WO2009113031A2 - Robust coding in multi-hop networks - Google Patents
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- WO2009113031A2 WO2009113031A2 PCT/IB2009/051028 IB2009051028W WO2009113031A2 WO 2009113031 A2 WO2009113031 A2 WO 2009113031A2 IB 2009051028 W IB2009051028 W IB 2009051028W WO 2009113031 A2 WO2009113031 A2 WO 2009113031A2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
- H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
- H04L1/18—Automatic repetition systems, e.g. Van Duuren systems
- H04L1/1867—Arrangements specially adapted for the transmitter end
- H04L1/1896—ARQ related signaling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0076—Distributed coding, e.g. network coding, involving channel coding
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/02—Details
- H04L12/16—Arrangements for providing special services to substations
- H04L12/18—Arrangements for providing special services to substations for broadcast or conference, e.g. multicast
- H04L12/189—Arrangements for providing special services to substations for broadcast or conference, e.g. multicast in combination with wireless systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/40—Connection management for selective distribution or broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/02—Details
- H04L12/16—Arrangements for providing special services to substations
- H04L12/18—Arrangements for providing special services to substations for broadcast or conference, e.g. multicast
- H04L12/185—Arrangements for providing special services to substations for broadcast or conference, e.g. multicast with management of multicast group membership
Definitions
- the present invention generally relates to a transmitting apparatus, a receiving apparatus, a system and a method of performing multi-user transmission to a plurality of other transmission ends in a transmission systems such as - but not restricted to - a wireless local area network (WLAN).
- WLAN wireless local area network
- WLANs Wireless local area networks as defined e.g. in the IEEE 802.11 specifications are almost omnipresent today.
- wireless nodes or stations implement a distributed coordination function (DCF) which is a form of carrier sense multiple access with collision avoidance (CSMA/CA).
- DCF distributed coordination function
- CSMA/CA is a contention-based protocol making certain that all stations first sense the medium before transmitting. The main goal is to avoid having stations transmit at the same time, which results in collisions and corresponding retransmissions. If a station wanting to send a frame senses energy above a specific threshold on the medium (which could mean the transmission of another station), the station wanting access will wait until the medium is idle before transmitting the frame.
- the collision avoidance aspect of the protocol pertains to the use of acknowledgements that a receiving station sends to the sending station to verify error- free reception.
- a station with a data packet to transmit generates a random number between 0 and a contention window (CW) size, which determines the duration of the backoff timer as counted in number of timeslots.
- the CW has a minimum starting value of 15, doubles after a collision, can rise up to 1023, and is decremented after a successful transfer, indicated by an acknowledgement (ACK) frame.
- the mobile station After detecting the medium free for the duration of DCF Inter-Frame Space (DIFS), the mobile station counts down the backoff timer until it reaches zero and then starts its transmission. If during the countdown another mobile station occupies the medium, all mobile stations in backoff interrupt their count down and defer until they detect the medium free for at least DIFS.
- the standard includes an optional Request-to-Send (RTS) - Clear-to- Send (CTS) handshake prior to the transmission.
- RTS Request-to-Send
- CTS Clear-to- Send
- FIG. 1 schematically depicts a topology of several wireless nodes.
- nodes 1 and 2 need to transmit their packets a and b to nodes 4 and 5, respectively.
- Node 2 has to act as a forwarder of these packets since nodes 4 and 5 are not in radio range of node 1.
- node 2 broadcasts a coded packet (e.g. a ⁇ b), instead of forwarding packet a to node 4, and packet b to node 5.
- both nodes 4 and 5 can decode their original packet with just one broadcast transmission at the physical layer from node 2, instead of two dedicated transmissions. This can lead to a higher throughput.
- the practical schemes that have been proposed based on this principle employ opportunistic coding and transmission of packets, which means that they are not robust for integration over existing Media Access Control (MAC) protocols.
