Search results for: wireless digital communications.

Authors: Khin Thanda Soe

Abstract:

A model to identify the lifetime of target tracking wireless sensor network is proposed. The model is a static clusterbased architecture and aims to provide two factors. First, it is to increase the lifetime of target tracking wireless sensor network. Secondly, it is to enable good localization result with low energy consumption for each sensor in the network. The model consists of heterogeneous sensors and each sensing member node in a cluster uses two operation modes–active mode and sleep mode. The performance results illustrate that the proposed architecture consumes less energy and increases lifetime than centralized and dynamic clustering architectures, for target tracking sensor network.

Keywords: Network lifetime, Target Localization, TargetTracking, Wireless Sensor Networks.

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Authors: Abdellah Chehri, Hussein Mouftah, Paul Fortier, Hasnaa Aniss

Abstract:

Wireless sensor network has recently emerged as enablers of several areas. Real applications of WSN are being explored and some of them are yet to come. While the potential of sensor networks has been only beginning to be realized, several challenges still remain. One of them is the experimental evaluation of WSN. Therefore, deploying and operating a testbed to study the real behavior of WSN become more and more important. The main contribution of this work is to analysis the RF link budget behavior of wireless sensor networks in underground mine gallery.

Keywords: Sensor networks, RF Link, path loss.

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Authors: Lilian Noronha Nassif

Abstract:

Cybercrime investigation demands an appropriated evidence collection mechanism. If the investigator does not acquire digital proofs in a forensic sound, some important information can be lost, and judges can discard case evidence because the acquisition was inadequate. The correct digital forensic seizing involves preparation of professionals from fields of law, police, and computer science. This paper presents important challenges faced during evidence collection in different perspectives of places. The crime scene can be virtual or real, and technical obstacles and privacy concerns must be considered. All pointed challenges here highlight the precautions to be taken in the digital evidence collection and the suggested procedures contribute to the best practices in the digital forensics field.

Keywords: Digital evidence, digital forensic processes and procedures, mobile forensics, cloud forensics.

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Authors: Sarp Erturk, Levent Eyigel, Cihat Celik, Muhammet Sahinoglu, Serdar Ay, Yasin Kaya, Hasan Kaya

Abstract:

This paper presents a quantitative analysis on the need for automotive calibration methods for digital tachographs. Digital tachographs are mandatory for vehicles used in people and goods transport and they are an important aspect for road safety and inspection. Digital tachographs need to be calibrated for workshops in order for the digital tachograph to display and record speed and odometer values correctly. Calibration of digital tachographs can be performed either manual or automatic. It is shown in this paper that manual calibration of digital tachographs is prone to errors and there can be differences between manual and automatic calibration parameters. Therefore automatic calibration methods are imperative for digital tachograph calibration. The presented experimental results and error analysis clearly support the claims of the paper by evaluating and statistically comparing manual and automatic calibration methods.

Keywords: Digital tachograph, road safety, tachograph calibration, tachograph workshops.

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Authors: Noha M. Rashad, W. Swelam, M. H. Abd ElAzeem

Abstract:

A simple design of array antenna is presented in this paper, supporting millimeter wave applications which can be used in short range wireless communications such as 5G applications. This design enhances the use of V-band, according to IEEE standards, as the antenna works in the 70 GHz band with bandwidth more than 11 GHz and peak gain more than 13 dBi. The design is simulated using different numerical techniques achieving a very good agreement.

Keywords: 5G Technology, array antenna, microstrip, millimeter wave.

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Authors: Haluk Gümüskaya, Hüseyin Hakkoymaz

Abstract:

This paper describes WiPoD (Wireless Position Detector) which is a pure software based location determination and tracking (positioning) system. It uses empirical signal strength measurements from different wireless access points for mobile user positioning. It is designed to determine the location of users having 802.11 enabled mobile devices in an 802.11 WLAN infrastructure and track them in real time. WiPoD is the first main module in our LBS (Location Based Services) framework. We tested K-Nearest Neighbor and Triangulation algorithms to estimate the position of a mobile user. We also give the analysis results of these algorithms for real time operations. In this paper, we propose a supportable, i.e. understandable, maintainable, scalable and portable wireless positioning system architecture for an LBS framework. The WiPoD software has a multithreaded structure and was designed and implemented with paying attention to supportability features and real-time constraints and using object oriented design principles. We also describe the real-time software design issues of a wireless positioning system which will be part of an LBS framework.

