Data fusion in ubiquitous networked robot systems for urban services

There is a clear trend in the use of robots to accomplish services that can help humans. In this paper, robots acting in urban environments are considered for the task of person guiding. Nowadays, it is common to have ubiquitous sensors integrated within the buildings, such as camera networks, and wireless communications like 3G or WiFi. Such infrastructure can be directly used by robotic platforms. The paper shows how combining the information from the robots and the sensors allows tracking failures to be overcome, by being more robust under occlusion, clutter, and lighting changes. The paper describes the algorithms for tracking with a set of fixed surveillance cameras and the algorithms for position tracking using the signal strength received by a wireless sensor network (WSN). Moreover, an algorithm to obtain estimations on the positions of people from cameras on board robots is described. The estimate from all these sources are then combined using a decentralized data fusion algorithm to provide an increase in performance. This scheme is scalable and can handle communication latencies and failures. We present results of the system operating in real time on a large outdoor environment, including 22 nonoverlapping cameras, WSN, and several robots.Universidad Pablo de Olavide. Departamento de Deporte e InformáticaPostprin

The Meeting of Acquaintances: A Cost-efficient Authentication Scheme for Light-weight Objects with Transient Trust Level and Plurality Approach

Wireless sensor networks consist of a large number of distributed sensor nodes so that potential risks are becoming more and more unpredictable. The new entrants pose the potential risks when they move into the secure zone. To build a door wall that provides safe and secured for the system, many recent research works applied the initial authentication process. However, the majority of the previous articles only focused on the Central Authority (CA) since this leads to an increase in the computation cost and energy consumption for the specific cases on the Internet of Things (IoT). Hence, in this article, we will lessen the importance of these third parties through proposing an enhanced authentication mechanism that includes key management and evaluation based on the past interactions to assist the objects joining a secured area without any nearby CA. We refer to a mobility dataset from CRAWDAD collected at the University Politehnica of Bucharest and rebuild into a new random dataset larger than the old one. The new one is an input for a simulated authenticating algorithm to observe the communication cost and resource usage of devices. Our proposal helps the authenticating flexible, being strict with unknown devices into the secured zone. The threshold of maximum friends can modify based on the optimization of the symmetric-key algorithm to diminish communication costs (our experimental results compare to previous schemes less than 2000 bits) and raise flexibility in resource-constrained environments.Comment: 27 page

Towards Real-time Wireless Sensor Networks

Wireless sensor networks are poised to change the way computer systems interact with the physical world. We plan on entrusting sensor systems to collect medical data from patients, monitor the safety of our infrastructure, and control manufacturing processes in our factories. To date, the focus of the sensor network community has been on developing best-effort services. This approach is insufficient for many applications since it does not enable developers to determine if a system\u27s requirements in terms of communication latency, bandwidth utilization, reliability, or energy consumption are met. The focus of this thesis is to develop real-time network support for such critical applications. The first part of the thesis focuses on developing a power management solution for the radio subsystem which addresses both the problem of idle-listening and power control. In contrast to traditional power management solutions which focus solely on reducing energy consumption, the distinguishing feature of our approach is that it achieves both energy efficiency and real-time communication. A solution to the idle-listening problem is proposed in Energy Efficient Sleep Scheduling based on Application Semantics: ESSAT). The novelty of ESSAT lies in that it takes advantage of the common features of data collection applications to determine when to turn on and off a node\u27s radio without affecting real-time performance. A solution to the power control problem is proposed in Real-time Power Aware-Routing: RPAR). RPAR tunes the transmission power for each packet based on its deadline such that energy is saved without missing packet deadlines. The main theoretical contribution of this thesis is the development of novel transmission scheduling techniques optimized for data collection applications. This work bridges the gap between wireless sensor networks and real-time scheduling theory, which have traditionally been applied to processor scheduling. The proposed approach has significant advantages over existing design methodologies:: 1) it provides predictable performance allowing for the performance of a system to be estimated upon its deployment,: 2) it is possible to detect and handle overload conditions through simple rate control mechanisms, and: 3) it easily accommodates workload changes. I developed this framework under a realistic interference model by coordinating the activities at the MAC, link, and routing layers. The last component of this thesis focuses on the development of a real-time patient monitoring system for general hospital units. The system is designed to facilitate the detection of clinical deterioration, which is a key factor in saving lives and reducing healthcare costs. Since patients in general hospital wards are often ambulatory, a key challenge is to achieve high reliability even in the presence of mobility. To support patient mobility, I developed the Dynamic Relay Association Protocol -- a simple and effective mechanism for dynamically discovering the right relays for forwarding patient data -- and a Radio Mapping Tool -- a practical tool for ensuring network coverage in 802.15.4 networks. We show that it is feasible to use low-power and low-cost wireless sensor networks for clinical monitoring through an in-depth clinical study. The study was performed in a step-down cardiac care unit at Barnes-Jewish Hospital. This is the first long-term study of such a patient monitoring system

