Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation to measure vibrations. This paper develops a model-based method that overcomes these limitations. It relies on a simple pendulum-like model for modeling the beam, open-loop optimal control for suppressing vibrations, and does not require any exteroceptive sensors. We experimentally show that the proposed method drastically reduces residual vibrations – at least 90% – and outperforms the commonly used input shaping (IS) for trajectories with the same execution time. Besides, our method can also execute the task faster than IS with a minor reduction in vibration suppression performance, thereby facilitating the development of new solutions for flexible object manipulation tasks.

MQTT is becoming a clear standard in the IoT arena. Its flexibility in interconnecting various devices by decoupling timing and locations from the interaction among clients is extremely interesting in current deployments. The centralized approach of MQTT brings anyway drawbacks that are currently being tackled by researchers and practitioners. In this paper we provide a preliminary evaluation of the process of embedding an MQTT broker using the 5G Network Virtual Function approach. Through a real testbed, we measure how an MQTT broker can scale at the edge by regulating the incoming traffic using a load balancing approach.

The management of a 5G system comprises Operation and Management aspects defined by 3GPP, including Network Slicing, and the Management and Orchestration aspects specified in ETSI’s Network Function Virtualization framework. Our Proof-of-Concept demonstrates the implementation of an on-demand provisioning procedure of a Network Slice Subnet composed of Virtual Network Functions from potentially different vendors. The demonstration includes a Network Management System conforming to the 3GPP Service-Based Management Architecture, an ETSI MANO orchestrator, and a Network Function Virtualization Infrastructure.

The recent trend of network disaggregation and community push towards open source network management and orchestration projects has given rise to a rich ecosystem of frameworks and tools. In particular, ETSI NFV proposes a conceptual, reference architecture standardizing management and control interfaces in softwarized mobile broadband networks. These frameworks present highly customizable features, embodying varying degrees of complexity, communed by a steep learning curve. In this article, we propose a stepby-step description of a virtualized testbed environment setup, adopting an NFV-compliant ecosystem, describing an implementation of the NFV SOL002 reference point which aims to standardize the lifecycle management of virtualized functions. In addition, we present an experimental assessment measuring the mobile core deployment times.

Abstract Mobile Ad-Hoc Networks are currently experiencing a second youth in terms of research interest as well as providing benefits to our society. Clearly, this has been fostered by the wide range of applications that have become actually feasible thanks to the pervasive and increasing presence of smartphones, drones, sensors and other small devices with communication and sensing capability. Aiming to deploy solutions able to self-organize without the need for any infrastructure support, packet routing remains an open and critical research problem. Several routing solutions have been conceived to guarantee delivery and low overhead in this context. A promising approach, trying to limit the information needed and stored in the network, is represented bystatelesssolutions, a class of solutions not relying on topology state information. However, since they exploit local knowledge, the achieved performance in terms of packet delivery and latency is not always up to expectations. To this aim, we propose a dynamic routing protocol based on atabu searchapproach, relying on local network knowledge and in-packet short-term memory to alleviate the local minima problem. A through experimental assessment is conducted, measuring protocol performance under different configurations and profiles, evidencing its benefits.

The fruition of multimedia contents has been revolutionized by the spread of broadband technology. Furthermore, the advent of the cloud is now moving the computational load, once prerogative of domestic devices, to remote servers. This is bringing achievements that were unthinkable only few years ago, like the provisioning of new multimedia services through the Internet. To guarantee a proper user experience, a low E2E latency and a high bandwidth are both essential. Unfortunately, this is difficult to accomplish in a shared and best-effort network like the Internet. We need to focus on the study and analysis of modern network protocols to identify viable solutions for a suitable user experience. This is especially the case of QUIC, a recent transport protocol able to reduce significantly some issues mentioned above. Our aim is to explore QUIC and its integration into a Smart Access Point, enabling a better management of heterogeneous co-existing media flows.

