ABSTRACT Given a set of events and a set of robots, the dispatch problem is to allocate one robot... more ABSTRACT Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch problem). The distributed version of the problem is embedded into a sensor network field, where each event is discovered by a sensor and reported to a robot. Existing centralized and distributed solution based on stable marriage problem suffers from the presence of long robot paths. The other existing solution, based on k-means clustering and traveling salesman tour, suffers from the design goal of allocating the same number of events to each robot. We propose pair wise distance based matching (PDM) algorithm, to eliminate long matching edges by pair wise exchanges among two robot-event pairs to reduce overall path length. Our sequence dispatch (SQD) algorithm finds the closest robot for each free event, and, iteratively, selects closest event-robot pair while moving selected robot to the new position and updating other distances to reflect that new position. When event-robot distances are multiplied by robot resistance (inverse of the remaining energy), the corresponding energy-balanced variants are obtained. Our localized algorithm (MAD) is based on information mesh infrastructure for finding nearby robot, and local auctions in robot network to perhaps find a better one.
One major problem that affecting grape production is that of infestations by fungal pathogens, am... more One major problem that affecting grape production is that of infestations by fungal pathogens, among which Plasmopara viticola is one of the worst, causing grapevine downy mildew. This can cause substantial damage to a vineyard, which leads to economic losses. Methods of predicting disease outbreak rely on the monitoring of meteorological parameters. With the recent development of Internet of Things (IoT) technologies, in situ data can be efficiently collected on a large scale. In this paper, a new model with early warning system implementation for grapevine downy mildew based on Narrow Band IoT (NB-IoT) and energy harvesting is presented. Models of downy mildew warning systems have evolved from the early temperature-based (and later, humidity-based) models to the latest mechanistic models which include rainfall/leaf wetness and hourly monitoring. We added parameters such as ’favorable night condition’ and ’wind speed’ as critical for sporangia spreading. The comparison of the model...
Abstract—Existing theoretical and simulation studies on georouting appear detached from experimen... more Abstract—Existing theoretical and simulation studies on georouting appear detached from experimental studies in real environments. We set up our test environment by using WSN430 wireless sensor nodes. To overcome the need for significant number of wireless nodes required to perform a realistic experiment in high density network, we introduce a novel approach- emulation by using relatively small number of nodes in 1-hop experimental setup. Source node is a fixed sensor, all available sensors are candidate forwarding neighbors with virtual destination. Source node makes one forwarding step, destination position is adjusted, and the same source again searches for best forwarder. We compare three georouting algorithms. We introduce here Greedy geographical routing Algorithms in a REal environment (GARE) which builds a RNG by using ETX(uv) as edge weight (ETX(uv) |uv| counts all transmissions and possibly acknowledgments between two nodes until message is received), and selects RNG neigh...
Rapid growth in the number of networked embedded devices spawns a new set of problems and challen... more Rapid growth in the number of networked embedded devices spawns a new set of problems and challenges. Novel communication solutions such as NB-IoT allow up to 50.000 edge nodes per cell. However, in such massive-connectivity scenarios, maintenance of the devices becomes increasingly challenging. For any scalable and sustainable IoT solution, updating firmware inside edge nodes in a safe and bandwidth-friendly manner has become a necessity. In practice, firmware update packets usually need to be transmitted using the same communication medium (NB-IoT) as for the usual data transmissions, respecting all the features and the limitations of the technology. In this paper, we present a working Firmware-Over-The-Air (FOTA) solution for the firmware update of our custom-designed edge nodes as constituent parts of our NB-IoT testbed infrastructure. FOTA update tests use proposed non-encrypted and encrypted protocols. The first results show that the time required for both protocols remains consistent for scenarios with a small number of nodes.
The number of connected Internet of Things (IoT) devices within cyber-physical infrastructure sys... more The number of connected Internet of Things (IoT) devices within cyber-physical infrastructure systems grows at an increasing rate. This poses significant device management and security challenges to current IoT networks. Among several approaches to cope with these challenges, data-based methods rooted in deep learning (DL) are receiving an increased interest. In this paper, motivated by the upcoming surge of 5G IoT connectivity in industrial environments, we propose to integrate a DL-based anomaly detection (AD) as a service into the 3GPP mobile cellular IoT architecture. The proposed architecture embeds autoencoder based anomaly detection modules both at the IoT devices (ADM-EDGE) and in the mobile core network (ADM-FOG), thereby balancing between the system responsiveness and accuracy. We design, integrate, demonstrate and evaluate a testbed that implements the above service in a real-world deployment integrated within the 3GPP Narrow-Band IoT (NB-IoT) mobile operator network.
