Temporal and spatial distribution of incoming vehicular charging demand is a significant challenge for the future planning of power systems. In this thesis the vehicular loading is-sue is categorized into two classes of stationary and mobile; they are then addressed in two phases. The mobile vehicular load is investigated first; a location-based forecasting algorithm for the charging demand of plug-in electric vehicles at potential off-home charging stations is proposed and implemented for real-world case-studies. The result of this part of the re-search is essential to realize the scale of fortification required for a power grid to handle vehicular charging demand at public charging stations. In the second phase of the thesis, a novel decentralized control strategy for scheduling vehicular charging demand at residential distribution networks is developed. The per-formance of the proposed algorithm is then evaluated on a sample test feeder employing real-world driving data. The proposed charging scheduling algorithm will significantly postpone the necessity for upgrading the assets of the network while effectively fulfilling customers’ transportation requirements and preferences. / October 2014

In Intelligent Transportation Systems (ITS), disseminating warning messages in a timely and efficient way through wireless short-range communications can save many lives and reduce traffic congestion. A geographical broadcast protocol provides data delivery to specified geographical areas, using multi-hop communications if needed. Among the main challenges for such protocols are forwarder selection and the reduction of the number of hops required to reach and cover the destination area.  In this thesis we propose an efficient geographical broadcast protocol called Preferred and Contention Based Forwarding (PCBF) and evaluate it through simulations. PCBF uses a combination of contention-based forwarding and selecting preferred forwarders also found in other protocols like Emergency Message Dissemination for Vehicular Environments (EMDV). Since the preferred forwarder is allowed to immediately forward the packet (evading contention among other potential forwarders), this approach reduces end-to-end delays. Notable extensions of PCBF compared to EMDV are the use of direct negative acknowledgements in case of unnecessary rebroadcasts and the use of forwarders outside the target region.  Our simulation results show that the PCBF protocol outperforms selected other protocols in terms of end-to-end delay, re-broadcast overhead and reliability in both sparse and dense networks.

La rapide progression des technologies sans fil au cours de ces dernières années a vu naître de nouveaux systèmes de communication dont les réseaux véhiculaires. Ces réseaux visent à intégrer les nouvelles technologies de l’information et de la communication dans le domaine automobile en vue d’améliorer la sécurité et le confort sur le réseau routier. Offrir un accès Internet aux véhicules et à leurs occupants peut sans doute aider à anticiper certains dangers sur la route tout en rendant plus agréables les déplacements à bord des véhicules. Le déploiement de ce service nécessite que des messages soient échangés entre les véhicules. Le routage constitue un élément crucial dans un réseau, car définissant la façon dont les différentes entités échangent des messages. Le routage dans les VANETS constitue un grand défi car ces derniers sont caractérisés par une forte mobilité entraînant une topologie très dynamique. Des protocoles ont été proposés pour étendre Internet aux réseaux véhiculaires. Toutefois, la plupart d’entre eux nécessitent un coût élevé de messages de contrôle pour l’établissement et le maintien des communications. Ceci a pour conséquence la saturation de la bande passante entrainant ainsi une baisse de performance du réseau. Nous proposons dans ce mémoire, un protocole de routage qui s’appuie sur des passerelles mobiles pour étendre Internet aux réseaux véhiculaires. Le protocole prend en compte la mobilité des véhicules et la charge du réseau pour l’établissement et le maintien des routes. / The fast progression of wireless technologies has motivated the emergence of new communications system called VANETS (Vehicular Adhoc Networks). VANETS enable vehicles on the roadway to communicate with each other and with road infrastructure using wireless capabilities. The applications of VANETS include improving safety and comfort on the road. For example, by providing Internet to vehicles, traveling can be safer and more comfortable. To provide Internet connectivity, messages need to be exchanged between the vehicles. However, it is hard to design an efficient routing protocol for connecting vehicles to Internet with a reasonable cost due to high mobility in VANETS. Although, several existing routing protocols have been proposed in the open literature to extend Internet to VANETS, they generate considerable overhead. This leads to unfairly consumption of bandwidth decreasing network performance. We design a routing protocol to connect vehicles to Internet through mobile gateways with the objective to make efficient use of the network bandwidth. Indeed, the protocol significantly reduces the communication overhead required to establish and maintain the routes relying on the mobility of the gateways and the network’s load.

