Environment for teaching and development of mobile robot systems

Using robots for teaching is one approach that has gathered good results on Middle-School, High-School and Universities. Robotics gives chance to experiment concepts of a broad range of disciplines, principally those from Engineering courses and Computer Science. However, there are not many kits that enables the use of robotics in classroom. This article describes the methodologies to implement tools which serves as test beds for the use of robotics to teach Computer Science and Engineering. Therefore, it proposes the development of a flexible, low cost hardware to integrate sensors and control actuators commonly found on mobile robots, the development of a mobile robot device whose sensors and actuators allows the experimentation of different concepts, and an environment for the implementation of control algorithms through a computer network. This paper describes each one of these tools and discusses the implementation issues and future works. © 2010 IEEE.

Pattern recognition structured heuristics methods for image processing in mobile robot navigation

In this project, the main focus is to apply image processing techniques in computer vision through an omnidirectional vision system to agricultural mobile robots (AMR) used for trajectory navigation problems, as well as localization matters. To carry through this task, computational methods based on the JSEG algorithm were used to provide the classification and the characterization of such problems, together with Artificial Neural Networks (ANN) for pattern recognition. Therefore, it was possible to run simulations and carry out analyses of the performance of JSEG image segmentation technique through Matlab/Octave platforms, along with the application of customized Back-propagation algorithm and statistical methods as structured heuristics methods in a Simulink environment. Having the aforementioned procedures been done, it was practicable to classify and also characterize the HSV space color segments, not to mention allow the recognition of patterns in which reasonably accurate results were obtained. ©2010 IEEE.

Mobile application as a tool for urban traffic data collection and generation to advanced traveler information systems using Wi-Fi networks available in urban centers

This paper presents an Advanced Traveler Information System (ATIS) developed on Android platform, which is open source and free. The developed application has as its main objective the free use of a Vehicle-to- Infrastructure (V2I) communication through the wireless network access points available in urban centers. In addition to providing the necessary information for an Intelligent Transportation System (ITS) to a central server, the application also receives the traffic data close to the vehicle. Once obtained this traffic information, the application displays them to the driver in a clear and efficient way, allowing the user to make decisions about his route in real time. The application was tested in a real environment and the results are presented in the article. In conclusion we present the benefits of this application. © 2012 IEEE.

Comparing support vector machines and artificial neural networks in the recognition of steering angle for driving of mobile robots through paths in plantations

The use of mobile robots turns out to be interesting in activities where the action of human specialist is difficult or dangerous. Mobile robots are often used for the exploration in areas of difficult access, such as rescue operations and space missions, to avoid human experts exposition to risky situations. Mobile robots are also used in agriculture for planting tasks as well as for keeping the application of pesticides within minimal amounts to mitigate environmental pollution. In this paper we present the development of a system to control the navigation of an autonomous mobile robot through tracks in plantations. Track images are used to control robot direction by pre-processing them to extract image features. Such features are then submitted to a support vector machine and an artificial neural network in order to find out the most appropriate route. A comparison of the two approaches was performed to ascertain the one presenting the best outcome. The overall goal of the project to which this work is connected is to develop a real time robot control system to be embedded into a hardware platform. In this paper we report the software implementation of a support vector machine and of an artificial neural network, which so far presented respectively around 93% and 90% accuracy in predicting the appropriate route. (C) 2013 The Authors. Published by Elsevier B.V. Selection and peer review under responsibility of the organizers of the 2013 International Conference on Computational Science

Modeling 3-D desiccation soil crack networks using a mesh fragmentation technique

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

An evolutionary approach to improve connectivity prediction in mobile wireless sensor networks

Connectivity is the basic factor for the proper operation of any wireless network. In a mobile wireless sensor network it is a challenge for applications and protocols to deal with connectivity problems, as links might get up and down frequently. In these scenarios, having knowledge of the node remaining connectivity time could both improve the performance of the protocols (e.g. handoff mechanisms) and save possible scarce nodes resources (CPU, bandwidth, and energy) by preventing unfruitful transmissions. The current paper provides a solution called Genetic Machine Learning Algorithm (GMLA) to forecast the remainder connectivity time in mobile environments. It consists in combining Classifier Systems with a Markov chain model of the RF link quality. The main advantage of using an evolutionary approach is that the Markov model parameters can be discovered on-the-fly, making it possible to cope with unknown environments and mobility patterns. Simulation results show that the proposal is a very suitable solution, as it overcomes the performance obtained by similar approaches.

