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Performance comparison and analysis of ad hoc routing algorithms

Performance comparison and analysis of ad hoc routing algori...

引用

ieee international conference on Performance, computing and Communications (IPCCC)

作者： A. Boukerche Parallel Simulation and Distributed Systems Research Laboratory Department of Computer Science University of North Texas USA

ISBN: (纸本)0780370015

A mobile ad-hoc network (Manet) is a system of wireless mobile nodes dynamically self-organizing in arbitrary and temporary network topologies. People and vehicles can thus be internetworked in areas without a pre-existing communication infrastructure, or when the use of such infrastructure requires wireless extension. Therefore, such networks are designed to operate in widely varying environments, from military networks to low-power sensor networks and other embedded systems. Frequent topology changes caused by node mobility make routing in ad hoc wireless networks a challenging problem. We focus upon routing protocols for ad hoc networks. We study and compare the performance of several routing protocols. A variety of workload and scenarios using a variety of mobility, load and size of the ad hoc network were simulated.

关键词： Performance analysis Algorithm design and analysis Ad hoc networks Network topology Routing protocols Vehicles Internet Mobile communication Wireless sensor networks sensor systems

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Semi-distributed manipulation on a friction force field

Semi-distributed manipulation on a friction force field

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ieee international Workshop on Intelligent Robots and systems (IROS)

作者： J. Sin H. Stephanou Center of Automation Technologies Rensselaer Polytechnic Institute Troy NY USA

distributed manipulation is one of several approaches for the handling of multiple parts, especially when the part size is small therefore gripper-free manipulation is preferred. This paper introduces a modified method, called "semi-distributed manipulation" in which a set of centralized actuation units supplies a friction force field in combination with a distributed force switching mechanism. To implement the method, we have developed an array of pneumatic nozzles with two piezoelectric actuators. Vibratory manipulation is analyzed for part translation, rotation and their combination. The design of the force field over the 2-dimensional nozzle array is formulated as an optimization problem, and its extension to parallel manipulation is discussed.

关键词： Friction Force control Wheels sensor arrays Force sensors Silicon compounds Automation Piezoelectric actuators Design optimization Concurrent computing

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A televiewing system for multiple simultaneous customized perspectives and resolutions

A televiewing system for multiple simultaneous customized pe...

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international conference on Intelligent Transportation

作者： B. Hall Kohsia Huang M. Trivedi Computer Vision and Robotics Research Laboratory CVRR University of California La Jolla CA USA

Recent innovations in real-time machine vision, distributed computing, software architectures and high-speed communication are expanding the available technology for intelligent system development. These technologies allow the realization of intelligent systems that provide the capabilities for a user to experience events from remote locations in an interactive way. In this paper, we describe research aimed at the realization of a powerful televiewing system applied to the traffic incident detection and monitoring needs of today's highways. sensor clusters utilizing both rectilinear and omni-directional cameras provide an interactive, real-time, multi-resolution televiewing interface to emergency response crews. Ultimately, this system will have a direct impact on reducing incident-related highway congestion by improving the quality of information to which emergency personnel have access.

关键词： Intelligent systems Machine intelligence Intelligent sensors Road transportation Technological innovation Real time systems Machine vision distributed computing Software architecture Remote monitoring

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Interoperability and synchronisation of distributed hardware-in-the-loop simulation for underwater robot development: issues and experiments

Interoperability and synchronisation of distributed hardware...

