Cooperative positioning for heterogeneous wireless systems

Future emerging market trends head towards positioning based services placing a new perspective on the way we obtain and exploit positioning information. On one hand, innovations in information technology and wireless communication systems enabled the development of numerous location based applications such as vehicle navigation and tracking, sensor networks applications, home automation, asset management, security and context aware location services. On the other hand, wireless networks themselves may bene t from localization information to improve the performances of di erent network layers. Location based routing, synchronization, interference cancellation are prime examples of applications where location information can be useful. Typical positioning solutions rely on measurements and exploitation of distance dependent signal metrics, such as the received signal strength, time of arrival or angle of arrival. They are cheaper and easier to implement than the dedicated positioning systems based on ngerprinting, but at the cost of accuracy. Therefore intelligent localization algorithms and signal processing techniques have to be applied to mitigate the lack of accuracy in distance estimates. Cooperation between nodes is used in cases where conventional positioning techniques do not perform well due to lack of existing infrastructure, or obstructed indoor environment. The objective is to concentrate on hybrid architecture where some nodes have points of attachment to an infrastructure, and simultaneously are interconnected via short-range ad hoc links. The availability of more capable handsets enables more innovative scenarios that take advantage of multiple radio access networks as well as peer-to-peer links for positioning. Link selection is used to optimize the tradeo between the power consumption of participating nodes and the quality of target localization. The Geometric Dilution of Precision and the Cramer-Rao Lower Bound can be used as criteria for choosing the appropriate set of anchor nodes and corresponding measurements before attempting location estimation itself. This work analyzes the existing solutions for node selection in order to improve localization performance, and proposes a novel method based on utility functions. The proposed method is then extended to mobile and heterogeneous environments. Simulations have been carried out, as well as evaluation with real measurement data. In addition, some speci c cases have been considered, such as localization in ill-conditioned scenarios and the use of negative information. The proposed approaches have shown to enhance estimation accuracy, whilst signi cantly reducing complexity, power consumption and signalling overhead.

Inter layer and cooperative design strategies for green mobile networks

The promise of a truly mobile experience is to have the freedom to roam around anywhere and not be bound to a single location. However, the energy required to keep mobile devices connected to the network over extended periods of time quickly dissipates. In fact, energy is a critical resource in the design of wireless networks since wireless devices are usually powered by batteries. Furthermore, multi-standard mobile devices are allowing users to enjoy higher data rates with ubiquitous connectivity. However, the bene ts gained from multiple interfaces come at a cost in terms of energy consumption having profound e ect on the mobile battery lifetime and standby time. This concern is rea rmed by the fact that battery lifetime is one of the top reasons why consumers are deterred from using advanced multimedia services on their mobile on a frequent basis. In order to secure market penetration for next generation services energy e ciency needs to be placed at the forefront of system design. However, despite recent e orts, energy compliant features in legacy technologies are still in its infancy, and new disruptive architectures coupled with interdisciplinary design approaches are required in order to not only promote the energy gain within a single protocol layer, but to enhance the energy gain from a holistic perspective. A promising approach is cooperative smart systems, that in addition to exploiting context information, are entities that are able to form a coalition and cooperate in order to achieve a common goal. Migrating from this baseline, this thesis investigates how these technology paradigm can be applied towards reducing the energy consumption in mobile networks. In addition, we introduce an additional energy saving dimension by adopting an interlayer design so that protocol layers are designed to work in synergy with the host system, rather than independently, for harnessing energy. In this work, we exploit context information, cooperation and inter-layer design for developing new energy e cient and technology agnostic building blocks for mobile networks. These technology enablers include energy e cient node discovery and short-range cooperation for energy saving in mobile handsets, complemented by energy-aware smart scheduling for promoting energy saving on the network side. Analytical and simulations results were obtained, and veri ed in the lab on a real hardware testbed. Results have shown that up to 50% energy saving could be obtained.

Transmission cost allocation using cooperative game theory: a comparative study

In this paper is presented a Game Theory based methodology to allocate transmission costs, considering cooperation and competition between producers. As original contribution, it finds the degree of participation on the additional costs according to the demand behavior. A comparative study was carried out between the obtained results using Nucleolus balance and Shapley Value, with other techniques such as Averages Allocation method and the Generalized Generation Distribution Factors method (GGDF). As example, a six nodes network was used for the simulations. The results demonstrate the ability to find adequate solutions on open access environment to the networks.

