Stability enhancement method and experiment of orchard vehicle control

Study on orchard working vehicle rollover and tipping prediction is important to maintain vehicle stability control in complicated operation conditions of orchard. Existing rollover and tipping prediction models for vehicles can not directly apply to orchard working vehicle, which structure and loading are changing under operation. So it is necessary to move ahead study on orchard vehicle bodywork posture prediction and rollover and tipping prediction by theoretical analysis, mathematical modelling, real vehicle test and other methods. In this paper, firstly, we establish orchard working vehicle dynamic model, analyses variation of key parameters during vehicle instability state, and look for characteristic parameters of vehicle instability. Secondly, active safety control algorithm which based on posture detection of vehicle body is researched. Finally, control model is verified and optimized by scaled test

Energy Efficiency in Two-Tiered Wireless Sensor Networks

We study a two-tiered wireless sensor network (WSN) consisting of $N$ access points (APs) and $M$ base stations (BSs). The sensing data, which is distributed on the sensing field according to a density function $f$, is first transmitted to the APs and then forwarded to the BSs. Our goal is to find an optimal deployment of APs and BSs to minimize the average weighted total, or Lagrangian, of sensor and AP powers. For $M=1$, we show that the optimal deployment of APs is simply a linear transformation of the optimal $N$-level quantizer for density $f$, and the sole BS should be located at the geometric centroid of the sensing field. Also, for a one-dimensional network and uniform $f$, we determine the optimal deployment of APs and BSs for any $N$ and $M$. Moreover, to numerically optimize node deployment for general scenarios, we propose one- and two-tiered Lloyd algorithms and analyze their convergence properties. Simulation results show that, when compared to random deployment, our algorithms can save up to 79\% of the power on average.Comment: 11 pages, 7 figure

Movement-efficient Sensor Deployment in Wireless Sensor Networks

We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Two key issues in MWSNs - energy consumption, which is dominated by sensor movement, and sensing coverage - have attracted plenty of attention, but the interaction of these issues is not well studied. To take both sensing coverage and movement energy consumption into consideration, we model the sensor deployment problem as a constrained source coding problem. %, which can be applied to different coverage tasks, such as area coverage, target coverage, and barrier coverage. Our goal is to find an optimal sensor deployment to maximize the sensing coverage with specific energy constraints. We derive necessary conditions to the optimal sensor deployment with (i) total energy constraint and (ii) network lifetime constraint. Using these necessary conditions, we design Lloyd-like algorithms to provide a trade-off between sensing coverage and energy consumption. Simulation results show that our algorithms outperform the existing relocation algorithms.Comment: 18 pages, 10 figure

Optimal Deployments of UAVs With Directional Antennas for a Power-Efficient Coverage

To provide a reliable wireless uplink for users in a given ground area, one can deploy Unmanned Aerial Vehicles (UAVs) as base stations (BSs). In another application, one can use UAVs to collect data from sensors on the ground. For a power-efficient and scalable deployment of such flying BSs, directional antennas can be utilized to efficiently cover arbitrary 2-D ground areas. We consider a large-scale wireless path-loss model with a realistic angle-dependent radiation pattern for the directional antennas. Based on such a model, we determine the optimal 3-D deployment of N UAVs to minimize the average transmit-power consumption of the users in a given target area. The users are assumed to have identical transmitters with ideal omnidirectional antennas and the UAVs have identical directional antennas with given half-power beamwidth (HPBW) and symmetric radiation pattern along the vertical axis. For uniformly distributed ground users, we show that the UAVs have to share a common flight height in an optimal power-efficient deployment. We also derive in closed-form the asymptotic optimal common flight height of $N$ UAVs in terms of the area size, data-rate, bandwidth, HPBW, and path-loss exponent

