Opportunistic communication techniques have shown to provide significant performance improvements in centralised random access wireless networks. The key mechanism of opportunistic communication is to send back-to-back data packets whenever the channel quality is deemed "good". Recently there have been attempts to introduce opportunistic communication techniques in distributed wireless networks such as wireless ad hoc networks. In line of this research, we propose a new paradigm of medium access control, called Channel MAC based on the channel randomness and opportunistic communication principles. Scheduling in Channel MAC depends on the instance at which the channel quality improves beyond a threshold, while neighbouring nodes are deemed to be silent. Once a node starts transmitting, it will keep transmitting until the channel becomes "bad". We derive an analytical throughput equation of the proposed MAC in a multiple access environment and validate it by simulations. It is observed that Channel MAC outperforms IEEE 802.11 for all probabilities of good channel condition and all numbers of nodes. For higher number of nodes, Channel MAC achieves higher throughput at lower probabilities of good channel condition increasing the operating range. Furthermore, the total throughput of the network grows with increasing number of nodes considering negligible propagation delay in the network. A scalable channel prediction scheme is required to implement the practical Channel MAC protocol in practice. We propose a mean-value based channel prediction scheme, which provides prediction with enough accuracy to be used in the Channel MAC protocol. NS2 simulation result shows that the Channel MAC protocol outperforms the IEEE 802.11 in throughput due to its channel diversity mechanism in spite of the prediction errors and packet collisions. Next, we extend the Channel MAC protocol to support multi-rate communications. At present, two prominent multi-rate mechanisms, Opportunistic Auto Rate (OAR) and Receiver Based Auto Rate (RBAR) are unable to adapt to short term changes in channel conditions during transmission as well as to use optimum power and throughput during packet transmissions. On the other hand, using channel predictions, each source-destinations pair in Channel MAC can fully utilise the non-fade durations. We combine the scheduling of Channel MAC and the rate adaptive transmission based on the channel state information to design the 'Rate Adaptive Channel MAC' protocol. However, to implement the Rate adaptive Channel MAC, we need to use a channel prediction scheme to identify transmission opportunities as well as auto rate adaptation mechanism to select rates and number of packets to transmit during those times. For channel prediction, we apply the scheme proposed for the practical implementation of Channel MAC. We propose a "safety margin" based technique to provide auto rate adaptation. Simulation results show that a significant performance improvement can be achieved by Rate adaptive Channel MAC as compared to existing rate adaptive protocols such as OAR.

Opportunistic communication techniques have shown to provide significant performance improvements in centralised random access wireless networks. The key mechanism of opportunistic communication is to send back-to-back data packets whenever the channel quality is deemed "good". Recently there have been attempts to introduce opportunistic communication techniques in distributed wireless networks such as wireless ad hoc networks. In line of this research, we propose a new paradigm of medium access control, called Channel MAC based on the channel randomness and opportunistic communication principles. Scheduling in Channel MAC depends on the instance at which the channel quality improves beyond a threshold, while neighbouring nodes are deemed to be silent. Once a node starts transmitting, it will keep transmitting until the channel becomes "bad". We derive an analytical throughput equation of the proposed MAC in a multiple access environment and validate it by simulations. It is observed that Channel MAC outperforms IEEE 802.11 for all probabilities of good channel condition and all numbers of nodes. For higher number of nodes, Channel MAC achieves higher throughput at lower probabilities of good channel condition increasing the operating range. Furthermore, the total throughput of the network grows with increasing number of nodes considering negligible propagation delay in the network. A scalable channel prediction scheme is required to implement the practical Channel MAC protocol in practice. We propose a mean-value based channel prediction scheme, which provides prediction with enough accuracy to be used in the Channel MAC protocol. NS2 simulation result shows that the Channel MAC protocol outperforms the IEEE 802.11 in throughput due to its channel diversity mechanism in spite of the prediction errors and packet collisions. Next, we extend the Channel MAC protocol to support multi-rate communications. At present, two prominent multi-rate mechanisms, Opportunistic Auto Rate (OAR) and Receiver Based Auto Rate (RBAR) are unable to adapt to short term changes in channel conditions during transmission as well as to use optimum power and throughput during packet transmissions. On the other hand, using channel predictions, each source-destinations pair in Channel MAC can fully utilise the non-fade durations. We combine the scheduling of Channel MAC and the rate adaptive transmission based on the channel state information to design the 'Rate Adaptive Channel MAC' protocol. However, to implement the Rate adaptive Channel MAC, we need to use a channel prediction scheme to identify transmission opportunities as well as auto rate adaptation mechanism to select rates and number of packets to transmit during those times. For channel prediction, we apply the scheme proposed for the practical implementation of Channel MAC. We propose a "safety margin" based technique to provide auto rate adaptation. Simulation results show that a significant performance improvement can be achieved by Rate adaptive Channel MAC as compared to existing rate adaptive protocols such as OAR.

