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Abbreviations and Notation | p. xv |
Introduction | p. 1 |
Motivation for the Book | p. 1 |
Challenges of Observation for Cyber-physical Systems | p. 1 |
Lessons Learned from Experience | p. 3 |
Summary of Contributions | p. 5 |
Organization | p. 5 |
A Short Overview of CPSs | p. 6 |
The Concepts | p. 6 |
What Is a Sensor Network? | p. 7 |
Introduction to WSNs | p. 7 |
Applications of WSNs | p. 9 |
Research, on WSNs from Different Aspects | p. 11 |
Motivation and Application Scenarios | p. 14 |
Motivation and Scenarios for MAS-net | p. 14 |
Scenarios for Sensor Selection | p. 18 |
Scenario for WSN-Based Localization | p. 20 |
Mathematical Background | p. 21 |
Mobile Sensor Trajectory Optimization | p. 27 |
Motivation and the Application Scenario | p. 27 |
System Identification for DPSs | p. 27 |
Problem Formulation | p. 30 |
The Dynamic Model of Differentially Driven Robots | p. 30 |
The Model of the Diffusion Process | p. 32 |
The Objective Function for Sensor Motion Scheduling | p. 33 |
Problem Reformulation in the Optimal Control Framework | p. 35 |
Finding a Numerical Solution for the Problem | p. 36 |
A Brief Introduction to RIOTS | p. 36 |
Using MATLAB“ PDE Toolbox Together with RIOTS | p. 37 |
Illustrative Simulations | p. 38 |
Differentially Driven and Omnidirectionally Driven | p. 38 |
Comparison of Robots with Different Capabilities | p. 41 |
On the Effect of the Initial Orientation | p. 41 |
Chapter Summary | p. 43 |
Sensor Selection Methods for Cyber-physical Systems | p. 45 |
The Motivation and the Problem | p. 45 |
Just-Enough Sensor Selection and the Solution | p. 46 |
Literature Review | p. 46 |
Overview of Our Strategy | p. 51 |
The Heuristic Sensor Selection Method | p. 53 |
Formulation of Heuristic Sensor Selection | p. 53 |
Pseudocode of the hCOSS Algorithm | p. 61 |
Analysis of the hCOSS Algorithm | p. 63 |
The Elimination-Based Sensor Selection Method | p. 75 |
Motivation | p. 75 |
An Intuitive Interpretation | p. 76 |
Problem Formulation | p. 76 |
Convex Elimination Algorithm | p. 78 |
Analysts of Convex Elimination Algorithm | p. 79 |
Examples | p. 84 |
Pseudocode of the eCOSS Algorithm | p. 90 |
Simulations | p. 92 |
Overview | p. 92 |
Case 1 | p. 96 |
Case 2 | p. 96 |
Case 3 | p. 98 |
Case 4 | p. 99 |
Case 5 | p. 99 |
Hardware Experiments | p. 100 |
Discussion | p. 114 |
Remarks on the Speed and Memory Requirements | p. 114 |
Comments on Non-Gaussian Noise | p. 115 |
Relationships with Geometric Approaches | p. 116 |
Entropy-Based Method | p. 121 |
Discussion of Correlations of Sensor Data | p. 122 |
Comments on Networking | p. 125 |
Chapter Summary | p. 127 |
Design of Localization Systems for Wireless Sensor Networks | p. 129 |
The Motivation and the Research Problem | p. 129 |
Localization Hardware | p. 129 |
Received Signal Strength Indicator | p. 129 |
Angle of Arrival | p. 130 |
Acoustic TOF | p. 130 |
RF TOF Measurement | p. 130 |
The Proposed Phase-Based Localization Method | p. 132 |
Review of TDOA Localization Algorithms | p. 132 |
Problem Formulation | p. 334 |
Beacon Placement Optimization | p. 140 |
Application Scenarios | p. 140 |
Problem Formulation | p. 141 |
Solution and Simulation | p. 143 |
Chapter Summary | p. 150 |
Conclusions and Future Work | p. 155 |
Conclusions | p. 153 |
Future Work | p. 152 |
Implementations | p. 153 |
Simulation of Trajectory Optimization | p. 153 |
Sensor Selection Demonstration System | p. 157 |
Reference | p. 159 |
Index | p. 169 |
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