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A sensor-zone hierarchical topology for multi-robot exploration

A sensor-zone hierarchical topology for multi-robot explorat...

引用

ieee/ASME international conference on Mechtronic and Embedded systems and Applications, MESA

作者： Nicholas Alunni Richard Goloski Andrew Haggerty Eric Jones Gregory S. Fischer Stephen S. Nestinger Department of Mechanical Engineering Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

distributed computing is becoming more prevalent in engineering today. Multi-robot systems are simply an extension of that, not only dividing the computing power, but also the physical capabilities among multiple robots. this paper serves as a proof of concept investigation into a sensor-zone hierarchical topology by assessing its ability to autonomously explore an unknown area. this goal was approached by designing a three-tier robotic hierarchy as well as developing the concept of abstract robot sensor zones. Experiments were conducted by modifying the total number of robots in the system using a custom built simulation and experimentally verified using custom fabricated mobile robots. Results showed that different combinations of robots can yield positive results for heterogeneous multi-robot systems, allowing computational and physical resources to be tailored to specific scenarios.

关键词： Robot sensing systems Topology Robot kinematics Multirobot systems Abstracts Hardware

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Design of Event-Based Resilient distributed Filtering Algorithm for Time-Varying Stochastic systems with Correlated Noises over sensor Networks

Design of Event-Based Resilient Distributed Filtering Algori...

引用

ieee international conference on Cloud computing and Intelligence systems (CCIS)

作者： Zehao Li Jun Hu Jiaxing Li Peixia Gao Ruijie Dong Department of Applied Mathematics Harbin University of Science and Technology Harbin China School of Automation Harbin University of Science and Technology Harbin China

ISBN: (纸本)9781665456579

An event-triggered (ET) recursive distributed filtering approach is designed for a class of stochastic systems with correlated noises. the correlated noises are represented by known matrices and the Kronecker $\delta$ function. the ET mechanism that can regulate the sensor information is employed. In addition, the perturbation of the filter gain is considered to suppress the effects of the gain variation on filtering accuracies. An upper bound with respect to the filtering error covariance that can be minimized is obtained by properly choosing the filter gain. Finally, an illustrative example is given to verify the usefulness of the proposed filtering approach.

关键词： Upper bound Stochastic systems Perturbation methods Neural networks Machine learning Filtering algorithms Information filters

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Unmanned Aerial Vehicle-Aided Wireless sensor Network Deployment System for Post-disaster Monitoring

Unmanned Aerial Vehicle-Aided Wireless Sensor Network Deploy...

引用

8th international conference on Intelligent computing (ICIC)

作者： Tuna, Gurkan Mumcu, Tarik Veli Gulez, Kayhan Gungor, Vehbi Cagri Erturk, Hayrettin Trakya Univ Dept Comp Programming Edirne Turkey Yildiz Tech Univ Elect Elect Fac Control & Automat Eng Dept Istanbul Turkey Bahcesehir Univ Fac Engn Dept Comp Engn Istanbul Turkey

ISBN: (纸本)9783642318368

this paper presents design strategies of using unmanned aerial vehicles (UAVs) to deploy wireless sensor networks (WSNs) for post-disaster monitoring. Natural disasters are unforeseeable events which cannot be prevented. But some recovery procedures can be followed to minimize their effects. Post-disaster monitoring is important to estimate the effects of disasters, which in turn is used to determine recovery procedures to be followed. We propose an UAV-aided unattended WSN deployment system. the system is a post-disaster solution which can be used anywhere required. In this study, we mainly evaluate the efficiency of localization and navigation performance of the proposed system. Our simulation studies with an AirRobot quadrotor helicopter in Unified System for Automation and Robot Simulation (USARSim) simulation platform show that UAVs can be used to deploy WSNs after disasters to monitor environmental conditions. Future work includes implementing the system using a hexarotor helicopter.

