Ubiquitous Robotic Networks Research Papers (original) (raw)

Much thought has been given to the question of who bears moral and legal responsibility for actions performed by robots. Some argue that responsibility could be attributed to a robot if it possessed human-like autonomy and metavolitionality, and that while such capacities can potentially be possessed by a robot with a single spatially compact body, they cannot be possessed by a spatially disjunct, decentralized collective such as a robotic swarm or network. However, advances in ubiquitous robotics and distributed computing open the door to a new form of robotic entity that possesses a unitary intelligence, despite the fact that its cognitive processes are not confined within a single spatially compact, persistent, identifiable body. Such a “nonlocalizable” robot may possess a body whose myriad components interact with one another at a distance and which is continuously transforming as components join and leave the body. Here we develop an ontology for classifying such robots on the basis of their autonomy, volitionality, and localizability. Using this ontology, we explore the extent to which nonlocalizable robots—including those possessing cognitive abilities that match or exceed those of human beings—can be considered moral and legal actors that are responsible for their own actions.

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- Robotics, Artificial Intelligence, Ubiquitous Computing, The Internet of Things

Traditionally, social interaction research has concentrated on either fully virtually embodied agents (e.g. embodied conversational agents) or fully physically embodied agents (e.g. robots). For some time, however, both areas have started augmenting their agents’ capabilities for social interaction using ubiquitous and intelligent environments.
We are placing different agent systems for social interaction along Milgram’s Reality-Virtuality Continuum—according to the degree they are embodied in a physical, virtual or mixed reality environment—and show systems that follow the next logical step in this progression, namely social interaction in the middle of Milgram’s continuum, that is, agents richly embodied in the physical and virtual world.
This paper surveys the field of social interaction research with embodied agents with a particular view towards their embodiment forms and highlights some of the advantages and issues associated with the very recent field of social interaction with mixed reality agents.

- by Thomas Holz and +1
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- Robotics, Human Computer Interaction, Social Interaction, Autonomous Robotics

The use of robotic devices is increasing in our day to day life and consequently giving rise to the privacy and security issues which are very unique compared to other domains. In spite of the swift development of robotics technology, privacy problems for robots remain unchanged and without functional research. It is not that difficult to find out why robots are raising privacy distress. Robots have the ability to move and sense the world surrounding them. This increase in power to observe may cause privacy issues in the upcoming years. In this paper, we present some statistics related to robotics industries. Then different aspects of robot privacy are examined from the point of views of other works and some prevention techniques are also discussed to alleviate this concerning issue. However, this is a problem that might be hard to distinguish and avoid. In some cases, the problem is inevitable. As consumers and creators, our best way should be to move forward very cautiously.

- by Pronaya P Das
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- Privacy, Automation, Ubiquitous Robotic Networks, Robots

Modbus is the de facto standard communication protocol for the industrial world. It was initially designed to be used in serial communications (Modbus RTU/ASCII). However, not long ago, it was adapted to TCP due to the increasing popularity of the TCP/IP stack. Since it was originally designed for controlled serial lines, Modbus does not have any security features. In this paper, we wrote several benchmarks to evaluate the performance of networking devices that run Modbus TCP. Parameters reported by our benchmarks include: (1) response time for Modbus requests, (2) maximum number of requests successfully handled by Modbus devices in a specific amount of time, and (3) monitoring of Modbus devices when suffering a Distributed Denial of Service attack. Due to the growing adoption of IoT technologies, we also selected two widely known and inexpensive development boards (ESP8266 and Raspberry Pi 3 B+/OpenPLC) to realize a performance evaluation of Modbus TCP.