- MAC Media Access Control
- a wireless node In a so-called "opportunistic approach" to network coding, a wireless node relies on local information to detect and exploit coding opportunities in real-time. If nodes participate in opportunistic listening, they snoop on all communications they hear over the wireless medium. The nodes may also annotate packets they send to tell their neighbours which packets they have heard. When a node sends, it may use its knowledge of what its neighbours have received to perform opportunistic coding, which could mean that the node can combine (e.g. XOR, " ⁇ ") multiple packets and send them in a single transmission if each intended receiver has enough information to decode its packet.
- XOR XOR
- nodes opportunistically overhear transmissions of packets not intended for them.
- node 1 transmits packet a that is intended for node 2, but it is overheard by node 5 who is in radio range of node 1 (and in radio range of node 2).
- nodes that are not the intended receivers e.g. node 5 in Fig. 1 cannot acknowledge correct reception of overheard packets.
- the node that employs a network coding algorithm e.g. node 2 in Fig. 1
- node 1 in Fig. 1 is transmitting packet a.
- node t2 is out of the radio range of node 1.
- the MAC protocol is using a contention-based mechanism (like 802.11 DCF or the contention-based mechanism in WiMedia MAC)
- node tl will transmit a packet that will collide with the transmission of packet a from node 1.
- node 5 is an opportunistic receiver and does not acknowledge the transmission, neither node 1 or 2 will know that it did not receive the packet. This fact disables node 2 from knowing deterministically what is the optimal coding decision it must make, regardless of the employed algorithm.
- the apparatus may be implemented as a processor device, module, chip, chip set or circuitry provided in a network node or station.
- the processor my be controlled by computer program product comprising code means for performing the steps of the above method claim when run on a computer or processor device.
- the multi-hop topology information may be derived by a beaconing procedure.
- the multi-hop topology information may comprise a beacon group of immediate neighbours of a destination node, and an extended beacon group of neighbour nodes of at least one node of said beacon group.
- the group of receiving nodes may be determined based on a first condition which requires that a potential receiving node had received a previously transmitted packet, and a second condition which requires at least one additional potential receiving node capable of decoding a packet to be transmitted.
- network coding is not based on probabilistic criteria but rather on deterministic knowledge about the fate of previously transmitted packets.
- At least one channel access parameter may be dynamically configured in accordance with an information content of a packet to be transmitted.
- the at least one channel access parameter may comprise at least one of a contention window size and an arbitration inter frame space.
- the at least one channel access parameter may be dynamically configured by estimating throughput as a function of a predetermined traffic class. This approach enables selection of parameter values based on an analytical model for optimal performance.
- the at least one channel access parameter may be dynamically configured by using a look-up table which stores pre-defined values of said at least one channel access parameter.
- Fig. 1 shows a schematic network topology of several wireless nodes in a wireless multi-hop network
- Fig. 2 shows a frame aggregation structure according to an embodiment
- Fig. 3 shows a schematic flow diagram of selection procedure according to an embodiment
- Fig. 4 shows an exemplary calculation scheme for calculating an optimal receiving group according to an embodiment
- Fig. 5 shows another schematic network topology with core nodes and edge nodes
- Fig. 6 shows analytical results of normalized throughput versus number of nodes for different traffic classes.
- a network coding scheme which can facilitate optimal coding decisions by any linear network coding algorithm.
- a multiple receiver (MR) frame aggregation is proposed for packing a data unit, e.g., a MAC protocol data unit (MPDUs), into a single physical layer packet data unit (PPDU), so that acknowledgment of a single MPDU by at least two receivers is required.
- MPDUs MAC protocol data unit
- PPDU physical layer packet data unit
- a two-hop or multi-hop topology information regarding the neighborhood of a network node is used in order to solve the problem of topology inference at MAC level.
- This topology information may be derived by using a distributed beaconing procedure, such as the beaconing procedure available in existing MAC protocols.
- each node may periodically transmit a beacon to the broadcast MAC address, containing its identifier (e.g. Internet Protocol (IP) address) and position.
- IP Internet Protocol
- a router Upon not receiving a beacon for longer than a time-out interval, a router assumes that either the neighbor has failed or has moved out and deletes that entry from its table.
