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Publication Metadata only Communication related design considerations of WSN-aided Multi-Robot SLAM(2011) Tuna, Gürkan; Gülez, Kayhan; Güngör, Vehbi Çağrı; Tuna, Gürkan, Department of Computer Programming, Trakya Üniversitesi, Edirne, Turkey; Gülez, Kayhan, Control and Automation Engineering Department, Yıldız Teknik Üniversitesi, Istanbul, Turkey; Güngör, Vehbi Çağrı, Department of Computer Engineering, Bahçeşehir Üniversitesi, Istanbul, TurkeyThis paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations. © 2011 IEEE. © 2011 Elsevier B.V., All rights reserved.Publication Metadata only On the performance of multi-channel wireless sensor networks in smart grid environments(2011) Bilgin, Bilal Erman; Güngör, Vehbi Çağrı; Bilgin, Bilal Erman, Department of Computer Engineering, Bahçeşehir Üniversitesi, Istanbul, Turkey; Güngör, Vehbi Çağrı, Department of Computer Engineering, Bahçeşehir Üniversitesi, Istanbul, TurkeyElectric power grid contains three main subsystems, i.e., power generation, power transmission & distribution, and customer facilities. Recently, wireless sensor networks (WSNs) have been considered as a promising technology that can enhance all these three subsystems, making WSNs an important component of the smart grid. However, environmental noise and interference from nonlinear electric power equipments and fading in harsh smart grid environments, makes reliable communication a challenging task for single-channel WSNs for smart grid applications. To improve network capacity in smart grid environments, multi-channel WSNs might be the preferred solution while achieving simultaneous transmissions through multiple channels. In this paper, the performance of multi-channel WSNs is investigated for different spectrum environments of smart power grid, e.g., 500kV outdoor substation, main power control room and underground network transformer vaults. In addition, we also introduce potential applications of multi-channel WSNs along with the related technical challenges. Here, our goal is to envision potential advantages and applications of multi-channel WSNs for smart grid and motivate the research community to further explore this promising research area. © 2011 IEEE. © 2011 Elsevier B.V., All rights reserved.Publication Metadata only Exploration strategy related design considerations of WSN-aided mobile robot exploration teams(2011) Tuna, Gürkan; Gülez, Kayhan; Güngör, Vehbi Çağrı; Mumcu, Tarik Veli; Tuna, Gürkan, Department of Computer Programming, Trakya Üniversitesi, Edirne, Turkey; Gülez, Kayhan, Control and Automation Engineering Department, Yıldız Teknik Üniversitesi, Istanbul, Turkey; Güngör, Vehbi Çağrı, Department of Computer Engineering, Bahçeşehir Üniversitesi, Istanbul, Turkey; Mumcu, Tarik Veli, Control and Automation Engineering Department, Yıldız Teknik Üniversitesi, Istanbul, TurkeyThis paper presents a novel approach to mobile robot exploration. In this approach, mobile robots send their local maps to the central controller and coordinate with each other using a wireless sensor network (WSN). Different from existing rendezvous point-based exploration strategies, the use of a WSN as the communication media allows quick and cost-effective exploration and mapping of an unknown environment. Overall, this paper introduces WSN-aided mobile robot exploration strategy and shows comparative performance evaluations using the Player/Stage simulation platform. Here, our main goal is to present potential advantages of WSN-aided mobile robot exploration for Simultaneous Localization and Mapping (SLAM). © 2012 Springer-Verlag. © 2012 Elsevier B.V., All rights reserved.Publication Metadata only Unmanned vehicle-aided automated meter reading(2011) Tuna, Gürkan; Güngör, Vehbi Çağrı; Gülez, Kayhan; Tuna, Gürkan, Department of Computer Programming, Trakya Üniversitesi, Edirne, Turkey; Güngör, Vehbi Çağrı, Department of Computer Engineering, Bahçeşehir Üniversitesi, Istanbul, Turkey; Gülez, Kayhan, Control and Automation Engineering Department, Yıldız Teknik Üniversitesi, Istanbul, TurkeyThis paper presents a novel approach of using unmanned vehicles for Automated Meter Reading (AMR) applications in rural areas where there are a few consumers scattered around a wide area. The proposed system does not require a fixed network infrastructure to transfer data to a central database, since data collection is carried out by unmanned vehicles. Compared to traditional meter reading systems, the use of unmanned vehicles for AMR brings several advantages, such as low cost operation, flexibility, and online system management. However, the realization of these potential gains directly depends on reliable communication capabilities of the deployed system and successful navigation of unmanned vehicles. Overall, in this paper, the design principles and challenges of using unmanned vehicles