Target localization and autonomous navigation using wireless sensor networks -a pseudogradient algorithm approach

pre-printAutonomous mobile robots (AMRs) operating in unknown environments face twin challenges: 1) localization and 2) efficient directed navigation. This paper describes a two-tiered approach to solving these challenges: 1) by developing novel wireless-sensor-network (WSN)-based localization methods and 2) by using WSN-AMR interaction for navigation. The goal is to have an AMR travel from any point within a WSN-covered region to an identified target location without the aid of global sensing and position information. In this research, the target is reached as follows: 1) by producing a magnitude distribution within the WSN region that has a target-directed pseudogradient (PG) and 2) by having the WSN efficiently navigate the AMRs using the PG. This approach utilizes only the topology of the network and the received signal strength (RSS) among the sensor nodes to create the PG. This research shows that, even in the absence of global positioning information, AMRs can successfully navigate toward a target location using only the RSS in their local neighborhood to compute an optimal path. The utility of the proposed scheme is proved through extensive simulation and hardware experiments

Air quality mapping and visualisation: An affordable solution based on a vehicle-mounted sensor network

This paper describes a prototype of the ExpoLIS system, which aims at: (1) informing citizens regarding the air quality of their surroundings and how to cope with it (e.g., choosing commuting routes according to a health model); and (2) gathering dense spatiotemporal air quality data to support the empirical work of environmental experts. The system is composed of: (1) an affordable and custom vehicle-mounted sensor network for air quality monitoring; (2) a server to store, process, and map all gathered geo-referenced sensory data; and (3) a set of user-centred visualisation and prediction services tailored for citizens and environmental experts. Experimental validation of each component of the proposed system shows that the current prototype is capable of tracking spatiotemporal air quality changes and of providing users with access to these events via a set of interfaces. The results show evidence of a strong correlation in static situations (R2 of 0.96 for PM2.5) between the proposed low-cost all-weather system and a high-cost equipment with no weather protection. The results also show a weaker correlation (R2 of 0.57 for PM2.5), but still satisfactory, in dynamic settings. In short, this paper presents experimental evidence that supports the claim that the ExpoLIS system is feasible and valuable to both citizens and environmental scientists.info:eu-repo/semantics/publishedVersio

Quantifying Potential Energy Efficiency Gain in Green Cellular Wireless Networks

Conventional cellular wireless networks were designed with the purpose of providing high throughput for the user and high capacity for the service provider, without any provisions of energy efficiency. As a result, these networks have an enormous Carbon footprint. In this paper, we describe the sources of the inefficiencies in such networks. First we present results of the studies on how much Carbon footprint such networks generate. We also discuss how much more mobile traffic is expected to increase so that this Carbon footprint will even increase tremendously more. We then discuss specific sources of inefficiency and potential sources of improvement at the physical layer as well as at higher layers of the communication protocol hierarchy. In particular, considering that most of the energy inefficiency in cellular wireless networks is at the base stations, we discuss multi-tier networks and point to the potential of exploiting mobility patterns in order to use base station energy judiciously. We then investigate potential methods to reduce this inefficiency and quantify their individual contributions. By a consideration of the combination of all potential gains, we conclude that an improvement in energy consumption in cellular wireless networks by two orders of magnitude, or even more, is possible.Comment: arXiv admin note: text overlap with arXiv:1210.843

Enabling Parallel Wireless Communication in Mobile Robot Teams

Wireless inter-robot communication enables robot teams to cooperatively solve complex problems that cannot be addressed by a single robot. Applications for cooperative robot teams include search and rescue, exploration and surveillance. Communication is one of the most important components in future autonomous robot systems and is essential for core functions such as inter-robot coordination, neighbour discovery and cooperative control algorithms. In environments where communication infrastructure does not exist, decentralised multi-hop networks can be constructed using only the radios on-board each robot. These are known as wireless mesh networks (WMNs). However existing WMNs have limited capacity to support even small robot teams. There is a need for WMNs where links act like dedicated point-to-point connections such as in wired networks. Addressing this problem requires a fundamentally new approach to WMN construction and this thesis is the first comprehensive study in the multi-robot literature to address these challenges. In this thesis, we propose a new class of communication systems called zero mutual interference (ZMI) networks that are able to emulate the point-to-point properties of a wired network over a WMN implementation. We instantiate the ZMI network using a multi-radio multi-channel architecture that autonomously adapts its topology and channel allocations such that all network edges communicate at the full capacity of the radio hardware. We implement the ZMI network on a 100-radio testbed with up to 20-individual nodes and verify its theoretical properties. Mobile robot experiments also demonstrate these properties are practically achievable. The results are an encouraging indication that the ZMI network approach can facilitate the communication demands of large cooperative robot teams deployed in practical problems such as data pipe-lining, decentralised optimisation, decentralised data fusion and sensor networks

