Unmanned Ground Vehicle navigation and coverage hole patching in Wireless Sensor Networks

This dissertation presents a study of an Unmanned Ground Vehicle (UGV) navigation and coverage hole patching in coordinate-free and localization-free Wireless Sensor Networks (WSNs). Navigation and coverage maintenance are related problems since coverage hole patching requires effective navigation in the sensor network environment. A coordinate-free and localization-free WSN that is deployed in an ad-hoc fashion and does not assume the availability of GPS information is considered. The system considered is decentralized and can be self-organized in an event-driven manner where no central controller or global map is required. A single-UGV, single-destination navigation problem is addressed first. The UGV is equipped with a set of wireless listeners that determine the slope of a navigation potential field generated by the wireless sensor and actuator network. The navigation algorithm consists of sensor node level-number assignment that is determined based on a hop-distance from the network destination node and UGV navigation through the potential field created by triplets of actuators in the network. A multi-UGV, multi-destination navigation problem requires a path-planning and task allocation process. UGVs inform the network about their proposed destinations, and the network provides feedback if conflicts are found. Sensor nodes store, share, and communicate to UGVs in order to allocate the navigation tasks. A special case of a single-UGV, multi-destination navigation problem that is equivalent to the well-known Traveling Salesman Problem is discussed. The coverage hole patching process starts after a UGV reaches the hole boundary. For each hole boundary edge, a new node is added along its perpendicular bisector, and the entire hole is patched by adding nodes around the hole boundary edges. The communication complexity and present simulation examples and experimental results are analyzed. Then, a Java-based simulation testbed that is capable of simulating both the centralized and distributed sensor and actuator network algorithms is developed. The laboratory experiment demonstrates the navigation algorithm (single-UGV, single-destination) using Cricket wireless sensors and an actuator network and Pioneer 3-DX robot

HUC-HISF: A Hybrid Intelligent Security Framework for Human-centric Ubiquitous Computing

