Sharif Digital Repository

The growth of user traffic and appearance of new services, has changed architecture of mobile networks. Data flows have different requirments based on their services. Mobile platform should be able to recognize services and slice network resources based on them. Different approaches have been investigated using relevant standards and numerous articles. The focus of this thesis is on implement a platform based on fourth generation mobile networks that can differentiate between data flows according to their respective required QoS.We have implemented an IMS network and connected it to a mobile core network But IMS network just supports session-based services. We introduced a solution for non... 

With the explosion of mobile smart devices, many computation intensive applications have emerged, such as interactive gaming and augmented reality. Mobile edge computing (EC) is put forward, as an extension of cloud computing, to meet the low-latency require- ments of the applications. In mobile edge computing systems, an edge node may have a high load when a large number of mobile devices offload their tasks to it. those offloaded tasks may experience large processing delay or even be dropped when their deadlines expire. Due to the uncertain load dynamics at the edge nodes, it is challenging for each device to determine its offloading decision (i.e., whether to offload or not, and which... 

In this thesis control of wheeled mobile manipulators for cooperative object transportation is investigated. Full dynamic model of a mobile manipulator with a three wheeled mobile base and a three DOF manipulator is derived using Gibbs-Appell method. Input-output linearization technique is used to control individual robots. Transporting the object is divided into two steps, first robots use a decentralized behavior-based method to approach and surround the object. Then virtual structure method is used to control the robots to transport the object cooperatively. Simulation results with three robots handling an object are presented to show the effectiveness of proposed method  

This thesis deals with the construction of software tools necessary to calculate the position and orientation of the robot. The aim of this project is to use accelerometer, gyroscope, magnetometer and GPS sensors; Determine the position and orientation of the robot where the mobile phone is located. The proposed sensors are used to measure acceleration, angular velocity and magnetic field in 3 axes, respectively. GPS is also a system for calculating the position using signals received from satellites. To do this, an Android application has been designed and written in Java. The sensor information is collected by the software designed in the mobile phone and after proper coding is sent to a... 

In recent years formation control of autonomous vehicles has been a well-studied topic, and the attention has shifted from the control of a single mobile robot to the control of multiple mobile robots because of the advantages a team of robots offer, such as increased efficiency, robustness against fault and damaging, and more systematic approaches to tasks like search and rescue operations, automated highways, survey and patrols, military missions, moving large objects and moving a large number of objects. Formation control means the problem of controlling the relative position and orientation of the mobile robots in a group according to some desired pattern for executing a given task. In... 

Wheeled mobile robots form a subcategory of mobile robots and are usually accompanied with geometric constraints on their velocities. These constraints do not allow the robots to move in any path that only does not collide with obstacles, in order to move from one point to another. On the other hand, the nonlinear nature of these systems make their control difficult. A general approach in motion planning and control for mobile robots is using standard forms equivalent to their state equations; Usually, solving motion planning and control problems for these forms is easier than that of the original system. Also,the mentioned problems are more prospective to have a systematic solution for... 

In this paper, the general research of impedance control is addressed for a robotic manipulator with a moving flexible base. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base moving manipulators (FBMM) is rather new and is being considered. The dynamic of manipulator is decomposed into slow and fast dynamics using singular perturbation method. New sliding mode impedance control method (SMIC), using an element on the end effector is proposed for high precision impedance control of FBMM. The sliding mode impedance control method as a robust impedance control law is derived for the... 

In opportunistic networks, the nodes have ad-hoc communications that are formed directly between them, without any infrastructure, and not by any using any other intermediate node. In case that the destination node is not in the same region as the source during the sending of a message, the source will send the message to one or a few of its neighbors so that they can store and carry out the message to the original destination in cooperation known as Store-Carry-Forward Mechanism. Remarkably, in most cases, the devices involving in this type of network, e.g., smartphones, have limited source of energy or they use a battery, there is a need to minimize the energy consumption in the nodes.... 

Vehicular ad hoc networks (VANETs) are currently attracting the attention of researchers around the world. They offer a wide range of applications improving road safety and driving comfort. Since VANET applications affect safety-of-life, data security in a vehicular system is mandatory. VANET is a special case of Mobile Ad hoc Network (MANET). Routing in VANET is a controversial issue. Furthermore, Security at routing level is so important because if the routing is compromised, other protocol layers on top of the network layer are also compromised. In this thesis, DSDV, DSR and AODV routing protocols are simulated to understand which of these protocols are suitable for VANET. Finding... 

Mobile ad hoc networks (MANETs) are the dynamically reconfigurable wireless networks in which mobile nodes communicate with each other without the need for any fixed infrastructure. In these networks mobile nodes are free to move, therefore, network topology changes rapidly. These changes can lead to significant performance degradations in network protocols. To cope with this, a desired solution is to predict movements of mobile nodes. In this way, we can be prepared for changes. This thesis proposes two mobility prediction methods. In both methods, each node uses the information extracted from its own history of movements to predict its future location. Results obtained by applying two... 

