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Bio-inspired sensor swarms to detect leaks in pressurized systems

Bio-inspired sensor swarms to detect leaks in pressurized sy...

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ieee international conference on systems, Man and Cybernetics

作者： J.W. Fronczek N.R. Prasad Chemical Engineering Department New Mexico State University Las Cruces NM USA The Rio Grande Institute for Soft Computing Klipsch School of Electrical and Computer Engineering New Mexico State University Las Cruces NM USA

Revolutionary technologies for quickly locating and repairing leaks in the pressurized environment of the international Space Station are a critical NASA need. Leaks caused by the malfunction of on-board vacuum systems, or leaks caused by impact with space debris pose very serious safety concerns that must be dealt with rapidly and effectively. The detection of a pressure drop by any one of several primary cabin pressure sensors distributed throughout the pressurized environment release a swarm of highly sensitive pressure sensors in the vicinity of pressure change. sensors shaped for navigating in microgravity environments compute the air-flow direction and are swept along a decreasing pressure gradient towards the leak. Self-organizing abilities enable the sensor swarm to follow the pressure gradient and quickly detect and plug the leak source. A sensor swarm is a novel bio-inspired technology to detect and fix leaks in any pressurized containment in microgravity environments.

关键词： Biosensors Leak detection Space technology international Space Station NASA Vacuum systems Space debris Safety Navigation Plugs

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SHARP: a new approach to relative localization in wireless sensor networks

SHARP: a new approach to relative localization in wireless s...

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international conference on distributed computing systems Workshop

作者： A.A. Ahmed H. Shi Y. Shang Department of Computer Science University of Missouri Columbia Columbia MO USA

For wireless sensor networks, localization is crucial due to the dynamic nature of deployment. In relative localization, nodes use the distance measurements to estimate their positions relative to some coordinate system. In absolute localization, a few nodes (called anchors) need to know their absolute positions, and all the other nodes are absolutely localized in the coordinate system of the anchors. Relative and absolute localization methods differ in both the performance and the cost. We present a new approach to relative localization that we refer to as: simple hybrid absolute-relative positioning (SHARP). In SHARP, a relative localization method (M1) is used to relatively localize N/sub r/ reference nodes. Then, an absolute localization method (M2) uses these N/sub r/ nodes as anchors to localize the rest of the nodes. Choosing N/sub r/, M1, and M2 gives a wide range of performance-cost tuning. We have done extensive simulation using the multidimensional scaling (MDS) method as M1 and the ad-hoc positioning system (APS) method as M2. While previous research shows that MDS gives better localization results than APS, our simulation shows that SHARP outperforms MDS if both the localization error and the cost are considered.

关键词： Intelligent networks Wireless sensor networks Costs sensor phenomena and characterization Distance measurement Multidimensional systems Computer science Instruments Micromechanical devices Microelectromechanical systems

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Geographical cluster based routing in sensing-covered networks

Geographical cluster based routing in sensing-covered networ...

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international conference on distributed computing systems Workshop

作者： H. Frey D. Gorgen System Software and Distributed Systems University of Trier Germany

The relationship between coverage and connectivity in sensor networks has been investigated in recent research treating both network parameters in a unified framework. It is known that networks covering a convex area are connected if the communication range of each node is at least twice a unique sensing range used by each node. Furthermore, geographic greedy routing is a viable and effective approach providing guaranteed delivery for this special network class. In this work we show that the result about network connectivity does not suffer from generalizing the concept of sensing coverage to arbitrary network deployment regions. However, dropping the assumption that the monitored area is convex requires the application of greedy recovery strategies like traversing a locally extracted planar subgraph. A recently proposed variant performs message forwarding along edges of a virtual overlay graph instead of using wireless links for planar graph construction directly. However, there exist connected network configurations where this routing variant may fail. In this work we proof a theoretical bound which is a sufficient condition for guaranteed delivery of this routing strategy applied in sensing covered networks. By simulation results we show that this bound may also be relaxed from a practical point of view and that geographical cluster based routing achieves a comparable performance compared to other planar graph routing variants based on two-hop neighbor information.