Security and privacy are among the growing concerns of a Vehicular Ad hoc Network (VANET) which requires a high degree of liability from its participants. In this dissertation, We address security, anonymity and privacy challenges of VANETs in the light of the IEEE standards for vehicular communications. VANET provides a variety of road-safety and other applications through wireless devices installed in vehicles and roadside infrastructure. A roadside infrastructure in VANET is generally public, and is prone to several different malicious attacks including node compromise, impersonation, and false message delivery attacks. Therefore, a user of a VANET must verify the integrity of a message that is delivered from a roadside infrastructure. On the other hand, a vehicle-originated message should be anonymous in order to ensure user-privacy in a VANET. However, a vehicle must not be able to take advantage of its anonymity for any misbehavior like sending false messages or malicious updates to other vehicles or a roadside infrastructure. We use proxy signature, identity-based signature, and elliptic curve cryptosystems to provide authentication for infrastructure generated messages, and anonymous authentication for vehicle originated messages. Authentication in a dense traffic condition is a challenge for a receiving entity as it incurs a processing delay at the receiving end. We address this issue with a dynamic approach that selectively verifies received messages based on a message's MAC-layer priority and a sender's information relevance. This approach makes a trade-off between priority and fairness in vehicular message authentication. We develop a network simulator to measure the impact of our authentication schemes over a WAVE protocol stack. Also, we investigate how some of the MAC-layer weaknesses may impair the security of a VANET. Our solutions are lightweight, bandwidth friendly and compatible to the current standards of vehicular communications.

許多國家正面臨因嚴重的交通壅塞所帶來龐大的經濟損失，同樣在台灣也面臨相同問題，根本解決之道就是找出壅塞路段，並即時地告知車輛駕駛以迴避此路段。因此如何有效率地偵測出壅塞路段，是當前重要的議題。以往大多透過長期所累積的統計數據，針對各路段收集行駛於該路段所有車輛的平均速度，來獲得該路段的交通狀況，但卻無法立即反應即時路況。 因此我們提出以耐延遲車載網路方式，收集路況資訊與彙整旅途時程，透過具有全球定位系統(GPS)以及無線網路的車輛來進行路況交通資訊的收整與交換。再透過本研究所提出路況交通覺知路由協定(RTARP)，以One-Hop Controlled Flooding的傳輸方式在節點與節點相遇時進行路況資訊的傳送，進而交換節點彼此間各自所存放各路段的路況資訊。 模擬實驗結果證明我們所提出的路由協定在路況交通資訊交換中，有效地減少網路傳輸負載、提高訊息送達成功率以及路況交通資訊(RTI)正確率。 / Many countries are concerning about the huge economic losses caused by the critical traffic congestion. We have the same problem in Taiwan. The solutions lie in finding the road section with traffic congestion first and informing drivers to avoid that section. But how to detect the road section with traffic congestion effectively is the most important issue of this research. Conventionally, the real-time road traffic is mostly predicted by long-term accumulated statistics calculated by the collection of the average speed of cars on the same road section. But this way can’t provide the real-time road traffic immediately. Based on vehicles with GPS and the capability of WiFi, we proposed gathering road traffic information and consolidating travel time estimation using vehicular delay tolerant networks. We also proposed the Road Traffic Awareness Routing Protocol (RTARP) to exchange the road traffic information preserved individually by One-Hop Controlled Flooding during nodes’ encounter. The results of simulations prove the routing protocol we proposed can effectively reduce the transmission overhead, improve the delivery ratio and the accuracy of the road traffic information.

