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TNK108 TNK108 Datornät/Computer Networks 2010 Scott Fowler Lecture 1

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  • TNK108 TNK108 Datornt/Computer Networks 2010p

    Scott Fowler

    Lecture 1

  • Book for the courseBook for the course

    Computer Networking: A Top-Down Approach: International Version, 5/E

    James F. Kurose, University of Massachusetts, AmherstJa es u ose, U e s y o assac use s, e sKeith W. Ross, Polytechnic University, Brooklyn

    Publisher: Pearson Higher Education

    Sid 2

    ISBN-10: 0131365487ISBN-13:9780131365483

    Scott Fowler, ITN

  • Course Information (contd)Course Information (cont d) Literature Literature

    Lecture notes

    Textbook: J Kurose and K Ross Computer Textbook: J. Kurose and K. Ross, Computer Networking A Top Down Approach, 5th edition

    Lecture notes and lab assignments: Lecture notes and lab assignments: http://webstaff.itn.liu.se/~scofo47/TNK108/tnk108.html(password = )

    Supplement material, if needed, will be specified or handed out

    Course Staff

    Me -> Scott Fowler

    Arash Matinrad

    Scott Fowler, ITNSid 3

  • Course Information (contd)Course Information (cont d) Examination and grading

    2 closed book written exams (3 credits)

    90% -100% = 5 (ECTS A)

    75% 89% = 4 (ECTS B) 75% -89% = 4 (ECTS B)

    60% -74% = 3 (ECTS C)

    0 -59% = fail (ECTS F)0 59% a ( C S )

    Overall grade = exam, if the result of the lab assignments is pass

    Lab assignments (3 credits)g ( ) Pass / fail

    Show your work and results to the course staff during lab hours

    Re-examination Re-examination periods, not responsible for the times

    A single written exam covering the entire scope of the course

    Scott Fowler, ITNSid 4

  • Chapter 1: roadmapChapter 1: roadmap

    1.1 What is the Internet?

    1.2 Network edge end systems, access networks, links

    1.3 Network core circuit switching, packet switching, network structure

    1 4 Delay loss and throughput in packet-switched1.4 Delay, loss and throughput in packet switched networks

    1 5 Protocol layers service models1.5 Protocol layers, service models

    1.6 Networks under attack: security

    1.7 HistoryIntroduction 1-5

  • Whats the Internet: nuts and bolts view

    millions of connected Mobile networkPCcomputing devices: hosts = end systems

    Global ISPserver

    wirelesslaptop running network apps

    Home networkRegional ISP

    laptopcellular handheld

    i ti li k

    I tit ti l t k

    Regional ISP

    access points

    communication links fiber, copper,

    radio satellite Institutional networkwiredlinks

    p radio, satellite transmission

    rate = bandwidth

    router

    rate = bandwidthrouters: forward

    packets (chunks of packets (chunks of data)

  • Whats the Internet: nuts and bolts view

    protocols control sending, Mobile networkp otoco s co t o se d g,receiving of msgs e.g., TCP, IP, HTTP, Skype,

    Mobile network

    Global ISPg , , , , yp ,

    Ethernet

    Internet: network of Home networkR i l ISPnetworks

    loosely hierarchicalRegional ISP

    public Internet versus private intranet

    I d d

    Institutional network

    Internet standards RFC: Request for comments IETF: Internet Engineering

    Task Force Introduction 1-7

  • Whats the Internet: a service view

    communication infrastructure enables distributed applications:

    Web, VoIP, email, games, e-commerce, file sharing

    communication services provided to apps:

    reliable data delivery from source to destination

    best effort (unreliable) data delivery

    Introduction 1-8

  • Whats a protocol?What s a protocol?human protocols: network protocols:u a p otoco s

    whats the time?I h ti

    et o p otoco s

    machines rather than humans I have a question

    introductions

    humans

    all communication activity in Internet

    specific msgs sent

    activity in Internet governed by protocols

    protocols define format, specific actions taken

    when msgs received,

    protocols define format, order of msgs sent and received among network

    or other events entities, and actions taken on msgtransmission receipttransmission, receipt

    Introduction 1-9

  • Whats a protocol?What s a protocol?a human protocol and a computer network protocol:a u a p otoco a d a co pute et o p otoco

    Hi

    Hi TCP ti

    TCP connectionrequest

    HiGot thetime?

