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Towards real-time media access in vehicular ad-hoc networks

Towards real-time media access in vehicular ad-hoc networks

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IEEE Wireless Communications and Networking Conference Workshops (WCNCW)

作者： Steffen Moser Jochen Weiß Frank Slomka Institute of Embedded Systems/Real-Time Systems Faculty of Engineering and Computer Science Ulm University Ulm Germany

By giving vehicles the ability to propagate warning messages to the other ones, the number and the severity of accidents on our streets could likely be reduced. Safety-related applications based on vehicular ad-hoc neworks (VANET) are usually dependent on transmitting a message from source to sink within a given time limit. IEEE proposes the standard 802.11p which is an adaption of the well-known Wireless LAN 802.11a for inter-vehicle communication. While many properties have been improved, 802.11p still comes with a contention-based medium access control, only. This leads to an indeterminism and data-dependencies. One deterministic and fairer alternative compared to contention based medium access mechanism would be time-Divison Multiple Access (TDMA). As a VANET is typically fully self-organizing, the time slots must be assigned autonomously by the nodes of the distributed system. This, however, leads to drawbacks in the performance of the protoctol which are analyzed in this paper.

关键词： Vehicles Ad hoc networks time division multiple access real time systems Media Access Protocol Communication channels

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An approach for the integration of smart antennas in the design and simulation of vehicular ad-hoc networks

An approach for the integration of smart antennas in the des...

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International Conference on Future Generation Communication Technology (FGCT)

作者： Steffen Moser Simon Eckert Frank Slomka Institute of Embedded Systems/Real-Time Systems Faculty of Engineering and Computer Science Ulm University Ulm Germany

The radio channel is a limiting resource in vehicular ad-hoc networks. A lot of possible applications in the field of vehicle-to-vehicle and vehicle-to-infrastructure communication will make use of sending messages to destination nodes addressed by geographical coordinates. Beam forming, which is the transmission of a message's signal explicitly into a specific spatial area by exploiting a phase-delayed array of antennas, can be seen as an approach to reduce the overall channel load in vehicular ad-hoc networks. Due to the implementation of today's network simulators, the analysis of the advantages and possible drawbacks of beam forming on vehicular ad-hoc network scenarios is hardly possible. In this paper we show a way in which a simulation framework typically used for research on vehicular ad-hoc networks can be extended by a realistic channel simulation and a physical layer simulation which allows studying the beam forming abilities of a smart antenna system.

关键词： Vehicular ad hoc networks Dipole antennas Arrays Antenna arrays Vehicles Routing

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The MORPH Concept and Its Application in Marine Research

The MORPH Concept and Its Application in Marine Research

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Oceans 2013 - Norway

作者： J. Kalwa M. Carreiro-Silva F. Tempera J. Fontes R. S. Santos M. C. Fabri L. Brignone P. Ridao A. Birk T. Glotzbach M. Caccia J. Alves A. Pascoal Atlas Hydrographic GmbH Instituto do Mar (IMAR) Institut francais de recherche pour l'exploitation de la mer Universiat de Girona Jacobs Universitat Bremen Ilmenau University of Technology Faculty of Computer Science and Automation Consiglio Nazionale delle Ricerche - Istituto di studi sui sistemi intelligenti per l'automazion Centre for Maritime Research and Experimentation (CMRE) Institute for Systems and Robotics Instituto Superior Tecnico

ISBN: (纸本)9781479900022

The MORPH project (FP 7, 2012-2016) aims at the development of efficient methods and tools to map the underwater environment in situations that defy existing technology. Namely, missions that involve underwater surveying and marine habitat mapping of rugged terrain and structures with full 3D complexity, including near-vertical cliffs. Potential applications include the study of cold water coral reefs or ecosystems in underwater canyons. For mapping purposes, the project advances the novel concept of an underwater robotic sensor carrier consisting of a number of spatially separated mobile robotic modules, each of them carrying complementary sensors. The modules are connected virtually via wireless communication links. Free from the constraints of rigid links, the modules can reconfigure themselves spatially and position their sensors optimally as a function of the shape of the terrain, which may include walls with a negative slope. In the scope of the project, a final demonstration on a vertical cliff will validate the efficacy of the methods developed.

