In dieser Arbeit wird eine genaue Zeitsynchronisation über kupferbasierte Ethernetsysteme sowie der Entwurf von Schaltungen für die Bitübertragungsschicht (Physical Layer, PHY) in solchen Ethernetsystemen untersucht. Dabei wird der Entwurf eines integrierten Schaltkreises für den Standard 100Base-TX vorgestellt. Dieser PHY-Chip ermöglicht die Datenübertragung mit einer Datenrate von 100 MBit/s über verdrillte Kupferkabel und stellt darüber hinaus eine genaue Uhr bereit, welche zwischen den verbundenen Netzknoten synchronisiert werden kann. Dieser Schaltkreis ist insbesondere für Industrieanwendungen gedacht, bei denen verschiedene Prozesse zeitlich synchronisiert werden müssen. Prinzipiell ist der PHY-Chip jedoch universell für verschiedenste Anwendungen zur Zeitsynchronisation einsetzbar. Um die Genauigkeit der Zeitsynchronisation gegenüber herkömmlichen Ansätzen zu steigern, werden verschiedene Techniken untersucht und in dem entworfenen Schaltkreis eingesetzt. So wird die Phase der Taktsignale in feinen Schritten eingestellt und auch gemessen, sodass die Auflösung der Zeitstempel erheblich verbessert wird. Zu diesem Zweck wird ein sogenannter Digital-To-Phase Converter (DPC) eingesetzt, der 256 verschiedene Taktphasen des 125 MHz Systemtaktes bereitstellt. Für die eigentliche Zeitsynchronisation wird ein Proportional-Integral-Regler verwendet. Basierend auf einer theoretischen Rauschanalyse wird eine Methode vorgestellt, mit der die Parameter dieses Reglers so dimensioniert werden können, dass der Zeitfehler im eingeschwungenen Zustand möglichst klein wird. Darüber hinaus werden weitere Störeinflüsse analysiert und es werden geeignete Maßnahmen entwickelt, um diese zu kompensieren. So wird eine adaptive Kompensation eines Eintonstörers sowie eine Kalibrierung zur automatischen Kompensation von Asymmetrien im Kabel vorgestellt. All diese Punkte helfen, eine hervorragende Genauigkeit der Zeitsynchronisation zu ermöglichen, was durch umfangreiche Messungen verifiziert wird. Insgesamt weist der gemessene Zeitfehler in einem Punkt-zu-Punkt-Szenario eine Standardabweichung von 64 ps und einen Mittelwert unterhalb von 100 ps auf. Dies stellt eine erhebliche Verbesserung gegenüber konventionellen Lösungen zur Zeitsynchronisation über kupferbasiertes Ethernet dar, mit denen Genauigkeiten im Nanosekundenbereich erreicht werden. Als zweites Ziel dieser Arbeit wird der PHY-Chip für eine möglichst niedrige Leistungsaufnahme optimiert. Um dies zu erreichen, werden insbesondere der Leitungstreiber im Sender und der Equalizer im Empfänger systematisch optimiert. So werden zwei verschiedene Topologien von Leitungstreibern untersucht und verglichen. Beide weisen eine Leistungsaufnahme von etwa 24 mW auf. Im Vergleich zum Stand der Technik sind dies die beiden niedrigsten Werte für Leitungstreiber für den Standard 100Base-TX. Der gesamte PHY-Chip, der in einer 180 nm Technologie implementiert wurde, weist durch die zahlreichen Optimierungen eine geringe Leistungsaufnahme von maximal 69 mW auf, was ebenfalls einen Rekordwert im Vergleich mit dem Stand der Technik darstellt (80 mW). Die einzelnen Schaltungen wurden sowohl simulativ als auch mit ausführlichen Messungen verifiziert. Für den gesamten Link wird eine Bitfehlerrate besser als 10⁻¹² bei verschiedenen Kabeln bis zu 120 m Länge erreicht.:Abbildungsverzeichnis Tabellenverzeichnis Abkürzungen Symbole 1 Einleitung 1.1 Zeit und Zeitsynchronisation 1.2 Ziele dieser