Wireless Sensor Networks (WSNs) are networks of small devices, called motes, designed to monitor resources and report to a server. Motes are battery-powered and have very little memory to store data. To conserve power, the motes usually form clusters to coordinate their activities. In heterogeneous WSNs, the motes have different resources available to them. For example, some motes might have more powerful radios, or larger power supplies. By exploiting heterogeneity within a WSN can allow the network to stay active for longer periods of time. In WSNs, the communications between motes draw the most power. By choosing better clusterheads in the clusters to control and route messages, all motes in the network will have longer lifespans. By leveraging heterogeneity to select better clusterheads, I have developed Heterogeneous Clustering Control Protocol (HCCP). HCCP is designed to be highly robust to change and to fully utilize the resources that are currently available.

Wireless Sensor Networks (WSNs) are networks of small devices, called motes, designed to monitor resources and report to a server. Motes are battery-powered and have very little memory to store data. To conserve power, the motes usually form clusters to coordinate their activities. In heterogeneous WSNs, the motes have different resources available to them. For example, some motes might have more powerful radios, or larger power supplies. By exploiting heterogeneity within a WSN can allow the network to stay active for longer periods of time. In WSNs, the communications between motes draw the most power. By choosing better clusterheads in the clusters to control and route messages, all motes in the network will have longer lifespans. By leveraging heterogeneity to select better clusterheads, I have developed Heterogeneous Clustering Control Protocol (HCCP). HCCP is designed to be highly robust to change and to fully utilize the resources that are currently available.

In cooperative networks, relays cooperate and form a distributed multi-antenna system to provide spatial diversity. In order to achieve high bandwidth efficiency, distributed space-time block codes (DSTBCs) are proposed and have been studied extensively. Among all DSTBCs, this thesis focuses on the codes which are single-symbol maximum likelihood (ML) decodable and can achieve the full diversity order. This thesis presents four works on single-symbol ML decodable DSTBCs. The first work proposes the row-monomial distributed orthogonal space-time block codes (DOSTBCs). We find an upper bound of the data-rate of the row-monomial DOSTBC and construct the codes achieving this upper bound. In the second work, we first study the general DOSTBCs and derive an upper bound of the data-rate of the DOSTBC. Secondly, we propose the row-monomial DOSTBCs with channel phase information (DOSTBCs-CPI) and derive an upper bound of the data-rate of those codes. Furthermore, we find the actual row-monomial DOSTBCs-CPI which achieve the upper bound of the data-rate. In the third and fourth works of this thesis, we focus on error performance analysis of single-symbol ML decodable DSTBCs. Specifically, we study the distributed Alamouti's code in dissimilar cooperative networks. In the third work, we assume that the relays are blind relays and we derive two very accurate approximate bit error rate (BER) expressions of the distributed Alamouti's code. In the fourth work, we assume that the relays are CSI-assisted relays. When those CSI-assisted relays adopt the amplifying coefficients that was proposed in [33] and widely used in many previous publications, upper and lower bounds of the BER of the distributed Alamouti's code are derived. Very surprisingly, the lower bound indicates that the code cannot achieve the full diversity order when the CSI-assisted relays adopt the amplifying coefficients proposed in [33]. Therefore, we propose a new threshold-based amplifying coefficient and it makes the code achieve the full diversity order two. Moreover, three optimum and one suboptimum schemes are developed to calculate the threshold used in this new amplifying coefficient. / Thesis (Ph.D, Electrical & Computer Engineering) -- Queen's University, 2009-06-27 19:07:47.066

Cooperative relay systems have emerged as promising techniques to boost the performance of wireless systems. Recent studies have confirmed that interferences, co-channel interferences (CCIs) and self-interferences, have a huge impact on cooperative relay systems and can cause significant performance degradation. Two problems were observed in this research. Firstly, previous studies on performance analysis of Amplify-and-Forward (AF) relay systems in presence of CCIs have only focused on a specific interference channel model. However, in practical design scenarios, such an assumption is not a realistic proposition. Secondly, analyses of overheads introduced by a time-based relay selection protocol in distributed cooperative systems have been based on an over-pessimistic assumption where all packets involved in a collision are destroyed. Nevertheless, collisions due to the protocol overheads cause the system performance to be degraded but this does not mean that the failure of end-to-end transmission certainly occurs. The thesis aims to analyse the performance of practical cooperative relay systems in the presence of CCIs and self-interferences, by developing exact mathematical methods. A new unified mathematical method for AF relay systems in presence of a random number of arbitrary non-identical CCIs was developed. The obtained new approach derived in terms of a moment generating function of the aggregate interferences' power led to the derivation of new explicit expressions. The new results greatly simplify evaluation of average error rates over diverse practical interference scenarios. Moreover, a new exact mathematical analysis for distributed cooperative relay systems employing a time-based relay selection protocol based on an accurate interference model was presented. This approach led to the derivation of new exact expressions for the spectral efficiency which accounts for both self-interferences and the protocol overheads as well as for different fading scenarios and arbitrary relay locations. This approach provided several advantages over direct approaches, one of which is that it significantly simplified averaging-out the joint random variables involved.

