Mac protocols for linear wireless (sensor) networks

Wireless sensor networks (WSNs) consist of a large number of sensor nodes, characterized by low power constraint, limited transmission range and limited computational capabilities [1][2].The cost of these devices is constantly decreasing, making it possible to use a large number of sensor devices in a wide array of commercial, environmental, military, and healthcare fields. Some of these applications involve placing the sensors evenly spaced on a straight line for example in roads, bridges, tunnels, water catchments and water pipelines, city drainages, oil and gas pipelines etc., making a special class of these networks which we define as a Linear Wireless Network (LWN). In LWNs, data transmission happens hop by hop from the source to the destination, through a route composed of multiple relays. The peculiarity of the topology of LWNs, motivates the design of specialized protocols, taking advantage of the linearity of such networks, in order to increase reliability, communication efficiency, energy savings, network lifetime and to minimize the end-to-end delay [3]. In this thesis a novel contention based Medium Access Control (MAC) protocol called L-CSMA, specifically devised for LWNs is presented. The basic idea of L-CSMA is to assign different priorities to nodes based on their position along the line. The priority is assigned in terms of sensing duration, whereby nodes closer to the destination are assigned shorter sensing time compared to the rest of the nodes and hence higher priority. This mechanism speeds up the transmission of packets which are already in the path, making transmission flow more efficient. Using NS-3 simulator, the performance of L-CSMA in terms of packets success rate, that is, the percentage of packets that reach destination, and throughput are compared with that of IEEE 802.15.4 MAC protocol, de-facto standard for wireless sensor networks. In general, L-CSMA outperforms the IEEE 802.15.4 MAC protocol.

Robotic Manipulation of DLOs for Wiring Harness Assembly: a Machine Learning Approach

In recent times, a significant research effort has been focused on how deformable linear objects (DLOs) can be manipulated for real world applications such as assembly of wiring harnesses for the automotive and aerospace sector. This represents an open topic because of the difficulties in modelling accurately the behaviour of these objects and simulate a task involving their manipulation, considering a variety of different scenarios. These problems have led to the development of data-driven techniques in which machine learning techniques are exploited to obtain reliable solutions. However, this approach makes the solution difficult to be extended, since the learning must be replicated almost from scratch as the scenario changes. It follows that some model-based methodology must be introduced to generalize the results and reduce the training effort accordingly. The objective of this thesis is to develop a solution for the DLOs manipulation to assemble a wiring harness for the automotive sector based on adaptation of a base trajectory set by means of reinforcement learning methods. The idea is to create a trajectory planning software capable of solving the proposed task, reducing where possible the learning time, which is done in real time, but at the same time presenting suitable performance and reliability. The solution has been implemented on a collaborative 7-DOFs Panda robot at the Laboratory of Automation and Robotics of the University of Bologna. Experimental results are reported showing how the robot is capable of optimizing the manipulation of the DLOs gaining experience along the task repetition, but showing at the same time a high success rate from the very beginning of the learning phase.

SynBA: A contextualized Synonim-Based adversarial Attack for text classification

With the advent of high-performance computing devices, deep neural networks have gained a lot of popularity in solving many Natural Language Processing tasks. However, they are also vulnerable to adversarial attacks, which are able to modify the input text in order to mislead the target model. Adversarial attacks are a serious threat to the security of deep neural networks, and they can be used to craft adversarial examples that steer the model towards a wrong decision. In this dissertation, we propose SynBA, a novel contextualized synonym-based adversarial attack for text classification. SynBA is based on the idea of replacing words in the input text with their synonyms, which are selected according to the context of the sentence. We show that SynBA successfully generates adversarial examples that are able to fool the target model with a high success rate. We demonstrate three advantages of this proposed approach: (1) effective - it outperforms state-of-the-art attacks by semantic similarity and perturbation rate, (2) utility-preserving - it preserves semantic content, grammaticality, and correct types classified by humans, and (3) efficient - it performs attacks faster than other methods.

Ecological status of mesophotic biogenic reefs off Chioggia

This study investigated the coralligenous reefs' benthic assemblages at 6 sites off Chioggia, in the northern Adriatic Sea, comparing 2 different methods of analysis of photographic samples: the grid method (overlapping a grid of 400 cells) and the random point method (random distribution of 100 points on the photo). For the first method, taxonomic recognition and the percentage coverage estimations were performed manually using photoQuad software. In the second, CoralNet semi-automated web-based annotation system was applied. This allows for assisted and supervised identification, the success rate of which gradually improves after initial software training. The results obtained with the two methods of analysing photographic samples are slightly different. The random points method gives lower species richness values and some differences in coverage estimations; all of this is reflected in the calculation of the biotic index. NAMBER values are significantly lower with the random points method and provide locally different classifications (3 out of 6 sites). However, the results obtained with the two methods are closely related to each other and depict a similar spatial trend. These results rise caution in applying different, albeit similar, methods in the analysis of benthic assemblages aimed to environmental quality assessment.