A fractal conductivity-based approach to mobile sensor networks in a potential field

Date

2008-06-01

Author

Sedat, Nazlibilek
Aydan, Erkmen

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

139
views

0
downloads

This paper presents the design of multi-robots or multiple mobile sensors and gives the results of the team behavior of them in a potential field in a collaborative manner. The aim is to prove the concept of the fractal conductivity-based approach to mobile sensor networks in a potential field. We attempted to create multi-robots having similar inherent nature, similar background knowledge, and the same mission as relevant bodies, the creation of some sort of attraction force between them is achieved with the application of fractal conductivity of belief functions. We attempted to develop multi-robots capable of carrying out an orchestrated movement in an environment having some kind of potential field such as a chemical substance contaminated into sea or lake water. The basis of the theory of behavior in a potential field is established. The fractal conductivity approach is explained. A mobile sensor structure having an input, output, and internal belief functions is designed. Internal structures of mobile sensors are implemented by software. A mobile sensor network composed of mobile sensor nodes is developed. Two communities of interest groups have been constituted. Collaborative behaviors of multi-robots in a potential field are investigated. The mobile sensors move towards a target by sensing the potential field at their locations, broadcasting the information composed of locally sensed intensity of the potential field around them and the infrastructure knowledge of themselves to other sensors and receiving the information of the potential field intensities together with the identity information that is being broadcasted from the other mobile sensors inside the potential field. The target is a source creating the potential field. A mobile sensor is a body incorporating a prior knowledge base that is the identity information in the form of a fractal belief function inside itself. After developing the theoretical basis for sensing potential field and movement, a fractal conductivity approach, which is based on fractal natures of the belief functions, is applied to this basic approach to obtain the movements of the multi-robots as a coordinated team, i.e., grouped as relevant bodies. The operation of mobile sensors based on time division multiple access method is achieved. The results of coordinated movement and obstacle avoidance have been demonstrated by the simulation results.

Subject Keywords

Control and Systems Engineering, Mechanical Engineering, Industrial and Manufacturing Engineering, Software, Computer Science Applications

URI

https://hdl.handle.net/11511/64423

Journal

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY

DOI

https://doi.org/10.1007/s00170-007-1021-0

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Integrating flexible process plans with scheduling in flexible manufacturing systems Saygin, C; Kilic, SE (Springer Science and Business Media LLC, 1999-01-01) This paper highlights the importance of integration between process planning and scheduling in flexible manufacturing systems (FMS). An effective integration increases the potential for enhanced system performance and enhanced decision making. A framework that integrates flexible process plans with off-line (predictive) scheduling in FMS is presented The flexibility in process planning, including process flexibility, sequence flexibility, and alternative machine tools, is discussed. The proposed framework c...
An intelligent process planning system for prismatic parts using STEP features Amaitik, Saleh M.; Kilic, S. Engin (Springer Science and Business Media LLC, 2007-01-01) This paper presents an intelligent process planning system using STEP features (ST-FeatCAPP) for prismatic parts. The system maps a STEP AP224 XML data file, without using a complex feature recognition process, and produces the corresponding machining operations to generate the process plan and corresponding STEP-NC in XML format. It carries out several stages of process planning such as operations selection, tool selection, machining parameters determination, machine tools selection and setup planning. A h...
A finite field framework for modeling, analysis and control of finite state automata Reger, Johann; Schmidt, Klaus Verner (Informa UK Limited, 2004-09-01) In this paper, we address the modeling, analysis and control of finite state automata, which represent a standard class of discrete event systems. As opposed to graph theoretical methods, we consider an algebraic framework that resides on the finite field F-2 which is defined on a set of two elements with the operations addition and multiplication, both carried out modulo 2. The key characteristic of the model is its functional completeness in the sense that it is capable of describing most of the finite st...
Multi-agent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task Erden, MS; Leblebicioğlu, Mehmet Kemal; Halıcı, Uğur (Springer Science and Business Media LLC, 2004-03-01) This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The control variables of the controllers are linear velocity of the base, angular velocity of the elbow, and angular velocity of the shoulder. Main inputs to the system are the horizontal ...
A tracker-aware detector threshold optimization formulation for tracking maneuvering targets in clutter Aslan, Murat Samil; Saranlı, Afşar (Elsevier BV, 2011-09-01) In this paper, we consider a tracker-aware radar detector threshold optimization formulation for tracking maneuvering targets in clutter. The formulation results in an online method with improved transient performance. In our earlier works, the problem was considered in the context of the probabilistic data association filter (PDAF) for non-maneuvering targets. In the present study, we extend the ideas in the PDAF formulation to the multiple model (MM) filtering structures which use PDAFs as modules. Althou...

Citation Formats

N. Sedat and E. Aydan, “A fractal conductivity-based approach to mobile sensor networks in a potential field,” INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, pp. 732–746, 2008, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/64423.