Made available in DSpace on 2016-06-02T20:18:24Z (GMT). No. of bitstreams: 1 6321.pdf: 1608143 bytes, checksum: 79020037f93ef260d48c286f33c9f952 (MD5) Previous issue date: 2014-08-29 / Universidade Federal de Minas Gerais / Asthma is a chronic disease, with periods of exacerbation and worsening of airflow obstruction and may be triggered by various stimuli, including exercise, and is associated with dysfunction of the autonomic nervous system (ANS). In this context, two studies were conducted to assess adjustments of ANS in asthmatic volunteers in different situations. The first study was entitled: Increased sympathetic modulation and decreased response of the heart rate variability response in controlled asthma , was designed to evaluate the adjustments of indices of autonomic modulation of heart rate (HR) at rest in supine and seated positions and during the respiratory sinus arrhythmia maneuver (M-RSA). The assessment of 12 asthmatic volunteers included pulmonary function tests and measures of heart rate variability (HRV). The results suggest that in asthma appears to be an association of airflow obstruction with reduced total variability, and in addition, to postural change seems to be reduced adjustment of the sympathetic nervous system in asthmatic women. The second study entitled: Airway responsiveness at exercise recovery and adjustments of heart rate variability at rest and exercise in controlled asthma , evaluated the adjustments of cardiac autonomic modulation during exercise its association with the exercise induced bronchoconstriction. Sixteen asthmatics volunteers underwent constant speed exercise test, forced vital capacity maneuver before and after exercise testing and register of HR and R-R intervals. With this second study, it can conclude that in asthmatics, even with controlled disease, injury presents postural and autonomic adjustments during the year and reduced complexity of dynamical systems of HRV during exercise. / A asma é uma doença crônica, com períodos de exacerbação e piora da obstrução ao fluxo aéreo, podendo ser desencadeada por vários estímulos, incluindo o exercício, e está associada a disfunções do sistema nervoso autonômico (SNA). Nesse contexto, foram realizados dois estudos para avaliação dos ajustes do SNA em voluntários asmáticos, em diferentes situações. O primeiro estudo intitulado: Elevada modulação simpática e atenuada resposta da variabilidade da frequência cardíaca na asma controlada , teve como objetivo avaliar os ajustes dos índices de modulação autonômica da frequência cardíaca (FC) em repouso, na manobra de mudança postural e durante a manobra de acentuação da arritmia sinusal respiratória. A avaliação de 12 voluntárias asmáticas, incluiu prova de função pulmonar e medidas da variabilidade da frequência cardíaca (VFC) nas diferentes posições e durante a manobra de acentuação da arritmia sinusal respiratória. Os resultados sugerem que na asma parece haver associação da obstrução ao fluxo aéreo com reduzida variabilidade total, e além disso, frente à mudança postural parece haver reduzido ajuste do sistema nervoso simpático em mulheres asmáticas. Diante destes resultados, objetivamos avaliar a VFC também durante o exercício em voluntários asmáticos. Sendo assim, o segundo estudo intitulado: Responsividade das vias aéreas na recuperação do exercício e os ajustes da variabilidade da frequência cardíaca em repouso e durante o exercício em asmáticos controlados , avaliou os ajustes da modulação autonômica cardíaca durante o exercício e sua associação com a presença de broncoconstrição induzia pelo exercício (BIE). Dezesseis voluntários com asma foram submetidos a um teste de exercício de carga constante em esteira, manobras de capacidade vital forçada antes e após o teste de exercício e registro da FC e dos intervalos R-R. Com este segundo estudo, pode-se concluir que em asmáticos, mesmo com a doença controlada, há prejuízo nos ajustes autonômicos posturais e durante o exercício, bem como reduzida complexidade dos sistemas dinâmicos de VFC durante o exercício.

