Environment mapping for mobile robots navigation using hierarchical neural network and omnivision

Autonomous robots must be able to learn and maintain models of their environments. In this context, the present work considers techniques for the classification and extraction of features from images in joined with artificial neural networks in order to use them in the system of mapping and localization of the mobile robot of Laboratory of Automation and Evolutive Computer (LACE). To do this, the robot uses a sensorial system composed for ultrasound sensors and a catadioptric vision system formed by a camera and a conical mirror. The mapping system is composed by three modules. Two of them will be presented in this paper: the classifier and the characterizer module. The first module uses a hierarchical neural network to do the classification; the second uses techiniques of extraction of attributes of images and recognition of invariant patterns extracted from the places images set. The neural network of the classifier module is structured in two layers, reason and intuition, and is trained to classify each place explored for the robot amongst four predefine classes. The final result of the exploration is the construction of a topological map of the explored environment. Results gotten through the simulation of the both modules of the mapping system will be presented in this paper. © 2008 IEEE.

Network node with wireless and wired interfaces: Nios II processor and uClinux to development of a NCAP embedded (IEEE 1451.1) with two interfaces, wireless (IEEE 1451.5) and wired (IEEE p1451.2)

This paper presents a NCAP embedded on DE2 kit with Nios II processor and uClinux to development of a network gateway with two interfaces, wireless (ZigBee) and wired (RS232) based on IEEE 1451. Both the communications, wireless and wired, were developed to be point-to-point and working with the same protocols, based on IEEE 1451.0-2007. The tests were made using a microcomputer, which through of browser was possible access the web page stored in the DE2 kit and send commands of control and monitoring to both TIMs (WTIM and STIM). The system describes a different form of development of the NCAP node to be applied in different environments with wired or wireless in the same node. © 2011 IEEE.

MoNET the Mobile Network Emulation Tool Modulo kernel per l’emulazione del canale wireless

MoNET e' un emulatore per reti wireless mobili, composto da una suite di software distribuiti. MoNET fornisce a ricercatori e sviluppatori un ambiente virtualizzato controllato per lo sviluppo e il test di applicazioni mobili e protocolli di rete per qualsiasi tipologia di hardware e piattaforma software che possa essere virtualizzata. La natura distribuita di questo emulatore permette di creare scenari di dimensione arbitraria. La rete wireless viene emulata in maniera trasparente, quindi la connettività percepita da ogni nodo virtuale, presenta le stesse caratteristiche di quella fisica emulata.

Applicazioni Wireless in Body Area Network

Negli ultimi dieci anni si è rinnovata l’esigenza di sviluppare nuove tecnologie legate alla telemedicina, specie a seguito dello sviluppo dei sistemi di telecomunicazione che consentono ad ogni persona di avere a disposizione sistemi portatili, come gli smartphone, sempre connessi e pronti a comunicare. Lo stesso sviluppo si è avuto all’interno dei sistemi sanitari in cui è diventato fondamentale informatizzare le attività ospedaliere per via del contesto demografico a cui si va incontro: invecchiamento della popolazione e aumento del numero di pazienti affetti da malattie croniche. Tutti questi aspetti portano all’attuazione di un cambiamento strategico. Le Body Area Network, fulcro di questo lavoro di tesi, rappresentano la risposta a questa necessità. Si spiegano l'architettura e le tecnologie abilitanti per la realizzazione di queste reti di sensori, gli standard di comunicazione tramite i quali avviene la trasmissione dei dati e come le reti si interfacciano con i pazienti e le strutture sanitarie. Si conclude con una panoramica sui sensori di una BAN e alcuni esempi in commercio.

Multiple feature points representation in target localization of wireless visual sensor networks

This paper discusses the target localization problem in wireless visual sensor networks. Additive noises and measurement errors will affect the accuracy of target localization when the visual nodes are equipped with low-resolution cameras. In the goal of improving the accuracy of target localization without prior knowledge of the target, each node extracts multiple feature points from images to represent the target at the sensor node level. A statistical method is presented to match the most correlated feature point pair for merging the position information of different sensor nodes at the base station. Besides, in the case that more than one target exists in the field of interest, a scheme for locating multiple targets is provided. Simulation results show that, our proposed method has desirable performance in improving the accuracy of locating single target or multiple targets. Results also show that the proposed method has a better trade-off between camera node usage and localization accuracy.

The throughput order of multicast traffics with physical-layer network coding in random wireless ad hoc networks

This paper attempts to address the effectiveness of physical-layer network coding (PNC) on the throughput improvement for multi-hop multicast in random wireless ad hoc networks (WAHNs). We prove that the per session throughput order with PNC is tightly bounded as T((nvmR (n))-1) if m = O(R-2 (n)), where n is the total number of nodes, R(n) is the communication range, and m is the number of destinations for each multicast session. We also show that per-session throughput order with PNC is tight bounded as T(n-1), when m = O(R-2(n)). The results of this paper imply that PNC cannot improve the throughput order of multicast in random WAHNs, which is different from the intuition that PNC may improve the throughput order as it allows simultaneous signal access and combination.

A network coding based interference cancelation scheme for wireless ad hoc networks

The performance of wireless networks is limited by multiple access interference (MAI) in the traditional communication approach where the interfered signals of the concurrent transmissions are treated as noise. In this paper, we treat the interfered signals from a new perspective on the basis of additive electromagnetic (EM) waves and propose a network coding based interference cancelation (NCIC) scheme. In the proposed scheme, adjacent nodes can transmit simultaneously with careful scheduling; therefore, network performance will not be limited by the MAI. Additionally we design a space segmentation method for general wireless ad hoc networks, which organizes network into clusters with regular shapes (e.g., square and hexagon) to reduce the number of relay nodes. The segmentation methodworks with the scheduling scheme and can help achieve better scalability and reduced complexity. We derive accurate analytic models for the probability of connectivity between two adjacent cluster heads which is important for successful information relay. We proved that with the proposed NCIC scheme, the transmission efficiency can be improved by at least 50% for general wireless networks as compared to the traditional interference avoidance schemes. Numeric results also show the space segmentation is feasible and effective. Finally we propose and discuss a method to implement the NCIC scheme in a practical orthogonal frequency division multiplexing (OFDM) communications networks. Copyright © 2009 John Wiley & Sons, Ltd.

Network lifetime maximization with cross-layer design in wireless sensor networks

This paper investigates a cross-layer design approach for minimizing energy consumption and maximizing network lifetime (NL) of a multiple-source and single-sink (MSSS) WSN with energy constraints. The optimization problem for MSSS WSN can be formulated as a mixed integer convex optimization problem with the adoption of time division multiple access (TDMA) in medium access control (MAC) layer, and it becomes a convex problem by relaxing the integer constraint on time slots. Impacts of data rate, link access and routing are jointly taken into account in the optimization problem formulation. Both linear and planar network topologies are considered for NL maximization (NLM). With linear MSSS and planar single-source and single-sink (SSSS) topologies, we successfully use Karush-Kuhn-Tucker (KKT) optimality conditions to derive analytical expressions of the optimal NL when all nodes are exhausted simultaneously. The problem for planar MSSS topology is more complicated, and a decomposition and combination (D&C) approach is proposed to compute suboptimal solutions. An analytical expression of the suboptimal NL is derived for a small scale planar network. To deal with larger scale planar network, an iterative algorithm is proposed for the D&C approach. Numerical results show that the upper-bounds of the network lifetime obtained by our proposed optimization models are tight. Important insights into the NL and benefits of cross-layer design for WSN NLM are obtained.