Keywords: Indoor location determination and tracking, positioning in Wireless LAN.

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Authors: Kristoffer Clyde Magsino, H. Srikanth Kamath

Abstract:

Wireless Sensor Network is widely used in electronics. Wireless sensor networks are now used in many applications including military, environmental, healthcare applications, home automation and traffic control. We will study one area of wireless sensor networks, which is the routing protocol. Routing protocols are needed to send data between sensor nodes and the base station. In this paper, we will discuss two routing protocols, such as datacentric and hierarchical routing protocol. We will show the output of the protocols using the NS-2 simulator. This paper will compare the simulation output of the two routing protocol using Nam. We will simulate using Xgraph to find the throughput and delay of the protocol.

Keywords: data-centric routing protocol, hierarchical routingprotocol, Nam, NS-2, Routing Protocol, sensor nodes, SPIN, throughput, Xgraph

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Authors: Zdenek Bohuslavek

Abstract:

Development of microprocessor controlled sensor for measurement of wind speed and direction is the aim of this study. Electrical circuits and software were developed to the existing electromechanical part of the sensor TM-W2 becoming the properties of so-called smart sensor. The measured data about wind speed (sensitivity 0.01 m/s) and direction (0-360° by step 10°) are transmitted as 16-bit information. The connection between sensor and control unit is realized by radio communication (FM 433 MHz). Transition range is 220 m if used Quad type antenna. This concept provides substitution of actual cable systems by wireless ones.

Keywords: smart wind sensor, anemometer, wind speed, wireless communication

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Authors: Y. Abdelrazig, A. Ghanem

Abstract:

Construction projects are information intensive in nature and involve many activities that are related to each other. Wireless technologies can be used to improve the accuracy and timeliness of data collected from construction sites and shares it with appropriate parties. Nonetheless, the construction industry tends to be conservative and shows hesitation to adopt new technologies. A main concern for owners, contractors or any person in charge on a job site is the cost of the technology in question. Wireless technologies are not cheap. There are a lot of expenses to be taken into consideration, and a study should be completed to make sure that the importance and savings resulting from the usage of this technology is worth the expenses. This research attempts to assess the effectiveness of using the appropriate wireless technologies based on criteria such as performance, reliability, and risk. The assessment is based on a utility function model that breaks down the selection issue into alternatives attribute. Then the attributes are assigned weights and single attributes are measured. Finally, single attribute are combined to develop one single aggregate utility index for each alternative.

Keywords: Analytic Hierarchy Process, Utility Function, Wireless Technologies, construction management.

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Authors: Daehyoung Kim, Pervez Khan, Hoon Kim

Abstract:

Efficient utilization of spectrum resources is a fundamental issue of wireless communications due to its scarcity. To improve the efficiency of spectrum utilization, the spectrum sharing for unlicensed bands is being regarded as one of key technologies in the next generation wireless networks. A number of schemes such as Listen-Before-Talk(LBT) and carrier sensor adaptive transmission (CSAT) have been suggested from this aspect, but more efficient sharing schemes are required for improving spectrum utilization efficiency. This work considers an opportunistic transmission approach and a dynamic Contention Window (CW) adjustment scheme for LTE-U users sharing the unlicensed spectrum with Wi-Fi, in order to enhance the overall system throughput. The decision criteria for the dynamic adjustment of CW are based on the collision evaluation, derived from the collision probability of the system. The overall performance can be improved due to the adaptive adjustment of the CW. Simulation results show that our proposed scheme outperforms the Distributed Coordination Function (DCF) mechanism of IEEE 802.11 MAC.

Keywords: Spectrum sharing, adaptive opportunistic transmission, unlicensed bands, heterogeneous networks.

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Authors: Chompunut Jantarasorn, Chutima Prommak

Abstract:

This paper presents an intensive measurement studying of the network performance analysis when IEEE 802.11g Wireless Local Area Networks (WLAN) coexisting with IEEE 802.15.4 Wireless Personal Area Network (WPAN). The measurement results show that the coexistence between both networks could increase the Frame Error Rate (FER) of the IEEE 802.15.4 networks up to 60% and it could decrease the throughputs of the IEEE 802.11g networks up to 55%.

