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Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
The flow on a TCP connection should obey a ‘conservation of packets’ principle. … A new packet isn't put into the network until an old packet leaves.
Van Jacobson
Objectives
TCP connection establishment and termination.
TCP timers.
TCP timeout and retransmission.
TCP interactive data flow, using telnet as an example.
TCP bulk data flow, using sock as a traffic generator.
Further comparison of TCP and UDP.
Tuning the TCP/IP kernel.
Study TCP flow control, congestion control, and error control using DBS and NIST Net.
TCP service
TCP is the transport layer protocol in the TCP/IP protocol family that provides a connection-oriented, reliable service to applications. TCP achieves this by incorporating the following features.
Error control: TCP uses cumulative acknowledgements to report lost segments or out of order reception, and a time out and retransmission mechanism to guarantee that application data is received reliably.
Flow control: TCP uses sliding window flow control to prevent the receiver buffer from overflowing.
Congestion control: TCP uses slow start, congestion avoidance, and fast retransmit/fast recovery to adapt to congestion in the routers and achieve high throughput.
The TCP header, shown in Fig. 0.16, consists of fields for the implementation of the above functions. Because of its complexity, TCP only supports unicast, while UDP, which is much simpler, supports both unicast and multicast. TCP is widely used in internet applications, e.g., the Web (HTTP), email (SMTP), file transfer (FTP), remote access (telnet), etc.
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
The dream behind the Web is of a common information space in which we communicate by sharing information.
Tim Berners-Lee
Objectives
The HyperText Transfer Protocol and the Apache web server.
The Common Gateway Interface.
The Dynamic Host Configuration Protocol.
The Network Time Protocol.
The Network Address Translator and the Port Address Translator.
An introduction to socket programming.
The HyperText Transfer Protocol
The HyperText Transfer Protocol and the Web
In the early days of the Internet, email, FTP, and remote login were the most popular applications. The first World Wide Web (WWW) browser was written by Tim Berners-Lee in 1990. Since then, WWW has become the second “Killer App” after email. Its popularity resulted in the exponential growth of the Internet.
In WWW, information is typically provided as HyperText Markup Language (HTML) files (called web pages). WWW resources are specified by Uniform Resource Locators (URL), each consisting of a protocol name (e.g., http, rtp, rtsp), a “://”, a server domain name or server IP address, and a path to a resource (an HTML file or a CGI script (see Section 8.2.2)). The HyperText Transfer Protocol (HTTP) is an application layer protocol for distributing information in the WWW. In common with many other Internet applications, HTTP is based on the client–server architecture. An HTTP server, or a web server, uses the well-known port number 80, while an HTTP client is also called a web browser.
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
The principle, called the end-to-end argument, suggests that functions placed at low levels of a system may be redundant or of little value when compared with the cost of providing them at that low level.
J. H. Saltzer, D. P. Reed and D. D. Clark
Objectives
Study sock as a traffic generator, in terms of its features and command line options.
Study the User Datagram Protocol.
IP fragmentation.
MTU and path MTU discovery.
UDP applications, using the Trivial File Transfer Protocol as an example.
Compare UDP with TCP, using TFTP and the File Transfer Protocol.
The User Datagram Protocol
Since the Internet protocol suite is often referred to as TCP/IP, UDP, it may seem, suffers from being considered the “less important” transport protocol. This perception is changing rapidly as realtime services, such as Voice over IP (VoIP), which use UDP become an important part of the Internet landscape. This emerging UDP application will be further explored in Chapter 7.
UDP provides a means of multiplexing and demultiplexing for user processes, usingUDP port numbers. It extends the host-to-host delivery service of IP to the application-to-application level. There is no other transport control mechanism provided by UDP, except a checksum which protects the UDP header (see Fig. 0.14), UDP data, and several IP header fields.
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
We are now in a transition phase, just a few years shy of when IP will be the universal platform for multimedia services.
H. Schulzrinne
Objectives
Multicast addressing.
Multicast group management.
Multicast routing: configuring a multicast router.
Realtime video streaming using the Java Media Framework.
