Decentralized group control of autonomous robots swarm without data routing

2021 ◽  
Vol 9 (1) ◽  
pp. 42-48
Author(s):  
Konstantin Аmelin ◽  
Natalia Amelina ◽  
Oleg Granichin ◽  
Sergey Sergeev
Keyword(s):  
Network Topology ◽  
Simulation Modeling ◽  
Autonomous Robots ◽  
Engineering Practice ◽  
Data Routing ◽  
Data Packets ◽  
Decentralized Algorithms ◽  
Group Control ◽  
Communications Protocol ◽  
Using Data

To solve a wide class of practical problems in engineering practice, groups of robots with varying network topology are used; these groups are controlled by decentralized algorithms. The emphasis is on decentralizing computing in group, but at the communications protocol layer, the network remains centralized using data routing. This article discusses the task of group control, in which there is no traditional data packets routing. The procedure of simulation modeling and the hardware stand that implements it are described.

Simulation modeling of packet switching network segment functioning

2019 ◽  
pp. 75-82
Author(s):  
D. V. Shelkovoy ◽  
A. A. Chernikov
Keyword(s):  
Quality Of Service ◽  
Communication Networks ◽  
Simulation Modeling ◽  
Data Stream ◽  
Switching Network ◽  
Data Packets ◽  
Channel Resource ◽  
Switching Node ◽  
Joint Examination

The testing results of required channel resource mathematical estimating models for the for serving the proposed multimedia load in packet-switched communication networks are presented in the article. The assessment of the attainable level of quality of service at the level of data packet transportation was carried out by means of simulation modeling of the functioning of a switching node of a communication network. The developed modeling algorithm differs from the existing ones by taking into account the introduced delay for processing each data stream packet arriving at the switching node, depending on the size of the reserved buffer and the channel resource for its maintenance. A joint examination of the probability of packet loss and the introduced delay in the processing of data packets in the border router allows a comprehensive assessment of the quality of service «end to end», which in turn allows you to get more accurate values of the effective data transmitted rate by aggregating flows at the entrance to the transport network.

scholarly journals Developing an Analytical Solution that Mimics Simulation Modeling for Construction Planning: Earthwork Case

2019 ◽  
pp. 552-562
Author(s):  
Waleed Shakeel ◽  
Ming Lu
Keyword(s):  
Analytical Solution ◽  
Dynamic System ◽  
Simulation Modeling ◽  
High Accuracy ◽  
Analytical Tool ◽  
Controlled Experiments ◽  
Cost Estimating ◽  
Construction Planning ◽  
Using Data

Deriving a reliable earthwork job cost estimate entails analysis of the interaction of numerous variables defined in a highly complex and dynamic system. Using simulation to plan earthwork haul jobs delivers high accuracy in cost estimating. However, given practical limitations of time and expertise, simulation remains prohibitively expensive and rarely applied in the construction field. The development of a pragmatic tool for field applications that would mimic simulation-derived results while consuming less time was thus warranted. In this research, a spreadsheet based analytical tool was developed using data from industry benchmark databases (such as CAT Handbook and RSMeans). Based on a case study, the proposed methodology outperformed commonly used estimating methods and compared closely to the results obtained from simulation in controlled experiments.

Safety evaluation of truss structures using nested discrete Bayesian networks

2020 ◽  
Vol 19 (6) ◽  
pp. 1924-1936 ◽  
Author(s):  
Sheng-En Fang ◽  
Jia-li Tan ◽  
Xiao-Hua Zhang
Keyword(s):  
Bayesian Network ◽  
Conditional Probability ◽  
Network Topology ◽  
Safety Evaluation ◽  
System Level ◽  
Truss Structures ◽  
Engineering Practice ◽  
Directed Edge ◽  
Civil Structures ◽  
Nested Network

