Autonomous Mobile Devices Research Articles

Through the Wall Detection and Localization of Autonomous Mobile Device in Indoor Scenario

Through the Wall Detection and Localization of Autonomous Mobile Device in Indoor Scenario

Dual LIDAR online calibration and mapping and perception system

Making autonomous mobile devices capable of autonomous positioning and map building in a GPS-denied environment as well as being able to circumvent people in the operating area simultaneously, is essential for many UGV appliances. In this paper, a mapping and positioning system using dual LIDAR is proposed for positioning and building maps. The system may also detect people in the operating space of the equipment using infrared heat maps. The localization and mapping information from each LIDAR is unified in a loosely coupled approach after simultaneous extrinsic calibration. We propose a method for constructing factor graph using LIDAR point cloud geometric features to optimally solve the dual LIDAR extrinsic in real time. We tested the localization accuracy with a publicly available dataset and three real-world scenarios and compared it with three existing methods. The test results in open-source datasets and real scenarios show that our proposed method improves the position and attitude estimation by up to 50% compared to the three existing methods, and the proposed dual LIDAR extrinsic calibration method can achieve an estimation accuracy of 0.05 m for the translational extrinsic and 1deg for the rotational extrinsic. In addition, our proposed method achieves well position and attitude estimation when other existing methods show severe drift in trajectory estimation in real scenarios. Thus, our proposed method is suitable for obtaining high accuracy measurements of LIDAR extrinsic parameters and for dense mapping and accurate localization in the environment of GNSS-denied and human mobility.

Fitness Sorted Red Deer-Cat Swarm Optimization-based Autonomous QoS-aware Multicast Communication System in MANET

A mobile ad hoc network (MANET) is a set of autonomous mobile devices connected by wireless links in a distributed manner and without a fixed infrastructure. Mobile Ad-Hoc Networks (MANETs) is considered as an infrastructure-less and constant self-configured network of wireless devices. Here, multicast has emerged as an efficient tool for communication. Recently, distinct research works have been studied in wireless MANETs for designing multicast routing protocols. Multicasting is a procedure used for allowing the users to send the same messages simultaneously to a set of users. Though, it suffers from different problems regarding implementation in ad-hoc networks owing to its shorter battery lifetime, and lack of bandwidth dynamic nature of the mobile devices. Hence, the main aim of this paper is to propose a new QoS-aware multi-cast routing protocol in MANET using the hybrid meta-heuristic algorithm. The proposed routing protocol will focus on the development of a hybrid meta-heuristic-based “reliable neighbor nodes selection” scheme over the Multicast Ad-Hoc on Demand Distance Vector routing protocol (MAODV) protocol. The “reliable neighbor nodes selection” is accomplished by Fitness sorted Red Deer-Cat Swarm Optimization (FRD-CSO) algorithm focusing on the constraints like energy model, mobility model, and reliability pair factor. Once the optimal node selection is performed, the proposed QoS-aware protocol is validated by the route discovery mechanism and route reply process. The simulation has been performed to show the efficiency of the designed multicast routing over other multicast routing protocols that demonstrates the noteworthy enhancement in terms of diverse performance measures.

Design of local heterogeneous system control networks of a new generation with the preservation of the optimality of the main topological functionals of the network

The paper discusses On-Board Computing Control Systems (OBCS) in astronautics, avionics, autonomous mobile devices, robotics, weapons control and multi-core microprocessors. This is sort of a “backbone”, which unites many sensors, calculators, control and executive devices. The architecture of these networks was developed some 30-40 years ago. At that time, these systems met the technical conditions in terms of dynamics and reliability. Nowadays, these systems must perform their functions for 10 to 15 years without maintenance. The performance of system networks must be high enough to solve such tasks as monitoring “swarms” that comprise hundreds of objects or work as a “garbage collectors” in space orbits. Nevertheless modern system networks continue to be based on bus or multi-bus architectures. Since these systems are serial for active nodes, a multi-bus solution is a main way to increase the performance of networks by using very high frequencies that amount to 2 ÷ 4 GHz. It’s an extensive path of development, which is problematic. More acceptable would be an intensive path of development, which, in electronics and computer engineering, is associated with the parallelism of task execution. It means that the operating frequencies may not be ultra-high, not exceeding that of modern devices for frequencies of 10 – 600 MHz. However, such devices should work in a parallel mode. The paper proposes a new approach to designing of heterogeneous parallel control system networks, solving parallel tasks, and a conflict-free management of “passive” nodes. To the best of our knowledge, such control system networks are not available as yet.