制度:新 ; 報告番号:乙2336号 ; 学位の種類:博士(人間科学) ; 授与年月日:2012/1/18 ; 早大学位記番号:新584

Cognitive networking for next generation of cellular communication systems

This thesis presents a comprehensive study of cognitive networking for cellular networks with contributions that enable them to be more dynamic, agile, and efficient. To achieve this, machine learning (ML) algorithms, a subset of artificial intelligence, are employed to bring such cognition to cellular networks. More specifically, three major branches of ML, namely supervised, unsupervised, and reinforcement learning (RL), are utilised for various purposes: unsupervised learning is used for data clustering, while supervised learning is employed for predictions on future behaviours of networks/users. RL, on the other hand, is utilised for optimisation purposes due to its inherent characteristics of adaptability and requiring minimal knowledge of the environment. Energy optimisation, capacity enhancement, and spectrum access are identified as primary design challenges for cellular networks given that they are envisioned to play crucial roles for 5G and beyond due to the increased demand in the number of connected devices as well as data rates. Each design challenge and its corresponding proposed solution are discussed thoroughly in separate chapters. Regarding energy optimisation, a user-side energy consumption is investigated by considering Internet of things (IoT) networks. An RL based intelligent model, which jointly optimises the wireless connection type and data processing entity, is proposed. In particular, a Q-learning algorithm is developed, through which the energy consumption of an IoT device is minimised while keeping the requirement of the applications--in terms of response time and security--satisfied. The proposed methodology manages to result in 0% normalised joint cost--where all the considered metrics are combined--while the benchmarks performed 54.84% on average. Next, the energy consumption of radio access networks (RANs) is targeted, and a traffic-aware cell switching algorithm is designed to reduce the energy consumption of a RAN without compromising on the user quality-of-service (QoS). The proposed technique employs a SARSA algorithm with value function approximation, since the conventional RL methods struggle with solving problems with huge state spaces. The results reveal that up to 52% gain on the total energy consumption is achieved with the proposed technique, and the gain is observed to reduce when the scenario becomes more realistic. On the other hand, capacity enhancement is studied from two different perspectives, namely mobility management and unmanned aerial vehicle (UAV) assistance. Towards that end, a predictive handover (HO) mechanism is designed for mobility management in cellular networks by identifying two major issues of Markov chains based HO predictions. First, revisits--which are defined as a situation whereby a user visits the same cell more than once within the same day--are diagnosed as causing similar transition probabilities, which in turn increases the likelihood of making incorrect predictions. This problem is addressed with a structural change; i.e., rather than storing 2-D transition matrix, it is proposed to store 3-D one that also includes HO orders. The obtained results show that 3-D transition matrix is capable of reducing the HO signalling cost by up to 25.37%, which is observed to drop with increasing randomness level in the data set. Second, making a HO prediction with insufficient criteria is identified as another issue with the conventional Markov chains based predictors. Thus, a prediction confidence level is derived, such that there should be a lower bound to perform HO predictions, which are not always advantageous owing to the HO signalling cost incurred from incorrect predictions. The outcomes of the simulations confirm that the derived confidence level mechanism helps in improving the prediction accuracy by up to 8.23%. Furthermore, still considering capacity enhancement, a UAV assisted cellular networking is considered, and an unsupervised learning-based UAV positioning algorithm is presented. A comprehensive analysis is conducted on the impacts of the overlapping footprints of multiple UAVs, which are controlled by their altitudes. The developed k-means clustering based UAV positioning approach is shown to reduce the number of users in outage by up to 80.47% when compared to the benchmark symmetric deployment. Lastly, a QoS-aware dynamic spectrum access approach is developed in order to tackle challenges related to spectrum access, wherein all the aforementioned types of ML methods are employed. More specifically, by leveraging future traffic load predictions of radio access technologies (RATs) and Q-learning algorithm, a novel proactive spectrum sensing technique is introduced. As such, two different sensing strategies are developed; the first one focuses solely on sensing latency reduction, while the second one jointly optimises sensing latency and user requirements. In particular, the proposed Q-learning algorithm takes the future load predictions of the RATs and the requirements of secondary users--in terms of mobility and bandwidth--as inputs and directs the users to the spectrum of the optimum RAT to perform sensing. The strategy to be employed can be selected based on the needs of the applications, such that if the latency is the only concern, the first strategy should be selected due to the fact that the second strategy is computationally more demanding. However, by employing the second strategy, sensing latency is reduced while satisfying other user requirements. The simulation results demonstrate that, compared to random sensing, the first strategy decays the sensing latency by 85.25%, while the second strategy enhances the full-satisfaction rate, where both mobility and bandwidth requirements of the user are simultaneously satisfied, by 95.7%. Therefore, as it can be observed, three key design challenges of the next generation of cellular networks are identified and addressed via the concept of cognitive networking, providing a utilitarian tool for mobile network operators to plug into their systems. The proposed solutions can be generalised to various network scenarios owing to the sophisticated ML implementations, which renders the solutions both practical and sustainable

An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors

Cooperation among devices with different sensing, computing and communication capabilities provides interesting possibilities in a growing number of problems and applications including domotics (domestic robotics), environmental monitoring or intelligent cities, among others. Despite the increasing interest in academic and industrial communities, experimental tools for evaluation and comparison of cooperative algorithms for such heterogeneous technologies are still very scarce. This paper presents a remote testbed with mobile robots and Wireless Sensor Networks (WSN) equipped with a set of low-cost off-the-shelf sensors, commonly used in cooperative perception research and applications, that present high degree of heterogeneity in their technology, sensed magnitudes, features, output bandwidth, interfaces and power consumption, among others. Its open and modular architecture allows tight integration and interoperability between mobile robots and WSN through a bidirectional protocol that enables full interaction. Moreover, the integration of standard tools and interfaces increases usability, allowing an easy extension to new hardware and software components and the reuse of code. Different levels of decentralization are considered, supporting from totally distributed to centralized approaches. Developed for the EU-funded Cooperating Objects Network of Excellence (CONET) and currently available at the School of Engineering of Seville (Spain), the testbed provides full remote control through the Internet. Numerous experiments have been performed, some of which are described in the paper

Wireless Sensor Networks

The aim of this book is to present few important issues of WSNs, from the application, design and technology points of view. The book highlights power efficient design issues related to wireless sensor networks, the existing WSN applications, and discusses the research efforts being undertaken in this field which put the reader in good pace to be able to understand more advanced research and make a contribution in this field for themselves. It is believed that this book serves as a comprehensive reference for graduate and undergraduate senior students who seek to learn latest development in wireless sensor networks