Arbeit 1.3 Gliederung 2 Grundlagen 2.1 100Base-TX Ethernet-Standard 2.1.1 Schnittstelle zur MAC-Schicht 2.1.2 4B5B-Kodierung 2.1.3 Scrambler und Descrambler 2.1.4 MLT-3-Kodierung 2.1.5 Bitfehlerrate und Signal-Rausch-Verhältnis 2.2 Kanalmodellierung 2.2.1 Dämpfung 2.2.2 Baseline-Wander 2.3 Zeitsynchronisierung 2.3.1 Bestimmung der Zeitdifferenz 2.3.2 Vergrößerung der Synchronisationsgenauigkeit 3 Schaltungsentwurf und Charakterisierung 3.1 Energieeffiziente Leitungstreiber 3.1.1 Vergleich von Leitungstreibern mit passiver Anpassung 3.1.2 Spannungstreiber 3.1.3 Leitungstreiber mit aktiver Anpassung 3.1.4 Vergleich der Leitungstreiber und Fazit 3.2 Takterzeugung 3.2.1 Ringoszillator 3.2.2 Phasenregelschleife 3.2.3 Phaseninterpolator 3.2.4 Messung 3.2.5 Verbesserter 10 Bit DPC 3.3 Takt- und Datenrückgewinnung 3.3.1 Phasendetektor 3.3.2 Modellierung des DPC 3.3.3 Dimensionierung des Schleifenfilters 3.3.4 Implementierung 3.4 Adaptiver Equalizer 3.4.1 Kompensation der Kabeldämpfung 3.4.2 Implementierung des analogen Filters 3.4.3 Digitale Regelung der Equalizer-Parameter 3.4.4 Messung des Equalizers 3.5 Zeitsynchronisation 3.5.1 Uhr und Steuerung der Frequenz 3.5.2 Digitale Schaltungen zur Zeitstempelung 3.5.3 Implementierung der Zeitsynchronisation 3.5.4 Adaptive Unterdrückung eines Eintonstörers 3.5.5 Automatische Kalibrierung von Asymmetrien 3.5.6 Vergleich mit dem Stand der Technik 3.6 Gesamter PHY-Schaltkreis 3.6.1 Leistungsaufnahme 3.6.2 Vergleich mit dem Stand der Technik 4 Zusammenfassung und Ausblick Literaturverzeichnis Eigene Veröffentlichungen / This work investigates accurate time synchronization over copper-based Ethernet systems as well as the design of circuits for the physical layer (PHY) in such Ethernet systems. The design of an integrated circuit (IC) for the 100Base-TX standard is presented. This PHY-IC enables data transmission at a data rate of 100 MBit/s over twisted pair copper cables and, additionally, provides an accurate clock which can be synchronized between connected network nodes. This circuit is designed for industrial applications where various processes need to be synchronized in time. In principle, however, the PHY-IC can be used universally for various time synchronization applications. In order to increase the accuracy of the time synchronization compared to conventional approaches, various techniques are investigated and used in the designed circuit. For example, the phase of the clock signals is adjusted and measured in fine steps, such that the resolution of the timestamps is improved by a large amount. For this purpose, a digital-to-phase converter (DPC) is used, which provides 256 different clock phases of the 125 MHz system clock. A proportional integral controller is used for the actual time synchronization application. Based on a theoretical noise analysis, a method is presented to dimension the parameters of this controller to minimize the timing error in the steady state. Furthermore, other disturbing influences are analyzed and suitable measures are developed to compensate them. Thus, an adaptive compensation of a single-tone interferer is presented as well as a calibration to automatically compensate for asymmetries in the cable. All these points help to provide excellent accuracy of the time synchronization, which is verified by extensive measurements. Overall, the measured time error in a point-to-point scenario has a standard deviation of 64 ps and