    TCP connectionresponse

    Get http://www.awl.com/kurose-rosstime?2:00

    Get http://www.awl.com/kurose ross

    timetime

    Q: Other human protocols? Introduction 1-10

  • A closer look at network structure:A closer look at network structure:

    network edge: network edge:applications and hostshosts

    access networks, physical media:physical media:wired, wireless communication linkscommunication links

    network core:i t t d interconnected routers

    network of network of networks

    Introduction 1-11

  • The network edge:The network edge: end systems (hosts): end systems (hosts): run application programs e g Web email e.g. Web, email at edge of network

    client/server model client/server model client host requests, receives

    service from always-on server e.g. Web browser/server;

    email client/server peer-peer model: peer-peer model:

    minimal (or no) use of dedicated servers

    e.g. Skype, BitTorrent

  • Access networks and physical media

    Q: How to connect end Q o to co ect e dsystems to edge router?

    residential access nets residential access nets institutional access

    networks (schoolnetworks (school, company)

    mobile access networks mobile access networksKeep in mind:

    b d idth (bit bandwidth (bits per second) of access network?network?

    shared or dedicated?

  • Physical MediaPhysical MediaTwisted Pair (TP)

    bit: propagates betweentransmitter/rcvr pairs two insulated copper wires

    physical link: what lies between transmitter & receiver

    Category 3: traditional phone wires, 10 Mbps Eth treceiver

    guided media:Ethernet

    Category 5: 100Mbps Ethernet signals propagate in solid

    media: copper, fiber, coax

    id d di

    100Mbps Ethernet

    unguided media: signals propagate freely, e.g.,

    radioradio

    Introduction 1-14

  • Physical Media: coax, fiber

    Coaxial cable: Fiber optic cable:Coaxial cable: two concentric copper

    conductors

    glass fiber carrying light pulses, each pulse a bit

    bidirectional baseband:

    high-speed operation: high-speed point-to-point

    transmission (e g 10s baseband: single channel on cable legacy Ethernet

    transmission (e.g., 10 s-100s Gps)

    low error rate: repeaters legacy Ethernet broadband: multiple channels on cable

    pspaced far apart ; immune to electromagnetic noise

    multiple channels on cable HFC (Hybrid fibre-coaxial)

    Introduction 1-15

  • Physical media: radio

    signal carried in Radio link types:s g a ca edelectromagnetic spectrum

    yp terrestrial microwave

    e.g. up to 45 Mbps channels no physical wire bidirectional

    LAN (e.g., Wifi) 11Mbps, 54 Mbps

    bidirectional propagation environment

    effects:

    wide-area (e.g., cellular) 3G cellular: ~ 1 Mbps

    t lliteffects: reflection obstruction by objects

    satellite Kbps to 45Mbps channel (or

    multiple smaller channels) obstruction by objects interference

    multiple smaller channels) 270 msec end-end delay geosynchronous versus low

    altitude

    Introduction 1-16

  • Internet structure: network of networks

    roughly hierarchical at center: small # of well-connected large networks at center: small # of well connected large networks tier-1 commercial ISPs (e.g., Verizon, Sprint, AT&T, Qwest,

    Level3), national & international coverage) g

    large content distributors (Google, Akamai, Microsoft) treat each other as equals (no charges)q ( g )

    IXP IXP

    Ti 1 ISP & Large Content Distributor (e.g., Google)

    Large Content Distributor

    (e.g., Akamai)Tier 1 ISPTier-1 ISPs &Content

    Distributors, interconnect

    Tier 1 ISP Tier 1 ISP

    interconnect (peer) privately or at Internet Exchange Points

    Introduction 1-17

    Exchange Points IXPs

  • Tier-1 ISP: e.g., Sprint

    to/from backbone

    POP: point-of-presence

    peering.

    to/from customers

    Introduction 1-18

  • Internet structure: network of networks

    tier-2 ISPs: smaller (often regional) ISPsconnect to one or more tier-1 (provider) ISPsconnect to one or more tier-1 (provider) ISPs

    each tier-1 has many tier-2 customer nets tier 2 pays tier 1 providerp y p

    tier-2 nets sometimes peer directly with each other (bypassing tier 1) , or at IXP

    Tier 2ISPIXP IXPTier 2

    ISPTier 2

    PLarge Content

    Distributor (e.g., Google)

