Context Aware Routing Management Architecture for Airborne Networks

This thesis advocates the use of Kalman filters in conjunction with network topology information derived from the Air Tasking Order (ATO) during the planning phase for military missions. This approach is the basis for an algorithm that implements network controls that optimize network performance for Mobile Ad hoc Networks (MANET). The trajectories of relevant nodes (airborne platforms) participating in the MANET can be forecasted by parsing key information contained in the ATO. This information is used to develop optimum network routes that can significantly improve MANET performance. Improved MANET performance in the battlefield enables decision makers to access information from several sensors that can summarize mission execution status real-time. In one simulated test case there was a 25% percent improvement of network throughput, and 23% reduction on dropped packets. Using this technique we can selectively preserve the Quality of Service (QoS) by establishing network controls that drops low priority packets when necessary. The algorithm improves the overall MANET throughput while minimizing the packets dropped due to network congestion

Learning and Control Applied to Demand Response and Electricity Distribution Networks

Balancing the supply and demand of electrical energy in real-time is a core task in power system operation. Traditionally, this balance has been achieved by controlling power plants, but increasing amounts of renewable energy generation increases the variability in generation and requires additional energy balancing capacity. An alternative to providing this additional capacity via power plants is to provide signals to loads that induce changes in their demand, which is referred to as demand response. There exists a large potential capacity for demand response using residential loads, but enabling these loads to participate in demand response requires communication and sensing capabilities. Thermostatically controlled loads (TCLs) are ubiquitous in residences and have inherent flexibility as they cycle on and off during normal operation. Coordinating on/off switching of TCL aggregations can provide energy balancing. However, TCLs are a spatially distributed resource that require sensing and communication infrastructure to enable demand response capabilities. A key to realizing cost effective residential demand response is minimizing infrastructure costs while maximizing the accuracy of the provided energy balancing, which results in increased revenue while improving reliability in the power system. The main contribution of this dissertation is to show that advanced algorithms can leverage existing infrastructure to make energy balancing with loads feasible in the near-term, which improves the reliability, economics, and environmental impact of the power grid. The dissertation first presents control algorithms, estimation algorithms, and models for residential demand response on fast timescales, i.e., on the order of seconds. Following this, the dissertation presents online learning algorithms for real-time feeder-level energy disaggregation within an electricity distribution network, which can be used to estimate the demand-responsive load in real-time. Methods for both topics are developed to operate within the capabilities of existing communication and sensing infrastructure, which reduces the implementation costs of the methods. Control and estimation algorithms are developed that address communication delays while taking into account realistic measurement availability. Results indicate that incorporating delay information into the algorithms can mitigate the effects of communication delays, allowing demand response providers to reduce infrastructure costs by using less expensive, lower quality communication networks. Additional work adapts three existing residential demand response models for a more detailed simulation environment, modifies each model to be more accurate in this environment, and benchmarks the model variations against each other. Results indicate that the model modifications produce more accurate predictions versus the unmodified models. Improving modeling accuracy can improve the reliability of the system and increase revenues for a demand response provider by improving the performance of model-based control and estimation algorithms. The energy disaggregation algorithms seek to separate the measured demand of a distribution feeder into components (e.g., the demand-responsive load and the remaining load) as feeder-level measurements become available. An online learning algorithm is adapted to perform real-time energy disaggregation using active power measurements of the total demand on the distribution feeder. Results indicate that the algorithm is able to effectively separate the air conditioning demand from the remaining demand connected to a distribution feeder. This algorithm is then extended to include reactive power, voltage, and smart meter measurements. Results indicate that the availability of additional real-time measurements leads to more accurate disaggregation of the demand components. Additional work in state estimation establishes connections between the online learning methods used and Kalman filtering algorithms.PHDElectrical Engineering: SystemsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/149905/1/gsledv_1.pd

Statistical and image processing techniques for remote sensing in agricultural monitoring and mapping