Towards Semi-autonomous Robotic Inspection and Mapping in Confined Spaces with the EspeleoRobô

Autonomous mobile devices operating in confined environments, such as pipes, underground tunnel systems, and cave networks, face multiple open challenges from the robotics perspective. Those challenges, such as mobility, localization, and mapping in GPS denied scenarios, are receiving particular attention from the academy and industry. One example is the Brazilian mining company Vale S.A., which is employing a robot – EspeleoRobo (SpeleoRobot) – to access restricted and dangerous areas for human workers. The EspeleoRobo is a robot initially designed for natural cave inspection during teleoperated missions. It is now being used to monitor other types of confined environments, such as dam galleries and other restrained or dangerous areas. This paper describes the platform in its current version and the pipeline used for semi-autonomous inspection in confined environments. The pipeline includes photorealistic mapping techniques, Simultaneous Localization and Mapping (SLAM) with LiDAR, path planning based on mobility optimization, and navigation control using vector fields to reduce operator dependency of the robot operation. The proposed concept was validated in simulations with a realistic underground tunnel system and in representative real-world scenarios. The results endorse the viability of using the proposed concept for real deployments.

QSMVM: QoS-Aware and Social-Aware Multimetric Routing Protocol for Video-Streaming Services over MANETS

A mobile ad hoc network (MANET) is a set of autonomous mobile devices connected by wireless links in a distributed manner and without a fixed infrastructure. Real-time multimedia services, such as video-streaming over MANETs, offers very promising applications, e.g., two members of a group of tourists who want to share a video transmitted through the MANET they form, a video-streaming service deployed over a MANET where users watch a film, among other examples. On the other hand, social web technologies, where people actively interact online with others through social networks, are leading to a socialization of networks. Information of interaction among users is being used to provide socially-enhanced software. To achieve this, we need to know the strength of the relationship between a given user and each user they interact with. This strength of the relationship can be measured through a concept called tie strength (TS), first introduced by Mark Granovetter in 1973. In this article, we modify our previous proposal named multipath multimedia dynamic source routing (MMDSR) protocol to include a social metric TS in the decisions taken by the forwarding algorithm. We find a trade-off between the quality of service (QoS) and the trust level between users who form the forwarding path in the MANET. Our goal is to increase the trust metric while the QoS is not affected significantly.

Method and Algorithm for Recognition Dynamic Objects from a Mobile Platform, from Images Obtained in Different Spectral Ranges and Lidar Data

Purpose of research. In modern automatic information collection systems, autonomous mobile devices are increasingly used, data from which can be obtained in conditions hazardous to human health, from geographically remote places, in difficult meteorological conditions and in round-the-clock observation mode. For the autonomous operation of such devices, it is necessary to use methods and algorithms that allow you to build a map of the area, link a mobile platform to it, determine a route to a target point, highlight obstacles along the route and correct the route taking into account detected obstacles. Methods. The article proposes a method and an algorithm for the selection of dynamic objects from a mobile platform, based on the analysis of data obtained from a multispectral camera, which allows the selection of obstacles, such as water, plant origin, technogenic nature, etc. with reduced computational complexity. To improve the accuracy of determining the coordinates of detected objects, a laser rangefinder is used. Results. We consider the well-known methods of multispectral images recognition and present their comparative analysis. A method and an algorithm for recognition dynamic objects from a mobile platform, from images obtained in different spectral ranges and lidar data are proposed. Experimental studies were carried out to confirm the adequacy of the mathematical substantiation of the method, to reduce the error in calculating the coordinates of the object, at a distance of up to 100 meters to the object, RMSE - 0.447%, MAPE - 0.397, to increase the performance, it took 0, 04 seconds to select the object and determine its coordinates. Conclusion. The article analyzes modern methods for recognizing multispectral images, presents the principles on which each method is based, gives advantages and disadvantages. The authors have developed a method and an algorithm that make it possible to identify static and dynamic obstacles along the route of a mobile platform, based on a sequence of images obtained in different spectral ranges. In the course of experimental studies, the performance of the proposed solutions and compliance with the specified requirements for accuracy and reliability were confirmed.