Sense and Respond

Over the past century, the manufacturing industry has undergone a number of paradigm shifts: from the Ford assembly line (1900s) and its focus on efficiency to the Toyota production system (1960s) and its focus on effectiveness and JIDOKA; from flexible manufacturing (1980s) to reconfigurable manufacturing (1990s) (both following the trend of mass customization); and from agent-based manufacturing (2000s) to cloud manufacturing (2010s) (both deploying the value stream complexity into the material and information flow, respectively). The next natural evolutionary step is to provide value by creating industrial cyber-physical assets with human-like intelligence. This will only be possible by further integrating strategic smart sensor technology into the manufacturing cyber-physical value creating processes in which industrial equipment is monitored and controlled for analyzing compression, temperature, moisture, vibrations, and performance. For instance, in the new wave of the ‘Industrial Internet of Things’ (IIoT), smart sensors will enable the development of new applications by interconnecting software, machines, and humans throughout the manufacturing process, thus enabling suppliers and manufacturers to rapidly respond to changing standards. This reprint of “Sense and Respond” aims to cover recent developments in the field of industrial applications, especially smart sensor technologies that increase the productivity, quality, reliability, and safety of industrial cyber-physical value-creating processes

Novel Interference And Spectrum Aware Routing Techniques}{for Cognitive Radio Ad Hoc Networks

Tez (Doktora) -- İstanbul Teknik Üniversitesi, Fen Bilimleri Enstitüsü, 2011Thesis (PhD) -- İstanbul Technical University, Institute of Science and Technology, 2011Yüksek hızlı kablosuz ağlara artan rağbet nedeniyle, radyo spektrumu dünya üzerinde en çok kullanılan ve pahalı doğal kaynaklardan biri haline gelmiştir. Lisanslı spektrumu etkin şekilde kullanma ve paylaşmaya olanak sağlaması nedeniyle radyo spektrumundan yararlanma potansiyelini arttıran bilişsel radyo teknolojisi büyük ilgi toplamaktadır. Söz konusu potansiyelden faydalanmak üzere bilişsel radyo ağları tasarlanırken üzerinde önemle durulması gereken en önemli konulardan bir tanesi de yönlendirmedir. Çalışmamızda bilişsel radyo ağlarında kullanılmak üzere önerilen yönlendirme teknikleri hakkında bir bakış açısı sunulmakla beraber asıl olarak girişim ve spektruma dayalı özgün yönlendirme teknikleri önerilmektedir. Öncelikle, spektrum kullanım karakteristikleri ve ağdaki akışların yarattığı girişim göz önüne alınarak yönlendirme ölçütleri tasarlanmıştır. Ayrıca, bilişsel radyo ağları için otonom dağıtık uyarlanır menzil kontrol stratejisi önerilmiştir. Bu önerilere ek olarak dağıtık ve etkin bir kümeleme tabanlı yönlendirme tekniği geliştirilmiştir. Son olarak, bilişsel radyo ağları için otonom dağıtık uyarlanır menzil kontrol stratejisi ve spektrum erişebilirliği ve girişim maliyeti ölçütlerini bir arada kullanan özgün bir yönlendirme tekniği önerilmiştir. Önerilen yeni yönlendirme ölçütlerinin kullanımı nedeniyle önerilen teknik trafiği kullanılabilir spektrumun daha çok ve girişimin daha az olduğu rotalara yönlendirmektedir. NS2 benzetim ortamı kullanılarak gerçekleştirilen testler, önerilen yöntemlerin bilişsel radyo ağlarına uygunluğunu ve ağ başarımını arttırdığını göstermiştir. Ayrıca güncel bilişsel radyo teknolojisini kullanan diğer yöntemlerle karşılaştırıldığında önerilen tekniklerin hem uçtan uca veri aktarımını arttırdığı hem de uçtan uca gecikmeyi azalttığı ve başarımlarının daha yüksek olduğu gözlemlenmiştir.Radio spectrum has become one of the most heavily used and expensive natural resource around the world because of the growing demand for high-speed wireless networks. Cognitive radio has received great attention due to tremendous potential to improve the utilization of the radio spectrum by efficiently reusing and sharing the licensed spectrum. To design such mobile cognitive radio networks, routing is one of the key challenging issues to be addressed and requires deep investigation. This study gives some insights about the potential routing approaches that can be employed, and suggests novel interference and spectrum aware routing techniques for cognitive radio networks. First, the spectrum usage characteristics, and the interference created by existing flows in the network both from the primary and secondary users are taken into account to define routing metrics. Next, an autonomous distributed adaptive transmission range control scheme for cognitive radio networks is proposed. A distributed and efficient cluster based routing technique, which benefits from new metrics, is also introduced. The last proposed routing algorithm incorporates novel metrics and autonomous distributed adaptive transmission range control mechanism to provide self adaptivity. As a consequence, the proposed protocol routes traffic across paths with better spectrum availability and reduced interference via these new routing metrics. Extensive experimental evaluations are performed in the ns2 simulator to show that proposed protocols provide better adaptability to the environment and maximize throughput, minimize end-to-end delay in a number of realistic scenarios and outperforms recently proposed routing protocols developed for cognitive radio networks.DoktoraPh

