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Development of a Wireless Communication System for Swarm Intelligent Robots

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Development of a Wireless Communication System for Swarm Intelligent Robots DEVELOPMENT OF A WIRELESS COMMUNICATION SYSTEM FOR SWARM INTELLIGENT ROBOTS Martina Russitano Lanza Internship Report submitted to the International Space University in partial fulfillment of the requirements of the M.Sc. Degree in Space Studies August, 2016 Internship Mentor: Prof. Kazuya Yoshida Host Institution: Tohoku University, Sendai, Japan ISU Academic Advisor: Prof. Hugh Hill ABSTRACT This report discusses the activities performed during the three-month internship at the Space Robotics Laboratory of Tohoku University, in Sendai (Japan), the internship being the final module of the International Space University’s Master of Space Studies program. The project, which envisaged the development of a wireless communication system for swarm intelligent robots based on the LTE technology, has been widely described in all its phases, from the Literature Review to the practical experience. A detailed description of all the hardware, procedures tested, trouble shooting methods and results obtained is also included. Due to the large number of problems encountered when trying to connect the LTE modem device, it was not possible to accomplish the task of building a real communication system. Nonetheless, possible reasons for all the issues occurred have been explained and motivated, and some recommendations for further studies have been stated. At the same time, a research concerning the next steps of the project has been carried out and a feasible method to establish a communication between different platforms has been analyzed and proposed. In addition to the main project, this report introduces also the activities of the Tohoku University Engineering Summer Program (TESP), to which I participated, as well as its positive outcomes. i ACKNOWLEDGEMENTS I would like to extend my appreciation to those who have both guided and assisted me during the whole internship. Their contribution, both direct and indirect, has been an essential factor towards completion of the project. I first and foremost would like to thank my academic advisor, IPR supervisor and “mentor” Prof. Hugh Hill for his “fatherly” presence, even beyond the long distance. His affection and interest for my work and my stay in Japan itself have been precious to me. Similarly, I wish to also thank Prof. Kazuya Yoshida for giving me the chance to do an internship in one of the most prestigious space robotics laboratory of the world, for supervising my project and for allowing me to attend his lectures, as well as the TESP 2016. I am sure that it would have not been the same without his precious advices and support. In addition, I thank Dr. Nathan Britton, Dr. John Walker, Mickaël Laine, Dr. Toshiro Shimizu, Nicolò Carletti, Louis Burtz, Marc Hulcelle, Oriol Gasquez Garcia, Takuto Oikawa, Hugo Zuliani, Kentaro Uno, Shoko Ono, James Harpur, Marc Pech and all the other people working at the Space Robotics Laboratory for their help and contribution to this work, as well as for all the laughter and their invaluable friendship. Furthermore, I extend my gratitude to all my friends at Urban Castle Kawauchi. Their presence and all the moments shared together have made my stay even more beautiful and pleasant that I could have ever imagined. Finally, yet importantly, I want to thank my family, who unstoppably supported me even from afar. ii TABLE OF CONTENTS ABSTRACT……………………………………………………………………………………………………………………………………... i ACKNOWLEDGEMENTS ……………………………………..…………………………………………………………………………. ii TABLE OF CONTENTS …………..………………………………………………………………………………………………………. iii LIST OF FIGURES …………..…………………………………………………………………………………………..……………….… v LIST OF TABLES ………………..…………………………………………………………………………………………..………….…. vi ABBREVIATIONS …….………………………………………………………………………………………………………………..... vii 1 INTRODUCTION …..……………………………………………………………………………………………………..…………… 1 1.1 Purpose of the Document …………….……………………………………………………………………………..………. 1 1.2 Scope of the Document …………………………………………….…………………………………......……………..…. 1 1.3 Summary of the Project ……………………………………………………………………………………………..……….. 1 2 THE LTE NETWORK TECHNOLOGY …………………….……………………………………………………………………… 2 2.1 Main Features and Advantages .…………………………………………………………………………………………… 2 2.2 Network Architecture ……………………………………………………………………………………………………….…. 5 2.2.1 The User Equipment ……………………………………………………………………………………………..… 5 2.2.2 The Evolved UMTS Terrestrial Radio Access Network ….…………………………………..……… 5 2.2.3 The Evolved Packet Core ……………………………………………………………………………..……..…… 6 2.3 Physical Layer ……..…………………………………………………………………………………………………………….… 8 2.3.1 OFDMA Multiplexing …..………………………………………………………………………………………..… 9 2.3.2 SC-FDMA Multiplexing …………….………………………………………….………………………………….. 