1,240 research outputs found
Compressive Privacy for a Linear Dynamical System
We consider a linear dynamical system in which the state vector consists of
both public and private states. One or more sensors make measurements of the
state vector and sends information to a fusion center, which performs the final
state estimation. To achieve an optimal tradeoff between the utility of
estimating the public states and protection of the private states, the
measurements at each time step are linearly compressed into a lower dimensional
space. Under the centralized setting where all measurements are collected by a
single sensor, we propose an optimization problem and an algorithm to find the
best compression matrix. Under the decentralized setting where measurements are
made separately at multiple sensors, each sensor optimizes its own local
compression matrix. We propose methods to separate the overall optimization
problem into multiple sub-problems that can be solved locally at each sensor.
We consider the cases where there is no message exchange between the sensors;
and where each sensor takes turns to transmit messages to the other sensors.
Simulations and empirical experiments demonstrate the efficiency of our
proposed approach in allowing the fusion center to estimate the public states
with good accuracy while preventing it from estimating the private states
accurately
An objective based classification of aggregation techniques for wireless sensor networks
Wireless Sensor Networks have gained immense popularity in recent years due to their ever increasing capabilities and wide range of critical applications. A huge body of research efforts has been dedicated to find ways to utilize limited resources of these sensor nodes in an efficient manner. One of the common ways to minimize energy consumption has been aggregation of input data. We note that every aggregation technique has an improvement objective to achieve with respect to the output it produces. Each technique is designed to achieve some target e.g. reduce data size, minimize transmission energy, enhance accuracy etc. This paper presents a comprehensive survey of aggregation techniques that can be used in distributed manner to improve lifetime and energy conservation of wireless sensor networks. Main contribution of this work is proposal of a novel classification of such techniques based on the type of improvement they offer when applied to WSNs. Due to the existence of a myriad of definitions of aggregation, we first review the meaning of term aggregation that can be applied to WSN. The concept is then associated with the proposed classes. Each class of techniques is divided into a number of subclasses and a brief literature review of related work in WSN for each of these is also presented
Vision-Aided Navigation for GPS-Denied Environments Using Landmark Feature Identification
In recent years, unmanned autonomous vehicles have been used in diverse applications because of their multifaceted capabilities. In most cases, the navigation systems for these vehicles are dependent on Global Positioning System (GPS) technology. Many applications of interest, however, entail operations in environments in which GPS is intermittent or completely denied. These applications include operations in complex urban or indoor environments as well as missions in adversarial environments where GPS might be denied using jamming technology.
This thesis investigate the development of vision-aided navigation algorithms that utilize processed images from a monocular camera as an alternative to GPS. The vision-aided navigation approach explored in this thesis entails defining a set of inertial landmarks, the locations of which are known within the environment, and employing image processing algorithms to detect these landmarks in image frames collected from an onboard monocular camera. These vision-based landmark measurements effectively serve as surrogate GPS measurements that can be incorporated into a navigation filter. Several image processing algorithms were considered for landmark detection and this thesis focuses in particular on two approaches: the continuous adaptive mean shift (CAMSHIFT) algorithm and the adaptable compressive (ADCOM) tracking algorithm. These algorithms are discussed in detail and applied for the detection and tracking of landmarks in monocular camera images. Navigation filters are then designed that employ sensor fusion of accelerometer and rate gyro data from an inertial measurement unit (IMU) with vision-based measurements of the centroids of one or more landmarks in the scene. These filters are tested in simulated navigation scenarios subject to varying levels of sensor and measurement noise and varying number of landmarks. Finally, conclusions and recommendations are provided regarding the implementation of this vision-aided navigation approach for autonomous vehicle navigation systems
Compressive Diffusion Strategies Over Distributed Networks for Reduced Communication Load
We study the compressive diffusion strategies over distributed networks based
on the diffusion implementation and adaptive extraction of the information from
the compressed diffusion data. We demonstrate that one can achieve a comparable
performance with the full information exchange configurations, even if the
diffused information is compressed into a scalar or a single bit. To this end,
we provide a complete performance analysis for the compressive diffusion
strategies. We analyze the transient, steady-state and tracking performance of
the configurations in which the diffused data is compressed into a scalar or a
single-bit. We propose a new adaptive combination method improving the
convergence performance of the compressive diffusion strategies further. In the
new method, we introduce one more freedom-of-dimension in the combination
matrix and adapt it by using the conventional mixture approach in order to
enhance the convergence performance for any possible combination rule used for
the full diffusion configuration. We demonstrate that our theoretical analysis
closely follow the ensemble averaged results in our simulations. We provide
numerical examples showing the improved convergence performance with the new
adaptive combination method.Comment: Submitted to IEEE Transactions on Signal Processin
Dynamic Underwater Glider Network for Environmental Field Estimation
A coordinated dynamic sensor network of autonomous underwater gliders to estimate three-dimensional time-varying environmental fields is proposed and tested. Integration with a network of surface relay nodes and asynchronous consensus are used to distribute local information and achieve the global field estimate. Field spatial sparsity is considered, and field samples are acquired by compressive sensing devices. Tests on simulated and real data demonstrate the feasibility of the approach with relative error performance within 10
Structure Learning in Coupled Dynamical Systems and Dynamic Causal Modelling
Identifying a coupled dynamical system out of many plausible candidates, each
of which could serve as the underlying generator of some observed measurements,
is a profoundly ill posed problem that commonly arises when modelling real
world phenomena. In this review, we detail a set of statistical procedures for
inferring the structure of nonlinear coupled dynamical systems (structure
learning), which has proved useful in neuroscience research. A key focus here
is the comparison of competing models of (ie, hypotheses about) network
architectures and implicit coupling functions in terms of their Bayesian model
evidence. These methods are collectively referred to as dynamical casual
modelling (DCM). We focus on a relatively new approach that is proving
remarkably useful; namely, Bayesian model reduction (BMR), which enables rapid
evaluation and comparison of models that differ in their network architecture.
We illustrate the usefulness of these techniques through modelling
neurovascular coupling (cellular pathways linking neuronal and vascular
systems), whose function is an active focus of research in neurobiology and the
imaging of coupled neuronal systems
Recent Developments in Video Surveillance
With surveillance cameras installed everywhere and continuously streaming thousands of hours of video, how can that huge amount of data be analyzed or even be useful? Is it possible to search those countless hours of videos for subjects or events of interest? Shouldn’t the presence of a car stopped at a railroad crossing trigger an alarm system to prevent a potential accident? In the chapters selected for this book, experts in video surveillance provide answers to these questions and other interesting problems, skillfully blending research experience with practical real life applications. Academic researchers will find a reliable compilation of relevant literature in addition to pointers to current advances in the field. Industry practitioners will find useful hints about state-of-the-art applications. The book also provides directions for open problems where further advances can be pursued
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