关键词： Habitat mapping Marine robotics Cooperative control Underwater communication

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Optical Position Stabilization of an UAV for Autonomous Landing

Optical Position Stabilization of an UAV for Autonomous Land...

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ROBOTIK 2012;7th German Conference on robotics

作者： Markus Ax Stefan Thamke Lars Kuhnert Jens Schlemper Klaus-Dieter Kuhnert University of Siegen Fak. IV - Electrical Engineering and Computer Science Institute for Real-Time Learning Systems

Vertical Take-Off and Landing (VTOL) capable Mini Unmanned Aerial Vehicles (MUAV) are an economic alternative to real helicopters if local aerial pictures or other aerial measurements are needed. With electronic stabilization, GPS based position-hold and autonomous way-point functions these systems are easy to operate. While autonomous take off and flying are done routinely, this is not true for autonomous landing. GPS based position stabilization, in conjunction with the normally used cheap and small IMUs, is not accurate enough to avoid dangerous moves in the very last moment of the landing operation. While sufficient for an emergency landing this is not suitable as routine operation. In this paper a solution is presented which uses optical flow techniques for position stabilization in the moment just before the touch down to avoid the inaccuracies from the GPS at this critical moment.

关键词： Optical sensors Robot sensing systems Optical variables measurement Optical imaging Global Positioning System Adaptive optics Mice

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Model transformations for business-IT alignment: From collaborative business process to SoaML service model 12

Model transformations for business-IT alignment: From collab...

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27th Annual ACM Symposium on Applied Computing, SAC 2012

作者： Delgado, Andrea Ruiz, Francisco De Guzmán, Ignacio García-Rodríguez Piattini, Mario Computer Science Institute Faculty of Engineering University of the Republica Julio Herrera y Reissig 565 Montevideo Uruguay Alarcos Research Group Dep. Information Techs. and Systems University of Castilla-La Mancha Paseo de la Universidad 4 Ciudad Real Spain

ISBN: (纸本)9781450308571

Modeling business process allows an organization to think about its way of conducting business while helping discover weakness in its processes. Although it is common for participants to collaborate within an organization, it is essential to define how different participants from different organizations collaborate as a community, to reach a common business goal. In this context, the realization of business processes by means of services becomes more important, providing support for separating their definition from the technologies implementing them, allowing a better response to changes. A model-driven approach for the direct generation of services from business processes provides several advantages such as reuse of the knowledge imbibed in the correspondences defined between the involved metamodels and traceability between elements in both metamodels, allowing for a better Business-IT alignment. In this article we present an approach for the automatic generation of SoaML service-oriented models from collaborative business process models in BPMN2. © 2012 Authors.

关键词： business processes BPMN2.0 model-driven transformations SoaML standards QVT service-oriented systems

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Reports of the AAAI 2011 conference workshops

