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Actor Positioning for Wireless Sensor and Actor Networks

Actor Positioning for Wireless Sensor and Actor Networks

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APAWSAN Presentation Transcript

  • 1. APAWSAN: Actor Positioning for Aerial Wireless Sensor and Actor Networks Actor positioning strategy for aerial sensor networks Mustafa ˙ Ilhan Akba¸, Damla Turgut s Department of Electrical Engineering and Computer Science University of Central Florida - Orlando, FL February 15, 2012Mustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 1 / 17
  • 2. 1 Application scenarioMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 2 / 17
  • 3. 1 Application scenario 2 Problem definitionMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 2 / 17
  • 4. 1 Application scenario 2 Problem definition 3 System modelMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 2 / 17
  • 5. 1 Application scenario 2 Problem definition 3 System model 4 Positioning methodMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 2 / 17
  • 6. 1 Application scenario 2 Problem definition 3 System model 4 Positioning method 5 Simulation studyMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 2 / 17
  • 7. 1 Application scenario 2 Problem definition 3 System model 4 Positioning method 5 Simulation study 6 ConclusionMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 2 / 17
  • 8. Application scenario Volcanic eruption such as the volcano Eyjafjallaj¨kull in 2010 o Close-up observation of the volcano was impossible UAV system with built-in sensors to investigate volcanic plumeMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 3 / 17
  • 9. Problem definition Problem For effective data collection, positioning of UAVs is important Most dynamic node positioning strategies limited to 2-D space Popular 2-D strategies become NP-Hard in 3-D space Objective Dynamic positioning of the actors in three dimensional space with local communicationMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 4 / 17
  • 10. System model Challenges UAV system has autonomous flight operation mode Autonomous flight may reduce situational awareness and error correction The communication must be simple yet effective The actors must be able to reorganize in case of a loss System WSAN of small UAVs with built-in sensor nodes Larger and more powerful UAVs with actor nodes Central, most powerful UAV serving as the sink nodeMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 5 / 17
  • 11. System dynamics Affiliation of sensor to actor nodes is executed as in SOFROP† Actors assigned with weight k Sensor nodes initially get random weight values Sensor nodes update weight = k - (hop count of sensor node) Only data available for a sensor node s, are the direct neighbors Neigh(s) and their corresponding weights w (Neigh(si )) Sensor nodes maintain and update only local information Nodes have spherical transmission ranges Network among actors and the sink form the communication backbone †M. I. Akbas, M. R. Brust, and D. Turgut. SOFROP: Self-Organizing and Fair Routing Protocol for Wireless Networks with Mobile Sensors and Stationary Actors Elsevier Journal of Computer Communications, in early access DOI:10.1016/j.comcom.2011.01.006, 2011. †M. I. Akbas, M. R. Brust, and D. Turgut. SOFROP: Self-Organizing and Fair Routing Protocol for Wireless Networks with Mobile Sensors and Stationary Actors In the Proceedings of IEEE Local Computer Networks (LCN10), pp. 456463, October 2010.Mustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 6 / 17
  • 12. “VSEPR theory” based approach VSEPR (Valence Shell Electron Pair Repulsion) model is the most successful model for the molecular geometry prediction Arrangement of electron pairs in valence shell of the central atom are due to the repulsion between them APAWSAN adopts VSEPR theory to build a self-configuring dynamic network architectureMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 7 / 17
  • 13. “VSEPR theory” geometries Peripheral atoms mapped to actors and central atom to the sinkMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 8 / 17
  • 14. Formulation of VSEPR geometries Examples: Positions of actors in Linear geometry: pa1 (x, y , z) = (r , 0, 0) pa2 (x, y , z) = (−r , 0, 0) Positions of actors in Trigonal planar geometry: pa1 (x, y , z) = (r , 0, 0) pa2 (x, y , z) = (−r .sin(30◦ ), r .sin(60◦ ), 0) pa3 (x, y , z) = (−r .sin(30◦ ), −r .sin(60◦ ), 0) Positions of actors in Tetrahedral geometry: pa1 (x, y , z) = (0, 0, r ) pa2 (x, y , z) = (−r .a, −r .b, r .cos(109.5◦)) pa3 (x, y , z) = (−r .sin(109.5◦ ), 0, r .cos(109.5◦) pa4 (x, y , z) = (−r .a, r .b, r .cos(109.5◦))Mustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 9 / 17
  • 15. Formulation of VSEPR geometries Actor locations must be identified according to a reference point Sink taken as the reference origin in XYZ coordinate system in flight Transition between geometries must not be complex Geometries formulated s.t. transition from one to another requires least number of position changes When number of actors is between 1-3, actors located on a single plane When number of actors is between 4-7, 2 actors located on z-axis, others located on single plane with equal connection angles When number of actors is 8, actors located on 2 planesMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 10 / 17
  • 16. Dynamic positioning Transitions between geometries done with a lightweight (depending on basic rules) algorithm There is no operation center or remote control Changes and maintenance through local communication only Affiliation of sensor nodes to the actors are handled by SOFROP network organizationMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 11 / 17
  • 17. Average weight values More actors, higher average weight values Better performance when actors on more than one planeMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 12 / 17
  • 18. Average maximum and minimum weight values Higher average weight values mean small hop-counts, so better sharing of the sensor nodesMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 13 / 17
  • 19. Cardinality of actors Fluctuation in cardinality reduces as number of actors increasesMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 14 / 17
  • 20. Additional simulations (1) 1-hop coverage of actors, APAWSAN vs. Random positioning with a central node APAWSAN performs better with an increasing difference as the number of actors increasesMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 15 / 17
  • 21. Additional simulations (2) Scalability improvement by Inreasing number of actors and sinks Specifying VSEPR geometries for multiple sinks 2-sink geometries performed better The performance difference becomes apparent as the number of actors exceeds 7Mustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 16 / 17
  • 22. Conclusion Scalable heuristic algorithm for positioning of actors in aerial WSANs Simulation results show APAWSAN provides high connectivity and coverage Future steps: Increasing scalability and extending APAWSAN to large networks Exploring other concepts of VSEPR theory and molecular geometry Real-life experiments with UAVsMustafa ˙ Ilhan Akba¸, Damla Turgut (UCF) s APAWSAN February 15, 2012 17 / 17