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Percolation theory-based exposure-path prevention for wireless sensor networks coverage in internet of things

IEEE Sensors Journal 2013年第10期13卷 3625-3636页

作者： Liu, Liang Zhang, Xi Ma, Huadong Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia Beijing University of Posts and Telecommunications Beijing 100876 China Networking and Information Systems Laboratory Department of Electrical and Computer Engineering Texas AandM University College Station TX 77843 United States

Deriving the critical density to achieve region coverage for random sensor deployment is a fundamentally important problem in the area of Internet of Things (IoT). Most of the existing works on sensor coverage mainly concentrate on the full coverage models, which ensure that all points in the deployment region are covered at the expense of high complexity and cost. In contrast, many applications of IoT focus on the exposure-path prevention, which does not require full coverage sensor deployment, and instead it only needs the partial coverage, because the exposure paths are prevented as long as no moving objects or phenomena can go through a deployment region without being detected. Finally, we focus on the partial coverage by applying the percolation theory to solve the exposure path problem for the network of sensors in IoT. Most of the existing percolation-based schemes apply the continuum-percolation theory, which, however, suffers from the loose lower and upper bounds on the critical density. To overcome this problem, we propose a bond-percolation theory based scheme by mapping the exposure path problem into a bond percolation model. Using this model, we derive the critical densities for both omnidirectional sensor networks and directional sensor networks under random sensor deployment where sensors are deployed according to a two-dimensional Poisson process. The rigorous modeling/analyses and extensive simulations show that our proposed scheme can yield much tighter upper and lower bounds on the critical densities as compared with those generated by continuum-percolation. © 2001-2012 IEEE.

关键词： Wireless sensor networks

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20th International Conference on Language Processing and intelligent Information systems, IIS 2013

作者： Stratogiannis, Georgios Siolas, Georgios Stafylopatis, Andreas Department of Electrical and Computer Engineering Intelligent Systems Laboratory National Technical University of Athens Zografou Campus Iroon Polytexneiou 9 15780 Zografou Greece

ISBN: (数字)9783642386343

ISBN: (纸本)9783642386336

We present a system that performs Related Entity Finding, that is, Question Answering that exploits Semantic Information from the WWW and returns URIs as answers. Our system uses a search engine to gather all candidate answer entities and then a linear combination of Information Retrieval measures to choose the most relevant. For each one we look up its Wikipedia page and construct a novel vector representation based on the tokenization of the Wikipedia category names. This novel representation gives our system the ability to compute a measure of semantic relatedness between entities, even if the entities do not share any common category. We use this property to perform a semantic clustering of the candidate entities and show that the biggest cluster contains entities that are closely related semantically and can be considered as answers to the query. Performance measured on 20 topics from the 2009 TREC Related Entity Finding task shows competitive results. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Search engines

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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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2013 IEEE Congress on Evolutionary Computation, CEC 2013

作者： Couceiro, Micael S. Rocha, Rui P. Ferreira, Nuno M. F. Vargas, Patricia A. Institute of Systems and Robotics University of Coimbra Coimbra Portugal RoboCorp Department of Electrical Engineering Engineering Institute of Coimbra Coimbra Portugal Robotics Laboratory School of Mathematical and Computer Science Heriot-Watt University Edinburgh United Kingdom

ISBN: (纸本)9781479904549

The Robotic Darwinian Particle Swarm Optimization (RDPSO) recently introduced in the literature has the ability to dynamically partition the whole population of robots based on simple 'punish-reward' rules. Although this evolutionary algorithm enables the reduction of the amount of required information exchange among robots, a further analysis on the communication complexity of the RDPSO needs to be carried out so as to evaluate its scalability. This paper analyses the architecture of the RDPSO communication system, thus describing the dynamics of the communication data packet structure shared between teammates. Moreover, a set of simple communication rules is also proposed in order to reduce the communication overhead within swarms of robots. Experimental results with teams of 15 real robots show that the proposed methodology reduces the communication overhead, thus improving the scalability and applicability of the RDPSO algorithm. © 2013 IEEE.

关键词： Swarm intelligence

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Experimental Testing of a Traction Control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on Control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction Control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Path planning for localization of an RF source by multiple UAVs on the Crammer-Rao Lower Bound

Path planning for localization of an RF source by multiple U...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Mohammad Saberi Tavakkoli Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

This paper presents a path planning approach of several UAVs for Radio Frequency (RF) source localization in None Line Of Sight (NLOS) propagation condition using the Received Signal Strength Indication (RSSI). The paths are planned such that the lower bound of standard deviation of localization error, which is equivalent to the Cramer-Rao Lower Bound (CRLB) of the estimation, minimized at any time. Due to the complexity of Jacobin calculation to perform global CRLB optimization, the local values of CRLBs in the current waypoint and next probable waypoints are used in the steepest decent approach to determine the best path. Furthermore, the complexity is reduced by discretizing the space for UAVs to make the computation feasible. The effect of NLOS propagation on the RSSI measurements is simulated by a log-normal distribution and the last estimation of radio source location is used to calculate the local CRLBs. The proposed approach has been simulated and compared with the basic bio-inspired approach of going toward the sensed direction of the source. The result shows better performance than the basic approach.