关键词： Routing Intelligent networks Wireless sensor networks Ad hoc networks Wireless communication Monitoring Euclidean distance System software sensor systems Sufficient conditions

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A sensor based tracking system using witnesses

A sensor based tracking system using witnesses

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international conference on distributed computing systems Workshop

作者： J.-H. Huang Shivakant Mishra Department of Computer Science University of Colorado Boulder CO USA

Search and rescue of people in emergency situations, e.g. lost hikers, stranded climbers, or injured skiers has been difficult due to lack of information about their location at various times. Current location and tracking systems require a connected network via satellites, GSM base stations, or mobile devices. This requirement severely limits their applicability, particularly in remote wilderness areas where maintaining a connected network is very difficult. This paper proposes a new tracking system called Cenwits that is based on sensors that use RF for communication and emit beacons from time to time. When two sensors are in the range of one another, they record the presence of each other and exchange the information they recorded earlier. A sensor dumps all its information to an access point, whenever it is in the range of one. Important advantages of Cenwits include a loosely-coupled system that does not require network connectivity, power efficiency, and low cost. A preliminary prototype of Cenwits is being built using Berkley Mica2 Motes. The paper reports results from this preliminary prototype.

关键词： Transmitters Satellites GSM Base stations Radio frequency Prototypes Global Positioning System Costs Wearable sensors Computer science

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System Design and Dynamic Walking of Humanoid Robot KHR-2

System Design and Dynamic Walking of Humanoid Robot KHR-2

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ieee international conference on Robotics and Automation (ICRA)

作者： Jung-Yup Kim Ill-Woo Park Jungho Lee Min-Su Kim Baek-kyu Cho Jun-Ho Oh Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

In this paper, we describe the mechanical design, system integration and dynamic walking of the humanoid, KHR-2 (KAIST Humanoid Robot– 2). KHR-2 has 41 DOFs in total, that allows it to imitate various human-like motions. To control all joint axes effectively, the distributed control architecture is used, which reduces computation burden on the main controller, and allows convenient system. A servo motor controller was used as the sub-controller, whereas a 3-axis force/torque sensor and an inertia sensor were used in the sensory system. The main controller attached on the back of KHR-2 communicates with the sub-controllers in real-time through CAN (Controller Area Network) protocol. Windows XP was used as the operation system, whereas RTX HAL extension commercial software was used to realize the real-time control capability in Windows environment. We define the walking pattern and describe several online controllers in each stage. Some of the experimental results of KHR-2 are also presented.

关键词： Legged locomotion Humanoid robots Control systems sensor systems distributed control Computer architecture distributed computing Servomechanisms Servomotors Force control

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A framework for fault tolerance in distributed real time systems

A framework for fault tolerance in distributed real time sys...

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international conference on Emerging Technologies, ICET

作者： S. Malik M.J. Rehman Center for Software Dependability Faculty of Engineering & Sciences Mohammad Ali Jinnah University Islamabad Pakistan

Real time systems have a characteristic that they should be fault tolerant. In this paper, a fault tolerance mechanism for real time systems is proposed. first a model is discussed which is a modification of distributed recovery block and is based on distributed computing. Then a model is proposed which is based on distributed computing along with feed forward artificial neural network methodology. The proposed technique is based on execution of design diverse variants on replicated hardware, and assigning weights to the results produced by variants. Thus the proposed method encompasses both the forward and backward recovery mechanism, but main focus is on forward recovery.

关键词： Fault tolerant systems Real time systems Forward contracts Fault tolerance Redundancy Feeds Artificial neural networks distributed computing Hardware Safety

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Enhancing Source-Location Privacy in sensor Network Routing

Enhancing Source-Location Privacy in Sensor Network Routing

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international conference on distributed computing systems

作者： P. Kamat Yanyong Zhang W. Trappe C. Ozturk Wireless Information Network Laboratory (WINLAB) Rutgers University Piscataway NJ USA

