Per-antenna rate and power control for MIMO layered architectures in the low- and high-power regimes

In a MIMO layered architecture, several codewordsare transmitted from a multiplicity of antennas. Although thespectral efficiency is maximized if the rates of these codewordsare separately controlled, the feedback rate within the linkadaptation loop is reduced if they are constrained to be identical.This poses a direct tradeoff between performance andfeedback overhead. This paper provides analytical expressionsthat quantify the difference in spectral efficiency between bothapproaches for arbitrary numbers of antennas. Specifically, thecharacterization takes place in the realm of the low- and highpowerregimes via expansions that are shown to have a widerange of validity.In addition, the possibility of adjusting the transmit powerof each codeword individually is considered as an alternative tothe separate control of their rates. Power allocation, however,turns out to be inferior to rate control within the context of thisproblem.

Performance evaluation of a cooperative reputation system for vehicular delay-tolerant networks

In the last decade, both scientific community and automotive industry enabled communications among vehicles in different kinds of scenarios proposing different vehicular architectures. Vehicular delay-tolerant networks (VDTNs) were proposed as a solution to overcome some of the issues found in other vehicular architectures, namely, in dispersed regions and emergency scenarios. Most of these issues arise from the unique characteristics of vehicular networks. Contrary to delay-tolerant networks (DTNs), VDTNs place the bundle layer under the network layer in order to simplify the layered architecture and enable communications in sparse regions characterized by long propagation delays, high error rates, and short contact durations. However, such characteristics turn contacts very important in order to exchange as much information as possible between nodes at every contact opportunity. One way to accomplish this goal is to enforce cooperation between network nodes. To promote cooperation among nodes, it is important that nodes share their own resources to deliver messages from others. This can be a very difficult task, if selfish nodes affect the performance of cooperative nodes. This paper studies the performance of a cooperative reputation system that detects, identify, and avoid communications with selfish nodes. Two scenarios were considered across all the experiments enforcing three different routing protocols (First Contact, Spray and Wait, and GeoSpray). For both scenarios, it was shown that reputation mechanisms that punish aggressively selfish nodes contribute to increase the overall network performance.

MVC-arkkitehtuurin toteuttaminen suunnittelumalleja käyttäen

Tässä insinöörityössä tutkittiin alan kirjallisuuden kautta MVC-arkkitehtuuria ja suunnittelumalleja. Työn tavoitteena oli toteuttaa käytännön esimerkki, joka yhdistää MVC-arkkitehtuurin ja suunnittelumallit. Työssä lähdettiin liikkeelle perehtymällä ohjelmistoarkkitehtuuriin ja sen eri muotoihin. Keskeiseksi näistä nousi kerrosarkkitehtuuri, joka on myös MVC-arkkitehtuurin rakenne. Itse MVC ei ole käsitteenä eikä konseptina uusi. Norjalainen Trygve Reenskaug on julkaissut ensimmäiset tutkielmat siitä jo 1970-luvulla. Kirjallisuutta tutkittaessa selvisikin, että MVC on kuitenkin pysynyt suhteellisen muuttumattomana. Lisäksi se on edelleen käytössä etenkin interaktiivisten sovellusten suunnittelutyökaluna. Myös useimmat webtason sovelluskehykset käyttävät MVC-mallia. Toinen tutkimuksen kohteena ollut alue oli suunnittelumallit. Ne ovat hyvin abstraktin tason ratkaisuja yleisimpiin suunnitteluongelmiin. Suunnittelumalleja tutkittaessa huomattiin, että niiden käyttöä suunnittelutyössä rajoittaa niiden rajallinen tuntemus. Lisäksi abstraktin esitystavan niitä voi olla hankala soveltaa. Niiden hyödyntäminen käytännön työskentelyssä vaatiikin hyvin syvällistä ohjelmoinnin ja ohjelmointitekniikoiden tuntemusta. Tämän työn kirjallisuustutkimusta käytettiin hyväksi painoindeksisovelluksessa, joka toteutettiin MVC-arkkitehtuurin rakenteen mukaan suunnittelumalleja apuna käyttäen. Sovelluksen toteuttamista helpotti huomattavasti MVC-rakenteen yleisyys. Käytetyt suunnittelumallitkin löytyivät suositusten perusteella. Käytettyjen ratkaisujen vuoksi ohjelman rakenteesta tuli selkeä ja se on helposti laajennettavissa. Läpikäydyn kirjallisuuden ja toteutetun käytännön esimerkin perusteella voidaan todeta, että arkkitehtuurien ja suunnittelumallien käyttämiseen pitäisi pyrkiä. Niiden avulla saavutetaan ylläpidettäviä, muutossietoisia ja laajennettavia sovelluksia.