A novel solution for the localization of wireless networked systems is presented. The solution is based on cooperative estimation, inter-node ranging and strap-down inertial navigation. This approach overrides limitations that are commonly found in currently available localization/positioning solutions. Some solutions, such as GPS, make use of previously deployed infrastructure. In other methods, computations are performed in a central fusion center. In the robotics field, current localization techniques rely on a simultaneous localization and mapping, (SLAM), process, which is slow and requires sensors such as laser range finders or cameras. One of the main attributes of this research is the holistic view of the problem and a systems-engineering approach, which begins with analyzing requirements and establishing metrics for localization. The all encompassing approach provides for concurrent consideration and integration of several aspects of the localization problem, from sensor fusion algorithms for position estimation to the communication protocols required for enabling cooperative localization. As a result, a conceptual solution is presented, which is flexible, general and one that can be adapted to a variety of application scenarios. A major advantage of the solution resides in the utilization of wireless network interfaces for communications and for exteroceptive sensing. In addition, the localization solution can be seamlessly integrated into other localization schemes, which will provide faster convergence, higher accuracy and less latency. Two case-studies for developing the main aspects of cooperative localization were employed. Wireless sensor networks and multi-robot systems, composed of ground robots, provided an information base from which this research was launched. In the wireless sensor network field, novel nonlinear cooperative estimation algorithms are proposed for sequential position estimation. In the field of multi-robot systems the issues of mobility and proprioception, which uses inertial measurement systems for estimating motion, are contemplated. Motion information, in conjunction with range information and communications, can be used for accurate localization and tracking of mobile nodes. A novel partitioning of the sensor fusion problem is presented, which combines an extended Kalman filter for dead-reckoning and particle filters for aiding navigation.

<p>This master thesis is to highlight the importance of what needs to be identified in the CVIS system, how this could be done, how different techniques affect privacy and security and how the privacy and security mechanisms can be improved for the whole system. The report starts with a background of ERTICO – ITS Europe, followed by a description of how the CVIS project is organized, how the CVIS system will work, and a presentation of privacy, security and identification, both in general and in CVIS. After this follows the analysis and the report is finally wrapped up with conclusions and recommendations.</p><p>Why this is an important topic to highlight and discuss and the reason being for this master thesis, is because there is a clear need within the CVIS consortium to harmonise these topics. As it is today, different persons and different sub-projects have different views and opinions on what needs to be identified for example. This needs to be harmonised in order for everyone to know what is being developed, but also, and much more importantly, to in the end get acceptance for the CVIS system. If people do not feel they can trust the system, if they feel it is not secure or that it violates their privacy, they will not use it, even if it has been proved the technique works.</p><p>The key question discussed in the report is what needs to be identified. This is the most important question to solve. There must be very good reasons and consensus why a certain entity is to be identified, otherwise identification of that entity will always be questioned. This also links very tightly with privacy.</p><p>The objective of this master thesis is to bring forward this critical question about identification, to highlight different reasons for identifying or not identifying different entities and to get the discussion started.</p><p>Finally, the main conclusions and recommendations on what to actually identify is the vehicle and the different parts in the central sub-system. The best technique would be by using single sign on with a very strong encryption, for example random numbers, that will be handle by a new node Identification Management Centre or that it will be a part of the Host Management Centre. To ensure privacy in the system, the single sign on mechanism should be combined with the approach of using pseudonyms when communicating in the CVIS system.</p>

