Optimisation of Mobile Communication Networks - OMCO NET

The mini conference “Optimisation of Mobile Communication Networks” focuses on advanced methods for search and optimisation applied to wireless communication networks. It is sponsored by Research & Enterprise Fund Southampton Solent University. The conference strives to widen knowledge on advanced search methods capable of optimisation of wireless communications networks. The aim is to provide a forum for exchange of recent knowledge, new ideas and trends in this progressive and challenging area. The conference will popularise new successful approaches on resolving hard tasks such as minimisation of transmit power, cooperative and optimal routing

The University Defence Research Collaboration In Signal Processing

This chapter describes the development of algorithms for automatic detection of anomalies from multi-dimensional, undersampled and incomplete datasets. The challenge in this work is to identify and classify behaviours as normal or abnormal, safe or threatening, from an irregular and often heterogeneous sensor network. Many defence and civilian applications can be modelled as complex networks of interconnected nodes with unknown or uncertain spatio-temporal relations. The behavior of such heterogeneous networks can exhibit dynamic properties, reflecting evolution in both network structure (new nodes appearing and existing nodes disappearing), as well as inter-node relations. The UDRC work has addressed not only the detection of anomalies, but also the identification of their nature and their statistical characteristics. Normal patterns and changes in behavior have been incorporated to provide an acceptable balance between true positive rate, false positive rate, performance and computational cost. Data quality measures have been used to ensure the models of normality are not corrupted by unreliable and ambiguous data. The context for the activity of each node in complex networks offers an even more efficient anomaly detection mechanism. This has allowed the development of efficient approaches which not only detect anomalies but which also go on to classify their behaviour

Internet of things for disaster management: state-of-the-art and prospects

Disastrous events are cordially involved with the momentum of nature. As such mishaps have been showing off own mastery, situations have gone beyond the control of human resistive mechanisms far ago. Fortunately, several technologies are in service to gain affirmative knowledge and analysis of a disaster's occurrence. Recently, Internet of Things (IoT) paradigm has opened a promising door toward catering of multitude problems related to agriculture, industry, security, and medicine due to its attractive features, such as heterogeneity, interoperability, light-weight, and flexibility. This paper surveys existing approaches to encounter the relevant issues with disasters, such as early warning, notification, data analytics, knowledge aggregation, remote monitoring, real-time analytics, and victim localization. Simultaneous interventions with IoT are also given utmost importance while presenting these facts. A comprehensive discussion on the state-of-the-art scenarios to handle disastrous events is presented. Furthermore, IoT-supported protocols and market-ready deployable products are summarized to address these issues. Finally, this survey highlights open challenges and research trends in IoT-enabled disaster management systems. © 2013 IEEE

Cooperative localisation in underwater robotic swarms for ocean bottom seismic imaging.