Java-kieleen perustuvien www-sovellusten suorituskyvyn testaus ja parantaminen

Testauksesta on tullut oleellinen, yhä tärkeämpi sovelluskehitysprojektien osa. Sovelluksilta vaaditaan luotettavuutta kaikilla niiden toiminnan osa-alueilla. Suorituskykyyn liittyvät asiat ovat keskeinen osa näitä vaatimuksia erityisesti, kun kyse on Internetissä toimivista www-sovelluksista. Aluksi työssä esitellään erilaisia sovellusten testausmenetelmiä. Siinä kerrotaan yleisimmistä menetelmistä, joiden avulla pyritään sovelluksista löytämään vääränlaiset toimintatavat suhteessa niiden määriteltyihin toimintatapoihin. Testauksen tulosten avulla pystytään keskittymään oikeisiin kohtiin sovellusten toiminnan korjaamisessa. Työssä analysoidaan www-sovellusten rakennetta yleisen kerrosarkkitehtuurin eri kerrosten ominaisuuksia ja niihin sisältyviä keskeisimpiä sovellusten suorituskykyyn vaikuttavia tekijöitä kuvaillen. Näiden, www-sovellusten eri osien suorituskykyyn vaikuttavien ominaisuuksien perusteella esitellään esimerkkejä, kuinka Java-kieleen perustuvien www-sovellusten suorituskykyä voidaan parantaa. Lisäksi työssä kuvataan, kuinka erityisesti ilmaisella Apache JMeter-sovelluksella voidaan Java-kieleen perustuvien www-sovellusten suorituskykyä mitata. Työn tuloksena esitellään lopuksi suorituskyvyn testaus- ja parannusprosessi. Sen tarkoitus on selkeyttää erityisesti Java-kieleen perustuvien www-sovellusten suorituskyvyn testauksessa ja parannuksessa huomioon otettavia asioita.

Software product line for power converters

Työn tilaajana toimi Visedo Oy. Työn tavoitteina oli tutkia Visedo Oy:n ohjelmistokehityksen nykytila, tunnistaa seuraavat parannuskohteet ja antaa ohjeita havaittujen parannuskohteiden korjaamiseksi. Visedo Oy:n tehonmuokkain ohjelmistokehityksen nykytilaa käsiteltiin neljän valitun osa-alueen näkökulmasta: ohjelmistoarkkitehtuurityyli, komponenttipohjainen ohjelmistokehitys, ohjelmistotuotelinjojen kehitysmenetelmät ja ohjelmistovariaatioiden hallinta. Valituilla osa-alueilla havaittujen parannuskohteiden perusteella annettiin korjausehdotuksia: ohjelmistoarkkitehtuurin rakenteeseen, komponenttien jakautumiselle, komponenttien koostamiselle ja komponenttien versioinnille. Lisäksi ehdotettiin uudenlaista ohjelmistotuotelinja rakennetta, joka yhdistää kerros- ja komponenttipohjaiset arkkitehtuurityylit mahdollistaen ominaisuuksiltaan eroavien tehonmuokkain ohjelmistojen hallinnan.

Neural networks for power systems alarm handling

A multi-layered architecture of self-organizing neural networks is being developed as part of an intelligent alarm processor to analyse a stream of power grid fault messages and provide a suggested diagnosis of the fault location. Feedback concerning the accuracy of the diagnosis is provided by an object-oriented grid simulator which acts as an external supervisor to the learning system. The utilization of artificial neural networks within this environment should result in a powerful generic alarm processor which will not require extensive training by a human expert to produce accurate results.

