Localisation in wireless sensor networks for disaster recovery and rescuing in built environments

A thesis submitted to the University of Bedfordshire in partial fulfilment of the requirements for the degree of Doctor of PhilosophyProgress in micro-electromechanical systems (MEMS) and radio frequency (RF) technology has fostered the development of wireless sensor networks (WSNs). Different from traditional networks, WSNs are data-centric, self-configuring and self-healing. Although WSNs have been successfully applied in built environments (e.g. security and services in smart homes), their applications and benefits have not been fully explored in areas such as disaster recovery and rescuing. There are issues related to self-localisation as well as practical constraints to be taken into account. The current state-of-the art communication technologies used in disaster scenarios are challenged by various limitations (e.g. the uncertainty of RSS). Localisation in WSNs (location sensing) is a challenging problem, especially in disaster environments and there is a need for technological developments in order to cater to disaster conditions. This research seeks to design and develop novel localisation algorithms using WSNs to overcome the limitations in existing techniques. A novel probabilistic fuzzy logic based range-free localisation algorithm (PFRL) is devised to solve localisation problems for WSNs. Simulation results show that the proposed algorithm performs better than other range free localisation algorithms (namely DVhop localisation, Centroid localisation and Amorphous localisation) in terms of localisation accuracy by 15-30% with various numbers of anchors and degrees of radio propagation irregularity. In disaster scenarios, for example, if WSNs are applied to sense fire hazards in building, wireless sensor nodes will be equipped on different floors. To this end, PFRL has been extended to solve sensor localisation problems in 3D space. Computational results show that the 3D localisation algorithm provides better localisation accuracy when varying the system parameters with different communication/deployment models. PFRL is further developed by applying dynamic distance measurement updates among the moving sensors in a disaster environment. Simulation results indicate that the new method scales very well

A robot swarm assisting a human fire-fighter

Emergencies in industrial warehouses are a major concern for fire-fighters. The large dimensions, together with the development of dense smoke that drastically reduces visibility, represent major challenges. The GUARDIANS robot swarm is designed to assist fire-fighters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting fire-fighters. We explain the swarming algorithms that provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus, the robot swarm is able to provide guidance information to the humans. Together with the fire-fighters we explored how the robot swarm should feed information back to the human fire-fighter. We have designed and experimented with interfaces for presenting swarm-based information to human beings

AWARE: Platform for Autonomous self-deploying and operation of Wireless sensor-actuator networks cooperating with unmanned AeRial vehiclEs

This paper presents the AWARE platform that seeks to enable the cooperation of autonomous aerial vehicles with ground wireless sensor-actuator networks comprising both static and mobile nodes carried by vehicles or people. Particularly, the paper presents the middleware, the wireless sensor network, the node deployment by means of an autonomous helicopter, and the surveillance and tracking functionalities of the platform. Furthermore, the paper presents the first general experiments of the AWARE project that took place in March 2007 with the assistance of the Seville fire brigades

GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

GUARDIANS final report part 1 (draft): a robot swarm assisting a human fire fighter

Emergencies in industrial warehouses are a major concern for fire fighters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist re ghters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting re ghters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus the robot swarm is able to provide guidance information to the humans. Together with the fire fighters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Federated Sensor Network architectural design for the Internet of Things (IoT)

An information technology that can combine the physical world and virtual world is desired. The Internet of Things (IoT) is a concept system that uses Radio Frequency Identification (RFID), WSN and barcode scanners to sense and to detect physical objects and events. This information is shared with people on the Internet. With the announcement of the Smarter Planet concept by IBM, the problem of how to share this data was raised. However, the original design of WSN aims to provide environment monitoring and control within a small scale local network. It cannot meet the demands of the IoT because there is a lack of multi-connection functionality with other WSNs and upper level applications. As various standards of WSNs provide information for different purposes, a hybrid system that gives a complete answer by combining all of them could be promising for future IoT applications. This thesis is on the subject of `Federated Sensor Network' design and architectural development for the Internet of Things. A Federated Sensor Network (FSN) is a system that integrates WSNs and the Internet. Currently, methods of integrating WSNs and the Internet can follow one of three main directions: a Front-End Proxy solution, a Gateway solution or a TCP/IP Overlay solution. Architectures based on the ideas from all three directions are presented in this thesis; this forms a comprehensive body of research on possible Federated Sensor Network architecture designs. In addition, a fully compatible technology for the sensor network application, namely the Sensor Model Language (SensorML), has been reviewed and embedded into our FSN systems. The IoT as a new concept is also comprehensively described and the major technical issues discussed. Finally, a case study of the IoT in logistic management for emergency response is given. Proposed FSN architectures based on the Gateway solution are demonstrated through hardware implementation and lab tests. A demonstration of the 6LoWPAN enabled federated sensor network based on the TCP/IP Overlay solution presents a good result for the iNET localization and tracking project. All the tests of the designs have verified feasibility and achieve the target of the IoT concept

Internet of things for disaster management: state-of-the-art and prospects

Disastrous events are cordially involved with the momentum of nature. As such mishaps have been showing off own mastery, situations have gone beyond the control of human resistive mechanisms far ago. Fortunately, several technologies are in service to gain affirmative knowledge and analysis of a disaster's occurrence. Recently, Internet of Things (IoT) paradigm has opened a promising door toward catering of multitude problems related to agriculture, industry, security, and medicine due to its attractive features, such as heterogeneity, interoperability, light-weight, and flexibility. This paper surveys existing approaches to encounter the relevant issues with disasters, such as early warning, notification, data analytics, knowledge aggregation, remote monitoring, real-time analytics, and victim localization. Simultaneous interventions with IoT are also given utmost importance while presenting these facts. A comprehensive discussion on the state-of-the-art scenarios to handle disastrous events is presented. Furthermore, IoT-supported protocols and market-ready deployable products are summarized to address these issues. Finally, this survey highlights open challenges and research trends in IoT-enabled disaster management systems. © 2013 IEEE