There are fundamentally two different communication media in wireless underground sensor networks. The first of these is a solid medium where the sensor nodes are buried underground and wirelessly transmit data from u...There are fundamentally two different communication media in wireless underground sensor networks. The first of these is a solid medium where the sensor nodes are buried underground and wirelessly transmit data from underground to aboveground. The second is an underground medium such as tunnel, cave etc. and the data is transmitted from underground to the aboveground through partially solid medium. The quality of communication is greatly influenced by the humidity of the soil in both environments. The placement of wireless underground sensor nodes at hard-to-reach locations makes energy efficient work compulsory. In this paper, rule based collector station selection scheme is proposed for lossless data transmission in underground sensor networks. In order for sensor nodes to transmit energy-efficient lossless data, rulebased selection operations are carried out with the help of fuzzy logic. The proposed wireless underground sensor network is simulated using Riverbed software, and fuzzy logic-based selection scheme is implemented utilizing Matlab software. In order to evaluate the performance of the sensor network;the parameters of delay, throughput and energy consumption are investigated. Examining performance evaluation results, it is seen that average delay and maximum throughput are accomplished in the proposed underground sensor network. Under these conditions, it has been shown that the most appropriate collector station selection decision is made with the aim of minimizing energy consumption.展开更多
Resource management in Underground Wireless Sensor Networks(UWSNs)is one of the pillars to extend the network lifetime.An intriguing design goal for such networks is to achieve balanced energy and spectral resource ut...Resource management in Underground Wireless Sensor Networks(UWSNs)is one of the pillars to extend the network lifetime.An intriguing design goal for such networks is to achieve balanced energy and spectral resource utilization.This paper focuses on optimizing the resource efficiency in UWSNs where underground relay nodes amplify and forward sensed data,received from the buried source nodes through a lossy soil medium,to the aboveground base station.A new algorithm called the Hybrid Chaotic Salp Swarm and Crossover(HCSSC)algorithm is proposed to obtain the optimal source and relay transmission powers to maximize the network resource efficiency.The proposed algorithm improves the standard Salp Swarm Algorithm(SSA)by considering a chaotic map to initialize the population along with performing the crossover technique in the position updates of salps.Through experimental results,the HCSSC algorithm proves its outstanding superiority to the standard SSA for resource efficiency optimization.Hence,the network’s lifetime is prolonged.Indeed,the proposed algorithm achieves an improvement performance of 23.6%and 20.4%for the resource efficiency and average remaining relay battery per transmission,respectively.Furthermore,simulation results demonstrate that the HCSSC algorithm proves its efficacy in the case of both equal and different node battery capacities.展开更多
Wireless sensor networks are useful complements to existing monitoring systems in underground mines. They play an important role of enhancing and improving coverage and flexibility of safety monitoring systems.Regions...Wireless sensor networks are useful complements to existing monitoring systems in underground mines. They play an important role of enhancing and improving coverage and flexibility of safety monitoring systems.Regions prone to danger and environments after disasters in underground mines require saving and balancing energy consumption of nodes to prolong the lifespan of networks.Based on the structure of a tunnel,we present a Long Chain-type Wireless Sensor Network（LC-WSN）to monitor the safety of underground mine tunnels.We define the optimal transmission distance and the range of the key region and present an Energy Optimal Routing（EOR）algorithm for LC-WSN to balance the energy consumption of nodes and maximize the lifespan of networks.EOR constructs routing paths based on an optimal transmission distance and uses an energy balancing strategy in the key region.Simulation results show that the EOR algorithm extends the lifespan of a network,balances the energy consumption of nodes in the key region and effectively limits the length of routing paths,compared with similar algorithms.展开更多