- a procedure is needed at each node that decides what nodes should acknowledge a packet transmission besides the primary destination node of the packet.
- This procedure essentially "constructs" the MR packets in such a way that optimal coding decisions can be made by the network coding algorithm. Then, actual network coding is performed based on the coding decisions. Thereby, construction of an optimal MR packets is guaranteed.
- the benefit of the proposed procedure is that it is not based on probabilistic criteria but rather on deterministic knowledge regarding the fate of previously transmitted packets.
- Fig. 2 shows a schematic frame structure of a PPDU according to an embodiment, for several intended receivers and a single MPDU.
- This frame structure may be based for example on the frame structure described in N. Sai Shankar et al. "Cooperative communication MAC (CMAC) - a new MAC protocol for next generation wireless LANs", International Conference on Wireless Networks, Communications and Mobile Computing, 2005. Due to the transmission of a single MPDU, the fields required for describing intended receivers can be reduced.
- CMAC Cooperative communication MAC
- the frame structure comprises a preamble followed by a PLCP header, a duration field, a field N which specifies the number of conveyed MPDUs, a forward error correction (FEC) field, address, length (LEN) and acknowledgement (ACK) fields of the intended receivers, another FEC field, a cyclic redundancy code (CRC) field and the conveyed MPDU.
- FEC forward error correction
- LN length
- ACK acknowledgement
- CRC cyclic redundancy code
- this frame structure is that while the group of receivers that should acknowledge the MPDU is notified, the packet that has to be received by all the intended receivers is only transmitted once (to the primary receiving node and the opportunistic ones). This, however, is not a reliable multicast transmission, which means that upon receiving a coded packet, and after decoding, the node should not pass to higher layer packets not intended for the particular node.
- the receiving node knows the identification (ID) of the data packet it decoded by a header that should be added in the data packet. While existing schemes use headers of nearly 50 bytes, the proposed embodiment requires significantly smaller coding/packet headers since it operates below the IP level.
- a sender when the proposed MR aggregation is employed, a sender must specify the network nodes that must actually send back acknowledgements, besides the primary receiver that is supposed to according to the routing protocol. The procedure that will make this decision will essentially populate the tuples named intended receivers, as depicted in Fig. 2.
- a distributed beaconing procedure may be applied since it is available in emerging wireless MAC protocols and can be used to develop a robust procedure for topology inference.
- each channel may be logically divided into recurring superframes that begin with a slotted beacon period followed by a data transfer period. During the beacon period, each node transmits a beacon in its designated time slot.
- Beacons may contain information about scheduled quiet periods, spectrum measurements, and multi-channel reservation for data communication. Once the beacon period is over, nodes may switch to other channels Based on Fig. 1, an advantage of the beaconing procedure and its use for maintaining different groups of nodes we will now be explained. It is assumed that node 1 of Fig. 1 knows about its immediate neighbours (i.e. beacon group). But all the neighbours in nodes 1 's beacon group (BG), inform node 1 about their neighbours. The union of these last two sets of nodes may form an extended beacon group (EBG). For example in Fig. 1, besides the obvious beacon groups, the extended beacon groups for nodes 1 and 2 are given as follows:
- EBG(I) 6 ⁇ ⁇ si ⁇ ; 5 ⁇ ⁇ t2; 2 ⁇ ; 2 ⁇ ⁇ 5; 4; 3 ⁇
- the last notation means that node 1 knows that node's 5 direct neighbour are nodes 2 and t2 and that node's 2 direct neighbours are nodes 5, 4, and 3.
- This optimal receiving group (ORG) at a node is created for each particular destination.
- the optimal receiving group denotes the group of nodes that must overhear this packet transmission. In order to explain how this group is populated, it is referred back to Fig. 1. From the EBG that node 1 maintains, it knows that node 5 can also hear transmissions from node 2.
