DISTRIBUTED INTELLIGENT SYSTEMS FOR CONTROL WITH DISTRIBUTED HASH TABLE by Chi Zhang M. Sc., Beijing University of Posts and Telecommunications, 2009 B. Eng., Beijing University of Posts and Telecommunications, 2006 THESIS SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF APPLIED SCIENCE In the School of Engineering Science Faculty of Applied Sciences © Chi Zhang 2012 SIMON FRASER UNIVERSITY Spring, 2012 All rights reserved. However, in accordance with the Copyright Act of Canada, this work may be reproduced, without authorization, under the conditions for "Fair Dealing." Therefore, limited reproduction of this work for the purposes of private study, research, criticism, review and news reporting is likely to be in accordance with the law, particularly if cited appropriately. APPROVAL Name: Chi Zhang Degree: Master of Applied Science Title of Thesis: Distributed Intelligent Systems for Control with Distributed Hash Table Examining Committee: Chair: Dr. John Jones Associate Professor & Acting Director School of Engineering Science, Simon Fraser University Dr. William A. Gruver Senior Co-Supervisor Professor Emeritus Dr. Ljiljana Trajkovic Senior Co-Supervisor Professor Dorian Sabaz Supervisor CTO, Intelligent Robotics Corporation Dr. Mehrdad Moallem Internal Examiner Associate Professor School of Engineering Science, Simon Fraser University Date Defended: December 1, 2011 ii Partial Copyright Licence ABSTRACT As a result of constant demand for the increasing amount of information, traditional centralized computing architectures suffer from lack of robustness, duplication of information, and inadequate system scalability and flexibility. Distributed Intelligent Systems (DIS) show potential in developing management of smart buildings, intelligent transportation, and many other application domains. Peer-to-Peer (P2P) information sharing system, a distributed system that is based on collaboration of peers and efficient use of local computing resources, has the potential to elegantly solve performance issues associated with centralized architectures. In this thesis, we described a prototype based on the Kademlia P2P protocol and a geographic binary tree to illustrate the potential of P2P networks in a distributed intelligent system for control. We implemented a six-node embedded test bed and used it to evaluate the information publishing/querying functionalities. Three sensing peripherals were utilized to demonstrate the flexibility and robustness of the system. These contributions were combined to demonstrate that P2P networks offer a valuable technology for the development of distributed intelligent systems. Keywords: Distributed Intelligent Systems; Peer-to-Peer Networks; Kademlia protocol. iii DEDICATION 感谢我的父母，在我痴长的这么多年里对我的哺育、宽容和爱护。 感谢我的师长，朋友，对我无私的帮助和教诲。 To my parents XinQuan Zhang and LanFang Zhou for their selfless concern and love. To my supervisors and friends for their kind help and support. iv ACKNOWLEDGEMENTS To Dr. William A. Gruver: Thank you for your kindly suggestions and guidance of all my research. It is my great honor to be one of your students. To Dorian Sabaz: Thank you for all the meetings and discussions that we had over the past two years. It changed my way of thinking and continues to inspires me. To Dr. Ljiljana Trajkovic: Thank you for the wonderful lab facilities that you provided over the past years. Thank you for your generous help in my research and thesis writing. v TABLE OF CONTENTS Approval ........................................................................................................................ ii Abstract ........................................................................................................................ iii Dedication ..................................................................................................................... iv Acknowledgements ....................................................................................................... v Table of Contents ......................................................................................................... vi List of Figures .............................................................................................................. ix List of Tables ................................................................................................................ xi List of Scripts .............................................................................................................. xii Glossary ...................................................................................................................... xiii 1: Introduction ............................................................................................................... 1 1.1 Evolution of Computing ........................................................................................... 1 1.2 Centralized Systems ............................................................................................... 2 1.3 Distributed System .................................................................................................. 3 1.4 Objectives ............................................................................................................... 6 1.5 Contributions ........................................................................................................... 7 1.6 Organization ............................................................................................................ 8 2: BACKGROUND .......................................................................................................... 9 2.1 Introduction ............................................................................................................. 9 2.2 Peer-to-Peer Systems ........................................................................................... 10 2.2.1 Unstructured P2P Protocol ........................................................................ 12 2.2.2 Structured P2P Protocol ............................................................................ 13 2.2.3 Kademlia Protocol ..................................................................................... 16 2.3 Comparison between Protocols ............................................................................. 19 2.3.1 Comparison among DHT protocols ............................................................ 20 2.4 Location Awareness .............................................................................................. 21 2.5 Related Research ................................................................................................. 23 3: Systems architecture and Design .......................................................................... 24 3.1 Introduction ........................................................................................................... 24 3.2 Kademlia Protocol Modification ............................................................................. 25 3.3 Geographic Binary Tree ........................................................................................ 26 3.3.1 Basic Design ............................................................................................. 26 3.3.2 Publishing and Querying ............................................................................ 30 vi 3.3.3 Routing ...................................................................................................... 31 3.4 System Organization ............................................................................................. 32 3.4.1 Hardware Platform ..................................................................................... 33 3.4.2 Operating System ...................................................................................... 34 3.4.3 Network Connection .................................................................................. 35 3.5 System Architecture Design .................................................................................. 36 3.6 Message Packet Design ........................................................................................ 38 3.6.1 HelloRequest Packet and HelloResponse Packet ...................................... 38 3.6.2 FindNodeRequest Packet and FindNodeResponse Packet ....................... 39 3.6.3 PublishRequest Packet and PublishResponse Packet ............................... 40 3.6.4 QueryRequest Packet and QueryResponse Packet................................... 41 3.7 Design of Main Functions Sequence ..................................................................... 42 3.7.1 Lookup Process ......................................................................................... 42 3.7.2 Data Publishing Process ............................................................................ 43 3.7.3 Data Querying Process .............................................................................. 44 4: System Implementation and ANALYSIS ................................................................ 45 4.1 Introduction ........................................................................................................... 45 4.2 Hardware Selection ............................................................................................... 46 4.3 Software Selection ................................................................................................ 48 4.4 System Development ...........................................................................................