INTRODUÇÃO: O treinamento físico provoca adaptações cardiovasculares, sendo que maiores adaptações estruturais cardíacas são observadas em atletas de elite, que realizam treinamento físico de alta intensidade com o objetivo de aumento no rendimento. Além disto, atletas apresentam diminuição da frequência cardíaca de repouso, embora os mecanismos que explicam a bradicardia em atletas ainda são controversos. O nível das adaptações pode variar e fatores como o tipo de modalidade esportiva, tempo e nível de treinamento físico podem contribuir para tal variação. Desta forma, o objetivo deste estudo foi investigar a influência de modalidades esportivas (ciclismo, corrida de longa distância e remo) e da periodização do treinamento físico nas adaptações estruturais e funcionais, autonômicas e não autonômicas cardíacas e vasculares em atletas de elite no repouso, na inclinação ortostática e nas 24 horas. MÉTODOS: Neste estudo experimental longitudinal prospectivo foram avaliados 13 ciclistas, 13 corredores e 11 remadores de elite, saudáveis (entre 20 e 36 anos; masculino), engajados em treinamento físico competitivo, em 2 períodos de treinamento: período básico-PB e período competitivo-PC. Avaliação da capacidade funcional máxima foi feita por teste cardiorrespiratório. Adaptações estruturais cardíacas foram avaliadas por meio do ecocardiograma bidimensional com doppler. Frequência cardíaca intrínseca foi estudada por meio do duplo bloqueio farmacológico (atropina 0,04 mg/kg e esmolol 500 g/kg, i.v.). Frequência cardíaca e pressão arterial foram registradas continuamente no repouso e no teste de inclinação ortostática por meio de ECG e monitor de pressão arterial, respectivamente (500Hz). A variabilidade da frequência cardíaca e pressão arterial foram analisadas pelo método auto-regressivo. Frequência cardíaca e pressão arterial de 24 horas foram aquisitadas pelo Holter e Mapa, respectivamente. Avaliação da sensibilidade barorreflexa espontânea foi calculada pelo método da sequência. Os dados foram apresentados como mediana e variação interquartil. RESULTADOS: Remadores apresentaram maior VO2max que os corredores no PC (p<0,04). Ciclistas e remadores apresentaram maior VO2max no PC comparado ao PB (p<0,05). Corredores apresentaram maiores diâmetros diastólicos do ventrículo esquerdo que ciclistas (p<0,06) e remadores (p<0,01) no PB. Corredores e ciclistas apresentaram maiores diâmetros diastólicos do ventrículo esquerdo que remadores (p<0,004) no PC. Corredores apresentaram maiores índices de massa do ventrículo esquerdo que ciclistas (p<0,04) no PB e ciclistas maiores que remadores (p<0,03) no PC. Ciclistas foram os únicos atletas que apresentaram a reversão do remodelamento cardíaco no PB (p<0,04). No repouso, corredores mostraram menor frequência cardíaca que ciclistas no PC ciclistas = 50(45/55), corredores = 44(43/47), remadores = 44(43/53)bpm, p<0,03]. Corredores e remadores mostraram maior efeito vagal [ciclistas = 41(36/46), corredores = 55(48/59), remadores = 50(42/66)bpm, p=0,03] e maior frequência cardíaca intrínseca ciclistas = 84(82/87), corredores = 92(87/94), remadores = 96(85/101)bpm, p=0,03] que ciclistas no PC. Remadores tinham maior frequência cardíaca intrínseca que ciclistas no PB ciclistas = 88(86/92), corredores = 91(82/99), remadores = 95(90/101)bpm, p=0,03]. PC comparado ao PB diminuiu o efeito vagal 41(36/46) vs. 48(43/51)bpm, p<0,05] e frequência cardíaca intrínseca 84(82/87) vs. 88(86/92), p<0,05] dos ciclistas. No teste de inclinação, corredores mostraram menor aumento da frequência cardíaca que ciclistas no PB ciclistas = 64(49/73), corredores = 46(43/55), remadores = 53(42/77)%, p<0,05]. Nem a modalidade ou período de treinamento físico influenciaram os índices de variabilidade da frequência cardíaca no repouso ou na inclinação ortostática. A modalidade esportiva e o período de treinamento físico influenciaram a pressão arterial e sua variabilidade, no repouso e na inclinação ortostática. Remadores apresentaram menor sensibilidade barorreflexa espontânea que corredores no PC (p=0,03). Tanto a modalidade quanto o período de treinamento físico influenciaram a resposta da frequência cardíaca de 24 horas, sua variabilidade e a resposta da pressão arterial de 24 horas. CONCLUSÃO: Tanto a modalidade esportiva quanto o período de treinamento físico influenciaram nas adaptações estruturais cardíacas, intrínsecas e autonômicas cardíacas e vasculares. Entretanto a modalidade esportiva parece influenciar mais expressivamente essas adaptações / INTRODUCTION: Physical exercise training provokes cardiovascular adaptations and the highest structural cardiac adaptations are observed in elite athletes who perform high intensity training with the objective of increasing their physical performance. Besides, athlete shows decrease on resting heart rate. However, the mechanisms that explain the bradycardia in athletes are still controversial. The level of these adaptations may vary and some factors as the type of sport modality, time and level of physical training can contribute to such different responses. Thus, the aim of this study was to investigate the influence of sport modalities (cycling, long distane runner and rower) and physical training periodization on cardiac structural and functional, cardiac autonomic and non-autonomic and vascular adaptations in elite athletes at rest, tilt table test and within 24 hours. METHODS: In this prospective longitudinal