This master thesis is to highlight the importance of what needs to be identified in the CVIS system, how this could be done, how different techniques affect privacy and security and how the privacy and security mechanisms can be improved for the whole system. The report starts with a background of ERTICO – ITS Europe, followed by a description of how the CVIS project is organized, how the CVIS system will work, and a presentation of privacy, security and identification, both in general and in CVIS. After this follows the analysis and the report is finally wrapped up with conclusions and recommendations. Why this is an important topic to highlight and discuss and the reason being for this master thesis, is because there is a clear need within the CVIS consortium to harmonise these topics. As it is today, different persons and different sub-projects have different views and opinions on what needs to be identified for example. This needs to be harmonised in order for everyone to know what is being developed, but also, and much more importantly, to in the end get acceptance for the CVIS system. If people do not feel they can trust the system, if they feel it is not secure or that it violates their privacy, they will not use it, even if it has been proved the technique works. The key question discussed in the report is what needs to be identified. This is the most important question to solve. There must be very good reasons and consensus why a certain entity is to be identified, otherwise identification of that entity will always be questioned. This also links very tightly with privacy. The objective of this master thesis is to bring forward this critical question about identification, to highlight different reasons for identifying or not identifying different entities and to get the discussion started. Finally, the main conclusions and recommendations on what to actually identify is the vehicle and the different parts in the central sub-system. The best technique would be by using single sign on with a very strong encryption, for example random numbers, that will be handle by a new node Identification Management Centre or that it will be a part of the Host Management Centre. To ensure privacy in the system, the single sign on mechanism should be combined with the approach of using pseudonyms when communicating in the CVIS system.

OLIVEIRA, P. M. R. PARATUCK-N semi-blind receivers for multi-hop cooperative MIMO relay systems. 2017. 51 f. Dissertação (Mestrado em Engenharia de Teleinformática)–Centro de Tecnologia, Universidade Federal do Ceará, Fortaleza, 2017. / Submitted by Renato Vasconcelos (ppgeti@ufc.br) on 2017-09-09T02:17:00Z No. of bitstreams: 1 2017_dis_pmroliveira.pdf: 1188957 bytes, checksum: 745420c86668fea09707dfcc7364adf8 (MD5) / Rejected by Marlene Sousa (mmarlene@ufc.br), reason: Prezado Pedro: Existe uma orientação para que normalizemos as dissertações e teses da UFC, em suas paginas pré-textuais e lista de referencias, pelas regras da ABNT. Por esse motivo, sugerimos consultar o modelo de template, para ajudá-lo nesta tarefa, disponível em: http://www.biblioteca.ufc.br/educacao-de-usuarios/templates/ Vamos agora as correções sempre de acordo com o template: 1. Na capa as informações relativas a hierarquia institucional deve ser em língua portuguesa, Nome da INSTITUIÇÃO; do CENTRO; do DEPARTAMENTO e do PROGRAMA DE PÓS-GRADUAÇÃO. Nesta ordem. Todas as informações devem está em negrito e em caixa alta. Retire a informação Master’s Degree Dissertation e também o nome do estado e o mes. Deixe apenas o nome da cidade e o ano. 2. Na folha de rosto (que segue a capa) Veja o modelo de apresentação das informações de acordo com o template. Apenas o titulo deve ficar em inglês as demais informações são em português. A partir da folha de rosto, todas as outras devem ficar em inglês. Não use negrito nessa folha. Deixe apenas o nome da cidade e o ano. A ficha catalográfica deve vir depois da folha de rosto e as palavras relacionadas aos assuntos devem ser em português. 3. A folha de aprovação naõ deve ter nenhuma informação em negrito. Veja o tamanho da fonte. 4. A dedicatória deve ser depois da folha de aprovação e não é em negrito. 5. A palavra Acknowledgments é em caixa alta, negrito e centralizada na folha. Não use negrito no texto. As folhas prétextuais devem ser contadas mas não são numeradas. Retire numeração. 