Towards Augmenting Federated Wireless Sensor Networks

AbstractEnvironmental Monitoring (EM) has witnessed significant improvements in recent years due to the great utility of Wireless Sensor Networks (WSNs). Nevertheless, due to harsh operational conditions in such applications, WSNs often suffer large scale damage in which nodes fail concurrently and the network gets partitioned into disjoint sectors. Thus, reestablishing connectivity between the sectors, via their remaining functional nodes, is of utmost importance in EM; especially in forestry. In this regard, considerable work has been proposed in the literature tackling this problem by deploying Relay Nodes (RNs) aimed at re-establishing connectivity. Although finding the minimum relay count and positions is NP-Hard, efficient heuristic approaches have been anticipated. However, the majority of these approaches ignore the surrounding environment characteristics and the infinite 3-Dimensional (3-D) search space which significantly degrades network performance in practice. Therefore, we propose a 3-D grid-based deployment for relay nodes in which the relays are efficiently placed on grid vertices. We present a novel approach, named FADI, based on a minimum spanning tree construction to re-connect the disjointed WSN sectors. The performance of the proposed approach is validated and assessed through extensive simulations, and comparisons with two main stream approaches are presented. Our protocol outperforms the related work in terms of the average relay node count and distribution, the scalability of the federated WSNs in large scale applications, and the robustness of the topologies formed

Autonomous discovery and repair of damage in Wireless Sensor Networks

Wireless Sensor Networks in volatile environments may suffer damage, and connectivity must be restored. The repairing agent must discover surviving nodes and damage to the physical and radio environment as it moves around the sensor field to execute the repair. We compare two approaches, one which re-generates a full plan whenever it discovers new knowledge, and a second which attempts to minimise the required number of new radio nodes. We apply each approach with two different heuristics, one which attempts to minimise the cost of new radio nodes, and one which aims to minimise the travel distance. We conduct extensive simulation-based experiments, varying key parameters, including the level of damage suffered, and comparing directly with the published state-of-the-art. We quantify the relative performance of the different algorithms in achieving their objectives, and also measure the execution times to assess the impact on being able to make autonomous decisions in reasonable time

Estimation of the Concentration from a Moving Gaseous Source in the Atmosphere Using a Guided Sensing Aerial Vehicle

The estimation of the gas concentration (process-state) associated with a stationary or moving source using a sensing aerial vehicle (SAV) is considered. The dispersion from such a gaseous source into the ambient atmosphere is representative of an accidental or deliberate release of chemicals, or a release of gases from biological systems. Estimation of the concentration field provides a superior ability for source localization, assessment of possible adverse impacts, and eventual containment. The abstract and finite-dimensional approximation framework presented couples theoretical estimation and control with computational fluid dynamics methods. The gas dispersion (process) model is based on the advection-diffusion equation with variable eddy diffusivities and ambient winds. Cases are considered for a 2D and 3D domain. The state estimator is a modified Luenberger observer with a €�collocated€� filter gain that is parameterized by the position of the SAV. The process-state (concentration) estimator is based on a 2D and 3D adaptive, multigrid, multi-step finite-volume method. The grid is adapted with local refinement and coarsening during the process-state estimation in order to improve accuracy and efficiency. The motion dynamics of the SAV are incorporated into the spatial process and the SAV€™s guidance is directly linked to the performance of the state estimator. The computational model and the state estimator are coupled in the sense that grid-refinement is affected by the SAV repositioning, and the guidance laws of the SAV are affected by grid-refinement. Extensive numerical experiments serve to demonstrate the effectiveness of the coupled approach

Maintaining network connectivity and performance in robot teams

In this paper, we present an experimental study of strategies for maintaining end-to-end communication links for tasks such as surveillance, reconnaissance, and target search and identification, where team connectivity is required for situational awareness. Our main contributions are three fold: (a) We present the construction of a radio signal strength map that can be used to plan multi-robot tasks and also serve as useful perceptual information. We show how a nominal model of an urban environment obtained by aerial surveillance is used to generate strategies for exploration. (b) We present reactive controllers for communication link maintenance; and (c) we consider the differences between monitoring signal strength versus data throughput. Experimental results, obtained using our multi-robot testbed in three representative urban environments, are presented with each of our main contributions

Development of an autonomous mobile robot with planning and location in a structured environment

Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáWith the advance of technology mobile robots have been increasingly applied in the industry, performing repetitive work with high performance, and in environments that pose risks to human health. The present work plans and develops a mobile robot platform for the micromouse competition. The micromouse consists of a small autonomous mobile robot that, when placed in an unknown labyrinth, is able to map it, search for the best path between the starting point and the goal and travel it in the shortest possible time. To accomplish these tasks, the robot must be able to self-locate, map the maze as it traverses it and plan paths based on the map obtained. The developed self-localization method is based on the odometry, the laser sensors present in the robot and on a previous knowledge of the start point and the configuration of the environment. Several methodologies of locomotion in unknown environment and route planning are analyzed in order to obtain the combination with the best performance. In order to verify the results, the present work is developed in real environment, in 3D simulation and also with a hardware in the loop capability. Labyrinths from previous competitions are used as basis for comparing methodologies and validating results. At the end it presents the algorithm capable of fulfilling all the requirements of the micromouse competition together with the results of its evaluation run.Com o avanço da tecnologia, os robôs móveis têm sido cada vez mais aplicados na indústria, realizando trabalhos repetitivos com alto desempenho e em ambientes que expõem riscos à saúde humana. O presente trabalho planeja e desenvolve um robô móvel para a competição micromouse. O micromouse consiste em um pequeno robô autônomo que, ao ser colocado em um labirinto desconhecido, é capaz de mapeá-lo, procurar o melhor caminho entre o ponto de partida e o objetivo, e percorrê-lo no menor tempo possível. Para realizar estas tarefas, o robô deve ser capaz de se auto-localizar, mapear o labirinto enquanto o percorre e planejar caminhos com base no mapa obtido. O método de auto-localização desenvolvido baseia-se na odometria, nos sensores a laser presentes no robô e em um prévio conhecimento do ponto de início e da configuração do ambiente. Diversas metodologias de locomoção em ambiente desconhecido e planejamento de rotas são analisadas buscando-se obter a combinação com o melhor desempenho. Para averiguação de resultados o presente trabalho desenvolve-se em ambiente real e em simulação 3D com hardware in the loop. Labirintos de competições anteriores são utilizados de base para o comparativo de metodologias e validação de resultados. Ao final apresenta-se o algoritmo capaz de cumprir todas as exigências da competição micromouse juntamente com os resultados em sua corrida de avaliação

Multi-objective hierarchical algorithms for restoring Wireless Sensor Network connectivity in known environments

A Wireless Sensor Network can become partitioned due to node failure, requiring the deployment of additional relay nodes in order to restore network connectivity. This introduces an optimisation problem involving a tradeoff between the number of additional nodes that are required and the costs of moving through the sensor field for the purpose of node placement. This tradeoff is application-dependent, influenced for example by the relative urgency of network restoration. We propose a family of algorithms based on hierarchical objectives including complete algorithms and heuristics which integrate network design with path planning, recognising the impact of obstacles on mobility and communication. We conduct an empirical evaluation of the algorithms on random connectivity and mobility graphs, showing their relative performance in terms of node and path costs, and assessing their execution speeds. Finally, we examine how the relative importance of the two objectives influences the choice of algorithm. In summary, the algorithms which prioritise the node cost tend to find graphs with fewer nodes, while the algorithm which prioritise the cost of moving find slightly larger solutions but with cheaper mobility costs. The heuristic algorithms are close to the optimal algorithms in node cost, and higher in mobility costs. For fast moving agents, the node algorithms are preferred for total restoration time, and for slow agents, the path algorithms are preferred

Modeling Computer Communication Networks in a Realistic 3D Environment

Communication network simulations have typically been visualized in the past through 2D representations, but this is insufficient for battlefield network scenarios. Visual representations of battlefield networks greatly benefit from 3D visualization due to its ability to retain asset location. This research investigates the feasibility of modeling a typical battlefield communication network in a realistic 3D manner and discusses the effects of doing so. The result is an open source, 3D network visualization tool that can create highly intuitive connected battlefield scenes, enabling the user to quickly comprehend network state. It highlights mobile assets, packet movement, and node connectivity while allowing the viewer to interact with the scene

Applications and case studies in oil refineries

The widespread adoption of wireless systems for industrial automation calls for the development of efficient tools for virtual planning of network deployments similarly as done for conventional Fieldbus and wired systems. In industrial sites the radio signal propagation is subject to blockage due to highly dense metallic structures. Network planning should therefore account for the number and the density of the 3D obstructions surrounding each link. In this paper we address the problem of wireless node deployment in wireless industrial networks, with special focus on WirelessHART IEC 62591 and ISA SP100 IEC 62734 standards. The goal is to optimize the network connectivity and develop an effective tool that can work in complex industrial sites characterized by severe obstructions. The proposed node deployment approach is validated through a case study in an oil refinery environment. It includes an ad-hoc simulation environment (RFSim tool) that implements the proposed network planning approach using 2D models of the plant, providing connectivity information based on user-defined deployment configurations. Simulation results obtained using the proposed simulation environment were validated by on-site measurements

