NDLI: Spatiotemporal Aquatic Field Reconstruction Using Cyber-Physical Robotic Sensor Systems

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Spatiotemporal Aquatic Field Reconstruction Using Cyber-Physical Robotic Sensor Systems

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Spatiotemporal Aquatic Field Reconstruction Using Cyber-Physical Robotic Sensor Systems

Content Provider	ACM Digital Library
Author	Xing, Guoliang Tan, Xiaobo Tan, Rui Wang, Yu Zhou, Ruogu Wang, Jianxun
Copyright Year	2014
Abstract	Monitoring important aquatic processes like harmful algal blooms is of increasing interest to public health, ecosystem sustainability, marine biology, and aquaculture industry. This article presents a novel approach to spatiotemporal aquatic field reconstruction using inexpensive, low-power mobile sensing platforms called robotic fish. Robotic fish networks are a typical example of cyber-physical systems where the design of cyber components (sensing, communication, and information processing) must account for inherent physical dynamics of the robots and the aquatic environment. Our approach features a $\textit{rendezvous-based}$ mobility control scheme where robotic fish collaborate in the form of a $\textit{swarm}$ to sense the aquatic environment in a series of carefully chosen rendezvous regions. We design a novel feedback control algorithm that maintains the desirable level of wireless connectivity for a sensor swarm in the presence of significant environment and system dynamics. Information-theoretic analysis is used to guide the selection of rendezvous regions so that the spatiotemporal field reconstruction accuracy is maximized subject to the limited sensor mobility. The effectiveness of our approach is validated via implementation on sensor hardware and extensive simulations based on real data traces of water surface temperature field and on-water ZigBee wireless communication.
Starting Page	1
Ending Page	27
Page Count	27
File Format	PDF
ISSN	15504859
e-ISSN	15504867
DOI	10.1145/2505767
Volume Number	10
Issue Number	4
Journal	ACM Transactions on Sensor Networks (TOSN)
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2014-06-01
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Robotic sensor swarm Connectivity control Field reconstruction Movement scheduling
Content Type	Text
Resource Type	Article
Subject	Computer Networks and Communications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Spatiotemporal Aquatic Field Reconstruction Using Robotic Sensor Swarm

Spatiotemporal Aquatic Field Reconstruction Using Robotic Sensor Swarm

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ASpatiotemporal Aquatic Field Reconstruction Using Cyber-Physical Robotic Sensor Systems

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Spatiotemporal Aquatic Field Reconstruction Using Cyber-Physical Robotic Sensor Systems

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