Efficient solution of the 3G network planning problem

The 3G universal mobile telecommunications system (UMTS) planning problem is combinatorially explosive and difficult to solve optimally, though solution methods exist for its three main subproblems (cell, access network, and core network planning). We previously formulated the entire problem as a single integrated mixed-integer linear program (MIP) and showed that only small instances of this global planning problem can be solved to optimality by a commercial MIP solver within a reasonable amount of time ( St-Hilaire, Chamberland, & Pierre, 2006). Heuristic methods are needed for larger instances. This paper provides the first complete formulation for the heuristic sequential method ( St-Hilaire, Chamberland, & Pierre, 2005) that re-partitions the global formulation into the three conventional subproblems and solves them in sequence using a MIP solver. This greatly improves the solution time, but at the expense of solution quality. We also develop a new hybrid heuristic that uses the results of the sequential method to generate constraints that provide tighter bounds for the global planning problem with the goal of reaching the provable optimum solution much more quickly. We empirically evaluate the speed and solution accuracy of four solution methods: (i) the direct MIP solution of the global planning problem, (ii) a local search heuristic applied to the global planning problem, (iii) the sequential method and (iv) the new hybrid method. The results show that the sequential method provides very good results in a fraction of the time needed for the direct MIP solution of the global problem, and that optimum results can be provided by the hybrid heuristic in greatly reduced time.     

基于JPS策略的ACS移动机器人全局路径规划

针对蚁群系统（ACS）算法收敛速度慢、易陷入局部最优、路径转折点数量过多等问题,提出了一种基于跳点搜索（JPS）策略的ACS全局路径规划算法．该算法在迭代前加入一只特殊蚂蚁,利用方向因子引导该蚂蚁始终朝着目标方向前进,并查询是否存在最简路径;在蚂蚁查询下一个节点时,利用JPS算法思想舍去大部分不需要计算的节点．最后,为验证该方法的有效性,使用不同规格的栅格地图进行了仿真实验,仿真结果表明,改进的ACS算法相比于ACS算法,收敛速度加快、收敛时间缩短,且路径更优．最后将算法应用到实际的基于机器人操作系统（ROS）的移动机器人导航实验中,实验结果表明,改进的ACS算法能够有效地解决移动机器人全局路径规划问题,且能明显提升机器人全局路径规划的效率．     

Efficient solution of the 3G network planning problem

The 3G universal mobile telecommunications system (UMTS) planning problem is combinatorially explosive and difficult to solve optimally, though solution methods exist for its three main subproblems (cell, access network, and core network planning). We previously formulated the entire problem as a single integrated mixed-integer linear program (MIP) and showed that only small instances of this global planning problem can be solved to optimality by a commercial MIP solver within a reasonable amount of time (St-Hilaire, Chamberland, & Pierre, 2006). Heuristic methods are needed for larger instances. This paper provides the first complete formulation for the heuristic sequential method (St-Hilaire, Chamberland, & Pierre, 2005) that re-partitions the global formulation into the three conventional subproblems and solves them in sequence using a MIP solver. This greatly improves the solution time, but at the expense of solution quality. We also develop a new hybrid heuristic that uses the results of the sequential method to generate constraints that provide tighter bounds for the global planning problem with the goal of reaching the provable optimum solution much more quickly. We empirically evaluate the speed and solution accuracy of four solution methods: (i) the direct MIP solution of the global planning problem, (ii) a local search heuristic applied to the global planning problem, (iii) the sequential method and (iv) the new hybrid method. The results show that the sequential method provides very good results in a fraction of the time needed for the direct MIP solution of the global problem, and that optimum results can be provided by the hybrid heuristic in greatly reduced time.     