Keberkesanan program simulasi penapis sambutan dedenyut terhingga (FIR) terhadap kefahaman pelajar kejuruteraan elektrik

Kefahaman merupakan aset bagi setiap pelajar. Ini kerana melalui kefahaman pelajar dapat mengaplikasikan konsep yang dipelajari di dalam dan di luar kelas. Kajian ini dijalankan bertujuan menilai keberkesanan program simulasi penapis sambutan dedenyut terhingga (FIR) terhadap kefahaman pelajar kejuruteraan elektrik FKEE, UTHM dalam mata pelajaran Pemprosesan Isyarat Digital (DSP) bagi topik penapis FIR. Metodologi kajian ini berbentuk kaedah reka bentuk kuasi�eksperimental ujian pra-pasca bagi kumpulan-kumpulan tidak seimbang. Seramai 40 responden kajian telah dipilih dan dibahagi secara rawak kepada dua kllmpulan iaitu kumpulan rawatan yang menggunakan program simulasi penapis FIR dan kumpulan kawalan yang menggunakan kaedah pembelajaran berorientasikan modul pembelajaran DSP UTHM. Setiap responden menduduki dua ujian pencapaian iaitu ujian pra dan ujian pasca yang berbentuk kuiz. Analisis data berbentuk deskriptif dan inferens dilakllkan dengan menggunakan Peri sian Statistical Package for Social Science (SPSS) versi 11.0. Dapatan kajian menunjukkan kedua-dua kumpulan pelajar telah mengalami peningkatan dari segi kefahaman iaitu daripada tahap tidak memuaskan kepada tahap kepujian selepas menggunakan kaedah pembelajaran yang telah ditetapkan bagi kumpulan masing-masing. Walaubagaimanapun, pelajar kumpulan rawatan menunjukkan peningkatan yang lebih tinggi sedikit berbanding pelajar kumpulan kawalan. Namun begitu, dapatan kajian secara ujian statistik menunjukkan tidak terdapat perbezaan yang signifikan dari segi pencapaian markah ujian pasca di antara pelajar kumpulan rawatan dengan pelajar kumpulan kawalan. Sungguhpun begitu, penggunaan program simulasi penapis FIR telah membantu dalam peningkatan kefahaman pelajar mengenai topik penapis FIR

POINTING, ACQUISITION, AND TRACKING FOR DIRECTIONAL WIRELESS COMMUNICATIONS NETWORKS

Directional wireless communications networks (DWNs) are expected to become a workhorse of the military, as they provide great network capacity in hostile areas where omnidirectional RF systems can put their users in harm's way. These networks will also be able to adapt to new missions, change topologies, use different communications technologies, yet still reliably serve all their terminal users. DWNs also have the potential to greatly expand the capacity of civilian and commercial wireless communication. The inherently narrow beams present in these types of systems require a means of steering them, acquiring the links, and tracking to maintain connectivity. This area of technological challenges encompasses all the issues of pointing, acquisition, and tracking (PAT). iii The two main technologies for DWNs are Free-Space Optical (FSO) and millimeter wave RF (mmW). FSO offers tremendous bandwidths, long ranges, and uses existing fiber-based technologies. However, it suffers from severe turbulence effects when passing through long (>kms) atmospheric paths, and can be severely affected by obscuration. MmW systems do not suffer from atmospheric effects nearly as much, use much more sensitive coherent receivers, and have wider beam divergences allowing for easier pointing. They do, however, suffer from a lack of available small-sized power amplifiers, complicated RF infrastructure that must be steered with a platform, and the requirement that all acquisition and tracking be done with the data beam, as opposed to FSO which uses a beacon laser for acquisition and a fast steering mirror for tracking. This thesis analyzes the many considerations required for designing and implementing a FSO PAT system, and extends this work to the rapidly expanding area of mmW DWN systems. Different types of beam acquisition methods are simulated and tested, and the tradeoffs between various design specifications are analyzed and simulated to give insight into how to best implement a transceiver platform. An experimental test-bed of six FSO platforms is also designed and constructed to test some of these concepts, along with the implementation of a three-node biconnected network. Finally, experiments have been conducted to assess the performance of fixed infrastructure routing hardware when operating with a physically reconfigurable RF network