A robot swarm assisting a human fire-fighter

Emergencies in industrial warehouses are a major concern for fire-fighters. 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 paper we discuss the technology developed for a swarm of robots assisting fire-fighters. We explain the swarming algorithms that 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 the means to locate the robots and humans. Thus, the robot swarm is able to provide guidance information to the humans. Together with the fire-fighters 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

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

GUARDIANS final report part 1 (draft): a robot swarm assisting a human fire fighter

Emergencies in industrial warehouses are a major concern for fire fighters. 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 re ghters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting re ghters. 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 the means to locate the robots and humans. Thus the robot swarm is able to provide guidance information to the humans. Together with the fire fighters 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

From MANET to people-centric networking: Milestones and open research challenges

In this paper, we discuss the state of the art of (mobile) multi-hop ad hoc networking with the aim to present the current status of the research activities and identify the consolidated research areas, with limited research opportunities, and the hot and emerging research areas for which further research is required. We start by briefly discussing the MANET paradigm, and why the research on MANET protocols is now a cold research topic. Then we analyze the active research areas. Specifically, after discussing the wireless-network technologies, we analyze four successful ad hoc networking paradigms, mesh networks, opportunistic networks, vehicular networks, and sensor networks that emerged from the MANET world. We also present an emerging research direction in the multi-hop ad hoc networking field: people centric networking, triggered by the increasing penetration of the smartphones in everyday life, which is generating a people-centric revolution in computing and communications

Hybrid-Vehfog: A Robust Approach for Reliable Dissemination of Critical Messages in Connected Vehicles

Vehicular Ad-hoc Networks (VANET) enable efficient communication between vehicles with the aim of improving road safety. However, the growing number of vehicles in dense regions and obstacle shadowing regions like Manhattan and other downtown areas leads to frequent disconnection problems resulting in disrupted radio wave propagation between vehicles. To address this issue and to transmit critical messages between vehicles and drones deployed from service vehicles to overcome road incidents and obstacles, we proposed a hybrid technique based on fog computing called Hybrid-Vehfog to disseminate messages in obstacle shadowing regions, and multi-hop technique to disseminate messages in non-obstacle shadowing regions. Our proposed algorithm dynamically adapts to changes in an environment and benefits in efficiency with robust drone deployment capability as needed. Performance of Hybrid-Vehfog is carried out in Network Simulator (NS-2) and Simulation of Urban Mobility (SUMO) simulators. The results showed that Hybrid-Vehfog outperformed Cloud-assisted Message Downlink Dissemination Scheme (CMDS), Cross-Layer Broadcast Protocol (CLBP), PEer-to-Peer protocol for Allocated REsource (PrEPARE), Fog-Named Data Networking (NDN) with mobility, and flooding schemes at all vehicle densities and simulation times

A comprehensive survey of wireless body area networks on PHY, MAC, and network layers solutions

Recent advances in microelectronics and integrated circuits, system-on-chip design, wireless communication and intelligent low-power sensors have allowed the realization of a Wireless Body Area Network (WBAN). A WBAN is a collection of low-power, miniaturized, invasive/non-invasive lightweight wireless sensor nodes that monitor the human body functions and the surrounding environment. In addition, it supports a number of innovative and interesting applications such as ubiquitous healthcare, entertainment, interactive gaming, and military applications. In this paper, the fundamental mechanisms of WBAN including architecture and topology, wireless implant communication, low-power Medium Access Control (MAC) and routing protocols are reviewed. A comprehensive study of the proposed technologies for WBAN at Physical (PHY), MAC, and Network layers is presented and many useful solutions are discussed for each layer. Finally, numerous WBAN applications are highlighted

A Dynamic Application Partitioning and Offloading Framework to Enhance the Capabilities of Transient Clouds Using Mobile Agents

