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Deploying Wireless Sensor Networks under Limited Mobility Constraints
"... Abstract—In this paper, we study the issue of sensor network deployment using limited mobility sensors. By limited mobility, we mean that the maximum distance that sensors are capable of moving to is limited. Given an initial deployment of limited mobility sensors in a field clustered into multiple ..."
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Abstract—In this paper, we study the issue of sensor network deployment using limited mobility sensors. By limited mobility, we mean that the maximum distance that sensors are capable of moving to is limited. Given an initial deployment of limited mobility sensors in a field clustered into multiple regions, our deployment problem is to determine a movement plan for the sensors to minimize the variance in number of sensors among the regions and simultaneously minimize the sensor movements. Our methodology to solve this problem is to transfer the nonlinear variance/movement minimization problem into a linear optimization problem through appropriate weight assignments to regions. In this methodology, the regions are assigned weights corresponding to the number of sensors needed. During sensor movements across regions, larger weight regions are given higher priority compared to smaller weight regions, while simultaneously ensuring a minimum number of sensor movements. Following the above methodology, we propose a set of algorithms to our deployment problem. Our first algorithm is the Optimal Maximum Flow-based (OMF) centralized algorithm. Here, the optimal movement plan for sensors is obtained based on determining the minimum cost maximum weighted flow to the regions in the network. We then propose the Simple Peak-Pit-based distributed (SPP) algorithm that uses local requests and responses for sensor movements. Using extensive simulations, we demonstrate the effectiveness of our algorithms from the perspective of variance minimization, number of sensor movements, and messaging overhead under different initial deployment scenarios. Index Terms—Sensor networks, deployment, limited mobility sensors. 1
Bearing Stabilization and Tracking for an AUV with an Acoustic Line Array
- in Proceedings of the IEEE/MTS Oceans'06 Conference
, 1821
"... Abstract—Passive underwater detection and tracking sonar systems using autonomous underwater vehicles (AUVs) have many important applications. Because of imperfections in vehicle control, it is common for an AUV to undergo significant yaw and pitch oscillations. As a result, it is important to compe ..."
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Abstract—Passive underwater detection and tracking sonar systems using autonomous underwater vehicles (AUVs) have many important applications. Because of imperfections in vehicle control, it is common for an AUV to undergo significant yaw and pitch oscillations. As a result, it is important to compensate for the vehicle motion when generating true bearing estimates while using a rigidly attached acoustic line array. This paper describes full beam interpolation tracker and bearing stabiliza-tion algorithms that were implemented to address these issues on an intelligent AUV sonar sensor and tested during a subsequent sea trial with the goal of providing target bearing estimates to a target track estimation algorithm. These beam tracking and bearing stabilization algorithms can also be applied to the case of a flexible towed array with some additional modifications. Initial results indicate that this is an effective method of measuring stabilized true target bearings. I.
PAPER Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications AUTHORS
"... The role of unmanned systems in the maritime domain continues to grow as robotic tools continue to mature and evolve, serving an increasingly ..."
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The role of unmanned systems in the maritime domain continues to grow as robotic tools continue to mature and evolve, serving an increasingly
Wide-band pulse-echo imaging with distributed apertures in multi-path environments
, 2008
"... Abstract We derive a new image reconstruction method for distributed apertures operating in complex environments. The aperture elements can be distributed spatially in an arbitrary fashion, can be several hundred wavelengths apart, and can involve transmission from multiple elements simultaneously. ..."
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Abstract We derive a new image reconstruction method for distributed apertures operating in complex environments. The aperture elements can be distributed spatially in an arbitrary fashion, can be several hundred wavelengths apart, and can involve transmission from multiple elements simultaneously. Moreover, the object to be imaged can be either in the near-field or far-field of the array. Our method is capable of exploiting information about multi-path scattering in the environment, statistics of the objects to be imaged and statistics of the additive (possibly non-stationary) noise. We formulate the image reconstruction problem as an inversion of a bilinear mapping that maps object reflectivity to an operator which in turn acts on the transmitted waveforms. We use transmitted waveforms to reveal the action of this bilinear mapping. We develop a minimum-norm inversion which takes the form of a family of linear operators applied to the pulse-echo measurements. This processing is implemented by means of inner products between the measurements and precomputed quantities, separately for each receiving element. Our approach is therefore well suited for parallel implementation, and can be performed in a distributed manner.
Accepted by.......................................................................
, 2008
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Institution
, 2006
"... In this thesis, an innovative architecture for real-time adaptive and cooperative control of autonomous sensor platforms in a marine sensor network is described in the context of the autonomous oceanographic network scenario. This architecture has three major compo-nents, an intelligent, logical sen ..."
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In this thesis, an innovative architecture for real-time adaptive and cooperative control of autonomous sensor platforms in a marine sensor network is described in the context of the autonomous oceanographic network scenario. This architecture has three major compo-nents, an intelligent, logical sensor that provides high-level environmental state information to a behavior-based autonomous vehicle control system, a new approach to behavior-based control of autonomous vehicles using multiple objective functions that allows reactive con-trol in complex environments with multiple constraints, and an approach to cooperative robotics that is a hybrid between the swarm cooperation and intentional cooperation ap-proaches. The mobility of the sensor platforms is a key advantage of this strategy, allowing dynamic optimization of the sensor locations with respect to the classification or localiza-
INVERSE PROBLEMS
, 2008
"... doi:10.1088/0266-5611/24/4/045013 Wide-band pulse-echo imaging with distributed apertures in multi-path environments ..."
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doi:10.1088/0266-5611/24/4/045013 Wide-band pulse-echo imaging with distributed apertures in multi-path environments
