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Energy efficient distributed filtering with wireless sensor networks

IEEE TRANSACTIONS ON SIGNAL PROCESSING 2008年第5期56卷 2062-2075页

作者： Oka, Anand Lampe, Lutz Univ British Columbia Dept Elect & Comp Engn Vancouver BC V6T 1Z4 Canada

We consider a wireless sensor network (WSN) that monitors a physical field and communicates pertinent data to a distant fusion center (FC). We study the case of a binary valued hidden natural field observed in a significant amount of Gaussian clutter, which is relevant to applications like detection of plumes or oil slicks. The considerable spatio-temporal dependencies found in natural fields can be exploited to improve the reliability of the detection/estimation of hidden phenomena. While this problem has been previously treated using kernel-regression techniques, we formulate it as a task of delay-free filtering on a process observed by the sensors. We propose a distributed scalable implementation of the filter within the network. This is achieved by i) exploiting the localized spatio-temporal dependencies to define a hidden Markov model (HMM) in terms of an exponential family with O(N) parameters, where N is the size of the WSN, ii) using a reduced-state approximation of the propagated probability mass function, and iii) making a tractable approximation of model marginals by using iterated decoding algorithms like the Gibbs sampler (GS), mean field decoding (MFD), iterated conditional modes (ICM), and broadcast belief propagation (BBP). We compare the marginalization algorithms in terms of their information geometry, performance, complexity and communication load. Finally, we analyze the energy efficiency of the proposed distributed filter relative to brute force data fusion. It is demonstrated that when the FC is sufficiently far away from the sensor array, distributed filtering is Significantly more energy efficient and can increase the lifetime of the WSN by one to two orders of magnitude.

关键词： ad-hoc networks detection and estimation distributed filtering energy efficient algorithms lifetime enhancement statistical parametric inference wireless sensor networks

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Determining the optimal time frame for multisensor track correlation

Determining the optimal time frame for multisensor track cor...

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20th conference on Signal and Data Processing of Small Targets

作者： Ehrman, Lisa M. Burns, Paul D. Blair, W. Dale Georgia Inst Technol Sensors & Electromagnet Applicat Lab Atlanta GA 30332 USA

ISBN: (纸本)9780819471604

Conventional algorithms for track association (termed "correlation" by convention) employ algorithms which are applied to all sensor tracks at a specific time. The overall value of sensor networks for data fusion is closely tied to the reliability of correct association of common objects tracked by the sensors. Multisensor architectures consisting of gaps in target coverage requires that tracks must be propagated substantially forward or backward to a common time for correlation. This naturally gives rise to the question: at which time should track correlation be performed? In the conventional approach, a two-sensor correlation problem would be solved by propagating the first sensor's tracks forward to the update time (current time) of the tracks from the second sensor. We question this approach by showing simulation results that indicate that the current time can be the worst time to correlate. In addition, a methodology for calculating the approximate optimal correlation time for linear-Gaussian tracking problems is provided.

关键词： sensors Mahalanobis distance 3D acquisition Detection and tracking algorithms Missiles sensor networks Data fusion Defense and security Radio propagation Reliability

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On scalable distributed sensor fusion

On scalable distributed sensor fusion

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11th International conference on Information fusion, fusion 2008

作者： Chang, K.C. Chong, Chee-Yee Mori, Shozo Dept. of SEOR George Mason University Fairfax VA 22030 United States BAE Systems Advanced Information Technologies Los Altos CA 94022 United States

ISBN: (纸本)9783000248832

The theoretic fundamentals of distributed information fusion are well developed. However, practical applications of these theoretical results to dynamic sensor networks have remained a challenge. There has been a great deal of work in developing distributed fusion algorithms applicable to a network centric architecture. In general, in a distributed system such as ad hoc sensor networks, the communication architecture is not fixed. In those cases, the distributed fusion approaches based on pedigree information may not scale due to limited communication bandwidth. In this paper, we focus on scalablefusion algorithms and conduct analytical performance evaluation to compare their performance. The goal is to understand the performance of these algorithms under different operating conditions. Specifically, we evaluate the performance of Channel filter fusion, Chernoff fusion, Shannon fusion, and Bhattacharyyafusion algorithms. We also compare their performance to Naive fusion and "optimal" centralized fusion under a specific communicationpattern.