Keywords: Wireless performance analysis, Coexistence analysis, IEEE 802.11g, IEEE 802.15.4.

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Authors: MooSeop Kim, Juhan Kim, Yongje Choi

Abstract:

Recently, much research has been conducted for security for wireless sensor networks and ubiquitous computing. Security issues such as authentication and data integrity are major requirements to construct sensor network systems. Advanced Encryption Standard (AES) is considered as one of candidate algorithms for data encryption in wireless sensor networks. In this paper, we will present the hardware architecture to implement low power AES crypto module. Our low power AES crypto module has optimized architecture of data encryption unit and key schedule unit which could be applicable to wireless sensor networks. We also details low power design methods used to design our low power AES crypto module.

Keywords: Algorithm, Low Power Crypto Circuit, AES, Security.

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Authors: Ayse Yayla, Aynur Akar

Abstract:

Developments in scientific and technical area cause to use new methods and techniques in education, as is the case in all fields. Especially, the internet contributes a variety of new methods to design virtual and real time laboratory applications in education. In this study, a real time virtual laboratory is designed and implemented for analog and digital communications laboratory experiments by using Lab VIEW program for Marmara University Electronics-Communication Department. In this application, students can access the virtual laboratory web site and perform their experiments without any limitation of time and location so as the students can observe the signals by changing the parameters of the experiment and evaluate the results.

Keywords: Virtual laboratory, LabVIEW, ModulationTechniques

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Authors: Frodouard Minani

Abstract:

Since last decade, wireless sensor networks (WSNs) have been used in many areas like health care, agriculture, defense, military, disaster hit areas and so on. Wireless Sensor Networks consist of a Base Station (BS) and more number of wireless sensors in order to monitor temperature, pressure, motion in different environment conditions. The key parameter that plays a major role in designing a protocol for Wireless Sensor Networks is energy efficiency which is a scarcest resource of sensor nodes and it determines the lifetime of sensor nodes. Maximizing sensor node’s lifetime is an important issue in the design of applications and protocols for Wireless Sensor Networks. Clustering sensor nodes mechanism is an effective topology control approach for helping to achieve the goal of this research. In this paper, the researcher presents an energy efficiency protocol to prolong the network lifetime based on Energy efficient clustering algorithm. The Low Energy Adaptive Clustering Hierarchy (LEACH) is a routing protocol for clusters which is used to lower the energy consumption and also to improve the lifetime of the Wireless Sensor Networks. Maximizing energy dissipation and network lifetime are important matters in the design of applications and protocols for wireless sensor networks. Proposed system is to maximize the lifetime of the Wireless Sensor Networks by choosing the farthest cluster head (CH) instead of the closest CH and forming the cluster by considering the following parameter metrics such as Node’s density, residual-energy and distance between clusters (inter-cluster distance). In this paper, comparisons between the proposed protocol and comparative protocols in different scenarios have been done and the simulation results showed that the proposed protocol performs well over other comparative protocols in various scenarios.

Keywords: Base station, clustering algorithm, energy efficient, wireless sensor networks.

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Authors: Nitish Sharma, G. G. Karady

Abstract:

This paper presents a scheme for the protection of loop system from all type of faults using the direction of fault current. The presence of distributed generation in today’s system increases the complexity of fault detection as the power flow is bidirectional. Hence, protection scheme specific to this purpose needs to be developed. This paper shows a fast protection scheme using communication which can be fiber optic or wireless. In this paper, the possibility of wireless communication for protection is studied to exchange the information between the relays. The negative sequence and positive sequence directional elements are used to determine the direction of fault current. A PSCAD simulation is presented and validated using commercial SEL relays.

Keywords: Smart grid protection, pilot protection, power system simulation, wireless communication.

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Authors: S. Balaji, N. Revathi

Abstract:

Connected dominating set (CDS) problem in unit disk graph has signi£cant impact on an ef£cient design of routing protocols in wireless sensor networks, where the searching space for a route is reduced to nodes in the set. A set is dominating if all the nodes in the system are either in the set or neighbors of nodes in the set. In this paper, a simple and ef£cient heuristic method is proposed for £nding a minimum connected dominating set (MCDS) in ad hoc wireless networks based on the new parameter support of vertices. With this parameter the proposed heuristic approach effectively £nds the MCDS of a graph. Extensive computational experiments show that the proposed approach outperforms the recently proposed heuristics found in the literature for the MCD

Keywords: ad hoc wireless networks, dominating sets, unit disk graphs, heuristic.

