Algorithm for Autonomous Reorganization of Mobile Wireless Camera Sensor Networks to Improve Coverage

In this paper, sensing coverage by wireless camera-embedded sensor networks (WCSNs), a class of directional sensors is studied. The proposed work facilitates the autonomous tuning of orientation parameters and displacement of camera-sensor nodes in the bounded field of interest (FoI), where the network coverage in terms of every point in the FoI is important. The proposed work is first of its kind to study the problem of maximizing coverage of randomly deployed mobile WCSNs which exploits their mobility. We propose an algorithm uncovered region exploration algorithm (UREA-CS) that can be executed in centralized and distributed modes. Further, the work is extended for two special scenarios: 1) to suit autonomous combing operations after initial random WCSN deployments and 2) to improve the network coverage with occlusions in the FoI. The extensive simulation results show that the performance of UREA-CS is consistent, robust, and versatile to achieve maximum coverage, both in centralized and distributed modes. The centralized and distributed modes are further analyzed with respect to the computational and communicational overheads.

A mobile robot with a two-degree-of-freedom suspension for traversing uneven terrain with minimal slip: Modeling, simulation and experiments

It is known in literature that a wheeled mobile robot (WMR) with fixed length axle will slip on an uneven terrain. One way to avoid wheel slip is to use a torus-shaped wheel with lateral tilt capability which allows the distance between the wheel-ground contact points to change even with a fixed length axle. Such an arrangement needs a two degree-of-freedom (DOF) suspension for the vertical and lateral tilting motion of the wheel. In this paper modeling, simulation, design and experimentation with a three-wheeled mobile robot, with torus-shaped wheels and a novel two DOF suspension allowing independent lateral tilt and vertical motion, is presented. The suspension is based on a four-bar mechanism and is called the double four-bar (D4Bar) suspension. Numerical simulations show that the three-wheeled mobile robot can traverse uneven terrain with low wheel slip. Experiments with a prototype three-wheeled mobile robot moving on a constructed uneven terrain along a straight line, a circular arc and a path representing a lane change, also illustrate the low slip capability of the three-wheeled mobile robot with the D4Bar suspension. (C) 2015 Elsevier Ltd. All rights reserved.

Performance evaluation of mobile agent based resource management protocol for MANETs

The nodes with dynamicity, and management without administrator are key features of mobile ad hoc networks (1VIANETs). Increasing resource requirements of nodes running different applications, scarcity of resources, and node mobility in MANETs are the important issues to be considered in allocation of resources. Moreover, management of limited resources for optimal allocation is a crucial task. In our proposed work we discuss a design of resource allocation protocol and its performance evaluation. The proposed protocol uses both static and mobile agents. The protocol does the distribution and parallelization of message propagation (mobile agent with information) in an efficient way to achieve scalability and speed up message delivery to the nodes in the sectors of the zones of a MANET. The protocol functionality has been simulated using Java Agent Development Environment (JADE) Framework for agent generation, migration and communication. A mobile agent migrates from central resource rich node with message and navigate autonomously in the zone of network until the boundary node. With the performance evaluation, it has been concluded that the proposed protocol consumes much less time to allocate the required resources to the nodes under requirement, utilize less network resources and increase the network scalability. (C) 2015 Elsevier B.V. All rights reserved.

A real-time coherent dedispersion pipeline for the giant metrewave radio telescope

A fully real-time coherent dedispersion system has been developed for the pulsar back-end at the Giant Metrewave Radio Telescope (GMRT). The dedispersion pipeline uses the single phased array voltage beam produced by the existing GMRT software back-end (GSB) to produce coherently dedispersed intensity output in real time, for the currently operational bandwidths of 16 MHz and 32 MHz. Provision has also been made to coherently dedisperse voltage beam data from observations recorded on disk. We discuss the design and implementation of the real-time coherent dedispersion system, describing the steps carried out to optimise the performance of the pipeline. Presently functioning on an Intel Xeon X5550 CPU equipped with a NVIDIA Tesla C2075 GPU, the pipeline allows dispersion free, high time resolution data to be obtained in real-time. We illustrate the significant improvements over the existing incoherent dedispersion system at the GMRT, and present some preliminary results obtained from studies of pulsars using this system, demonstrating its potential as a useful tool for low frequency pulsar observations. We describe the salient features of our implementation, comparing it with other recently developed real-time coherent dedispersion systems. This implementation of a real-time coherent dedispersion pipeline for a large, low frequency array instrument like the GMRT, will enable long-term observing programs using coherent dedispersion to be carried out routinely at the observatory. We also outline the possible improvements for such a pipeline, including prospects for the upgraded GMRT which will have bandwidths about ten times larger than at present.

Direct Link-Aware Relay Selection for Average Interference-Constrained Underlay Cognitive Radio

Cooperative relaying combined with selection exploits spatial diversity to significantly improve the performance of interference-constrained secondary users in an underlay cognitive radio network. We present a novel and optimal relay selection (RS) rule that minimizes the symbol error probability (SEP) of an average interference-constrained underlay secondary system that uses amplify-and-forward relays. A key point that the rule highlights for the first time is that, for the average interference constraint, the signal-to-interference-plus-noise-ratio (SINR) of the direct source-to-destination (SI)) link affects the choice of the optimal relay. Furthermore, as the SINR increases, the odds that no relay transmits increase. We also propose a simpler, more practical, and near-optimal variant of the optimal rule that requires just one bit of feedback about the state of the SD link to the relays. Compared to the SD-unaware ad hoc RS rules proposed in the literature, the proposed rules markedly reduce the SEP by up to two orders of magnitude.