Electric IoTs edge computing servers deployment planning method based on the information entropy

2021 ◽

Vol 18 (16) ◽

pp. 8382

Author(s):

Xinhong Cai ◽

Dawei Xu

Keyword(s):

Spatial Analysis ◽

Flood Control ◽

Water Source ◽

Edge Computing ◽

Planning Method ◽

Ecological Problem ◽

Ecological Planning ◽

Computing Technology ◽

Core Element ◽

Rapid Urbanization

The process of rapid urbanization causes so many water security issues such as urban waterlogging, environmental water pollution, water shortages, etc. It is, therefore, necessary for us to integrate a variety of theories, methods, measures, and means to conduct ecological problem diagnosis, ecological function demand assessment, and ecological security pattern planning. Here, EC (Edge Computing) technology is applied to analyze the hydrological spatial structure characteristics and ecological planning method of waterfront green space. First, various information is collected and scientifically analyzed around the core element of ecological planning: water. Then, in-depth research is conducted on the previous hydrological spatial analysis methods to identify their defects. Subsequently, given these defects, the EC technology is introduced to design a bottom-up overall architecture of intelligent ecological planning gateway, which can be divided into field devices, EC intelligent planning gateway, transmission system, and cloud processing platform. Finally, the performance of the overall architecture of the intelligent ecological planning gateway is tested. The study aims to optimize the performance of the hydrological spatial analysis method and ecological planning method in Xianglan town of Jiamusi city. The results show that the system can detect the flood control safety system planning, analysis of water source pollution. Additionally, the system also can use the EC technology, depending on the types, hydrological characteristics, pollutants to predict treatment sludge need to put in the pollutant treatment medicament composition and dosage, protection of water source nearby residents public health security. Compared with previous hydrological spatial analysis and ecological planning methods, the system is more scientific, efficient, and expandable. The results provide a technical basis for the research in related fields.

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A high-efficiency, information-based exploration path planning method for active simultaneous localization and mapping

International Journal of Advanced Robotic Systems ◽

10.1177/1729881420903207 ◽

2020 ◽

Vol 17 (1) ◽

pp. 172988142090320

Author(s):

Peng Li ◽

Cai-yun Yang ◽

Rui Wang ◽

Shuo Wang

Keyword(s):

Path Planning ◽

Information Entropy ◽

High Efficiency ◽

Dead Reckoning ◽

Simultaneous Localization And Mapping ◽

Planning Method ◽

Coverage Area ◽

High Coverage ◽

Full Coverage ◽

Localization And Mapping

The efficiency of exploration in an unknown scene and full coverage of the scene are essential for a robot to complete simultaneous localization and mapping actively. However, it is challenging for a robot to explore an unknown environment with high efficiency and full coverage autonomously. In this article, we propose a novel exploration path planning method based on information entropy. An information entropy map is first constructed, and its boundary features are extracted. Then a Dijkstra-based algorithm is applied to generate candidate exploration paths based on the boundary features. The dead-reckoning algorithm is used to predict the uncertainty of the robot’s pose along each candidate path. The exploration path is selected based on exploration efficiency and/or high coverage. Simulations and experiments are conducted to evaluate the proposed method’s effectiveness. The results demonstrated that the proposed method achieved not only higher exploration efficiency but also a larger coverage area.

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