On Heterogeneous Neighbor Discovery in Wireless Sensor Networks

Neighbor discovery plays a crucial role in the formation of wireless sensor networks and mobile networks where the power of sensors (or mobile devices) is constrained. Due to the difficulty of clock synchronization, many asynchronous protocols based on wake-up scheduling have been developed over the years in order to enable timely neighbor discovery between neighboring sensors while saving energy. However, existing protocols are not fine-grained enough to support all heterogeneous battery duty cycles, which can lead to a more rapid deterioration of long-term battery health for those without support. Existing research can be broadly divided into two categories according to their neighbor-discovery techniques---the quorum based protocols and the co-primality based protocols.In this paper, we propose two neighbor discovery protocols, called Hedis and Todis, that optimize the duty cycle granularity of quorum and co-primality based protocols respectively, by enabling the finest-grained control of heterogeneous duty cycles. We compare the two optimal protocols via analytical and simulation results, which show that although the optimal co-primality based protocol (Todis) is simpler in its design, the optimal quorum based protocol (Hedis) has a better performance since it has a lower relative error rate and smaller discovery delay, while still allowing the sensor nodes to wake up at a more infrequent rate.Comment: Accepted by IEEE INFOCOM 201

REPUTATION COMPUTATION IN SOCIAL NETWORKS AND ITS APPLICATIONS

This thesis focuses on a quantification of reputation and presents models which compute reputation within networked environments. Reputation manifests past behaviors of users and helps others to predict behaviors of users and therefore reduce risks in future interactions. There are two approaches in computing reputation on networks- namely, the macro-level approach and the micro-level approach. A macro-level assumes that there exists a computing entity outside of a given network who can observe the entire network including degree distributions and relationships among nodes. In a micro-level approach, the entity is one of the nodes in a network and therefore can only observe the information local to itself, such as its own neighbors behaviors. In particular, we study reputation computation algorithms in online distributed environments such as social networks and develop reputation computation algorithms to address limitations of existing models. We analyze and discuss some properties of reputation values of a large number of agents including power-law distribution and their diffusion property. Computing reputation of another within a network requires knowledge of degrees of its neighbors. We develop an algorithm for estimating degrees of each neighbor. The algorithm considers observations associated with neighbors as a Bernoulli trial and repeatedly estimate degrees of neighbors as a new observation occurs. We experimentally show that the algorithm can compute the degrees of neighbors more accurately than a simple counting of observations. Finally, we design a bayesian reputation game where reputation is used as payoffs. The game theoretic view of reputation computation reflects another level of reality in which all agents are rational in sharing reputation information of others. An interesting behavior of agents within such a game theoretic environment is that cooperation- i.e., sharing true reputation information- emerges without an explicit punishment mechanism nor a direct reward mechanisms

Locomotion training of legged robots using hybrid machine learning techniques

In this study artificial neural networks and fuzzy logic are used to control the jumping behavior of a three-link uniped robot. The biped locomotion control problem is an increment of the uniped locomotion control. Study of legged locomotion dynamics indicates that a hierarchical controller is required to control the behavior of a legged robot. A structured control strategy is suggested which includes navigator, motion planner, biped coordinator and uniped controllers. A three-link uniped robot simulation is developed to be used as the plant. Neurocontrollers were trained both online and offline. In the case of on-line training, a reinforcement learning technique was used to train the neurocontroller to make the robot jump to a specified height. After several hundred iterations of training, the plant output achieved an accuracy of 7.4%. However, when jump distance and body angular momentum were also included in the control objectives, training time became impractically long. In the case of off-line training, a three-layered backpropagation (BP) network was first used with three inputs, three outputs and 15 to 40 hidden nodes. Pre-generated data were presented to the network with a learning rate as low as 0.003 in order to reach convergence. The low learning rate required for convergence resulted in a very slow training process which took weeks to learn 460 examples. After training, performance of the neurocontroller was rather poor. Consequently, the BP network was replaced by a Cerebeller Model Articulation Controller (CMAC) network. Subsequent experiments described in this document show that the CMAC network is more suitable to the solution of uniped locomotion control problems in terms of both learning efficiency and performance. A new approach is introduced in this report, viz., a self-organizing multiagent cerebeller model for fuzzy-neural control of uniped locomotion is suggested to improve training efficiency. This is currently being evaluated for a possible patent by NASA, Johnson Space Center. An alternative modular approach is also developed which uses separate controllers for each stage of the running stride. A self-organizing fuzzy-neural controller controls the height, distance and angular momentum of the stride. A CMAC-based controller controls the movement of the leg from the time the foot leaves the ground to the time of landing. Because the leg joints are controlled at each time step during flight, movement is smooth and obstacles can be avoided. Initial results indicate that this approach can yield fast, accurate results