Design and implementation of wireless sensor networks for impedance-based structural health monitoring using ZigBee and Global System for Mobile Communications

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Survivable Lightpath Provisioning in WDM Mesh Networks Under Shared Path Protection and Signal Quality Constraints

This paper addresses the problem of survivable lightpath provisioning in wavelength-division-multiplexing (WDM) mesh networks, taking into consideration optical-layer protection and some realistic optical signal quality constraints. The investigated networks use sparsely placed optical–electrical–optical (O/E/O) modules for regeneration and wavelength conversion. Given a fixed network topology with a number of sparsely placed O/E/O modules and a set of connection requests, a pair of link-disjoint lightpaths is established for each connection. Due to physical impairments and wavelength continuity, both the working and protection lightpaths need to be regenerated at some intermediate nodes to overcome signal quality degradation and wavelength contention. In the present paper, resource-efficient provisioning solutions are achieved with the objective of maximizing resource sharing. The authors propose a resource-sharing scheme that supports three kinds of resource-sharing scenarios, including a conventional wavelength-link sharing scenario, which shares wavelength links between protection lightpaths, and two new scenarios, which share O/E/O modules between protection lightpaths and between working and protection lightpaths. An integer linear programming (ILP)-based solution approach is used to find optimal solutions. The authors also propose a local optimization heuristic approach and a tabu search heuristic approach to solve this problem for real-world, large mesh networks. Numerical results show that our solution approaches work well under a variety of network settings and achieves a high level of resource-sharing rates (over 60% for O/E/O modules and over 30% for wavelength links), which translate into great savings in network costs.

Survivable Traffic Grooming With Path Protection at the Connection Level in WDM Mesh Networks

Survivable traffic grooming (STG) is a promising approach to provide reliable and resource-efficient multigranularity connection services in wavelength-division-multiplexing (WDM) optical networks. In this paper, we study the STG problem in WDM mesh optical networks employing path protection at the connection level. Both dedicated-protection and shared-protection schemes are considered. Given network resources, the objective of the STG problem is to maximize network throughput. To enable survivability under various kinds of single failures, such as fiber cut and duct cut, we consider the general shared-risklink- group (SRLG) diverse routing constraints. We first resort to the integer-linear-programming (ILP) approach to obtain optimal solutions. To address its high computational complexity, we then propose three efficient heuristics, namely separated survivable grooming algorithm (SSGA), integrated survivable grooming algorithm (ISGA), and tabu-search survivable grooming algorithm (TSGA). While SSGA and ISGA correspond to an overlay network model and a peer network model, respectively, TSGA further improves the grooming results from SSGA and ISGA by incorporating the effective tabu-search (TS) method. Numerical results show that the heuristics achieve comparable solutions to the ILP approach, which uses significantly longer running times than the heuristics.

A Novel Cost-Efficient On-Line Intermediate Waveband-Switching Scheme in WDM Mesh Networks

Waveband switching (WBS) is an important technique to save switching and transmission cost in wavelength -division multiplexed (WDM) optical networks. A cost-efficient WBS scheme would enable network carriers to increase the network throughput (revenue) while achieving significant cost savings. We identify the critical factors that determine the WBS network throughput and switching cost and propose a novel intermediate waveband switching (IT-WBS) algorithm, called the minimizing-weighted-cost (MWC) algorithm. The MWC algorithm defines a cost for each candidate route of a call. By selecting the route with the smallest weighted cost, MWC balances between minimizing the call blocking probability and minimizing the network switching cost. Our simulations show that MWC outperforms other wavelength/waveband switching algorithms and can enhance the network throughput at a reduced cost.

A load-balancing spare capacity reallocation approach in service-rich SONET metro mesh networks

The next-generation SONET metro network is evolving into a service-rich infrastructure. At the edge of such a network, multi-service provisioning platforms (MSPPs) provide efficient data mapping enabled by Generic Framing Procedure (GFP) and Virtual Concatenation (VC). The core of the network tends to be a meshed architecture equipped with Multi-Service Switches (MSSs). In the context of these emerging technologies, we propose a load-balancing spare capacity reallocation approach to improve network utilization in the next-generation SONET metro networks. Using our approach, carriers can postpone network upgrades, resulting in increased revenue with reduced capital expenditures (CAPEX). For the first time, we consider the spare capacity reallocation problem from a capacity upgrade and network planning perspective. Our approach can operate in the context of shared-path protection (with backup multiplexing) because it reallocates spare capacity without disrupting working services. Unlike previous spare capacity reallocation approaches which aim at minimizing total spare capacity, our load-balancing approach minimizes the network load vector (NLV), which is a novel metric that reflects the network load distribution. Because NLV takes into consideration both uniform and non-uniform link capacity distribution, our approach can benefit both uniform and non-uniform networks. We develop a greedy loadbalancing spare capacity reallocation (GLB-SCR) heuristic algorithm to implement this approach. Our experimental results show that GLB-SCR outperforms a previously proposed algorithm (SSR) in terms of established connection capacity and total network capacity in both uniform and non-uniform networks.