- node 5 can acquire opportunistically the packet a that node 1 wants to transmit to node 2. This means that node 2 should also acknowledge packet a. The reason for this action is that any upcoming coding decisions/transmissions that will be made by node 2 will also be overhead by node 5. It is therefore an opportunity for node 5 to receive packet a and allow node 2 to use it for coding decisions. With this approach nodes know precisely what packets have been overheard. It is noted also that with this scheme, node 6 is excluded from acknowledging packet a, since it is not useful for that node. Here we should stress out that this decision can be achieved without requiring cross-layer information from the routing protocols.
- Fig. 3 shows a general flow diagram of a network coding scheme according to an embodiment.
- a multi-hop topology information is derived e.g. by the above beaconing procedure or any other suitable procedure for deriving information about neighbouring nodes.
- a reception history about preceding packets of the neighbouring nodes is derived.
- am optimized group of receiving nodes is determined in step S 102 based on the topology information and the reception history.
- step S 103 at least two receiving nodes of the determined group are specified as intended receivers in an MR frame aggregation scheme.
- Fig. 4 shows a more detailed example of a calculation or software procedure for calculating the above mentioned optimal receiving group at each node.
- the actual network coding procedure is presented in the lower part of Fig. 4.
- a variable decode jiodes maintains the number of nodes that could decode the packet currently considered for coding.
- Input parameters of the procedure are the target node X, the BG and the EBG of the target node X.
- Output of the procedure should be an optimal receiving group (ORG).
- the second conditional if-statement (step 2.23) of the lower coding loop checks whether it is worth coding this packet. This is needed since if just one node can decode a coded version of packet /', then there is no reason for coding it in the first place.
- the above coding procedure addresses a fundamental issue in emerging wireless multi-hop networks, that is increase of the overall system throughput. More specifically, high data-rate applications that operate in mesh or ad-hoc wireless local area networks of high density will benefit significantly.
- the proposed coding procedure or mechanism can be implemented on top of existing protocols like the WiMedia MAC, as described for example in J. Prado del Pavon et al., "The MBOA- WiMedia specification for ultra wideband distributed networks", IEEE Communications Magazine, 44(6): 128-134, June 2006.
- opportunistic communications links can be setup when a pair of nodes move into the radio range of each other.
- the above network coding procedure can be used to exploit this broadcast nature of the wireless channel, for maximizing the information rate in the network.
- EDCA Enhanced distributed channel access
- contention-based medium access In EDCA, medium access is granted by using a contention-based mechanism while prioritization of different traffic classes is achieved by two configurable parameters: the contention window size (CW) and the arbitration inter frame space (AIFS).
- the contention window size determines the number of back-off slots a station has to count down before a transmission attempt can be made.
- the AIFS value determines the number of slots that has to be sensed idle before the back-off procedure is initialized/resumed. Packets and nodes that have been assigned to different classes/priorities are configured with different parameter values in order to increase/decrease their chance of gaining access to the wireless medium.
- VoIP voice over IP
- node 1 transmits a packet of size d to node 2.
- node 1 will initiate back-off according to the DCF or EDCA algorithms. Then the channel will be captured from the node which backoff timer expires first. In case node 2 is obtaining access to the channel and transmits another packet named c. According to our scenario, the channel will be captured next by node 3 that transmits packet b to node 2. Now if network coding is applied, node 2 should transmit a coded packet (i.e. a ⁇ b). However, if the typical 802.11 DCF mechanism is employed, node 2 will not be granted access, at least until nodes 4 and 5 transmit, and it will most likely be after node 1 transmits again. This introduces unacceptable delay. If now EDCA is employed, all nodes that belong to the same contention class (which is probably the case for similar traffic types according to the 802.1 le/WiMedia specifications), will contend for the medium as with DCF.
- node 2 has a coded packet that can result in successful decoding of packets both at nodes 3 and 4. Therefore, node 2 should essentially have priority over the medium access so that the other nodes can decode faster the required packets.
- the aforementioned situation represents thereality today, i.e., MAC protocols that are not engineered for robust inter-operation with network coding.
- network coding With the advent of network coding, existing adaptation approaches are not only sub-optimal but they may worsen significantly the system performance if employed heuristically.
- EDCA can be employed in conjunction with dynamic adaptation of the parameters AIFS and CW.
