that can be transferred. To test the nal design a reference implementation is done. Deficiencies in some third party software is found, specifically JXTA and JamVM and GNU Classpath. Lastly we look at how to fix the deciencies by porting the JXTA C implementation to the target robotic platform and potentially eliminating the TCP/IP layer, using UDP instead of TCP or using an adaptive TCP/IP stack. We also propose a future areas of investigation; how to seed the configuration for the Personal area network (PAN) Bluetooth protocol extension so a Bluetooth TCP/IP link is more quickly formed and using the STP to allow multi-hop messaging and transfer of skills.

A condition monitoring platform using COTS wireless sensor networks - Lessons and experience

Developments in Micro-Electro-Mechanical Systems (MEMS), wireless communication systems and ad-hoc networking have created new dimensions to improve asset management not only during the operational phase but throughout an asset's lifecycle based on using improved quality of information obtained with respect to two key aspects of an asset: its location and condition. In this paper, we present our experience as well as lessons learnt from building a prototype condition monitoring platform to demonstrate and to evaluate the use of COTS wireless sensor networks to develop a prototype condition monitoring platform with the aim of improving asset management by providing accurate and real-time information. © 2010 IEEE.

A study of user requirements for COTS: computer off the shelf software solutions

[This abstract is based on the authors' abstract.]Three new standards to be applied when adopting commercial computer off-the-shelf (COTS) software solutions are discussed. The first standard is for a COTS software life cycle, the second for a software solution user requirements life cycle, and the third is a checklist to help in completing the requirements. The standards are based on recent major COTS software solution implementations.

WCET analysis considering contention on memory bus in COTS-based multicores

The usage of COTS-based multicores is becoming widespread in the field of embedded systems. Providing realtime guarantees at design-time is a pre-requisite to deploy real-time systems on these multicores. This necessitates the consideration of the impact of the contention due to shared low-level hardware resources on the Worst-Case Execution Time (WCET) of the tasks. As a step towards this aim, this paper first identifies the different factors that make the WCET analysis a challenging problem in a typical COTS-based multicore system. Then, we propose and prove, a mathematically correct method to determine tight upper bounds on the WCET of the tasks, when they are co-scheduled on different cores.

Response time analysis of COTS-Based multicores considering the contention on the shared memory bus

The current industry trend is towards using Commercially available Off-The-Shelf (COTS) based multicores for developing real time embedded systems, as opposed to the usage of custom-made hardware. In typical implementation of such COTS-based multicores, multiple cores access the main memory via a shared bus. This often leads to contention on this shared channel, which results in an increase of the response time of the tasks. Analyzing this increased response time, considering the contention on the shared bus, is challenging on COTS-based systems mainly because bus arbitration protocols are often undocumented and the exact instants at which the shared bus is accessed by tasks are not explicitly controlled by the operating system scheduler; they are instead a result of cache misses. This paper makes three contributions towards analyzing tasks scheduled on COTS-based multicores. Firstly, we describe a method to model the memory access patterns of a task. Secondly, we apply this model to analyze the worst case response time for a set of tasks. Although the required parameters to obtain the request profile can be obtained by static analysis, we provide an alternative method to experimentally obtain them by using performance monitoring counters (PMCs). We also compare our work against an existing approach and show that our approach outperforms it by providing tighter upper-bound on the number of bus requests generated by a task.

Finding an upper bound on the increase in execution time due to contention on the memory bus in COTS-based multicore systems

Contention on the memory bus in COTS based multicore systems is becoming a major determining factor of the execution time of a task. Analyzing this extra execution time is non-trivial because (i) bus arbitration protocols in such systems are often undocumented and (ii) the times when the memory bus is requested to be used are not explicitly controlled by the operating system scheduler; they are instead a result of cache misses. We present a method for finding an upper bound on the extra execution time of a task due to contention on the memory bus in COTS based multicore systems. This method makes no assumptions on the bus arbitration protocol (other than assuming that it is work-conserving).