A Framework supporting collaboration on the distributed design of integrated systems

The work described in this thesis aims to support the distributed design of integrated systems and considers specifically the need for collaborative interaction among designers. Particular emphasis was given to issues which were only marginally considered in previous approaches, such as the abstraction of the distribution of design automation resources over the network, the possibility of both synchronous and asynchronous interaction among designers and the support for extensible design data models. Such issues demand a rather complex software infrastructure, as possible solutions must encompass a wide range of software modules: from user interfaces to middleware to databases. To build such structure, several engineering techniques were employed and some original solutions were devised. The core of the proposed solution is based in the joint application of two homonymic technologies: CAD Frameworks and object-oriented frameworks. The former concept was coined in the late 80's within the electronic design automation community and comprehends a layered software environment which aims to support CAD tool developers, CAD administrators/integrators and designers. The latter, developed during the last decade by the software engineering community, is a software architecture model to build extensible and reusable object-oriented software subsystems. In this work, we proposed to create an object-oriented framework which includes extensible sets of design data primitives and design tool building blocks. Such object-oriented framework is included within a CAD Framework, where it plays important roles on typical CAD Framework services such as design data representation and management, versioning, user interfaces, design management and tool integration. The implemented CAD Framework - named Cave2 - followed the classical layered architecture presented by Barnes, Harrison, Newton and Spickelmier, but the possibilities granted by the use of the object-oriented framework foundations allowed a series of improvements which were not available in previous approaches: - object-oriented frameworks are extensible by design, thus this should be also true regarding the implemented sets of design data primitives and design tool building blocks. This means that both the design representation model and the software modules dealing with it can be upgraded or adapted to a particular design methodology, and that such extensions and adaptations will still inherit the architectural and functional aspects implemented in the object-oriented framework foundation; - the design semantics and the design visualization are both part of the object-oriented framework, but in clearly separated models. This allows for different visualization strategies for a given design data set, which gives collaborating parties the flexibility to choose individual visualization settings; - the control of the consistency between semantics and visualization - a particularly important issue in a design environment with multiple views of a single design - is also included in the foundations of the object-oriented framework. Such mechanism is generic enough to be also used by further extensions of the design data model, as it is based on the inversion of control between view and semantics. The view receives the user input and propagates such event to the semantic model, which evaluates if a state change is possible. If positive, it triggers the change of state of both semantics and view. Our approach took advantage of such inversion of control and included an layer between semantics and view to take into account the possibility of multi-view consistency; - to optimize the consistency control mechanism between views and semantics, we propose an event-based approach that captures each discrete interaction of a designer with his/her respective design views. The information about each interaction is encapsulated inside an event object, which may be propagated to the design semantics - and thus to other possible views - according to the consistency policy which is being used. Furthermore, the use of event pools allows for a late synchronization between view and semantics in case of unavailability of a network connection between them; - the use of proxy objects raised significantly the abstraction of the integration of design automation resources, as either remote or local tools and services are accessed through method calls in a local object. The connection to remote tools and services using a look-up protocol also abstracted completely the network location of such resources, allowing for resource addition and removal during runtime; - the implemented CAD Framework is completely based on Java technology, so it relies on the Java Virtual Machine as the layer which grants the independence between the CAD Framework and the operating system. All such improvements contributed to a higher abstraction on the distribution of design automation resources and also introduced a new paradigm for the remote interaction between designers. The resulting CAD Framework is able to support fine-grained collaboration based on events, so every single design update performed by a designer can be propagated to the rest of the design team regardless of their location in the distributed environment. This can increase the group awareness and allow a richer transfer of experiences among them, improving significantly the collaboration potential when compared to previously proposed file-based or record-based approaches. Three different case studies were conducted to validate the proposed approach, each one focusing one a subset of the contributions of this thesis. The first one uses the proxy-based resource distribution architecture to implement a prototyping platform using reconfigurable hardware modules. The second one extends the foundations of the implemented object-oriented framework to support interface-based design. Such extensions - design representation primitives and tool blocks - are used to implement a design entry tool named IBlaDe, which allows the collaborative creation of functional and structural models of integrated systems. The third case study regards the possibility of integration of multimedia metadata to the design data model. Such possibility is explored in the frame of an online educational and training platform.