Spatial information must be collected alongside the data modality of interest in wide variety of sub-sea applications, such as deep sea exploration, environmental monitoring, geological and ecological research, and samples collection. Ocean-bottom seismic surveys are vital for oil and gas exploration, and for productivity enhancement of an existing production facility. Ocean-bottom seismic sensors are deployed on the seabed to acquire those surveys. Node deployment methods used in industry today are costly, time-consuming and unusable in deep oceans. This study proposes the autonomous deployment of ocean-bottom seismic nodes, implemented by a swarm of Autonomous Underwater Vehicles (AUVs). In autonomous deployment of ocean-bottom seismic nodes, a swarm of sensor-equipped AUVs are deployed to achieve ocean-bottom seismic imaging through collaboration and communication. However, the severely limited bandwidth of underwater acoustic communications and the high cost of maritime assets limit the number of AUVs that can be deployed for experiments. A holistic fuzzy-based localisation framework for large underwater robotic swarms (i.e. with hundreds of AUVs) to dynamically fuse multiple position estimates of an autonomous underwater vehicle is proposed. Simplicity, exibility and scalability are the main three advantages inherent in the proposed localisation framework, when compared to other traditional and commonly adopted underwater localisation methods, such as the Extended Kalman Filter. The proposed fuzzy-based localisation algorithm improves the entire swarm mean localisation error and standard deviation (by 16.53% and 35.17% respectively) at a swarm size of 150 AUVs when compared to the Extended Kalman Filter based localisation with round-robin scheduling. The proposed fuzzy based localisation method requires fuzzy rules and fuzzy set parameters tuning, if the deployment scenario is changed. Therefore a cooperative localisation scheme that relies on a scalar localisation confidence value is proposed. A swarm subset is navigationally aided by ultra-short baseline and a swarm subset (i.e. navigation beacons) is configured to broadcast navigation aids (i.e. range-only), once their confidence values are higher than a predetermined confidence threshold. The confidence value and navigation beacons subset size are two key parameters for the proposed algorithm, so that they are optimised using the evolutionary multi-objective optimisation algorithm NSGA-II to enhance its localisation performance. Confidence value-based localisation is proposed to control the cooperation dynamics among the swarm agents, in terms of aiding acoustic exteroceptive sensors. Given the error characteristics of a commercially available ultra-short baseline system and the covariance matrix of a trilaterated underwater vehicle position, dead reckoning navigation - aided by Extended Kalman Filter-based acoustic exteroceptive sensors - is performed and controlled by the vehicle's confidence value. The proposed confidence-based localisation algorithm has significantly improved the entire swarm mean localisation error when compared to the fuzzy-based and round-robin Extended Kalman Filter-based localisation methods (by 67.10% and 59.28% respectively, at a swarm size of 150 AUVs). The proposed fuzzy-based and confidence-based localisation algorithms for cooperative underwater robotic swarms are validated on a co-simulation platform. A physics-based co-simulation platform that considers an environment's hydrodynamics, industrial grade inertial measurement unit and underwater acoustic communications characteristics is implemented for validation and optimisation purposes

Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control

This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce labour costs, and minimise food waste by selectively harvesting only ripe fruits and vegetables. The paper discusses the main components of SHRs, including perception, grasping, cutting, motion planning, and control. It also highlights the challenges in developing SHR technologies, particularly in the areas of robot design, motion planning and control. The paper also discusses the potential benefits of integrating AI and soft robots and data-driven methods to enhance the performance and robustness of SHR systems. Finally, the paper identifies several open research questions in the field and highlights the need for further research and development efforts to advance SHR technologies to meet the challenges of global food production. Overall, this paper provides a starting point for researchers and practitioners interested in developing SHRs and highlights the need for more research in this field.Comment: Preprint: to be appeared in Journal of Field Robotic

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

On the use of autonomous unmanned vehicles in response to hazardous atmospheric release incidents

Recent events have induced a surge of interest in the methods of response to releases of hazardous materials or gases into the atmosphere. In the last decade there has been particular interest in mapping and quantifying emissions for regulatory purposes, emergency response, and environmental monitoring. Examples include: responding to events such as gas leaks, nuclear accidents or chemical, biological or radiological (CBR) accidents or attacks, and even exploring sources of methane emissions on the planet Mars. This thesis presents a review of the potential responses to hazardous releases, which includes source localisation, boundary tracking, mapping and source term estimation. [Continues.]</div

Federated Sensor Network architectural design for the Internet of Things (IoT)