This work evaluates the performance of Consumed-Energy-Type-Aware Routing (CETAR) which incorporates the amount of energy consumed per type of operation for routing decision to extend the lifetime of the Wireless Sensor Networks (WSNs). CETAR makes routing decision using statistics of the energy consumed for each type of node activities including sensing, data processing, data transmission as a source node, and routing operations. In particular, CETAR encourages a node which seldom plays a role of source node as a routing node to preserve the energy of active source nodes to prolong the functionality of the WSNs. Extensive simulation study demonstrates that the lifetime of the Geographic and Energy Aware Routing (GEAR) can be significantly extended with CETAR. With its adaptability to deployed sensor node behaviors, the significance
of CETAR to extend the lifetime of WSNs is clear.

Deployment Video on Demand (VoD) over the next generation (WiMAX) has become one of the intense interest subjects in the research these days, and is expected to be the main revenue generators in the near future and the efficiency of video streaming over next generation 4G is the key to enabling this. We are considering video streaming for real time video was coded by different H.264.x codes (H.264/AVC, and SVC), and we consider an IP-Unicast to deliver this streaming video over WiMAX. Our approach investigates the performance evaluation of IPTV (VoD) over WiMAX networks. OPNET is used to investigate the performance of VoD over WiMAX. Results obtained from simulation indicate that SVC video codec is an appropriate video codec for video streaming over WiMAX.

Human-Robot Interaction poses significant research challenges. Recent research suggests that personalisation and individualisation are key factors for establishing lifelong human-robot relationships.
This raises difficulties as roboticists seek to incorporate robots into the digital society where an increasing amount of human activities relies on digital technologies and ubiquitous infrastructures. In essence, a robot may be perceived as either an embedded or mobile artefact in an arbitrary environment that must be interacted with in a seamless and intuitive fashion.
This chapter explores some of the alternative ways and the design issues to achieve these objectives. Specifically, it describes a new system, which we call Mixed Reality Agent (MiRA) Chameleon, that combines the latest advancements on agent-based ubiquitous architectures with mixed reality technology to deliver personalised and ubiquitous robot agents.

- by Thomas Holz and +1
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- Mobile Robotics, Multiagent Systems, Ubiquitous Computing, Augmented Reality

The Wireless Sensor Networks (WSN) particularly for real time applications raise fundamental problems for the scientific community. These problems are related to the limit of energy resource and the real time constraints on the communication delay. The well functioning of such networks depends mainly on the network lifetime result of nodes energies and the communication delay which should meet the required deadlines. Thus, the well design of Real-Time Wireless Sensor Networks must be with the prediction of the energy consumption and the communication delay. Therefore, this paper propose an analytical model to predict the lifetime and the delay in IEEE 802.15.4/ZigBee WSN. Our proposed model is based on realistic assumptions. It considers the most important network features such as idle times from the Backoff, overhearing and interferences by collisions and transmission errors. Compared to simulation results and other analytical approaches, our model gives a reliable lifetime and delay prediction.

We propose in this paper a simulation implementation of Self-Organizing Networks (SON) optimization related to mobility load balancing (MLB) for LTE systems using ns-3 [1]. The implementation is achieved toward two MLB algorithms dynamically adjusting handover (HO) parameters based on the Reference Signal Received Power (RSRP) measurements. Such adjustments are done with respect to loads of both an overloaded cell and its cells' neighbours having enough available resources enabling to achieve load balancing. Numerical investigations through selected key performance indicators (KPIs) of the proposed MLB algorithms when compared with another HO algorithm (already implemented in ns-3) based on A3 event [2] highlight the significant MLB gains provided in terms global network throughput, packet loss rate and the number of successful HO without incurring significant overhead.

