INTERNETWORKING AND COMPUTINGOVER SATELLITE NETWORKS

INTERNETWORKING ANO COMPUTING OVER SATELLITE NETWORKS

Edited by

YONGGUANG ZHANG HRL Laboratories, LLC

Springer Science+Business Media, LLC

Library of Congress Cataloging-in-Publication Data

Intemetworking and Computing over Satellite Networks Yongguang Zhang (Ed.) ISBN 978-1-4613-5073-6 ISBN 978-1-4615-0431-3 (eBook) DOI 10.1007/978-1-4615-0431-3

Copyright O 2003 by Springer Science+Business Media New York Originally published by Kluwer Academic Publishers in 2003 Softcover reprint ofthe hardcover Ist edition 2003

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Contents

List of Figures

List of Tables

Preface

Contributing Authors

1The Role of Satellite Networks in the 21st CenturySanK. Dao1 Introduction2 Internet over Satellite Architecture

2.1 The Roles of Satellite Network in the Internet2.2 The Role of Satellite in the Satellite Network

3 Common Applications

4 Visions for the Future4.1 Commercial Market4.2 The DARPA NGI Vision

5 Challenges

2Satellite Constellation NetworksLloyd Wood

1 Introduction2 Benefits of Going to LEO

3 Describing the Systems

4 Geometry, Topology and Delay

5 Delay

6 Handover7 Networking Design

8 Simulators9 Summary

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vi INTERNE1WORKING AND COMPUTING OVER SATELLITE NE1WORKS3Medium Access Control Protocols for Satellite Communications 35Srikanth V. Krishnamurthy and Chen Liu and Vikram GuptaI Introduction 352 Polling Based Access Protocols 413 Fixed Assignment Multiple Access (FAMA) Protocols 41

3.1 Frequency Division Multiple Access (FDMA) 423.2 Time Division Multiple Access (TDMA) 433.3 Code Division Multiple Access (CDMA) 45

4 Random Access Protocols 464.1 Asynchronous Random Access Protocols 474.1.1 Aloha 474.1.2 Selective-Reject Aloha (SREJ-Aloha) 494.2 Synchronous Random Access Protocols 504.3 Carrier Sense Multiple Access (CSMA) 52

5 Demand Assignment Multiple Access (DAMA) Protocols 525.1 Demand Assignment Based on FDMA 565.2 Making Reservations by Contention Based Access 575.2.1 Reservation Aloha (R-Aloha) 575.2.2 Priority-Oriented Demand Assignment (PODA) 585.2.3 Split-Channel Reservation Multiple Access (SRMA) 625.2.4 The Time-of-Arrival Collision Resolution Algorithm (CRA) 635.2.5 Packet-Demand Assignment Multiple Access (PDAMA) 67

6 Hybrid Protocols 696.1 Round-Robin Reservations (RRR) 696.2 Interleaved Frame Flush-Out (IFFO) 716.3 Split-Channel Reservation Upon Collision (SRUC) 746.4 Announced Retransmission Random Access (ARRA) 756.5 Scheduled-Retransmission Multiple Access (SRMA) 776.6 Response Initiated Multiple Access (RIMA) 816.7 Combined FreelDemand Assignment Multiple Access 836.8 Fixed Boundary Integrated Access Scheme (FBIA) 856.9 Combined Random/Reservation Multiple Access (CRRMA) 87

7 Conclusions and Summary 90

4Direct Broadcast Satellites and Asymmetric RoutingYongguang Zhang1 Introduction2 Problems with Dynamic Asymmetric Routing

2.1 Unicast2.2 Multicast

3 Tunneling: A Practical Solution4 Demonstration of Tunneling Approach5 RFC 3077: The IETF Standard

5.1 Topology and Requirements5.2 Tunneling Mechanism Details5.3 Dynamic Tunnel Configuration5.4 Tunneling Protocol

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9596969898

100103104105107109

Contents

65.5 Current StatusLimitations and Long-Term Solutions

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110III

5Using Satellite Links in the Delivery of Terrestrial Multicast TrafficKevin C. Almeroth1 Introduction2 Overview ofMulticast Deployment