Integrated Intermediate Waveband and Wavelength Switching for Optical WDM Mesh Networks

As wavelength-division multiplexing (WDM) evolves towards practical applications in optical transport networks, waveband switching (WBS) has been introduced to cut down the operational costs and to reduce the complexities and sizes of network components, e.g., optical cross-connects (OXCs). This paper considers the routing, wavelength assignment and waveband assignment (RWWBA) problem in a WDM network supporting mixed waveband and wavelength switching. First, the techniques supporting waveband switching are studied, where a node architecture enabling mixed waveband and wavelength switching is proposed. Second, to solve the RWWBA problem with reduced switching costs and improved network throughput, the cost savings and call blocking probabilities along intermediate waveband-routes are analyzed. Our analysis reveals some important insights about the cost savings and call blocking probability in relation to the fiber capacity, the candidate path, and the traffic load. Third, based on our analysis, an online integrated intermediate WBS algorithm (IIWBS) is proposed. IIWBS determines the waveband switching route for a call along its candidate path according to the node connectivity, the link utilization, and the path length information. In addition, the IIWBS algorithm is adaptive to real network applications under dynamic traffic requests. Finally, our simulation results show that IIWBS outperforms a previous intermediate WBS algorithm and RWA algorithms in terms of network throughput and cost efficiency.

A Heuristic with Bounded Guarantee to Compute Diverse Paths under Shared Protection in WDM Mesh Networks

Establishing a fault-tolerant connection in a network involves computation of diverse working and protection paths. The Shared Risk Link Group (SRLG) [1] concept is used to model several types of failure conditions such as link, node, fiber conduit, etc. In this work we focus on the problem of computing optimal SRLG/link diverse paths under shared protection. Shared protection technique improves network resource utilization by allowing protection paths of multiple connections to share resources. In this work we propose an iterative heuristic for computing SRLG/link diverse paths. We present a method to calculate a quantitative measure that provides a bounded guarantee on the optimality of the diverse paths computed by the heuristic. The experimental results on computing link diverse paths show that our proposed heuristic is efficient in terms of number of iterations required (time taken) to compute diverse paths when compared to other previously proposed heuristics.

Survivable Traffic Grooming with Path Protection at the Connection Level in WDM Mesh Networks

Survivable traffic grooming (STG) is a promising approach to provide reliable and resource-efficient multigranularity connection services in wavelength division multiplexing (WDM) optical networks. In this paper, we study the STG problem in WDM mesh optical networks employing path protection at the connection level. Both dedicated protection and shared protection schemes are considered. Given the network resources, the objective of the STG problem is to maximize network throughput. To enable survivability under various kinds of single failures such as fiber cut and duct cut, we consider the general shared risk link group (SRLG) diverse routing constraints. We first resort to the integer linear programming (ILP) approach to obtain optimal solutions. To address its high computational complexity, we then propose three efficient heuristics, namely separated survivable grooming algorithm (SSGA), integrated survivable grooming algorithm (ISGA) and tabu search survivable grooming algorithm (TSGA). While SSGA and ISGA correspond to an overlay network model and a peer network model respectively, TSGA further improves the grooming results from SSGA and ISGA by incorporating the effective tabu search method. Numerical results show that the heuristics achieve comparable solutions to the ILP approach, which uses significantly longer running times than the heuristics.

Rerouting Schemes for Dynamic Traffic Grooming in Optical WDM Mesh Networks

Traffic grooming in optical WDM mesh networks is a two-layer routing problem to effectively pack low-rate connections onto high-rate lightpaths, which, in turn, are established on wavelength links. In this work, we employ the rerouting approach to improve the network throughput under the dynamic traffic model. We propose two rerouting schemes, rerouting at lightpath level (RRAL) and rerouting at connection level (RRAC). A qualitative comparison is made between RRAL and RRAC. We also propose the critical-wavelength-avoiding one-lightpath-limited (CWA-1L) and critical-lightpath-avoiding one-connection-limited (CLA-1C) rerouting heuristics, which are based on the two rerouting schemes respectively. Simulation results show that rerouting reduces the connection blocking probability significantly.