Multilayer optimization in radio resource allocation for the packet transmission in wireless networks

In the last decade mobile wireless communications have witnessed an explosive growth in the user’s penetration rate and their widespread deployment around the globe. It is expected that this tendency will continue to increase with the convergence of fixed Internet wired networks with mobile ones and with the evolution to the full IP architecture paradigm. Therefore mobile wireless communications will be of paramount importance on the development of the information society of the near future. In particular a research topic of particular relevance in telecommunications nowadays is related to the design and implementation of mobile communication systems of 4th generation. 4G networks will be characterized by the support of multiple radio access technologies in a core network fully compliant with the Internet Protocol (all IP paradigm). Such networks will sustain the stringent quality of service (QoS) requirements and the expected high data rates from the type of multimedia applications to be available in the near future. The approach followed in the design and implementation of the mobile wireless networks of current generation (2G and 3G) has been the stratification of the architecture into a communication protocol model composed by a set of layers, in which each one encompasses some set of functionalities. In such protocol layered model, communications is only allowed between adjacent layers and through specific interface service points. This modular concept eases the implementation of new functionalities as the behaviour of each layer in the protocol stack is not affected by the others. However, the fact that lower layers in the protocol stack model do not utilize information available from upper layers, and vice versa, downgrades the performance achieved. This is particularly relevant if multiple antenna systems, in a MIMO (Multiple Input Multiple Output) configuration, are implemented. MIMO schemes introduce another degree of freedom for radio resource allocation: the space domain. Contrary to the time and frequency domains, radio resources mapped into the spatial domain cannot be assumed as completely orthogonal, due to the amount of interference resulting from users transmitting in the same frequency sub-channel and/or time slots but in different spatial beams. Therefore, the availability of information regarding the state of radio resources, from lower to upper layers, is of fundamental importance in the prosecution of the levels of QoS expected from those multimedia applications. In order to match applications requirements and the constraints of the mobile radio channel, in the last few years researches have proposed a new paradigm for the layered architecture for communications: the cross-layer design framework. In a general way, the cross-layer design paradigm refers to a protocol design in which the dependence between protocol layers is actively exploited, by breaking out the stringent rules which restrict the communication only between adjacent layers in the original reference model, and allowing direct interaction among different layers of the stack. An efficient management of the set of available radio resources demand for the implementation of efficient and low complexity packet schedulers which prioritize user’s transmissions according to inputs provided from lower as well as upper layers in the protocol stack, fully compliant with the cross-layer design paradigm. Specifically, efficiently designed packet schedulers for 4G networks should result in the maximization of the capacity available, through the consideration of the limitations imposed by the mobile radio channel and comply with the set of QoS requirements from the application layer. IEEE 802.16e standard, also named as Mobile WiMAX, seems to comply with the specifications of 4G mobile networks. The scalable architecture, low cost implementation and high data throughput, enable efficient data multiplexing and low data latency, which are attributes essential to enable broadband data services. Also, the connection oriented approach of Its medium access layer is fully compliant with the quality of service demands from such applications. Therefore, Mobile WiMAX seems to be a promising 4G mobile wireless networks candidate. In this thesis it is proposed the investigation, design and implementation of packet scheduling algorithms for the efficient management of the set of available radio resources, in time, frequency and spatial domains of the Mobile WiMAX networks. The proposed algorithms combine input metrics from physical layer and QoS requirements from upper layers, according to the crosslayer design paradigm. Proposed schedulers are evaluated by means of system level simulations, conducted in a system level simulation platform implementing the physical and medium access control layers of the IEEE802.16e standard.

Trendtv : uma arquitetura para mudança automática de canais de TV baseada em redes sociais virtuais com graus de amizade e suporte a múltiplos dispositivos no cenário da TV digital brasileira

Due to the large amount of television content, which emerged from the Digital TV, viewers are facing a new challenge, how to find interesting content intuitively and efficiently. The Personalized Electronic Programming Guides (pEPG) arise as an answer to this complex challenge. We propose TrendTV a layered architecture that allows the formation of social networks among viewers of Interactive Digital TV based on online microblogging. Associated with a pEPG, this social network allows the viewer to perform content filtering on a particular subject from the indications made by other viewers of his network. Allowing the viewer to create his own indications for a particular content when it is displayed, or to analyze the importance of a particular program online, based on these indications. This allows any user to perform filtering on content and generate or exchange information with other users in a flexible and transparent way, using several different devices (TVs, Smartphones, Tablets or PCs). Moreover, this architecture defines a mechanism to perform the automatic exchange of channels based on the best program that is showing at the moment, suggesting new components to be added to the middleware of the Brazilian Digital TV System (Ginga). The result is a constructed and dynamic database containing the classification of several TV programs as well as an application to automatically switch to the best channel of the moment

Neuromorphic Detection of Vowel Representation Spaces

In this paper a layered architecture to spot and characterize vowel segments in running speech is presented. The detection process is based on neuromorphic principles, as is the use of Hebbian units in layers to implement lateral inhibition, band probability estimation and mutual exclusion. Results are presented showing how the association between the acoustic set of patterns and the phonologic set of symbols may be created. Possible applications of this methodology are to be found in speech event spotting, in the study of pathological voice and in speaker biometric characterization, among others.

