ADMM-based adaptive sampling strategy for nonholonomic mobile robotic sensor networks
- Authors: Le, Viet-Anh , Nguyen, Linh , Nghiem, Truong
- Date: 2021
- Type: Text , Journal article
- Relation: IEEE Sensors Journal Vol. 21, no. 13 (2021), p. 15369-15378
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- Description: This paper discusses the adaptive sampling problem in a nonholonomic mobile robotic sensor network for efficiently monitoring a spatial field. It is proposed to employ Gaussian process to model a spatial phenomenon and predict it at unmeasured positions, which enables the sampling optimization problem to be formulated by the use of the log determinant of a predicted covariance matrix at next sampling locations. The control, movement and nonholonomic dynamics constraints of the mobile sensors are also considered in the adaptive sampling optimization problem. In order to tackle the nonlinearity and nonconvexity of the objective function in the optimization problem we first exploit the linearized alternating direction method of multipliers (L-ADMM) method that can effectively simplify the objective function, though it is computationally expensive since a nonconvex problem needs to be solved exactly in each iteration. We then propose a novel approach called the successive convexified ADMM (SC-ADMM) that sequentially convexify the nonlinear dynamic constraints so that the original optimization problem can be split into convex subproblems. It is noted that both the L-ADMM algorithm and our SC-ADMM approach can solve the sampling optimization problem in either a centralized or a distributed manner. We validated the proposed approaches in 1000 experiments in a synthetic environment with a real-world dataset, where the obtained results suggest that both the L-ADMM and SC-ADMM techniques can provide good accuracy for the monitoring purpose. However, our proposed SC-ADMM approach computationally outperforms the L-ADMM counterpart, demonstrating its better practicality. © 2001-2012 IEEE.
Mobile robotic sensors for environmental monitoring using gaussian markov random field
- Authors: Nguyen, Linh , Kodagoda, Sarath , Ranasinghe, Ravindra , Dissanayake, Gamini
- Date: 2021
- Type: Text , Journal article
- Relation: Robotica Vol. 39, no. 5 (2021), p. 862-884
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- Description: This paper addresses the issue of monitoring spatial environmental phenomena of interest utilizing information collected by a network of mobile, wireless, and noisy sensors that can take discrete measurements as they navigate through the environment. It is proposed to employ Gaussian Markov random field (GMRF) represented on an irregular discrete lattice by using the stochastic partial differential equations method to model the physical spatial field. It then derives a GMRF-based approach to effectively predict the field at unmeasured locations, given available observations, in both centralized and distributed manners. Furthermore, a novel but efficient optimality criterion is then proposed to design centralized and distributed adaptive sampling strategies for the mobile robotic sensors to find the most informative sampling paths in taking future measurements. By taking advantage of conditional independence property in the GMRF, the adaptive sampling optimization problem is proven to be resolved in a deterministic time. The effectiveness of the proposed approach is compared and demonstrated using pre-published data sets with appealing results. Copyright © The Author(s), 2020. Published by Cambridge University Press.
Smart sensing-enabled decision support system for water scheduling in orange orchard
- Authors: Khan, Rahim , Zakarya, Muhammad , Balasubramanian, Venki , Jan, Mian , Menon, Varun
- Date: 2021
- Type: Text , Journal article
- Relation: IEEE Sensors Journal Vol. 21, no. 16 (2021), p. 17492-17499
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- Description: The scarcity of water resources throughout the world demands its optimum utilization in various sectors. Smart Sensing-enabled irrigation management systems are the ideal solutions to ensure the optimum utilization of water resources in the agriculture sector. This paper presents a wireless sensor network-enabled Decision Support System (DSS) for developing a need-based irrigation schedule for the orange orchard. For efficient monitoring of various in-field parameters, our proposed approach uses the latest smart sensing technology such as soil moisture, leaf-wetness, temperature and humidity. The proposed smart sensing-enabled test-bed was deployed in the orange orchard of our institute for approximately one year and successfully adjusted its irrigation schedule according to the needs and demands of the plants. Moreover, a modified Longest Common SubSequence (LCSS) mechanism is integrated with the proposed DSS for distinguishing multi-valued noise from the abrupt changing scenarios. To resolve the concurrent communication problem of two or more wasp-mote sensor boards with a common receiver, an enhanced RTS/CTS handshake mechanism is presented. Our proposed DSS compares the most recently refined data with pre-defined threshold values for efficient water management in the orchard. Irrigation activity is scheduled if water deficit criterion is met and the farmer is informed accordingly. Both the experimental and simulation results show that the proposed scheme performs better in comparison to the existing schemes. © 2001-2012 IEEE.