a mean value below 100 ps. This represents a significant improvement over conventional solutions for time synchronization over copper-based Ethernet, which achieve accuracies in the nanosecond range. As a second goal of this work, the PHY-IC is optimized for lowest power consumption. In particular, the line driver in the transmitter and the equalizer in the receiver are systematically optimized to achieve this. Thus, two different topologies of line drivers are investigated and compared. Both have a power consumption of about 24 mW. These represent the two lowest values for line drivers for the 100Base-TX standard compared to the state of the art. The entire PHY-IC is implemented in a 180 nm technology and shows a power consumption below 69 mW due to the numerous optimizations. This also represents a record value compared to the state of the art (80 mW). The individual circuits were verified with simulations and with detailed measurements. For the entire link, a bit error rate better than 10⁻¹² is achieved for various cables up to 120 m length.:Abbildungsverzeichnis Tabellenverzeichnis Abkürzungen Symbole 1 Einleitung 1.1 Zeit und Zeitsynchronisation 1.2 Ziele dieser Arbeit 1.3 Gliederung 2 Grundlagen 2.1 100Base-TX Ethernet-Standard 2.1.1 Schnittstelle zur MAC-Schicht 2.1.2 4B5B-Kodierung 2.1.3 Scrambler und Descrambler 2.1.4 MLT-3-Kodierung 2.1.5 Bitfehlerrate und Signal-Rausch-Verhältnis 2.2 Kanalmodellierung 2.2.1 Dämpfung 2.2.2 Baseline-Wander 2.3 Zeitsynchronisierung 2.3.1 Bestimmung der Zeitdifferenz 2.3.2 Vergrößerung der Synchronisationsgenauigkeit 3 Schaltungsentwurf und Charakterisierung 3.1 Energieeffiziente Leitungstreiber 3.1.1 Vergleich von Leitungstreibern mit passiver Anpassung 3.1.2 Spannungstreiber 3.1.3 Leitungstreiber mit aktiver Anpassung 3.1.4 Vergleich der Leitungstreiber und Fazit 3.2 Takterzeugung 3.2.1 Ringoszillator 3.2.2 Phasenregelschleife 3.2.3 Phaseninterpolator 3.2.4 Messung 3.2.5 Verbesserter 10 Bit DPC 3.3 Takt- und Datenrückgewinnung 3.3.1 Phasendetektor 3.3.2 Modellierung des DPC 3.3.3 Dimensionierung des Schleifenfilters 3.3.4 Implementierung 3.4 Adaptiver Equalizer 3.4.1 Kompensation der Kabeldämpfung 3.4.2 Implementierung des analogen Filters 3.4.3 Digitale Regelung der Equalizer-Parameter 3.4.4 Messung des Equalizers 3.5 Zeitsynchronisation 3.5.1 Uhr und Steuerung der Frequenz 3.5.2 Digitale Schaltungen zur Zeitstempelung 3.5.3 Implementierung der Zeitsynchronisation 3.5.4 Adaptive Unterdrückung eines Eintonstörers 3.5.5 Automatische Kalibrierung von Asymmetrien 3.5.6 Vergleich mit dem Stand der Technik 3.6 Gesamter PHY-Schaltkreis 3.6.1 Leistungsaufnahme 3.6.2 Vergleich mit dem Stand der Technik 4 Zusammenfassung und Ausblick Literaturverzeichnis Eigene Veröffentlichungen

The existence of distributed real-time systems calls for protocols for high accuracy time synchronization between devices. One such protocol, the Precision Time Protocol (PTP) reaches sub microsecond synchronization precision. PTP can be implemented both in hardware and software. This study aimed to analyze how system stress could affect the accuracy and precision of software implemented PTP between two devices. This was done using two Intel Galileo Generation 2 running Linux systems. Software was used to simulate CPU, I/O, network, and OS usage. Data was extracted from software logs and summarized in charts and then analyzed. The results showed that PTP synchronization accuracy and precision