An information technology that can combine the physical world and virtual world is desired. The Internet of Things (IoT) is a concept system that uses Radio Frequency Identification (RFID), WSN and barcode scanners to sense and to detect physical objects and events. This information is shared with people on the Internet. With the announcement of the Smarter Planet concept by IBM, the problem of how to share this data was raised. However, the original design of WSN aims to provide environment monitoring and control within a small scale local network. It cannot meet the demands of the IoT because there is a lack of multi-connection functionality with other WSNs and upper level applications. As various standards of WSNs provide information for different purposes, a hybrid system that gives a complete answer by combining all of them could be promising for future IoT applications. This thesis is on the subject of `Federated Sensor Network' design and architectural development for the Internet of Things. A Federated Sensor Network (FSN) is a system that integrates WSNs and the Internet. Currently, methods of integrating WSNs and the Internet can follow one of three main directions: a Front-End Proxy solution, a Gateway solution or a TCP/IP Overlay solution. Architectures based on the ideas from all three directions are presented in this thesis; this forms a comprehensive body of research on possible Federated Sensor Network architecture designs. In addition, a fully compatible technology for the sensor network application, namely the Sensor Model Language (SensorML), has been reviewed and embedded into our FSN systems. The IoT as a new concept is also comprehensively described and the major technical issues discussed. Finally, a case study of the IoT in logistic management for emergency response is given. Proposed FSN architectures based on the Gateway solution are demonstrated through hardware implementation and lab tests. A demonstration of the 6LoWPAN enabled federated sensor network based on the TCP/IP Overlay solution presents a good result for the iNET localization and tracking project. All the tests of the designs have verified feasibility and achieve the target of the IoT concept

Integration of ground-penetrating radar and gamma-ray detectors for non-intrusive localisation of buried radioactive sources

This thesis reports on the integration of ground-penetrating radar (GPR) and gamma ray detectors to improve the non-intrusive localisation of radioactive wastes buried in porous materials such as soil and concrete. The research was undertaken in two phases. In the first phase, a new non-intrusive technique for retrieving the depth of a buried radioactive source from two-dimensional raster radiation images was developed. The images were obtained by moving a gamma-ray detector in discrete steps on the surface of the material volume in which the source is buried and measuring the gamma spectrum at each step. The depth of the source was then estimated by fitting the intensity values from the measured spectra to an approximate three-dimensional gamma-ray attenuation model. This procedure was first optimised using Monte Carlo simulations and then validated using experiments. The results showed that this method is able to estimate the depth of a 658 kBq caesium-137 point source buried up to 18 cm in each of sand, soil and gravel. However, the use of only gamma-ray data to estimate the depth of the sources requires foreknowledge of the density of the embedding material. This is usually III IV difficult without having recourse to intrusive density estimation methods or historical density values. Therefore, the second phase of the research employed integrated GPR and gamma ray detection to solve this density requirement problem. Firstly, four density models were investigated using a suite of materials and the best model was then used to develop the integration method. Results from numerical simulations showed that the developed integration method can simultaneously retrieve the soil density and the depth and radius of disk-shaped radioactive objects buried up to 20 cm in soil of varying conditions with a elative error of less than 10%. Therefore, the integration method eliminates the need for prior knowledge of the density of the embedding material. This work represents the first time data from these two systems i.e., GPR and gamma-ray detector, will be integrated for the detection and localisation of radioactive sources. Furthermore, the results from the developed methods confirm that an integrated GPR and gamma-ray detector system is a viable tool for non-intrusive localisation of buried radioactive sources. This will enable improved characterisation of buried radioactive wastes encountered during the decommissioning of nuclear sites and facilities

Development of a Socially Believable Multi-Robot Solution from Town to Home

Technological advances in the robotic and ICT fields represent an effective solution to address specific societal problems to support ageing and independent life. One of the key factors for these technologies is that they have to be socially acceptable and believable to the end-users. This paper aimed to present some technological aspects that have been faced to develop the Robot-Era system, a multi-robotic system that is able to act in a socially believable way in the environments daily inhabited by humans, such as urban areas, buildings and homes. In particular, this paper focuses on two services—shopping delivery and garbage collection—showing preliminary results on experiments conducted with 35 elderly people. The analysis adopts an end-user-oriented perspective, considering some of the main attributes of acceptability: usability, attitude, anxiety, trust and quality of life