关键词： Jacobian matrices Noise

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A multi-step Gaussian filtering approach to reduce the effect of non-Gaussian distribution in aerial localization of an RF source in NLOS condition

A multi-step Gaussian filtering approach to reduce the effec...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

The hybrid localization using Angle of Arrival (AOA) and Received Strength Signal Indicator (RSSI) of an RF source, such as a cell phone in a search and rescue mission, with unknown power and None Line Of Sight (NLOS) condition have been proven to be advantageous compared to using each method separately. The hybrid approach has been proposed to benefit from both RSSI and AOA measurements. In this paper, the initial hybrid method, which was implemented using particle filters due to the multi-modal/non-Gaussian nature of localization in NLOS condition, has been replaced by a multi-step Gaussian filtering approach which provides nearly similar accuracy with better performance. The proposed method has been implemented using extended Kalman filter and Unscented Kalman filter. The simulation results show that the multi-step Gaussian filtering is comparable to particle filter in all cases with better performance. For further evaluation, the effects of uncertainty in the propagation parameters have been studied to show the robustness of each filter to these uncertainties.

关键词： Shadow mapping Atmospheric measurements Particle measurements Scattering Measurement uncertainty Particle filters Equations

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Pedestrian detection based on LIDAR-driven sliding window and relational parts-based detection

Pedestrian detection based on LIDAR-driven sliding window an...

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IEEE Symposium on intelligent Vehicle

作者： Luciano Oliveira Urbano Nunes Intelligent Vision Research Laboratory Federal University Bahia Brazil Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

The most standard image object detectors are usually comprised of one or multiple feature extractors or classifiers within a sliding window framework. Nevertheless, this type of approach has demonstrated a very limited performance under datasets of cluttered scenes and real life situations. To tackle these issues, LIDAR space is exploited here in order to detect 2D objects in 3D space, avoiding all the inherent problems of regular sliding window techniques. Additionally, we propose a relational parts-based pedestrian detection in a probabilistic non-iid framework. With the proposed framework, we have achieved state-of-the-art performance in a pedestrian dataset gathered in a challenging urban scenario. The proposed system demonstrated superior performance in comparison with pure sliding-window-based image detectors.

关键词： Detectors Laser radar Feature extraction Support vector machines Training Probabilistic logic Vectors

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Cooperative AUV motion planning using terrain information

Cooperative AUV motion planning using terrain information

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OCEANS 2013 MTS/IEEE Bergen: The Challenges of the Northern Dimension

作者： Hausler, Andreas J. Saccon, Alessandro Pascoal, Antonio M. Hauser, John Aguiar, A. Pedro Laboratory of Robotics and Systems in Science and Engineering Instituto Superior Técnico Lisbon Portugal Department of Mechanical Engineering Eindhoven University of Technology Netherlands Electrical Computer and Energy Engineering Department University of Colorado at Boulder Colorado United States Faculdade de Engenharia University of Porto Portugal

ISBN: (纸本)9781479900015

There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle as well as the environmental conditions and lend themselves to seamless integration with control and navigation systems. The latter connection is for the most part eschewed in the literature, in spite of the obvious fact that in order for the vehicles to execute the planned motions they must at a later stage navigate with great accuracy and follow the trajectories using control algorithms that take explicitly into account the dynamical constraints of the vehicles involved. Among the methods available for underwater vehicle navigation, terrain-based techniques have recently come to the fore. These techniques avoid the use of overly expensive inertial-like motion sensor units and hold considerable promise for the development of a new breed of affordable long range navigation systems. Motivated by these considerations, we tackle in the present paper the problem of multiple vehicle motion planning by taking explicitly into consideration inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, acoustic communication constraints, and the maximization of terrain information along the vehicle paths (as measured by some appropriate criterion) for terrain-based navigation purposes. © 2013 IEEE.

关键词： Motion planning

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Corrections to “Percolation Theory-Based Exposure-Path Prevention for Wireless Sensor Networks Coverage in Internet of Things” [Oct 13 3625-3636]

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IEEE Sensors Journal 2014年第3期14卷 926-926页

作者： Liang Liu Xi Zhang Huadong Ma Beijing University of Posts and Telecommunications Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia Beijing China Department of Electrical and Computer Engineering Networking and Information Systems Laboratory College Station TX USA

In the above paper (ibid., vol. 13, no. 10, pp. 3625-3636, Oct. 2013), Fig. 15 is incorrect. The correct Fig. 15 is presented here.

关键词： Wireless sensor networks Internet Stochastic processes

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An analysis of regression models for predicting the speed of a wave glider autonomous surface vehicle

An analysis of regression models for predicting the speed of...

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2013 Australasian Conference on robotics and Automation, ACRA 2013

作者： Ngo, Phillip Al-Sabban, Wesam Thomas, Jesse Anderson, Will Das, Jnashewar Smith, Ryan N. Electrical Engineering and Computer Science Queensland University of Technology BrisbaneQLD Australia Liquid Robotics Inc. Sunnyvale SunnyvaleCA United States Robotics Embedded Systems Laboratory University of Southern California Los AngelesCA United States Physics and Engineering Department Fort Lewis College DurangoCO United States

ISBN: (纸本)9780980740448

An important aspect of robotic path planning for is ensuring that the vehicle is in the best location to collect the data necessary for the problem at hand. Given that features of in- terest are dynamic and move with oceanic cur- rents, vehicle speed is an important factor in any planning exercises to ensure vehicles are at the right place at the right time. Here, we examine different Gaussian process models to find a suitable predictive kinematic model that enable the speed of an underactuated, au- tonomous surface vehicle to be accurately pre- dicted given a set of input environmental pa-rameters.

关键词： Motion planning

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