Geotechnical stability is a major concern for the long-term safety and integrity of underground infrastructures such as tunnels, railway stations, mine shafts and hydraulic power chambers. An effective geotechnical mo...Geotechnical stability is a major concern for the long-term safety and integrity of underground infrastructures such as tunnels, railway stations, mine shafts and hydraulic power chambers. An effective geotechnical monitoring system is able to provide adequate warning to underground personnel prior to any unexpected major geotechnical failure. This paper reviews the conventional geotechnical monitoring sensors and the emerging Fibre Optic Sensing(FOS) techniques, pointing out their unique features and major differences. Recent advances in various FOS based monitoring systems, including Brillouin time domain distributed optical sensors and fibre Bragg grating(FBG) sensors, are investigated through a critical review of the laboratory studies and field applications used for underground geotechnical monitoring. Particular emphasis is given to fibre packaging, temperature compensation, installation methods and instrumentation performance in the underground environment. A detailed discussion of the advantages and limitations of each FOS monitoring system is also presented in this paper.展开更多
同时定位与建图(simultaneous localization and mapping,SLAM)是地下空间自主探测、自动巡检和应急救援的关键。然而,地下空间巷道狭长、地形复杂、光照不均等使得激光点云和视觉图像匹配极易发生退化,进而导致多源传感器数据融合SLAM...同时定位与建图(simultaneous localization and mapping,SLAM)是地下空间自主探测、自动巡检和应急救援的关键。然而,地下空间巷道狭长、地形复杂、光照不均等使得激光点云和视觉图像匹配极易发生退化,进而导致多源传感器数据融合SLAM精度不足,甚至失效。为此,本文提出一种增强稳健性的多源传感器数据动态加权融合SLAM方法。首先,在视觉图像预处理阶段,采用了一种基于色调、饱和度、亮度(hue,stauration,value,HSV)空间的图像增强技术,结合单参数同态滤波和对比度受限的自适应直方图均衡化(contrast limited adaptive histogram equalization,CLAHE)算法,有效提升了地下空间图像的亮度和对比度,从而增强了视觉里程计的稳健性。然后,通过马氏距离一致性检验方法对各传感器的数据质量进行评估,分析数据退化情况,并自适应地选择适合当前场景的传感器数据进行融合。最后,在综合考虑各传感器关键参数的基础上,构建了多源传感器因子图模型,并根据数据质量动态调整各传感器数据融合因子的权重,形成多源传感器数据权重动态组合模型。为验证本文方法的有效性,使用自主设计集成的移动机器人在地下走廊、开挖的地铁隧道和煤矿巷道等典型地下空间中分别进行了试验,并与多种主流SLAM方法进行定性、定量对比分析。结果表明:本文方法最大轨迹均方根误差(root mean square error,RMSE)仅为0.19 m,以高精度地面三维激光扫描获取的点云为参考,平均点云直接距离比较(cloud to cloud,C2C)小于0.13 m,所构建的点云地图具有较好的全局一致性和几何结构真实性,验证了本文方法在复杂地下空间具有更高的精度和稳健性。展开更多
文摘There are fundamentally two different communication media in wireless underground sensor networks. The first of these is a solid medium where the sensor nodes are buried underground and wirelessly transmit data from underground to aboveground. The second is an underground medium such as tunnel, cave etc. and the data is transmitted from underground to the aboveground through partially solid medium. The quality of communication is greatly influenced by the humidity of the soil in both environments. The placement of wireless underground sensor nodes at hard-to-reach locations makes energy efficient work compulsory. In this paper, rule based collector station selection scheme is proposed for lossless data transmission in underground sensor networks. In order for sensor nodes to transmit energy-efficient lossless data, rulebased selection operations are carried out with the help of fuzzy logic. The proposed wireless underground sensor network is simulated using Riverbed software, and fuzzy logic-based selection scheme is implemented utilizing Matlab software. In order to evaluate the performance of the sensor network;the parameters of delay, throughput and energy consumption are investigated. Examining performance evaluation results, it is seen that average delay and maximum throughput are accomplished in the proposed underground sensor network. Under these conditions, it has been shown that the most appropriate collector station selection decision is made with the aim of minimizing energy consumption.
文摘Resource management in Underground Wireless Sensor Networks(UWSNs)is one of the pillars to extend the network lifetime.An intriguing design goal for such networks is to achieve balanced energy and spectral resource utilization.This paper focuses on optimizing the resource efficiency in UWSNs where underground relay nodes amplify and forward sensed data,received from the buried source nodes through a lossy soil medium,to the aboveground base station.A new algorithm called the Hybrid Chaotic Salp Swarm and Crossover(HCSSC)algorithm is proposed to obtain the optimal source and relay transmission powers to maximize the network resource efficiency.The proposed algorithm improves the standard Salp Swarm Algorithm(SSA)by considering a chaotic map to initialize the population along with performing the crossover technique in the position updates of salps.Through experimental results,the HCSSC algorithm proves its outstanding superiority to the standard SSA for resource efficiency optimization.Hence,the network’s lifetime is prolonged.Indeed,the proposed algorithm achieves an improvement performance of 23.6%and 20.4%for the resource efficiency and average remaining relay battery per transmission,respectively.Furthermore,simulation results demonstrate that the HCSSC algorithm proves its efficacy in the case of both equal and different node battery capacities.