Quantizers with Parameterized Distortion Measures

In many quantization problems, the distortion function is given by the Euclidean metric to measure the distance of a source sample to any given reproduction point of the quantizer. We will in this work regard distortion functions, which are additively and multiplicatively weighted for each reproduction point resulting in a heterogeneous quantization problem, as used for example in deployment problems of sensor networks. Whereas, normally in such problems, the average distortion is minimized for given weights (parameters), we will optimize the quantization problem over all weights, i.e., we tune or control the distortion functions in our favor. For a uniform source distribution in one-dimension, we derive the unique minimizer, given as the uniform scalar quantizer with an optimal common weight. By numerical simulations, we demonstrate that this result extends to two-dimensions where asymptotically the parameter optimized quantizer is the hexagonal lattice with common weights. As an application, we will determine the optimal deployment of unmanned aerial vehicles (UAVs) to provide a wireless communication to ground terminals under a minimal communication power cost. Here, the optimal weights relate to the optimal flight heights of the UAVs.Comment: submitted to DCC 201

Movement-Efficient Sensor Deployment in Wireless Sensor Networks With Limited Communication Range.

We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Three key factors in MWSNs, sensing quality, energy consumption, and connectivity, have attracted plenty of attention, but the interaction of these factors is not well studied. To take all the three factors into consideration, we model the sensor deployment problem as a constrained source coding problem. %, which can be applied to different coverage tasks, such as area coverage, target coverage, and barrier coverage. Our goal is to find an optimal sensor deployment (or relocation) to optimize the sensing quality with a limited communication range and a specific network lifetime constraint. We derive necessary conditions for the optimal sensor deployment in both homogeneous and heterogeneous MWSNs. According to our derivation, some sensors are idle in the optimal deployment of heterogeneous MWSNs. Using these necessary conditions, we design both centralized and distributed algorithms to provide a flexible and explicit trade-off between sensing uncertainty and network lifetime. The proposed algorithms are successfully extended to more applications, such as area coverage and target coverage, via properly selected density functions. Simulation results show that our algorithms outperform the existing relocation algorithms

T-MQM: Testbed based Multi-metric Quality Measurement of Sensor Deployment for Precision Agriculture - A Case Study

Efficient sensor deployment is one of primary requirements of precision agriculture use case of Wireless Sensor Networks (WSNs) to provide qualitative and optimal coverage and connectivity. The application-based performance variations of the geometrical-model-based sensor deployment patterns restricts the generalization of a specific deployment pattern for all applications. Further, single or double metrics based evaluation of the deployment patterns focusing on theoretical or simulation aspects can be attributed to the difference in performance of real applications and the reported performance in literature. In this context, this paper proposes a Testbed based Multi-metric Quality Measurement (T-MQM) of sensor deployment for precision agriculture use case of WSNs. Specifically, seven metrics are derived for qualitative measurement of sensor deployment patterns for precision agriculture. The seven metrics are quantified for four sensor deployment patterns to measure the quality of coverage and connectivity. Analytical and simulation based evaluations of the measurements are validated through testbed experiment based evaluations which are carried out in ‘INDRIYA’ WSNs testbed. Towards realistic research impact, the investigative evaluation of the geometrical-model-based deployment patterns presented in this article could be useful for practitioners and researchers in developing performance guaranteed applications for precision agriculture and novel coverage and connectivity models for deployment patterns

Energy-Efficient Node Deployment in Static and Mobile Heterogeneous Multi-Hop Wireless Sensor Networks

We study a heterogeneous wireless sensor network (WSN) where N heterogeneous access points (APs) gather data from densely deployed sensors and transmit their sensed information to M heterogeneous fusion centers (FCs) via multi-hop wireless communication. This heterogeneous node deployment problem is modeled as an optimization problem with total wireless communication power consumption of the network as its objective function. We consider both static WSNs, where nodes retain their deployed position, and mobile WSNs where nodes can move from their initial deployment to their optimal locations. Based on the derived necessary conditions for the optimal node deployment in static WSNs, we propose an iterative algorithm to deploy nodes. In addition, we study the necessary conditions of the optimal movement-efficient node deployment in mobile WSNs with constrained movement energy, and present iterative algorithms to find such deployments, accordingly. Simulation results show that our proposed node deployment algorithms outperform the existing methods in the literature, and achieves a lower total wireless communication power in both static and mobile WSNs, on average