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Sensor Deployment and Target Localization in Distributed Sensor Networks. Yi Zou and Krishnendu Chakrabarty ACM Transactions on Embedded Computing Systems 2003 Speaker : Chen-Chi Hsieh. Outline. Introduction Virtual force algorithm Target localization Simulation results Conclusions. - PowerPoint PPT Presentation
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Sensor Deployment and Target Localization in Distributed Sensor Networks
Yi Zou and Krishnendu ChakrabartyACM Transactions on Embedded Computing Systems 2003
Speaker : Chen-Chi Hsieh
Outline
Introduction Virtual force algorithm Target localization Simulation results Conclusions
Introduction - Motivations
Motivations Distributed sensor networks (DSNs) are
important for strategic applications Target detection, surveillance, and localization
The effectiveness of DSNs is determined to the coverage provided by the sensor deployment
The positioning of sensors affects coverage, communication cost, and resource management
Introduction (cont.) - Motivations
A random placement of sensors in the target area is often desirable Especially if no a prior knowledge of the
terrain is available However, random deployment does not
always lead to effective coverage
Introduction (cont.) - Objectives
Objectives Maximize the coverage for a given number of
sensors within a cluster in cluster-based DSNs Propose an energy-conserving method for
novel target localization
Introduction (cont.) - Key ideas
Key ideas in this paper Coverage
A random deployment can be improved using a force-directed algorithm
Virtual force algorithm (VFA) Target localization
Is based on a two-step communication protocol between the cluster head and the sensors within the cluster
Virtual force algorithm - Environment
Environment : for a cluster-based sensor network architecture All sensor nodes are able to communicate with the
cluster head
The cluster head is responsible for executing the VFA algo. and managing the one-time movement of sensors to the desired locations
Sensors only send a yes/no notification message to the cluster head when a target is detected
Virtual force algorithm (cont.)- The virtual force ideas
The virtual force ideas Each sensor behaves as a “source of force” for all
other sensors
S1
S2S3
S1
S2S3
dth
Virtual force algorithm (cont.)- The virtual force ideas
The virtual force ideas Each sensor behaves as a “source of force” for all
other sensors
X
Y
S2
S3
S4
S1
12FPositive force
(attractive force)
Negative force(repulsive force)
13F
Virtual force algorithm (cont.)- The virtual force ideas
Virtual Force calculation in the VFA algo. : the vector exerted on Si by another sensor Sj
Obstacles and areas of preferential coverage also have forces acting on Si
: the total (attractive) force on Si due to preferential coverage areas
: the total (repulsive) force on Si due to obstacles
The total force on Si
ijF
iRF
iAF
iF
k
ijjiAiRiji FFFF
,1
Virtual force algorithm (cont.)- The virtual force ideas
Express between Si and Sj in polar coordinate notation
dth : the threshold distance
αij : the angle of a line segment from Si to Sj
wA (wR) : the attractive (repulsive) force
ijF
otherwiseifd
w
ddif
ddifddw
F
ijij
R
thij
thijijthijA
i
),1
(
0
)),((
Virtual force algorithm (cont.)- Assumptions
Assumptions An n by m sensor field grid There are k sensors deployed in the random
deployment stage r : detection range of a sensor Sensor Si is deployed at point (xi, yi)
d(Si, P) is the distance between Si and P, for any point P at (x, y)
22 )()(),( yyxxPSd iii
Virtual force algorithm (cont.)- Coverage
The coverage cxy(Si) of a grid point P(x,y) by sensor Si
The binary sensor detection model
otherwise
rPSdifSc i
ixy ,0
),(,1)(
Sir
d(Si, P) < r
P
d(Si, P) ≧ r
P
Virtual force algorithm (cont.)- Coverage
The probabilistic sensor detection model In reality, sensor detections are imprecise
re is the uncertainty in sensor detection
a = d (Si,P) - d (r - re)
λand β are parameters that measure detection probability
),(,1
),(,
),(,0
)(
PSdrrif
rrPSdrrife
PSdrrif
Sc
ie
eiea
ie
ixy
re
re
rP 1
Si
e - λaβ
Si
0Si
Virtual force algorithm (cont.)- Coverage
cxy(Si,Sj) : the probability that a target is detected by two sensors (overlapped)
A region which is overlapped by kov sensors
))(1))((1(1),( ,,, jyxiyxjiyx ScScSSc
)))((1(1)( ,, iyxovyx ScSc
Si SjP
Virtual force algorithm (cont.)- Energy Constraint on the VFA Algorithm
dmax : the max. distance that each node can move in repositioning phase
Virtual force algorithm (cont.)- Procedural description of the VFA algorithm
Virtual force algorithm (cont.)- Procedural description of the VFA algorithm
Target localization- Detection Probability Table
The cluster head generates a detection probability table for each grid point Contains all possible detection reports from sensors
that can detect a target at this grid point P
Sxy : a grid point P(x,y) is covered by a set of kxy sensors
pxy(Sj, i) : If Sj detects a target : pxy(Sj, i) = cxy(Sj)
otherwise : pxy(Sj, i) = 1 - cxy(Sj)
xyj SS
jxyxy iSpitablep ),()(_
Target localization- Detection Probability Table
Target localization- Detection Probability Table
Simulation Results
Environment 50×50 sensor field A total of 20 sensors in the sensor field in
random placement stage Each sensor
a detection radius : r = 5 Range detection error : re = 3
The simulation is done on a Pentium III 1.0GHz PC using Matlab
Simulation Results- binary sensor detection model
Simulation Results- binary sensor detection model
Simulation Results- probability sensor detection model
Simulation Results- probability sensor detection model
Simulation Results- with obstacles and preferred areas
Simulation Results- with obstacles and preferred areas
Conclusion
The virtual force algorithm (VFA) Uses a force-directed approach to improve the
coverage after initial random deployment Advantages
Negligible computation time One-time repositioning of sensors Flexibility