Security and privacy are among the growing concerns of a Vehicular Ad hoc Network (VANET) which requires a high degree of liability from its participants. In this dissertation, We address security, anonymity and privacy challenges of VANETs in the light of the IEEE standards for vehicular communications. VANET provides a variety of road-safety and other applications through wireless devices installed in vehicles and roadside infrastructure. A roadside infrastructure in VANET is generally public, and is prone to several different malicious attacks including node compromise, impersonation, and false message delivery attacks. Therefore, a user of a VANET must verify the integrity of a message that is delivered from a roadside infrastructure. On the other hand, a vehicle-originated message should be anonymous in order to ensure user-privacy in a VANET. However, a vehicle must not be able to take advantage of its anonymity for any misbehavior like sending false messages or malicious updates to other vehicles or a roadside infrastructure. We use proxy signature, identity-based signature, and elliptic curve cryptosystems to provide authentication for infrastructure generated messages, and anonymous authentication for vehicle originated messages. Authentication in a dense traffic condition is a challenge for a receiving entity as it incurs a processing delay at the receiving end. We address this issue with a dynamic approach that selectively verifies received messages based on a message's MAC-layer priority and a sender's information relevance. This approach makes a trade-off between priority and fairness in vehicular message authentication. We develop a network simulator to measure the impact of our authentication schemes over a WAVE protocol stack. Also, we investigate how some of the MAC-layer weaknesses may impair the security of a VANET. Our solutions are lightweight, bandwidth friendly and compatible to the current standards of vehicular communications.

O uso de sistemas de assistência ao motorista (DAS) baseados em visão tem contribuído consideravelmente na redução de acidentes e consequentemente no auxílio de uma melhor condução. Estes sistemas utilizam basicamente uma câmera de vídeo embarcada (normalmente fixada no para-brisa) com o propósito de extrair informações acerca da rodovia e ajudar o condutor num melhor processo de dirigibilidade. Pequenas distrações ou a perda de concentração podem ser suficientes para que um acidente ocorra. Este trabalho apresenta uma proposta para o desenvolvimento de algoritmos para extrair informações sobre a sinalização em rodovias. Mais precisamente, serão abordados algoritmos de calibração de câmera explorando a geometria da pista, de extração da marcação de pintura (sinalização horizontal) e detecção e identificação de placas de trânsito (sinalização vertical). Os resultados experimentais indicam que o método de calibração de câmera alcançou bons resultados na obtenção dos parâmetros extrínsecos com erros inferiores a 0:5 . O erro médio encontrado nos experimentos com relação a estimativa da altura da câmera foi em torno de 12 cm (erro relativo aproximado de 10%), permitindo explorar o uso da realidade aumentada como uma possível aplicação. A acurácia global para a detecção e reconhecimento da sinalização horizontal (marcas seccionadas, contínuas e mistas) foi acima de 96% perante uma diversidade de situações apresentadas, tais como: sombras, variação de iluminação, degradação do asfalto e pintura. O uso da câmera calibrada para a detecção da sinalização vertical contribui para delimitar o espaço de varredura da janela deslizante do detector, bem como realizar a procura por placas em uma única escala para cada região de busca, caracterizada pela distância ao veículo. Os resultados apresentados reportam uma taxa global de classificação de aproximadamente 99% para o sinal de proibido ultrapassar, considerando-se uma base de dados limitada a 962 amostras. / The use of driver assistance systems (DAS) based on computer vision has helped considerably in reducing accidents and consequently aid in better driving. These systems primarily use an embedded video camera (usually fixed on the windshield) for the purpose of extracting information about the highway and assisting the driver in a better handling process. Small distractions or loss of concentration may be sufficient for an accident to occur. This work presents the development of algorithms to extract information about traffic signs on highways. More specifically, this work will tackle a camera calibration algorithm that exploits the geometry of the road track, algorithms for the extraction of road marking paint (lane markings) and detection and identification of vertical traffic signs. Experimental results indicate that the proposed method for obtaining the extrinsic parameters achieve good results with errors of less than 0:5 . The average error in our experiments, related to the camera height, were around 12 cm (relative error around 10%). Global accuracy for the detection and classification of road lane markings (dashed, solid, dashed-solid, solid-dashed or double solid) were over 96%. Finally, our camera calibration algorithm was used to reduce the search region and to define the scale of a slidingwindow detector for vertical traffic signs. The use of the calibrated camera for the detection of traffic signs contributes to define the scanning area of the sliding window and perform a search for signs on a unique scale for each region of interest, determined by the distance to the vehicle. The results reported a global classification rate of approximately 99% for the no overtaking sign, considering a limited of 962 samples.