Internet of Things (IoT) and services is an interesting topic with a wide range of potential applications like smart home systems, health care, telemedicine, and intelligent transportation. Traditionally, key agreement schemes have been evaluated to access IoT services which are highly susceptible to security. Recently, Biometric-based authentication is also used to access IoT services and devices. They are involving a larger amount of memory with increased running time and found to be computationally infeasible. To provide robust authentication for IoT services, Histogram of Neighborhood Tripartite Authentication with Fingerprint Biometrics (HNTA-FB) for IoT services is proposed in this paper. This proposed HNTA-FB method uses binary patterns and a histogram of features to extract the region of interest. To reduce the memory requirements while providing access to IoT services, Histogram of Neighborhood Binary Pattern Pre-processing (HNBPP) model is proposed. The discriminative power of Neighbourhood Binary Pattern Registration (NBPR) is integrated with the normalized sparse representation based on the histogram. Additionally, this work presents a new Tripartite User Authentication model for fingerprint biometric template matching process. When compared with different state-of-the-art methods, the proposed method depicts significantly improved performance in terms of matching accuracy, computational overhead and execution speed and is highly effective in delivering smart home services.

Seamless handover in wireless networks is to guarantee both service continuity and service quality. In WiMAX, providing scalability and quality of service for multimedia services during handover is a main challenge because of high latency and packet loss. In this paper, we created four scenarios using Qualnet 5.2 Network Simulator to analyze the hard handover functionality of WiMAX under different conditions. The scenarios such as Flag with 5 and 10 sec UCD and DCD interval values, Random mobility scenario and DEM scenario using 6 WiMAX Cells have been considered. This study is performed over the real urban area of JNU where we have used JNU map for scenarios 1, 2 and 3 but for scenario 4, the JNU terrain data has been used. Further, each BS of 6 WiMAX cell is connected to four nodes. All nodes of each scenario are fixed except Node 1. Node 1 is moving and performing the handover between the different BSs while sending and receiving real time traffics. Flag mobility model is used in Scenario 1, 2 and 4 to model the movement of the Node 1 while we use random mobility model in sceanrio3. 5 seconds time interval is used for Scenarios 1, 3, and 4 while 10 seconds time interval is used for scenario 2 to study the effect of management messages load on handover. Further, the statistical measures of handover performance of WiMAX in terms of number of handover performed, throughput, end-to-end delay, jitter, and packets dropped are observed and evaluated.

In networks, many application protocols such as CoAP, REST, XMPP ,AMQP have been proposed for IoT communication which includes p2p or S2S. In MANET Network convergence does the way for improvements in Internet of Things (IoT) communication with high potential for a wide range of applications. Each protocol focuses on some aspects of communication in the IoT. Hence, these application protocols have indicated of how IoT has integrated to enhanced and developed of a new service that require to guarantees the wide range offered by the quality of services. In this paper, we will introduce a smart pathway that can be bridge the gap between IoT services with its real data traffic. Therefore, we enhanced the MANET routing protocol for computing two or more paths to pass the more that one high priority real traffic data via these paths to improve the gloomy picture of this protocol in the context of IoT. In particular, the good services with high timely delivery of urgent data such as real time data environmental monitoring. After surveying the published and available protocol interoperability given for urban sensing. In this research, we have proposed a novel solution to integrate MANET overlays, and collaboratively formed over MANET, to boost urban data in IoT. Overlays are used to dynamic differentiate and fasten the delivery of high priority real application time data over low-latency MANET paths by integrating with the original specifications. Our experimental results showed the effectiveness on the network such as the overhead and network congestion. In addition, the initial results of the lightweight improved the routing protocol over the baseline protocols in terms of the delay of reciveing the packets between nodes which lead to increase the throughput by reducing loss packets.

Two mechanisms have been proposed independently by IEEE and 3GPP; namely, Media Independent Handover (MIH) and Access Network Discovery and Selection Function (ANDSF), respectively. These mechanisms enable a seamless Vertical Handover (VHO) between the different types of technologies (3GPP and non-3GPP), such as GSM (Global System for Mobile Communication), Wireless Fidelity (Wi-Fi), Worldwide Interoperability for Microwave Access (WiMAX), Universal Mobile Telecommunications System (UMTS) and Long Term Evolution (LTE). In this paper, we overview these mechanisms and show their components, benefits and drawbacks. Then we present our Imperative Alternative MIH for Vertical Handover (I AM 4 VHO) approach based on the approaches that have been studied in the literature with better performance (packet loss and latency), less connection failure (probability of reject sessions), less complexity and more exhaustive for enhancing VHO heterogeneous wireless networks environment.