SmallWorld Model-Based Polylogarithmic Routing Using Mobile Nodes

The use of mobile nodes to improve network system performance has drawn considerable attention recently. The movement-assisted model considers mobility as a desirable feature,where routing is based on the store-carry-forward paradigm with random or controlled movement of resource rich mobile nodes.The application of such a model has been used in several emerging networks,including mobile ad hoc networks(MANETs),wireless sensor networks(WSNs),and delay tolerant networks(DTNs).It is well known that mobility increases the capacity of MANETs by reducing the number of relays for routing,prolonging the lifespan of WSNs by using mobile nodes in place of bottleneck static sensors,and ensuring network connectivity in DTNs using mobile nodes to connect different parts of a disconnected network.Trajectory planning and the coordination of mobile nodes are two important design issues aiming to optimize or balance several measures, including delay,average number of relays,and moving distance.In this paper,we propose a new controlled mobility model with an expected polylogarithmic number of relays to achieve a good balance among several contradictory goals,including delay,the number of relays,and moving distance.The model is based on the small-world model where each static node has"short"link connections to its nearest neighbors and"long"link connections to other nodes following a certain probability distribution.Short links are regular wireless connections whereas long links are implemented using mobile nodes.Various issues are considered,including trade-offs between delay and average number of relays,selection of the number of mobile nodes,and selection of the number of long links.The effectiveness of the proposed model is evaluated analytically as well as through simulation.     

A reliable model for global planning of mobile networks

In this paper, we propose a global model for WiMAX networks planning. This model represents the network planning problem and helps to solve it entirely without dividing it into several subproblems. The objective of the model is to minimize the cost of the network while maximizing its survivability. The model has been compared to a sequential model with the same constraints, which consists in solving the subproblems sequentially, and to a global model without reliability constraints. The results show that the proposed model performs on an average 25% better than the other models.     

Path planning in GPS-denied environments via collective intelligence of distributed sensor networks

This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin’s car-like robot.     

基于改进蛙跳算法的WSN移动节点部署研究

针对传统无线传感移动节点部署方法存在节点分布不均匀、覆盖不完全等问题,提出一种基于改进混合蛙跳算法(SFLA)的移动节点部署方法。根据节点位置信息建立部署模型,利用改进SFLA算法求解该模型,将得到的解作为节点最终位置。仿真实验结果表明,相对于微粒群、虚拟力、基本混合蛙跳算法,改进SFLA算法可提高网络覆盖率和降低移动节点能耗。     

虚拟机迁移系统网络连接重定向技术*

针对虚拟机（virtual machine,VM）在不同子网间进行在线迁移时,因网络接入点发生改变而无法继续通信的问题,设计和实现了基于代理移动IP（proxy mobile IP,PMIP）的网络连接重定向系统。当VM迁移到外部子网时,将其看做移动节点,不改变IP地址,通过外部网络和家乡网络之间的双向隧道传输所有来自和发往该VM的网络数据。此方案中跨子网的在线迁移行为对VM以及与VM通信的节点透明。实验证明了该系统可以保证VM较快的网络切换速度和较好的网络通信性能。     

考虑水流影响的水下传感器网络移动算法研究*

随着世界各国海洋开发和海洋军事的飞速发展,水下传感器网络成为一个新的研究热点,其中失效补偿和高效节能是水下传感器网络研究的重要问题。水声通信的特点使得移动节点在水下传感器网络中得到较为广泛的使用,以其作为失效补偿和提高覆盖效率的有效手段。为了减小移动节点的能耗,改进了现有的移动部署方案,提出一种新的水下传感节点移动算法,在移动路径规划时充分利用水流和重力、浮力的影响来减少节点的移动能量。数值计算和仿真结果表明,本算法有效节省了移动节点的能量消耗,验证了其有效性和正确性。     

基于方向决策的移动锚节点动态路径规划方法

在基于移动锚节点的无线传感器网络定位过程中,移动锚节点的路径规划问题对定位性能有着重要的影响,但现有的路径规划方法没有充分考虑到网络内未知节点的密度以及分布情况,定位效率低且成本大,因此提出了一种基于方向决策的移动锚节点动态路径规划方法CWDP(Dynamic Path Planning Based on Orientation Decision-Classed Weighted).首先网络内的未知节点根据连通度阈值对自身进行分级处理,当移动锚节点进入网络区域后,根据通信范围内未知节点的反馈信息,再利用分级权重系数实时决策下一目标的移动方向.仿真结果表明,该方法有效地提高了网络内未知节点的定位覆盖率和降低了定位误差,并节约了定位成本.     

