The effect of transmission variance on observer placement for source-localization

Abstract Detecting where an epidemic started, i.e., which node in a network was the source, is of crucial importance in many contexts. However, finding the source of an epidemic can be challenging, especially because the information available is often sparse and noisy. We consider a setting in which we want to localize the source based exclusively on the information provided by a small number of observers – i.e., nodes that can reveal if and when they are infected – and we study where such observers should be placed. We show that the optimal observer placement depends not only on the topology of the network, but also on the variance of the node-to-node transmission delays. We consider both low-variance and high-variance regimes for the transmission delays and propose algorithms for observer placement in both cases. In the low-variance regime, it suffices to only consider the network-topology and to choose observers that, based on their distances to all other nodes in the network, can distinguish among possible sources. However, the high-variance regime requires a new approach in order to guarantee that the observed infection times are sufficiently informative about the location of the source and do not get masked by the noise in the transmission delays; this is accomplished by additionally ensuring that the observers are not placed too far apart. We validate our approaches with simulations on three real-world networks. Compared to state-of-the-art strategies for observer placement, our methods have a better performance in terms of source-localization accuracy for both the low- and the high-variance regimes

Observer Placement for Source Localization: The Effect of Budgets and Transmission Variance

When an epidemic spreads in a network, a key question is where was its source, i.e., the node that started the epidemic. If we know the time at which various nodes were infected, we can attempt to use this information in order to identify the source. However, maintaining observer nodes that can provide their infection time may be costly, and we may have a budget $k$ on the number of observer nodes we can maintain. Moreover, some nodes are more informative than others due to their location in the network. Hence, a pertinent question arises: Which nodes should we select as observers in order to maximize the probability that we can accurately identify the source? Inspired by the simple setting in which the node-to-node delays in the transmission of the epidemic are deterministic, we develop a principled approach for addressing the problem even when transmission delays are random. We show that the optimal observer-placement differs depending on the variance of the transmission delays and propose approaches in both low- and high-variance settings. We validate our methods by comparing them against state-of-the-art observer-placements and show that, in both settings, our approach identifies the source with higher accuracy.Comment: Accepted for presentation at the 54th Annual Allerton Conference on Communication, Control, and Computin

Acoustically driven control of mobile robots for source localization in complex ocean environments

Ocean based robotic systems are an opportunity to combine the power of acoustic sensing in the water with sophisticated control schemes. Together these bodies of knowledge could create autonomous systems for mapping acoustic fields and localizing underwater sources. However, existing control schemes have often been designed for land and air robots. This creates challenges for applying these algorithms to complex ocean environments. Acoustic fields are strongly frequency dependent, can rarely be realistically modeled analytically, have complex contours where the feature of interest is not always located at the peak pressure, and include many sources of background noise. This work addresses these challenges for control schemes from three categories: feedback and observer control, gradient ascent control and optimal control. In each case the challenges of applying the control scheme to an acoustic field are enumerated and addressed to create a suite of acoustically driven control schemes. For many of these algorithms, the largest issue is the processing and collection of acoustic data, particularly in the face of noise. Two new methods are developed to solve this issue. The first is the use of Principal Component Analysis as a noise filter for acoustic signals, which is shown to address particularly high levels of noise, while providing the frequency dependent sound pressure levels necessary for subsequent processing. The second method addresses the challenge that an analytical expression of the pressure field is often lacking, due to uncertainties and complexities in the environmental parameters. Basis functions are used to address this. Several candidates are considered, but Legendre polynomials are selected for their low error and reasonable processing time. Additionally, a method of intermediate points is used to approximate high frequency pressure fields with low numbers of collected data points. Following this work, the individual control schemes are explored. A method of observer feedback control is proposed to localize sources by linearizing the acoustic fields. A gradient ascent method for localizing sources in real time is proposed which uses Matched Field Processing and Bayesian filters. These modifications allow the gradient ascent algorithm to be compatible with complex acoustic fields. Finally, an optimal control method is proposed using Pontryagin's Maximum Principle to derive trajectories in real time that balance information gain with control energy. This method is shown to efficiently map an acoustic field, either for optimal sensor placement or to localize sources. The contribution of this work is a new collection of control schemes that use acoustic data to localize acoustically complex sources in a realistic noisy environment, and an understanding of the tradeoffs inherent in applying each of these to the acoustic domain

Engineering data compendium. Human perception and performance. User's guide

The concept underlying the Engineering Data Compendium was the product of a research and development program (Integrated Perceptual Information for Designers project) aimed at facilitating the application of basic research findings in human performance to the design and military crew systems. The principal objective was to develop a workable strategy for: (1) identifying and distilling information of potential value to system design from the existing research literature, and (2) presenting this technical information in a way that would aid its accessibility, interpretability, and applicability by systems designers. The present four volumes of the Engineering Data Compendium represent the first implementation of this strategy. This is the first volume, the User's Guide, containing a description of the program and instructions for its use

Optimal path shape for range-only underwater target localization using a Wave Glider

Underwater localization using acoustic signals is one of the main components in a navigation system for an autonomous underwater vehicle (AUV) as a more accurate alternative to dead-reckoning techniques. Although different methods based on the idea of multiple beacons have been studied, other approaches use only one beacon, which reduces the system’s costs and deployment complexity. The inverse approach for single-beacon navigation is to use this method for target localization by an underwater or surface vehicle. In this paper, a method of range-only target localization using a Wave Glider is presented, for which simulations and sea tests have been conducted to determine optimal parameters to minimize acoustic energy use and search time, and to maximize location accuracy and precision. Finally, a field mission is presented, where a Benthic Rover (an autonomous seafloor vehicle) is localized and tracked using minimal human intervention. This mission shows, as an example, the power of using autonomous vehicles in collaboration for oceanographic research.Peer ReviewedPostprint (author's final draft

Active querying approach to epidemic source detection on contact networks.

The problem of identifying the source of an epidemic (also called patient zero) given a network of contacts and a set of infected individuals has attracted interest from a broad range of research communities. The successful and timely identification of the source can prevent a lot of harm as the number of possible infection routes can be narrowed down and potentially infected individuals can be isolated. Previous research on this topic often assumes that it is possible to observe the state of a substantial fraction of individuals in the network before attempting to identify the source. We, on the contrary, assume that observing the state of individuals in the network is costly or difficult and, hence, only the state of one or few individuals is initially observed. Moreover, we presume that not only the source is unknown, but also the duration for which the epidemic has evolved. From this more general problem setting a need to query the state of other (so far unobserved) individuals arises. In analogy with active learning, this leads us to formulate the active querying problem. In the active querying problem, we alternate between a source inference step and a querying step. For the source inference step, we rely on existing work but take a Bayesian perspective by putting a prior on the duration of the epidemic. In the querying step, we aim to query the states of individuals that provide the most information about the source of the epidemic, and to this end, we propose strategies inspired by the active learning literature. Our results are strongly in favor of a querying strategy that selects individuals for whom the disagreement between individual predictions, made by all possible sources separately, and a consensus prediction is maximal. Our approach is flexible and, in particular, can be applied to static as well as temporal networks. To demonstrate our approach's practical importance, we experiment with three empirical (temporal) contact networks: a network of pig movements, a network of sexual contacts, and a network of face-to-face contacts between residents of a village in Malawi. The results show that active querying strategies can lead to substantially improved source inference results as compared to baseline heuristics. In fact, querying only a small fraction of nodes in a network is often enough to achieve a source inference performance comparable to a situation where the infection states of all nodes are known