experimental study, 13 cyclists, 13 runners and 11 rowers, healthy (20 to 36 years old; male), engaged in competitive training were evaluated in 2 periods of training: basic period BP and competitive period -CP. Maximal functional capacity was evaluated by cardiopulmonary test. Cardiac structural adaptations were evaluated by two-dimensional echocardiography with doppler. Intrinsic heart rate was studied by means of double pharmacological blockade (atropine 0.04 mg/kg and esmolol 500 g/kg, iv.). Heart rate and blood pressure were recorded continuously at rest and tilt table test by means of ECG and arterial blood pressure monitor, respectively (500Hz). The heart rate and blood pressure variabilities were analyzed by autoregressive method. Heart rate and blood pressure within 24 hours were recorded using Holter and blood pressure ambulatory monitor, respectivamente. Spontaneous baroreflex sensitivity was calculated using the sequence method. The data were presented as median and interquartile range. RESULTS: Rowers showed higher VO2max than runners at CP (p<0.04). Cyclists and rowers showed higher VO2max at CP compared to BP (p<0.05). Runners presented higher left ventricular diastolic diameters than cyclists (p<0.06) and rowers (p<0.01) at BP. Runners and cyclists presented higher left ventricular diastolic diameters than rowers (p<0.004) at CP. Runners showed higher left ventricular mass index than cyclistas (p<0.04) at BP and cyclists higher than rowers (p<0.03) at CP. Cyclists were the only athletes who had a reversal of cardiac remodeling at BP (p<0.04). At rest, runners showed lower heart rate than cyclists at CP cyclists = 50(45/55), runners = 44(43/47), rowers = 44(43/53)bpm, p<0.03]. Runners and rowers showed higher vagal effect [cyclists = 41(36/46), runners = 55(48/59), rowers = 50(42/66)bpm, p=0.03] and higher intrinsic heart rate cyclists = 84(82/87), runners = 92(87/94), rowers = 96(85/101)bpm, p=0,03] than cyclists at CP. Rowers had higher intrinsic herat rate than cyclists at BP cyclists = 88(86/92), runners = 91(82/99), rowers = 95(90/101)bpm, p=0.03]. CP compared with BP decreased the vagal effect 41(36/46) vs. 48(43/51)bpm, p<0.05] and intrinsic heart rate 84(82/87) vs. 88(86/92), p<0.05] of cyclists. At tilt table test, runners showed smaller increase in heart rate than cyclists at BP cyclists = 64(49/73), runners = 46(43/55), rowers = 53(42/77)%, p<0.05]. Neither the sport modality or the training period influenced the indices of heart rate variability at rest and tilt test. The sport modality and the training period influenced the blood pressure and its variability at rest and tilt test. Rowers showed lower spontaneous baroreflex sensitivity than runners at CP (p=0.03). Both the sport modality and the training period influenced the heart rate response in 24 hours, its variability and blood pressure response in 24 hours. CONCLUSION: Both Sport modality and physical training period influenced the cardiac structural, intrinsic and autonomic adaptations as well the vascular adaptations. However, the sport modality seems to influence more significantly these adaptations

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Tesis por compendio / [ES] Con esta tesis se pretende dar solución a algunos de los problemas más habituales que aparecen en los Sistemas de control basados en red (NCS) como son los retardos variables en el tiempo, las pérdidas y el desorden de paquetes, y la restricción de ancho de banda y de recursos computacionales y energéticos de los dispositivos que forman parte del sistema de control. Para ello se ha planteado la integración de técnicas de control multifrecuencial, de control basado en paquetes, de control basado en predictor y de control basado en eventos. Los diseños de control realizados se han simulado utilizando Matlab-Simulink y Truetime, se ha analizado su estabilidad mediante LMIs y QFT, y se han validado experimentalmente en un péndulo invertido, un robot cartesiano 3D y en robots móviles de bajo coste. El artículo 1 aborda el control basado en eventos, el cual minimiza el ancho de banda consumido en el NCS mediante un control basado en eventos periódicos y presenta un método para obtener sus parámetros óptimos para el sistema específico en que se utilice. Los artículos 2, 4 y 6 añaden el control basado en paquetes, así como el control multifrecuencia, que aborda problemas de falta de datos por bajo uso del sensor y los retardos, pérdidas y desórdenes de paquetes en la red. También afrontan, mediante tecnicas de predicción basadas en un filtro de Kalman multifrecuencia variable en el tiempo, los problemas de ruido y perturbaciones, así como la observación de los estados completos del sistema. El artículo 7 hace frente a un modelo no lineal que utiliza las anteriores soluciones junto con un filtro de Kalman extendido para presentar otro tipo de estructura para un vehículo autónomo que, gracias a la información futura obtenida mediante estas técnicas, puede realizar de forma remota tareas de alto nivel como es la toma de decisiones y la monitorización de variables. Los artículos 3 y 5, presentan una forma de obtener y analizar la respuesta en frecuencia de sistemas SISO multifrecuencia y estudian su comportamiento ante ciertas incertidumbres o problemas en la red haciendo uso de procedimientos QFT. / [CA] Amb aquesta tesi es pretén donar solució a alguns dels problemes més habituals que apareixen als Sistemes de