Fault tolerant deployment, search, and task xooperatıve control of robot/sensor networks

Download

index.pdf

Date

2005

Author

Akın, Berkant

Metadata

Show full item record

Item Usage Stats

271
views

85
downloads

This thesis focuses on developing of a distributed, efficient and fault tolerant multiresolutional architecture for sensor networks. For demonstrative purpose, a powerful simulation environment using 3D environment model has been developed. The robot network is composed of autonomous robots capable of working cooperatively equipped with single typed simple sensor. The developed layered control architecture is hybrid including both subsumption and motor schema control strategies. In this proposed control method, behaviors in different or in same layer are coordinated with an evaluator unit that overcomes the difficulties of subsumption based architectures in terms of behavioral coordination. The final coordination between these layers is achieved cooperatively. We performed many simulation experiments to test robot deployment, search and task execution. It is shown that some important parameters such as target reaching time, energy consumption, and communication range can be optimized if an approximate prior information about the environment is known. Robots executes task based on a task allocation algorithm. Market based auction method is used as a task allocation algorithm with completely different robot fitness evaluation method allowing a distributive problem solving. Six non-linear fitness functions are developed to increase the fairness, and fault tolerance of task allocation. These functions have been tested to represent the successes and failures of robots in a compact form. Performance analyses test results have shown that fairness increases two times more in task allocation when these fitness functions are used, compared to the results existing fitness evaluation methods used in the market based auction algorithms. Moreover, fault tolerance is increased by using fitness functions devoted to failure conditions.

Subject Keywords

Electrical engineering.

URI

http://etd.lib.metu.edu.tr/upload/12606574/index.pdf
https://hdl.handle.net/11511/15445

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Asynchronous design of systolic array architectures in cmos İsmailoğlu, Ayşe Neslin; Aşkar, Murat; Department of Electrical and Electronics Engineering (2008) In this study, delay-insensitive asynchronous circuit design style has been adopted to systolic array architectures to exploit the benefits of both techniques for improved throughput. A delay-insensitivity verification analysis method employing symbolic delays is proposed for bit-level pipelined asynchronous circuits. The proposed verification method allows datadependent early output evaluation to co-exist with robust delay-insensitive circuit behavior in pipelined architectures such as systolic arrays. Reg...
High performance readout and control electronics for mems gyroscopes Şahin, Emre; Akın, Tayfun; Department of Electrical and Electronics Engineering (2009) This thesis reports the development of various high performance readout and control electronics for implementing angular rate sensing systems using MEMS gyroscopes developed at METU. First, three systems with open loop sensing mechanisms are implemented, where each system has a different drive-mode automatic gain controlled (AGC) self-oscillation loop approach, including (i) square wave driving signal with DC off-set named as OLS_SquD, (ii) sinusoidal driving signal with DC off-set named as OLS_SineD, and i...
Anti-sensor network : distortion-based distributed attack in wireless sensor networks Karaaslan, İbrahim; Akan, Özgür Barış; Department of Electrical and Electronics Engineering (2008) In this thesis, a novel anti-sensor network paradigm is introduced against wireless sensor networks (WSN). Anti-sensor network (ASN) aims to destroy application reliability by adaptively and anonymously introducing adequate level of artificial distortion into the communication of the event features transported from the sensor nodes (SN) to the sink. ASN is composed of anti-sensor nodes (aSN) randomly distributed over the sensor network field. aSNs pretend to be SNs tomaintain anonymity and so improve resili...
Hierarchical parallelisation strategy for multilevel fast multipole algorithm in computational electromagnetics Ergül, Özgür Salih (Institution of Engineering and Technology (IET), 2008-01-03) A hierarchical parallelisation of the multilevel fast multipole algorithm (MLFMA) for the efficient solution of large-scale problems in computational electromagnetics is presented. The tree structure of MLFMA is distributed among the processors by partitioning both the clusters and the samples of the fields appropriately for each level. The parallelisation efficiency is significantly improved compared to previous approaches, where only the clusters or only the fields are partitioned in a level.
Hardware implementation of an active feature tracker for surveillance applications Solmaz, Berkan; Akar, Gözde; Department of Electrical and Electronics Engineering (2008) The integration of image sensors and high performance processors into embedded systems enabled the development of intelligent vision systems. In this thesis, we developed an active autonomous system to be used for surveillance applications. The proposed system detects a single moving object in the field of view automatically and tracks it in a wide area by controlling the pan-tilt-zoom features of the camera. The system can also go to an alarm state to warn the user. The processing unit of the system is a T...

Citation Formats

B. Akın, “Fault tolerant deployment, search, and task xooperatıve control of robot/sensor networks,” M.S. - Master of Science, Middle East Technical University, 2005.