Throughout most of history, increasing agricultural production has been largely driven by expanded land use, and – especially in the 19th and 20th century – by technological innovation in breeding, genetics and agrochemistry as well as intensification through mechanization and industrialization. More recently, information technology, digitalization and automation have started to play a more significant role in achieving higher productivity with lower environmental impact and reduced use of resources. This includes two trends on opposite scales: precision farming applying detailed observations on sub-field level to support local management, and large-scale agricultural monitoring observing regional patterns in plant health and crop productivity to help manage macroeconomic and environmental trends. In both contexts, remote sensing imagery plays a crucial role that is growing due to decreasing costs and increasing accessibility of both data and means of processing and analysis. The large archives of free imagery with global coverage, can be expected to further increase adoption of remote sensing techniques in coming years. This thesis addresses multiple aspects of remote sensing in agriculture by presenting new techniques in three distinct research topics: (1) remote sensing data assimilation in dynamic crop models; (2) agricultural field boundary detection from remote sensing observations; and (3) contour extraction and field polygon creation from remote sensing imagery. These key objectives are achieved through combining methods of probability analysis, uncertainty quantification, evolutionary learning and swarm intelligence, graph theory, image processing, deep learning and feature extraction. Four new techniques have been developed. Firstly, a new data assimilation technique based on statistical distance metrics and probability distribution analysis to achieve a flexible representation of model- and measurement-related uncertainties. Secondly, a method for detecting boundaries of agricultural fields based on remote sensing observations designed to only rely on image-based information in multi-temporal imagery. Thirdly, an improved boundary detection approach based on deep learning techniques and a variety of image features. Fourthly, a new active contours method called Graph-based Growing Contours (GGC) that allows automatized extractionof complex boundary networks from imagery. The new approaches are tested and evaluated on multiple study areas in the states of Schleswig-Holstein, Niedersachsen and Sachsen-Anhalt, Germany, based on combine harvester measurements, cadastral data and manual mappings. All methods were designed with flexibility and applicability in mind. They proved to perform similarly or better than other existing methods and showed potential for large-scale application and their synergetic use. Thanks to low data requirements and flexible use of inputs, their application is neither constrained to the specific applications presented here nor the use of a specific type of sensor or imagery. This flexibility, in theory, enables their use even outside of the field of remote sensing.Landwirtschaftliche Produktivitätssteigerung wurde historisch hauptsächlich durch Erschließung neuer Anbauflächen und später, insbesondere im 19. und 20. Jahrhundert, durch technologische Innovation in Züchtung, Genetik und Agrarchemie sowie Intensivierung in Form von Mechanisierung und Industrialisierung erreicht. In jüngerer Vergangenheit spielen jedoch Informationstechnologie, Digitalisierung und Automatisierung zunehmend eine größere Rolle, um die Produktivität bei reduziertem Umwelteinfluss und Ressourcennutzung weiter zu steigern. Daraus folgen zwei entgegengesetzte Trends: Zum einen Precision Farming, das mithilfe von Detailbeobachtungen die lokale Feldarbeit unterstützt, und zum anderen großskalige landwirtschaftliche Beobachtung von Bestands- und Ertragsmustern zur Analyse makroökonomischer und ökologischer Trends. In beiden Fällen spielen Fernerkundungsdaten eine entscheidende Rolle und gewinnen dank sinkender Kosten und zunehmender Verfügbarkeit, sowohl der Daten als auch der Möglichkeiten zu ihrer Verarbeitung und Analyse, weiter an Bedeutung. Die Verfügbarkeit großer, freier Archive von globaler Abdeckung werden in den kommenden Jahren voraussichtlich zu einer zunehmenden Verwendung führen. Diese Dissertation behandelt mehrere Aspekte der Fernerkundungsanwendung in der Landwirtschaft und präsentiert neue Methoden zu drei Themenbereichen: (1) Assimilation von Fernerkundungsdaten in dynamischen Agrarmodellen; (2) Erkennung von landwirtschaftlichen Feldgrenzen auf Basis von Fernerkundungsbeobachtungen; und (3) Konturextraktion und Erstellung von Polygonen aus Fernerkundungsaufnahmen. Zur Bearbeitung dieser Zielsetzungen werden verschiedene Techniken aus der Wahrscheinlichkeitsanalyse, Unsicherheitsquantifizierung, dem evolutionären Lernen und der Schwarmintelligenz, der Graphentheorie, dem Bereich der Bildverarbeitung, Deep Learning und Feature-Extraktion kombiniert. Es werden vier neue Methoden vorgestellt. Erstens, eine neue Methode zur Datenassimilation basierend auf statistischen Distanzmaßen und Wahrscheinlichkeitsverteilungen zur flexiblen Abbildung von Modell- und Messungenauigkeiten. Zweitens, eine neue Technik zur Erkennung von Feldgrenzen, ausschließlich auf Basis von Bildinformationen aus multi-temporalen Fernerkundungsdaten. Drittens, eine verbesserte Feldgrenzenerkennung basierend auf Deep Learning Methoden und verschiedener Bildmerkmale. Viertens, eine neue Aktive Kontur Methode namens Graph-based Growing Contours (GGC), die es erlaubt, komplexe Netzwerke von Konturen aus Bildern zu extrahieren. Alle neuen Ansätze werden getestet und evaluiert anhand von Mähdreschermessungen, Katasterdaten und manuellen Kartierungen in verschiedenen Testregionen in den Bundesländern Schleswig-Holstein, Niedersachsen und Sachsen-Anhalt. Alle vorgestellten Methoden sind auf Flexibilität und Anwendbarkeit ausgelegt. Im Vergleich zu anderen Methoden zeigten sie vergleichbare oder bessere Ergebnisse und verdeutlichten das Potenzial zur großskaligen Anwendung sowie kombinierter Verwendung. Dank der geringen Anforderungen und der flexiblen Verwendung verschiedener Eingangsdaten ist die Nutzung nicht nur auf die hier beschriebenen Anwendungen oder bestimmte Sensoren und Bilddaten beschränkt. Diese Flexibilität erlaubt theoretisch eine breite Anwendung, auch außerhalb der Fernerkundung