[pt] Esta dissertação aborda conceitos interdisciplinares de Engenharia Mecânica e Engenharia de Software, com foco principal no estudo de sistemas mecânicos. Atualmente, operações de monitoração por meio de veículos autônomos se tornam cada vez mais comuns, enquanto os ambientes a que esses veículos robóticos são submetidos passam a ser cada vez mais hostis, principalmente em relação aos obstáculos e características dos terrenos. O presente trabalho introduz o desenvolvimento de um simulador dinâmico em 3D em tempo real para veículos robóticos em terrenos acidentados. Um algoritmo de interseção é desenvolvido entre um terreno 3D genérico e cada roda de um veículo. Um modelo de força de contato pneu-terreno é implementado, levando em consideração as combinações das derivas longitudinal e lateral. O modelo também inclui os efeitos de corrente contínua de motores, levando-se em consideração a interação entre a parte mecânica e a elétrica, inclusive uma aproximação contínua do modelo de atrito de LuGre, considerando as limitações de potência das baterias do sistema. O simulador também inclui equações para um controle de estabilidade 2D, levando em consideração apenas a estabilização do ângulo de arfagem (pitch) do veículo. Este trabalho propõe, além disso, um controle de estabilidade 3D utilizando um indicador de estabilidade que pode ser calculado em tempo real, baseado em uma estimativa de distribuição de forças de contato entre roda e terreno. O simulador é validado mediante comparações com soluções analíticas do comportamento longitudinal do veículo robótico. / [en] This dissertation approaches interdisciplinary concepts of Mechanical Engineering and Software Engineering, with a main focus on the study of mechanical systems. Nowadays, the task of monitoring with autonomous vehicles has become more and more common, while the environment to which those robot vehicles are exposed becomes more and more hostile, mainly in relation to the obstacles and characteristics of the terrain. The present work introduces the development of a 3D real-time dynamic simulator of robot vehicles on rough terrain. An intersection algorithm is developed between a 3D generic terrain and each wheel of a vehicle. A tire-soil contact force model is implemented, taking into consideration the combined longitudinal and lateral drifts. The model includes the effects of direct current motors, taking into consideration the interaction between mechanical and electric parts, including a continuous approximation of LuGre’s friction model, considering the power limitations of the system batteries. The simulator also includes an equation for a 2D stability control, taking into consideration only the stabilization of the pitch angle of the vehicle. This work also proposes a 3D stability control using an indicator of stability that can be calculated in real time, based on an estimated distribution of wheel-terrain contact forces. The simulator is validated through comparisons with analytic solutions of the longitudinal behavior of the robot vehicle.

Orientador: Prof. Dr. João Henrique Kleinschmidt / The dissemination of wireless networks will enable the interconnection of every type of device, creating what is called the Internet of Things. In this concept, objects with great potential for the deployment of new applications are the automotive vehicles that will form mobile networks known as VANETs (Vehicular Ad Hoc Networks). These networks are particularly sensitive to information security issues, because, besides the common threats, one deliberate cybernetic attack or functional anomaly can result in traffic accidents. Due to its specific characteristics, the establishment of trust in VANET networks requires the introduction of additional not traditional measures of information security. This MsC thesis proposes a centralized mechanism of vehicular reputation based on the concept of certified reputation. In the scheme, vehicles communicate with other network participants providing its digital certificate, which includes the reputation level safely stored by the vehicle. Decision-making mechanisms in the receiving vehicles are responsible for judging whether messages are true or false, based on the reputation of the issuers nodes. Periodically, vehicles must connect to the certification authorities and central control of traffic to update their reputation level, which is determined centrally by validating their behavior in participation and communication of events on the network. Quantitative analysis of simulated scenarios showed that the adequate combination of the reputation mechanism with a vehicular decision mechanism presents better results than without a reputation system, considering the existence of false messages and attacks on the network. This way, the proposed system proved its effectiveness in reducing the risks of anomalous or malicious behavior in a VANET network. / Dissertação (mestrado) - Universidade Federal do ABC, Programa de Pós-Graduação em Engenharia da Informação, 2015. / A disseminação das redes sem fio possibilitará a interconexão de qualquer tipo de dispositivo, criando o que se denomina de Internet das Coisas. Neste conceito, um dos objetos com grande potencial para o desenvolvimento de aplicações são os veículos automotores, que constituirão redes móveis conhecidas como VANETs (Vehicular Ad Hoc Networks). Estas redes são particularmente sensíveis às questões relacionadas à segurança da informação, pois, além das ameaças comuns, um ataque cibernético deliberado ou anomalias de funcionamento podem levar a acidentes viários. Devido às suas características particulares, o estabelecimento de confiança nas redes VANET exigirá a aplicação de medidas adicionais não tradicionais de segurança da informação. Esta dissertação apresenta uma proposta de mecanismo centralizado de reputação veicular baseada no conceito de reputação certificada. No esquema, os veículos se comunicam com os demais participantes da rede fornecendo seu certificado digital, que inclui o nível de reputação armazenado de forma segura pelo veículo. Mecanismos de decisão nos veículos receptores são responsáveis por julgar se as mensagens são verdadeiras ou falsas, baseando-se na reputação dos nós de comunicação emitentes. Periodicamente, os veículos devem entrar em contato com as autoridades certificadoras e de controle central de tráfego para atualizar seu nível de reputação, que é determinado centralmente pela validação de seu comportamento de participação e comunicação dos eventos na rede. A análise quantitativa de cenários simulados mostrou que a combinação adequada do mecanismo de reputação com um mecanismo de decisão veicular apresenta um total de decisões certas superior a de sistemas sem reputação, considerando a existência de mensagens falsas e ataques ao sistema. Desta forma, o sistema proposto mostrou sua eficácia em reduzir os riscos de comportamentos anômalos ou maliciosos em uma rede VANET.