Mobile cloud computing has emerged as a prominent area of research, a natural extension of cloud computing that proposes to offer solutions for enhancing the capabilities of smart mobile devices commonly plagued by resource constraints. As one of its promising models, transient clouds aim to address the internet connectivity shortfall inherent in most solutions through the formation of ad hoc networks by devices in close proximity, then the offloading some computations (Cyber Foraging) to the created cloud. However, transient clouds, at their current state, have several limitations, concerning their expansion on a local network having a large number of devices and the management of the instability of the network due to the constant mobility of the devices. Another issue is the fact code partitioning and offloading are not addressed to fit the need of such networks, thereby rendering the distributed computing mechanism barely efficient for the Transient Cloud. In this study, we propose a transient cloud-based framework that exploits the use of multi-agent systems, enabling a dynamic partitioning and offloading of code, and facilitating the movement and the execution of code partition packets in a multi-hop ad-hoc mesh network. When created and deployed, these intelligent mobile agents operate independently or collaboratively and adapt to the continual entry and exit of devices in the neighbourhood. The integration of these trending concepts in distributed computing within a framework offers a new architecture for resource-sharing among cooperating devices that addresses the varied issues that arise in dynamic environments

An approach to pervasive monitoring in dynamic learning contexts : data sensing, communication support and awareness provision

