In this study, we propose a new system for searching the inside of a damaged building using grouped rescue robots. Because the assumed target environment is broad and variable, the proposed system is designed to have adaptability, scalability, and usability. The system consists of robots, sensors, a network, a communication protocol, user interfaces, and database management systems; their complementary capabilities allow them to satisfy the requirements for the system. This study presents the requirements and design of the proposed system, briefly describes each element, and provides examples of how the elements function as an integrated system. C 2011 Wiley Periodicals, Inc.

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Abstract-NEMO Basic Support (NEMO BS) adds a mobility function to IPv6 routers, such a router is called as a mobile router. The network behind the mobile router (mobile network) becomes logically static. This function is considered useful when a network has a lot of nodes that do not have a mobility function but move with the network. The typical usage of this technology is the network provided in a transportation system like a bus or airplane. In the base specification of NEMO BS, a mobile router can use one IPv6 address as its attachment point at one time. Therefore, the mobile router and its mobile network will face service disruption of network connectivity while the mobile router is moving from one network to other network. In this paper, we explain two operational experiments of network mobility. One is an experiment using only the base NEMO BS function. The other is an experiment of seamless handover using multiple network interfaces to solve the problem. In these experiments, the mobile networks were actual conference networks which held a few hundred people. The result shows that the multiple interfaces usage provides one-third to one-tenth of the packet loss rate compared to the case that is not using the technology. Also most attendees of the conference did not notice the movement, which means the technology can be used for the realistic solution for the seamless handover.Index Terms-Network Mobility, Multiple Interfaces, Seamless Handover, Real Network I. BACKGROUND Network Mobility Basic Support (NEMO BS), specified as RFC3963 [1], adds a mobility function to IPv6 routers. With the function, an entire IPv6 network served by a mobile router (a router with a mobility function) can be a mobile network. The nodes inside the mobile network can use static IPv6 addresses which never change regardless of the attachment point of the mobile router.One of possible applications of this technology is to provide a network in moving entities, such as buses, trains, airplanes, etc. Those moving entities may connect various network access points depending on its location. The address assigned to the mobile router from the router of each access point will differ depending on each access point, since IPv6 addresses are usually assigned based on the network topology. The NEMO BS technology hides the address change of the mobile router and provides transparent access to the Internet from the nodes inside the mobile network.Although the specification has been completed, we need more experience to deploy the technology widely. The more experience of the real operation is necessary to prove the usefulness of the technology and to find any kind of problems that may not be noticeable from the specification. Based on this policy, we performed two experiments of a mobile network that accommodated the entire conference network for the WIDE [2] 2005 autumn meeting and the WIDE 2006 spring meeting under a mobile router. The mobile router changed its point of attachment from time to time, providing transparent access to the nodes ...

The MPLS is widely noticed as a technology for the next generation Internet that provides speed and functionality in packet forwarding. However, as a result of the rapid deployment of the MPLS technology, a rack of IPv6 support in MPLS standards is rapidly emerging as a practical issue in the IPv4 to IPv6 transition process.This paper presents the result of research we have performed regarding the IPv6 support on MPLS networks. We have examined characteristics of proposed models for the IPv6 support on MPLS networks, and selected the "6PE technology" as an initial support of IPv6 in MPLS networks.The paper will describe the design, implementation and operation of the 6PE extension for the MPLS research platform AYAME in detail, followed by discussions on possible operational and interoperability issues we have found during the course of our investigation.

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