关键词： wireless sensor networks unmanned aerial vehicles localization and navigation systems Global Positioning System inertial navigation system Kalman filter

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Efficient and context-aware access control for pervasive medical sensor networks

Efficient and context-aware access control for pervasive med...

引用

ieee Annual conference on Pervasive computing and Communications Workshops (PerCom)

作者： Oscar Garcia-Morchon Klaus Wehrle Distributed Sensor Systems Philips Research Europe Eindhoven Netherlands Distributed Systems Group RWTH Aachen University Aachen Germany

Medical sensor networks allow for pervasive health monitoring in hospitals, at home, or on the way. Each user carries a set of wireless medical sensors that allows caregivers to monitor his health state. the privacy and confidentiality of medical data need to be guaranteed at any moment to make sure that third parties cannot access confidential information. Additionally, the system also has to be aware of context-changes, such as emergencies, to ensure fast access to the medical data, and thus, the safety of the users. In this context, this paper presents a modular context-aware access control model to allow for context-awareness and pro-active decision making during acute, emergency, and normal medical situations. We analyze its structure, features, and operation in detail and further describe how our system can be applied to existing security architectures for medical sensor networks.

关键词： Access control Biomedical monitoring Hospitals Wireless sensor networks Data privacy Context awareness Safety Context modeling Decision making sensor phenomena and characterization

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PLC based system for remote liquids level control with radar sensor

PLC based system for remote liquids level control with radar...

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ieee international Workshop on Intelligent Data Acquisition and Advanced computing systems: Technology and Applications

作者： Yuriy Kondratenko Oleksiy Korobko Oleksiy Kozlov Oleksandr Gerasin Andriy Topalov Petro Mohyla Black Sea State University Mykolayiv Ukraine National University of Shipbuilding Mykolayiv Ukraine

Article describes the designed by the authors PLC based system for remote level control with radar sensor. Developed system uses the radar sensor readings. Based on the hardware, required to measure the operating parameters of tanks, authors proposed a distributed structure of the level control system that is described in details. the interaction between main components and human-machine interface of the system is considered. Resulted system is then tested on experimental setup.

关键词： Temperature measurement Liquids Level control Temperature sensors Radar Data acquisition Level measurement

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Unlicensed Spectrum Usage Method for Cellular Communication systems

Unlicensed Spectrum Usage Method for Cellular Communication ...

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international conference on Wireless Communications, Networking and Mobile computing (WiCom)

作者： Ning Zhang Saisai Ma Jing Xu Bin Zhou Wei Zou Chinese Academy of Sciences Key Laboratory of Wireless Sensor Network & Communication Shanghai China College of Computer and Information Engineering Hohai University Nanjing China Renesas Mobile Corporation Shanghai China

Cellular systems operate on ISM band with the co-existence of wide-deployed WLAN is a promising solution to offload the crowded cellular band, where cellular device acting as virtual a WLAN station contends for WLAN channel resource via applying the same ieee 802.11 distributed Coordination Function(DCF) as WLAN rivals is a straightforward way. However, the conventional mechanism cannot fully utilize the spectrum resource, we propose an adaptive probability access (APA) method which could adjust the channel access probability of cellular system by maximizing the proportional fairness throughput of both systems. this method can adjust the cellular access probability step by step to ensure that both cellular and WLAN work near the optimum operating spot. Simulation results show that the proposed APA method improves both the proportional fairness and total throughput.

关键词： Wireless LAN throughput Simulation Multiaccess communication ieee 802.11 Standards Wireless communication Adaptive systems

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distributed Localization and Sampling Algorithm for 3-Dimensional Mobile Oceanic sensor Networks

Distributed Localization and Sampling Algorithm for 3-Dimens...