Scan Matching by Cross-Correlation and Differential Evolution

Scan matching is an important task, solved in the context of many high-level problems including pose estimation, indoor localization, simultaneous localization and mapping and others. Methods that are accurate and adaptive and at the same time computationally efficient are required to enable location-based services in autonomous mobile devices. Such devices usually have a wide range of high-resolution sensors but only a limited processing power and constrained energy supply. This work introduces a novel high-level scan matching strategy that uses a combination of two advanced algorithms recently used in this field: cross-correlation and differential evolution. The cross-correlation between two laser range scans is used as an efficient measure of scan alignment and the differential evolution algorithm is used to search for the parameters of a transformation that aligns the scans. The proposed method was experimentally validated and showed good ability to match laser range scans taken shortly after each other and an excellent ability to match laser range scans taken with longer time intervals between them.

A Micro-Level Compensation-Based Cost Model for Resource Allocation in a Fog Environment.

Fog computing aims to support applications requiring low latency and high scalability by using resources at the edge level. In general, fog computing comprises several autonomous mobile or static devices that share their idle resources to run different services. The providers of these devices also need to be compensated based on their device usage. In any fog-based resource-allocation problem, both cost and performance need to be considered for generating an efficient resource-allocation plan. Estimating the cost of using fog devices prior to the resource allocation helps to minimize the cost and maximize the performance of the system. In the fog computing domain, recent research works have proposed various resource-allocation algorithms without considering the compensation to resource providers and the cost estimation of the fog resources. Moreover, the existing cost models in similar paradigms such as in the cloud are not suitable for fog environments as the scaling of different autonomous resources with heterogeneity and variety of offerings is much more complicated. To fill this gap, this study first proposes a micro-level compensation cost model and then proposes a new resource-allocation method based on the cost model, which benefits both providers and users. Experimental results show that the proposed algorithm ensures better resource-allocation performance and lowers application processing costs when compared to the existing best-fit algorithm.

Optimizing the A* search algorithm for mobile robotic devices

The purposes of this article are to analyze the pathfinding algorithms used to search and calculate the trajectory of movement of mobile autonomous robotic devices and to search for optimization methods in order to reduce the load on computing and memory units of the mobile devices. This paper analyzes the basic pathfinding algorithms including breadth-first search, depth-first search, Dijkstra’s algorithm, greedy best-first search, and the A*algorithm, considers principles of their work, and proposes optimization methods. This work results in a new approach for using the A* algorithm for solving problems associated with pathfinding in real dynamic environments. The proposed approach speeds up the process of path calculation and the choice of the movement direction and reduces the requirements for computing power of autonomous mobile devices.

The HydroGrid as a Framework for Interconnected Water Systems: Emerging Technologies

AbstractThis paper introduces the concept of the HydroGrid as a framework to describe connected water systems. We draw upon the knowledge and engineering experience employed in electrical grid operations to outline mirroring concepts in the HydroGrid, with a particular focus on monitoring, analysis, and control. The electrical grid is well monitored in real time. Monitoring data are used for dynamic analysis, and based on analytical projections, the grid is controlled to reduce the chance of cascading failures. We discuss analogous developments for the HydroGrid, using the example of microbial surface water contamination for illustration. Emerging technologies in advanced materials, signal transduction and wireless communications enable development of autonomous mobile devices for dynamic microbial water quality monitoring. As this technology matures, the devices will have the capability to stream real‐time or near‐real‐time data for analysis with stochastic models of contaminant fate and transport. Modeling results, combined with controllability analysis of water systems, can then be used to determine system‐wide prevention and mitigation strategies. Progress is measured with probability‐based metrics of HydroGrid sustainability such as reliability, vulnerability, and resilience. We highlight challenges in data requirements and processing, and finally, we broadly discuss interdependent functions of the HydroGrid such as human and animal health services, food safety, and aquatic ecosystems health.