基于蜂窝结构的改进混合无线传感器网络覆盖优化算法

基于蜂窝结构的混合无线传感器网络（HWSN）覆盖优化算法HWSNBCS存在移动节点平均移动距离较大的问题,为此,提出一种改进的HWSN覆盖优化算法IHWSNBCS。寻找移动传感器节点初始位置与通过HWSNBCS算法得出的候选目标位置之间的最优匹配,将移动节点移动距离之和最小化问题转化为二分图最优匹配问题,利用带权二分图匹配算法KM寻找该匹配问题的最优解,从而得到移动节点最终的目标位置,并实现对HWSNBCS算法移动节点平均移动距离的进一步优化。实验结果表明,IHWSNBCS算法在取得与HWSNBCS算法相同网络覆盖率的前提下,移动节点的平均移动距离减少幅度达到38.87%～43.28%,单个移动节点的最大移动距离减少幅度达到22.65%～66.58%,降低了系统因重新部署移动传感器节点所产生的能耗以及单个传感器节点因能量耗尽而失效的概率,从而延长了网络生命周期,同时,IHWSNBCS的ΔCov-Dist性能指标为HWSNBCS算法的1.64～1.76倍,表明移动节点移动相同距离时IHWSNBCS算法的网络覆盖率提升更大。     

面向移动边缘的组合服务选择及优化

移动边缘计算作为新型的计算范式,为降低网络延迟、能耗开销提供了新的思路.其将中心云的强大算力下沉至网络边缘,使得用户能够将计算任务卸载至物理位置更近的边缘服务器执行,从而节省经由核心网的时延与能耗开销.然而,由于移动边缘计算技术通常受到计算资源、网络传输带宽、设备电量等因素的制约,如何在有限的资源中获取最大的利用率成为...     

Methods based on discrete optimization for finding road network rehabilitation strategies

We study a dynamic optimization problem arising in the (long-term) planning of road rehabilitation activities. In this area one seeks a pavement resurfacing plan for a road network under budget constraints. Our main approach is to model this as an integer programming problem with underlying dynamic programming structure. We investigate properties of this model and propose a solution method based on Lagrangian relaxation where one gets subproblems that are shortest path problems. Some computational experiences based on realistic data are reported.     

神经网络在移动机器人路径规划中的应用研究

移动机器人路径规划可分为两种类型:(1)全局路径规划;(2)局部路径规划。本文分析了Kohonen神经网络算法及其识别机理,提出了Kohonen神经网络和BP神经网络结合起来进行路径规划的方法,最后给出了具体的算法,探讨了在神经网络技术中引入学习机制的特点。     

A timed mobile agent planning approach for distributed information retrieval in dynamic network environments

The number of mobile agents and total execution time are two factors used to represent the system overhead that must be considered as part of mobile agent planning (MAP) for distributed information retrieval. In addition to these two factors, the time constraints at the nodes of an information repository must also be taken into account when attempting to improve the quality of information retrieval. In previous studies, MAP approaches could not consider dynamic network conditions, e.g., variable network bandwidth and disconnection, such as are found in peer-to-peer (P2P) computing. For better performance, mobile agents that are more sensitive to network conditions must be used. In this paper, we propose a new MAP approach that we have named Timed Mobile Agent Planning (Tmap). The proposed approach minimizes the number of mobile agents and total execution time while keeping the turnaround time to a minimum, even if some nodes have a time constraint. It also considers dynamic network conditions to reflect the dynamic network condition more accurately. Moreover, we incorporate a security and fault-tolerance mechanism into the planning approach to better adapt it to real network environments.     