引用

ieee international conference on Robotics and Automation (ICRA)

作者： D.M. Lane G.J. Falconer G. Randall I. Edwards Dept. Computing & Electrical Engineering Heriot-Watt University Edinburgh Scotland UK Heriot-Watt University Edinburgh Edinburgh GB Halliburton Subsea Systems Ltd. Aberdeen Scotland UK

ISBN: (纸本)0780365763

Development and integration of subsystems on advanced robots such as unmanned underwater vehicles, can benefit from the availability of a hardware-in-the-loop (HIL) simulation facility. Although complete interoperability of simulated and real subsystems appears desirable, substantial additional complexity of data flows and hardware can be introduced. Where nonreal time simulations are involved, methods of synchronising subsystems running at different speeds must be employed. These should take account of the realities of starting and stopping real subsystem. The paper reviews some of these issues and presents the CORESIM distributed HIL system based around HLA. The system has been used to evaluate a timeslicing synchronisation approach, and to assist in development of docking, visual servoing and concurrent mapping and localisation systems for underwater vehicles.

关键词： Hardware Computational modeling Testing Underwater vehicles Actuators Robot sensing systems Oceans sensor systems Vehicle dynamics Laboratories

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Localization techniques for a team of small robots

Localization techniques for a team of small robots

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ieee international Workshop on Intelligent Robots and systems (IROS)

作者： R. Grabowski P. Khosla Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Knowledge of position in the context of its surrounding is necessary for robots to build maps and develop path plans. Limitations in odometry and the lack of a priori knowledge reduce the effectiveness of a single robot to retain a sense of position for any extended duration. The problem is only compounded when the scale of the robot is reduced. However, by employing multiple robots we can exploit their distributed nature to provide an external context in which to evaluate sensor readings for mapping and localization. We have designed a team of centimeter-sized robots that coordinate sensing and action to establish and maintain position as they move throughout space. By utilizing low-cost ultrasonic sensors, the team is able to measure the range between each robot pair. We pose these measurements in terms of a position likelihood and combine them to find a global solution that best maximizes the position likelihood of each robot. We also address a unique multipath interference mode that arises as a direct result of the reduced scale of the robot team. We present our experiences with localization and control of a small robot team.

关键词： Robot kinematics Robot sensing systems Orbital robotics Position measurement Gaussian processes Computational Intelligence Society Costs Space missions Gaussian distribution distributed computing

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Simple routing strategies for adversarial systems

Simple routing strategies for adversarial systems

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ieee international conference on Cluster computing

作者： B. Awerbuch P. Berenbrink A. Brinkmann C. Scheideler Johns Hopkins University USA University of Warwick UK Paderborn University Germany

In this paper we consider the problem of delivering dynamically changing input streams in dynamically changing networks where both the topology and the input streams can change in an unpredictable way. In particular, we present two simple distributed balancing algorithms (one for packet injections and one for flow injections) and show that for the case of a single receiver these algorithms will always ensure that the number of packets or flow in the system is bounded at any time step, even for an injection process that completely saturates the capacities of the available edges and even if the network topology changes in a completely unpredictable way. We also show that the maximum number of packets or flow that can be in the system at any time is essentially best possible by providing a lower bound that holds for any online algorithm, whether distributed or not. Interestingly, our balancing algorithms do not behave well in a completely adversarial setting. We show that also in the other extreme of a static network and a static injection pattern the algorithms will converge to a point in which they achieve an average routing time that is close to the best possible average routing time that can be achieved by any strategy. This demonstrates that there are simple algorithms that can be efficient for very different scenarios.

关键词： Routing Network topology distributed algorithms Algorithm design and analysis Mobile ad hoc networks Fault tolerance Robustness Contracts Context modeling Wireless sensor networks

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Dragon: Soft real-time event delivering architecture for networked sensors and appliances 7

Dragon: Soft real-time event delivering architecture for net...

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7th international conference on Real Time computing systems and Applications

作者： Iwai, M Nakazawa, J Tokuda, H Keio Univ Grad Sch Media & Governance Fujisawa Kanagawa 2528520 Japan

ISBN: (纸本)0769509304

This paper presents a new framework for constructing flexible event-driven systems for distributed networked devices and appliances, referred to as Dragon. Dragon enables constructing and modifying an event-driven system easily by visualizing distributed services which are handled in an integrated manner. The update of the system is conducted immediately following a modification by Dragon. Dragon is built on to of Jini/Java and can. be executed on any Jini/Java-compliant machines. In addition, Dragon incorporates soft real-time event delivery to enhance the predictability of behavior of the constructed system. In. this paper, we describe in detail of design and implementation of Dragon.

