Cyclic Cellular Automata on Networks and Cohomological Waves

A dynamic coverage problem for sensor networks that are sufficiently dense but not localized is considered. By maintaining only a small fraction of sensors on at any time, we are aimed to find a decentralized protocol for establishing dynamic, sweeping barriers of awake-state sensors. Network cyclic cellular automata is used to generate waves. By rigorously analyzing network-based cyclic cellular automata in the context of a system of narrow hallways, it shows that waves of awake-state nodes turn corners and automatically solve pusuit/evasion-type problems without centralized coordination. As a corollary of this work, we unearth some interesting topological interpretations of features previously observed in cyclic cellular automata (CCA). By considering CCA over networks and completing to simplicial complexes, we induce dynamics on the higher-dimensional complex. In this setting, waves are seen to be generated by topological defects with a nontrivial degree (or winding number). The simplicial complex has the topological type of the underlying map of the workspace (a subset of the plane), and the resulting waves can be classified cohomologically. This allows one to program pulses in the sensor network according to cohomology class. We give a realization theorem for such pulse waves

Motivation dynamics for autonomous composition of navigation tasks

We physically demonstrate a reactive sensorimotor architecture for mobile robots whose behaviors are generated by motivation dynamics. Motivation dynamics uses a continuous dynamical system to reactively compose low-level control vector fields using valuation functions which capture the potentially competing influences of external stimuli relative to the system\u27s own internal state. We show that motivation dynamics 1) naturally accommodates external stimuli through standard signal processing tools, and 2) can effectively encode a repetitive higher-level task by composing several low-level controllers to achieve a limit cycle in which the robot repeatedly navigates towards two alternatively valuable goal locations in a commensurately alternating order. We show that these behaviors are robust to perturbations including imperfect models of robot kinematics, sensor noise, and disturbances resulting from the need to traverse difficult terrain. We argue that motivation dynamics can provide a useful alternative to controllers based on hybrid automata in situations where the control operates at a low level close to the physical hardware. For more information: Kod*la

The design and implementation of fuzzy query processing on sensor networks

Sensor nodes and Wireless Sensor Networks (WSN) enable observation of the physical world in unprecedented levels of granularity. A growing number of environmental monitoring applications are being designed to leverage data collection features of WSN, increasing the need for efficient data management techniques and for comparative analysis of various data management techniques. My research leverages aspects of fuzzy database, specifically fuzzy data representation and fuzzy or flexible queries to improve upon the efficiency of existing data management techniques by exploiting the inherent uncertainty of the data collected by WSN. Herein I present my research contributions. I provide classification of WSN middleware to illustrate varying approaches to data management for WSN and identify a need to better handle the uncertainty inherent in data collected from physical environments and to take advantage of the imprecision of the data to increase the efficiency of WSN by requiring less information be transmitted to adequately answer queries posed by WSN monitoring applications. In this dissertation, I present a novel approach to querying WSN, in which semantic knowledge about sensor attributes is represented as fuzzy terms. I present an enhanced simulation environment that supports more flexible and realistic analysis by using cellular automata models to separately model the deployed WSN and the underlying physical environment. Simulation experiments are used to evaluate my fuzzy query approach for environmental monitoring applications. My analysis shows that using fuzzy queries improves upon other data management techniques by reducing the amount of data that needs to be collected to accurately satisfy application requests. This reduction in data transmission results in increased battery life within sensors, an important measure of cost and performance for WSN applications