3 Satellite Delivery ofMulticast

4 Integrating Satellite and Terrestrial Networks

5 Using Satellite Paths for Multicast Sessions5.1 Motivation and Metrics5.2 Methodology5.3 Results

6 When to Use Satellites?

6TCP Performance over Satellite ChannelsThomas R. Henderson

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IntroductionTransmission Control Protocol (TCP) Overview2.1 Basic TCP Operation2.2 Connection Establishment and Release2.3 Basic Loss Recovery and Congestion Avoidance2.4 Enhanced Loss Recovery and Congestion Avoidance

TCP Performance Problems over Satellite LinksEnhancing TCP Performance using Standard Mechanisms4.1 Window scale4.2 Path MTU discovery4.3 Error correction4.4 Further loss recovery enhancements

Research Issues5.1 Connection startup5.2 Shared TCP state and TCP pacing5.3 Link asymmetry5.4 Experimental loss recovery techniques5.5 Implementation details5.6 TCP fairness5.7 Using multiple data connections5.8 Header compression5.9 TCP Performance Enhancement Proxy5.10 Additional protocols

Summary

131132132132134135

136138138139139140

142143146147148149149151152152153

154

7TCP Performance Enhancement ProxyYongguang Zhang1 Introduction

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viii INTERNETWORKING AND COMPUTING OVER SATELLITE NETWORKS

8Performance Evaluation ofTCP splitting over SatelliteMingyan Liu

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The Motivation2.1 The Slow-Start Problem2.2 The Window Size ProblemThe Practical Solution3.1 Basic Architecture3.2 Example: Deployment in HNS DirecPC3.3 Alternative Architecture and MechanismsThe Big Argument4.1 The End-to-end Reliability Issue4.2 The Fate Sharing IssueThe "Show Stopper"?5.1 Conflicts between IPsec and TCPPEP5.2 The End-to-end Security Issue5.3 Researches on Resolving the Conflicts with IPsec

Conclusion

IntroductionModel-based Analysis2.1 Network Model2.2 Lossless Links2.2.1 Delay Models2.3 Links with Random Losses2.3.1 The Server-Proxy Link is lossless2.3.2 Random Losses on Both LinksDiscussion3.1 Initial Window Size3.2 Slow or Congested Proxy3.3 File Size3.4 Connection With Asymmetric SegmentsThe Experiment SystemMeasurement-based Analysis5.1 Effect of File Size and Caching5.2 Effect of congestion and packet losses5.3 Effect of embedded objects and persistent connectionImplications on System Design

Conclusion

161161162163164166168170170171172172174176177

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181185185186187190190192193193195197197199201201205211215

216

9Scheduling Data BroadcastShu Jiang and Nitin H. Vaidya1 Introduction2 The Basic Model

2.1 Persistent User Model2.2 Impatient User Model

3 Theoretical Results4 On-line Scheduling Algorithm

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221223223224224225

Contents ix

5 Performance Evaluation 2265.1 Validation of algorithm 2275.2 Persistent user case 2285.3 Impatient user case 229

6 Conclusions 230Appendix: Deriving the Mean Access Time and the Variance of Access Time 231Appendix: Minimizing the Variance of Access Time 233Appendix: Deriving the Service Ratio 234Appendix: Maximizing the service ratio 235Appendix: Deriving The Mean Tuning Time 236

10Information Dissemination ApplicationsEddie C. Shek and Son K. Dao and Darrel J. Van Buer1 Introduction2 lIDS architecture3 Mobile User Profiling4 Dynamic User Profile Clustering and Aggregation

4.1 Incremental Clustering Framework4.2 Adaptive Re-clustering4.3 Evaluation

5 Data Dissemination techiques5.1 Predictive Dissemination and Caching5.2 Bandwidth-Aware Filtering5.3 Reliable Multicast-based Dissemination

