eprintid: 606
rev_number: 7
eprint_status: archive
userid: 4
dir: disk0/00/00/06/06
datestamp: 2014-05-07 08:29:12
lastmod: 2014-05-07 08:29:12
status_changed: 2014-05-07 08:29:12
type: thesis
metadata_visibility: show
creators_name: Geberesilase, H.
title: Optimization of the robot swarm's firmware
ispublished: pub
subjects: TK
full_text_status: public
keywords: TPCW
abstract: Eledia Research Center has developed a Robot Swarm to monitoring a parameter in a research area. Furthermore the Swarm are able to identify the location of the maximum of the monitored parameter.
The swarm is formed by four robot, everyone composed by: 
- a WSN node that control every device,
- a robotic kit to permit movement,
- infrared and compass sensor to know his position, 
- a brightness sensor to monitor the light parameter. 
The movement of the robot are controlled and coordinated by PSO algorithm, a stochastic and multiple agent optimization algorithm that follow the logic of how a swarm of bee reach the area where there is more honey in a grass. Every robot, at every iteration of the algorithm, know his best position (pbest) and the best position of all the swarm (gbest), following the PSO algorithm calculate his movement to reach the area where the brightness reach his maximum value.
Now all the computations (localization of the robot, PSO implementation, ecc) are implemented in the firmware of the WSN node, in a way to get the system completely independent from the host that only receive the data measured by every node. In this way the system can search the maximal value of the monitored parameter in the research area without an host that coordinate all the operation. In this implementation the dimension of the firmware is very high, and the limit of memory of the WSN node were reached.
The goal of this project is reorganize and optimize the Robot Swarm's firmware in order to move the most onerous computation from the firmware to the host computer, in order to give back the firmware lightweight.
date: 2013
date_type: published
institution: University of Trento
department: ELEDIA Research Center@DISI
thesis_type: masters
referencetext: [1]	F. Viani, F. Robol, A. Polo, P. Rocca, G. Oliveri, and A. Massa, "Wireless architectures for heterogeneous sensing in smart home applications - concepts and real implementations," Proc. IEEE, vol. 101, no. 11, pp. 2381-2396, Nov. 2013.
[2]	F. Viani, G. Oliveri, M. Donelli, L. Lizzi, P. Rocca, and A. Massa, "WSN-based solutions for security and surveillance," 40th European Microwave Conference 2010 (EuMC2010), Paris, France, pp. 1762-1765, Sep. 26 - Oct. 1, 2010.
[3]	F. Viani, P. Rocca, G. Oliveri, and A. Massa, "Pervasive remote sensing through WSNs," 6th European Conference on Antennas Propag. (EuCAP 2012), Prague, Czech Republic, Mar. 26-30, 2012.
[4]	F. Viani, P. Rocca, M. Benedetti, G. Oliveri, and A. Massa, "Electromagnetic passive localization and tracking of moving targets in a WSN-infrastructured environment," Inverse Problems - Special Issue on "Electromagnetic Inverse Problems: Emerging Methods and Novel Applications," vol. 26, pp. 1-15, May 2010.
[5]	F. Viani, P. Rocca, G. Oliveri, D. Trinchero, and A. Massa, "Localization, tracking and imaging of targets in wireless sensor network: An invited review," Radio Science, vol. 46, 2011.
[6]	F. Viani, L. Lizzi, P. Rocca, M. Benedetti, M. Donelli, and A. Massa, "Object tracking through RSSI measurements in wireless sensor networks," Electronics Letters, vol. 44, no. 10, pp. 653-654, 2008.
[7]	F. Viani, P. Rocca, G. Oliveri, and A. Massa, "Electromagnetic tracking of transceiver-free targets in wireless networked environments," 6th European Conference on Antennas Propag. (EuCAP 2011), Rome, Italy, pp. 3808-3811, Apr. 11-15, 2011 (Invited paper).
[8]	P. Rocca, M. Benedetti, M. Donelli, D. Franceschini, and A. Massa, "Evolutionary optimization as applied to inverse problems," Inverse Problems - 25 th Year Special Issue of Inverse Problems, Invited Topical Review, vol. 25, pp. 1-41, Dec. 2009.
[9]	P. Rocca, G. Oliveri, and A. Massa, "Differential Evolution as applied to electromagnetics," IEEE Antennas Propag. Mag., vol. 53, no. 1,  pp. 38-49, Feb. 2011.
[10]	L. Lizzi, F. Viani, R. Azaro, and A. Massa, "A PSO-driven spline-based shaping approach for ultra-wideband (UWB) antenna synthesis," IEEE Trans. Antennas Propag., vol. 56, no. 8, pp. 2613-2621, Aug. 2008.

citation:   Geberesilase, H.  (2013) Optimization of the robot swarm's firmware.  Masters thesis, University of Trento.   
document_url: http://www.eledia.org/students-reports/606/1/Abstract.A381.pdf