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Pipeline robots, borehole robots or exploring robots that work in underground environments can be classified as underground robots. When an underground robot takes a task, tracing and mapping the track of the robot is very important. This project addresses the development of a positioning technique for stepwise underground robots, which have been developed in Durham University. This research is expected to provide a general benefit to stepwise robotic positioning systems rather than a particular robotic or other situation. The initial period of this project was the most difficult. After a few months of literature searching, no suitable positioning technique had been found. Existing techniques are suitable for surface robots, undersea robots or airborne robots but are far away from the application requirements for underground robots. Positioning technology depends on sensor techniques and measurement technologies. The underground environment restricts the use of absolute measurement technologies. Consequently, underground robotic positioning systems heavily rely on relative measurements, which can cause unbounded accumulation of the positioning errors. Moreover, underground environments restrict the use of many high precision sensors because of restricted space and other factors. Hence, the feasibility of developing high, long-term, accuracy underground robotic positioning systems was problematic. Since it was found that there was a lack of research on underground robotic positioning, fundamental investigation became necessary. The fundamentals include the dominant error and the characters of the accumulation of positioning errors. After the investigation of the fundamentals the difficulty and feasibility of developing a high long-term accuracy positioning system was understood more clearly and the key factors to improve the accuracy of a positioning system were known. Based on these, a novel parallel linkage mechanism based approach was proposed. This approach has flexibility in terms of geometrical structure and provides the possibility to improve long-term accuracy of a positioning system. Although parallel linkage mechanisms have drawn a great deal of attention from researchers in passed years, this is the first time a parallel linkage mechanism has been applied to a robotic positioning system. Consequently, new problems were generated by this application of parallel linkage mechanisms. In this project, a Principal Component Analysis (PCA) method is applied to solve the positioning problems and a particular case has been used to show how to solve these problems. Through this case, the advantages of this approach and the feasibility to improve the positioning accuracy is presented. The methodology that can be used to solve the problems for different particular cases can also be used to carry out study for general situations, which have also been illustrated. Many problems still need to be solved. At the end of this thesis, some further problems are discussed. The author of this thesis believes that the proposed approach can be applied to industrial projects in the near future.

Contributions based on cross-layer design for Quality-of-Service provisioning over DVB-S2/RCS Broadband Satellite Systems Nowadays, geostationary (GEO) satellite infrastructure plays a crucial role for the provisioning of IP services. Such infrastructure can provide ubiquity and broadband access, being feasible to reach disperse populations located worldwide within remote areas where terrestrial infrastructure can not be deployed. Nevertheless, due to the expansion of the World Wide Web (WWW), new IP applications such as Voice over IP (VoIP) and multimedia services requires considering different levels of individual packet treatment through the satellite network. This differentiation must include not only the Quality of Service (QoS) parameters to specify packet transmission priorities across the network nodes, but also the required amount of bandwidth assignment to guarantee its transport. In this context, the provisioning of QoS guarantees over GEO satellite systems becomes one of the main research areas of organizations such as the European Space Agency (ESA). Mainly because, their current infrastructures require continuous exploitation, as launching a new communication satellite is associated with excessive costs. Therefore, the support of IP services with QoS guarantees must be developed on the terrestrial segment to enable using the current assets. In this PhD thesis several contributions to improve the QoS provisioning over DVB-S2/RCS Broadband Satellite Systems have been developed. The contributions are based on cross-layer design, following the layered model standardized in the ETSI TR 102 157 and 462. The proposals take into account the drawbacks posed by GEO satellite systems such as delay, losses and bandwidth variations. The first contribution proposes QoSatArt, an architecture defined to improve QoS provisioning among services classes considering the physical layer variations due to the presence of rain events. The design is developed inside the gateway, including the specification of the main functional blocks to provide QoS guarantees and mechanisms to minimize de delay and jitter values experienced at the application layer. Here, a cross-layer design between the physical and the network layer has been proposed, to enforce the QoS