6 Implementation and Demonstration7 Conclusions

Index

239

240242243246247249250254254255256257257

261

List of Figures

1.1 A satellite network as a data communication network 21.2 GEO, MEO, and LEO satellites 31.3 Satellite network roles in the Internet 41.4 Satellite roles in a satellite network 61.5 Internet over satellite application taxonomy 72.1 Orbit altitudes for satellite constellations and proposals 162.2 Repeating satellite approach, e.g. Globalstar, Skybridge 182.3 Full networking and routing approach, e.g. Iridium, Teledesic 182.4 A rosette constellation: the Spaceway NGSO proposal 202.5 A star constellation: the Boeing Teledesic proposal 222.6 One-way delay between Quito and London via constellations 252.7 How handover can affect traffic in flight 262.8 Path delay for high-rate traffic over a small timescale 273.1 Uplink and downlink channels in satellite communications 363.2 Channel multiplexing in FDMA 423.3 Slot allocation in TDMA 443.4 ALOHA: case when no collisions occur 483.5 ALOHA: an example of a collision 493.6 Splitting packets into sub-packets 503.7 Examples to show collisions with ALOHA and S-ALOHA 513.8 (a) Standard S-ALOHA (b) adding a second uplink channel 523.9 Implicit reservations 543.10 Explicit then implicit reservation 553.11 Frequency multiplexing in INTELSAT SPADE 573.12 PODA frame structure 593.13 Aggregating messages to reduce preamble overhead 613.14 SRMA: the RAM version 623.15 Stations as leaves of a binary tree 643.16 Example of the binary tree contention resolution algorithm 66

xii INTERNETWORKING AND COMPUTING OVER SATELLITE NETWORKS

3.17 Frame Structure in PDAMA 683.18 The mechanics of the RRR protocol 703.19 The structure of frames used in the IFFO Protocol 713.20 IFFO reservation scheme 723.21 SRUC channel subdivision 743.22 Frame format for ARRA 763.23 Frame structure of SRMA protocol 783.24 Retransmission reservation for SRMAIFF protocol 803.25 Functional diagram of RIMA 823.26 CFDAMA operations 843.27 Frame structure used in the FBIA scheme 863.28 Functional block diagram for depicting CRRMA 893.29 A Performance comparison of the various MAC protocol types 924.1 Applying distance-vector to UDL 974.2 Applying reverse path forwarding to UDL 994.3 Approaching the UDLR problem with a tunneling mechanism 1004.4 A demonstration network configuration 1014.5 Generic topology for RFC 3077 1044.6 Scenario 1 using the link-layer tunneling mechanism 1064.7 DTCP HELLO message packet format 1084.8 VDL encapsulation packet format 1105.1 Architecture ofMBone-Over-Satellite experiment 1195.2 Group membership details for the 42nd IETF groups 1235.3 Breakdown of group membership 1245.4 Packet loss for Channell audio receivers 1255.5 Packet loss for Channell video receivers 1255.6 Jitter for selected terrestrial and DirecPC sites 1265.7 One-way delay for selected terrestrial and satellite sites 1276.1 An example of a TCP data transfer 1336.2 Basic operation ofTCP Reno 1356.3 Experimental file transfer performance of different TCP 1416.4 Typical performance with a standard TCP implementation 1416.5 Correct SACK behavior with a modified TCP implementation 1426.6 TCP latency of a 3 segment server reply using standard TCP 1446.7 Typical packet sequences for TCP and TrrCp 1446.8 The effect of a single competing short-delay connection 1506.9 Future satellite networking topology 1537.1 TCP slow-start illustrated 1627.2 Effect of TCPPEP 165

List ofFigures xiii

7.37.47.57.67.77.88.1

8.28.38.48.58.68.78.88.98.108.118.128.138.148.158.168.179.19.29.39.49.510.110.210.310.410.510.610.7

HNS DirecPC TCPPEP architecture3-way TCPPEP architectureIPsec system modelProtocol format for IPsec-protected IPv4 TCP packetThe realm of trust in a satellite networkMulti-layer protection model for TCPFile transfer using a splitting proxyFile transfer using a cache upon missNetwork ModelLatency vs. file sizes with initial window size of 1 and 4Latency when splitting is used and the first link is losslessLatency vs. the transmission rate of the proxyLatency vs. file sizeExperiment scenariosComparing GoS in the case of cache hit and cache missComparing throughput for cache hit and cache missSorted latency traces in case of a cache missGoS in case of a cache missSorted latency traces in case of a cache hitGoS in case of a cache hit

GoS with varying number of embedded objects.GoP with total transfer size of 16 Kbytes.GoS with total transfer size of 65 Kbytes.An example broadcast scheduleThe broadcast spacing of item 1Performance of different algorithmsSystem performance as request adjourn time variesSystem performance as request skewness variesIntelligent Information Dissemination Services architectureNeighborhoods of moving entitiesPlot of group countPlot of total group areaPlot of group count against expansion thresholdPlot of total group area against expansion thresholdlIDS deployment in the Digital Wireless Battlefield Network

167169173174

175177184184185190192196198200202203206207208209212213

214224227228229230242244251251253253257

List of Tables

1.1 Global IP via satellite services market (2001-2006) 93.1 Performance comparison 903.2 Relation between traffic model and MAC choice 918.1 Initial window size of the end-to-end connection 1958.2 Percentage of samples where disabling the proxy outper-

forms enabling the proxy 2108.3 Throughput of files with different number of embedded

objects (in the case of a cache miss) 211

8.4 Throughput of files with different number of embeddedobjects (in the case of a cache hit) 212

8.5 Throughput comparison between splitting proxy enabledwith persistent connection and disabled with non-persistentconnection 215

9.1 Metric and optimality condition 224

Preface

Satellite networks will play an increasingly important role in our futureinformation-based society. This trend is evidenced by the large number of sys­tems in operation and in planing, such as DirecPC/DirecWay, Iridium, Space­way, and Teledesic. The benefits of satellite communications include highbandwidth, global coverage, and untethered connectivity; the services are oftenreal-time, multicast, mobile and rapidly deployable. Services based on satellitecommunications include telemedicine, public information services, education,entertainment, information dissemination, Internet access, digital battlefield,emergency and disaster response, etc.Consequently, satellite communications introduce a new set of technical

problems in mobile networks and applications. In essence, satellite links havefundamentally different properties than terrestrial wired or wireless networks.These include larger latency, bursty error characteristics, asymmetric capability,and unconventional network architecture. These difference have far-reachingeffects on many internetworking and distributed computing issues.In this collection, we present ten chapters written by active researchers in this

field. Some chapters survey the recent work in a particular topic and describethe state-of-the-art technologies; others present the latest research results in aparticular technical problem. The order of the chapters follows the ISO networklayer model. First, chapter I serves as an introduction to the satellite networksand gives an overall picture of its role in our lifes in the information age. Chapter2 and 3 focus on the network architecture and medium access controls (Layer 2).Chapter 4 and 5 focus on the routing issues related to satellite networks (Layer3). Chapter 6, 7, and 8 explain TCP and the transport protocol issues (Layer4). Finally, chapter 9 and 10 study the application issues in data broadcast andinformation dissemination.Specifically, chapter 2 introduces a multi-satellite network called satellite

constellations. It describes the effects of orbital geometry on network topol­ogy and the resulting effects of path delay and handover on network traffic.The design of the resulting satellite network as an autonomous system is alsodiscussed here.

xviii INTERNETWORKING AND COMPUTING OVER SATELLITE NETWORKS

Chapter 3 surveys the medium access control (MAC) protocols for satellitenetworks. Many such protocols have been designed to handle different typesof traffic and meet different performance requirements. This chapter gives acomprehensive comparison of these protocols.Chapter 4 describes an application of satellite network to deliver terrestrial

multicast traffic. It explains how to configure a satellite network to support IPmulticast, how to bridge Internet-based multicast sessions to a satellite network.The chapter also gives an analysis of the performance impacts.Chapter 5 studies a technical problem introduced by satellite networks ­

unidirectional link routing. The chapter explains the technical challenges ofthis problem and a practical solution adopted by engineers working in thisfield.Chapter 6 moves up to the transport layer and surveys TCP-over-satellite

work. It describes the challenges that the satellite network environment posesto TCP performance, and summarizes a number of standard TCP options aswell as research proposals that can improve TCP-over-satellite performance.Chapter 7 focuses on one such technique for improving TCP performance:

TCP Performance Enhancement Proxy. This chapter explains how it has be­come the satellite industry's best practice and why it is still considered contro­versial among the Internet community.To better understand this technique, Chapter 8 presents a performance study

on TCP Performance Enhancement Proxy. It includes results from both model­based and a measurement-based studies. The chapter also presents the impli­cations of these findings on system design, deployment, and provisioning.Chapter 9 studies an application of satellite network called data broadcasting

and focuses on a important technical challenge: how to determine the broadcastschedule so that the clients receive the best quality of service. This chapterpresents a theoretical analysis on the optimal broadcast scheduling problem,and derives a heuristic algorithm for producing near-optimal on-line schedules.Finally, Chapter 10 describes a satellite-based information dissemination

application and addresses another technical challenge: the mismatches in char­acteristics between satellite and terrestrial networks. The chapter proposes anew model called Intelligent Information Dissemination Service to solve thisproblem.The book can be used by students, researchers, and engineers in satellite­

related data communication networks. It can also be served as a reference bookfor graduate students in advanced computer networks and distributed systemsstudy.Although there are many books on the subject of satellite communications,

few covers the data networking and computing aspect in satellite networks. Webelieve this book can help filling the void with a focus on internetworking anddistributed computing issues. Since it is impossible to cover every aspects and

PREFACE XIX

all activities in this emerging subject in just one book, I hope it does serve as asampling on the current state of research and technology development. I hopethat you enjoy them.

YONGGUANG ZHANG

Contributing Authors

Kevin C. Almeroth is an Associate Professor and Vice Chair ofDepartment ofComputer Science at the University of California in Santa Barbara. His e-mailaddress is almeroth<Ocs. ucsb. edu.

Son K. Dao is a Research Program Manager and a Chief Technologist at HRLLaboratories, LLC. He is also the Chief Scientific Officer of X-Laboratoriesand a visiting professor at California State University at Northridge. His e-mailaddress is skdao<Ohrl. com.

Vikram Gupta is aMasters Student in the Department ofElectrical Engineeringat the University of California, Riverside.

Thomas R. Henderson is a staff researcher at Boeing Phantom Works. Hereceived a Ph.D. from the University ofCalifornia, Berkeley. His e-mail addressisthomas.r.henderson<Oboeing.com.

Shu Jiang is a Ph.D. Student in the Department of Computer Science at TexasA&M University. His e-mail address is j iangs<Ocs . tamu. edu.

Srikanth V. Krishnamurthy is an Assistant Professor of Computer Scienceand Engineering at the University of California, Riverside. His e-mail addressis krish<Ocs. ucr . edu.

Chen Liu is a Graduate Student in the Department of Electrical Engineering atthe University of California, Riverside.

Mingyan Liu is an Assistant Professor of Electrical Engineering and Com­puter Science at the University ofMichigan, Ann Arbor. Her e-mail address ismingyan<Oeecs.umich.edu.

xxii INTERNETWORKING AND COMPUTING OVER SATELLITE NETWORKS

Eddie C. Shek is the Chief Technology Officer of Vizional Technologies, Inc.He received a Ph.D. from the University ofCalifornia, Los Angeles. His e-mailaddress is eshek@vizional. com.

Nitin Vaidya is an Associate Professor of Electrical and Computer Engineer­ing at the University of Illinois at Urbana-Champaign. His e-mail address isnhv@uiuc . edu.

Darrel J. Van Buer is a Research Scientist in HRL Laboratories, LLC. Hereceived a Ph.D. from the University of California, Los Angeles.

Lloyd Wood completed his PhD in internetworking with satellite constella­tions at the Centre for Communication Systems Research, part of the Uni­versity of Surrey, while working for Cisco Systems. His e-mail address isL.Wood@eim.surrey.ac.uk.

Yongguang Zhang is a Senior Research Scientist in HRL Laboratories, LLCand an Adjunct Assistant Professor of Computer Sciences at the Universityof Texas at Austin. He received a Ph.D. from Purdue University. His e-mailaddress is ygz@hrl. com.