In wireless sensor networks (WSNs), the appearance of coverage holes over a large target field is mostly possible. Those holes reduce network performance and may affect the network efficiency. Several approaches were proposed to heal coverage holes in WSNs, but they still suffer from some weaknesses. In this paper we suggest a distributed algorithm, named hybrid hole healing algorithm (3HA), to find the minimum effective patching positions to deploy additional nodes to cover the holes. A hole manager node of each hole is responsible for operating the 3HA algorithm which requires two phases. The first phase finds all candidate patching positions using a Voronoi diagram. It takes all Voronoi vertices within the hole as the initial patching positions list. The second phase reduces as much as possible this list based on integer linear programming and on a probabilistic sensor model. The 3HA algorithm repeats the above phases in rounds, until all Voronoi vertices are covered. Simulation results show that our solution offers a high coverage ratio for various forms and sizes of holes and reduces the number of additional sensors when compared to some algorithms like the Perimeter-based, the Delaunay triangulation-based, the Voronoi-based, and the Trees-based coverage hole healing methods.
Micro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM . 相似文献
The Journal of Supercomputing - Data center network virtualization is being considered as a promising technology to provide a performance guarantee for cloud computing applications. One important... 相似文献
The possibility of immunizing dogs orally against rabies, using SADBern, an attenuated strain, was tested on dogs in the field in Tunisia. This strain induced high neutralizing antibody titres and conferred to all vaccinated dogs total resistance against a challenge with a Maghrebian strain. However, an excretion of virus of vaccinal origin was observed in one dog, hampering the use of SADBern in dogs. Nevertheless, this work demonstrates for the first time that dogs in developing countries, especially those which are inaccessible to parenteral vaccination, could be efficiently immunized against rabies by the oral route. 相似文献
In order to study problems on fluid–structure interaction, we have used a mixed formulation which couples the classical functional of the structure with a new variational formulation by integral equations for the fluid. This formulation has the advantage over the finite element methods of avoiding the discretization of the fluid domain. Furthermore, unlike collocation methods, the explicit calculation of the Hadamard finite part of the singular integrals is avoided. This leads after discretization by boundary finite elements to a small and symmetrical algebraic system. Typical examples are presented that demonstrate the efficiency of this variational formulation by studying the sound transmission through a baffled plane structure and through a flexible panel backed by a rigid cavity. These include the calculation of the transmission loss factor and the determination of which modes dominate the noise transmission. Good agreement is obtained between numerical results and analytical results found in the literature. 相似文献