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international conference on Wireless Communications, Networking and Mobile computing (WiCom)

作者： Meiyan Zhang Wenyu Cai

Last several years have overseen a rapidly growing interest in Oceanic sensor Networks (OSN in short), which consists of a variable number of sensor nodes working at underwater to monitor particular oceanic environment collaboratively. Compared with the traditional sensor networks, OSN has many additional challenges with acoustic communication environment such as large propagation delay, low communication bandwidth and high packet drop rate. Moreover, OSN belongs to one 3-Dimensional framework networks. therefore, traditional localization schemes for 2-Dimensional terrestrial sensor networks should be transformed into 3-Dimensional localization problem. In this paper, we proposed a large-scale OSN framework for distributed localization first. And then a distributed range-based localization algorithm designed for 3-Dimensional OSN is illustrated in details. Localization accuracy and localized ratio are two metrics to verify our proposed scheme.

关键词： Global Positioning System Robot sensing systems Estimation Underwater acoustics Acoustic measurements Sea measurements

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Motion estimation on decoder side for low-complexity video encoding in wireless sensor networks

Motion estimation on decoder side for low-complexity video e...

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ieee international conference on Wireless and Mobile computing, Networking And Communications (WiMob)

作者： Johannes Karlsson Embedded Systems Laboratory (ESL) Department of Applied Physics and Electronics Umeå University Umea Sweden

In this paper we present an approach to provide efficient low-complexity video encoding for wireless sensor networks. We present a method based on removing the most time-consuming task, that is motion estimation, from the encoder. Instead the decoder will perform motion prediction based on the available decoded frame and send the predicted motion vectors to the encoder. We present results based on a modified H.264 implementation. Our results shows that this approach can provide rather good coding efficiency even for relatively high network delays.

关键词： Vectors Delay Encoding Decoding Motion estimation Video codecs Complexity theory

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Fault diagnosis in multi layered De Bruijn based architectures for sensor networks

Fault diagnosis in multi layered De Bruijn based architectur...

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ieee Annual conference on Pervasive computing and Communications Workshops (PerCom)

作者： Anas Abu Taleb J. Mathew D. K. Pradhan Department of Computer Science University of Bristol UK

Wireless sensor networks are expected to operate in an unattended manner for long periods of time. As a result, they should be able to tolerate faults and maintain a reasonable performance level. therefore, we propose two fault-tolerant clustered De Bruijn based multi layered architectures, a fault-tolerant routing scheme and a distributed fault diagnosis algorithm. the performance of the proposed work was analyzed according to the end-to-end delay and the data success rate. Also, the performance was compared to that of mesh networks. Our simulation results show that De Bruijn based networks perform better in both fault free and faulty situations.

关键词： Fault diagnosis Wireless sensor networks Fault tolerance sensor phenomena and characterization Clustering algorithms Temperature sensors Energy consumption Computer architecture Routing sensor systems

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A lightweight inter-user interference mitigation method in Body sensor Networks

A lightweight inter-user interference mitigation method in B...

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ieee international conference on Wireless and Mobile computing, Networking And Communications (WiMob)

作者： Wen Sun Yu Ge Wai-Choong Wong Department of Electrical and Computer Engineering National University of Singapore Singapore Networking Protocols Department Institute for Infocomm Research Singapore

Body sensor Networks (BSNs) enable continuous and remote health monitoring in medical applications. Inter-user interference is the major cause that deteriorates the reliable data transmission in BSNs when multiple BSNs are transmitting simultaneously in close proximity to one another. this paper presents an inter-user interference mitigation (IIM) method, which enables BSNs to adaptively reschedule their transmissions or switch to another channel in a distributed manner based on the detected information from neighboring BSNs. By taking advantage of the general property of the low channel utilization of BSNs in typical medical applications, the proposed IIM method increases system utilization and thus alleviates inter-user interference. In addition, our IIM method operates in a distributed manner without the need of extra infrastructure as compared to other approaches. In this paper, we describe the detailed design of the IIM method, and provide performance comparisons through simulations. the simulation results indicate that with the proposed IIM method, the network throughput is improved by 30% on average, and the energy consumption for data transmission is reduced by 16%.

关键词： Interference Schedules Switches Delay Brain modeling Protocols Data communication

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