Mobile Device for Monitoring of Cardiovascular System State Based on Assessment of Synchronization of its Low-Frequency Rhythms

We develop an autonomous mobile device for continuous monitoring of cardiovascular system functional state, which is based on the assessment of synchronization between the low-frequency oscillations in heart rate and blood flow having a basic frequency close to 0.1 Hz.

Retaliation-based secured model for enhanced weighted clustering algorithm in mobile ad-hoc network

Mobile Ad-hoc Networks (MANETs) are wireless networks without any fixed infrastructure, consisting of autonomous mobile devices that are interconnected via wireless media. In the recent years MANETs have become one of the most prevalent areas of research because of their inevitable characteristics. However, resource limitations, energy efficiency, scalability and security are the major challenging concerns in MANETs. In this paper, we propose a novel methodology for a secure and fair weighted clustering algorithm using a combination of four parameters: stability factor, degree deviation, sum of distances to a node's neighbours and energy depletion. Our proposed algorithm revolves around three important advantages for clustering. The first is to eliminate the non-eligible nodes to become a cluster head at the initial stage of clustering, which reduces the computation and communication overhead. The second is to elect that node to be a cluster head, which retains its neighbourhood for a longer time period which maintains cluster stability. The third is to retaliate against a selfish node in case of any misbehaviour or non-cooperation using the punishment algorithm and enforcing it to behave normally rather than simply blacklisting that node. The simulation results demonstrate the efficacy of the proposed algorithm compared with the other existing algorithms in terms of different performance metrics.

モバイル機器電力管理のための無線送電機能搭載ロボットにおける無線送電部の開発

Mobile devices are spreading in recent year because they have convenience. But mobile devices have connection and mobility problems when battery charging. Therefore it is desirable that mobile devices are connection-free and location-free. We think wireless charging of magnetic coupled resonances a solution now. But wireless charging don’t supply energy anywhere. So we propose energy management system using wireless charging and autonomous mobile robot. This system manages autonomous mobile robot and mobile devices battery. This paper introduces the abstract architecture and procedure of designing the wireless charging function in this system.

Secure and fair cluster head selection protocol for enhancing security in mobile ad hoc networks.

Mobile ad hoc networks (MANETs) are wireless networks consisting of number of autonomous mobile devices temporarily interconnected into a network by wireless media. MANETs become one of the most prevalent areas of research in the recent years. Resource limitations, energy efficiency, scalability, and security are the great challenging issues in MANETs. Due to its deployment nature, MANETs are more vulnerable to malicious attack. The secure routing protocols perform very basic security related functions which are not sufficient to protect the network. In this paper, a secure and fair cluster head selection protocol (SFCP) is proposed which integrates security factors into the clustering approach for achieving attacker identification and classification. Byzantine agreement based cooperative technique is used for attacker identification and classification to make the network more attack resistant. SFCP used to solve this issue by making the nodes that are totally surrounded by malicious neighbors adjust dynamically their belief and disbelief thresholds. The proposed protocol selects the secure and energy efficient cluster head which acts as a local detector without imposing overhead to the clustering performance. SFCP is simulated in network simulator 2 and compared with two protocols including AODV and CBRP.