基金Financial support for this work,provided by the National Natural Science Foundation of China(No.50904070)the Science and Technology Foundation of China University of Mining & Technology (Nos.2007A046 and 2008A042)the Joint Production and Research Innovation Project of Jiangsu Province (No.BY2009114)
文摘Wireless sensor networks are useful complements to existing monitoring systems in underground mines. They play an important role of enhancing and improving coverage and flexibility of safety monitoring systems.Regions prone to danger and environments after disasters in underground mines require saving and balancing energy consumption of nodes to prolong the lifespan of networks.Based on the structure of a tunnel,we present a Long Chain-type Wireless Sensor Network（LC-WSN）to monitor the safety of underground mine tunnels.We define the optimal transmission distance and the range of the key region and present an Energy Optimal Routing（EOR）algorithm for LC-WSN to balance the energy consumption of nodes and maximize the lifespan of networks.EOR constructs routing paths based on an optimal transmission distance and uses an energy balancing strategy in the key region.Simulation results show that the EOR algorithm extends the lifespan of a network,balances the energy consumption of nodes in the key region and effectively limits the length of routing paths,compared with similar algorithms.
文摘Geotechnical stability is a major concern for the long-term safety and integrity of underground infrastructures such as tunnels, railway stations, mine shafts and hydraulic power chambers. An effective geotechnical monitoring system is able to provide adequate warning to underground personnel prior to any unexpected major geotechnical failure. This paper reviews the conventional geotechnical monitoring sensors and the emerging Fibre Optic Sensing(FOS) techniques, pointing out their unique features and major differences. Recent advances in various FOS based monitoring systems, including Brillouin time domain distributed optical sensors and fibre Bragg grating(FBG) sensors, are investigated through a critical review of the laboratory studies and field applications used for underground geotechnical monitoring. Particular emphasis is given to fibre packaging, temperature compensation, installation methods and instrumentation performance in the underground environment. A detailed discussion of the advantages and limitations of each FOS monitoring system is also presented in this paper.
文摘同时定位与建图(simultaneous localization and mapping,SLAM)是地下空间自主探测、自动巡检和应急救援的关键。然而,地下空间巷道狭长、地形复杂、光照不均等使得激光点云和视觉图像匹配极易发生退化,进而导致多源传感器数据融合SLAM精度不足,甚至失效。为此,本文提出一种增强稳健性的多源传感器数据动态加权融合SLAM方法。首先,在视觉图像预处理阶段,采用了一种基于色调、饱和度、亮度(hue,stauration,value,HSV)空间的图像增强技术,结合单参数同态滤波和对比度受限的自适应直方图均衡化(contrast limited adaptive histogram equalization,CLAHE)算法,有效提升了地下空间图像的亮度和对比度,从而增强了视觉里程计的稳健性。然后,通过马氏距离一致性检验方法对各传感器的数据质量进行评估,分析数据退化情况,并自适应地选择适合当前场景的传感器数据进行融合。最后,在综合考虑各传感器关键参数的基础上,构建了多源传感器因子图模型,并根据数据质量动态调整各传感器数据融合因子的权重,形成多源传感器数据权重动态组合模型。为验证本文方法的有效性,使用自主设计集成的移动机器人在地下走廊、开挖的地铁隧道和煤矿巷道等典型地下空间中分别进行了试验,并与多种主流SLAM方法进行定性、定量对比分析。结果表明:本文方法最大轨迹均方根误差(root mean square error,RMSE)仅为0.19 m,以高精度地面三维激光扫描获取的点云为参考,平均点云直接距离比较(cloud to cloud,C2C)小于0.13 m,所构建的点云地图具有较好的全局一致性和几何结构真实性,验证了本文方法在复杂地下空间具有更高的精度和稳健性。