for AMR applications in rural areas have been presented. Also, the communication architecture of the proposed system has been explained and comparative simulation studies have been performed in terms of energy efficiency and navigation accuracy. © 2011 IEEE. © 2012 Elsevier B.V., All rights reserved.Publication Metadata only GPS aided Extended Kalman Filter based localization for unmanned vehicles, İnsansiz araçlar i̇çi̇n GPS destekli̇ Geni̇şleti̇lmi̇ş Kalman Fi̇ltresi̇ tabanli konumladirma(2012) Tuna, Gürkan; Güngör, Vehbi Çağrı; Gülez, Kayhan; Tuna, Gürkan, Trakya Üniversitesi, Edirne, Turkey; Güngör, Vehbi Çağrı, Bahçeşehir Üniversitesi, Istanbul, Turkey; Gülez, Kayhan, Kontrol Ve Otomasyon Mühendisliǧi Bölümü, Yıldız Teknik Üniversitesi, Istanbul, TurkeyThis paper presents design considerations of a GPS-aided localization system for unmanned vehicles used in outdoor applications. The system proposed in this paper is based on Extended Kalman Filter (EKF) and also integrates Global Positioning System (GPS) measurements. Localization and navigation systems are base components of all unmanned vehicles since they give unmanned vehicles the ability of perceiving the environment in order to localize themselves and to navigate to a target. The advantage of the proposed system over a GPS based localization system is that the system works even if the GPS receiver does not receive any GPS signals. In this study, firstly proposed EKF-based localization system is explained, and then how to integrate GPS measurements into this localization system is explained. With simulation studies in MATLAB, the effectiveness of the system is shown. The simulations show that the proposed localization system gives accurate results with negligible positional errors. © 2012 IEEE. © 2012 Elsevier B.V., All rights reserved.Publication Metadata only Reliable routing in wireless sensor networks for smart grid environments, Akilli şebeke ortaminda kablosuz algilayici aǧ teknolojisi ile güvenilir yönlendirme(2012) Şahin, Dilan; Bülbül, Şafak; Güngör, Vehbi Çağrı; Kocak, Taskin; Şahin, Dilan, Bahçeşehir Üniversitesi, Istanbul, Turkey; Bülbül, Şafak, Bahçeşehir Üniversitesi, Istanbul, Turkey; Güngör, Vehbi Çağrı, Bahçeşehir Üniversitesi, Istanbul, Turkey; Kocak, Taskin, Bahçeşehir Üniversitesi, Istanbul, TurkeyThe environmental conditions, e.g., fading, multi-path, obstructions, in smart grid environment, prevent reliable and successful packet transmissions for Wireless Sensor Network (WSN) technology. To provide reliable communications with WSN, to overcome the harsh environmental conditions of smart grid, and to prolong the network life time, reliable link quality estimation should be made and routing algorithms which consider multiple conditions, e.g., energy consumption, shortest path and link quality, should be used. In this paper, the performances of routing algorithms which can address this need are compared in terms of average delay, network lifetime and packet delivery rate in smart grid substation environment. Moreover, WSN-based smart grid applications and the challenges in estimation of link quality are briefly explained. © 2012 IEEE. © 2012 Elsevier B.V., All rights reserved.Publication Metadata only Mobile robot aided self-deploying wireless sensor networks for radiation leak detection(2012) Tuna, Gürkan; Gülez, Kayhan; Mumcu, Tarik Veli; Güngör, Vehbi Çağrı; Tuna, Gürkan, Department of Computer Programming, Trakya Üniversitesi, Edirne, Turkey; Gülez, Kayhan, Department of Control and Automation Engineering, Yıldız Teknik Üniversitesi, Istanbul, Turkey; Mumcu, Tarik Veli, Department of Control and Automation Engineering, Yıldız Teknik Üniversitesi, Istanbul, Turkey; Güngör, Vehbi Çağrı, Department of Computer Engineering, Bahçeşehir Üniversitesi, Istanbul, TurkeyThis paper presents a mobile robot aided self deploying wireless sensor network aiming to detect radiation leaks and to measure radiation levels, and explains design considerations to prolong network life. Special attention is given to the factors which are important for the specific requirements of radiation leak detection. Wireless sensor networks (WSNs) provide numerous benefits to applications with low duty cycle, such as environmental monitoring, event detection, etc. However, the realization of these potential benefits directly depends on energy efficient and reliable communication and coordination capabilities of the deployed system. In this study, challenges of WSNs, deployment strategies using mobile robots, and energy harvesting techniques to maximize lifetime of WSNs are discussed. Also, a comparison of two different exploration strategies is shown with the results of our own application developed in C#. Main contributions of this study are discussions on mobile robot aided WSN deployment strategies and energy harvesting techniques to maximize WSN lifetime. © 2012 IEEE. © 2012 Elsevier