A universal scaling law between gray matter and white matter of cerebral cortex

Neocortex, a new and rapidly evolving brain structure in mammals, has a similar layered architecture in species over a wide range of brain sizes. Larger brains require longer fibers to communicate between distant cortical areas; the volume of the white matter that contains long axons increases disproportionally faster than the volume of the gray matter that contains cell bodies, dendrites, and axons for local information processing, according to a power law. The theoretical analysis presented here shows how this remarkable anatomical regularity might arise naturally as a consequence of the local uniformity of the cortex and the requirement for compact arrangement of long axonal fibers. The predicted power law with an exponent of 4/3 minus a small correction for the thickness of the cortex accurately accounts for empirical data spanning several orders of magnitude in brain sizes for various mammalian species, including human and nonhuman primates.

A generic model of execution for synthesizing domain-specific models

Software engineering researchers are challenged to provide increasingly more powerful levels of abstractions to address the rising complexity inherent in software solutions. One new development paradigm that places models as abstraction at the forefront of the development process is Model-Driven Software Development (MDSD). MDSD considers models as first class artifacts, extending the capability for engineers to use concepts from the problem domain of discourse to specify apropos solutions. A key component in MDSD is domain-specific modeling languages (DSMLs) which are languages with focused expressiveness, targeting a specific taxonomy of problems. The de facto approach used is to first transform DSML models to an intermediate artifact in a HLL e.g., Java or C++, then execute that resulting code.^ Our research group has developed a class of DSMLs, referred to as interpreted DSMLs (i-DSMLs), where models are directly interpreted by a specialized execution engine with semantics based on model changes at runtime. This execution engine uses a layered architecture and is referred to as a domain-specific virtual machine (DSVM). As the domain-specific model being executed descends the layers of the DSVM the semantic gap between the user-defined model and the services being provided by the underlying infrastructure is closed. The focus of this research is the synthesis engine, the layer in the DSVM which transforms i-DSML models into executable scripts for the next lower layer to process.^ The appeal of an i-DSML is constrained as it possesses unique semantics contained within the DSVM. Existing DSVMs for i-DSMLs exhibit tight coupling between the implicit model of execution and the semantics of the domain, making it difficult to develop DSVMs for new i-DSMLs without a significant investment in resources.^ At the onset of this research only one i-DSML had been created for the user- centric communication domain using the aforementioned approach. This i-DSML is the Communication Modeling Language (CML) and its DSVM is the Communication Virtual machine (CVM). A major problem with the CVM's synthesis engine is that the domain-specific knowledge (DSK) and the model of execution (MoE) are tightly interwoven consequently subsequent DSVMs would need to be developed from inception with no reuse of expertise.^ This dissertation investigates how to decouple the DSK from the MoE and subsequently producing a generic model of execution (GMoE) from the remaining application logic. This GMoE can be reused to instantiate synthesis engines for DSVMs in other domains. The generalized approach to developing the model synthesis component of i-DSML interpreters utilizes a reusable framework loosely coupled to DSK as swappable framework extensions.^ This approach involves first creating an i-DSML and its DSVM for a second do- main, demand-side smartgrid, or microgrid energy management, and designing the synthesis engine so that the DSK and MoE are easily decoupled. To validate the utility of the approach, the SEs are instantiated using the GMoE and DSKs of the two aforementioned domains and an empirical study to support our claim of reduced developmental effort is performed.^