Protocols supporting realtime streaming: RTP/RTCP and RTSP.
Analyzing captured RTP/RTCP packets using Ethereal.
IP multicast
IP provides three types of services, i.e., unicast, multicast, and broadcast. Unicast is a point-to-point type of service with one sender and one receiver. Multicast is a one-to-many or many-to-many type of service, which delivers packets to multiple receivers. Consider a multicast group consisting of a number of participants, any packet sent to the group will be received by all of the participants. In broadcasts, IP datagrams are sent to a broadcast IP address, and are received by all of the hosts.
Figure 7.1 illustrates the differences between multicast and unicast. As shown in Fig. 7.1(a), if a node A wants to send a packet to nodes B, C, and D using unicast service, it sends three copies of the same packet, each with a different destination IP address. Then, each copy of the packet will follow a possibly different path from the other copies. To provide a teleconferencing-type service for a group of N nodes, there need to be N(N - 1)/2 point-to-point paths to provide a full connection.
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
Metcalfe's Law: “The value of a network grows as the square of the number of its users.”
Robert Metcalfe
Objectives
Network interfaces and interface configuration.
Network load and statistics.
The Address Resolution Protocol and its operations.
ICMP messages and Ping.
Concept of subnetting.
Duplicate IP addresses and incorrect subnet masks.
Local area networks
Generally there are two types of networks: point-to-point networks or broadcast networks. A point-to-point network consists of two end hosts connected by a link, whereas in a broadcast network, a number of stations share a common transmission medium. Usually, a point-to-point network is used for long-distance connections, e.g., dialup connections and SONET/SDH links. Local area networks are almost all broadcast networks, e.g., Ethernet or wireless local area networks (LANs).
Point-to-Point networks
The Point-to-Point Protocol (PPP) is a data link protocol for PPP LANs. The main purpose of PPP is encapsulation and transmission of IP datagrams, or other network layer protocol data, over a serial link. Currently, most dial-up Internet access services are provided using PPP.
PPP consists of two types of protocols. The Link Control Protocol (LCP) of PPP is responsible for establishing, configuring, and negotiating the datalink connection, while for each network layer protocol supported by PPP, there is a Network Control Protocol (NCP). For example, the IP Control Protocol (IPCP) is used for transmitting IP datagrams over a PPP link. Once the link is successfully established, the network layer data, i.e., IP datagrams, are encapsulate in PPP frames and transmitted over the serial link.
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
SNMP and MIBs, using NET-SNMP as an example, and using NETSNMP utilities to query MIB objects.
Encryption, confidentiality, and authentication, including DES, RSA, MD5 and DSS.
Application layer security, using SSH and Kerberos as examples.
Transport layer security, including SSL and the secure Apache server.
Network layer security, IPsec and Virtual Private Networks.
Firewalls and IPTABLES.
Accounting, auditing, and intrusion detection.
Network management
The Simple Network Management Protocol
In addition to configuring network devices when they are initially deployed, network management requires the performing of many tasks to run the network efficiently and reliably. A network administrator may need to collect statistics from a device to see if it is working properly, or monitor the network traffic load on the routers to see if the load is appropriately distributed. When there is a network failure, the administrator may need to go through the information collected from the nearby devices to identify the cause. The Simple Network Management Protocol (SNMP) is an application layer protocol for exchanging management information between network devices. It is the de facto network management standard in the Internet.
Figure 9.1 illustrates a typical SNMP management scenario, consisting of an SNMP manager and multiple managed devices. A managed device, e.g., a host computer or a router, maintains a number of Management Information Bases (MIB), which record local management related information.