Mobile Ad-Hoc Networks (MANETs) have been studied as one of the most important technologies in the mid to late 1990s. There are several research works on types of network traffic modeling and prediction. Therefore, a very important issue is to make prediction on traffic-flows that each node handles. Because of this, prediction permits us to improve and increase the performance of the network. This project is a contributing effort to improve the traffic packets prediction by Neural Networks in MANET. The main goal of this thesis is about the recovery of data after crisis in phenomenal roads and highways. Our goal is recognizing phenomenal crisis-points in roads. In this thesis packets are... 

Path planning of a robot inside an environment with obstacles is to determine an appropriate path for moving from an initial point to a destination without colliding the obstacles. The main considerations in selecting such a path are its length and simplicity in terms of links or turn angles. In this paper, we study this problem for a point robot in the plane and our goal is to minimize the path length. We solve this problem by converting it to an optimization problem and solving the resulted optimization problem by a recurrent neural network. According to the implementation results, the obtained path is a proper approximation of the minimum length path, especially when obstacles are not too... 

Cloud computing has a significant role in expanding applications of the Internet of Things (IoT). Currently, applications such as virtual reality and augmented reality require low latency, which is not achievable using traditional cloud computing in some scenarios. Edge computing is a new approach in IoT, which solves some of the limitations of the cloud computing by extending and developing its operations. Reducing response time and network traffic are some of the most important achievements of edge computing. Despite of its numerous advantages over cloud computing, edge computing faces serious challenges such as virtualization, implementation infrastructure, resource allocation and task... 

Thorough investigation of the Cloud-RAN (C-RAN) architecture has recently shown that CRAN can bring advanced cooperated and coordinated processing capabilities as well as the multiplexing gains toward future radio access networks. The baseband processing of each base station instance can now be flexibly split into smaller functional components, that can be placed either at remote radio units (RRUs) or baseband units (BBUs), depending on the available resources. In this project, we investigate recent implemented methods in C-RAN. also, we propose, develop and implement new architectural frameworks for C-RAN that can support both a flexible functional split and a new functional splitting known... 

Several applications have been envisioned for wireless sensor networks (WSNs). These range in scope from military applications to environment monitoring to biomedical applications. It is a widely accepted fact that the limited energy available at the nodes of a wireless sensor network must be used as efficiently as possible. If energy conservation techniques are used at different levels, the functional lifetime of both individual nodes and the network can be extended considerably.
Energy can be saved if the network topology itself is energy-efficient. The research in topology construction and connectivity has been approached independently along two paths. In one path, researchers aim to... 

The significant growth in wireless data traffic over the past few years has necessitated the use of new frequency bands for wireless communications. With the advent of the fifth-generation mobile network (5G), millimeter wave band will be widely employed for the purpose of wireless data transmission, increasing in channel bandwidth and data rate. Due to high propagation loss, severe vulnerability to blockage and poor reflection in millimeter wave frequencies, beamforming for antenna arrays is being considered a key enabler for millimeter wave applications in 5G. Beamforming contributes significantly to maintaining channel stability and capacity through enhancing Signal-to-Noise-Ratio (SNR)... 

With the emergence of 5G networks, response time is becoming increasingly more important. 5G networks facilitate usage of Mobile Edge Computing. MEC provides computing capabilities at the edges of cellular networks. Since the computational capability in mobile devices is limited, running high performance applications using external resources is a way to overcome this limitation. Workload offloading in MEC is an approach that provides additional computation capability for users to meet the desired response time. In this study, we presented a Mixed Integer Non-Linear Programing model for offloading different workloads on a heterogeneous set of MEC servers to minimize the SLA violations. We... 

During the covid-19 pandemic, in many countries, women's employment sector received more impact than men's. Some researchers consider this incident due to a decrease in the supply of women due to the closure of childcare centers and absenteeism in schools. Some consider this to be due to a reduction in the demand for women's labor due to the damage to the service sector. In this research, using the transition matrix, we showed that, during the epidemic period, the households in which women were employed in the pre-epidemic period (first group) had a greater reduction in income mobility than the households in which only men were employed (second group). Then, using the ordered logit of... 

As mobile networks have been expanded, the importance of subscribers' information security has become more and more evident. Despite mitigating known vulnerabilities of older mobile networks in newer generations, there are still some security flaws that can be exploited. In particular, as a common scenario, attackers can exploit "Use 2G mobile network if 3G/4G is unavailable" setting in order to force a subscriber to downgrade his/her mobile network to 2G; hence becoming vulnerable to known 2G attacks. Mobile networks have a heterogeneous and distributed architecture which make intrusion detection systems incapable of covering the entire network. In this dissertation, alongside with the... 

In this thesis, in order to improve the performance of the mobile robot navigation, a Fuzzy approach is used for making a safe path in the cluttered environment with hurdles in the work space of the robot. To this end, based on data collected from instantaneous location of the robot and location of the robot, heuristic rules are extracted. Also, in order to obtain optimal data fusion of the sensors, Kalman filter is used to localize the robot. In this regards, by using the kinematics of the robot and supposing the white noise in the process and measurements, the position and orientation of the mobile robot are estimated in a real-time and adaptive manner