Reports of the AAAI 2011 conference workshops

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作者： Agmon, Noa Agrawal, Vikas Aha, David W. Aloimonos, Yiannis Buckley, Donagh Doshi, Prashant Geib, Christopher Grasso, Floriana Green, Nancy Johnston, Benjamin Kaliski, Burt Kiekintveld, Christopher Law, Edith Lieberman, Henry Mengshoel, Ole J. Metzler, Ted Modayil, Joseph Oard, Douglas W. Onder, Nilufer O'Sullivan, Barry Pastra, Katerina Precup, Doina Ramachandran, Sowmya Reed, Chris Sariel-Talay, Sanem Selker, Ted Shastri, Lokendra Singh, Satinder Smith, Stephen F. Srivastava, Siddharth Sukthankar, Gita Uthus, David C. Williams, Mary-Anne Department of Computer Science University of Texas at Austin United States Center for Knowledge Driven Information Systems Infosys Labs India Adaptive Systems Section Naval Research Laboratory Washington DC United States Department of Computer Science University of Maryland College Park United States EMC's Center of Excellence in Ireland Research Europe at EMC Ireland Department of Computer Science University of Georgia United States School of Informatics University of Edinburgh United Kingdom Department of Computer Science University of Liverpool United Kingdom Department of Computer Science University of North Carolina Greensboro United States Faculty of Engineering and Information Technology University of Technology Sydney Australia VeriSign Inc. United States Department of Computer Science University of Texas at El Paso United States Machine Learning Department Carnegie Mellon University United States Massachusetts Institute of Technology Media Laboratory United States Carnegie Mellon University's Silicon Valley Campus United States Darrell W. Hughes Program for Religion and Science Dialogue Oklahoma City University United States Department of Computing Science University of Alberta Canada College of Information Studies Institute for Advanced Computer Studies University of Maryland College Park United States Department of Computer Science Michigan Technological University United States Department of Computer Science University College Cork Ireland Cognitive Systems Research Insitute Athens Greece School of Computer Science McGill University Canada Stottler Henke Inc. United States School of Computing University of Dundee United Kingdom Department of Computer Engineering Istanbul Technical University Turkey Convergence Lab Infosys Technologies Ltd. United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States Robotics Institute Carnegie Mellon University United States University of Wisconsin

The AAAI-11 workshop program was held Sunday and Monday, August 7-18, 2011, at the Hyatt Regency San Francisco in San Francisco, California USA. The AAAI-11 workshop program included 15 workshops covering a wide range of topics in artificial intelligence. The titles of the workshops were Activity Context Representation: Techniques and Languages;Analyzing Microtext;Applied Adversarial Reasoning and Risk Modeling;Artificial Intelligence and Smarter Living: The Conquest of Complexity;Artifiicial Intelligence for Data Center Management and Cloud Computing;Automated Action Planning for Autonomous Mobile Robots;Computational Models of Natural Argument;Generalized Planning;Human Computation;Human-Robot Interaction in Elder Care;Interactive Decision Theory and Game Theory, 2010;Language-Action Tools for Cognitive Artificial Agents: Integrating Vision, Action, and Language;Lifelong Learning from Sensorimotor Experience;Plan, Activity, and Intent Recognition;and Scalable Integration of Analytics and Visualization. This article presents short summaries of those events. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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A landmark-based controller for global asymptotic stabilization on SE(3)

A landmark-based controller for global asymptotic stabilizat...

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IEEE Conference on Decision and Control

作者： Pedro Casau Ricardo G. Sanfelice Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico Universidade Técnica de Lisboa Lisboa Portugal Department of AeroSpace and Mechanical Engineering University of Arizona AZ USA Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China

In this paper, we address the problem of designing a landmark-based control law that robustly globally asymptotically stabilizes a rigid body at a desired equilibrium point on the SE(3) manifold. Synergistic potential functions are combined within a hybrid systems framework to generate such a hybrid control law. The proposed control law is solely a function of vector measurements characterizing the position of some given landmarks. We provide sufficient conditions on the geometry of the landmarks to solve the given problem. Finally, the proposed solution is simulated and compared with an almost global continuous feedback control law.

关键词： Vectors Eigenvalues and eigenfunctions Noise Robustness Feedback control Manifolds Geometry

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Better be reactive at the beginning. Implications of the first seconds of an encounter for the tutoring style in human-robot-interaction

Better be reactive at the beginning. Implications of the fir...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Karola Pitsch Katrin S. Lohan Katharina Rohlfing Joe Saunders Chrystopher L. Nehaniv Britta Wrede Applied Informatics Group and the Research Institute for Cognition and Robotics Faculty of Technology Bielefeld University Cognitive Humanoids Lab Istituto Italiano di Tecnologia for Robotics Brain & Cognitive Sciences Emergentist Semantics group at Bielefeld University Adaptive Systems Research Group School of Computer Science University of Hertfordshire

ISBN: (纸本)9781467346047

The paper investigates the effects of a robot's "on-line" feedback during a tutoring situation with a human tutor. Analysis is based on a study conducted with an iCub robot that autonomously generates its feedback (gaze, pointing gesture) based on the system's perception of the tutor's actions using the idea of reciprocity of actions. Sequential micro-analysis of two opposite cases reveals how the robot's behavior (responsive vs. non-responsive) pro-actively shapes the tutor's conduct and thus co-produces the way in which it is being tutored. A dialogic and a monologic tutoring style are distinguished. The first 20 seconds of an encounter are found to shape the user's perception and expectations of the system's competences and lead to a relatively stable tutoring style even if the robot's reactivity and appropriateness of feedback changes.