6. O resumo deve vir antes do Abstract, mesmo quando o trabalho for em língua inglesa. A palavra resumo é em caixa alta, negrito e centralizada na folha. Não use negrito no texto e nem use parágrafos. A palavra abstract é em caixa alta, negrito e centralizada na folha. Não use negrito no texto e nem use parágrafos. 7. As palavras List of Figures, List of Tables, Acronyms, Notation e Sumary são em caixa alta, negrito e centralizada na folha. Não use negrito no texto 8. O sumário está fora dos padrões. Veja uso de maiusculo, minusculo, negrito e itálico nas seções. Não coloque em formato de capítulos e nem coloque as pre-textuais no sumário. Use a palavra referencias e não bibliografia 9. Na lista de referências, Coloque os nomes dos autores entrando pelo sobrenome, seguido do pré nome. Ex. ALMEIDA, A. Se vc optar por abreviar os nomes em toda a lista eles devem ser abreviados. Se vc optar em colocar por extenso em toda e lista deve ficar por extenso para haver uma padronização. Os títulos das publicações devem ser destacadas com o uso do negrito (não use aspas). Com exceção dos artigos de periódicos que devem ser destacados o nome das revistas e não o titulo do artigo. Ao citar os artigos coloque as abreviações v. n. p. e não vol. no e pp. Após essas correções, enviaremos o nada consta por e-mail. Att. Marlene Rocha mmarlene@ufc.br on 2017-09-11T12:55:01Z (GMT) / Submitted by Renato Vasconcelos (ppgeti@ufc.br) on 2017-09-14T13:32:11Z No. of bitstreams: 1 2017_dis_pmroliveira.pdf: 1155061 bytes, checksum: 0da92fa912cabfa49b279fbe8c199877 (MD5) / Rejected by Marlene Sousa (mmarlene@ufc.br), reason: Prezado Pedro e Renato: Será que foi enviada a versão certa? Tenho a impressão que já fiz as recomendações de correção e o Pedro afirma que corrigiu, mas a versão que abri no Repositório ainda esta sem as alterações que solicitei. Marlene on 2017-09-14T16:38:31Z (GMT) / Submitted by Renato Vasconcelos (ppgeti@ufc.br) on 2017-10-03T13:47:30Z No. of bitstreams: 1 2017_dis_pmroliveira.pdf: 1357256 bytes, checksum: 308dc86c85e412f7947531cc8692dd60 (MD5) / Approved for entry into archive by Marlene Sousa (mmarlene@ufc.br) on 2017-11-08T17:23:03Z (GMT) No. of bitstreams: 1 2017_dis_pmroliveira.pdf: 1357256 bytes, checksum: 308dc86c85e412f7947531cc8692dd60 (MD5) / Made available in DSpace on 2017-11-08T17:23:03Z (GMT). No. of bitstreams: 1 2017_dis_pmroliveira.pdf: 1357256 bytes, checksum: 308dc86c85e412f7947531cc8692dd60 (MD5) Previous issue date: 2017-07-28 / Cooperative communication systems is a promising research field nowadays due to its advantages, like the increase of the received power, better quality of signal, and spatial diversity gains. Specifically, multi-hop systems are a very important part of cooperative communications, since they have the advantage of needing less transmission power than the direct systems. Also, multiple-input multiple-output (MIMO) systems are present in several standards of communications, providing some advantages, like the spatial multiplexing gains. Based on this scenario, this work proposes two semi-blind receivers based on the Kronecker product, that jointly estimate the symbol and the channels in a multi-hop Amplify-and-Forward (AF) MIMO relay-assisted system (AF protocol is widely used, due to its great performance and easy implementation). We consider a transmission scheme using a simplified Khatri-Rao space-time (KRST) coding at the source node, combined with an AF scheme at the relay nodes. We show that the third-order tensor of signals received by the destination node satisfies a PARATUCK-(K+1) decomposition, where K is the number of relays. This tensorial modeling enables a semi-blind estimation of symbols and channels with the use of a few pilot symbols. The first receiver called Least-Squares Kronecker-Factorization (LS-KF) is based on a factorization of the Kronecker product matrix between the symbols and the channel matrices. The other receiver called Least-Squares Kronecker-Rearrangement (LS-KR) is based on a rearrangement of this Kronecker product matrix, in order to achieve a rank-1 matrix. The performance of these receivers is evaluated by means of computational simulation results proving their efficiency in estimating the channels and, hence, providing a low Symbol Error Rate (SER). The proposed algorithms in the multi-hop scenario were compared to each other and with the two-hop and three-hop scenarios. The proposed algorithms in the multi-hop scenario were better at all simulations, providing a lower SER and