Wireless indoor localisation within the 5G internet of radio light

This thesis was submitted for the award of Doctor of Philosophy and was awarded by Brunel University LondonNumerous applications can be enhanced by accurate and efficient indoor localisation using wireless sensor networks, however trade-offs often exist between these two parameters. In this thesis, realworld and simulation data is used to examine the hybrid millimeter wave and Visible Light Communications (VLC) architecture of the 5G Internet of Radio Light (IoRL) Horizon 2020 project. Consequently, relevant localisation challenges within Visible Light Positioning (VLP) and asynchronous sampling networks are identified, and more accurate and efficient solutions are developed. Currently, VLP relies strongly on the assumed Lambertian properties of light sources. However, in practice, not all lights are Lambertian. To support the widespread deployment of VLC technology in numerous environments, measurements from non-Lambertian sources are analysed to provide new insights into the limitations of existing VLP techniques. Subsequently, a novel VLP calibration technique is proposed, and results indicate a 59% accuracy improvement against existing methods. This solution enables high accuracy centimetre level VLP to be achieved with non- Lambertian sources. Asynchronous sampling of range-based measurements is known to impact localisation performance negatively. Various Asynchronous Sampling Localisation Techniques (ASLT) exist to mitigate these effects. While effective at improving positioning performance, the exact suitability of such solutions is not evident due to their additional processes, subsequent complexity, and increased costs. As such, extensive simulations are conducted to study the effectiveness of ASLT under variable sampling latencies, sensor measurement noise, and target trajectories. Findings highlight the computational demand of existing ASLT and motivate the development of a novel solution. The proposed Kalman Extrapolated Least Squares (KELS) method achieves optimal localisation performance with a significant energy reduction of over 50% when compared to current leading ASLT. The work in this thesis demonstrates both the capability for high performance VLP from non- Lambertian sources as well as the potential for energy efficient localisation for sequentially sampled range measurements.Horizon 202

Doctor of Philosophy

dissertationA safe and secure transportation system is critical to providing protection to those who employ it. Safety is being increasingly demanded within the transportation system and transportation facilities and services will need to adapt to change to provide it. This dissertation provides innovate methodologies to identify current shortcomings and provide theoretic frameworks for enhancing the safety and security of the transportation network. This dissertation is designed to provide multilevel enhanced safety and security within the transportation network by providing methodologies to identify, monitor, and control major hazards associated within the transportation network. The risks specifically addressed are: (1) enhancing nuclear materials sensor networks to better deter and interdict smugglers, (2) use game theory as an interdiction model to design better sensor networks and forensically track smugglers, (3) incorporate safety into regional transportation planning to provide decision-makers a basis for choosing safety design alternatives, and (4) use a simplified car-following model that can incorporate errors to predict situational-dependent safety effects of distracted driving in an ITS infrastructure to deploy live-saving countermeasures