does suffer under certain types of system load, most notably under heavy I/O load. However the results might not be applicable to real-world scenario due to limitations in hardware and the synthetic stress tests do not correspond to real-world usage. Further research is required to analyze why and how different types of system load affects PTPs accuracy and precision. / Förekomsten av distribuerade realtidssystem kräver protokoll för noggrann tidssynkronisering mellan enheter. Ett sådant protokoll, Precision Time Protocol (PTP), kan uppnå en precision på under mikrosekunden under synkronisering. PTP kan implementeras i både hårdvara och mjukvara. Den här rapporten fokuserar på att analysera hur systembelastning kan påverka precision och noggrannheten hos mjukvaruimplementerad PTP mellan två enheter. Testen utfördes på två stycken Intel Galileo Generation 2 kö- randes Linux. Mjukvara användes sedan för att simulera belastning på olika system såsom CPU, I/O, nätverk och på operativsystemet. Data extraherades ifrån loggar från mjukvaran, vilken sammanfattades i grafer för att sedan analyseras. Resultaten visade att precisionen och noggrannheten hos PTP försämras under vissa typer av systembelastningar, mest märkbart under tung I/O belastning. Resultaten är dock potentiellt inte applicerbara på verklighetscenarion på grund av begränsingar i hårdvaran samt att syntetiska stresstest inte motsvarar normal belastning. Ytterligare forskning krävs för att analysera hur och varför olika typer av systembelastning påverkar PTPs precision och noggrannhet.

The company QTPIE conducts research on drivers and their unconscious reactions when driving. To help, they use smart devices that today must be individually handled at the start and end of a run, and have individually set timestamps, which can lead to differences between the units when data is entered and collation of the units' data after a run.   The purpose of this study is an integrated control system in the form of an Android mobile application that partly facilitates the start and end of a run, and partly synchronizes time stamps between all devices. The intention is to build a heterogeneous mobile network with a central control unit and implement time synchronization and investigate whether the heterogeneity affects the implementation of the network.   The result was an Android mobile application that controlled selected external smart devices, synchronized these, and had time synchronization built in at the start of each run. / Företaget QTPIE gör undersökningar på förare och deras omedvetna reaktioner vid körning. Till hjälp använder de smarta enheter som idag måste hanteras individuellt vid start och slut av en körning, samt har individuellt satta tidsstämplar, vilket kan leda till differenser mellan enheterna vid datainmatning och sammanstrålning av enheternas data efter en körning.  Avsikten med den här studien är ett integrerat styrsystem i form av en Android mobilapplikation som dels underlättar vid start och slut av en körning, dels synkroniserar tidsstämplar mellan alla enheter. Avsikten är att bygga upp ett heterogent mobilt nätverk med en central kontrollenhet samt implementera tidssynkronisering och undersöka om heterogeniteten påverkar implementeringen av nätverket.   Resultatet blev en Android mobilapplikation som styrde valda externa smarta enheter, synkroniserade dessa samt hade tidssynkronisering inbyggt vid start av varje körning.