    Large Content Distributor

    (e.g., Akamai)Tier 1 ISP

    ISP ISP

    Tier 1 ISP Tier 1 ISP

    ( g , )

    Tier 2P

    Introduction 1-19

    Tier 1 ISP r STier 2ISP

    ISP Tier 2ISP

    Tier 2ISP

    Tier 2ISP

    Tier 2ISP

  • Internet structure: network of networks

    Tier 3 ISPs local ISPs Tier-3 ISPs, local ISPs customer of tier 1 or tier 2 network

    last hop (access) network (closest to end systems)

    Tier 2

    last hop ( access ) network (closest to end systems)

    Tier 2ISP

    Large Content Large Content

    IXP IXP

    Tier 1 ISP

    Tier 2ISP

    Tier 2ISP

    Large Content Distributor (e.g., Google)

    Large Content Distributor

    (e.g., Akamai)Tier 1 ISP

    Tier 1 ISP Tier 1 ISPTier 2

    Tier 2ISP Tier 2

    ISPTier 2 Tier 2 Tier 2

    ISP

    Introduction 1-20

    ISPISP ISP ISP ISP

  • Internet structure: network of networks

    a packet passes through many networks from source a packet passes through many networks from source host to destination host

    Tier 2Tier 2ISP

    Large Content Large Content

    IXP IXP

    Tier 1 ISP

    Tier 2ISP

    Tier 2ISP

    Large Content Distributor (e.g., Google)

    Large Content Distributor

    (e.g., Akamai)Tier 1 ISP

    Tier 1 ISP Tier 1 ISPTier 2

    Tier 2ISP Tier 2

    ISPTier 2 Tier 2 Tier 2

    ISP

    Introduction 1-21

    ISPISP ISP ISP ISP

  • Chapter 1: roadmap

    1.1 What is the Internet?

    1.2 Network edge end systems, access networks, links

    1.3 Network core circuit switching, packet switching, network structure

    1 4 Delay loss and throughput in packet-switched1.4 Delay, loss and throughput in packet switched networks

    1 5 Protocol layers service models1.5 Protocol layers, service models

    1.6 Networks under attack: security

    1.7 HistoryIntroduction 1-22

  • How do loss and delay occur?

    packets queue in router bufferspackets queue in router buffers packet arrival rate to link exceeds output link capacity packets queue, wait for turn

    packet being transmitted (delay)

    A

    BBpackets queueing (delay)

    free (available) buffers: arriving packets d d (l ) f f b ffdropped (loss) if no free buffers

    Introduction 1-23

  • Four sources of packet delay

    Atransmission

    A propagation

    Bnodal

    processing queueing

    dnodal = dproc + dqueue + dtrans + dprop

    dproc: nodal processing check bit errors

    dqueue: queueing delay time waiting at output link check bit errors

    determine output link typically < msec

    time waiting at output link for transmission

    depends on congestion level of routertypically msec of router

    Introduction 1-24

  • Four sources of packet delay

    Atransmission

    A propagation

    Bnodal

    processing queueing

    dnodal = dproc + dqueue + dtrans + dprop

    dtrans: transmission delay: L: packet length (bits)

    dprop: propagation delay: d: length of physical linkL: packet length (bits)

    R: link bandwidth (bps) dtrans = L/R

    d: length of physical link s: propagation speed in

    medium (~2x108 m/sec)/d d d

    Introduction 1-25

    dprop = d/sdtrans and dpropvery different

  • Queueing delay (revisited)

    i

    n

    g

    R: link bandwidth (bps) L: packet length (bits)

    e

    q

    u

    e

    u

    e

    d

    e

    l

    a

    y

    a: average packet arrival rate

    a

    v

    e

    r

    a

    g

    e

    traffic intensity = La/R

    a

    L /R 0 La/R ~ 0: avg. queueing delay small La/R -> 1: avg. queueing delay large

    La/R ~ 0

    La/R > 1: more work arriving than can be serviced, average delay infinite!

    Introduction 1-26

    La/R -> 1

  • Real Internet delays and routes

    What do real Internet delay & loss look like? Traceroute program: provides delay measurement

    from source to router along end-end Internet path towards destination. For all i: sends three packets that will reach router i on path towards

    destination

    router i will return packets to sender router i will return packets to sender sender times interval between transmission and reply.