A novel low-cost autonomous 3D LIDAR system

Thesis (M.S.) University of Alaska Fairbanks, 2018To aid in humanity's efforts to colonize alien worlds, NASA's Robotic Mining Competition pits universities against one another to design autonomous mining robots that can extract the materials necessary for producing oxygen, water, fuel, and infrastructure. To mine autonomously on the uneven terrain, the robot must be able to produce a 3D map of its surroundings and navigate around obstacles. However, sensors that can be used for 3D mapping are typically expensive, have high computational requirements, and/or are designed primarily for indoor use. This thesis describes the creation of a novel low-cost 3D mapping system utilizing a pair of rotating LIDAR sensors, attached to a mobile testing platform. Also, the use of this system for 3D obstacle detection and navigation is shown. Finally, the use of deep learning to improve the scanning efficiency of the sensors is investigated.Chapter 1. Introduction -- 1.1. Purpose -- 1.2. 3D sensors -- 1.2.1. Cameras -- 1.2.2. RGB-D Cameras -- 1.2.3. LIDAR -- 1.3. Overview of Work and Contributions -- 1.4. Multi-LIDAR and Rotating LIDAR Systems -- 1.5. Thesis Organization. Chapter 2. Hardware -- 2.1. Overview -- 2.2. Components -- 2.2.1. Revo Laser Distance Sensor -- 2.2.2. Dynamixel AX-12A Smart Serial Servo -- 2.2.3. Bosch BNO055 Inertial Measurement Unit -- 2.2.4. STM32F767ZI Microcontroller and LIDAR Interface Boards -- 2.2.5. Create 2 Programmable Mobile Robotic Platform -- 2.2.6. Acer C720 Chromebook and Genius Webcam -- 2.3. System Assembly -- 2.3.1. 3D LIDAR Module -- 2.3.2. Full Assembly. Chapter 3. Software -- 3.1. Robot Operating System -- 3.2. Frames of Reference -- 3.3. System Overview -- 3.4. Microcontroller Firmware -- 3.5. PC-Side Point Cloud Fusion -- 3.6. Localization System -- 3.6.1. Fusion of Wheel Odometry and IMU Data -- 3.6.2. ArUco Marker Localization -- 3.6.3. ROS Navigation Stack: Overview & Configuration -- 3.6.3.1. Costmaps -- 3.6.3.2. Path Planners. Chapter 4. System Performance -- 4.1. VS-LIDAR Characteristics -- 4.2. Odometry Tests -- 4.3. Stochastic Scan Dithering -- 4.4. Obstacle Detection Test -- 4.5. Navigation Tests -- 4.6. Detection of Black Obstacles -- 4.7. Performance in Sunlit Environments -- 4.8. Distance Measurement Comparison. Chapter 5. Case Study: Adaptive Scan Dithering -- 5.1. Introduction -- 5.2. Adaptive Scan Dithering Process Overview -- 5.3. Coverage Metrics -- 5.4. Reward Function -- 5.5. Network Configuration -- 5.6. Performance and Remarks. Chapter 6. Conclusions and Future Work -- 6.1. Conclusions -- 6.2. Future Work -- 6.3. Lessons Learned -- References

Real-time auditing of domotic robotic cleaners

Domotic Robotic Cleaners are autonomous devices that are designed to operate almost entirely unattended. In this paper we propose a system that aims to evaluate the performance of such devices by analysis of their trails. This concept of trails is central to our approach, and it encompasses the traditional notion of a path followed by a robot between arbitrary numbers of points in a physical space. We enrich trails with context-specific metadata, such as proximity to landmarks, frequency of visitation, duration, etc. We then process the trail data collected by the robots, we store it an appropriate data structure and derive useful statistical information from the raw data. The usefulness of the derived information is twofold: it can primarily be used to audit the performance of the robotic cleaner –for example, to give an accurate indication of how well a space is covered (cleaned). And secondarily information can be analyzed in real-time to affect the behavior of specific robots – for example to notify a robot that specific areas have not been adequately covered. Towards our first goal, we have developed and evaluated a prototype of our system that uses a particular commercially available robotic cleaner. Our implementation deploys adhoc wireless local networking capability available through a surrogate device mounted onto this commodity robot; the device senses relative proximity to a grid of RFID tags attached to the floor. We report on the performance of this system in experiments conducted in a laboratory environment, which highlight the advantages and limitations of our approach