specifications based on the available bandwidth. The proposed QoSatArt architecture is evaluated using the NS-2 simulation tool. In addition, the performance analysis of several standard Transmission Control Protocol (TCP) variants is also performed. This is carry out to find the most suitable TCP variant that enhances TCP transmission over a QoS architecture such as the QoSatArt. The second contribution proposes XPLIT, an architecture developed to enhance TCP transmission with QoS for DVB-S2/RCS satellite systems. Complementary to QoSatArt, XPLIT introduces Performance Enhanced Proxies (PEPs), which breaks the end-to-end semantic of TCP connections. However, it considers a cross-layer design between the network layer and the transport layer to enhance TCP transmission while providing them with QoS guarantees. Here, a modified TCP variant called XPLIT-TCP is proposed to send data through the forward and the return channel. XPLIT-TCP uses two control loops (the buffer occupancy and the service rate to provide optimized congestion control functions. The proposed XPLIT architecture is evaluated using the NS-2 simulation tool. Finally, the third contribution of this thesis consists on the development of a unified architecture to provide QoS guarantees based on cross-layer design over broadband satellite systems. It adopts the enhancements proposed by the QoSatArt architecture working at the network layer, in combination with the enhancements proposed by the XPLIT architecture working at the transport layer. / Actualmente, los satélites Geoestacionarios (GEO) juegan un papel muy importante en la provisión de servicios IP. Esta infraestructura permite proveer ubicuidad y acceso de banda ancha, haciendo posible alcanzar poblaciones dispersas en zonas remotas donde la infraestructura terrestre es inexistente. Sin embargo, en la provisión de aplicaciones como Voz sobre IP (VoIP) y servicios multimedia, es importante considerar el tratamiento diferenciado de paquetes a través de la red satelital. Esta diferenciación debe considerar no solo los requerimientos de Calidad de Servicio (QoS) que especifican las prioridades de los paquetes a través de los nodos de red, si no también el ancho de banda asignado para garantizar su transporte. En este contexto, la provisión de garantías de QoS sobre satélites GEO es una de las Principales áreas de investigación de organizaciones como la Agencia Espacial Europea (ESA) persiguen. Esto se debe principalmente ya que dichas organizaciones requieren la explotación continua de sus activos, dado que lanzar un nuevo satélite al espacio representa costos excesivos. Como resultado, el soporte de servicios IP con calidad de servicio sobre la infraestructura satelital actual es de vital importancia. En esta tesis doctoral se presentan varias contribuciones para el soporte a la Calidad de Servicio en redes DVB-S2/RCS satelitales de banda ancha. Las contribuciones propuestas se basan principalmente en el diseño ”cross-layer” siguiendo el modelo de capas definido y estandarizado en las especificaciones ETSI TR 102 157 [ETS03] y 462 [10205]. Las contribuciones propuestas consideran las limitaciones presentes de los sistemas satelitales GEO como lo son el retardo de propagación, la perdida de paquetes y las variaciones de ancho de banda causados por eventos atmosféricos. La primera contribución propone QoSatArt, una arquitectura definida para mejorar el soporte a la QoS. Esta arquitectura considera las variaciones en la capa física debido a la presencia de eventos de lluvia para priorizar los niveles de QoS. El diseño se desarrolla en el gateway e incluye las especificaciones de los principales elementos funcionales y mecanismos para garantizar la QoS y minimizar el retardo presente en la capa de aplicación. Aquí, se propone un diseño ”cross-layer” entre la capa física y la capa de red, con el objetivo de reforzar las especificaciones de QoS considerando el ancho de banda disponible. La arquitectura QoSatArt es simulada y evaluada empleando la herramienta de simulación NS-2. Adicionalmente, un análisis de desempeño de diversas variantes de TCP (Transmission Control Protocol) es realizado con el objetivo de encontrar la variante de TCP más adecuada para trabajar en un ambiente con QoS como QoSatArt. La segunda contribución propone XPLIT, una arquitectura desarrollada para mejorar las transmisiones TCP con QoS en un sistema satelital DVB-S2/RCS. Complementario a QoSatArt, XPLIT emplea PEPs (Performance Enhanced Proxies), afectando la semántica end-to-end de las conexiones TCP. Sin embargo, XPLIT considera un diseño ”cross-layer” entre la capa de red y la capa de transporte con el objetivo de mejorar las transmisiones TCP considerando los parámetros de QoS como la ocupación de la cola y la tasa de transmisión (_i, _i). Aquí, se propone el uso de una nueva variante de TCP es propuesta llamada XPLIT-TCP, que usa dos bucles para proveer funciones mejoradas en el control de congestión. La arquitectura XPLIT es simulada y evaluada empleando la herramienta de simulación NS-2. Finalmente, la tercera contribución de esta tesis consiste en el desarrollo de un arquitectura unificada para el soporte a la QoS en redes satelitales de banda ancha basada en técnicas ”cross-layer”. Esta arquitectura adopta las mejoras propuestas por QoSatArt en la capa de red en combinación con las mejoras propuestas por XPLIT en la capa de transporte.

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