An efficient 3-D model for remaining wall thicknesses of cast iron pipes in nondestructive testing
- Authors: Nguyen, Linh , Miro, Jaime
- Date: 2020
- Type: Text , Journal article
- Relation: IEEE Sensors Letters Vol. 4, no. 7 (2020), p.
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- Description: Over 50% of global pipes have been made of cast iron, and most of them are aging. In order to effectively estimate possibilities of their failures, which is paramount for efficiently managing asset infrastructures, it requires the remaining wall thickness (RWT) of a pipe to be known. In fact, RWT of the cast iron pipes can be primarily measured by the magnetism based nondestructive testing technologies though they are quite slow. To speed up the inspection process, it is proposed to sense RWT of a part of a pipe and then employ a model to predict RWT in the rest. Thus, this letter introduces a 3-D model to efficiently represent RWT of a pipe given measurements collected intermittently on the pipe's surface. The proposed model first transforms 3-D cylindrical coordinates to 3-D Cartesian coordinates before modeling RWT by Gaussian processes (GP). The transformation allows GP to work properly on RWT data gathered on a cylindrical pipe and effectively predict RWT at unmeasured locations. Moreover, periodicity of RWT along circumference of the pipe is naturally integrated. The effectiveness of the proposed approach is demonstrated by implementation in two real life inservice aging cast iron pipes, where the obtained results are highly promising. © 2017 IEEE.
Risk constrained short-term scheduling with dynamic line ratings for increased penetration of wind power
- Authors: Banerjee, Binayak , Jayaweera, Dilan , Islam, Syed
- Date: 2015
- Type: Text , Journal article
- Relation: Renewable Energy Vol. 83, no. (2015), p. 1139-1146
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- Description: Limited transmission capacity may lead to network congestion which results in wind curtailment during periods of high availability of wind. Conventional congestion management techniques usually involve generation management which may not always benefit large wind farms. This paper investigates the problem in detail and presents an improved methodology to quantify the latent scheduling capacity of a power system taking into account stochastic variation in line-thermal rating, intermittency of wind, and mitigating the risk of network congestion associated with high penetration of wind. The mathematical model converts conventional thermal constraints to dynamic constraints by using a discretized stochastic penalty function with quadratic approximation of constraint relaxation risk. The uniqueness of the approach is that it can limit the generation to be curtailed or re-dispatch by dynamically enhancing the network latent capacity as per the need. The approach is aimed at strategic planning of power systems in the context of power systems with short to medium length lines with a priori known unit commitment decisions and uses stochastic optimization with a two stage recourse action. Results suggest that a considerable level of wind penetration is possible with dynamic line ratings, without adversely affecting the risk of network congestion.
Turnpike theorem for an infinite horizon optimal control problem with time delay
- Authors: Mammadov, Musa
- Date: 2014
- Type: Text , Journal article
- Relation: SIAM Journal on Control and Optimization Vol. 52, no. 1 (2014), p. 420-438
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- Description: An optimal control problem for systems described by a special class of nonlinear differential equations with time delay is considered. The cost functional adopted could be considered as an analogue of the terminal functional defined over an infinite time horizon. The existence of optimal solutions as well as the asymptotic stability of optimal trajectories (that is, the turnpike property) are established under some quite mild restrictions on the nonlinearities of the functions involved in the description of the problem. Such mild restrictions on the nonlinearities allowed us to apply these results to a blood cell production model. © 2014 Society for Industrial and Applied Mathematics.
A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments
- Authors: Percy, Andrew , Spark, Ian
- Date: 2010
- Type: Text , Journal article
- Relation: Robotica Vol. 29, no. 3 (2010), p. 471-482
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- Description: This paper presents a new algorithm for the control of a snake-like robot with passive joints and active wheels. Each segment has four autonomously driven and steered wheels. The algorithm approximates the ideal solution in which all wheels on a segment have the same centre of curvature with wheel speeds, providing cooperative redundancy. Each hitch point joining segments traverses the same path, which is determined by an operator, prescribing the path curvature and front hitch speed. The numerical algorithm developed in this paper is simulation tested against a previously derived analytical solution for a predetermined path. Further simulations are carried out to show the effects of changing curvature and front hitch speed on hitch path, wheel angles and wheel speeds for a one, two and three segment robot.