- AIFS and CW parameters that AIFS and CW.
- the precise amount of service differentiation that a node should receive it is not straightforward to calculate.
- the optimal level of service differentiation that a node should receive with EDCA when it employs network coding has not been identified yet. Therefore, the question that we will answer in the following embodiment is how to adapt the EDCA parameters is such a way that network coding is exploited to the fullest, and the system throughput is maximized.
- a robust service differentiation mechanism for network coding can be achieved by using the above optimized coding procedure, so that each node knows precisely the neighbouring nodes that can overhear transmissions and from which nodes. Moreover, the number of packets that can be decoded by a single transmission of a single MPDU at the MAC layer can be determined. Additionally, to address the aforementioned problems in a systematic fashion, a service differentiation approach is proposed, that can be employed e.g. at the MAC layer. More specifically, a procedure is proposed for dynamically configuring the EDCA parameters of each node (e.g. AIFS and CW).
- the information rate across the system should be maximized. Fairness among nodes takes a whole new meaning, since the information rate is intended to be proportionally allocated the between node transmissions and not just the data rate.
- the parameter decodablejiodes was used to denote the number of neighbours of a node that can decode a native packet upon successful transmission.
- this parameter is now denoted c(/), in order to indicate how many nodes can decode a packet /.
- this quantity can be regarded as the information content of packet /.
- a parameter Nj denotes the number of nodes that belong to classy
- a parameter r ⁇ j denotes the aggregate data rate achieved by all nodes of that classy.
- the information flow in the network is maximized, while proportional access fairness is also provided to different EDCA classes. Therefore, a key difference is that the information flow is proportional (which means that the data rate between nodes is disproportional).
- each classy must receive the following ratio of the system bandwidth:
- cj(l) denotes the information content for the packet / currently considered for transmission at a node of classy. Therefore, the question is how to optimally configure the contention window (CW) for the next transmission event given that the information content of the current packet is c j(l).
- CW contention window
- a first one is supported by an analytical model and a second one is a heuristic approach that essentially assigns to the parameters AIFS and CJFa value from a set of statically configured values, according to the information content of each packet.
- the analytically-driven CW adaptation is described, i.e. the contention window can be selected based on a closed- form solution. Essentially any model that estimates the throughput as a function of a particular classy could be used.
- the optimal contention window can be selected following an approach described in C. Hu et al, "Provisioning Quality Controlled Medium Access in Ultra Wide Band-Operated WPANs," in WCNC, 2006.
- This modified equation essentially captures the proposal of the present embodiment, i.e. adaptation should happen by considering the information content of each packet and not just its size.
- the alternative static approach can be based on a lookup table (LUT) for statically configuring optimal values of the parameters AIFS and CW.
- LUT lookup table
- the actual values that will populate the LUT can be derived from the previous analytical model or similar approaches.
- the packet size can also be easily accounted for in the performance model and in a possible LUT.
- a group of optimal values could be pre-defined for different operational areas after comprehensive experiments are carried out.
- Fig. 5 shows a schematic topology used for an analytical evaluation of the proposed adaptation scheme.
- Four packet flows exist in the network.
- the dashed lines indicate wireless coverage areas.
- This topology includes four "core" nodes (indicated as dark circular areas) that can hear each other and are located at the center of the overall topology. At the edges there are four other "edge" nodes 1 to 4 that have wireless connectivity only with one of the central nodes.
- Four packet flows exist in the network (indicated as straight and bent arrows) and their direction is also highlighted in Fig. 5.
- This topology is used to show benefits of the proposed scheme in a dense network.
- For the analytical evaluation only two EDCA traffic classes 1 and 2 are defined. Furthermore, to test the impact of an increased number of nodes, their number has been varied as follows. When a single node was added to the "core” nodes, another "edge” node was added as well.