One of the most notable challenges threatening the successful deployment of sensor systems is privacy. Although many privacy-related issues can be addressed by security mechanisms, one sensor network privacy issue that cannot be adequately addressed by network security is source-location privacy. Adversaries may use RF localization techniques to perform hop-by-hop traceback to the source sensor's location. This paper provides a formal model for the source-location privacy problem in sensor networks and examines the privacy characteristics of different sensor routing protocols. We examine two popular classes of routing protocols: the class of flooding protocols, and the class of routing protocols involving only a single path from the source to the sink. While investigating the privacy performance of routing protocols, we considered the tradeoffs between location-privacy and energy consumption. We found that most of the current protocols cannot provide efficient source-location privacy while maintaining desirable system performance. In order to provide efficient and private sensor communications, we devised new techniques to enhance source-location privacy that augment these routing protocols. One of our strategies, a technique we have called phantom routing, has proven flexible and capable of protecting the source's location, while not incurring a noticeable increase in energy overhead. Further, we examined the effect of source mobility on location privacy. We showed that, even with the natural privacy amplification resulting from source mobility, our phantom routing techniques yield improved source-location privacy relative to other routing methods

关键词： Privacy Routing protocols sensor phenomena and characterization Imaging phantoms sensor systems Radio frequency Floods Energy consumption System performance Protection

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Generalized group testing for retrieving distributed information

Generalized group testing for retrieving distributed informa...

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international conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Yao-Win Hong A. Scaglione School of Electrical and Computer Engineering Cornell University USA

The goal of group testing is to efficiently classify the state of a set of distributed agents through a sequence of tests by imposing each test simultaneously upon groups of agents. In this work, we describe the concept of group testing in a generalized framework and propose to apply this concept to solve the scheduling and multiple access problem in a large scale wireless sensor network. Since the standard approach is to dedicate a single channel to each sensor, we discuss the efficiency of group testing by comparing it to the case where each sensor is tested individually. Through the sequence of tests, the group testing strategy successively refines the observation space of the set of sensors and eventually identifies the status of each sensor when the space is refined to only one element. We show that the successive refinement property of group testing (similar to that of arithmetic coding) plays an important role in its performance. Based on this concept, we provide insight into choosing optimal group testing strategies for general applications.

关键词： Testing Information retrieval Blood Large-scale systems Wireless networks Aggregates Algorithm design and analysis distributed computing Electronic mail Wireless sensor networks

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Efficiently Managing Context Information for Large-Scale Scenarios

Efficiently Managing Context Information for Large-Scale Sce...

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ieee international conference on Pervasive computing and Communications (PerCom)

作者： M. Grossmann M. Bauer N. Honle U.-P. Kappeler D. Nicklas T. Schwarz Institute of Parallel and Distributed Systems University of Stuttgart Stuttgart Germany

In this paper, we address the data management aspect of large-scale pervasive computing systems. We aim at building an infrastructure that simultaneously supports many kinds of context-aware applications, ranging from room level up to nation level. This all-embracing approach gives rise to synergetic benefits like data reuse and sensor sharing. We identify major classes of context data and detail on their characteristics relevant for efficiently managing large amounts of it. Based on that, we argue that for large-scale systems it is beneficial to have special-purpose servers that are optimized for managing a certain class of context data. In the Nexus project we have implemented five servers for different classes of context data and a very flexible federation middleware integrating all these servers. For each of them, we highlight in which way the requirements of the targeted class of data are tackled and discuss our experiences

关键词： Information management Large-scale systems Pervasive computing Middleware Network servers sensor phenomena and characterization Image sensors Context modeling Office automation Cities and towns

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NCS testbed for ambient intelligence

NCS testbed for ambient intelligence

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ieee international conference on systems, Man and Cybernetics

作者： O. Gabel L. Litz M. Reif Institute of Automatic Control University of Kaiserslautern Kaiserslautern Germany

Ambient intelligence (AmI) aims to make the environment of human beings more intelligent and sensitive in order to enhance the quality of life. In AmI systems a large number of sensors, actuators and controllers are distributed on low power and low performance nodes communicating via wireless ad-hoc networks. These systems build a special class of networked control systems (NCS), where many constraints exist such as limited bandwidth. In order to develop control algorithms under AmI constraints, a testbed is required which takes them into account. first, this paper presents a simulation environment that offers a library of NCS blocks. Thus, the constraints can be considered and integrated in the design process. Second, it describes a real process, an inverted pendulum, which is automated based on Mica nodes. These nodes were designed especially for AmI purposes. This real NCS serves as a challenging benchmark for proving the AmI suitability of the controllers.

关键词： Testing Ambient intelligence Intelligent sensors Wireless sensor networks Humans Intelligent actuators sensor systems distributed control Control systems Wireless communication

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