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Authors: Hyunwon Moon

Abstract:

It is necessary to realize new biomedical wireless communication systems which send the signals collected from various bio sensors located at human body in order to monitor our health. Also, it should seamlessly connect to the existing wireless communication systems. A 5.8 GHz ISM band low power RF front-end receiver for a biomedical wireless communication system is implemented using a 0.5 µm SiGe BiCMOS process. To achieve low power RF front-end, the current optimization technique for selecting device size is utilized. The implemented low noise amplifier (LNA) shows a power gain of 9.8 dB, a noise figure (NF) of below 1.75 dB, and an IIP3 of higher than 7.5 dBm while current consumption is only 6 mA at supply voltage of 2.5 V. Also, the performance of a down-conversion mixer is measured as a conversion gain of 11 dB and SSB NF of 10 dB.

Keywords: Biomedical, low noise amplifier, mixer, receiver, RF front-end, SiGe.

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Authors: S. P. Kozaitis, R. L. Kriner

Abstract:

The information revealed by derivatives can help to better characterize digital near-end crosstalk signatures with the ultimate goal of identifying the specific aggressor signal. Unfortunately, derivatives tend to be very sensitive to even low levels of noise. In this work we approximated the derivatives of both quiet and noisy digital signals using a wavelet-based technique. The results are presented for Gaussian digital edges, IBIS Model digital edges, and digital edges in oscilloscope data captured from an actual printed circuit board. Tradeoffs between accuracy and noise immunity are presented. The results show that the wavelet technique can produce first derivative approximations that are accurate to within 5% or better, even under noisy conditions. The wavelet technique can be used to calculate the derivative of a digital signal edge when conventional methods fail.

Keywords: digital signals, electronics, IBIS model, printedcircuit board, wavelets

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Authors: Fahad Alanazi, Andrew Jones

Abstract:

Digital forensics seeks to achieve the successful investigation of digital crimes through obtaining acceptable evidence from digital devices that can be presented in a court of law. Thus, the digital forensics investigation is normally performed through a number of phases in order to achieve the required level of accuracy in the investigation processes. Since 1984 there have been a number of models and frameworks developed to support the digital investigation processes. In this paper, we review a number of the investigation processes that have been produced throughout the years and introduce a proposed digital forensic model which is based on the scope of the Saudi Arabia investigation process. The proposed model has been integrated with existing models for the investigation processes and produced a new phase to deal with a situation where there is initially insufficient evidence.

Keywords: Digital forensics, Process, Metadata, Traceback, Saudi Arabia.

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Authors: Marwan Ihsan Shukur, Lee Sheng Chyan, Vooi Voon Yap

Abstract:

Wireless sensor networks is an emerging technology that serves as environment monitors in many applications. Yet these miniatures suffer from constrained resources in terms of computation capabilities and energy resources. Limited energy resource in these nodes demands an efficient consumption of that resource either by developing the modules itself or by providing an efficient communication protocols. This paper presents a comprehensive summarization and a comparative study of the available MAC protocols proposed for Wireless Sensor Networks showing their capabilities and efficiency in terms of energy consumption and delay guarantee.

Keywords: MAC (Medium Access Control), SEA (Simple EnergyAware), WSNs (Wireless Sensor Nodes or Networks) RTS (RequestTo Send), CTS (Clear To Send), SYNCH (Synchronize), NS2(Network Simulator 2).

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Authors: Vladimir Korovkin, Albert Park, Evgeny Kaganer

Abstract:

Digital divide, the gap in the access to the world of digital technologies and the socio-economic opportunities that they create is an important phenomenon of the XXI century. This gap may exist between countries, regions within a country or socio-demographic groups, creating the classes of “digital have and have nots”. While the 1st-level divide (the difference in opportunities to access the digital networks) was demonstrated to diminish with time, the issues of 2nd level divide (the difference in skills and usage of digital systems) and 3rd level divide (the difference in effects obtained from digital technology) may grow. The paper offers a systemic review of literature on the measurement of the digital divide, noting the certain conceptual stagnation due to the lack of effective instruments that would capture the complex nature of the phenomenon. As a result, many important concepts do not receive the empiric exploration they deserve. As a solution the paper suggests a composite Digital Life Index, that studies separately the digital supply and demand across seven independent dimensions providing for 14 subindices. The Index is based on Internet-borne data, a distinction from traditional research approaches that rely on official statistics or surveys. The application of the model to the study of the digital divide between Russian regions and between cities in China have brought promising results. The paper advances the existing methodological literature on the 2nd level digital divide and can also inform practical decision-making regarding the strategies of national and regional digital development.