- Fig. 6 shows analytical results of normalized overall throughput versus number of nodes for the two different EDCA traffic classes 1 and 2. The results are compared in Fig. 6 with a proposal for improved QoS at the Wimedia MAC-layer, as described in C. Hu et al, "Provisioning Quality Controlled Medium Access in Ultra Wide Band-Operated WPANs," in WCNC, 2006. It is noted that the proposal already significantly improves the performance over the vanilla Wimedia MAC, which makes the significant throughput increase that can be achieved with the proposed scheme even more important. Even higher throughput gains can be expected as both the number of packet flows and involved hosts is increased.
- the above embodiments taken alone or in combination can provide a robust protocol for considerably higher throughput in dense and saturated wireless mesh or ad-hoc networks. Therefore, they can be used either for low data rate applications based on ultra wideband (UWB) networks (e.g. sensors) or high data rate applications (e.g. wireless multimedia home entertainment systems).
- UWB ultra wideband
- high data rate applications e.g. wireless multimedia home entertainment systems.
- a method and apparatus for broadcasting packet data in a multi- hop wireless network have been describe, wherein a multi-hop topology information of a target node is derived, a group of receiving nodes is determined based on the multi-hop topology information, and at least two receiving nodes of said group are specified in a multiple receiver frame aggregation for packing data units.
- the present invention is not restricted to the above embodiments and can be used for any multi-hop packet network environment which allows MR frame aggregation. More specifically, the invention is applicable to all types of WLANs.
- a computer program used for controlling processor to perform the claimed features may be stored/distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems. Any reference signs in the claims should not be construed as limiting the scope thereof.
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CN2009801089325A CN101971671A (en) | 2008-03-14 | 2009-03-12 | Robust coding in multi-hop networks |
JP2010550320A JP5852782B2 (en) | 2008-03-14 | 2009-03-12 | Robust coding in multihop networks. |
US12/919,524 US8619644B2 (en) | 2008-03-14 | 2009-03-12 | Robust coding in multi-hop networks |
EP09720855.7A EP2274934B1 (en) | 2008-03-14 | 2009-03-12 | Robust coding in multi-hop networks |
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WO2015131919A1 (en) * | 2014-03-03 | 2015-09-11 | Nokia Solutions And Networks Oy | Data transmission method |
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JP4047836B2 (en) * | 2004-04-02 | 2008-02-13 | 株式会社東芝 | COMMUNICATION DEVICE, COMMUNICATION SYSTEM, COMMUNICATION METHOD, AND COMMUNICATION CONTROL PROGRAM |
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- 2009-03-12 CN CN2009801089325A patent/CN101971671A/en active Pending
- 2009-03-12 WO PCT/IB2009/051028 patent/WO2009113031A2/en active Application Filing
- 2009-03-12 US US12/919,524 patent/US8619644B2/en not_active Expired - Fee Related
- 2009-03-12 KR KR1020107022735A patent/KR101594546B1/en active IP Right Grant
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WO2010079438A1 (en) | 2009-01-07 | 2010-07-15 | Koninklijke Philips Electronics N.V. | Method for communication in a wireless network and communication device |
US9432146B2 (en) | 2009-01-07 | 2016-08-30 | Koninklijke Philips N.V. | Method for communication in a wireless network and communication device |
JP2010199998A (en) * | 2009-02-25 | 2010-09-09 | Nippon Telegr & Teleph Corp <Ntt> | Radio communication system, relay station device and radio communication method |
JP2013537783A (en) * | 2010-08-23 | 2013-10-03 | インテル・コーポレーション | Mechanism for accessing wide channels in overlapping networks |
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JP2011514114A (en) | 2011-04-28 |
EP2274934B1 (en) | 2019-01-23 |
TW201004427A (en) | 2010-01-16 |
WO2009113031A3 (en) | 2009-11-05 |
TWI462612B (en) | 2014-11-21 |
EP2274934A2 (en) | 2011-01-19 |
CN101971671A (en) | 2011-02-09 |
KR20100137504A (en) | 2010-12-30 |
US8619644B2 (en) | 2013-12-31 |
US20100329227A1 (en) | 2010-12-30 |
JP5852782B2 (en) | 2016-02-03 |
KR101594546B1 (en) | 2016-02-16 |
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