La synchronisation temporelle des systèmes MIMO a été abondamment étudiée dans les quinze dernières années, mais la plupart des techniques existantes supposent que le bruit est blanc temporellement et spatialement, ce qui ne permet pas de modéliser la présence d'interférence. Nous considérons donc le cas de bruits blancs temporellement mais pas spatialement, dont la matrice de covariance spatiale est inconnue. En formulant le problème de l'estimation de l'instant de synchronisation comme un test d'hypothèses, nous aboutissons au test du rapport de vraisemblance généralisé (GLRT) qui donne lieu à la comparaison avec un seuil d'une statistique de test eta_GLRT. Cependant, pour des raisons de complexité, l'utilisation de cette statistique n'est pas toujours considérée comme réaliste. La première partie de ce travail a donc été consacrée à mettre en évidence des tests alternatifs moins complexes à mettre en œuvre, tout en ayant des performances similaires. Une analyse comparative exhaustive, prenant en considération le bruit et l'interférence, le type de canal, le nombre d'antennes en émission et en réception, et l'orthogonalité de la séquence de synchronisation est réalisée. Enfin, nous étudions le problème de l'optimisation du nombre d'antennes en émission K pour la synchronisation temporelle, montrant que pour un RSB élevé, les performances augmentent avec K dès que le produit de K avec le nombre d'antennes de réception M n'est pas supérieur à 8.Le deuxième aspect de ce travail est une analyse statistique de eta_GLRT dans le cas où la taille de la séquence d'apprentissage N est du même ordre de grandeur que M, ce qui conduit naturellement à étudier le comportement de eta_GLRT dans le régime asymptotique des grands systèmes M tend vers l'infini, N tend l'infini de telle sorte que M/N tende vers une constante non nulle. Nous considérons le cadre applicatif d'un système muni d'une unique antenne d'émission et d'un canal à trajets multiples, qui est formellement identique à celui d'un système MIMO dont le nombre d'antennes d'émissions correspondrait au nombre de trajets. Lorsque le nombre de trajets L est beaucoup plus faible que N et M, nous établissons que eta_GLRT a un comportement gaussien avec l'espérance asymptotique L log (1 / (1-M/N)) et la variance (L/N)*(M/N)/(1-M/N). Ceci est en contraste avec le régime asymptotique standard quand N tend vers l'infini et M et L fixe où eta_GLRT a un comportement chi2. Sous l'hypothèse H_1, eta_GLRT a aussi un comportement gaussien. Nous considérons également le cas où le nombre de trajets L tend vers l'infini à la même vitesse que M et N. Nous utilisons des résultats connus concernant le comportement des statistiques linéaires des valeurs propres des grandes F matrices, et déduisons que dans le régime où L,M,N tendent vers l'infini à la même vitesse, eta_GLRT a encore un comportement gaussien sous H_0, mais avec une espérance et variance différentes. L'analyse de eta_GLRT sous H_1 lorsque L,M,L convergent vers l'infini nécessite l'établissement d'un théorème central limite pour les statistiques linéaires des valeurs propres de matrices F de moyennes non-nulles, une tâche difficile. Motivé par les résultats obtenus dans le cas où L reste fini, nous proposons d'approximer la distribution asymptotique par une distribution gaussienne dont l'espérance et la variance sont la somme de l'espérance et la variance asymptotique sous H_0quand L tend vers l'infini avec l'espérance et la variance asymptotique sous H_1 dans le régime classique N tend vers l'infini et M fixé. Des simulations numériques permettent de comparer les courbes ROC des différents approximant avec des courbes ROC empiriques. Les résultats montrent que nos approximant de grandes dimensions fournissent de meilleurs résultats quand M/N augmente, tout en permettant de capturer la performance réelle pour les petites valeurs de M/N / Time synchronization of MIMO systems have been strongly studied in the last fifteen years, but most of the existing techniques assume a spatially and temporally white noise, which does not allow modeling the presence of interference. We consider thus a temporally white but spatially colored noise, with an unknown covariance matrix. Formulating the estimation problem as a hypothesis testing problem, we obtain a Generalized likelihood ratio test (GLRT), which gives us a synchronization statistics eta_GLRT. However, for complexity reasons, it is not always considered realistic for practical situations. A part of this work has thus been devoted to showing that there exist non-GLRT statistics that are less complex to implement than theet a_GLRT, while having similar performance. Furthermore, we perform a comparative parameter analysis, taking into consideration the noise type, channel type, the number of transmit and receive antennas, and the orthogonality of the synchronization sequence. Lastly, the problem of optimization of the number of transmit antennas K for time synchronization has been investigated. showing, for high SNR, increasing performance with K as long as the product KM is not larger than 8, where M is the number of receive antennas. The second aspect of MIMO synchronization studied in thesis is asymptotic analysis of the same GLRT, but for large M. In this context, the synchronization sequence length N is the same order of magnitude as M, and this leads us naturally to the study of the the behavior of eta_GLRT in the asymptotic regime where M,N go towards infinity such that M/N go towards a non-zero constant. We consider the case of a single transmit antenna in a multi-path channel, which formally is equivalent to the MIMO system where the transmit antennas correspond to the number of paths. We address the case When the number of paths L does not scale with M and N, we establish that eta_GLRT has a Gaussian behavior with asymptotic mean L log (1/ (1 - M/N))and variance (L/N)*(M/N)/(1-M/N).This is in contrast with the standard asymptotic regime N goes to infinity and M fixed where eta_GLRT has a chi^2 behaviour. Under hypothesis H_1, eta_GLRT still has a Gaussian behaviour. The corresponding asymptotic mean and variance are obtained as the sum of the asymptotic mean and variance in the standard regime N goes to infinity and M fixed, and L log(1/(1-/M/N))L log (1 / (1-M/N)) and (L/N)*(M/N)/(1-M/N)respectively, i.e. the asymptotic mean and variance under H_0.We also consider the case where the number of paths L converges towards infinity at the same rate as M and N. Using known results of concerning the behaviour of linear statistics of the eigenvalues of large F-matrices, we deduce that in the regime where L,M,N converge to infinity at the same rate, eta_GLRT still has a Gaussian behaviour under H_0, but with a different mean and variance. The analysis of eta_GLRT under H_1 whenL,M,N converge to infinity needs to establish a central limit theorem for linear statistics of the eigenvalues of large non zero-mean F-matrices, a difficult ask. Motivated by the results obtained in the case where L remains finite, we propose to approximate the asymptotic distribution of eta_GLRT by a Gaussian distribution whose mean and variance are the sum of the asymptotic mean and variance under H_0when L goes to infinity with the asymptotic mean and variance under H_1 in the standard regime N goes to infinity and M fixed. Numerical simulations allow to compare the ROC curves obtained with the different approximations with the empirical ROC curves. The results show that the large-system approximations provide better results when M/N increases, while also allowing to capture the actual performance for small values of M/N

Short range wireless data communication networks that are used for sport and health care are sometimes called Wireless Body Area Networks (WBANs) and they are located more or less on a person. Sole Integrated Gait Sensor (SIGS) is a research project in WBAN, where wireless pressure sensors are placed like soles in the shoes of persons with different kinds of deceases. The sensors can measure the pressure of the foot relative to the shoe i.e. the load of the two legs is measured. This information can be useful e.g. to not over or under load a leg after joint replacement or as a bio feedback system to help e.g. post stroke patients to avoid falling. The SIGS uses the ANT Protocol and radio specification. ANT uses the 2.4 GHz ISM band and TDMA is used to share a single frequency. The scheduling of time slots is adaptive isochronous co-existence i.e. the scheduling is not static and each transmitter sends periodically but checks for interference with other traffic on the radio channel. In this unidirectional system sole sensors are masters (transmitters) and the WBAN server is the slave in ANT sense. The message rate is chosen as 8 Hz which is suitable for low power consumption. Hence in the SIGS system, it is necessary to synchronize the left and the right foot sensors because of low message rate. In our thesis, we found a method and developed a prototype to receive the time synchronized data in WBAN server from ANT wireless sensor nodes in SIGS system. For this thesis work, a hardware prototype design was developed. The USB and USART communication protocols were also implemented in the hardware prototype. The suitable method for time synchronization was implemented on the hardware prototype. The implemented method receives the sensor data, checks for the correct stream of data; add timestamp to the sensor data and transmit the data to the Linux WBAN server. The time slots allocation in the ANT protocol was found. Alternative solution for the time synchronization in ANT protocol was also provided. The whole SIGS system was tested for its full functionality. The experiments and analysis which we performed were successful and the results obtained provided good time synchronization protocol for ANT low power wireless sensor network and for Wireless Bio-feedback system.

