In an effort to realize wireless Internet telephony and multimedia streaming in a highly mobile environment a testbed emulating a wireless Internet has been built. This allows the setting up of multimedia calls between IP mobiles and integration between IP and PSTN end-points in a wireless environment. Different functionalities and components involved with the wireless Internet streaming multimedia have been prototyped and experimented in the testbed. These include signaling, registration, dynamic binding, location management as well as supporting the QoS features for the mobile users. This paper describes some of the components of the testbed and highlights the experiences while building this testbed which could be beneficial to some who plan to build a similar testbed to realize several features and capabilities of Mobile Wireless Internet, before actually bringing to the market.

A method is presented for optimally planning the motions of autonomous vehicles, considering vehicle dynamics, terrain topography, obstacles, and surface mobility. The terrain is represented by a smooth cubic B patch, and the geometric path consists of a two dimensional B spline curve mapped to the three-dimensional surface. The path is optimized with a parameter optimization procedure, using motion time as the cost function. The optimal motion time along the path is computed by transforming the constraints between the vehicle and ground to limits on vehicle speeds. The optimal speeds which minimize motion time are then obtained below the velocity limits, using the maximum acceleration of deceleration at all times. Examples are presented which demonstrate the method for a simple dynamic model of a vehicle moving on mountainous terrain.>