关键词： sensor networks

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Multi-sensor Integration and sensor fusion in Industrial Manipulation: Hybrid Switched Control, Trajectory Generation, and Software Development

Multi-Sensor Integration and Sensor Fusion in Industrial Man...

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IEEE International conference on Multisensor fusion and Integration for Intelligent Systems

作者： Kroeger, Torsten Wahl, Friedrich M. Tech Univ Carolo Wilhelmina Braunschweig Inst Robot & Proc Control Braunschweig Germany

ISBN: (纸本)9781424421435

The potential of multi-sensor integration in industrial manipulation systems is enormously high - and almost unused in real-world systems and applications. Scientific literature provides plenty of approaches for sensor integration, sensor-guided and sensor-guarded robot control, visual servoing, robot control architectures, and software systems, but it is still one of the major challenges to bring all fields together. Therefore we need a better over-all view onto different domains. This overview paper covers three areas, which play a fundamental role to "glue" the above mentioned fields together: 1) The manipulation control system (or architecture) from the control engineer's point of view enabling the usage of hybrid switched systems for robotic manipulation systems. 2) The problem of trajectory generation in hybrid switched control systems. 3) Important aspects on software engineering in the field of robot control architectures. Each of these parts is accompanied by real-world experimental results in order to highlight the relevance and the potential of these technologies.

关键词： Visual servoing

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Simulative Study of Two fusion Methods for Target Tracking in Wireless sensor Networks

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13th International-Computer-Society-of-Iran-Computer conference

作者： Pashazadeh, Saeid Sharifi, Mollsen Iran Univ Sci & Technol Dept Comp Engn Tehran Iran

ISBN: (纸本)9783540899846

Target tracking is one of the popular applications of wireless sensor networks wherein hundreds or thousands of randomly distributed sensor nodes in an environment gather spatio-temporal information from target(s) and send them to a sink node for further processing. Due to various environmental factors on sensor devices, this information is seldom very accurate. sensor nodes partly process their sensed data using local fusion before sending them to the sink. This paper comparatively studies two major voting algorithms for fusion of target tracking data in intermediate nodes with a view on the accuracy of results. Majority voter and mean voter algorithms are simulated with different densities of sensor nodes to determine the best choice of sensor density for cost effective deployment of sensor nodes. It is shown that formal majority voter yields much more accurate and stable results in location tracking applications than mean voter.

关键词： Distributed embedded software non functional requirements quality of service wireless sensor network modeling

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A heterogeneous sensor network simulation system with integrated terrain data for real-time target detection in 3D space

A heterogeneous sensor network simulation system with integr...

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conference on Multisensor, Multisource Information fusion

作者： Lin, Hong Tanner, Steve Rushing, John Graves, Sara Criswell, Evans Univ Alabama Informat Technol & Syst Ctr Huntsville AL 35899 USA

ISBN: (纸本)9780819471659

Large scale sensor networks composed of many low-cost small sensors networked together with a small number of high fidelity position sensors can provide a robust, fast and accurate air defense and warning system. The team has been developing simulations of such large networks, and is now adding terrain data in an effort to provide more realistic analysis of the approach. This work, a heterogeneous sensor network simulation system with integrated terrain data for real-time target detection in a three-dimensional environment is presented. The sensor network can be composed of large numbers of low fidelity binary and bearing-only sensors, and small numbers of high fidelity position sensors, such as radars. The binary and bearing-only sensors are randomly distributed over a large geographic region;while the position sensors are distributed evenly. The elevations of the sensors are determined through the use of DTED Level 0 dataset. The targets are located through fusing measurement information from all types of sensors modeled by the simulation. The network simulation utilizes the same search-based optimization algorithm as in our previous two-dimensional sensor network simulation with some significant modifications. The fusion algorithm is parallelized using spatial decomposition approach: the entire surveillance area is divided into small regions and each region is assigned to one compute node. Each node processes sensor measurements and terrain data only for the assigned sub region. A master process combines the information from all the compute nodes to get the overall network state. The simulation results have indicated that the distributed fusion algorithm is efficient enough so that an optimal solution can be reached before the arrival of the next sensor data with a reasonable time interval, and real-time target detection can be achieved. The simulation was performed on a Linux cluster with communication between nodes facilitated by the Message Passing Interface (

关键词： heterogeneous sensor network data fusion terrain data real-time target detection three-dimensional space

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Joint fusion and detection of mines using hyperspectral and SAR data

Joint fusion and detection of mines using hyperspectral and ...

