Sycophant wireless sensor networks tracked by sparsemobile wireless sensor networks while cooperatively mapping an area


Thesis Type: Doctorate

Institution Of The Thesis: Middle East Technical University, Faculty of Engineering, Department of Electrical and Electronics Engineering, Turkey

Approval Date: 2012

Thesis Language: English

Student: Sedat Doğru

Supervisor: AYDAN MÜŞERREF ERKMEN

Abstract:

In this thesis the novel concept of Sycophant Wireless Sensors (SWS) is introduced. A SWS network is a static ectoparasitic clandestine sensor network mounted incognito on a mobile agent using only the agent’s mobility without intervention. SWS networks not only communicate with each other through mobileWireless Sensor Networks (WSN) but also cooperate with them to form a global hybrid Wireless Sensor Network. Such a hybrid network has its own problems and opportunities, some of which have been studied in this thesis work. Assuming that direct position measurements are not always feasible tracking performance of the sycophant using range only measurements for various communication intervals is studied. Then this framework was used to create a hybrid 2D map of the environment utilizing the capabilities of the mobile network the sycophant. In order to show possible applications of a sycophant deployment, the sycophant sensor node was equipped with a laser ranger as its sensor, and it was let to create a 2D map of its environment. This 2D map, which corresponds to a height di erent than the follower network, was merged with the 2D map of the mobile network forming a novel rough 3D map. Then by giving up from the need to properly localize the sycophant even when it is disconnected to the rest of the network, a full 3D map of the environment is obtained by fusing 2D map and tracking capabilities of the mobile network with the 2D vertical scans of the environment by the sycophant. And finally connectivity problems that arise from the hybrid sensor/actuator network were solved. For this 2 new connectivity maintenance algorithms, one based on the helix structures of the proteins, and the other based on the acute triangulation of the space forming a Gabriel Graph, were introduced. In this new algorithms emphasis has been given to sparseness in order to increase fault tolerance to regional problems. To better asses sparseness a new measure, called Resistance was introduced, as well as another called updistance.