    3 b 3 b3 probes

    3 probes

    3 probes

    Introduction 1-27

  • Real Internet delays and routes

    traceroute: gaia.cs.umass.edu to www.eurecom.fr

    1 cs-gw (128.119.240.254) 1 ms 1 ms 2 ms

    Three delay measurements from gaia.cs.umass.edu to cs-gw.cs.umass.edu

    g ( )2 border1-rt-fa5-1-0.gw.umass.edu (128.119.3.145) 1 ms 1 ms 2 ms3 cht-vbns.gw.umass.edu (128.119.3.130) 6 ms 5 ms 5 ms4 jn1-at1-0-0-19.wor.vbns.net (204.147.132.129) 16 ms 11 ms 13 ms 5 jn1-so7-0-0-0.wae.vbns.net (204.147.136.136) 21 ms 18 ms 18 ms 6 abilene vbns abilene ucaid edu (198 32 11 9) 22 ms 18 ms 22 ms6 abilene-vbns.abilene.ucaid.edu (198.32.11.9) 22 ms 18 ms 22 ms7 nycm-wash.abilene.ucaid.edu (198.32.8.46) 22 ms 22 ms 22 ms8 62.40.103.253 (62.40.103.253) 104 ms 109 ms 106 ms9 de2-1.de1.de.geant.net (62.40.96.129) 109 ms 102 ms 104 ms10 de.fr1.fr.geant.net (62.40.96.50) 113 ms 121 ms 114 ms

    trans-oceaniclink

    10 de.fr1.fr.geant.net (62.40.96.50) 113 ms 121 ms 114 ms11 renater-gw.fr1.fr.geant.net (62.40.103.54) 112 ms 114 ms 112 ms12 nio-n2.cssi.renater.fr (193.51.206.13) 111 ms 114 ms 116 ms13 nice.cssi.renater.fr (195.220.98.102) 123 ms 125 ms 124 ms14 r3t2-nice.cssi.renater.fr (195.220.98.110) 126 ms 126 ms 124 ms15 lb 3t2 ft t (193 48 50 54) 135 128 13315 eurecom-valbonne.r3t2.ft.net (193.48.50.54) 135 ms 128 ms 133 ms16 194.214.211.25 (194.214.211.25) 126 ms 128 ms 126 ms17 * * *18 * * *19 f t i f (193 55 113 142) 132 128 136

    * means no response (probe lost, router not replying)19 fantasia.eurecom.fr (193.55.113.142) 132 ms 128 ms 136 ms

    Introduction 1-28

  • Chapter 1: roadmap

    1.1 What is the Internet?

    1.2 Network edge end systems, access networks, links

    1.3 Network core circuit switching, packet switching, network structure

    1 4 Delay loss and throughput in packet-switched1.4 Delay, loss and throughput in packet switched networks

    1 5 Protocol layers service models1.5 Protocol layers, service models

    1.6 Networks under attack: security

    1.7 HistoryIntroduction 1-29

  • Protocol Layers

    Networks are complex,et o s a e co p e ,

    with many pieces:

    h t Question: hosts routers

    Question:Is there any hope of organizing structure of links of various

    media

    organizing structure of network?

    applications protocols Or at least our discussion f t k ? protocols hardware, software

    of networks?

    Introduction 1-30

  • Organization of air travel

    ti k t ( h ) ti k t ( l i )ticket (purchase)

    baggage (check)

    ticket (complain)

    baggage (claim)

    gates (load) gates (unload)

    runway takeoff

    airplane routing

    runway landing

    airplane routingairplane routing airplane routing

    airplane routing

    a series of steps

    Introduction 1-31

  • Layering of airline functionality

    ticket (purchase)

    baggage (check)

    ticket (complain)

    baggage (claim

    ticket

    baggage

    gates (load)

    runway (takeoff)

    airplane routing airplane routing airplane routing

    gates (unload)

    runway (land)

    airplane routing

    gate

    takeoff/landing

    airplane routingairplane routing

    departureairport

    arrivalairport

    intermediate air-trafficcontrol centers

    airplane routing airplane routing airplane routing airplane routing

    Layers: each layer implements a service

    via its own internal layer actions via its own internal-layer actions

    relying on services provided by layer below

    Introduction 1-32

  • Why layering?Why layering?Dealing with complex systems:Dealing with complex systems: explicit structure allows identification, relationship of