Coordinated runtime adaptations in cooperative open real-time systems

This paper proposes an one-step decentralised coordination model based on an effective feedback mechanism to reduce the complexity of the needed interactions among interdependent nodes of a cooperative distributed system until a collective adaptation behaviour is determined. Positive feedback is used to reinforce the selection of the new desired global service solution, while negative feedback discourages nodes to act in a greedy fashion as this adversely impacts on the provided service levels at neighbouring nodes. The reduced complexity and overhead of the proposed decentralised coordination model are validated through extensive evaluations.

Time-bounded distributed QoS-aware service configuration in heterogeneous cooperative environments

The scarcity and diversity of resources among the devices of heterogeneous computing environments may affect their ability to perform services with specific Quality of Service constraints, particularly in dynamic distributed environments where the characteristics of the computational load cannot always be predicted in advance. Our work addresses this problem by allowing resource constrained devices to cooperate with more powerful neighbour nodes, opportunistically taking advantage of global distributed resources and processing power. Rather than assuming that the dynamic configuration of this cooperative service executes until it computes its optimal output, the paper proposes an anytime approach that has the ability to tradeoff deliberation time for the quality of the solution. Extensive simulations demonstrate that the proposed anytime algorithms are able to quickly find a good initial solution and effectively optimise the rate at which the quality of the current solution improves at each iteration, with an overhead that can be considered negligible.

Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation

Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with incertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target.

Formation Control Driven by Cooperative Object Tracking

In this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception by the team. In the formation control loop, the controller module is a distributed non-linear model predictive controller and the estimator module fuses local estimates of the target state, obtained by a particle filter at each robot. The two modules and their integration are described in detail, including a real-time database associated to a wireless communication protocol that facilitates the exchange of state data while reducing collisions among team members. Simulation and real robot results for indoor and outdoor teams of different robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target cooperative estimate while complying with performance criteria such as keeping a pre-set distance between the teammates and the target, avoiding collisions with teammates and/or surrounding obstacles.

Revised definitions of invasive fungal disease from the European Organization for Research and Treatment of Cancer/Invasive Fungal Infections Cooperative Group and the National Institute of Allergy and Infectious Diseases Mycoses Study Group (EORTC/MSG) Consensus Group.

BACKGROUND: Invasive fungal diseases are important causes of morbidity and mortality. Clarity and uniformity in defining these infections are important factors in improving the quality of clinical studies. A standard set of definitions strengthens the consistency and reproducibility of such studies. METHODS: After the introduction of the original European Organization for Research and Treatment of Cancer/Invasive Fungal Infections Cooperative Group and the National Institute of Allergy and Infectious Diseases Mycoses Study Group (EORTC/MSG) Consensus Group definitions, advances in diagnostic technology and the recognition of areas in need of improvement led to a revision of this document. The revision process started with a meeting of participants in 2003, to decide on the process and to draft the proposal. This was followed by several rounds of consultation until a final draft was approved in 2005. This was made available for 6 months to allow public comment, and then the manuscript was prepared and approved. RESULTS: The revised definitions retain the original classifications of "proven," "probable," and "possible" invasive fungal disease, but the definition of "probable" has been expanded, whereas the scope of the category "possible" has been diminished. The category of proven invasive fungal disease can apply to any patient, regardless of whether the patient is immunocompromised, whereas the probable and possible categories are proposed for immunocompromised patients only. CONCLUSIONS: These revised definitions of invasive fungal disease are intended to advance clinical and epidemiological research and may serve as a useful model for defining other infections in high-risk patients.

Explicit/implicit training of cooperative learning with junior elementary students /

This experimental study examined the effects of cooperative learning and expliciUimpliGit instruction on student achievement and attitudes toward working in cooperative groups. Specifically, fourth- and fifth-grade students (n=48) were randomly assigned to two conditions: cooperative learning with explicit instruction and cooperative learning with implicit instruction. All participants were given initial training either explicitly or implicitly in cooperative learning procedures via 10 one-hour sessions. Following the instruction period, all students participated in completing a group project related to a famous artists unit. It was hypothesized that the explicit instruction training would enhance students' scores on the famous artists test and the group projects, as well as improve students' attitudes toward cooperative learning. Although the explicit training group did not achieve significantly higher scores on the famous artists test, significant differences were found in group project results between the explicit and implicit groups. The explicit group also exhibited more favourable and positive attitudes toward cooperative learning. The findings of this study demonstrate that combining cooperative learning with explicit instruction is an effective classroom strategy and a useful practice for presenting and learning new information, as well as working in groups with success.