Truss structures have been widely adopted for civil structures such as long-span buildings and bridges. An actual truss system is usually statically indeterminate having numerous members and high redundancy. It is practically difficult to evaluate the truss safety through traditional reliability-based approaches in view of complex failure modes and uncertainties. Moreover, monitoring data are generally insufficient in reality due to limited sensors under cost consideration. Therefore, a nested discrete Bayesian network has been developed for safety evaluation of truss structures. A concept of member risk coefficient is first proposed based on the mechanical relationship between load effects and member resistance. According to the coefficients of all members, member risk sequences are found as the basis for establishing the topology of a member-level Bayesian network. Each network node represents a truss member and a nodal variable having three states: elasticity, plasticity, and failure. Two relevant member nodes are connected by a directed edge whose causality strength is expressed by a conditional probability table. Meanwhile, a system-level network topology is established to reflect the effects of member states on the truss system. The system is assigned with a node having two states: safety and failure. The directed edge of each member node directly points to the system node. Then, the two networks are combined to form a nested network topology. By this means, direct topology learning is avoided in order to find rational and concise topologies satisfying the mechanical characteristics of civil structures. After that, the conditional probability tables for the nested network are obtained through parameter learning on complete numerical observation data. The data acquirement procedure takes into account uncertainties by defining the randomness of cross-sectional areas and external loads. With the conditional probability tables, the nested network is ready for use. When new evidence from limited monitored members is input into the nested network, the state probabilities of the other members, as well as the system, are simultaneously updated using exact inference algorithms. The inference ability using insufficient information well accords with the demand of engineering practice. Finally, the proposed method has been successfully verified against both numerical and experimental truss structures. It was found that the network estimations could be further confirmed with more evidence.

scholarly journals Community-Based Link-Addition Strategies for Mitigating Cascading Failures in Modern Power Systems

Processes ◽  
2020 ◽  
Vol 8 (2) ◽  
pp. 126
Author(s):  
Po Hu ◽  
Lily Lee
Keyword(s):  
Power Systems ◽  
Power System ◽  
Network Topology ◽  
Network Connectivity ◽  
Mitigation Strategies ◽  
Cascading Failure ◽  
Cascading Failures ◽  
Engineering Practice ◽  
Construction Costs ◽  
Complex Network Theory

The propagation of cascading failures of modern power systems is mainly constrained by the network topology and system parameter. In order to alleviate the cascading failure impacts, it is necessary to adjust the original network topology considering the geographical factors, construction costs and requirements of engineering practice. Based on the complex network theory, the power system is modeled as a directed graph. The graph is divided into communities based on the Fast–Newman algorithm, where each community contains at least one generator node. Combined with the islanding characteristics and the node vulnerability, three low-degree-node-based link-addition strategies are proposed to optimize the original topology. A new evaluation index combining with the attack difficulty and the island ratio is proposed to measure the impacts on the network under sequential attacks. From the analysis of the experimental results of three attack scenarios, this study adopts the proposed strategies to enhance the network connectivity and improve the robustness to some extent. It is therefore helpful to guide the power system cascading failure mitigation strategies and network optimization planning.

DRI Table Based Traffic-Behaviour Analysis Approach for Detection of Blackhole Attack

2020 ◽  
Vol 10 (1) ◽  
pp. 79-93
Author(s):  
Kapil Juneja
Keyword(s):  
Mobile Networks ◽  
Performance Enhancement ◽  
Comprehensive Evaluation ◽  
Mobile Network ◽  
Attack Detection ◽  
Delivery Ratio ◽  
Adaptive Weights ◽  
Data Routing ◽  
Blackhole Attack ◽  
Using Data