Distributed adaptive signal processing for frequency estimation

It is widely recognised that future smart grids will heavily rely upon intelligent communication and signal processing as enabling technologies for their operation. Traditional tools for power system analysis, which have been built from a circuit theory perspective, are a good match for balanced system conditions. However, the unprecedented changes that are imposed by smart grid requirements, are pushing the limits of these old paradigms. To this end, we provide new signal processing perspectives to address some fundamental operations in power systems such as frequency estimation, regulation and fault detection. Firstly, motivated by our finding that any excursion from nominal power system conditions results in a degree of non-circularity in the measured variables, we cast the frequency estimation problem into a distributed estimation framework for noncircular complex random variables. Next, we derive the required next generation widely linear, frequency estimators which incorporate the so-called augmented data statistics and cater for the noncircularity and a widely linear nature of system functions. Uniquely, we also show that by virtue of augmented complex statistics, it is possible to treat frequency tracking and fault detection in a unified way. To address the ever shortening time-scales in future frequency regulation tasks, the developed distributed widely linear frequency estimators are equipped with the ability to compensate for the fewer available temporal voltage data by exploiting spatial diversity in wide area measurements. This contribution is further supported by new physically meaningful theoretical results on the statistical behavior of distributed adaptive filters. Our approach avoids the current restrictive assumptions routinely employed to simplify the analysis by making use of the collaborative learning strategies of distributed agents. The efficacy of the proposed distributed frequency estimators over standard strictly linear and stand-alone algorithms is illustrated in case studies over synthetic and real-world three-phase measurements. An overarching theme in this thesis is the elucidation of underlying commonalities between different methodologies employed in classical power engineering and signal processing. By revisiting fundamental power system ideas within the framework of augmented complex statistics, we provide a physically meaningful signal processing perspective of three-phase transforms and reveal their intimate connections with spatial discrete Fourier transform (DFT), optimal dimensionality reduction and frequency demodulation techniques. Moreover, under the widely linear framework, we also show that the two most widely used frequency estimators in the power grid are in fact special cases of frequency demodulation techniques. Finally, revisiting classic estimation problems in power engineering through the lens of non-circular complex estimation has made it possible to develop a new self-stabilising adaptive three-phase transformation which enables algorithms designed for balanced operating conditions to be straightforwardly implemented in a variety of real-world unbalanced operating conditions. This thesis therefore aims to help bridge the gap between signal processing and power communities by providing power system designers with advanced estimation algorithms and modern physically meaningful interpretations of key power engineering paradigms in order to match the dynamic and decentralised nature of the smart grid.Open Acces

A distributed architecture for unmanned aerial systems based on publish/subscribe messaging and simultaneous localisation and mapping (SLAM) testbed

A dissertation submitted in fulfilment for the degree of Master of Science. School of Computational and Applied Mathematics, University of the Witwatersrand, Johannesburg, South Africa, November 2017The increased capabilities and lower cost of Micro Aerial Vehicles (MAVs) unveil big opportunities for a rapidly growing number of civilian and commercial applications. Some missions require direct control using a receiver in a point-to-point connection, involving one or very few MAVs. An alternative class of mission is remotely controlled, with the control of the drone automated to a certain extent using mission planning software and autopilot systems. For most emerging missions, there is a need for more autonomous, cooperative control of MAVs, as well as more complex data processing from sensors like cameras and laser scanners. In the last decade, this has given rise to an extensive research from both academia and industry. This research direction applies robotics and computer vision concepts to Unmanned Aerial Systems (UASs). However, UASs are often designed for specific hardware and software, thus providing limited integration, interoperability and re-usability across different missions. In addition, there are numerous open issues related to UAS command, control and communication(C3), and multi-MAVs. We argue and elaborate throughout this dissertation that some of the recent standardbased publish/subscribe communication protocols can solve many of these challenges and meet the non-functional requirements of MAV robotics applications. This dissertation assesses the MQTT, DDS and TCPROS protocols in a distributed architecture of a UAS control system and Ground Control Station software. While TCPROS has been the leading robotics communication transport for ROS applications, MQTT and DDS are lightweight enough to be used for data exchange between distributed systems of aerial robots. Furthermore, MQTT and DDS are based on industry standards to foster communication interoperability of “things”. Both protocols have been extensively presented to address many of today’s needs related to networks based on the internet of things (IoT). For example, MQTT has been used to exchange data with space probes, whereas DDS was employed for aerospace defence and applications of smart cities. We designed and implemented a distributed UAS architecture based on each publish/subscribe protocol TCPROS, MQTT and DDS. The proposed communication systems were tested with a vision-based Simultaneous Localisation and Mapping (SLAM) system involving three Parrot AR Drone2 MAVs. Within the context of this study, MQTT and DDS messaging frameworks serve the purpose of abstracting UAS complexity and heterogeneity. Additionally, these protocols are expected to provide low-latency communication and scale up to meet the requirements of real-time remote sensing applications. The most important contribution of this work is the implementation of a complete distributed communication architecture for multi-MAVs. Furthermore, we assess the viability of this architecture and benchmark the performance of the protocols in relation to an autonomous quadcopter navigation testbed composed of a SLAM algorithm, an extended Kalman filter and a PID controller.XL201