Abstract—Given a set of events and a set of robots, the dispatch problem is to allocate one robot... more Abstract—Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch problem). The distributed version of the problem is embedded into a sensor network field, where each event is discovered by a sensor and reported to a robot. Existing centralized and distributed solution based on stable marriage problem suffers from the presence of long robot paths. The other existing solution, based on k-means clustering and traveling salesman tour, suffers from the design goal of allocating the same number of events to each robot. We propose pairwise distance based matching (PDM) algorithm, to eliminate long matching edges by pairwise exchanges among two robot-event pairs to reduce overall path length. Our sequence dispatch (SQD) algorithm finds the closest robot for each free event, and, iteratively, ...
Abstract—Given a set of events and a set of robots, the dispatch problem is to allocate one robot... more Abstract—Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch). In a distributed setting, each event is discovered by a sensor and reported to a robot. Here, we present novel algorithms aimed at overcoming the shortcomings of several existing solutions. We propose pairwise distance based matching algorithm PDM to eliminate long edges by pairwise exchanges between matching pairs. Our sequence dispatch algorithm SQD iteratively finds the closest event-robot pair, includes the event in dispatch schedule of the selected robot and updates its position accordingly. When event-robot distances are multiplied by robot resistance (inverse of the remaining energy), the corresponding energy-balanced variants are obtained. We also present generalizations which handle multiple visits and timing ...
2012 Proceedings of the 35th International Convention MIPRO, 2012
One of the most important problems in autonomous robot guidance is their localization, i.e. deter... more One of the most important problems in autonomous robot guidance is their localization, i.e. determining their physical location within their operating area. In this paper we describe hardwre realization of triangulation method for localization of wheeled autonomous robot that operates on flat rectangular surface. Triangulation is a method of calculating location of robot relative to 3 landmarks (beacons) located on fixed predetermined positions. This method usually needs measurement of distances between robot and beacons, to be able to calculate robot position. Different approach based on angle measurement is described in this paper, advantages of this method are discussed and details of hardware realization are explained. System is realized and tested, measurement results are given.
ABSTRACT Given a set of events and a set of robots, the dispatch problem is to allocate one robot... more ABSTRACT Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch problem). The distributed version of the problem is embedded into a sensor network field, where each event is discovered by a sensor and reported to a robot. Existing centralized and distributed solution based on stable marriage problem suffers from the presence of long robot paths. The other existing solution, based on k-means clustering and traveling salesman tour, suffers from the design goal of allocating the same number of events to each robot. We propose pair wise distance based matching (PDM) algorithm, to eliminate long matching edges by pair wise exchanges among two robot-event pairs to reduce overall path length. Our sequence dispatch (SQD) algorithm finds the closest robot for each free event, and, iteratively, selects closest event-robot pair while moving selected robot to the new position and updating other distances to reflect that new position. When event-robot distances are multiplied by robot resistance (inverse of the remaining energy), the corresponding energy-balanced variants are obtained. Our localized algorithm (MAD) is based on information mesh infrastructure for finding nearby robot, and local auctions in robot network to perhaps find a better one.
One major problem that affecting grape production is that of infestations by fungal pathogens, am... more One major problem that affecting grape production is that of infestations by fungal pathogens, among which Plasmopara viticola is one of the worst, causing grapevine downy mildew. This can cause substantial damage to a vineyard, which leads to economic losses. Methods of predicting disease outbreak rely on the monitoring of meteorological parameters. With the recent development of Internet of Things (IoT) technologies, in situ data can be efficiently collected on a large scale. In this paper, a new model with early warning system implementation for grapevine downy mildew based on Narrow Band IoT (NB-IoT) and energy harvesting is presented. Models of downy mildew warning systems have evolved from the early temperature-based (and later, humidity-based) models to the latest mechanistic models which include rainfall/leaf wetness and hourly monitoring. We added parameters such as ’favorable night condition’ and ’wind speed’ as critical for sporangia spreading. The comparison of the model...
