Supervised Control of a Flying Performing Robot using its Intrinsic Sound

We present the current results of our ongoing research in achieving efficient control of a flying robot for a wide variety of possible applications. A lightweight small indoor helicopter has been equipped with an embedded system and relatively simple sensors to achieve autonomous stable flight. The controllers have been tuned using genetic algorithms to further enhance flight stability. A number of additional sensors would need to be attached to the helicopter to enable it to sense more of its environment such as its current location or the location of obstacles like the walls of the room it is flying in. The lightweight nature of the helicopter very much restricts the amount of sensors that can be attached to it. We propose utilising the intrinsic sound signatures of the helicopter to locate it and to extract features about its current state, using another supervising robot. The analysis of this information is then sent back to the helicopter using an uplink to enable the helicopter to further stabilise its flight and correct its position and flight path without the need for additional sensors

Machine Learning in Wireless Sensor Networks: Algorithms, Strategies, and Applications

Wireless sensor networks monitor dynamic environments that change rapidly over time. This dynamic behavior is either caused by external factors or initiated by the system designers themselves. To adapt to such conditions, sensor networks often adopt machine learning techniques to eliminate the need for unnecessary redesign. Machine learning also inspires many practical solutions that maximize resource utilization and prolong the lifespan of the network. In this paper, we present an extensive literature review over the period 2002-2013 of machine learning methods that were used to address common issues in wireless sensor networks (WSNs). The advantages and disadvantages of each proposed algorithm are evaluated against the corresponding problem. We also provide a comparative guide to aid WSN designers in developing suitable machine learning solutions for their specific application challenges.Comment: Accepted for publication in IEEE Communications Surveys and Tutorial

Security and Privacy for Green IoT-based Agriculture: Review, Blockchain solutions, and Challenges

open access articleThis paper presents research challenges on security and privacy issues in the field of green IoT-based agriculture. We start by describing a four-tier green IoT-based agriculture architecture and summarizing the existing surveys that deal with smart agriculture. Then, we provide a classification of threat models against green IoT-based agriculture into five categories, including, attacks against privacy, authentication, confidentiality, availability, and integrity properties. Moreover, we provide a taxonomy and a side-by-side comparison of the state-of-the-art methods toward secure and privacy-preserving technologies for IoT applications and how they will be adapted for green IoT-based agriculture. In addition, we analyze the privacy-oriented blockchain-based solutions as well as consensus algorithms for IoT applications and how they will be adapted for green IoT-based agriculture. Based on the current survey, we highlight open research challenges and discuss possible future research directions in the security and privacy of green IoT-based agriculture

Managing uncertainty in sound based control for an autonomous helicopter

In this paper we present our ongoing research using a multi-purpose, small and low cost autonomous helicopter platform (Flyper ). We are building on previously achieved stable control using evolutionary tuning. We propose a sound based supervised method to localise the indoor helicopter and extract meaningful information to enable the helicopter to further stabilise its flight and correct its flightpath. Due to the high amount of uncertainty in the data, we propose the use of fuzzy logic in the signal processing of the sound signature. We discuss the benefits and difficulties using type-1 and type-2 fuzzy logic in this real-time systems and give an overview of our proposed system

Local Motion Planner for Autonomous Navigation in Vineyards with a RGB-D Camera-Based Algorithm and Deep Learning Synergy

With the advent of agriculture 3.0 and 4.0, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes. Autonomous agricultural field machines have been gaining significant attention from farmers and industries to reduce costs, human workload, and required resources. Nevertheless, achieving sufficient autonomous navigation capabilities requires the simultaneous cooperation of different processes; localization, mapping, and path planning are just some of the steps that aim at providing to the machine the right set of skills to operate in semi-structured and unstructured environments. In this context, this study presents a low-cost local motion planner for autonomous navigation in vineyards based only on an RGB-D camera, low range hardware, and a dual layer control algorithm. The first algorithm exploits the disparity map and its depth representation to generate a proportional control for the robotic platform. Concurrently, a second back-up algorithm, based on representations learning and resilient to illumination variations, can take control of the machine in case of a momentaneous failure of the first block. Moreover, due to the double nature of the system, after initial training of the deep learning model with an initial dataset, the strict synergy between the two algorithms opens the possibility of exploiting new automatically labeled data, coming from the field, to extend the existing model knowledge. The machine learning algorithm has been trained and tested, using transfer learning, with acquired images during different field surveys in the North region of Italy and then optimized for on-device inference with model pruning and quantization. Finally, the overall system has been validated with a customized robot platform in the relevant environment

Spectrum-Based Fault Localization in Model Transformations

Model transformations play a cornerstone role in Model-Driven Engineering (MDE), as they provide the essential mechanisms for manipulating and transforming models. The correctness of software built using MDE techniques greatly relies on the correctness of model transformations. However, it is challenging and error prone to debug them, and the situation gets more critical as the size and complexity of model transformations grow, where manual debugging is no longer possible. Spectrum-Based Fault Localization (SBFL) uses the results of test cases and their corresponding code coverage information to estimate the likelihood of each program component (e.g., statements) of being faulty. In this article we present an approach to apply SBFL for locating the faulty rules in model transformations. We evaluate the feasibility and accuracy of the approach by comparing the effectiveness of 18 different stateof- the-art SBFL techniques at locating faults in model transformations. Evaluation results revealed that the best techniques, namely Kulcynski2, Mountford, Ochiai, and Zoltar, lead the debugger to inspect a maximum of three rules to locate the bug in around 74% of the cases. Furthermore, we compare our approach with a static approach for fault localization in model transformations, observing a clear superiority of the proposed SBFL-based method.Comisión Interministerial de Ciencia y Tecnología TIN2015-70560-RJunta de Andalucía P12-TIC-186