Vitaly Li

A cluster-label-based mechanism for backbones on mobile ad hoc networks

This paper presents the Cluster-label-based mechanism for Backbones (CLaB) used in mobile ad hoc networks. The proposed mechanism provides a distributed topology control and consists of three parts: the part creating a backbone, the routing part, and the maintenance part on the backbone. The first part creates a clustered topology using a unique ID called a cluster label and establishes connections between neighboring clusters to create a backbone. The second part adapts existing routing protocols on the backbone. The third part maintains links on the backbone to minimize the influence of node movements, and needs no rerouting mechanism. The mechanism especially concentrates on maintenance by introducing constantly connected backbone elements based on cluster labels. A comparison with other backbone-based mechanisms is presented featuring different node densities and mobility levels. The results validate the effectiveness of the proposed mechanism.

Lightweight Middleware for Robot

Recently, according to various application field of robot, the scalability and the flexibility of robot are essential requirements. To satisfy these requirements, the robot is divided into the module or a hardware component unit, where the function such as vision, control, sensing are executed. The robot is composed of the set of various modules. So, it could include heterogeneous O/S and network interfaces. A middleware is necessary for supporting these operating environments in robot. It provides services which are required commonly in modules. In this paper, we propose and implemented middleware for robot called the KOMoR (Korea object-oriented middleware of Robot). The KOMoR is lightweight middleware supporting characteristic of both communication middleware and distributed middleware. The KOMoR provides a various operating system and heterogeneous network interface for the flexibility and the scalability, QoS capabilities, a resource management, a fault tolerance, a routing capability for multiple path.

The Software Architecture for Module-based Robot System Supporting Heterogeneous Network Interfaces

On developing modern robot systems, intellectual robots can be designed as multiple modules, where the module means the autonomous hardware units performing robot specific tasks. Further, each module can be connected with non-unified network interfaces due to a heterogeneous feature of robot system. In this manner, one of technical challenges is interoperability to support stable and effective communication between such disparate devices. Focusing on this issue, this paper proposes a middleware named HERM (Heterogeneous nEtwork-based Robot Middleware). HERM is divided into three layers; (i) Network Interface Layer, which abstracts various heterogeneous network interfaces as logical channels, (ii) Network Adaptation Layer, which provides addressing strategies and routing service for communication between modules, and (iii) Application Support Layer, which manages robot applications and transforms application data into a standard format for transmitting over a network. By this layered design, HERM provides standardized interfaces to control various heterogeneous network devices, supporting transparent and facilitates integration of different module which constitute a robot system. The results of implementation and experiment show that HERM is suitable for a module-based robot.

TCP performance over cluster-label-based routing protocol for mobile ad hoc networks

The performance of a TCP protocol on MANETs has been studied in a numerous researches. It has been shown that performance of TCP on MANET is poor and that it is caused by two groups of reasons: one inherited from wireless networks and one caused by nodes mobility. One reason of TCP degradation is inability to distinguish between packet losses due to congestion from those caused by nodes mobility and as consequence broken routes. This paper presents the Cluster-Label-based Routing protocol that is an attempt to compensate source of TCP problems on MANETs - multi-hop mobile environment. By utilizing Cluster-Label-based mechanism for Backbone the CLR is able to concentrate on detection and compensation of movement of a destination node. The proposed protocol provides better goodput and delay performance than standardized protocols especially in cases of large network size and/or high mobility rate.

HERM: Heterogeneous nEtwork-based Robot Middleware

On developing modern robot systems, intellectual robots can be designed as multiple modules, where the module means the autonomous hardware units performing robot specific tasks. Further, each module can be connected with non-unified network interfaces due to a heterogeneous feature of robot system. In this manner, one of technical challenges is interoperability to support stable and effective communication between heterogeneous network interfaces. Focusing on this issue, this paper proposes a middleware named HERM (heterogeneous network-based robot middleware). HERM is divided into three layers; (i) network interface layer, which abstracts various heterogeneous network interfaces as logical channels, (ii) network adaptation layer, which provides addressing strategies, module discovery, and routing service for communication between modules, and (iii) application support layer, which manages robot applications and transforms application data into a standard format for transmitting over a network. By this layered design, HERM provides standardized interfaces to control other modules over heterogeneous network interfaces and facilitates integration of different module which constitute a robot system. The results of implementation and case study show that HERM is suitable for a module-based robot.

Architecture of object-oriented middleware for personal robot's network integration

Considering personal robot as a special class of autonomous distributed system, the several requirements have to be met. These are scalability, portability, heterogeneity and real-time. An architecture of Object-oriented Middleware for Robots network Integration (OMRI) was proposed. The OMRI explores idea of component-based software engineering. Architecture of two main components was proposed. The first is network handling component and the second is application management component. Components are independent and communicate through defined interfaces. The features of OMRI are support of heterogeneous networks, handling applications according to the object-oriented paradigm and possibility for extensions by additional components. Middleware was implemented and ported onto different platforms.