Navigation of Mobile Devices based on Embedded Image Processing with Support of GPS Systems and Sensors

A recent development in system-on-chip processors provides possibilities of integration performancedemanding tasks, which can be performed only with the help of superior range of computers before. The article introduces advanced control system with embedded image processing to improving GPS localization of autonomous mobile devices in real environment. The main control system is based on ARM (SoC.) architecture integrated in Raspberry PI development board. Presented control systems can handle real-time video capturing, power-efficient image processing operation for example (thresholding, binarization, motion detection, ...etc.) and streaming results images as video. GPS precision can provide only 3 meters precision together with WAAS (Egnos) satellite. Our solution uses GPS solution and embedded image processing to detect border of roads or sidewalks. Our algorithm detects road or sidewalk universally without detection of white line in roadside, because pathways and some roads cannot provide this feature. Control system can be used for small autonomous mobile devices for example parts transport in industrial park of heavy industries, where are long distances between production halls.

A lightweight framework for prediction-based resource management in future wireless networks

The vast proliferation and widespread use of a variety of mobile devices in the heterogeneous networking environment necessitates the introduction of lightweight management mechanisms to ease the administration complexity and optimise the overall system performance. To this end, one key research problem is the design of novel functionalities in network nodes to enable their self-adaptation to varying operational conditions, e.g. their own resources saturation--and to the status of other neighbouring nodes, to assure stability and optimality in the resource management. In these terms, the introduction of advanced techniques for the load balancing of users' requests in order to avoid the resources saturation is a fundamental objective. The latter addresses both the local node level as well as the cluster level of neighbouring nodes. In this article, an appropriate model for the management of computational system resources is proposed, enhanced with prediction schemes. An algorithmic framework is introduced for the proactive load balancing of user decision-making requests, assuming reconfigurable and autonomous mobile devices. The latter is based on the proposed metric of user satisfaction; such metric is a function of the network response time for serving the decision-making requests. An analytical model has been proposed to compute the predicted values of the user satisfaction, extending the prediction models by Andreolini. Acting on top of the typical load-balancing actions for handling the current resources saturations, the goal of this framework is to avoid the full utilisation of system resources in the near future. Afterwards, the introduced prediction-based load-balancing framework has initially been evaluated in a test-single node system and then applied in a case study system. The obtained results show the gains of the presented framework in terms of the number of dropped user requests. The introduction of prediction schemes enables to minimise the number of dropped user requests for both classes of mobile devices. It should be noted that the prediction framework optimises the failure rates for the autonomous mobile devices. This outcome indicates that the introduction of intelligence in the mobile devices eases their proactive management.

MicroMAIS: executing and orchestrating Web services on constrained mobile devices

Mobile devices with their more and more powerful resources allow the development of mobile information systems in which services are not only provided by traditional systems but also autonomously executed and controlled in the mobile devices themselves. Services distributed on autonomous mobile devices allow both the development of cooperative applications without a back-end infrastructure and the development of applications blending distributed and centralized services. In this paper, we propose MicroMAIS: an integrated platform for supporting the execution of Web service-based applications natively on a mobile device. The MicroMAIS platform is composed of mAS and μ-BPEL. The former allows the execution of a single Web service, whereas the latter permits the orchestration of several Web services according to the WS-BPEL standard. Copyright © 2011 John Wiley & Sons, Ltd.

Communication with autonomous mobile vehicles

Communication in distributed control systems, especially those, that employ autonomous mobile devices moving in an unknown environment, requires high level of reliability, flexibility and speed in order to control individual nodes of the distributed network in real-time. This is the reason why several students’ works at the Department of Control Engineering involved development of mobile appliances with autonomous behaviour, which differ in terms of timing demands and amount of transmitted data, thus allowing choice of different types of wired as well as wireless communication. Structure of these mobile appliances as well as their communication with superior stationary node in the distributed network is described in this paper.

The development of an autonomous service robot. Implementation: “Lucas”—The library assistant robot

This paper describes an autonomous mobile device that was designed, developed and implemented as a library assistant robot. A complete autonomous system incorporating human–robot interaction has been developed and implemented within a real world environment. The robotic development is comprehensively described in terms of its localization systems, which incorporates simple image processing techniques fused with odometry and sonar data, which is validated through the use of an extended Kalman filter (EKF). The essential principles required for the development of a successful assistive robot are described and put into demonstration through a human–robot interaction application applied to the library assistant robot.