Control Basats en xarxa (NCS) com son els retards d'accés i transferència variables en el temps, les pèrdues y desordenament de paquets, i la restricció d'ampli de banda així com de recursos computacionals i energètics dels dispositius que foment part del sistema de control. Per tal de resoldre'ls s'ha plantejat la integració de tècniques de control multifreqüencial, de control basat en paquets, de control basat en predictor i de control basat en events. Els dissenys de control realitzats s'han simulat fent ús de Matlab-Simulink i de TrueTime, s'ha analitzat la seua estabilitat mitjançant LMIs i QFT, i s'han validat experimentalment en un pèndul invertit, un robot cartesià 3D i en robots mòbils de baix cost. L'article 1 aborda el control basat en events, el qual minimitza l'ampli de banda consumit a l'NCS mitjançant un control basat en events periòdics i presenta un mètode per a obtindré els seus paràmetres òptims per al sistema específic en el qual s'utilitza. Els articles 2, 4 i 6 afegeixen el control basat en paquets, així com el control multifreqüència, que aborda problemes de falta de dades per el baix us del sensor i els retards, pèrdues i desordre de paquets en la xarxa. També afronten, mitjançant tècniques de predicció basades en un filtre de Kalman multifreqüència variable en el temps. Els problemes de soroll i pertorbacions, així com la observació dels estats complets del sistema. L'article 7 fa referència a un model no lineal que utilitza les anteriors solucions junt a un filtre de Kalman estès per a presentar altre tipus d'estructura per a un vehicle autònom que, gracies a la informació futura obtinguda mitjançant aquestes tècniques, pot realitzar de manera remota tasques d'alt nivell com son la presa de decisions i la monitorització de variables. Els articles 3 y 5 presenten la manera d'obtindre i analitzar la resposta en frequencia de sistemes SISO multifreqüència i estudien el seu comportament front a certes incerteses o problemes en la xarxa fent us de procediments QFT. / [EN] This thesis attempts to solve some of the most frequent issues that appear in Networked Control Systems (NCS), such as time-varying delays, packet losses and packet disorders and the bandwidth limitation. Other frequent problems are scarce computational and energy resources of the local system devices. Thus, it is proposed to integrate multirate control, packet-based control, predictor-based control and event-based control techniques. The control designs have been simulated using Matlab-Simulink and Truetime, the stability has been analysed by LMIs and QFT, and the experimental validation has been done on an inverted pendulum, a 3D cartesian robot and in low-cost mobile robots. Paper 1 addresses event-based control, which minimizes the bandwidth consumed in NCS through a periodic event-triggered control and presents a method to obtain the optimal parameters for the specific system used. Papers 2, 4 and 6 include packet-based control and multirate control, addressing problems such as network delays, packet dropouts and packet disorders, and the scarce data due to low sensor usage in order to save battery in sensing tasks and transmissions of the sensed data. Also addressed, is how despite the existence of measurement noise and disturbances, time-varying dual-rate Kalman filter based prediction techniques observe the complete state of the system. Paper 7 tackles a non-linear model that uses all the previous solutions together with an extended Kalman filter to present another type of structure for an autonomous vehicle that, due to future information obtained through these techniques, can remotely carry out high level tasks, such as decision making and monitoring of variables. Papers 3 and 5, present a method for obtaining and analyzing the SISO dual-rate frequency response and using QFT procedures to study its behavior when faced with specific uncertainties or network problems. / This work was supported by the Spanish Ministerio de Economía y Competitividad under Grant referenced TEC2012-31506. / Alcaina Acosta, JJ. (2020). Design and implementation of event-based multi-rate controllers for networked control systems [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/159884 / Compendio

La thèse porte sur le développement des techniques non linéaires robustes de stabilisation et commande des systèmes avec perturbations de model. D’abord, on introduit les concepts de base de stabilité et stabilisabilité robuste dans le contexte des systèmes non linéaires. Ensuite, on présente une méthodologie de stabilisation par retour d’état en présence d’incertitudes qui ne sont pas dans l’image de la commande («unmatched»). L’approche récursive du «backstepping» permet de compenser les perturbations «unmatched» et de construire une fonction de Lyapunov contrôlée robuste, utilisable pour le calcul ultérieur d’un compensateur des incertitudes dans l’image de la commande («matched»). Le contrôleur obtenu est appelé «recursive Lyapunov redesign». Ensuite, on introduit la technique de stabilisation par «Immersion & Invariance» comme outil pour rendre un donné contrôleur non linéaire, robuste par rapport à dynamiques non modelées. La première technique de contrôle non linéaire robuste proposée est appliquée au projet d’un autopilote pour un missile air-air et au développement d’une loi de commande d’attitude pour un satellite avec appendices flexibles. L’efficacité du «recursive Lyapunov