Faculty Publications
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Publications by NITK Faculty
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Item Analysis of mobile beacon aided in-range localization scheme in ad hoc wireless sensor networks(2006) Srinath, T.V.; Katti, A.K.; S, V.S.In this paper, We mathematically model the In-Range localization scheme in the presence of a Mobile Beacon. In the In-Range localization scheme, a sensor with unknown location is localized to a disc centered at the position of the beacon, if the sensor under consideration can successfully decode a transmission from the beacon. In our approach a Mobile Beacon guided by a mobility model is used to generate the virtual beacons, there by eliminating the need to deploy static beacons that are required in the classical In-Range localization scheme. For analysis, we consider a Mobile Beacon guided by the Random Way Point (RWP) mobility model with In-Range localization scheme. The main contribution of this paper consists of mathematical models for the In-Range localization parameters in the presence of a Mobile Beacon guided by the RWP mobility model. Copyright 2006 ACM.Item Localization in resource constrained sensor networks using a mobile beacon with in-ranging(IEEE Computer Society, 2006) Srinath, T.V.In this paper1, We provide a mechanism for the problem of localization in resource constrained sensor networks by extending the principles of In-Range technique using a mobile beacon. The main advantage of this mechanism is that, it inherits all the advantages of In-Range technique, eliminates the need to deploy beacons in the sensor network and satisfy the requirements of localization algorithms for sensor networks. Location awareness of sensor nodes plays a critical role in most of the sensor network applications. Our mechanism assumes only a basic communication capability of sensor nodes and does not require any additional infrastructure. We employ a single mobile beacon equipped with a GPS receiver for localization. Each broadcast position of the mobile beacon acts as a stationary beacon at that point (known as a virtual beacon) thereby eliminating the need to deploy GPS equipped beacons in the sensor network. The motion of the mobile beacon localizes some of the sensor nodes, which in turn aid in localization of their neighbors using the iterative In-Range technique. Simulation results are presented to evaluate the performance of the proposed mechanism. An Implementation on sensor network of MICA2 motes is used to evaluate the functionality of the proposed algorithm. © 2006 IEEE.Item Evaluation of ultrasonic sensor in robot mapping(Institute of Electrical and Electronics Engineers Inc., 2019) Nair, S.K.A.; Joladarashi, S.; Ganesh, N.This paper presents the simulation and experimental investigation on mapping done using ultrasonic sensor(HC-SR04). Issues related to exploration, mapping and localization are discussed. Kobuki base with three ultrasonic sensors was kept as robot mobile base platform. A 2D occupancy grid map is updated by the robot when it moves and collects information from ultrasonic sensor. The sensor being noisy in nature generates unwanted ghost points. This results in outliers in the map especially in corners of the environment due to specular reflections. The issues like outliers are dealt with image processing techniques. © 2019 IEEE.Item Mitigating Localization and Neighbour Spoofing Attacks in Underwater Sensor Networks(Institute of Electrical and Electronics Engineers Inc., 2020) Chandavarkar, B.R.; Gadagkar, A.V.The location information of a node is one of the essential attributes used in most underwater communication routing algorithms to identify a candidate forwarding node by any of the sources. The exact location information of a node exchanged with its neighbours' in plain text and the absence of node authentication results in some of the attacks such as Sybil attack, Blackhole attack, and Wormhole attack. Moreover, the severe consequence of these attacks is Denial of Service (DoS), poor network performance, reduced network lifetime, etc. This paper proposes an anti-Spoof (a-Spoof) algorithm for mitigating localization and neighbour spoofing attacks in UASN. a-Spoof uses three pre-shared symmetric keys to share the location. Additionally, location integrity provided through the hash function. Further, the performance of a-Spoof demonstrated through its implementation in UnetStack with reference to end-to-end packet delay and the number of hops. © 2020 IEEE.Item Quantized Directional Cosine measurements based Localization(Institute of Electrical and Electronics Engineers Inc., 2021) Reddy, B.B.N.; Gunnery, S.; Pardhasaradhi, B.; Srihari, P.Localization of target emitters using multiple simultaneous directional cosine (DC) measurements are popular and extremely useful in radar and sonar surveillance systems. Underwater localization, classification, and target tracking using hydrophone with limited bandwidth constraints is a challenging problem. In limited bandwidth applications, quantizing the measurements is an efficient way of representing measurements. The DC measurements are usually in the range of -1 to +1, the quantization of DC leads to inaccuracy in the estimated values. This paper presents the localization problem with quantized DC measurements in densely populated targets scenario. The localization achieved using two different estimation techniques: the least-squares (LS) triangulation and the Quasi newton (QN) method. Further, to explicitly study the quantization effect, we have used linear and optimal quantization techniques to quantize the DC measurements. The performance of the localization is quantified using the position root mean square error (PRMSE). © 2021 IEEE.Item Simulation of Indoor Localization and Navigation of Turtlebot 3 using Real Time Object Detection(Institute of Electrical and Electronics Engineers Inc., 2021) Nandkumar, C.; Shukla, P.; Varma, V.This paper proposes a method for indoor localization and navigation of Turtlebot 3 using Real Time Object Detection (RTOD). The robot is capable of recognizing the room it is placed inside based on the knowledge of positions of certain fixed arbitrary objects. The robot then proceeds to understand its position inside the room and is capable of moving to other locations. The robot is simulated using the ROS and Gazebo framework. The RTOD is trained to identify certain distinct objects like a rover, bowl, quadcopter and wheel based on which the robot is able to ascertain its location. © 2021 IEEE.Item Structural Health Monitoring techniques in civil engineering: An overview(CAFET INNOVA Technical Society cafetinnova@gmail.com 1-2-18/103, Mohini Mansion, Gagan Mahal Road, Domalguda, Hyderabad 500029, 2014) Bhavana Patel, S.S.; Venkataramana, K.; Babu Narayan, K.S.; Parla, B.; Kimura, Y.Structural Health Monitoring (SHM) is an emerging and promising technology for safety and integrity of structures. Vibration Based Monitoring (VBM) has gained more importance in the field of civil engineering as damage parameters are sensitive to vibration. This paper presents brief introduction on SHM and VBM. Traditional and advanced techniques adopted for damage identification, localization and quantification by various authors have been discussed. However it is still a challenging task for the researchers to develop a technique which gives efficient and reliable solution for a particular Structure. © 2014 CAFET-INNOVA TECHNICAL SOCIETY.Item Localization Based on RSSI Exploiting Gaussian and Averaging Filter in Wireless Sensor Network(Springer Verlag, 2018) Mahapatra, R.K.; Shet, N.S.V.The primary focus in this paper is on position estimation of an unknown sensor node in indoor environment. Received signal strength (RSS)-based algorithm was used for position estimation in which Gaussian filter and averaging filter were used for distance estimation, and for localization, trilateration and least square estimation were used. IRIS motes from MEMSIC were used for the experiments and were configured in real time to record the RSSI. Effect on distance estimation and localization was studied in indoor environment by conducting several experiments. Simulation results show that the proposed sensor selection, distance estimation based on RSSI as well as localization method helps in improving accuracy of position estimation in different environmental conditions. © 2017, King Fahd University of Petroleum & Minerals.