For large multihop networks, the time synchronization (TS) error accumulates as the hop number increases with conventional methods, such as Timing-sync Protocol for Sensor Networks (TPSN), Reference Broadcast Synchronization (RBS), and Flooding Time Synchronization Protocol (FTSP). In this paper, to reduce the number of hops to cover the large network and exploit the spatial averaging of TS error between clusters, a novel method combining Concurrent Cooperative Transmission (CCT) and Semi-Cooperative Spectrum Fusion (SCSF) is proposed. This novel method named Cooperative Analog and Digital (CANDI) Time Synchronization protocol consists of two phases: The digital stage and the analog stage. The digital stage uses CCT to broadcast TS packet containing the time information. Cooperating nodes transmit the digitally encoded message in orthogonal channels simultaneously, so the receiver combines the multiple packet to acheive significant SNR advantage. In the analog stage, the cooperating nodes simultaneously transmit their slightly different individual estimates of the propagation time by using frequency shift modulation. Nodes receiving this signal combat fading and reduce estimation error in one step through the averaging inherent in diversity combining. Simulation results for two-dimension (2-D) networks are given to evaluate the performance of CANDI, and CANDI is compared with TPSN.

Les récentes avancées technologiques en particulier dans le domaine de la miniaturisation de dispositifs robotiques laissent présager l'émergence de grands ensembles distribués de petits robots qui coopéreront en vue d'accomplir des tâches complexes (e.g., robotique modulaire, robots en essaims, microsystèmes électromécaniques distribués). Ces grands ensembles seront composés d'entités indépendantes, intelligentes et communicantes qui agiront comme un ensemble à part entière. Pour cela, elles s'auto-organiseront et collaboreront en vue d'accomplir des tâches complexes. Ces systèmes présenteront les avantages d'être plus polyvalents et plus robustes que les systèmes robotiques conventionnels tout en affichant un prix réduit. Ces ensembles formeront des systèmes distribués complexes dans lequel chaque entité sera un système embarqué à part entière avec ses propres capacités et ressources toute fois limitées. Coordonner de tels systèmes posent des défis majeurs et ouvrent de nouvelles opportunités dans l'algorithmique distribuée. Je défends la thèse qu'il faut d'ores et déjà identifier et implémenter des algorithmes distribués servant de primitives de base à la coordination de ces ensembles. Dans ce travail, nous nous focalisons sur une classe particulière de robots, à savoir les robots modulaires distribués formant de grands ensembles de modules fortement contraints en ressources (mémoire, calculs, etc.), placés dans une grille régulière et capables de communiquer entre voisins connexes uniquement. J'ai identifié et implémente trois primitives servant à la coordination de ces systèmes, à savoir l'élection d'un nœud central au réseau, la synchronisation temporelle ainsi que l'auto-reconfiguration. Dans ce manuscrit, je propose un ensemble d'algorithmes distribués réalisant ces primitives. J'ai évalué mes algorithmes en utilisant des expériences sur des modules matériels et en simulation sur des systèmes, composés de quelques dizaines à plus d'une dizaine de milliers de modules. Ces expériences montrent que nos algorithmes passent à l'échelle et sont adaptés aux grands ensembles distribués de systèmes embarqués avec des ressources fortement limités à la fois en mémoire et en calcul. / Technological advances especially in the miniaturization of robotic devices foreshadow the emergence of large-scale ensembles of small-size resource-constrained robots that distributively cooperate to achieve complex tasks (e.g., modular self-reconfigurable robots, swarm robotic systems, distributed microelectromechanical systems, etc.). These ensembles are formed from independent, intelligent and communicating units which act as a whole ensemble. These units cooperatively self-organize themselves to achieve common goals. These systems are tought to be more versatile and more robust than conventional robotic systems while having at the same time a lower cost.These ensembles form complex asynchronous distributed systems in which every unit is an embedded system with its own but limited capabilities. Coordination of such large-scale distributed embedded systems poses significant algorithmic issues and open for new opportunities in distributed algorithms. In my thesis, I defend the idea that distributed algorithmic primitives suitable for the coordination of these ensembles should be both identified and designed.In this work, we focus on a specific class of modular robotics systems, namely large-scale distributed modular robotic ensembles composed of resource-constrained modules that are organized in a lattice structure and which can only communicate with neighboring modules. We identified and implemented three building blocks, namely centrality-based leader election, time synchronization and self-reconfiguration.We propose a collection of distributed algorithms to realize these primitives. We evaluate them using both hardware experiments and simulations on systems ranging from a dozen of modules to more than a dozen of thousands of modules. We show that our algorithms scale well and are suitable for large-scale embedded distributed systems with scarce memory and computing resources.

