By Koushil Sreenath, M.F. Mysorewalla, Dan O. Popa, Frank L. Lewis
This informative textual content for graduate scholars, researchers and practitioners engaged on cellular instant sensor networks presents theoretical dependent algorithms with a spotlight in the direction of useful implementation.
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Extra info for Adaptive Sampling with Mobile WSN: Simultaneous robot localisation and mapping of paramagnetic spatio-temporal fields
Convergence criteria: jj A À A^kþ1 jj < 0:7. The sampling area is divided into grid sizes of five and ten units, and we assume that only the centre of the grid is sampled. 3. In this very simple case, there are three parameters to estimate, and the AS algorithm looks for the next sampling location that minimizes the 2-norm of the error covariance matrix of these three parameters. If we wish to focus on minimizing the uncertainty of a specific parameter, instead of the 2-norm aggregate, the next sampling location would be the point that minimizes the error covariance of that particular parameter only.
Parametric formulations assume a functional form of the probability density function (PDF), while non-parametric solutions do not assume any particular distribution in advance. In the parametric case, given a density f(Á/q), such as a two-parameter normal family N(m, s2), where q ¼ (m, s2), the emphasis is on obtaining the better estimator q^ of q, and the error ^ ¼ E½q À q ^ 2 . In the non-parametric case, the emphasis is criteria can be MSEfqg directly on obtaining a good estimate f^ðÁÞ of the entire density function f(Á), and the error criteria can be MSEff^ðqÞg ¼ E½f ðqÞ À f^ðqÞ2 .
Error in c 1 0 50 Sample no. 2-Norm of error covariance 40 40 2-Norm of error covariance 20 0 80 0 0 –1 0 50 Sample no. 15 10 5 0 0 200 400 600 Distance (units) 10 5 0 0 20 40 60 No. 2 Experimental results Here we present the experimental validation when uncertainty in camera measurement is ignored. In this case, we are recovering a linear colour field with nine parameters; therefore, X1 ¼ x, X2 ¼ y, g1(X1) ¼ x and g2(X2) ¼ y. The base station runs the AS algorithm and commands the mobile sensor to sample at a particular location.