Background: The blackhole infection can affect the collaborative communication in mobile networks. It is man-in-middle attack that seizes and deflects the route and avoids packet-forwarding in the network. The occurrence of collaborative-blackhole reduces the trust and trustworthiness over the network. Objective: A probabilistic and weighted analysis based protocol is proposed in this research for detection of cooperative blackhole nodes and generating the preventing route over the network. The aim of the work is to improve the communication reliability. Methods: In this paper, the communication behaviour is analyzed under associated and probabilistic measures using Data Routing Information (DRI) table to discover the blackhole attack. It applies a dual check based on participation and communication constraints to estimate the node criticality. The evaluation is performed by neighbours and neighbour-on-neighbour nodes with weights and threshold specific decisions. These measures are evaluated through composite and integrated measures and presented as decision metrics. The parametric and probabilistic checks are conducted as a comprehensive evaluation within the proposed PSAODV (Probabilistic Secure Adhoc On Demand Distance Vector) protocol. Results: The simulation of PSAODV protocol is conducted in NS2 environment on various scenarios with mobility, density and traffic type variations. The scenarios are defined with a higher density of blackhole nodes within the network. The adaptive weights are identified by simulating the network with different weight combinations. These weights are employed within the PSAODV protocol to configure it with the maximum benefits. The analytical evaluations are taken against AODV and SAODV protocols and identified the performance enhancement in terms of Packet Delivery Ratio (PDR) Ratio, delay, attack detection ratio parameters. Conclusion: A significant improvement in attack detection is achieved by this proposed PSAODV protocol. The proposed protocol improved the reliability and effectiveness of mobile network.

Performance Investigation of Topology-Based Routing Protocols in Flying Ad-Hoc Networks Using NS-2

2020 ◽  
pp. 243-267 ◽  
Author(s):  
Sudesh Kumar ◽  
Abhishek Bansal
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Network Topology ◽  
Routing Protocols ◽  
Ad Hoc ◽  
Communication Technologies ◽  
Technological Advancement ◽  
Data Routing ◽  
Flexible Devices ◽  
Hoc Networks ◽  
New Applications

Recently, with the rapid technological advancement in communication technologies, it has been possible to establish wireless communication between small, portable, and flexible devices like Unmanned Aerial Vehicles (UAVs). These vehicles can fly autonomously or be operated without carrying any human being. The workings with UAVs environment often refer to flying ad-hoc network (FANETs), currently a very important and challenging area of research. The usage of FANETs promises new applications in military and civilian areas. The data routing between UAVs also plays an important role for these real-time applications and services. However, the routing in FANETs scenario faces serious issues due to fast mobility and rapid network topology change of UAVs. Therefore, this chapter proposes a comparative study on topology-based routing protocols like AODV, DSDV, and DSR. Furthermore, investigate the performance of these different protocols for a FANETs environment based on different parameters by using the NS-2 simulator.

Hierarchical Numbering Based Addressing and Stateless Routing Scheme for Wireless Sensor Networks

2009 ◽  
Vol 5 (5) ◽  
pp. 391-428 ◽  
Author(s):  
Mohammad Yusuf Sarwar Uddin ◽  
Mohammad Mostofa Akbar ◽  
Salahuddin Mohammad Masum
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Energy Efficient ◽  
Indoor Environment ◽  
Performance Metrics ◽  
Wireless Sensor ◽  
Data Routing ◽  
Data Packets ◽  
Routing Techniques ◽  
Better Than

Due to energy and other relevant constraints, addressing of nodes and data routing techniques in sensor networks differ significantly from other networks. In this article, we present an energy-efficient addressing and stateless routing paradigm for wireless sensor networks. We propose a dynamic and globally unique address allocation scheme for sensors in such a way that these addresses can later be used for data routing. We build a tree like organization of sensors rooted by the sink node based on their transmission adjacency and then set labels on each sensor with a number according to the preorder traversal of the tree from the root. In this addressing process, each sensor keeps necessary information so that they can later route data packets to the destination depending on these addresses, without keeping the large routing table and running any no route discovery phase. Moreover, the scheme does not use location information as well (as done by geo-routing) and can be used in the indoor environment. We conduct simulations to measure the soundness of our approach and make a comparison with another similar technique TreeCast. Simulation results reveal that our approach performs better than its counterpart in several important performance metrics like address length and communication energy.

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