Cooperative learning and elaborative interrogation: effects on children's learning

This experimental study examined the effects of cooperative learning and a question-answering strategy called elaborative interrogation ("Why is this fact true?") on the learning of factual information about familiar animals. Retention gains were compared across four study conditions: elaborative-interrogation-plus-cooperative learning, cooperative-learning, elaborative-interrogation, and reading-control. Sixth-grade students (n=68) were randomly assigned to the four conditions. All participants were given initial training and practice in cooperative learning procedures via three 45-minute sessions. After studying 36 facts about six animals, students' retention gains were measured via immediate free recall, immediate matched association, 30-day, and GO-day matched association tests. A priori comparisons were made to analyze the data. For immediate free recall and immediate matched association, significant differences were found between students in the three experimental conditions versus those in the control condition. Elaborative-interrogation and elaborativeinterrogation- plus-cooperative-learning also promoted longterm retention (measured via 30-day matched association) of the material relative to repetitive reading with elaborative-interrogation promoting the most durable gains (measured via GO-day matched association). The relationship between the types of elaborative responses and probability of subsequent retention was also examined. Even when students were unable to provide adequate answers to the why questions, learning was facilitated more so than repetitive reading. In general, generation of adequate elaborations was associated with greater probability of recall than was provision of inadequate answers. The findings of the study demonstrate that cooperative learning and the use of elaborative interrogation, both individually and collaboratively, are effective classroom procedures for facilitating children's learning of new information.

Employer Perspectives on Secondary School Cooperative Education in a Southern Ontario City in Canada

Despite 2 Ontario Ministry of Education policy documents which mandate that regular program effectiveness surveys be completed in secondary school co-op programs, research was either not occurring or data were not being made available. A lack of co-op research also existed at the postsecondary level. The primary reason for this study was to determine the perspectives of current secondary school co-op employers in the Hamilton-Wentworth District School Board (HWDSB) and to identify any program strengths as well as any areas in which improvement can be made. A secondary aim of the study was to discover the reasons that some employers decline to participate in the co-op program, and why other employers decide to discontinue their co-op partnerships. An online survey was utilized with 2 Likert scales and open-ended questions to solicit responses from the 100 participants. The findings from this study strongly supported previous secondary and postsecondary co-op research. Overall, the HWDSB co-op program was found to be very strong, and employer satisfaction very high. There were, however, areas in which improvement could be made. Although most employers felt supported by institutions and felt that expectations were clearly communicated and were reasonable, there was evidence that many employers perceived a lack of institutional support which included factors such as communication, student placement and fit, and institutional responsiveness. In addition, some employers felt that students were underprepared for the workplace and lacked basic employability skills such as dependability and responsibility.

Cooperative VS. Non-cooperative Truels: Little Agreement, but Does that Matter?

It is well-known that non-cooperative and cooperative game theory may yield different solutions to games. These differences are particularly dramatic in the case of truels, or three-person duels, in which the players may fire sequentially or simultaneously, and the games may be one-round or n-round. Thus, it is never a Nash equilibrium for all players to hold their fire in any of these games, whereas in simultaneous one-round and n-round truels such cooperation, wherein everybody survives, is in both the a -core and ß -core. On the other hand, both cores may be empty, indicating a lack of stability, when the unique Nash equilibrium is one survivor. Conditions under which each approach seems most applicable are discussed. Although it might be desirable to subsume the two approaches within a unified framework, such unification seems unlikely since the two approaches are grounded in fundamentally different notions of stability.

Efficiency in Uncertain Cooperative Games

A contingent contract in a transferable utility game under uncertainty specifies an outcome for each possible state. It is assumed that coalitions evaluate these contracts by considering the minimal possible excesses. A main question of the paper concerns the existence and characterization of efficient contracts. It is shown that they exist if and only if the set of possible coalitions contains a balanced subset. Moreover, a characterization of values that result in efficient contracts in the case of minimally balanced collections is provided.

Analyse comparative des decisions d'emploi en incertitude de la cooperative de travailleurs et de la firme capitaliste traditionnelle a proprietaire unique.

Rapport de recherche

Cooperative of Noncooperative Behavior?

In an abstract two-agent model, we show that every deterministic joint choice function compatible with the hypothesis that agents act noncooperatively is also compatible with the hypothesis that they act cooperatively. the converse is false.