GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Primary User Emulation Detection in Cognitive Radio Networks

Cognitive radios (CRs) have been proposed as a promising solution for improving spectrum utilization via opportunistic spectrum sharing. In a CR network environment, primary (licensed) users have priority over secondary (unlicensed) users when accessing the wireless channel. Thus, if a malicious secondary user exploits this spectrum access etiquette by mimicking the spectral characteristics of a primary user, it can gain priority access to a wireless channel over other secondary users. This scenario is referred to in the literature as primary user emulation (PUE). This dissertation first covers three approaches for detecting primary user emulation attacks in cognitive radio networks, which can be classified in two categories. The first category is based on cyclostationary features, which employs a cyclostationary calculation to represent the modulation features of the user signals. The calculation results are then fed into an artificial neural network for classification. The second category is based on video processing method of action recognition in frequency domain, which includes two approaches. Both of them analyze the FFT sequences of wireless transmissions operating across a cognitive radio network environment, as well as classify their actions in the frequency domain. The first approach employs a covariance descriptor of motion-related features in the frequency domain, which is then fed into an artificial neural network for classification. The second approach is built upon the first approach, but employs a relational database system to record the motion-related feature vectors of primary users on this frequency band. When a certain transmission does not have a match record in the database, a covariance descriptor will be calculated and fed into an artificial neural network for classification. This dissertation is completed by a novel PUE detection approach which employs a distributed sensor network, where each sensor node works as an independent PUE detector. The emphasis of this work is how these nodes collaborate to obtain the final detection results for the whole network. All these proposed approaches have been validated via computer simulations as well as by experimental hardware implementations using the Universal Software Radio Peripheral (USRP) software-defined radio (SDR) platform

Multimodal system for recording individual-level behaviors in songbird groups

In longitudinal observations of animal groups, the goal is to identify individuals and to reliably detect their interactive behaviors including their vocalizations. However, to reliably extract individual vocalizations from their mixtures and other environmental sounds remains a serious challenge. Promising approaches are multi-modal systems that make use of animal-borne wireless sensors and that exploit the inherent signal redundancy. In this vein, we designed a modular recording system (BirdPark) that yields synchronized data streams and contains a custom software-defined radio receiver. We record pairs of songbirds with multiple cameras and microphones and record their body vibrations with custom low-power frequency-modulated (FM) radio transmitters. Our custom multi-antenna radio demodulation technique increases the signal-to-noise ratio of the received radio signals by 6 dB and reduces the signal loss rate by a factor of 87 to only 0.03% of the recording time compared to standard single-antenna demodulation techniques. Nevertheless, neither a single vibration channel nor a single sound channel is sufficient by itself to signal the complete vocal output of an individual, with each sensor modality missing on average about 3.7% of vocalizations. Our work emphasizes the need for high-quality recording systems and for multi-modal analysis of social behavior