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
Shivendra S. Panwar, Polytechnic University, New York,Shiwen Mao, Polytechnic University, New York,Jeong-dong Ryoo, Electronics and Telecommunications Research Unit, South Korea,Yihan Li, Polytechnic University, New York
We introduce a domain-theoretic framework for differential calculus. We define the set of primitive maps as well as the derivative of an interval-valued Scott continuous function on the domain of intervals, and show that they are dually related, providing an extension of the classical duality of differentiation and integration as in the fundamental theorem of calculus. It is shown that, for locally Lipschitz functions of a real variable, the domain-theoretic derivative coincides with the Clarke's derivative. We then construct a domain for differentiable real-valued functions of a real variable by pairing consistent information about the function and information about its derivative. The set of classical $C^1$ functions, equipped with its $C^1$ norm, is embedded into the set of maximal elements of this countably based, bounded complete continuous domain. This domain also provides a model for the differential properties of piecewise $C^1$ functions, locally Lipschitz functions and more generally of all continuous functions. We prove that consistency of function information and derivative information is decidable on rational step functions, which shows that our domain can be given an effective structure. We thus obtain a data type for differential calculus. As an immediate application, we present a domain-theoretic formulation of Picard's theorem, which provides a data type for solving differential equations.
This article surveys a variety of approaches to integration theory that have arisen in the context of continuous domain theory. The presentation is set in a broader context of ‘positive’ analysis, analysis where order-theoretic notions and notions of positivity play a key role.
We show that real-number computations in the interval-domain environment are ‘inherently parallel’ in a precise mathematical sense. We do this by reducing computations of the weak parallel-or operation on the Sierpinski domain to computations of the addition operation on the interval domain.
Domain theory, which was introduced by Dana Scott in the early 1970s, works on the principle of incorporating partial elements into denotational domains. The resulting structures are ordered by a natural notion of refinement or approximation, and they carry a topology that expresses the process of passing to a limit.
We show that a measurement $\mu$ on a continuous dcpo $D$ extends to a measurement $\skew3\bar{\mu}$ on the convex powerdomain ${\mathbf C} D$ iff it is a Lebesgue measurement. In particular, $\ker\mu$ must be metrisable in its relative Scott topology. Moreover, the space $\ker\skew3\bar{\mu}$ in its relative Scott topology is homeomorphic to the Vietoris hyperspace of $\ker\mu$, that is, the space of non-empty compact subsets of $\ker\mu$ in its Vietoris topology – the topology induced by any Hausdorff metric. This enables one to show that Hutchinson's theorem holds for any finite set of contractions on a domain with a Lebesgue measurement. Finally, after resolving the existence question for Lebesgue measurements on countably based domains, we uncover the following relationship between classical analysis and domain theory: for an $\omega$-continuous dcpo $D$ with $\max(D)$ regular, the Vietoris hyperspace of $\max(D)$ embeds in $\max({\mathbf C} D)$ as the kernel of a measurement on ${\mathbf C} D$.
Every compact metric space $X$ is homeomorphically embedded in an $\omega$-algebraic domain $D$ as the set of minimal limit (that is, non-finite) elements. Moreover, $X$ is a retract of the set $L(D)$ of all limit elements of $D$. Such a domain $D$ can be chosen so that it has property M and finite-branching, and the height of $L(D)$ is equal to the small inductive dimension of $X$. We also show that the small inductive dimension of $L(D)$ as a topological space is equal to the height of $L(D)$ for domains with property M. These results give a characterisation of the dimension of a space $X$ as the minimal height of $L(D)$ in which $X$ is embedded as the set of minimal elements. The domain in which we embed an $n$-dimensional compact metric space $X$ ($n \leq \infinity$) has a concrete structure in that it consists of finite/infinite sequences in $\{0,1,\bot\}$ with at most $n$ copies of $\bot$.
Using a coarse-and-fine actuator combination (dual stage system), a new design of the three degree-of-freedom (DOF) micro parallel positioning platform with high mobility, high accuracy, and a large working space is proposed. To achieve these three DOFs and implement the dual stage system, there are six possible architectures for the coarse and fine actuators, respectively. This paper is organized in two parts. Part I treats the kinematic analysis of each architecture and the problem of selecting the correct coarse actuator architecture. Inverse kinematics and Jacobian matrices for six types of coarse actuator architectures are derived and one proper coarse actuator architecture is selected based on the mobility (rotational capability) analysis, condition number evaluation of the Jacobian matrix, and manufacturability consideration. Part II on real machine design will follow in the next issue of Robotica.