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conference on Image Processing - algorithms and Systems VI

作者： Nasrabadi, Nasser M. Army Res Lab Adelphi MD 20783 USA

ISBN: (纸本)9780819469847

This paper describes a new nonlinear joint fusion and anomaly detection technique for mine detection applications using two different types of sensor data (synthetic aperture radar (SAR) and Hyperspectral sensor (HS) data). A well-known anomaly detector so called the RX algorithm is first extended to perform fusion and detection simultaneously at the pixel level by appropriately concatenating the information from the two sensors. This approach is then extended to its nonlinear version. The nonlinear fusion-detection approach is based on the statistical kernel learning theory which explicitly exploits the higher order dependencies (nonlinear relationships) between the two sensor data through an appropriate kernel. Experimental results for detecting anomalies (mines) in hyperspectral imagery are presented for linear and nonlinear joint fusion and detection for a co-registered SAR and HS imagery. The result show that the nonlinear techniques outperform linear versions.

关键词： sensor fusion anomaly detection hyperspectral mine detection joint fusion and detection

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About the fusion of default knowledge

About the fusion of default knowledge

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conference on Multisensor, Multisource Information fusion

作者： Gregoire, Eric Univ Artois CRIL CNRS F-62307 Lens France

ISBN: (纸本)9780819471659

This paper is about the fusion of multiple knowledge sources represented using default logic. More precisely, the focus is on solving the problem that occurs when the standard-logic knowledge parts of the sources are contradictory, as default theories trivialize in this case. To overcome this problem, several candidate policies are discussed. Among them, it is shown that replacing each formula belonging to minimally unsatisfiable subformulas by a corresponding supernormal default exhibits appealing features.

关键词： default logic logic-based fusion MUS minimally unsatisfiable subformulas

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Constructing dependable certainty grids from unreliable sensor data

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ROBOTICS AND AUTONOMOUS SYSTEMS 2008年第12期56卷 1094-1101页

作者： Elmenreich, Wilfried Univ Klagenfurt Lakeside Labs Mobile Syst Grp Inst Networked & Embedded Syst Klagenfurt Austria

Measurements from sensors as they are used for robotic and map applications typically show behavior like degradation or discalibration over time, which affects the quality of the generated maps. This paper presents two novel algorithms for the generation of certainty grids dealing with this behavior. The first algorithm named Fault-Tolerant Certainty Grid (FTCG) performs voting over multiple sensor readings. This approach removes up to (n - 1)/2 faulty measurements for grid cells that are updated by n independent sensors, however it requires that each and cell is covered by at least three different independent sensors. The second algorithm named Robust Certainty Grid (RCG) uses a sensor validation method that detects abnormal sensor measurements and adjusts a confidence value for each sensor. This method also supports reintegration of recovered sensors from transient faults and sensor maintenance by providing a measurement for the operability of a sensor. The RCG algorithm works with at least three sensors with a partially overlapping sensing range and needs fewer sensor inputs and less memory than the FTCG approach. Results from simulation and an experimental evaluation on an autonomous mobile robot show that under the presence Of unreliable sensor data, both algorithms perform better than the Bayesian approach typically used for certainty grids. (C) 2008 Elsevier B.V. All rights reserved.

关键词： Autonomous robots Certainty grid sensor fusion

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Proceedings of SPIES: Multisensor, Multisource Information fusion: architectures, algorithms, and applications 2008

Proceedings of SPIES: Multisensor, Multisource Information F...

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Multisensor, Multisource Information fusion: architectures, algorithms, and applications 2008

ISBN: (纸本)9780819471659

The proceedings contain 26 papers. The topics discussed include: portable real-time color night vision;method for applying daytime colors to nighttime imagery in realtime;advances in image registration and fusion;further exploration of the object-image metric with image registration in mind;fusion of combined stereo and spectral series for obtaining 3D information;multi-class classification fusion using boosting for identifying steganography methods;comparing discrimination and CFA for selecting tracking features;real-time object-based image registration using multilayer perceptron;a heterogeneous sensor network simulation system with integrated terrain data for real-time target detection in 3D space;vehicle tracking in UAV video using multi-spectral spatiogram models;and the use of a multidimensional space for fusion candidate representation in a maritime domain awareness application.

关键词： Information fusion

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