better channels estimations. / Sistemas de comunicações cooperativas são um importante campo de pesquisa atualmente devido às vantagens que oferecem, como o aumento da potência recebida, melhor qualidade de sinal, e ganhos de diversidade espacial. Particularmente, sitemas multi-saltos são uma importante parte das comunicações cooperativas, uma vez que tais sistemas precisam de menos potência de transmissão se comparados a sistemas diretos. Por outro lado, sistemas MIMO (Multiple-Input Multiple-Output) estão presentes em diversos padrões de comunicação, provendo algumas vantagens, como ganhos de multiplexação espacial. Com base nesse cenário, o presente trabalho propõe dois receptores semi-cegos baseados no pro- duto de Kronecker, que estimam conjuntamente os símbolos e os canais de um sistema AF (Amplify- and-Forward) MIMO cooperativo com multiplos saltos (O protocolo AF é bastante usado, devido a sua grande performance e fácil implementação). É considerado um esquema de transmissão usando uma codificação simplificada KRST (Khatri-Rao Space-Time) na fonte, combinada com um esquema AF no relays. É mostrado que o tensor de terceira ordem dos sinais recebidos pelo destino satisfazem uma decomposição tensorial PARATUCK-(K+1), em que K é o número de relays. Esse modelo tensorial permite uma estimação semi-cega dos símbolos e canais, com o uso de alguns símbolos pilotos. O primeiro algoritmo, chamado de Least-Squares Kronecker-Factorization (LS-KF), é baseado em uma fatorização da matrix do produto de Kronecker entre as matrizes de símbolos e canal. Já o outro algoritmo, chamado de Least-Squares Kronecker-Rearrangement (LS-KR), é baseado no re- arranjo dessa matrix do produto de Kronecker, com o objetivo de conseguir uma matrix com rank 1. A performance desses receptores é avaliada através do resultado de simulações computacionais, provando sua eficiência em estimar os canais e prover uma baixa SER (Symbol Error Rate). Os algo- ritmos propostos no cenário multi-hop são comparados um com o outro e com os cenários two-hop e three-hop. Os algoritmos propostos no cenário multi-hop tiveram melhores performance em todas as simulações, resultando numa menor SER e melhores estimações dos canais.

In this work, a robust decentralized model predictive control regime for a team of cooperating robot systems is designed. Their assumed dynamics are in continuous time and non-linear. The problem involves agents whose dynamics are independent of one-another, and its solution couples their constraints as a means of capturing the cooperative behaviour required. Analytical proofs are given to show that, under the proposed control regime: (a) Subject to initial feasibility, the optimization solved at each step by each agent will always be feasible, irrespective of whether or not disturbances affect the agents. In the former case, recursive feasibility is established through successive restriction of each agent's constraints during the periodic solution to its respective optimization problem. (b) Each (sub)system can be stabilized to a desired configuration, either asymptotically when uncertainty is absent, or within a neighbourhood of it, when uncertainty is present, thus attenuating the affecting disturbance. In this context, disturbances are assumed to be additive and bounded. Simulations verify the efficacy of the proposed method over a range of different operating environments. / I detta arbete, en robust decentraliserad modell prediktiv kontroll regime förett lag av samverkande robotsystem är utformade. Deras antagnat dynamikär i kontinuerlig tid och olinjär. Problemet involverar agenter vars dynamik äroberoende av varandra, och sina lösning kopplar sina begränsningar som ettmedel för att fånga det kooperativa beteendet som krävs. Analytiska bevis gesför att visa att, enligt det föreslagna kontrollsystemet: (a) med förbehåll förförsta genomförbarhet, kommer optimeringen som löses vid varje steg av varjeagent alltid vara möjligt, oavsett huruvida störningar påverkar agenserna ellerinte. I det förre fallet är rekursiv genomförbarhet etablerad genom successivabegränsningar av varje agents inskränkning under den periodiska lösningentill dess respektive optimeringsproblem. (b) Varje (sub) system kan stabiliserastill en önskad konfiguration, antingen asymptotiskt när osäkerhet saknas,eller inom en närhet av det, när osäkerhet är närvarande, således dämparpåverkanstörning. I detta sammanhang antas störningar vara additiv och avgränsas.Simuleringar verifierar effekten av den föreslagna metoden över ettintervall av olika driftsmiljöer.

