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We study the problem of planning the motion of "data mules" for collecting the data from stationary sensor nodes in wireless sensor networks. Use of data mules significantly reduces energy consumption at sensor nodes compared to commonly used multihop forwarding approaches, but has a drawback in that it increases the latency of data delivery. Optimizing the motion of data mules, including path and speed, is critical for improving the data delivery latency and making the data mule approach more useful in practice. In this article, we focus on the path selection problem: finding the optimal path of data mules so that the data delivery latency can be minimized. We formulate the path selection problem as a graph problem that is capable of expressing the benefit from larger communication range. The problem is NP-hard and we present approximation algorithms for both single-data mule case and multiple-data mules case. We further consider the case in which we have only partial knowledge of communication range, where we design semionline algorithms that improve the offline plan using online knowledge at runtime. Simulation experiments on Matlab and ns2 demonstrate that our offline and semionline algorithms produce significantly shorter path lengths and data delivery latency compared to previously proposed methods, suggesting that controlled mobility can be exploited much more effectively. [ABSTRACT FROM AUTHOR]

Unlike traditional multihop forwarding among stationary sensor nodes, use of mobile devices for data collection in wireless sensor networks has recently been gathering more attention. The use of mobility significantly reduces the energy consumption at sensor nodes, elongating the functional lifetime of the network. However, a drawback is an increased data delivery latency. Reducing the latency through optimizing the motion of data mules is critical for this approach to thrive. In this article, we focus on the problem of motion planning, specifically, determination of the speed of the data mule and the scheduling of the communication tasks with the sensors. We consider three models of mobility capability of the data mule to accommodate different types of vehicles. Under each mobility model, we design optimal and heuristic algorithms for different problems: single data mule case, single data mule with periodic data generation case, and multiple data mules case. We compare the performance of the heuristic algorithm with a naive algorithm and also with the multihop forwarding approach by numerical experiments. We also compare one of the optimal algorithms with a previously proposed method to see how our algorithm improves the performance and is also useful in practice. As far as we know, this study is the first of a kind that provides a systematic understanding of the motion planning problem of data mules. [ABSTRACT FROM AUTHOR]

The growing complexity of systems and their implementation into silicon encourages designers to look for ways to model designs at higher levels of abstraction and then incrementally build portions of these designs--automatically or manually--from these high-level specifications. Unfortunately, this translation process itself can be buggy, which can create a mismatch between what a designer intends and what is actually implemented in the circuit. Therefore, checking if the implementation is a refinement or equivalent to its initial specification is of tremendous value. In this paper, we present an approach to automatically validate the implementation against its initial high-level specification using insights from translation validation, automated theorem proving, and relational approaches to reasoning about programs. In our experiments, we first focus on concurrent systems modeled as communicating sequential processes and show that their refinements can be validated using our approach. Next, we have applied our validation approach to a realistic scenario--a parallelizing high-level synthesis framework called Spark. We present the details of our algorithm and experimental results. [ABSTRACT FROM AUTHOR]

A data mule represents a mobile device that collects data in a sensor field by physically visiting the nodes in a sensor network. The data mule collects data when it is in the proximity of a sensor node. This can be an alternative to multihop forwarding of data when we can utilize node mobility in a sensor network. To be useful, a data mule approach needs to minimize data delivery latency. In this paper, we first formulate the problem of minimizing the latency in the data mule approach. The data mule scheduling (OMS) problem is a scheduling problem that has both location and time constraints. Then, for the 1D case of the DMS problem, we design an efficient heuristic algorithm that incorporates constraints on the data mule motion dynamics. We provide lower bounds of solutions to evaluate the quality of heuristic solutions. Through numerical experiments, we show that the heuristic algorithm runs fast and yields good solutions that are within 10 percent of the optimal solutions. [ABSTRACT FROM AUTHOR]

Discusses the maximum mean cycle problem, while providing a comprehensive list of algorithms used to solve the problem. Reference to Karp's algorithm, considered one of the fastest and most common algorithms for these problems; Factors which contributed to the proposal of a graph-unfolding scheme; Results of experiments on small benchmark graphs.