Made available in DSpace on 2014-06-11T19:28:26Z (GMT). No. of bitstreams: 0 Previous issue date: 2011-04-15Bitstream added on 2014-06-13T18:34:34Z : No. of bitstreams: 1 amorim_fo_me_prud.pdf: 6387776 bytes, checksum: 9e59a4127b2231fae085f4e25c275c1f (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Neste trabalho analisamos a relação entre espaço da circulação, saúde ambiental e produção do espaço urbano, a partir da análise do processo de produção deste espaço urbano pelo espaço da circulação como um acúmulo desigual de tempos até a cidade do automóvel em Manaus. Constata-se que este acúmulo desigual de tempos, com suas relações e conflitos, acabam por se tornar um problema ao gerar exclusão sócio-espacial e também problemas de saúde ambiental ao impactar desigualmente a qualidade de vida de seus moradores. Este efeito compõe um estado ambiental de poluição atmosférica que por sua vez é pressionada e acentuada pelo aumento da taxa de motorização. Neste contexto, aplicamos uma matriz de análise de indicadores ambientais baseada no modelo FPEEEA (Força Motriz, Pressão, Estado/Situação, Exposição, Efeito, Ação), aqui compreendida como Força Motriz, Pressão, Situação, Efeito e Resposta (FMPSER). A partir da correlação destes indicadores sócio-ambientais, analisamos a incidência sintomática de morbidades do aparelho respiratório em trabalhadores informais frente à exposição a poluentes atmosféricos provenientes da queima de combustível fóssil em veículos automotores nos terminais de transporte coletivo urbano em Manaus (Terminal 01, Terminal 02, Terminal 03, Terminal 04 e Terminal 05) e pela área circundante à Igreja Matriz (calçadão na Rua Theodoro Souto esquina com Marechal Deodoro e Pavilhão Universal na Praça Tenreiro Aranha), conhecido como Terminal da Matriz... / In this study we analyze the relationship between circulation space, environmental health and production of urban space, from the analysis of the building process of urban space by the circulation space as an unequal accumulation of time until the car city in Manaus. It appears that this accumulation of unequal time, along with their relationships and conflicts, eventually become a problem when generates sociospatial exclusion and also environmental health problems for impacting unequally at its residents’ quality of life. This effect sets up an environmental state of pollution which is pressed and accentuated by the increasing rate of motorization. In this context, we applied an environment indicator analysis matrix based on the FPEEEA model (Driving Force, Pressure, State/Situation, Exposure, Effect, Action), translated in here as Driving Force, Pressure, State, Effect and Response (FMPSER). From the correlation among these social-environmental indicators, we analyzed the respiratory morbidity symptomatic incidence in informal workers, who were exposed to air pollutants resulting from the fossil fuel burning in motor vehicles of urban public transportation terminals in Manaus (Terminal 01, Terminal 02, Terminal 03, Terminal 04 and Terminal 05) and the area surrounding the Matix Church (sidewalk on the corner of Theodoro Souto and Marshal Deodoro Streets and the Pavilhão Universal at Tenreiro Aranha Square), known as the Matrix’ Terminal... (Complete abstract click electronic access below)