1,409 research outputs found
Robotic Wireless Sensor Networks
In this chapter, we present a literature survey of an emerging, cutting-edge,
and multi-disciplinary field of research at the intersection of Robotics and
Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor
Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system
that aims to achieve certain sensing goals while meeting and maintaining
certain communication performance requirements, through cooperative control,
learning and adaptation. While both of the component areas, i.e., Robotics and
WSN, are very well-known and well-explored, there exist a whole set of new
opportunities and research directions at the intersection of these two fields
which are relatively or even completely unexplored. One such example would be
the use of a set of robotic routers to set up a temporary communication path
between a sender and a receiver that uses the controlled mobility to the
advantage of packet routing. We find that there exist only a limited number of
articles to be directly categorized as RWSN related works whereas there exist a
range of articles in the robotics and the WSN literature that are also relevant
to this new field of research. To connect the dots, we first identify the core
problems and research trends related to RWSN such as connectivity,
localization, routing, and robust flow of information. Next, we classify the
existing research on RWSN as well as the relevant state-of-the-arts from
robotics and WSN community according to the problems and trends identified in
the first step. Lastly, we analyze what is missing in the existing literature,
and identify topics that require more research attention in the future
Implicit Cooperative Positioning in Vehicular Networks
Absolute positioning of vehicles is based on Global Navigation Satellite
Systems (GNSS) combined with on-board sensors and high-resolution maps. In
Cooperative Intelligent Transportation Systems (C-ITS), the positioning
performance can be augmented by means of vehicular networks that enable
vehicles to share location-related information. This paper presents an Implicit
Cooperative Positioning (ICP) algorithm that exploits the Vehicle-to-Vehicle
(V2V) connectivity in an innovative manner, avoiding the use of explicit V2V
measurements such as ranging. In the ICP approach, vehicles jointly localize
non-cooperative physical features (such as people, traffic lights or inactive
cars) in the surrounding areas, and use them as common noisy reference points
to refine their location estimates. Information on sensed features are fused
through V2V links by a consensus procedure, nested within a message passing
algorithm, to enhance the vehicle localization accuracy. As positioning does
not rely on explicit ranging information between vehicles, the proposed ICP
method is amenable to implementation with off-the-shelf vehicular communication
hardware. The localization algorithm is validated in different traffic
scenarios, including a crossroad area with heterogeneous conditions in terms of
feature density and V2V connectivity, as well as a real urban area by using
Simulation of Urban MObility (SUMO) for traffic data generation. Performance
results show that the proposed ICP method can significantly improve the vehicle
location accuracy compared to the stand-alone GNSS, especially in harsh
environments, such as in urban canyons, where the GNSS signal is highly
degraded or denied.Comment: 15 pages, 10 figures, in review, 201
Participatory location fingerprinting through stationary crowd in a public or commercial indoor environment
The training phase of indoor location fingerprinting has been traditionally performed by dedicated surveyors in a manner that is time and labour intensive. Crowdsourcing process is more efficient, but is impractical in public or commercial buildings because it requires occasional location fix provided explicitly by the participant, the availability of an indoor map for correlating the traces, and the existence of landmarks throughout the area. Here, we address these issues for the first time in this context by leveraging the existence of stationary crowd that have timetabled roles, such as desk-bound employees, lecturers and students. We propose a scalable and effortless positioning system in the context of a public/commercial building by using Wi-Fi sensor readings from its stationary occupants' smartphones combined with their timetabling information. Most significantly, the entropy concept of information theory is utilised to differentiate between good and spurious measurements in a manner that does not rely on the existence of known trusted users. Our analysis and experimental results show that, regardless of such participants' unpredictable behaviour, including not following their timetabling information, hiding their location or purposefully generating wrong data, our entropy-based filtering approach ensures the creation of a radio-map incrementally from their measurements. Its effectiveness is validated experimentally with two well-known machine learning algorithms
Asymmetric dynamics of DNA entering and exiting a strongly confining nanopore.
In nanopore sensing, changes in ionic current are used to analyse single molecules in solution. The translocation dynamics of polyelectrolytes is of particular interest given potential applications such as DNA sequencing. In this paper, we determine how the dynamics of voltage driven DNA translocation can be affected by the nanopore geometry and hence the available configurational space for the DNA. Using the inherent geometrical asymmetry of a conically shaped nanopore, we examine how DNA dynamics depends on the directionality of transport. The total translocation time of DNA when exiting the extended conical confinement is significantly larger compared to the configuration where the DNA enters the pore from the open reservoir. By using specially designed DNA molecules with positional markers, we demonstrate that the translocation velocity progressively increases as the DNA exits from confinement. We show that a hydrodynamic model can account for these observations.Translocation of a charged polymer through confined nanoenvironments is highly dependent on their geometrical parameters. Here, the authors investigate experimentally the translocation dynamics of DNA through conical nanopores and provide a quantitative model for the translocation into and out of confinement
Interpretable and Efficient Beamforming-Based Deep Learning for Single Snapshot DOA Estimation
We introduce an interpretable deep learning approach for direction of arrival
(DOA) estimation with a single snapshot. Classical subspace-based methods like
MUSIC and ESPRIT use spatial smoothing on uniform linear arrays for single
snapshot DOA estimation but face drawbacks in reduced array aperture and
inapplicability to sparse arrays. Single-snapshot methods such as compressive
sensing and iterative adaptation approach (IAA) encounter challenges with high
computational costs and slow convergence, hampering real-time use. Recent deep
learning DOA methods offer promising accuracy and speed. However, the practical
deployment of deep networks is hindered by their black-box nature. To address
this, we propose a deep-MPDR network translating minimum power distortionless
response (MPDR)-type beamformer into deep learning, enhancing generalization
and efficiency. Comprehensive experiments conducted using both simulated and
real-world datasets substantiate its dominance in terms of inference time and
accuracy in comparison to conventional methods. Moreover, it excels in terms of
efficiency, generalizability, and interpretability when contrasted with other
deep learning DOA estimation networks.Comment: 10 pages, 10 figure
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