关键词： Costs Embedded software Hardware Home appliances Home automation IP networks Java Programming profession Real time systems sensor systems

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Dragon: soft real-time event delivering architecture for networked sensors and appliances

Dragon: soft real-time event delivering architecture for net...

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ieee international conference on Embedded and Real-Time computing systems and Applications (RTCSA)

作者： M. Iwai J. Nakazawa H. Tokuda Graduate School of Media and Governance Keio University Fujisawa Kanagawa Japan Faculty of Environmental Information Keio University Fujisawa Kanagawa Japan

Presents a new framework for constructing flexible event-driven systems for distributed networked devices and appliances, referred to as Dragon. Dragon enables constructing and modifying an event-driven system easily by visualizing distributed services which are handled in an integrated manner. The updating of the system is conducted immediately following a modification by Dragon. Dragon is built on to of Jini/Java and can be executed on any Jini/Java-compliant machines. In addition, Dragon incorporates soft real-time event delivery to enhance the predictability of behavior of the constructed system. In this paper, we describe in detail the design and implementation of Dragon.

关键词： Home appliances Java Real time systems sensor systems Hardware Embedded software Home automation IP networks Programming profession Costs

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The paparazzi problem

The paparazzi problem

引用

Proceedings. 2000 ieee/RSJ international conference on Intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： M. Jenkin G. Dudek Department of Computer Science York University Toronto ONT Canada Department of Computer Science McGill University Montreal QUE Canada

Multiple mobile robots, or robot collectives, have been proposed as solutions to various tasks in which distributed sensing and action are required. Here we consider applying a collective of robots to the paparazzi problem - the problem of providing sensor coverage of a target robot. We demonstrate how the computational task of the collective can be formulated as a global energy minimization task over the entire collective, and show how individual members of the collective can solve the task in a distributed fashion so that the entire collective meets its goal. This result is then extended to consider unbounded communication delays between members and complete failure of individual members of the collective.

关键词： Robot sensing systems Robot kinematics Mobile robots Intelligent robots Computer science Delay Computer architecture distributed computing Mobile communication Context

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The RoboCup-Rescue project: a robotic approach to the disaster mitigation problem

The RoboCup-Rescue project: a robotic approach to the disast...

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ieee international conference on Robotics and Automation (ICRA)

作者： S. Tadokoro H. Kitano T. Takahashi I. Noda H. Matsubara A. Shinjoh T. Koto I. Takeuchi H. Takahashi F. Matsuno M. Hatayama J. Nobe S. Shimada Department of Computer and Systems Engineering Kobe University Kobe Japan ERATO Kitano Symbiotic Project Chubu University Electro Technical Laboratory University of Electro-Communications Port and Harbour Research Institute Tokyo Institute of Technology Mitsubishi Research Institute Chukyo University

This paper introduces the RoboCup-Rescue Simulation Project, a contribution to the disaster mitigation, search and rescue problem. A comprehensive urban disaster simulator is constructed on distributed computers. Heterogeneous intelligent agents such as fire fighters, victims and volunteers conduct search and rescue activities in this virtual disaster world. A real world interface integrates various sensor systems and controllers of infrastructures in the real cities with the virtual world. Real-time simulation is synchronized with actual disasters, computing complex relationship between various damage factors and agent behaviors. A mission-critical man-machine interface provides portability and robustness of disaster mitigation centers, and augmented-reality interfaces for rescue parties in real disasters. It also provides a virtual reality training function for the public. This diverse spectrum of RoboCup-Rescue contributes to the creation of the safer social system.

关键词： Robots Computational modeling Computer simulation distributed computing Intelligent agent Fires sensor systems Control systems Cities and towns Mission critical systems

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