Conselho Nacional de Desenvolvimento CientÃfico e TecnolÃgico / Em comunicaÃÃes cooperativas, dois ou mais terminais de transmissÃo sÃo combinados para aumentar a diversidade e/ou a potencia dos sinais que chegam a um determinado receptor. Portanto, mesmo que os dispositivos nÃo disponham de mais de uma antena, ou que entÃo haja uma grande perda por propagaÃÃo entre dois pontos comunicantes, os diversos elementos transmissores podem atuar como um arranjo virtual de antenas, obtendo-se assim vantagens dos sistemas de mÃltiplas antenas (MIMO), sobretudo o aumento da capacidade de transmissÃo. Recentemente, a chamada analise tensorial tem se mostrado uma abordagem eficiente entÃo para a estimaÃÃo de canais em sistemas com diversidade cooperativa. Contudo, nos poucos trabalhos dedicados a essa tarefa, a utilizaÃÃo da decomposiÃÃo tensorial PARAFAC para a modelagem dos sinais recebidos nÃo possibilitou o desenvolvimento de tÃcnicas de estimaÃÃo conjunta de canais e sÃmbolos. Com a idÃia de se evitar o uso de sequencias de treinamento, que limita a eficiÃncia espectral da transmissÃo por dedicar uma parte da largura de banda apenas para a tarefa de estimaÃÃo dos canais, o objetivo desta tese à prover novas estratÃgias de comunicaÃÃo, em termos de sistemas de transmissÃo e receptores semi-cegos, baseados em tensores adaptados a sistemas cooperativos MIMO unidirecionais de dois saltos. Dois sistemas de transmissÃo sÃo propostos utilizando uma codificaÃÃo espaÃo-temporal do tipo Khatri-Rao na fonte e duas estrategias de processamento Amplify-and-Forward (AF) no relay. Para estes sistemas, nomeados PT2-AF e NP-AF, os sinais recebidos no chamado nà de destino satisfazem os modelos tensoriais do tipo PARATUCK2 e Nested PARAFAC. Explorando as propriedades de unicidade destes modelos tensoriais estabelecidas nesta tese, vÃrios receptores semi-cegos sÃo derivados. Alguns destes receptores sÃo do tipo ALS, enquanto outros sÃo de soluÃÃes baseadas na factorizaÃÃo de produtos de Khatri-Rao. Resultados de simulaÃÃo sÃo apresentados para ilustrar os desempenhos dos receptores propostos em comparaÃÃo a alguns estimadores supervisionados. / In cooperative communication systems, two or more transmitting terminals are combined to increase the diversity and/or the power of the signals arriving at a particular receiver. Therefore, even if the devices do not have more than one antenna, or if a significant propaga- tion loss is present between the two communicating nodes, the various transmitting elements can act as a virtual antenna array, thus obtaining the benefits of the multiple antenna (MIMO) systems, especially the increase in the capacity. Recently, tensor decompositions have been introduced as an efficient approach for channel estimation in cooperative com- munication systems. However, among the few works devoted to this task, the utilization of the PARAFAC tensor decomposition for modeling the received signals did not allow the development of techniques for joint symbol and channel estimation. Aiming to avoid the use of pilot sequences, which limits the overall spectral efficiency by dedicating a portion of the bandwidth only for the channel estimation task, the objective of this thesis is to provide new tensor-based strategies, including transmission systems and semi-blind receivers, for one-way two-hop MIMO relaying systems. Based on a Khatri-Rao space-time coding at the source and two different Amplify-and-Forward (AF) relaying strategies, two transmission schemes are proposed. For these systems, named PT2-AF and NP-AF, the received signals at the destination node follow respectively a PARATUCK2 and a nested PARAFAC tensor model. Exploiting uniqueness properties of these tensor models which are established in the thesis, several semi-blind receivers are derived. Some of these receivers are of iterative form us- ing an ALS algorithm, whereas some other ones have closed-form solutions associated with Khatri-Rao factorizations. Some simulation results are finally presented to illustrate the per- formance of the proposed receivers which are compared to some state-of-the-art supervised techniques.