Evolutionary Approach to Efficient Provisioning and Self-organization in Wireless Sensor Networks (WSN)

Advances in low-power digital integration and microelectro-mechanical systems (MEMS) have paved the way for micro-sensors. These sensors are equipped with data processing capabilities along with sensory circuits. Sensor data are processed on these individual sensors and transmitted to the target (sink). Lowcost integration and small sizes of these sensors have generated special interest in the area of disposable-sensors and large scale platform management. Queries to these sensors are addressed to nodes which have data satisfying the same condition. However, these sensors may be constrained in energy, bandwidth, storage, and processing capabilities. Large number of such sensors along with these constraints creates a sensor-management problem. At the network layer it amounts to setting up the efficient route that transmits the non-redundant data from source to the sink in order to maximize one or more sensor objectives (e.g. battery (and sensor's) life, Sensor-Data yield). This is done while adapting to changing connectivity due to failure of some nodes and new nodes powering up. First part of the thesis propose a reduced-complexity genetic algorithm (GA) for optimization of multi-hop battery-constrained sensor networks. The goal of the system is to generate optimal number of sensor-clusters with cluster-heads. It results in minimization of the power consumption of the sensor system while maximizing the sensor objectives (coverage and exposure). The genetic algorithm is used to adaptively create various components such as cluster-members, cluster-heads, and next-cluster. These components are then used to evaluate the average fitness of the system based on the sequence of communication links towards the sink. We then enhance the genetic algorithm (GA) approach for secure deployment of resource constrained multi-hop sensor networks. The goal in this case is to achieve secure coverage and improve battery life by dynamically optimizing security attributes (Like authentication and encryption). Further, we augment the GA approach for intrusion detection of resource constrained multi-hop sensor networks. Traditional intrusion detection mechanisms have limited applicability to the sensor networks due to scarce battery and processing resources. Therefore, we propose an effective scheme that would offer a power efficient and lightweight approach to identify malicious attacks. We evaluate sensor node attributes by measuring the perceived threat and its suitability to host local monitoring node (LMN) that acts as trusted proxy agent for the sink and capable of securely monitoring its neighbors. Security attributes in conjunction with genetic algorithm jointly optimizes the selection of monitoring nodes (i.e., LMN) by dynamically evaluating node fitness by profiling workloads patterns, packet statistics, utilization data, battery status, and quality-of-service compliance. Second part of the thesis delves into application of Information Technology (and Industrial) Systems and devices where the use of sensor networks can deliver non-intrusive and effective telemetry for group-based server management. These systems (Like Data Centers or Shipment tracking) face major challenges in seamless integration of telemetry and control data that is essential to various autonomic management functions related to power, thermal, reliability, predictability, survivability, locality and adaptability. Such systems that are supported by a dense network of sense-points operating in noisy environment (Metals, Cables) are required to deliver reliable trends, measurements and analysis in a timely fashion. The traditional approaches to provide distributed observability and control using wired solutions are static, expensive, and nonscalable. We apply the proposed GA approach for this unique environment that replaces static wired sensors with dynamically reconfigurable battery-powered wireless sensors. The proposed technique employs machine learning approach to optimize sensor node function assignment, clustering decisions, route establishment and data collection trees for improved throughput that results in effective controls