B.V., All rights reserved.Publication Metadata only Unmanned aerial vehicle-aided wireless sensor network deployment system for post-disaster monitoring(2012) Tuna, Gürkan; Mumcu, Tarik Veli; Gülez, Kayhan; Güngör, Vehbi Çağrı; Erturk, Hayrettin; Tuna, Gürkan, Department of Computer Programming, Trakya Üniversitesi, Edirne, Turkey; Mumcu, Tarik Veli, Control and Automation Engineering Department, Yıldız Teknik Üniversitesi, Istanbul, Turkey; Gülez, Kayhan, Control and Automation Engineering Department, Yıldız Teknik Üniversitesi, Istanbul, Turkey; Güngör, Vehbi Çağrı, Department of Computer Engineering, Bahçeşehir Üniversitesi, Istanbul, Turkey; Erturk, Hayrettin,This paper presents design strategies of using unmanned aerial vehicles (UAVs) to deploy wireless sensor networks (WSNs) for post-disaster monitoring. Natural disasters are unforeseeable events which cannot be prevented. But some recovery procedures can be followed to minimize their effects. Post-disaster monitoring is important to estimate the effects of disasters, which in turn is used to determine recovery procedures to be followed. We propose an UAV-aided unattended WSN deployment system. The system is a post-disaster solution which can be used anywhere required. In this study, we mainly evaluate the efficiency of localization and navigation performance of the proposed system. Our simulation studies with an AirRobot quadrotor helicopter in Unified System for Automation and Robot Simulation (USARSim) simulation platform show that UAVs can be used to deploy WSNs after disasters to monitor environmental conditions. Future work includes implementing the system using a hexarotor helicopter. © 2012 Springer-Verlag. © 2012 Elsevier B.V., All rights reserved.Publication Metadata only Autonomous intruder detection system using wireless networked mobile robots(2012) Tuna, Gürkan; Tasdemir, Coskun; Gülez, Kayhan; Mumcu, Tarik Veli; Güngör, Vehbi Çağrı; Tuna, Gürkan, Department of Computer Programming, Trakya Üniversitesi, Edirne, Turkey; Tasdemir, Coskun, Department of Control and Automation Engineering, Yıldız Teknik Üniversitesi, Istanbul, Turkey; Gülez, Kayhan, Department of Control and Automation Engineering, Yıldız Teknik Üniversitesi, Istanbul, Turkey; Mumcu, Tarik Veli, Department of Control and Automation Engineering, Yıldız Teknik Üniversitesi, Istanbul, Turkey; Güngör, Vehbi Çağrı, Department of Computer Engineering, Bahçeşehir Üniversitesi, Istanbul, TurkeyWireless networked mobile robots pursuing a common objective are envisioned to be an efficient solution for many military, industrial, commercial, and environmental applications. This paper presents the design considerations of an autonomous intruder detection system based on wireless networked robots. Specifically, three critical aspects of these systems, such as coordination and task allocation, communication, and map-based intruder detection, have been investigated and a multi-sensor fusion mechanism has been presented. Performance results show that the fusion of redundant information from different sensors can increase the accuracy of a system and reduce overall uncertainty in intruder detection applications. © 2012 IEEE. © 2012 Elsevier B.V., All rights reserved.Publication Metadata only A cross-layer design for QoS support in cognitive radio sensor networks for smart grid applications(2012) Shah, Ghalib Asadullah; Güngör, Vehbi Çağrı; Akan, Özgür Bariş; Shah, Ghalib Asadullah, Department of Electrical and Electronics Engineering, Koç Üniversitesi, Istanbul, Turkey; Güngör, Vehbi Çağrı, Department of Computer Engineering, Bahçeşehir Üniversitesi, Istanbul, Turkey; Akan, Özgür Bariş, Department of Electrical and Electronics Engineering, Koç Üniversitesi, Istanbul, TurkeyIn this paper, we propose a cross-layer design to meet the QoS requirements for smart grids employing the cognitive radio sensor networks for their control and monitoring operations. Existing routing protocols pertaining to QoS support are not able to simultaneously handle traffic of different characteristics present in smart grids. Therefore, considering the traffic heterogeneity of smart grid applications exhibiting diverse QoS requirements, a set of priority classes is defined in order to differentiate the traffic for the respective service. Specifically, the problem is formulated as a weighted network utility maximization (WNUM) whose objective is to maximize the weighted sum of flows service. A cross-layer heuristic solution is provided to solve the utility optimization problem by performing joint routing, dynamic spectrum allocation and medium access. Performance of the proposed protocol is evaluated using ns-2, which shows that the number of flows belonging to each class are served according to their weight fraction with their respective data rate, latency and reliability requirement. © 2012 IEEE. © 2013 Elsevier B.V., All rights reserved.