5 research outputs found

    Power Management Extensions for Tagus-SensorNet

    Get PDF
    A flexible Wireless Sensor Network platform for easier implementation of diverse applications has been developed and deployed at one of the Instituto Superior Técnico - Technical University of Lisbon (IST-TUL) campus. Since its initial deployment in 2007, this test-bed has grown steadily, supporting new nodes, applications and experiments. However, some initial problems, which were solved on an ad hoc basis, are becoming more serious as the network spans throughout the campus. Major issues, like global power management, have to be tackled not only with traditional protocol level approaches but also from a system’s viewpoint, providing solutions that are capable of guaranteeing a consistent operational test-bed. We discuss the main issues related with the development of power management solutions, at different levels, presenting our architecture, design choices and implementation. We also address the lessons learnt from its integration in the platform. Results of the experimental evaluation of our solution have shown considerable energy savings (extending the network lifetime up to 9 times) even in the presence of demanding applications

    Power Management Extensions for Tagus-SensorNet

    Full text link

    Practical issues in the development of a minimalistic power management solution for WSNs

    Get PDF
    A flexible Wireless Sensor Network platform for implementation of diverse applications has been developed and deployed at Instituto Superior Técnico - Technical University of Lisbon (IST-TUL). Since its initial deployment in 2007, this testbed has grown steadily, supporting new nodes, applications and experiments. However, some initial problems, which were solved on an ad hoc basis, were becoming more serious as the network spanned throughout the campus. Major issues, like global power management, have to be tackled not only with traditional protocol level approaches but also from a system’s viewpoint, providing solutions capable of guaranteeing a consistent testbed. We discuss the main issues related with the development of power management solutions, presenting our architecture, design choices and implementation, and address the lessons learnt from its integration. Experimental evaluation of our solution has shown considerable energy savings, extending network lifetime by up to nine times

    Formation-Based Odour Source Localisation Using Distributed Terrestrial and Marine Robotic Systems

    Get PDF
    This thesis tackles the problem of robotic odour source localisation, that is, the use of robots to find the source of a chemical release. As the odour travels away from the source, in the form of a plume carried by the wind or current, small scale turbulence causes it to separate into intermittent patches, suppressing any gradients and making this a particularly challenging search problem. We focus on distributed strategies for odour plume tracing in the air and in the water and look primarily at 2D scenarios, although novel results are also presented for 3D tracing. The common thread to our work is the use of multiple robots in formation, each outfitted with odour and flow sensing devices. By having more than one robot, we can gather observations at different locations, thus helping overcome the difficulties posed by the patchiness of the odour concentration. The flow (wind or current) direction is used to orient the formation and move the robots up-flow, while the measured concentrations are used to centre the robots in the plume and scale the formation to trace its limits. We propose two formation keeping methods. For terrestrial and surface robots equipped with relative or absolute positioning capabilities, we employ a graph-based formation controller using the well-known principle of Laplacian feedback. For underwater vehicles lacking such capabilities, we introduce an original controller for a leader-follower triangular formation using acoustic modems with ranging capabilities. The methods we propose underwent extensive experimental evaluation in high-fidelity simulations and real-world trials. The marine formation controller was implemented in MEDUSA autonomous vehicles and found to maintain a stable formation despite the multi-second ranging period. The airborne plume tracing algorithm was tested using compact Khepera robots in a wind tunnel, yielding low distance overheads and reduced tracing error. A combined approach for marine plume tracing was evaluated in simulation with promising results

    Formation-Based Odour Source Localisation Using Distributed Terrestrial and Marine Robotic Systems

    Get PDF
    This thesis tackles the problem of robotic odour source localisation, that is, the use of robots to find the source of a chemical release. As the odour travels away from the source, in the form of a plume carried by the wind or current, small scale turbulence causes it to separate into intermittent patches, suppressing any gradients and making this a particularly challenging search problem. We focus on distributed strategies for odour plume tracing in the air and in the water and look primarily at 2D scenarios, although novel results are also presented for 3D tracing. The common thread to our work is the use of multiple robots in formation, each outfitted with odour and flow sensing devices. By having more than one robot, we can gather observations at different locations, thus helping overcome the difficulties posed by the patchiness of the odour concentration. The flow (wind or current) direction is used to orient the formation and move the robots up-flow, while the measured concentrations are used to centre the robots in the plume and scale the formation to trace its limits. We propose two formation keeping methods. For terrestrial and surface robots equipped with relative or absolute positioning capabilities, we employ a graph-based formation controller using the well-known principle of Laplacian feedback. For underwater vehicles lacking such capabilities, we introduce an original controller for a leader-follower triangular formation using acoustic modems with ranging capabilities. The methods we propose underwent extensive experimental evaluation in high-fidelity simulations and real-world trials. The marine formation controller was implemented in MEDUSA autonomous vehicles and found to maintain a stable formation despite the multi-second ranging period. The airborne plume tracing algorithm was tested using compact Khepera robots in a wind tunnel, yielding low distance overheads and reduced tracing error. A combined approach for marine plume tracing was evaluated in simulation with promising results
    corecore