一个应用于移动Ad Hoc网络管理的簇生成算法

移动Ad hoc网络(mobile Ad hoc network,简称MANET)作为一种新型移动无线通信网,与其他通信网络相比独有的特性增加了网络管理的难度.目前对MANET网络管理的研究处于起步阶段,一些标准尚未制定,而且像存在单向链路和节点的相对移动性这类问题也在研究中被忽视.为此,提出了一个利用令牌机制与最小节点标识相结合,适用于层次性管理结构的基于图的MANET簇生成算法,以及对MIB(management information base)的建议性改进.算法充分考虑了网络存在的单向链路和节点的相对移动性,提高了网络管理的灵活性和可扩展性,为MANET的网络管理提出了一种新方法.     

A global approach for designing reliable WDM networks and grooming the traffic

In this paper, we address the global problem of designing reliable wavelength division multiplexing (WDM) networks including the traffic grooming. This global problem consists in finding the number of optical fibers between each pair of optical nodes, finding the configuration of each node with respect to transponders, finding the virtual topology (i.e., the set of lightpaths), routing the lightpaths, grooming the traffic (i.e, grouping the connections and routing them over the lightpaths) and, finally, assigning wavelengths to the lightpaths. Instead of partitioning the problem into subproblems and solving them successively, we propose a mathematical programming model that addresses it as a whole. Numerical results are presented and analyzed.     

Intelligent mobile manipulator navigation using adaptive neuro-fuzzy systems

The work presented in this paper deals with the problem of autonomous and intelligent navigation of mobile manipulator, where the unavailability of a complete mathematical model of robot systems and uncertainties of sensor data make the used of approximate reasoning to the design of autonomous motion control very attractive.A modular fuzzy navigation method in changing and dynamic unstructured environments has been developed. For a manipulator arm, we apply the robust adaptive fuzzy reactive motion planning developed in [J.B. Mbede, X. Huang, M. Wang, Robust neuro-fuzzy sensor-based motion control among dynamic obstacles for robot manipulators, IEEE Transactions on Fuzzy Systems 11 (2) (2003) 249-261]. But for the vehicle platform, we combine the advantages of probabilistic roadmap as global planner and fuzzy reactive based on idea of elastic band. This fuzzy local planner based on a computational efficient processing scheme maintains a permanent flexible path between two nodes in network generated by a probabilistic roadmap approach. In order to consider the compatibility of stabilization, mobilization and manipulation, we add the input of system stability in vehicle fuzzy navigation so that the mobile manipulator can avoid stably unknown and/or dynamic obstacles. The purpose of an integration of robust controller and modified Elman neural network (MENN) is to deal with uncertainties, which can be translated in the output membership functions of fuzzy systems.     

物联网环境下移动节点可信接入认证协议

无线传感器网络（WSN）中的移动节点缺乏可信性验证,提出一种物联网（IoT）环境下移动节点可信接入认证协议。传感器网络中移动汇聚节点（Sink节点）同传感器节点在进行认证时,传感器节点和移动节点之间完成相互身份验证和密钥协商。传感器节点同时完成对移动节点的平台可信性验证。认证机制基于可信计算技术,给出了接入认证的具体步骤,整个过程中无需基站的参与。在认证时利用移动节点的预存的假名和对应公私钥实现移动节点的匿名性,并在CK（Canetti-Krawczyk）模型下给出了安全证明。在计算开销方面与同类移动节点认证接入方案相比,该协议快速认证的特点更适合物联网环境。     

基于图论的WSN节点定位路径规划

移动锚节点规划路径存在节点重复访问的问题,会影响定位精度的提高。为此,提出一种移动锚节点路径规划算法,引用图论知识,将传感器节点转化为图的顶点,并结合蚁群算法,利用图的遍历解决路径规划问题,寻找出一条路径。实验结果表明,该算法能够定位传感器节点,避免节点的重复访问,降低节点定位的误差。