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A robot-walk-based collaborative algorithm for target tracking in ad hoc sensor networks

A robot-walk-based collaborative algorithm for target tracki...

引用

ieee international conference on Networks

作者： J.F. Myoupo I. Sow LaRIA. CNRS FRE 2733 Université de Picardie Jules-Verne Amiens France

Recent advances in processor, memory and radio technology have enabled cheap nodes capable of sensing, communication and processing. Networks of distributed micro sensors are rapidly emerging as a feasible solution to a wide range of data gathering applications. This work develops a framework for using a wireless ad hoc network of distributed sensors for detection and tracking of moving objects. Each sensor can monitor a wide variety of ambient conditions in other to detect the presence of target. We first propose algorithms which can lead a mobile sensor (or mobile sensors) to reach the exact position of the object which is not moving. We generalize this approach for target tracking using collaborative sensors.

关键词： Robot sensing systems Collaboration Target tracking Intelligent networks Peer to peer computing Wireless sensor networks Intelligent sensors Mobile ad hoc networks Object detection Condition monitoring

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Hard Real Time Communication Using the CANIOP Protocol

Hard Real Time Communication Using the CANIOP Protocol

引用

ieee Region 10 international conference TENCON

作者： Tarek Guesmi Salem Hasnaoui Laboratoire SYSCOM Ecole Nationale ďIngénieurs de Tunis (ENIT) Tunis Tunisia

distributed computer control in complex embedded systems oversees diverse electronic control units connecting hundreds or thousands of analogue and digital sensors and actuators. These systems are also called today sensors networks. In an emrging class of open distributed real time and embedded (DRE) systems with stringent but dynamic QoS requirements, there is a need to propagate QoS parameters and enforce task QoS requirements across multiple endsystems in a way that is simultaneously efficient and adaptable. Consequently, this paper presents an inter-ORB protocol, which makes efficient use of the advantages of controller area network (CAN) and maps the CAN priorities to a band of CORBA priorities. Our definition of this protocol is bound closely to the features of RT-CORBA, the OMG data acquisition from industrial systems(DAIS) RFP and the CAN bus, well known as a real-time underlying network . We give the criteria of the definition of the priority field and show how prioritization of messages over the physical CAN network can be achieved, when adopting the use of RT-CORBA scheduling service which implements a dynamic scheduling policy.

关键词： Protocols Communication system control Control systems sensor systems Real time systems Dynamic scheduling Analog computers distributed computing Embedded computing distributed control

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Bio-inspired sensor swarms to detect leaks in pressurized systems

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

引用

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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TinyLIME: bridging mobile and sensor networks through middleware

TinyLIME: bridging mobile and sensor networks through middle...

引用

ieee international conference on Pervasive computing and Communications (PerCom)

作者： C. Curino M. Giani M. Giorgetta A. Giusti A.L. Murphy G.P. Picco Dipartimento di Elettronica e Informazione Politecnico di Milano Italy Department of Informatics University of Lugano Switzerland

In the rapidly developing field of sensor networks, bridging the gap between the applications and the hardware presents a major challenge. Although middleware is one solution, it must be specialized to the qualities of sensor networks, especially energy consumption. The work presented here provides two contributions: a new operational setting for sensor networks and a middleware for easing software development in this setting. The operational setting we target removes the usual assumption of a central collection point for sensor data. Instead the sensors are sparsely distributed in an environment, not necessarily able to communicate among themselves, and a set of clients move through space accessing the data of sensors nearby, yielding a system which naturally provides context relevant information to client applications. We further assume the clients are wirelessly networked and share locally accessed data. This scenario is relevant, for example, when relief workers access the information in their zone and share this information with other workers. Our second contribution, the middleware itself is an extension of LlME, our earlier work on middleware for mobile ad hoc networks. The model makes sensor data available through a tuple space interface, providing the illusion of shared memory between applications and sensors. This paper presents both the model and the implementation of our middleware incorporated with the Crossbow Mote sensor platform.

关键词： Middleware Application software Hardware sensor systems and applications Mobile ad hoc networks Wireless sensor networks Military computing Routing Pervasive computing Informatics

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System Design and Dynamic Walking of Humanoid Robot KHR-2

System Design and Dynamic Walking of Humanoid Robot KHR-2

引用

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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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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Modelling mobile health systems: an application of augmented MDA for the extended healthcare enterprise

Modelling mobile health systems: an application of augmented...

