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

Efficiency metrics computing in combined sensor networks

This paper discusses the computer-aided design of combined networks for offices and building automation systems based on diverse wired and wireless standards. The design requirements for these networks are often contradictive and have to consider performance, energy and cost efficiency together. For usual office communication, quality of service is more important. In the wireless sensor networks, the energy efficiency is a critical requirement to ensure their long life, to reduce maintenance costs and to increase reliability. The network optimization problem has been solved under considering of overall-costs as objective and quality of service including throughput, delay, packet losses etc. with energy efficiency as required constraints. This can be achieved by a combination of different planning methods like placement of wired and wireless nodes, tracing of cabling systems, energy-efficient sensor management and event-based sampling. A successful application of these methods requires a combined harmonized design at different levels of the networks. This paper aims to demonstrate how these methods are realized in the network planning. These tools provide optimized wired and wireless topologies under considering of costs, distances, transmitted power, frequencies, propagation environments and obstacles given in computer-aided design compatible formats

GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Analysis of Energy Consumption Performance towards Optimal Radioplanning of Wireless Sensor Networks in Heterogeneous Indoor Environments

In this paper the impact of complex indoor environment in the deployment and energy consumption of a wireless sensor network infrastructure is analyzed. The variable nature of the radio channel is analyzed by means of deterministic in-house 3D ray launching simulation of an indoor scenario, in which wireless sensors, based on an in-house CyFi implementation, typically used for environmental monitoring, are located. Received signal power and current consumption measurement results of the in-house designed wireless motes have been obtained, stating that adequate consideration of the network topology and morphology lead to optimal performance and power consumption reduction. The use of radioplanning techniques therefore aid in the deployment of more energy efficient elements, optimizing the overall performance of the variety of deployed wireless systems within the indoor scenario

Wireless Sensor Network Modeling and Deployment Challenges in Oil and Gas Refinery Plants

Wireless sensor networks for critical industrial applications are becoming a remarkable technological paradigm. Large-scale adoption of the wireless connectivity in the field of industrial monitoring and process control is mandatorily paired with the development of tools for the prediction of the wireless link quality to mimic network planning procedures similar to conventional wired systems. In industrial sites, the radio signals are prone to blockage due to dense metallic structures. The layout of scattering objects from the existing infrastructure influences the received signal strength observed over the link and thus the quality of service (QoS). This paper surveys the most promising wireless technologies for industrial monitoring and control and proposes a novel channel model specifically tailored to predict the quality of the radio signals in environments affected by highly dense metallic building blockage. The propagation model is based on the diffraction theory, and it makes use of the 3D model of the plant to classify the links based on the number and density of the obstructions surrounding each individual radio device. Accurate link classification opens the way to the optimization of the network deployment to guarantee full end-to-end connectivity with minimal on-site redesign. The link-quality prediction method based on the classification of propagation conditions is validated by experimental measurements in two oil refinery sites using industry standard ISA SP100.11a compliant devices operating at 2.4 GHz