Progress on the Development of Future Airport Surface Wireless Communications Network

Continuing advances in airport surface management and improvements in airport surface safety are required to enable future growth in air traffic throughout the airspace, as airport arrival and departure delays create a major system bottleneck. These airport management and safety advances will be built upon improved communications, navigation, surveillance, and weather sensing, creating an information environment supporting system automation. The efficient movement of the digital data generated from these systems requires an underlying communications network infrastructure to connect data sources with the intended users with the required quality of service. Current airport surface communications consists primarily of buried copper or fiber cable. Safety related communications with mobile airport surface assets occurs over 25 kHz VHF voice and data channels. The available VHF spectrum, already congested in many areas, will be insufficient to support future data traffic requirements. Therefore, a broadband wireless airport surface communications network is considered a requirement for the future airport component of the air transportation system. Progress has been made on defining the technology and frequency spectrum for the airport surface wireless communications network. The development of a test and demonstration facility and the definition of required testing and standards development are now underway. This paper will review the progress and planned future work

Expanding Navigation Systems by Integrating It with Advanced Technologies

Navigation systems provide the optimized route from one location to another. It is mainly assisted by external technologies such as Global Positioning System (GPS) and satellite-based radio navigation systems. GPS has many advantages such as high accuracy, available anywhere, reliable, and self-calibrated. However, GPS is limited to outdoor operations. The practice of combining different sources of data to improve the overall outcome is commonly used in various domains. GIS is already integrated with GPS to provide the visualization and realization aspects of a given location. Internet of things (IoT) is a growing domain, where embedded sensors are connected to the Internet and so IoT improves existing navigation systems and expands its capabilities. This chapter proposes a framework based on the integration of GPS, GIS, IoT, and mobile communications to provide a comprehensive and accurate navigation solution. In the next section, we outline the limitations of GPS, and then we describe the integration of GIS, smartphones, and GPS to enable its use in mobile applications. For the rest of this chapter, we introduce various navigation implementations using alternate technologies integrated with GPS or operated as standalone devices

Reconfigurable Intelligent Surfaces in Challenging Environments: Underwater, Underground, Industrial and Disaster

Reconfigurable intelligent surfaces (RISs) have been introduced to improve the signal propagation characteristics by focusing the signal power in the preferred direction, thus making the communication environment "smart". The typical use cases and applications for the "smart" environment include beyond 5G communication networks, smart cities, etc. The main advantage of employing RISs in such networks is a more efficient exploitation of spatial degrees of freedom. This advantage manifests in better interference mitigation as well as increased spectral and energy efficiency due to passive beam steering. Challenging environments comprise a range of scenarios, which share the fact that it is extremely difficult to establish a communication link using conventional technology due to many impairments typically associated with the propagation medium and increased signal scattering. Although the challenges for the design of communication networks, and specifically the Internet of Things (IoT), in such environments are known, there is no common enabler or solution for all these applications. Interestingly, the use of RISs in such scenarios can become such an enabler and a game changer technology. Surprisingly, the benefits of RIS for wireless networking in underwater and underground medium as well as in industrial and disaster environments have not been addressed yet. In this paper, we aim at filling this gap by discussing potential use cases, deployment strategies and design aspects for RIS devices in underwater IoT, underground IoT as well as Industry 4.0 and emergency networks. In addition, novel research challenges to be addressed in this context are described.Comment: 16 pages, 13 figures, submitted for publication in IEEE journa