引用

international conference on Enterprise distributed Object computing (EDOC)

作者： V. Jones A. Rensink E. Brinksma Department of Electrical Engineering Mathematics and Computer Science University of Twente Netherlands

Mobile health systems can extend the enterprise computing system of the healthcare provider by bringing services to the patient any time and anywhere. We propose a model-driven design and development methodology for the development of the m-health components in such extended enterprise computing systems. The methodology applies a model-driven design and development approach augmented with formal validation and verification to address quality and correctness and to support model transformation. Work on modelling applications from the healthcare domain is reported. One objective of this work is to explore and elaborate the proposed methodology. At the University of Twente we are developing m-health systems based on body area networks (BANs). One specialization of the generic BAN is the health BAN, which incorporates a set of devices and associated software components to provide some set of health-related services. A patient has a personalized instance of the health BAN customized to their current set of needs. A health professional interacts with their patients' BANs via a BAN professional system. The set of deployed BANs are supported by a server. We refer to this distributed system as the BAN System. The BAN system extends the enterprise computing system of the healthcare provider. Development of such systems requires a sound software engineering approach and this is what we explore with the new methodology. The methodology is illustrated with reference to modelling activities targeted at real implementations. In the context of the awareness project BAN implementations are tested in a number of clinical settings including epilepsy management and management of chronic pain.

关键词： Medical services Body sensor networks Project management Mobile computing Design methodology Body area networks Software engineering Context awareness Testing Epilepsy

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An efficient placement and routing technique for fault-tolerant distributed embedded computing

An efficient placement and routing technique for fault-toler...

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ieee international conference on Embedded and Real-Time computing systems and Applications (RTCSA)

作者： R. Jafari F. Dabiri M. Sarrafzadeh Computer Science Department University of California Los Angeles CA USA

This paper presents an efficient technique for placement and routing of sensors/actuators and processing units in a grid network. The driver application that we present is a medical jacket which requires an extremely high level of robustness and fault tolerance. The power consumption of such jacket is another key technological constraint. Our proposed interconnection network is a mesh of wires. A jacket made of fabric and wires would be susceptible to accidental damage via tears. By modeling the tears, we evaluate the probability of having failures on every segment of wires in our mesh interconnection network. Then we study two problems of placement and routing in the sensor networks such that the fault tolerance is maximized while the power consumption is minimized. We develop efficient integer linear programming (ILP) formulations to address these problems and perform both placement and routing simultaneously. This ensures that the solution is a lower bound for both problems. We evaluate the effectiveness of our proposed techniques on a variety of benchmarks.

关键词： Routing Fault tolerance Embedded computing Wires Energy consumption Multiprocessor interconnection networks Actuators Robustness Fabrics Integer linear programming

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distributed Architectures and Implementations of Observer Based Controllers for Performance Optimization

Distributed Architectures and Implementations of Observer Ba...

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ieee international Symposium on Intelligent Control (ISIC)

作者： V. Yadav P.G. Voulgaris M.V. Salapaka Department of Electrical and Computer Engineering Iowa State University Ames IA USA Department of AeroSpace Engineering Coordinated Science Laboratory University of Illinois Urbana-Champaign Urbana-Champaign IL USA

In this paper we address the problem of synthesizing controllers that have to be implemented distributively and have structure. The effect of sub-controller to sub-controller communication noise on stability and performance is considered. Using an observer based controller parameterization, we provide suitable stabilizing sub-controller architectures that directly take into account the effect of communication noise on performance. In particular, the overall performance optimization can be cast as a convex problem in the Youla-Kucera parameter Q. Similar results hold for banded controller structures, i.e., when there is also a delay in the subsystem to subsystem communication

关键词： Optimization Communication system control distributed computing Delay Control systems Computer architecture Aerospace control Stability sensor systems Actuators

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A Bus Level SystemC Model for Evaluation of Avionics Mission System Data Bus

A Bus Level SystemC Model for Evaluation of Avionics Mission...

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ieee Region 10 international conference TENCON

作者： Rajavadivel Chinna Pichappan S. M. Aziz School of Electrical and Information Engineering University of South Australia Mawson Lakes Australia

This paper presents a bus level SystemC model of an avionics mission system data bus. The mission system is a very complex distributed computer network consisting of mission control computer, radars, an array of subsystems and sensors. The data bus plays a central role in the system as it carries all the information between the system components. Therefore modeling the bus at an appropriate level of abstraction using appropriate technology is very important for evaluation of the performance of both the bus and the entire system. We explore the benefits of using SystemC in modeling such a critical data bus. The developed model has been validated for various payloads and system size. The enhanced features of SystemC makes the model more efficient in some respect compared to models developed using conventional hardware description languages.

关键词： Aerospace electronics sensor arrays Computer networks Control systems distributed computing Radar sensor systems Appropriate technology Payloads Hardware design languages

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