redesign» est mis en évidence dans le deux cas d’étude considérés. En parallèle, on propose une méthode systématique de calcul des termes incertains basée sur un modèle déterministe d’incertitude. La partie finale du travail de thèse est relative à la stabilisation des systèmes sous échantillonnage. En particulier, on reformule, dans le contexte digital, la technique d’Immersion et Invariance. En premier lieu, on propose des solutions constructives en temps continu dans le cas d’une classe spéciale des systèmes en forme triangulaire «feedback form», au moyen de «backstepping» et d’arguments de domination non linéaire. L’implantation numérique est basée sur une loi multi-échelles, dont l’existence est garantie pour la classe des systèmes considérée. Le contrôleur digital assure la propriété d’attractivité et des trajectoires bornées. La loi de commande, calculée par approximation finie d’un développement asymptotique, est validée en simulation de deux exemples académiques et deux systèmes physiques, le pendule inversé sur un chariot et le satellite rigide. / The dissertation deals with the problems of stabilization and control of nonlinear systems with deterministic model uncertainties. First, in the context of uncertain systems analysis, we introduce and explain the basic concepts of robust stability and stabilizability. Then, we propose a method of stabilization via state-feedback in presence of unmatched uncertainties in the dynamics. The recursive backstepping approach allows to compensate the uncertain terms acting outside the control span and to construct a robust control Lyapunov function, which is exploited in the subsequent design of a compensator for the matched uncertainties. The obtained controller is called recursive Lyapunov redesign. Next, we introduce the stabilization technique through Immersion \& Invariance (I\&I) as a tool to improve the robustness of a given nonlinear controller with respect to unmodeled dynamics. The recursive Lyapunov redesign is then applied to the attitude stabilization of a spacecraft with flexible appendages and to the autopilot design of an asymmetric air-to-air missile. Contextually, we develop a systematic method to rapidly evaluate the aerodynamic perturbation terms exploiting the deterministic model of the uncertainty. The effectiveness of the proposed controller is highlighted through several simulations in the second case-study considered. In the final part of the work, the technique of I\& I is reformulated in the digital setting in the case of a special class of systems in feedback form, for which constructive continuous-time solutions exist, by means of backstepping and nonlinear domination arguments. The sampled-data implementation is based on a multi-rate control solution, whose existence is guaranteed for the class of systems considered. The digital controller guarantees, under sampling, the properties of manifold attractivity and trajectory boundedness. The control law, computed by finite approximation of a series expansion, is finally validated through numerical simulations in two academic examples and in two case-studies, namely the cart-pendulum system and the rigid spacecraft.

O recente crescimento da utilização de tecnologias de automação e eletrônica embarcada em máquinas e implementos agrícolas tem estabelecido uma nova prática na área agrícola. Estas novas práticas relacionadas com a agricultura de precisão (AP) têm demandado a utilização de sensores e redes de comunicação embarcadas para aquisição de dados e controle dos dispositivos em campo. A incompatibilidade entre equipamentos e formatos de dados tornou-se um grande obstáculo. A tendência global é de uso de sistemas padronizados de acordo com a norma ISO 11783 (também conhecida como ISOBUS) nos dispositivos, ou Electronic Control Unit (ECU), utilizados na produção agrícola. No Brasil, essas ferramentas ainda não são largamente aplicadas. O objetivo deste trabalho é sistematizar as informações necessárias dos procedimentos para comunicação de uma ECU do implemento com a ECU de trator de gerenciamento. Focou-se no desenvolvimento dos arquivos padrões necessários e no programa da ECU do implemento, e testes de validação da comunicação dos dispositivos via rede ISO 11873. Estabeleceu-se a relação entre as informações sistematizadas e os dispositivos embarcados em máquinas agrícolas. Os dispositivos embarcados consistem em cinco ECUs interconectadas pela rede ISO 11783. Quatro ECUS estão localizados no tractor: ECU do GPS, Controlador de Tarefas (TC), Terminal Virtual (VT) e ECU do Trator (TECU). A ECU do GPS é responsável pela recepção do sinal do Differencial Global Position System (DGPS) e disponibilização na rede ISO 11783. O TC é responsável pelo gerenciamento da aplicação do mapa de prescrição e pelo controle do implemento. O VT é responsável por monitorar e disponibilizar uma interface gráfica com o operador da máquina. O TECU disponibiliza a velocidade do trator obtida por um sensor de radar. A quinta ECU está localizado no implemento, definido como Working Set Master (WSM), que é responsável por interpretar os comandos das ECUs do trator e integrar o dispositivo mecânico-hidráulico para realização de uma aplicação agrícola. Este trabalho mostrou os requisitos necessários para o desenvolvimento dos arquivos necessários (TaskData.XML e o Device Description Object Pool), as capacidades necessárias para o programa da ECU do Implemento, a validação