Real-Time QoS Routing Protocols in Wireless Multimedia Sensor Networks: Study and Analysis

Many routing protocols have been proposed for wireless sensor networks. These routing protocols are almost always based on energy efficiency. However, recent advances in complementary metal-oxide semiconductor (CMOS) cameras and small microphones have led to the development of Wireless Multimedia Sensor Networks (WMSN) as a class of wireless sensor networks which pose additional challenges. The transmission of imaging and video data needs routing protocols with both energy efficiency and Quality of Service (QoS) characteristics in order to guarantee the efficient use of the sensor nodes and effective access to the collected data. Also, with integration of real time applications in Wireless Senor Networks (WSNs), the use of QoS routing protocols is not only becoming a significant topic, but is also gaining the attention of researchers. In designing an efficient QoS routing protocol, the reliability and guarantee of end-to-end delay are critical events while conserving energy. Thus, considerable research has been focused on designing energy efficient and robust QoS routing protocols. In this paper, we present a state of the art research work based on real-time QoS routing protocols for WMSNs that have already been proposed. This paper categorizes the real-time QoS routing protocols into probabilistic and deterministic protocols. In addition, both categories are classified into soft and hard real time protocols by highlighting the QoS issues including the limitations and features of each protocol. Furthermore, we have compared the performance of mobility-aware query based real-time QoS routing protocols from each category using Network Simulator-2 (NS2). This paper also focuses on the design challenges and future research directions as well as highlights the characteristics of each QoS routing protocol.https://doi.org/10.3390/s15092220

Distributed spatial analysis in wireless sensor networks

Wireless sensor networks (WSNs) allow us to instrument the physical world in novel ways, providing detailed insight that has not been possible hitherto. Since WSNs provide an interface to the physical world, each sensor node has a location in physical space, thereby enabling us to associate spatial properties with data. Since WSNs can perform periodic sensing tasks, we can also associate temporal markers with data. In the environmental sciences, in particular, WSNs are on the way to becoming an important tool for the modelling of spatially and temporally extended physical phenomena. However, support for high-level and expressive spatial-analytic tasks that can be executed inside WSNs is still incipient. By spatial analysis we mean the ability to explore relationships between spatially-referenced entities (e.g., a vineyard, or a weather front) and to derive representations grounded on such relationships (e.g., the geometrical extent of that part of a vineyard that is covered by mist as the intersection of the geometries that characterize the vineyard and the weather front, respectively). The motivation for this endeavour stems primarily from applications where important decisions hinge on the detection of an event of interest (e.g., the presence, and spatio-temporal progression, of mist over a cultivated field may trigger a particular action) that can be characterized by an event-defining predicate (e.g., humidity greater than 98 and temperature less than 10). At present, in-network spatial analysis in WSN is not catered for by a comprehensive, expressive, well-founded framework. While there has been work on WSN event boundary detection and, in particular, on detecting topological change of WSN-represented spatial entities, this work has tended to be comparatively narrow in scope and aims. The contributions made in this research are constrained to WSNs where every node is tethered to one location in physical space. The research contributions reported here include (a) the definition of a framework for representing geometries; (b) the detailed characterization of an algebra of spatial operators closely inspired, in its scope and structure, by the Schneider-Guting ROSE algebra (i.e., one that is based on a discrete underlying geometry) over the geometries representable by the framework above; (c) distributed in-network algorithms for the operations in the spatial algebra over the representable geometries, thereby enabling (i) new geometries to be derived from induced and asserted ones, and (ii)topological relationships between geometries to be identified; (d) an algorithmic strategy for the evaluation of complex algebraic expressions that is divided into logically-cohesive components; (e) the development of a task processing system that each node is equipped with, thereby with allowing users to evaluate tasks on nodes; and (f) an empirical performance study of the resulting system.EThOS - Electronic Theses Online ServiceGBUnited Kingdo