Wireless sensor networks (WSNs) consists of small nodes with constrain capabilities. It enables numerous applications with distributed network infrastructure. With its nature and application scenario, security of WSN had drawn a great attention. In malicious environments for a functional WSN, security mechanisms are essential. Malicious or internal attacker has gained attention as the most challenging attacks to WSNs. Many works have been done to secure WSN from internal attacks but most of them relay on either training data set or predefined thresholds. It is a great challenge to find or gain knowledge about the Malicious. In this paper, we develop the algorithm in two stages. Initially, Abnormal Behaviour Identification Mechanism (ABIM) which uses cosine similarity. Finally, Dempster-Shafer theory (DST)is used. Which combine multiple evidences to identify the malicious or internal attacks in a WSN. In this method we do not need any predefined threshold or tanning data set of the nodes.

Cognitive radio is an emerging technology, which aims to upgrade the spectrum utilization by allowing the secondary users to operate at the spectrum bands vacated by the primary users. A cognitive radio system model was simulated and the performance of the energy detector was evaluated by using different wireless channel models. These models include Additive White Gaussian Noise (AWGN) model, Rayleigh fading model, and Rician fading model. The simulation results show that by increasing the signal to noise ratio, the detection capability of the energy detector can be improved and the false alarm probability and the missed detection probability can be reduced. Moreover, the line of sight path strength of the Rician fading has a great effect on the energy detector performance. It was observed that, the line of sight path strength (k) of 20 can save the signal power by 40 dB over a single path transmission and 25 dB over a multipath transmission.

The International Journal of Computer Networks & Communications (IJCNC) is a bi monthly open access peer-reviewed journal that publishes articles which contribute new results in all areas of Computer Networks & Communications. The journal focuses on all technical and practical aspects of Computer Networks & data Communications. The goal of this journal is to bring together researchers and practitioners from academia and industry to focus on advanced networking concepts and establishing new collaborations in these areas.

- by Shawon Rahman
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- Distributed Computing, Information Security, Mobile Computing, Cloud Computing

Secured and opportune transmission of data alwaysis a significant feature for any organization. Robust encryption techniques and algorithms always facilitate in augmenting secrecy, authentication and reliability of data. At present, Advanced Encryption Standard (AES) patronized by NIST is the most secure algorithm for escalating the confidentiality of data. This paper mainly focuses on an inclusive analysis related to the security of existing AES algorithm and aim to enhance the level security of this algorithm. Through some modification of existing AES algorithm by XORing an additional byte with s-box value, we have successfully increased the Time Security and Strict Avalanche Criterion. We have used random additional key for increasing security. Since this key is random, result of security measurement sometimes fluctuates.

- by Shawon Rahman
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- Distributed Computing, Information Security, Mobile Computing, Cloud Computing
- by Alice Agogino
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- MEMS, Embedded Systems, Intelligent Control, Wireless Sensor Networks
- by Sanjay Madria
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- Computer Science, Computer Networks, Pervasive Computing, Wireless Sensor Networks
- by Guy Ravitz
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- Information Retrieval, Clustering Algorithms, Feature Selection, Face Detection

We introduce a family of authenticated data structures-Ordered Merkle Trees (OMT)-and illustrate their utility in security kernels for a wide variety of subsystems. Specifically, the utility of two types of OMTs: a) the index ordered merkle tree (IOMT) and b) the range ordered merkle tree (ROMT), are investigated for their suitability in security kernels for various subsystems of Border Gateway Protocol (BGP), the Internet's inter-autonomous system routing infrastructure. We outline simple generic security kernel functions to maintain OMTs, and subsystem specific security kernel functionality for BGP subsystems (like registries, autonomous system owners, and BGP speakers/routers), that take advantage of OMTs.