The actual advent of autonomous vehicles and the general improvement of traffic safety pass through quick and reliable message dissemination in a certain Area of Interest (AoI). Message dissemination among the vehicles composing an Internet of Vehicles (IoV) is of paramount importance and has to make use of fast and efficient multi-hop message forwarding to broadcast information. While most of existing works focus only on simple car platooning scenarios (e.g., a highway), we discuss here a fast multi-hop broadcast protocol able to quickly and reliably propagate an alert message even in general 2D (and 3D) topology scenarios.

It is easy to foresee a future with many smart and connected things, static or moving around, occupying space and creating an Internet of Things (IoT) with a 3D topology. Unfortunately, state-of-the-art routing protocols for ad-hoc networks have been designed to work in 2D scenarios. We here evaluate how these routing protocols would perform in a 3D IoT.

In recent years we have seen a great proliferation of smart vehicles, ranging from cars to little drones (both terrestrial and aerial), all endowed with sensors and communication capabilities. It is hence easy to foresee a future with even more smart and connected vehicles moving around, occupying space and creating an Internet of Vehicles (IoV). In this IoV, a multitude of nodes (both static and mobile) will generate a continuous multihop flow of local information to support local smart environment applications. Therefore, one interesting environment for the IoV would be in the form of 3-D mobile ad-hoc networks (MANETs). Unfortunately, MANET routing protocols have generally been designed and analyzed keeping in mind a 2-D scenario; there is no guarantee on how they would support a 3-D topology of the IoV. To this end, we have considered routing protocols deemed as the state-of-the-art for classic MANETs and tested them over 3-D topologies to evaluate their assets and technical challenges.

Scalable routing for wireless communication systems is a compelling and challenging task. To this aim, routing algorithms exploiting geographic information have been proposed. These algorithms refer to nodes by their location, rather than their address, and use those coordinates to route greedily towards a destination. With the advent of unmanned airborne vehicle (UAV) technology, a lot of research effort has been devoted to extend position-based packet routing proposals to three dimensional environments. In this context, Flying Ad-hoc Networks (FANETs), comprised of autonomous flying vehicles, pose several issues. This work focuses on the state-of-the-art, stateless geographic packet routing protocols conceived or adapted for three-dimensional network scenarios. Proposals are evaluated over a common scenario through a comprehensive comparative analysis.

One of the most profitable and emerging high-tech markets is the one that involves games for PC and consoles; a market that is growing year by year and that is rapidly evolving. Several big game corporations are implementing now the remote video streaming through the domestic network between two devices; a feature that regards not only PCs but also consoles. This paper investigates one of the main services of this type, the Steam In-Home Streaming, to analyze the generated network traffic when considering different types of game. Gathered data can help to understand whether this type of service can actually be supported by today's regular Internet connections.

The market penetration of in-home entertainment systems is playing a crucial role in the diffusion of interactive multimedia services. In this context, thin-client game systems have received a lot of attention, shifting the computational burden of the game play toward the server while the client renders a fat video stream. This paper proposes an analysis of the network characteristics of the Remote Play for PlayStation 4 and PlayStation Vita, providing some insights on the network dynamics of this system under different game types. The measurements involve video games of different genres, analyzing the bitrates, the packet size, capturing the dynamics of the whole streaming session. Results indicate that the service generates a large quantity of big packets downstream and smaller and lesser packets upstream. Gathered data can help to understand if this type of service could be offered through the today's normal Internet connections.

This paper investigates one of the main game streaming services, the Steam In-Home Streaming, to analyze the generated network traffic. Gathered data can be used to model this type of traffic in simulations and to determine whether it could be supported by Internet connections around the world.

With vehicular networks quickly becoming the new wireless frontier of the Internet, car passengers embody the next consumers that will be targeted by multimedia content providers. However, researchers and practitioners are still struggling to tackle the technical challenges that raise in this scenario such as, for instance, the continuous variations in the number and type of flows served by the access points along the road. Considering different traveling scenarios in terms of vehicles' speed and location we discuss how access points could be improved to properly address these challenges, ensuring coexistence among heterogeneous types of flow, even in presence of moving vehicles that generate frequent network traffic variations.