Keywords: Digital transformation, second-level digital divide, composite index, digital policy.

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Authors: Srinivasan Chandrasekaran, Thailammai Chithambaram, Shihas A. Khader

Abstract:

The early-stage damage detection in offshore structures requires continuous structural health monitoring and for the large area the position of sensors will also plays an important role in the efficient damage detection. Determining the dynamic behavior of offshore structures requires dense deployment of sensors. The wired Structural Health Monitoring (SHM) systems are highly expensive and always needs larger installation space to deploy. Wireless sensor networks can enhance the SHM system by deployment of scalable sensor network, which consumes lesser space. This paper presents the results of wireless sensor network based Structural Health Monitoring method applied to a scaled experimental model of offshore structure that underwent wave loading. This method determines the serviceability of the offshore structure which is subjected to various environment loads. Wired and wireless sensors were installed in the model and the response of the scaled BLSRP model under wave loading was recorded. The wireless system discussed in this study is the Raspberry pi board with Arm V6 processor which is programmed to transmit the data acquired by the sensor to the server using Wi-Fi adapter, the data is then hosted in the webpage. The data acquired from the wireless and wired SHM systems were compared and the design of the wireless system is verified.

Keywords: Condition assessment, damage detection, structural health monitoring, structural response, wireless sensor network.

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Authors: Jung-Ho Moon, Myung-Gon Yoon, Tae Kwon Ha

Abstract:

This paper presents a wireless sensor network protocol for a car parking monitoring system. A wireless sensor network for the purpose is composed of multiple sensor nodes, a sink node, a gateway, and a server. Each of the sensor nodes is equipped with a 3-axis AMR sensor and deployed in the center of a parking space. The sensor node reads its sensor values periodically and transmits the data to the sink node if the current and immediate past sensor values show a difference exceeding a threshold value. The operations of the sink and sensor nodes are described in detail along with flow diagrams. The protocol allows a low-duty cycle operation of the sensor nodes and a flexible adjustment of the threshold value used by the sensor nodes.

Keywords: Car parking monitoring, sensor node, wireless sensor network, network protocol.

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Authors: Jamel Miri, Bechir Nsiri, Ridha Bouallegue

Abstract:

Ultra WidBand-IR physical layer technology has seen a great development during the last decade which makes it a promising candidate for short range wireless communications, as they bring considerable benefits in terms of connectivity and mobility. However, like all wireless communication they suffer from vulnerabilities in terms of security because of the open nature of the radio channel. To face these attacks, distance bounding protocols are the most popular counter measures. In this paper, we presented a protocol based on distance bounding to thread the most popular attacks: Distance Fraud, Mafia Fraud and Terrorist fraud. In our work, we study the way to adapt the best secure distance bounding protocols to mapping code of ultra-wideband (TH-UWB) radios. Indeed, to ameliorate the performances of the protocol in terms of security communication in TH-UWB, we combine the modified protocol to ultra-wideband impulse radio technology (IR-UWB). The security and the different merits of the protocols are analyzed.

Keywords: Distance bounding, mapping code ultra-wideband, Terrorist Fraud.

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Authors: Itziar Marín, Eduardo Arceredillo, Aitzol Zuloaga, Jagoba Arias

Abstract:

Distributed wireless sensor network consist on several scattered nodes in a knowledge area. Those sensors have as its only power supplies a pair of batteries that must let them live up to five years without substitution. That-s why it is necessary to develop some power aware algorithms that could save battery lifetime as much as possible. In this is document, a review of power aware design for sensor nodes is presented. As example of implementations, some resources and task management, communication, topology control and routing protocols are named.

Keywords: Low Power Design, Power Awareness, RemoteSensing, Wireless Sensor Networks (WSN).