da comunicação da ECU do Implemento com o TC (ECU do trator de gerenciamento) e comprovou que as informações sistematizadas facilitaram e proporcionaram a implementação de um sistema ISO 11783. Espera-se, que este trabalho possa abrir oportunidades para que a norma ISO 11783 possa ser melhor entendida e ampliar a possibilidade de disponibilizar um número maior de aplicações que envolvem o conceito de AP no Brasil. / The recent growth of automation technology and embedded electronic in agricultural machinery has established a new practice in agriculture. These new practices related to precision agriculture (PA) have demanded the use of sensors and communications embedded networks for data acquisition and control devices in the farm field. The incompatibility between hardware, software and data formats has become a major obstacle. The global trend is to use standardized systems in accordance with ISO 11783 (also known as ISOBUS) in the devices, or Electronic Control Units (ECU), used in agricultural production. In Brazil, these tools are not yet implemented. The purpose of this work is to systemize the information necessary of the procedures for communication among the implement ECU with management tractor ECU. This work focuses standardized files format, the program of the implement ECU and the validation tests of the devices communication via ISO 11873 network. It was established the relation among the systematized information and embedded devices on agricultural machinery. The embedded devices consist in five ECUs connected in the ISO 11783 network. Four ECUs are located in the tractor: GPS ECU, Task Controller (TC), Virtual Terminal (VT) and Tractor ECU (TECU). The GPS ECU is responsible to the Differential Global Positioning System (DGPS) positioning. The TC is responsible to manage the prescription map and to control the implement. The VT is responsible monitor the application. The TECU disposes tractor velocity of a radar sensor. The fifth device located in the implement is Working Set Master (WSM), which is responsible to interpret the commands from the tractors ECUs and integrate the mechanical-hidraulical device instruction for agricultural operation. It was presented how to develop the needed standardized files (TaskData.XML and Device Description Object Pool), the capabilities needed of the implement ECU program, the validation of communication between the implement ECU with the TC (management tractor ECU) and was prove that the information systematized has facilitated and provided the communication. It is expect that this work may open opportunities for the ISO 11783 standard can be better understood and enlarge the possibility of providing a great number of applications involving the concept of AP in Brazil.

O recente crescimento da utilização de tecnologias de automação e eletrônica embarcada em máquinas e implementos agrícolas tem estabelecido uma nova prática na área agrícola. Estas novas práticas relacionadas com a agricultura de precisão (AP) têm demandado a utilização de sensores e redes de comunicação embarcadas para aquisição de dados e controle dos dispositivos em campo. A incompatibilidade entre equipamentos e formatos de dados tornou-se um grande obstáculo. A tendência global é de uso de sistemas padronizados de acordo com a norma ISO 11783 (também conhecida como ISOBUS) nos dispositivos, ou Electronic Control Unit (ECU), utilizados na produção agrícola. No Brasil, essas ferramentas ainda não são largamente aplicadas. O objetivo deste trabalho é sistematizar as informações necessárias dos procedimentos para comunicação de uma ECU do implemento com a ECU de trator de gerenciamento. Focou-se no desenvolvimento dos arquivos padrões necessários e no programa da ECU do implemento, e testes de validação da comunicação dos dispositivos via rede ISO 11873. Estabeleceu-se a relação entre as informações sistematizadas e os dispositivos embarcados em máquinas agrícolas. Os dispositivos embarcados consistem em cinco ECUs interconectadas pela rede ISO 11783. Quatro ECUS estão localizados no tractor: ECU do GPS, Controlador de Tarefas (TC), Terminal Virtual (VT) e ECU do Trator (TECU). A ECU do GPS é responsável pela recepção do sinal do Differencial Global Position System (DGPS) e disponibilização na rede ISO 11783. O TC é responsável pelo gerenciamento da aplicação do mapa de prescrição e pelo controle do implemento. O VT é responsável por monitorar e disponibilizar uma interface gráfica com o operador da máquina. O TECU disponibiliza a velocidade do trator obtida por um sensor de radar. A quinta ECU está localizado no implemento, definido como Working Set Master (WSM), que é responsável por interpretar os comandos das ECUs do trator e integrar o dispositivo mecânico-hidráulico para realização de uma aplicação agrícola. Este trabalho mostrou os requisitos necessários para o desenvolvimento dos arquivos necessários (TaskData.XML e o Device Description Object Pool), as capacidades necessárias para o programa da ECU do Implemento, a validação da comunicação da ECU do Implemento com o TC (ECU do trator de gerenciamento) e comprovou que as informações sistematizadas facilitaram e proporcionaram a implementação de um sistema ISO 11783. Espera-se, que este trabalho possa abrir oportunidades para que a norma ISO 11783 possa ser melhor entendida e ampliar a possibilidade de disponibilizar um número maior de aplicações que envolvem o conceito de AP no Brasil. / The