Abstract—Existing theoretical and simulation studies on georouting appear detached from experimen... more Abstract—Existing theoretical and simulation studies on georouting appear detached from experimental studies in real environments. We set up our test environment by using WSN430 wireless sensor nodes. To overcome the need for significant number of wireless nodes required to perform a realistic experiment in high density network, we introduce a novel approach- emulation by using relatively small number of nodes in 1-hop experimental setup. Source node is a fixed sensor, all available sensors are candidate forwarding neighbors with virtual destination. Source node makes one forwarding step, destination position is adjusted, and the same source again searches for best forwarder. We compare three georouting algorithms. We introduce here Greedy geographical routing Algorithms in a REal environment (GARE) which builds a RNG by using ETX(uv) as edge weight (ETX(uv) |uv| counts all transmissions and possibly acknowledgments between two nodes until message is received), and selects RNG neigh...
Rapid growth in the number of networked embedded devices spawns a new set of problems and challen... more Rapid growth in the number of networked embedded devices spawns a new set of problems and challenges. Novel communication solutions such as NB-IoT allow up to 50.000 edge nodes per cell. However, in such massive-connectivity scenarios, maintenance of the devices becomes increasingly challenging. For any scalable and sustainable IoT solution, updating firmware inside edge nodes in a safe and bandwidth-friendly manner has become a necessity. In practice, firmware update packets usually need to be transmitted using the same communication medium (NB-IoT) as for the usual data transmissions, respecting all the features and the limitations of the technology. In this paper, we present a working Firmware-Over-The-Air (FOTA) solution for the firmware update of our custom-designed edge nodes as constituent parts of our NB-IoT testbed infrastructure. FOTA update tests use proposed non-encrypted and encrypted protocols. The first results show that the time required for both protocols remains consistent for scenarios with a small number of nodes.
The number of connected Internet of Things (IoT) devices within cyber-physical infrastructure sys... more The number of connected Internet of Things (IoT) devices within cyber-physical infrastructure systems grows at an increasing rate. This poses significant device management and security challenges to current IoT networks. Among several approaches to cope with these challenges, data-based methods rooted in deep learning (DL) are receiving an increased interest. In this paper, motivated by the upcoming surge of 5G IoT connectivity in industrial environments, we propose to integrate a DL-based anomaly detection (AD) as a service into the 3GPP mobile cellular IoT architecture. The proposed architecture embeds autoencoder based anomaly detection modules both at the IoT devices (ADM-EDGE) and in the mobile core network (ADM-FOG), thereby balancing between the system responsiveness and accuracy. We design, integrate, demonstrate and evaluate a testbed that implements the above service in a real-world deployment integrated within the 3GPP Narrow-Band IoT (NB-IoT) mobile operator network.
Abstract—Given a set of events and a set of robots, the dispatch problem is to allocate one robot... more Abstract—Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch problem). The distributed version of the problem is embedded into a sensor network field, where each event is discovered by a sensor and reported to a robot. Existing centralized and distributed solution based on stable marriage problem suffers from the presence of long robot paths. The other existing solution, based on k-means clustering and traveling salesman tour, suffers from the design goal of allocating the same number of events to each robot. We propose pairwise distance based matching (PDM) algorithm, to eliminate long matching edges by pairwise exchanges among two robot-event pairs to reduce overall path length. Our sequence dispatch (SQD) algorithm finds the closest robot for each free event, and, iteratively, ...
Abstract—Given a set of events and a set of robots, the dispatch problem is to allocate one robot... more Abstract—Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch). In a distributed setting, each event is discovered by a sensor and reported to a robot. Here, we present novel algorithms aimed at overcoming the shortcomings of several existing solutions. We propose pairwise distance based matching algorithm PDM to eliminate long edges by pairwise exchanges between matching pairs. Our sequence dispatch algorithm SQD iteratively finds the closest event-robot pair, includes the event in dispatch schedule of the selected robot and updates its position accordingly. When event-robot distances are multiplied by robot resistance (inverse of the remaining energy), the corresponding energy-balanced variants are obtained. We also present generalizations which handle multiple visits and timing ...
2012 Proceedings of the 35th International Convention MIPRO, 2012
One of the most important problems in autonomous robot guidance is their localization, i.e. deter... more One of the most important problems in autonomous robot guidance is their localization, i.e. determining their physical location within their operating area. In this paper we describe hardwre realization of triangulation method for localization of wheeled autonomous robot that operates on flat rectangular surface. Triangulation is a method of calculating location of robot relative to 3 landmarks (beacons) located on fixed predetermined positions. This method usually needs measurement of distances between robot and beacons, to be able to calculate robot position. Different approach based on angle measurement is described in this paper, advantages of this method are discussed and details of hardware realization are explained. System is realized and tested, measurement results are given.
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Papers by Milan Lukic