Scalable and interference aware wi-fi mesh networks using cots devices

A crescente tendencia no acesso móvel tem sido potenciada pela tecnologia IEEE 802.11. Contudo, estas redes têm alcance rádio limitado. Para a extensão da sua cobertura é possível recorrer a redes emalhadas sem fios baseadas na tecnologia IEEE 802.11, com vantagem do ponto de vista do custo e da flexibilidade de instalação, face a soluções cabladas. Redes emalhadas sem fios constituídas por nós com apenas uma interface têm escalabilidade reduzida. A principal razão dessa limitação deve-se ao uso do mecanismo de acesso ao meio partilhado Carrier Sense Multiple Access with Collision Avoidance (CSMA/CA) em topologias multi-hop. Especificamente, o CSMA/CA não evita o problema do nó escondido levando ao aumento do número de colisões e correspondente degradação de desempenho com impacto direto no throughput e na latência. Com a redução da tecnologia rádio torna-se viável a utilização de múltiplos rádios por nó, sem com isso aumentar significativamente o custo da solução final de comunicações. A utilização de mais do que um rádio por nó de comuniações permite superar os problemas de desempenho inerentes ás redes formadas por nós com apenas um rádio. O objetivo desta tese, passa por desenvolver uma nova solução para redes emalhadas multi-cana, duar-radio, utilizando para isso novos mecanismos que complementam os mecanismos definidos no IEEE 802.11 para o estabelecimento de um Basic Service Set (BSS). A solução é baseada na solução WiFIX, um protocolo de routing para redes emalhadas de interface única e reutiliza os mecanismos já implementados nas redes IEEE 802.11 para difundir métricas que permitam à rede escalar de forma eficaz minimizando o impacto na performance. A rede multi-hop é formada por nós equipados com duas interfaces, organizados numa topologia hierárquica sobre múltiplas relações Access Point (AP) – Station (STA). Os resultados experimentais obtidos mostram a eficácia e o bom desempenho da solução proposta face à solução WiFIX original.

Statistique des coûts et des prestations

On connaît le manque de données permettant de s'assurer que les prestations prises en charge par la LAMal sont adéquates, efficaces et économiques. L'Office fédéral de la santé publique (OFSP) a décidé de proposer et faire valider quelques nouveaux indicateurs. Le but du présent article est de présenter les projets qui vont être mis en oeuvre entre l'été 2008 et 2011. [Intertitres] Identification des maladies. Episodes ambulatoires. Mesure de l'impact des soins sur l'état de santé. Prévention. Etablissement de profils de pratique médicaux. Hospitalisations potentiellement évitables. Calendrier et coût des projets.

Pratiques comptables des hôpitaux et faisabilité d'un calcul de coûts basés sur les Diagnosis Related Groups

Travaux effectués dans le cadre de l'étude "Case Mix" menée par l'Institut universitaire de médecine sociale et préventive de Lausanne et le Service de la santé publique et de la planification sanitaire du canton de Vaud, en collaboration avec les cantons de Berne, Fribourg, Genève, Jura, Neuchâtel, Soleure, Tessin et Valais

La concurrence : un instrument de maîtrise des coûts de la santé?

[Table des matières] 1. Les acteurs du système suisse de santé : les assureurs maladies, les fournisseurs de prestations, l'Etat, les assurés patients. 2. Quelle concurrence pour quelle organisation? : 2.1 Concurrence entre fournisseurs de prestations: Références étrangères (Grande-Bretagne, USA, Pays-Bas); Le système suisse: Financement et planification, Conventions tarifaires, Un élement indispensable à la concurrence: l'information. 2.2 Concurrence entre assureurs maladie. 3. Nouvelles formes d'organisation : 3.1 Les Health Maintenance Organizations (HMO); 3.2 Les HMO en Suisse: un moyen d'endiguer la croissance des coûts; 3.3 Les Nouvelles Orientations de Politique Sanitaire (NOPS); 3.4 La concurrence dans le cadre des réseaux intégrés.

Traité de géométrie descriptive, suivi de la méthode des pl ans cotés et de la théorie des engrenages cylindriques et c oniques, avec une collection d'épures, composée de 71 planc hes

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Doit-on poursuivre les opérations de la centrale Gentilly-2 après 2013? Analyse avantages-coûts économiques.

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Analyse avantages-coûts du projet de modernisation de la rue Notre-Dame à Montréal.

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