Distributed localisation algorithm for wireless ad hoc networks of moving nodes

Existing ad hoc network localisation solutions rely either on external location references or network-wide exchange of information and centralised processing and computation of location estimates. Without these, nodes are not able to estimate the relative locations of other nodes within their communication range. This thesis defines a new distributed localisation algorithm for ad hoc networks of moving nodes. The Relative Neighbour Localisation (RNL) algorithm works without any external localisation signal or systems and does not assume centralised information processing. The idea behind the location estimates produced by the RNL algorithm is the relationship between the relative locations of two nodes, their mobility parameters and the signal strengths measured between them. The proposed algorithm makes use of the data available to each node to produce a location estimate. The signal strength each node is capable of measuring is used as one algorithm input. The other input is the velocity vector of the neighbouring node, composed of its speed and direction of movement, which each node is assumed to periodically broadcast. The relationship between the signal strength and the mobility parameters on one, and the relative location on the other side can be analytically formulated in an ideal case. The limitations of a realistic scenario complicate this relationship, making it very difficult to formulate analytically. An empirical approach is thus used. The angle and the distance estimates are individually computed, together forming a two-dimensional location estimate. The performance of the algorithm was analysed in detail using simulation, showing a median estimate error of under 10m, and its application was tested through design and evaluation of a distributed sensing coverage algorithm, showing RNL location estimates can provide 90% of the coverage achievable with true locations being known

A review of black walnut (Juglans nigra L.) ecology and management in Europe

Black walnut (Juglans nigra L.) is a light-demanding, competition-intolerant, and tall forest tree species, introduced in Europe from North America at the beginning of the seventeenth century. It has an important economic role in Europe for producing wood and fruits, in agroforestry systems, as an ornamental tree for parks and avenues, for rehabilitation/restoration of degraded lands. The best sites for black walnut growth have warm and mild climates, with frequent and well-spread precipitation, and rich, deep, near neutral, well-drained and moist soils. Black walnut is a fast grower in youth and its height and diameter growth reach their peaks before age 30–35 years. It is globally the best known allelopathic species due to the juglone substance present in all parts of black walnut trees. The species is storm-resistant and not affected by any major pest or disease in Europe. It is regenerated by planting or direct seeding on bare land, in monocultures and mixed stands. The management of stands with black walnut, with a rotation period generally up to 80 years, include weeding (mandatory), cleaning-respacing (in dense stands), thinning (mostly from above), high and formative pruning (mandatory), with the aim of producing valuable wood for sliced veneer, solid furniture, flooring/parquet, cabinetry, panelling, sculpture, musical instruments, gunstocks

Remote controlled laboratory experiments on the web

The purpose of this paper is to present organization and development of web laboratory exercises in Web Laboratory, University of Kragujevac.  WebLab provides remote access to real laboratory equipment using contemporary computer and network technology for creating the environment that will enable the remote user to perform the required laboratory exercises and control the laboratory equipment.  This paper presents pre-requests, architecture and software realization of web based laboratory. Using feedback from survey we will present framework for web laboratory and web lab experiment in order to incorporate practical work and laboratory exercises in integrated e-learning environment. Realizations of two laboratory experiments developed using different platforms are presented, compared and contrasted. Finally some educational results of usage of web laboratory in industrial engineering education are presented

Overview of Architectures with Arduino Boards as Building Blocks for Data Acquisition and Control Systems

Standard SBCs (Single Board Computer) with number of standard shields and sensors can be used as building blocks for rapid development of network of intelligent devices with sensing, control and Internet access. Arduino family of boards having high popularity and large number of sold units featuring open access, reliability, robustness, standard connections and low prices, possesses large potential for implementation of autonomous remote measurement and control systems of various levels of complexity. As Arduino boards can function independently, they are complete small computer platforms that can perform various tasks requiring some kind of interaction with the outer world. Arduino boards can be used and programmed in various ways, and can be arranged in various combinations forming some typical implementation architectures that this paper discusses. Starting from basic and simple configurations, more advanced are gradually considered from the aspects of chosen way of programming and combining with other boards. Special attention is devoted to NodeJS as programming platform for Arduino boards and considerations of libraries used with Arduino boards like Johnny-Five, Galileo-io firmata equivalent, mraa library and other ways of program access to GPIO like Linux Sysfs. As typical representatives of Arduino boards’ family, the Arduino Uno, Arduino Due and Arduino Galileo were selected, with justification that all other not mentioned boards are somewhere between those selected, according to official hardware specifications

Remote System for Development, Implementation and Testing of Control Algorithms

Education in the field of automatic control requires adequate practice on real systems for better and full understanding of the control theory. Experimenting on real models developed exclusively for the purpose of education and gaining necessary experience is the most adequate and traditionally it requires physical presence in laboratories where the equipment is installed. Remote access to laboratories for control systems is a necessary precondition and support for implementation of the e learning in the area of control engineering. The main feature of the developed system is support for the development, implementation and testing of user defined control algorithms with remote controller laboratory. User can define control algorithm in some conventional programming language and test it using this remote system

Remote System for Development, Implementation and Testing of Control Algorithms

Education in the field of automatic control requires adequate practice on real systems for better and full understanding of the control theory. Experimenting on real models developed exclusively for the purpose of education and gaining necessary experience is the most adequate and traditionally it requires physical presence in laboratories where the equipment is installed. Remote access to laboratories for control systems is a necessary precondition and support for implementation of the e learning in the area of control engineering. The main feature of the developed system is support for the development, implementation and testing of user defined control algorithms with remote controller laboratory. User can define control algorithm in some conventional programming language and test it using this remote system

Helicopter Laboratory Model Experiment With Web Access

This paper describes the experiment for learning and investigation of the helicopter laboratory model static and dynamic characteristics. Helicopter model is not the free flying one, as it has the two degrees of freedom â?? up / down movement and rotation with respect to vertical axis of the main propeller. The two basic different kinds of experiments with the helicopter model are possible. In the first group are experiments with the model for measurement of the static and dynamic characteristics that show the basic capabilities and overall performance of the model. Second group of experiments are control experiments for movement of the system to the desired position or for performing some continuous oscillatory movement. All experiments can be performed locally from the lab with the experimental setup and remotely. Remote experiments are performed by using the web user interface for controlling the laboratory equipment and the IP camera for observing the movements of the helicopter model