Recent years have seen the significance of utilizing time-synchronized, high resolution measurements from phasor measurement units (PMUs) to develop and implement wide-area monitoring, protection and control (WAMPAC) systems. WAMPAC systems aim to provide holistic view of the power system and enable detection and control of certain power system phenomena to enhance reliability and integrity of the grid. This thesis focuses on the design, development and experimental validation of WAMPAC applications, and investigates their vulnerability to time synchronization impairment. To this purpose, a state-of-the-art real-time hardware-in-the-loop (RT-HIL) test-bench was established for prototyping of synchrophasor-based applications. This platform was extensively used throughout the thesis for end-to-end testing of the proposed WAMPAC applications. To facilitate the development of WAMPAC applications, an open-source real-time data mediator is presented that parses the incoming synchrophasor stream and provides access to raw data in LabVIEW environment. Within the domain of wide-area protection applications, the thesis proposes hybrid synchrophasor and IEC 61850-8-1 GOOSE-based islanding detection and automatic synchronization schemes. These applications utilize synchrophasor measurements to assess the state of the power system and initiate protection / corrective action using GOOSE messages. The associated communication latencies incurred due to the utilization of synchrophasors and GOOSE messages are also determined. It is shown that such applications can have a seamless and cost-effective deployment in the field.   Within the context of wide-area control applications, this thesis explores the possibility of utilizing synchrophasor-based damping signals in a commercial excitation control system (ECS). For this purpose, a hardware prototype of wide-area damping controller (WADC) is presented together with its interface with ECS. The WADC allows real-time monitoring and remote parameter tuning that could potentially facilitate system operators’ to exploit existing damping assets (e.g. conventional generators) when changes in operating conditions or network topology emerges. Finally the thesis experimentally investigates the impact of time synchronization impairment on WAMPAC applications by designing RT-HIL experiments for time synchronization signal loss and time synchronization spoofing. It is experimentally demonstrated that GPS-based time synchronization impairment results in corrupt phase angle computations by PMUs, and the impact this has on associated WAMPAC application. / <p>QC 20171121</p> / smart transmission grid operation and control (STRONg2rid)

Environmental monitoring represents a major application domain for wireless sensor networks (WSN). However, despite significant advances in recent years, there are still many challenging issues to be addressed to exploit the full potential of the emerging WSN technology. In this dissertation, we introduce the design and implementation of low-power wireless sensor networks for long-term, autonomous, and near-real-time environmental monitoring applications. We have developed an out-of-box solution consisting of a suite of software, protocols and algorithms to provide reliable data collection with extremely low power consumption. Two wireless sensor networks based on the proposed solution have been deployed in remote field stations to monitor soil moisture along with other environmental parameters. As parts of the ever-growing environmental monitoring cyberinfrastructure, these networks have been integrated into the Texas Environmental Observatory system for long-term operation. Environmental measurement and network performance results are presented to demonstrate the capability, reliability and energy-efficiency of the network.

The diploma thesis deals with file sharing among users through peer-to-peer transfer in a web environment. The aim was to create a simple application which would provide a group of users with an opportunity to share files among them without any presence of third party or limitation. I have met the target using modern web technologies, of which the most important was WebRTC library through which peer-to-peer transfer has been implemented. These technologies were supported by optimased algorithm and the most recent tools for processing and storage of shared files. The result is a real-time application enabling users to create rooms, in which they can share their files. This product was subjected to speed tests, thanks to which the application turned out to be the fastest in the tested environment contrary to solutions with similar nature or any other commonly used tools for file sharing.