    complex systems piecescomplex system s pieces

    layered reference model for discussion modularization eases maintenance, updating of

    system

    change of implementation of layers service transparent to rest of system

    e.g., change in gate procedure doesnt affect rest of system

    layering considered harmful?Introduction 1-33

  • Internet protocol stack

    application: supporting network applications application: supporting network applications FTP, SMTP, HTTP

    transport: process-process data transferapplication

    p p p

    TCP, UDP network: routing of datagrams from source to

    transport

    kg g

    destination

    IP, routing protocolsnetwork

    link link: data transfer between neighboring

    network elements

    Eth t 802 11 (WiFi) PPP

    link

    physical Ethernet, 802.11 (WiFi), PPP physical: bits on the wire

    p y

    Introduction 1-34

  • ISO/OSI reference model

    presentation: allow applications to presentation: allow applications to interpret meaning of data, e.g., encryption, compression, machine-

    applicationpresentation

    specific conventions

    session: synchronization,

    presentationsession

    ycheckpointing, recovery of data exchange

    transportnetwork

    Internet stack missing these layers! these services, if needed, must be

    linkphysical, ,

    implemented in application

    needed?

    physical

    needed?

    Introduction 1-35

  • sourceapplication

    Encapsulationmessage M application

    transportnetwork

    li kHtHn M

    segment Htdatagram

    message MHt M

    Hnlink

    physicallink

    HtHnHl Mframe

    linkphysical

    switch

    d ti tidestinationapplicationtransportHt M

    M

    networklink

    physicalHtHnHl M

    HtHn M

    HtHn M

    transportnetwork

    linkphysical

    HtHnHl MHtHn M

    t

    routerphysical

    Introduction 1-36

  • Chapter 1: roadmap

    1.1 What is the Internet?

    1.2 Network edge end systems, access networks, links

    1.3 Network core circuit switching, packet switching, network structure

    1 4 Delay loss and throughput in packet-switched1.4 Delay, loss and throughput in packet switched networks

    1 5 Protocol layers service models1.5 Protocol layers, service models

    1.6 Networks under attack: security

    1.7 HistoryIntroduction 1-37

  • Network Security

    field of network security: field of network security: how bad guys can attack computer networks how we can defend networks against attacks how to design architectures that are immune to

    attacks

    Internet not originally designed with (much) g y g ( )security in mind original vision: a group of mutually trusting users original vision: a group of mutually trusting users

    attached to a transparent network Internet protocol designers playing catch up Internet protocol designers playing catch-up security considerations in all layers!

    Introduction 1-38

  • Bad guys: put malware into hosts via Internet

    malware can get in host from a virus worm or trojan malware can get in host from a virus, worm, or trojan horse.

    spyware malware can record keystrokes, web sites visited, upload info to collection site.visited, upload info to collection site.

    infected host can be enrolled in botnet used for infected host can be enrolled in botnet, used for spam and DDoS attacks.

    malware often self-replicating: from one infected host, seeks entry into other hosts

    Introduction 1-39

  • Bad guys: put malware into hosts via InternetTrojan horse worm:

    i f i b i l i i

    guy pu m w

    hidden part of some otherwise useful software

    today often in Web page

    infection by passively receiving object that gets itself executed today often in Web page

    (Active-X, plugin)

    virus

    self- replicating: propagates to other hosts, users

    virus infection by receiving object

    (e.g., e-mail attachment),

    Sapphire Worm: aggregate scans/secin first 5 minutes of outbreak (CAIDA, UWisc data)

    ( g )actively executing

    self-replicating: propagate itself to other hosts sersitself to other hosts, users

    Introduction 1-40

  • Bad guys: attack server, network infrastructureDenial of Dervice (DoS): attackers make resources

    (server bandwidth) unavailable to legitimate traffic by

    g y ,

    (server, bandwidth) unavailable to legitimate traffic by overwhelming resource with bogus traffic

    1. select target2 break into hosts 2. break into hosts

    around the network (see botnet)( )

    3. send packets to target from compromised h

    targethosts

    g

    Introduction 1-41

  • The bad guys can sniff packets

    Packet sniffing:Packet sniffing: broadcast media (shared Ethernet, wireless)

    promiscuous network interface reads/records all packets (e.g., including passwords!) passing by