recent growth of automation technology and embedded electronic in agricultural machinery has established a new practice in agriculture. These new practices related to precision agriculture (PA) have demanded the use of sensors and communications embedded networks for data acquisition and control devices in the farm field. The incompatibility between hardware, software and data formats has become a major obstacle. The global trend is to use standardized systems in accordance with ISO 11783 (also known as ISOBUS) in the devices, or Electronic Control Units (ECU), used in agricultural production. In Brazil, these tools are not yet implemented. The purpose of this work is to systemize the information necessary of the procedures for communication among the implement ECU with management tractor ECU. This work focuses standardized files format, the program of the implement ECU and the validation tests of the devices communication via ISO 11873 network. It was established the relation among the systematized information and embedded devices on agricultural machinery. The embedded devices consist in five ECUs connected in the ISO 11783 network. Four ECUs are located in the tractor: GPS ECU, Task Controller (TC), Virtual Terminal (VT) and Tractor ECU (TECU). The GPS ECU is responsible to the Differential Global Positioning System (DGPS) positioning. The TC is responsible to manage the prescription map and to control the implement. The VT is responsible monitor the application. The TECU disposes tractor velocity of a radar sensor. The fifth device located in the implement is Working Set Master (WSM), which is responsible to interpret the commands from the tractors ECUs and integrate the mechanical-hidraulical device instruction for agricultural operation. It was presented how to develop the needed standardized files (TaskData.XML and Device Description Object Pool), the capabilities needed of the implement ECU program, the validation of communication between the implement ECU with the TC (management tractor ECU) and was prove that the information systematized has facilitated and provided the communication. It is expect that this work may open opportunities for the ISO 11783 standard can be better understood and enlarge the possibility of providing a great number of applications involving the concept of AP in Brazil.

Due to the highly-varying wireless channels over time, frequency, and space domains, statistical QoS provisioning, instead of deterministic QoS guarantees, has become a recognized feature in the next-generation wireless networks. In this dissertation, we study the adaptive wireless resource allocation problems for statistical QoS provisioning, such as guaranteeing the specified delay-bound violation probability, upper-bounding the average loss-rate, optimizing the average goodput/throughput, etc., in several typical types of mobile wireless networks. In the first part of this dissertation, we study the statistical QoS provisioning for mobile multicast through the adaptive resource allocations, where different multicast receivers attempt to receive the common messages from a single base-station sender over broadcast fading channels. Because of the heterogeneous fading across different multicast receivers, both instantaneously and statistically, how to design the efficient adaptive rate control and resource allocation for wireless multicast is a widely cited open problem. We first study the time-sharing based goodput-optimization problem for non-realtime multicast services. Then, to more comprehensively characterize the QoS provisioning problems for mobile multicast with diverse QoS requirements, we further integrate the statistical delay-QoS control techniques — effective capacity theory, statistical loss-rate control, and information theory to propose a QoS-driven optimization framework. Applying this framework and solving for the corresponding optimization problem, we identify the optimal tradeoff among statistical delay-QoS requirements, sustainable traffic load, and the average loss rate through the adaptive resource allocations and queue management. Furthermore, we study the adaptive resource allocation problems for multi-layer video multicast to satisfy diverse statistical delay and loss QoS requirements over different video layers. In addition, we derive the efficient adaptive erasure-correction coding scheme for the packet-level multicast, where the erasure-correction code is dynamically constructed based on multicast receivers’ packet-loss statuses, to achieve high error-control efficiency in mobile multicast networks. In the second part of this dissertation, we design the adaptive resource allocation schemes for QoS provisioning in unicast based wireless networks, with emphasis on statistical delay-QoS guarantees. First, we develop the QoS-driven time-slot and power allocation schemes for multi-user downlink transmissions (with independent messages) in cellular networks to maximize the delay-QoS-constrained sum system throughput. Second, we propose the delay-QoS-aware base-station selection schemes in distributed multiple-input-multiple-output systems. Third, we study the queueaware spectrum sensing in cognitive radio networks for statistical delay-QoS provisioning. Analyses and simulations are presented to show the advantages of our proposed schemes and the impact of delay-QoS requirements on adaptive resource allocations in various environments.