9 2.4 Quality of Service and Bearers ………………………………………………………………………………………..…. 10 3 THE HARDWARE ………………………………………………………………………………………………………………….… 12 3.1 Development Board …..………………………………………………………………………………………………………. 13 3.1.1 Main Features and Advantages ……………………………………………………………………………… 14 3.1.2 The HummingBoard-Edge ……………………………………………………………………………………… 14 3.2 LTE Modem ………………….……………………………………………………………………………………………………. 16 3.2.1 Access Network Technology ANT30MO ………………………………………………………………… 17 3.2.2 Huawei E3276 USB Dongle ……………………………………………………………………………………. 18 4 CONNECTING THE HUMMINGBOARD …..……………………………………………………………………..………… 19 4.1 Hardware First Setup and OS Installation ………………………………………………………………………..…. 19 4.2 Remote Access …….……………………………………………………………………………………………………………. 19 4.2.1 Setting the Static IP ……………………………………………………………………………………………….. 20 4.2.2 The Secure Shell ……………………………………………………………………………………………………. 20 4.3 SIM Card Activation …………………………………………………………………………………………………………... 20 4.4 ANT30MO Modem Configuration ………………………………………………………………………………………. 21 4.4.1 Connman ………………………………………………………………………………………………………………. 21 4.4.2 Sakis3G …………………………………………………………………………………………………………………. 22 4.4.3 PPP and /etc/network/interfaces ……………………………………………………………………….…. 24 iii 4.4.4 Wvdial …………………………………………………………………………………………………………………... 24 4.4.5 Network Manager and ModemManager ……………………………………………………………….. 25 4.4.6 Libmbim ………………………………………………………………………………………………………………… 28 4.4.7 Other Trouble Shooting Procedures ………………………………………………………………………. 29 4.5 Huawei E3276 Modem Configuration ………………………………………………………………………………… 30 4.6 Conclusions …………………………………………………………………………………………………………………………31 5 REMOTE CONTROL OF THE HUMMINGBOARD CONNECTED WITH A LTE MODEM ………..………… 32 5.1 The Reverse SSH Tunnel …………………………………………………………………………………………………….. 32 5.2 System Requirements ………………………………………………………………………………………………………… 32 5.3 Building Up the Reverse Tunnel …………………………………………………………………………………………. 32 6 TESP 2016 …………………………………………………..…………………………………………………………….…………… 34 6.1 Main Activities ………………………………………………………………………………………………………………..…. 34 6.2 Conclusions …………….……………………………………………………………………………………..………………….. 34 7 CONCLUSIONS AND RECOMMENDATIONS …………………………………………………………………………..… 36 7.1 Conclusions ……………………………………………………………………………………………………………………..… 36 7.2 Recommendations …………………………………………………………………………………………………………..… 36 8 BIBLIOGRAPHY ………………………………………………………………………………………………………….………..… 38 iv LIST OF FIGURES Figure 1: Diagram of the LTE network architecture ……………………….………………………………………………… 5 Figure 2: Scheme of functioning of the E-UTRAN Photo Credits: www.tutorialspoint.com, 2016a .…. 6 Figure 3: Outline of the EPC main nodes. Photo Credits: www.tutorialspoint.com, 2016 ……….……….. 8 Figure 4: SolidRun HummingBoard-Edge, front view. Photo Credits: SolidRun, 2016 …………………..… 15 Figure 5: SolidRun HummingBoard-Edge, back view. Photo Credits: SolidRun, 2016 ……………………... 16 Figure 6: The HummingBoard and its antenna ..……………………………………………………………………….…….. 17 Figure 7: The ANT30MO LTE modem, front view. Photo Credits: Yahoo! Japan, 2016a ..…...........….. 17 Figure 8: The ANT30MO LTE modem, back view. Photo Credits: Yahoo! Japan, 2016a …………………. 17 Figure 9: The Huawei E3276 USB modem ………………………………………………………………………………………. 18 Figure 10: Sakis3G user interface, main page ……………………………………………………………………………....… 23 Figure 11: Sakis3G user interface, 3G modem menu ………………….………………………………………………….. 23 Figure 12: The output of the nmcli device status command, showing that the LTE modem is connected .…………….……………………………………………………………………………………………………..……………….. 26 Figure 13: The Huawei online modem manager on Windows 10, showing that there is no service available .………………………………………………………………………………………………………………………….……..…….. 31 Figure 14: Diagram showing the functioning of the Reverse SSH Tunnel. Photo Credits: Zihlmann, 2014a………………………………………………………………………………………………………………………………….…………. 33 Figure 15: Group photo with Prof. Yoshida, some colleagues of the Space Robotics Lab. and some new friends from TESP ………………………………………………………………………………………………………..………… 35 Figure 16: Traditional painting on shogi pieces at Tendo Tower, Yamagata ………………………………….. 35 Figure 17: Kimono dressing …………………………….…………………………………………………………………………….. 35 Figure 18: Green tea preparation at the Tea Ceremony .………………………………………………………..……… 35 Figure 19: Tea Ceremony ……………………………………………………………………………………………………………… 35 v LIST OF TABLES Table 1: Some features of the LTE technology ……………………………………………………………….………………… 3 Table 2: Frequency ranges for some of the LTE supported bands .…………………………………………………… 3 Table 3: Main advantages of the LTE technology ..………………………………………………….……………………….. 4 Table 4: The main functions performed by the LTE’s E-UTRAN ……………………..…………………………….…... 6 Table 5: Some of the main nodes composing the EPC ……………………………………………………………………… 7 Table 6: The two main categories of Bearers …………………………………………………………………………………. 10 Table 7: The nine possible standardized
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