关键词： Coaching ENCOUNTERS Robot Feedback Human machine interaction REACTIVE cargo

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Scheduling measurements and controls over networks — Part II: Rollout strategies for simultaneous protocol and controller design

Scheduling measurements and controls over networks — Part I...

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American Control Conference (ACC)

作者： D. J. Antunes W. P. M. H. Heemels J. P. Hespanha C. J. Silvestre Hybrid and Networked Systems Group Department of Mechanical Engineering Eindhovan University of Technology Netherlands Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Faculty of Science and Technology University of Macau Taipa Macao China

ISBN: (纸本)9781457710957

We consider a networked control system where a plant is connected to a remote controller via a shared network that allows only one user to transmit at a given time. At each transmission time, the controller decides between sampling one of the plant's sensors or transmitting control data to the plant. We tackle the problem of simultaneously designing a policy for scheduling decisions and a policy for control inputs so as to optimize a quadratic objective. Using the framework of dynamic programming, we propose a rollout strategy by which the scheduling and control decisions are determined at each transmission time as the ones that lead to optimal performance over a given horizon assuming that from then on controller and sensors transmit in a periodic order and the control law is a standard optimal law for periodic systems. We show that this rollout strategy results in a protocol where scheduling decisions are based on the state estimate and error covariance matrix of a Kalman estimator, and must be determined on-line. We contrast the solution to this problem with the solution to the seemingly similar sensor scheduling problem where optimal scheduling decisions can be determined off-line. We highlight how the protocol obtained from the rollout algorithm can be implemented in a distributed way in broadcast networks. Moreover, it follows by construction of rollout algorithms that our proposed scheduling method can outperform any periodic scheduling of transmissions.

关键词： Sensors Protocols Scheduling Optimal scheduling Covariance matrix Processor scheduling Networked control systems

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MRR quantum dense coding for optical wireless communication system using decimal convertor

MRR quantum dense coding for optical wireless communication ...

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International Conference on computer and Communication Engineering, ICCCE

作者： A. Nikoukar I. S. Amiri A. Shahidinejad A. A. Shojaei J. Ali P. P. Yupapin Faculty of Computer Science & Information Systems (FCSIS) Universiti Teknologi Malaysia (UTM) Johor Bahru Malaysia Institute of Advanced Photonics Science Nanotechnology Research Alliance Universiti Teknologi Malaysia (UTM) Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia (UTM) Kuala Lumpur Malaysia Advanced Research Center for Photonics Faculty of Science King Mongkut's Institute of Technology Ladkrabang Thailand

In this study, simply two systems consist of series of microring resonators (MRRs) and a add/drop filter are used to generate a large bandwidth signal as localized multi wavelength, applicable for quantum dense coding (QDC) and continuous variable encoding generation using incorporated system. This technique uses the Kerr nonlinear type of light in the MRR to generate multi wavelength for desired application especially in internet security and quantum network cryptography. Quantum dense encoding can be perform by output signals of selected wavelengths which are incorporated to a polarization control system in which dark and bright optical soliton pulses with different time slot are generated. Generated dark and bright optical pulses can be converted into digital logic quantum codes using a decimal convertor system in which transmission of secured information are perform via a wireless network communication system. Results show that multi soliton wavelength, ranged from 1.55μm to 1.56μm with FWHM and FSR of 10 pm and 600 pm can be generated respectively.

关键词： Optical filters Optical solitons Optical ring resonators Nonlinear optics Optical pulses Optical refraction

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