It is within the capabilities of current technology to support the emerging learning paradigms. These paradigms suggest that today’s learning activities and environments are pervas ive and require a higher level of dynamism than the traditional learning contexts. Therefore, we have to rethink our approach to learning and use technology not only as a digital information support, but also as an instrument to reinforce knowledge, foster collaboration, promote creativity and provide richer learning experiences. Particularly, this thesis was motivated by the rapidly growing number of smartphone users and the fact that these devices are increasingly becoming more and more resource-rich, in terms of their communication and sensing technologies, display capabilities battery autonomy, etc. Hence, this dissertation benefits from the ubiquity and development of mobile technology, aiming to bridge the gap between the challenges posed by modern learning requirements and the capabilities of current technology. The sensors embedded in smartphones can be used to capture diverse behavioural and social aspects of the users. For example, using microphone and Bluetooth is possible to identify conversation patterns, discover users in proximity and detect face-to-face meetings. This fact opens up exciting possibilities to monitor the behaviour of the user and to provide meaningful feedback. This feedback offers useful information that can help people be aware of and reflect on their behaviour and its effects, and take the necessary actions to improve them. Consequently, we propose a pervasive monitoring system that take advantage of the capabilities of modern smartphones, us ing them to s upport the awarenes s provis ion about as pects of the activities that take place in today’s pervas ive learning environments. This pervasive monitoring system provides (i) an autonomous sensing platform to capture complex information about processes and interactions that take place across multiple learning environments, (ii) an on-demand and s elf-m anaged communication infras tructure, and (ii) a dis play facility to provide “awarenes s inform ation” to the s tudents and/or lecturers. For the proposed system, we followed a research approach that have three main components. First, the description of a generalized framework for pervasive sensing that enables collaborative sensing interactions between smartphones and other types of devices. By allowing complex data capture interactions with diverse remote sensors, devices and data sources, this framework allows to improve the information quality while saving energy in the local device. Second, the evaluation, through a real-world deployment, of the suitability of ad hoc networks to support the diverse communication processes required for pervasive monitoring. This component also includes a method to improve the scalability and reduce the costs of these networks. Third, the design of two awareness mechanisms to allow flexible provision of information in dynamic and heterogeneous learning contexts. These mechanisms rely on the use of smartphones as adaptable devices that can be used directly as awareness displays or as communication bridges to enable interaction with other remote displays available in the environment. Diverse aspects of the proposed system were evaluated through a number of simulations, real-world experiments, user studies and prototype evaluations. The experimental evaluation of the data capture and communication aspects of the system provided empirical evidence of the usefulness and suitability of the proposed approach to support the development of pervasive monitoring solutions. In addition, the proof-of-concept deployments of the proposed awareness mechanisms, performed in both laboratory and real-world learning environments, provided quantitative and qualitative indicators that such mechanisms improve the quality of the awareness information and the user experienceLa tecnología moderna tiene capacidad de dar apoyo a los paradigmas de aprendizaje emergentes. Estos paradigmas sugieren que las actividades de aprendizaje actuales, caracterizadas por la ubicuidad de entornos, son más dinámicas y complejas que los contextos de aprendizaje tradicionales. Por tanto, tenemos que reformular nuestro acercamiento al aprendizaje, consiguiendo que la tecnología sirva no solo como mero soporte de información, sino como medio para reforzar el conocimiento, fomentar la colaboración, estimular la creatividad y proporcionar experiencias de aprendizaje enriquecedoras. Esta tesis doctoral está motivada por el vertiginoso crecimiento de usuarios de smartphones y el hecho de que estos son cada vez más potentes en cuanto a tecnologías de comunicación, sensores, displays, autonomía energética, etc. Por tanto, esta tesis aprovecha la ubicuidad y el desarrollo de esta tecnología, con el objetivo de reducir la brecha entre los desafíos del aprendizaje moderno y las capacidades de la tecnología actual. Los sensores integrados en los smartphones pueden ser utilizados para reconocer diversos aspectos del comportamiento individual y social de los usuarios. Por ejemplo, a través del micrófono y el Bluetooth, es posible determinar patrones de conversación, encontrar usuarios cercanos y detectar reuniones presenciales. Este hecho abre un interesante abanico de posibilidades, pudiendo monitorizar aspectos del comportamiento del usuario y proveer un feedback significativo. Dicho feedback, puede ayudar a los usuarios a reflexionar sobre su comportamiento y los efectos que provoca, con el fin de tomar medidas necesarias para mejorarlo. Proponemos un sistema de monitorización generalizado que aproveche las capacidades de los smartphones para proporcionar información a los usuarios, ayudándolos a percibir y tomar conciencia sobre diversos aspectos de las actividades que se desarrollan en contextos de aprendizaje modernos. Este sistema ofrece: (i) una plataforma de detección autónoma, que captura información compleja sobre los procesos e interacciones de aprendizaje; (ii) una infraestructura de comunicación autogestionable y; (iii) un servicio de visualización que provee “información de percepción” a estudiantes y/o profesores. Para la elaboración de este sistema nos hemos centrado en tres áreas de investigación. Primero, la descripción de una infraestructura de detección generalizada, que facilita interacciones entre smartphones y otros dispositivos. Al permitir interacciones complejas para la captura de datos entre diversos sensores, dispositivos y fuentes de datos remotos, esta infraestructura consigue mejorar la calidad de la información y ahorrar energía en el dispositivo local. Segundo, la evaluación, a través de pruebas reales, de la idoneidad de las redes ad hoc como apoyo de los diversos procesos de comunicación requeridos en la monitorización generalizada. Este área incluye un método que incrementa la escalabilidad y reduce el coste de estas redes. Tercero, el diseño de dos mecanismos de percepción que permiten la provisión flexible de información en contextos de aprendizaje dinámicos y heterogéneos. Estos mecanismos descansan en la versatilidad de los smartphones, que pueden ser utilizados directamente como displays de percepción o como puentes de comunicación que habilitan la interacción con otros displays remotos del entorno. Diferentes aspectos del sistema propuesto han sido evaluados a través de simulaciones, experimentos reales, estudios de usuarios y evaluaciones de prototipos. La evaluación experimental proporcionó evidencia empírica de la idoneidad del sistema para apoyar el desarrollo de soluciones de monitorización generalizadas. Además, las pruebas de concepto realizadas tanto en entornos de aprendizajes reales como en el laboratorio, aportaron indicadores cuantitativos y cualitativos de que estos mecanismos mejoran la calidad de la información de percepción y la experiencia del usuario.Postprint (published version