Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms

We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot be split. The basic idea behind our work is to construct a logical tree topology over the physical network formed by the robots. The logical tree acts as a backbone used by robots to enforce connectivity constraints. We study and compare two algorithms to form the logical tree: outwards and inwards. These algorithms differ in the order in which the robots join the tree: the outwards algorithm starts at the tree root and grows towards the targets, while the inwards algorithm proceeds in the opposite manner. Both algorithms perform periodic reconfiguration, to prevent suboptimal topologies from halting the growth of the tree. Our contributions are (i) The formulation of the two algorithms; (ii) A comparison of the algorithms in extensive physics-based simulations; (iii) A validation of our findings through real-robot experiments.Comment: 8 pages, 8 figures, submitted to IROS 201

Using a Grid-Enabled Wireless Sensor Network for Flood Management

Flooding is becoming an increasing problem. As a result there is a need to deploy more sophisticated sensor networks to detect and react to flooding. This paper outlines a demonstration that illustrates our proposed solution to this problem involving embedded wireless hardware, component based middleware and overlay networks

A Case for Time Slotted Channel Hopping for ICN in the IoT

Recent proposals to simplify the operation of the IoT include the use of Information Centric Networking (ICN) paradigms. While this is promising, several challenges remain. In this paper, our core contributions (a) leverage ICN communication patterns to dynamically optimize the use of TSCH (Time Slotted Channel Hopping), a wireless link layer technology increasingly popular in the IoT, and (b) make IoT-style routing adaptive to names, resources, and traffic patterns throughout the network--both without cross-layering. Through a series of experiments on the FIT IoT-LAB interconnecting typical IoT hardware, we find that our approach is fully robust against wireless interference, and almost halves the energy consumed for transmission when compared to CSMA. Most importantly, our adaptive scheduling prevents the time-slotted MAC layer from sacrificing throughput and delay

Mining time-resolved functional brain graphs to an EEG-based chronnectomic brain aged index (CBAI)

The brain at rest consists of spatially and temporal distributed but functionally connected regions that called intrinsic connectivity networks (ICNs). Resting state electroencephalography (rs-EEG) is a way to characterize brain networks without confounds associated with task EEG such as task difficulty and performance. A novel framework of how to study dynamic functional connectivity under the notion of functional connectivity microstates (FCμstates) and symbolic dynamics is further discussed. Furthermore, we introduced a way to construct a single integrated dynamic functional connectivity graph (IDFCG) that preserves both the strength of the connections between every pair of sensors but also the type of dominant intrinsic coupling modes (DICM). The whole methodology is demonstrated in a significant and unexplored task for EEG which is the definition of an objective Chronnectomic Brain Aged index (CBAI) extracted from resting-state data (N = 94 subjects) with both eyes-open and eyes-closed conditions. Novel features have been defined based on symbolic dynamics and the notion of DICM and FCμstates. The transition rate of FCμstates, the symbolic dynamics based on the evolution of FCμstates (the Markovian Entropy, the complexity index), the probability distribution of DICM, the novel Flexibility Index that captures the dynamic reconfiguration of DICM per pair of EEG sensors and the relative signal power constitute a valuable pool of features that can build the proposed CBAI. Here we applied a feature selection technique and Extreme Learning Machine (ELM) classifier to discriminate young adults from middle-aged and a Support Vector Regressor to build a linear model of the actual age based on EEG-based spatio-temporal features. The most significant type of features for both prediction of age and discrimination of young vs. adults age groups was the dynamic reconfiguration of dominant coupling modes derived from a subset of EEG sensor pairs. Specifically, our results revealed a very high prediction of age for eyes-open (R2 = 0.60; y = 0.79x + 8.03) and lower for eyes-closed (R2 = 0.48; y = 0.71x + 10.91) while we succeeded to correctly classify young vs. middle-age group with 97.8% accuracy in eyes-open and 87.2% for eyes-closed. Our results were reproduced also in a second dataset for further external validation of the whole analysis. The proposed methodology proved valuable for the characterization of the intrinsic properties of dynamic functional connectivity through the age untangling developmental differences using EEG resting-state recordings

GRIDKIT: Pluggable overlay networks for Grid computing

A `second generation' approach to the provision of Grid middleware is now emerging which is built on service-oriented architecture and web services standards and technologies. However, advanced Grid applications have significant demands that are not addressed by present-day web services platforms. As one prime example, current platforms do not support the rich diversity of communication `interaction types' that are demanded by advanced applications (e.g. publish-subscribe, media streaming, peer-to-peer interaction). In the paper we describe the Gridkit middleware which augments the basic service-oriented architecture to address this particular deficiency. We particularly focus on the communications infrastructure support required to support multiple interaction types in a unified, principled and extensible manner-which we present in terms of the novel concept of pluggable overlay networks

Reliability and fault tolerance modelling of multiprocessor systems

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.Reliability evaluation by analytic modelling constitute an important issue of designing a reliable multiprocessor system. In this thesis, a model for reliability and fault tolerance analysis of the interconnection network is presented, based on graph theory. Reliability and fault tolerance are considered as deterministic and probabilistic measures of connectivity. Exact techniques for reliability evaluation fail for large multiprocessor systems because of the enormous computational resources required. Therefore, approximation techniques have to be used. Three approaches are proposed, the first by simplifying the symbolic expression of reliability; the other two by applying a hierarchical decomposition to the system. All these methods give results close to those obtained by exact techniques.Consejo Nacional de Ciencia y Tecnologia" (National Council for Science and Technology of Mexico) and "Instituto de Investigaciones Electricas" (Institute for Electrical Research

Optimal Topology Design for Disturbance Minimization in Power Grids

The transient response of power grids to external disturbances influences their stable operation. This paper studies the effect of topology in linear time-invariant dynamics of different power grids. For a variety of objective functions, a unified framework based on $H_2$ norm is presented to analyze the robustness to ambient fluctuations. Such objectives include loss reduction, weighted consensus of phase angle deviations, oscillations in nodal frequency, and other graphical metrics. The framework is then used to study the problem of optimal topology design for robust control goals of different grids. For radial grids, the problem is shown as equivalent to the hard "optimum communication spanning tree" problem in graph theory and a combinatorial topology construction is presented with bounded approximation gap. Extended to loopy (meshed) grids, a greedy topology design algorithm is discussed. The performance of the topology design algorithms under multiple control objectives are presented on both loopy and radial test grids. Overall, this paper analyzes topology design algorithms on a broad class of control problems in power grid by exploring their combinatorial and graphical properties.Comment: 6 pages, 3 figures, a version of this work will appear in ACC 201