    A C

    Bsrc:B dest:A payload

    B

    Wireshark software used for end-of-chapter l b i (f ) k t ifflabs is a (free) packet-sniffer

    Introduction 1-42

  • The bad guys can use false sourceThe bad guys can use false source addresses

    IP fiIP spoofing: send packet with false source address

    A CA C

    Bsrc:B dest:A payload

    Introduction 1-43

  • The bad guys can record and playback

    record-and-playback: sniff sensitive info (e.g., password), and use later

    password holder is that user from system point of view

    CA

    B

    src:B dest:A user: B; password: foo

    B

    l t it (th h t Ch t 8)Introduction 1-44

    lots more on security (throughout, Chapter 8)

  • Chapter 1: roadmapChapter 1: roadmap

    1.1 What is the Internet?

    1.2 Network edge end systems, access networks, links

    1.3 Network core circuit switching, packet switching, network structure

    1 4 Delay loss and throughput in packet-switched1.4 Delay, loss and throughput in packet switched networks

    1 5 Protocol layers service models1.5 Protocol layers, service models

    1.6 Networks under attack: security

    1.7 HistoryIntroduction 1-45

  • Internet History1961-1972: Early packet-switching principles

    1961: Kleinrock - queueing theory shows effectiveness of packet switching

    1972: ARPAnet public demonstration

    of packet-switching

    1964: Baran - packet-switching in military nets

    NCP (Network Control Protocol) first host-host protocol

    g y

    1967: ARPAnet conceived by Advanced Research P j t A

    first e-mail program ARPAnet has 15 nodes

    Projects Agency

    1969: first ARPAnet node operationaloperational

    Introduction 1-46

  • Internet History1972-1980: Internetworking, new and proprietary nets

    1970: ALOHAnet satellite network in Hawaii

    1974: Cerf and Kahn -Cerf and Kahns internetworking

    principles: 1974: Cerf and Kahn -architecture for interconnecting networks1976 Eth t t X PARC

    p p minimalism, autonomy -

    no internal changes required to interconnect 1976: Ethernet at Xerox PARC

    late70s: proprietary architectures: DECnet, SNA,

    required to interconnect networks

    best effort service modelXNA

    late 70s: switching fixed length packets (ATM precursor)

    stateless routers decentralized control

    packets (ATM precursor) 1979: ARPAnet has 200 nodes

    define todays Internet architecture

    Introduction 1-47

  • Internet Historyy1980-1990: new protocols, a proliferation of networks

    1983: deployment of TCP/IP

    new national networks: Csnet, BITnet, NSFnet,

    1982: smtp e-mail protocol defined

    Minitel

    100,000 hosts p 1983: DNS defined for

    name-to-IP-address

    ,connected to confederation of

    t ktranslation

    1985: ftp protocol

    networks

    p pdefined

    1988: TCP congestion 1988: TCP congestion control

    Introduction 1-48

  • Internet History1990, 2000s: commercialization, the Web, new apps

    early 1990s: ARPAnet decommissioned

    late 1990s 2000s: more killer apps: instant

    1991: NSF lifts restrictions on commercial use of NSFnet (decommissioned, 1995)

    more killer apps: instant messaging, P2P file sharing

    network security to forefront( , ) early 1990s: Web hypertext [Bush 1945, Nelson

    est. 50 million host, 100 million+ users

    yp [ ,1960s]

    HTML, HTTP: Berners-Lee backbone links running at

    Gbps

    1994: Mosaic, later Netscape late 1990s: commercialization of

    th W bthe Web

    Introduction 1-49

  • Internet Historyy

    2010:2010:

    ~750 million hosts voice, video over IP P2P applications: BitTorrent

    (file sharing) Skype (VoIP), PPLive (video)

    more applications: YouTube, gaming, Twitter

    wireless, mobility

    Introduction 1-50

  • Introduction: SummaryCovered a ton of material! Internet overview

    You now have: context overview Internet overview

    whats a protocol? network edge core access

    context, overview, feel of networking

    more depth, detail to network edge, core, access network packet-switching versus

    p ,follow!

    packet-switching versus circuit-switching

    Internet structureInternet structure performance: loss, delay,

    throughputg p layering, service models security security history

    Introduction 1-51