On-demand fuzzy clustering and ant-colony optimisation based mobile data collection in wireless sensor network

In a wireless sensor network (WSN), sensor nodes collect data from the environment and transfer this data to an end user through multi-hop communication. This results in high energy dissipation of the devices. Thus, balancing of energy consumption is a major concern in such kind of network. Appropriate cluster head (CH) selection may provide to be an efficient way to reduce the energy dissipation and prolonging the network lifetime in WSN. This paper has adopted the concept of fuzzy if-then rules to choose the cluster head based on certain fuzzy descriptors. To optimise the fuzzy membership functions, Particle Swarm Optimisation (PSO) has been used to improve their ranges. Moreover, recent study has confirmed that the introduction of a mobile collector in a network which collects data through short-range communications also aids in high energy conservation. In this work, the network is divided into clusters and a mobile collector starts from the static sink or base station and moves through each of these clusters and collect data from the chosen cluster heads in a single-hop fashion. Mobility based on Ant-Colony Optimisation (ACO) has already proven to be an efficient method which is utilised in this work. Additionally, instead of performing clustering in every round, CH is selected on demand. The performance of the proposed algorithm has been compared with some existing clustering algorithms. Simulation results show that the proposed protocol is more energy-efficient and provides better packet delivery ratio as compared to the existing protocols for data collection obtained through Matlab Simulations

An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots

The remoteness and hazards that are inherent to the operating environments of space infrastructures promote their need for automated robotic inspection. In particular, micrometeoroid and orbital debris impact and structural fatigue are common sources of damage to spacecraft hulls. Vibration sensing has been used to detect structural damage in spacecraft hulls as well as in structural health monitoring practices in industry by deploying static sensors. In this paper, we propose using a swarm of miniaturized vibration-sensing mobile robots realizing a network of mobile sensors. We present a distributed inspection algorithm based on the bio-inspired particle swarm optimization and evolutionary algorithm niching techniques to deliver the task of enumeration and localization of an a priori unknown number of vibration sources on a simplified 2.5D spacecraft surface. Our algorithm is deployed on a swarm of simulated cm-scale wheeled robots. These are guided in their inspection task by sensing vibrations arising from failure points on the surface which are detected by on-board accelerometers. We study three performance metrics: (1) proximity of the localized sources to the ground truth locations, (2) time to localize each source, and (3) time to finish the inspection task given a 75% inspection coverage threshold. We find that our swarm is able to successfully localize the present so

Mobile Robots

The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations

Particle Swarm Optimization

Particle swarm optimization (PSO) is a population based stochastic optimization technique influenced by the social behavior of bird flocking or fish schooling.PSO shares many similarities with evolutionary computation techniques such as Genetic Algorithms (GA). The system is initialized with a population of random solutions and searches for optima by updating generations. However, unlike GA, PSO has no evolution operators such as crossover and mutation. In PSO, the potential solutions, called particles, fly through the problem space by following the current optimum particles. This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field