The field of robotics relies heavily on various technologies such as mechatronics, computing systems, and wireless communication. Given the fast growing technological progress in these fields, robots can offer a wide range of applications. However real world integration and application development for such a distributed system composed of many robotic modules and networked robotic devices is very difficult. Therefore, middleware services provide a novel approach offering many possibilities and drastically enhancing the application development for robots. This paper surveys the current state of middleware approaches in this domain. It discusses middleware challenges in these systems and presents some representative middleware solutions specifically designed for robots. The selection of the studied methods tries to cover most of the middleware platforms, objectives and approaches that have been proposed by researchers in this field.

This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (Radio Frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring.

IEEE 802.15.4 (Zigbee) is the new standard that has been developed for low cost, low data rate and low power consumption wireless network. This paper provides a brief description of this standard including the physical (PHY) and medium access control (MAC) layer. It focuses on developing MatLab/Simulink models for the Zigbee protocol and the performance evaluation of these models. Simulation has been run using MatLab and the results have been analyzed. The results show how the relationship between the signal bit error rate (BER) and signal to noise ratio (SNR) is affected when varying the data rate and the input signal power to the noise channel

Cyber-Physical Systems (CPS) are being developed to provide useful interactions between physical systems and environments and cyber world for a variety of applications. CPS are designed with a set of software and interconnected distributed hardware components that are linked with physical elements to provide advanced monitoring and control mechanisms geared towards enhancing the targeted physical system or environment. These components function seamlessly to offer specific functionalities that help enhance human lives, physical system operations and environments. While CPS can offer many smart enhancements for improving physical processes, the development of such complex systems composed of many distributed and heterogeneous components is extremely difficult. This is due to the many communication, computing, and networking challenges. Using an appropriate middleware that provides a framework to support developing and operating diverse CPS applications is a novel method to address these challenges. The availability of advanced middleware services and platforms can provide effective approaches for enhancing CPS application development processes as well as provide more robust environments for operating CPS applications. Such middleware can significantly reduce the time needed to design, build, test, and operate robust CPS applications. However, designing a common middleware platform for diverse types of CPS applications is not trivial. This paper investigates the middleware challenges for CPS, based on the different types of CPS applications being developed and their specific challenges. In addition, the paper discusses the current efforts of developing middleware platforms for CPS and the open research issues in the field.