Design and Comparison of LEACH and Improved Centralized LEACH in Wireless Sensor Network

A WSN consists of a setup of sensor nodes/motes which perceives the environment under monitoring, and transfer this information through wireless links to the Base Station (BS) or sink. The sensor nodes can be heterogeneous or homogeneous and can be mobile or stationary. The data gathered is forwarded through single/multiple hops to the BS/sink. In this paper, propose improvements to LEACH routing protocol to reduce energy consumption and extend network life. LEACH Distance Energy (LEACH-DE) not only selects the cluster head node by considering that the remaining energy of the node is greater than the average remaining energy level of the nodes in the network, but also selects the cluster head node parameters based on the geometric distance between the candidate node and the BS. The simulation results show that the algorithm proposed in this work is superior to LEACH and LEACH-C (Centralized) in terms of energy saving and extending the lifetime of wireless sensor networks

Scaling Up Delay Tolerant Networking

Delay Tolerant Networks (DTN) introduce a networking paradigm based on store, carry and forward. This makes DTN ideal for situations where nodes experience intermittent connectivity due to movement, less than ideal infrastructure, sparse networks or other challenging environmental conditions. Standardization efforts focused around the Bundle Protoocol (BP) (RFC 5050) aim to provide a generic set of protocols and technologies to build DTNs. However, there are several challenges when trying to apply the BP to the Internet as a whole that are tackled in this thesis: There is no DTN routing mechanism that can work in Internet-scale networks. Similarly, available discovery mechanisms for opportunistic contacts do not scale to the Internet. This work presents a solution offering pull-based name resolution that is able to represent the flat unstructured BP namespace in a distributed data structure and leaves routing through the Internet to the underlying IP layer. A second challenge is the large amount of data stored by DTN nodes in large-scale applications. Reconciling two large sets of data during an opportunistic contact without any previous state in a space efficient manner is a non-trivial problem. This thesis will present a very robust solution that is almost as efficient as Bloom filters while being able to avoid false positives that would prevent full reconciliation of the sets. Lastly, when designing networks that are based on agents willing to carry information, incentives are an important factor. This thesis proposes a financially sustainable system to incentive users to participate in a DTN with their private smartphones. A user study is conducted to get a lead on the main motivational factors that let people participate in a DTN. The study gives some insight under what conditions relying on continuous motivation and cooperation from private users is a reasonable assumption when designing a DTN.Delay Tolerant Networks (DTN) sind ein Konzept für Netzwerke, das auf der Idee beruht, Datenpakete bei Bedarf längere Zeit zu speichern und vor der Weiterleitung an einen anderen Knoten physikalisch zu transportieren. Diese Vorgehensweise erlaubt den Einsatz von DTN in Netzen, die häufige Unterbrechungen aufweisen. Mit dem Bundle Protocol (BP) (RFC 5050) wird ein Satz von Standardprotokollen für DTNs entwickelt. Wenn man das BP im Internet einsetzen möchte ergeben sich einige Herausforderungen: Es existiert kein DTN Routingverfahren, das skalierbar genug ist um im Internet eingesetzt zu werden. Das Gleiche trifft auf verfügbare Discovery Mechanismen für opportunistische Netze zu. In dieser Arbeit wird ein verteilter, reaktiver Mechanismus zur Namensauflösung im DTN vorgestellt, der den flachen, unstrukturierten Namensraum des BP abbilden kann und es ermöglicht das Routing komplett der IP Schicht zu überlassen. Eine weitere Herausforderung ist die große Menge an Nachrichten, die Knoten puffern müssen. Die effiziente Synchronisierung von zwei Datensets während eines opportunistischen Kontaktes, ohne Zustandsinformationen, ist ein komplexes Problem. Diese Arbeit schlägt einen robusten Algorithmus vor, der die Effizienz eines Bloom Filters hat, dabei jedoch die False Positives vermeidet, die normalerweise eine komplette Synchronisation verhindern würden. Ein DTN basiert darauf, dass Teilnehmer Daten puffern und transportieren. Wenn diese Teilnehmer z.B. private User mit Smarpthones sind, ist es essentiell diese Benutzer zu einer dauerhaften Teilnahme am Netzwerk zu motivieren. In dieser Arbeit wird ein finanziell tragfähiges System entwickelt, welches Benutzer für eine Teilnahme am DTN belohnt. Eine Benutzerstudie wurde durchgeführt, um herauszufinden, welche Faktoren Benutzer motivieren und unter welchen Umständen davon auszugehen ist, dass Benutzer wenn man das BP im Internet einsetzen möchte dauerhaft in einem DTN kooperieren und Resourcen zur Verfügung stellen

Recent Advances in Multi Robot Systems

To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). 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. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems