Proyecto de Investigación del Plan Nacional del Gobierno de España. Convocatoria 2013 – Proyectos I+D+I – Programa Estatal de Investigación, Desarrollo e Innovación Orientada a los Retos de la Sociedad

Reference: DPI2013-47347-C2-2-R
Principal investigator (PI): Dr. Joaquín Olivares, University of Córdoba
Partners: University of Córdoba (Spain); University of Alcalá de Henares (Spain)
Dates: 2014/2017

The main technological challenge in environments with multiple sensorial modules -MS-which service multiple robotic mobile units -UM-, using a wireless communicationb network as link, consists on optimizing resources of each item as well as shared ones. In this scenario, and taking into account the long experience of the two research groups involved, the ALCOR project is proposed. We set out the resources optimization at two levels: firstly sensory decision strategies and control sampling adapted to the system needs, and secondly efficient use of the communication channel guaranteeing a safe interaction between the nodes. Figure 1 outlines the link between the main subsystems of the project.

To tackle these challenges three fundamental objectives are set out:

Control: to research on event-based control techniques, establishing the stability limits of each UM and of the cooperative tasks. To achieve minimally instrumented mobile units (actuators , odometry , IRED emitter and transceiver) we propose a single remote center that implements the control algorithms with the related triggering mechanism taking into account the constraints of the communication channel (delays, dropout, etc.). Besides, the remote center should provide a strategy for requesting information to the appropriate sensors on the network and do it only when it is needed.
Sensing: to research on infrared sensory modules, with the suitable number of detectors per module, for centimeter error location of multiple mobile units, besides instantaneous orientation estimation, all regardless of the environmental conditions. A synchronism algorithm must be designed to combine several modules in order to achieve versatile active detection areas. Each sensorial module is part of the sensor network and the remote center decides when to ask them for the pose correction of each UM. This way efficient use of channel is achieved maintaining non-active modules in low consumption state.
Communications network: research in sizing, capacity, consumption, access control, integrity and confidentiality, considering that the environment is characterized by a high mobility of some nodes (mobile units) and a high reconfigurability network topology of others (sensory modules). Alternatives will be analyzed based on cognitive radio and shared resource reservation in mobile distributed systems to provide the network with the intelligence and security necessary for its application in wireless sensor networks and networked control systems as usual in intelligent environments.
Theoretical results will be complemented with demonstrators to validate experimentally the interaction between the different challenges. ALCOR is devoted to technology transfer to indoor environments where automatic transport of materials or products is required, where flexible and cooperative tasks for robotic units is demanded or where accurate positioning of mobile units and/or objects in an extensive area is necessary. This is the case of industrial environments intended for storage and distribution, and social environments such as geriatrics and hospitals offering an automated
mobility alternative for disabled people.

Download Section:
Testbed: 1702_Facts_evaluation_scripts.zip Pseudo-random data series repository for sensor simulations.
Testbed: 1702_SignalRepository_3L.zip Facts evaluation experiments: python scripts.

Publications.

D2R-TED: Data—Domain Reduction Model for Threshold-Based Event Detection in Sensor Networks
F León-Garcia, JM Palomares-Muñoz, J Olivares
Sensors. 18 (11). 2018.

Proyecto ALCOR: Contribuciones a la Optimización del Guiado Remoto de Robots en Espacios Inteligentes
F. Espinosa, JL Lazaro, J. Olivares
Revista Iberoamericana de Automática e Informática industrial. v. 15, n. 4, p. 416-426. 2018.

Homomorphic Filtering for Improving Time Synchronization in Wireless Networks
JM Castillo-Secilla, JM Palomares, F. León, J Olivares
Sensors 17 (4), 24. 2017

mDARAL: A Multi-Radio Version for the DARAL Routing Algorithm
FJ Estévez, JM Castillo-Secilla, J González, J Olivares, P Glösekötter
Sensors 17 (2), 17. 2017

Multiplicative composition of clock-skew components for improving time synchronisation
JM Castillo-Secilla, F León, J Olivares, JM Palomares
Electronics Letters 51 (13), 991-993. 2015

Reconocimiento de Patrones para Reglas Distribuidas en WSN
Fernando León García, José Manuel Palomares, Joaquín Olivares, Antonio Cubero Fernández
Congreso Español de Informática (CEDI) 2016

Algoritmo de Aprendizaje Automático para la Detección y Captura de Tráfico Usando el Sniffer Multicanal SnifferWSNTOS
Miguel Sánchez Polonio, Joaquín Olivares, José Manuel Palomares, Fernando León García, Jose María Castillo Secilla, Antonio Cubero Fernández
Congreso Español de Informática (CEDI) 2016

SnifferWSNTOS: Software implementation for multi-channel IEEE 802.15.4 sniffer.
M Sánchez-Polonio, J. Olivares, JM Palomares, F León, JM Castillo-Secilla, A Cubero.
VI Jornadas de Computación Empotrada. 49-56. 2015