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Authors: K. Bensafia, A. Mansour, G. Le Maillot, B. Clement, O. Reynet, P. Ariès, S. Haddab

Abstract:

This paper presents a system designed for wireless acquisition, the recording of electrocardiogram (ECG) signals and the monitoring of the heart’s health during surgery. This wireless recording system allows us to visualize and monitor the state of the heart’s health during a surgery, even if the patient is moved from the operating theater to post anesthesia care unit. The acquired signal is transmitted via a Bluetooth unit to a PC where the data are displayed, stored and processed. To test the reliability of our system, a comparison between ECG signals processed by a conventional ECG monitoring system (Datex-Ohmeda) and by our wireless system is made. The comparison is based on the shape of the ECG signal, the duration of the QRS complex, the P and T waves, as well as the position of the ST segments with respect to the isoelectric line. The proposed system is presented and discussed. The results have confirmed that the use of Bluetooth during surgery does not affect the devices used and vice versa. Pre- and post-processing steps are briefly discussed. Experimental results are also provided.

Keywords: Electrocardiography, monitoring, surgery, wireless system.

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Authors: Kar Foo Chong, Andreas Lee Astuti, Pradeep K. Gopalakrishnan, T. Hui Teo

Abstract:

This paper describes design of a digital feedback loop for a low switching frequency dc-dc switching converters. Low switching frequencies were selected in this design. A look up table for the digital PID (proportional integrator differentiator) compensator was implemented using Altera Stratix II with built-in ADC (analog-to-digital converter) to achieve this hardware realization. Design guidelines are given for the PID compensator, high frequency DPWM (digital pulse width modulator) and moving average filter.

Keywords: dc-dc converter, FPGA, PID, power management, .

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Authors: Sheng Fu, Yinbo Gao, Hao Lin

Abstract:

In the current mine air compressors monitoring system, there are some difficulties in the installation and maintenance because of the wired connection. To solve the problem, this paper introduces a new air compressors monitoring system based on ZigBee in which the monitoring parameters are transmitted wirelessly. The collecting devices are designed to form a cluster network to collect vibration, temperature, and pressure of air cylinders and other parameters. All these devices are battery-powered. Besides, the monitoring software in PC is developed using MFC. Experiments show that the designed wireless sensor network works well in the site environmental condition and the system is very convenient to be installed since the wireless connection. This monitoring system will have a wide application prospect in the upgrade of the old monitoring system of the air compressors.

Keywords: Condition monitoring, wireless sensor network, air compressor, ZigBee, data collecting

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Authors: M. Miladi, T. Ezzedine, R. Bouallegue

Abstract:

In the current decade, wireless sensor networks are emerging as a peculiar multi-disciplinary research area. By this way, energy efficiency is one of the fundamental research themes in the design of Medium Access Control (MAC) protocols for wireless sensor networks. Thus, in order to optimize the energy consumption in these networks, a variety of MAC protocols are available in the literature. These schemes were commonly evaluated under simple network density and a few results are published on their robustness in realistic network-s size. We, in this paper, provide an analytical study aiming to highlight the energy waste sources in wireless sensor networks. Then, we experiment three energy efficient hybrid CSMA/CA based MAC protocols optimized for wireless sensor networks: Sensor-MAC (SMAC), Time-out MAC (TMAC) and Traffic aware Energy Efficient MAC (TEEM). We investigate these protocols with different network densities in order to discuss the end-to-end performances of these schemes (i.e. in terms of energy efficiency, delay and throughput). Through Network Simulator (NS- 2) implementations, we explore the behaviors of these protocols with respect to the network density. In fact, this study may help the multihops sensor networks designers to design or select the MAC layer which matches better their applications aims.

Keywords: Energy efficiency, medium access control, network density, wireless sensor networks.

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Authors: Xu Huang, Jing Fan, Maonian Wu, Yonggen Gu

Abstract:

This paper discusses the design of an indoor mobile robot positioning system. The problem of indoor positioning is solved through Wi-Fi fingerprint positioning to implement a low cost deployment. A wireless fingerprint matching algorithm based on the similarity of unequal length sequences is presented. Candidate sequences selection is defined as a set of mappings, and detection errors caused by wireless hotspot stability and the change of interior pattern can be corrected by transforming the unequal length sequences into equal length sequences. The presented scheme was verified experimentally to achieve the accuracy requirements for an indoor positioning system with low deployment cost.

Keywords: Fingerprint match, indoor positioning, mobile robot positioning system, Wi-Fi, wireless fingerprint.

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