A Generic Model of Execution for Synthesizing Domain-Specific Models

Software engineering researchers are challenged to provide increasingly more pow- erful levels of abstractions to address the rising complexity inherent in software solu- tions. One new development paradigm that places models as abstraction at the fore- front of the development process is Model-Driven Software Development (MDSD). MDSD considers models as first class artifacts, extending the capability for engineers to use concepts from the problem domain of discourse to specify apropos solutions. A key component in MDSD is domain-specific modeling languages (DSMLs) which are languages with focused expressiveness, targeting a specific taxonomy of problems. The de facto approach used is to first transform DSML models to an intermediate artifact in a HLL e.g., Java or C++, then execute that resulting code. Our research group has developed a class of DSMLs, referred to as interpreted DSMLs (i-DSMLs), where models are directly interpreted by a specialized execution engine with semantics based on model changes at runtime. This execution engine uses a layered architecture and is referred to as a domain-specific virtual machine (DSVM). As the domain-specific model being executed descends the layers of the DSVM the semantic gap between the user-defined model and the services being provided by the underlying infrastructure is closed. The focus of this research is the synthesis engine, the layer in the DSVM which transforms i-DSML models into executable scripts for the next lower layer to process. The appeal of an i-DSML is constrained as it possesses unique semantics contained within the DSVM. Existing DSVMs for i-DSMLs exhibit tight coupling between the implicit model of execution and the semantics of the domain, making it difficult to develop DSVMs for new i-DSMLs without a significant investment in resources. At the onset of this research only one i-DSML had been created for the user- centric communication domain using the aforementioned approach. This i-DSML is the Communication Modeling Language (CML) and its DSVM is the Communication Virtual machine (CVM). A major problem with the CVM’s synthesis engine is that the domain-specific knowledge (DSK) and the model of execution (MoE) are tightly interwoven consequently subsequent DSVMs would need to be developed from inception with no reuse of expertise. This dissertation investigates how to decouple the DSK from the MoE and sub- sequently producing a generic model of execution (GMoE) from the remaining appli- cation logic. This GMoE can be reused to instantiate synthesis engines for DSVMs in other domains. The generalized approach to developing the model synthesis com- ponent of i-DSML interpreters utilizes a reusable framework loosely coupled to DSK as swappable framework extensions. This approach involves first creating an i-DSML and its DSVM for a second do- main, demand-side smartgrid, or microgrid energy management, and designing the synthesis engine so that the DSK and MoE are easily decoupled. To validate the utility of the approach, the SEs are instantiated using the GMoE and DSKs of the two aforementioned domains and an empirical study to support our claim of reduced developmental effort is performed.

Uma arquitetura de referência para o processamento distribuído de stream de dados em soluções analíticas de near real-time

Dissertação (mestrado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Elétrica, 2015.

Validação Computacional tendo em vista a Interoperabilidade entre os Veículos Aéreos Não Tripulados

Nos dias de hoje, com o contínuo desenvolvimento e inovação no campo dos UAVs (Unmanned Aerial Vehciles), o mundo já tem como adquiridos os benefícios que estes sistemas podem fornecer. Os benefícios obtidos com a aplicação destes sistemas abrange tanto as forças armadas como industrias e organizações civis. Todas as nações e indústrias querem ter uma cota parte no futuro desta tecnologia. Diferentes UAVs foram desenvolvidos, mas estes, diferem em termos de arquitetura e protocolos de comunicação. Protocolos como o STANAG 4586, MAVLink, JAUS e ROS são só alguns exemplos. A proliferação de informação através destes sistemas e as suas consolas de comando e controlo é uma das principais preocupações, principalmente pelas forças armadas. Uma das principais prioridades é combinar forças de diferentes nações, principalmente pelos membros NATO. A necessidade de uma consola para cada tipo de sistema devido à falta de padronização apresenta assim um problema. É conhecida a necessidade de uma padronização em termos de arquitetura por camadas e de comunicação tendo em vista a interoperabilidade entre estes sistemas. Não existe nenhuma que esteja a ser implementada como documento padrão. Pretende-se que o STANAG 4586 seja o documento padrão para os membros NATO e, por conseguinte, todos os esforços estão direcionados em desenvolver sistemas que o consigam implementar. Os diferentes UAVs já existentes possuem o seu próprio protocolo de comunicação e a alteração de toda a sua estrutura não é fácil. A ideia de fazer uma conversão de linguagens como alternativa surge como uma solução teórica ótima. Utilizando um piloto automático que comunica com a sua consola através da linguagem MAVLink esta dissertação tem como objetivo desenvolver um programa computacional que converta as mensagens MAVLink em STANAG 4586 e estudar se o tempo de conversão é operacionalmente válido tendo em conta os requisitos operacionais dos sistemas.