COPELABS - Artigos de Revistas Internacionais com Arbitragem Científica
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Item Energy-based acoustic localization by improved elephant herding optimization(Institute of Electrical and Electronics Engineers Inc., 2020) Correia, Sergio D.; Beko, Marko; Tomic, Slavisa; Da Silva Cruz, Luis A.; COPELABS (FCT) - Centro de Investigação em Computação Centrada nas Pessoas e Cognição (CTS)The present work proposes a new approach to address the energy-based acoustic localization problem. The proposed approach represents an improved version of evolutionary optimization based on Elephant Herding Optimization (EHO), where two major contributions are introduced. Firstly, instead of random initialization of elephant population, we exploit particularities of the problem at hand to develop an intelligent initialization scheme. More precisely, distance estimates obtained at each reference point are used to determine the regions in which a source is most likely to be located. Secondly, rather than letting elephants to simply wander around in their search for an update of the source location, we base their motion on a local search scheme which is found on a discrete gradient method. Such a methodology significantly accelerates the convergence of the proposed algorithm, and comes at a very low computational cost, since discretization allows us to avoid the actual gradient computations. Our simulation results show that, in terms of localization accuracy, the proposed approach significantly outperforms the standard EHO one for low noise settings and matches the performance of an existing enhanced version of EHO (EEHO). Nonetheless, the proposed scheme achieves this accuracy with significantly less number of function evaluations, which translates to greatly accelerated convergence in comparison with EHO and EEHO. Finally, it is also worth mentioning that the proposed methodology can be extended to any population-based metaheuristic method (it is not only restricted to EHO), which tackles the localization problem indirectly through distance measurements.Item Drop Project : an automatic assessment tool for programming assignments(Elsevier B.V., 2022-06-01) Cipriano, Bruno Pereira; Fachada, Nuno; Alves, Pedro; COPELABS (FCT) - Centro de Investigação em Computação Centrada nas Pessoas e Cognição (CTS)Automated assessment tools (AATs) are software systems used in teaching environments to automate the evaluation of computer programs implemented by students. These tools can be used to stimulate the interest of computer science students in programming courses by providing quick feedback on their work and highlighting their mistakes. Despite the abundance of such tools, most of them are developed for a specific course and are not production-ready. Others lack advanced features that are required for certain pedagogical goals (e.g. Git integration) and/or are not flexible enough to be used with students having different computer literacy levels, such as first year and second year students. In this paper we present Drop Project (DP), an automated assessment tool built on top of the Maven build automation software. We have been using DP in our teaching activity since 2018, having received more than fifty thousand submissions between projects, classroom exercises, tests and homework assignments. The tool’s automated feedback has allowed us to raise the difficulty level of the course’s projects, while the grading process has become more efficient and consistent between different teachers. DP is an extensively tested, production-ready tool. The software’s code and documentation are available in GitHub under an open-source software license. Keywords: Automated assessment ;Computer science education; Programming education ; Unit testingItem Target localization via integrated and segregated ranging based on RSS and TOA measurements(MDPI, 2019) Tomic, Slavisa; Beko, Marko; COPELABS (FCT) - Centro de Investigação em Computação Centrada nas Pessoas e Cognição (CTS)This work addresses the problem of target localization in adverse non-line-of-sight (NLOS) environments by using received signal strength (RSS) and time of arrival (TOA) measurements. It is inspired by a recently published work in which authors discuss about a critical distance below and above which employing combined RSS-TOA measurements is inferior to employing RSS-only and TOA-only measurements, respectively. Here, we revise state-of-the-art estimators for the considered target localization problem and study their performance against their counterparts that employ each individual measurement exclusively. It is shown that the hybrid approach is not the best one by default. Thus, we propose a simple heuristic approach to choose the best measurement for each link, and we show that it can enhance the performance of an estimator. The new approach implicitly relies on the concept of the critical distance, but does not assume certain link parameters as given. Our simulations corroborate with findings available in the literature for line-of-sight (LOS) to a certain extent, but they indicate that more work is required for NLOS environments. Moreover, they show that the heuristic approach works well, matching or even improving the performance of the best fixed choice in all considered scenarios.Item Algorithms for estimating the location of remote nodes using Smartphones(Institute of Electrical and Electronics Engineers Inc., 2019) Pedro, Dario; Tomic, Slavisa; Bernardo, Luís; Beko, Marko; Oliveira, Rodolfo; Dinis, Rui; Pinto, Paulo; Amaral, Pedro; COPELABS (FCT) - Centro de Investigação em Computação Centrada nas Pessoas e Cognição (CTS)Locating the position of a remote node on a wireless network is becoming more relevant, as we move forward in the Internet of things and in autonomous vehicles. This paper proposes a new system to implement the location of remote nodes. A new prototype Android application has been developed to collect real measurements and to study the performance of several smartphone's sensors and location algorithms, including an innovative one, based on the second order cone programming (SOCP) relaxation. The application collects theWiFi access points information and the terminal location. An internal odometry module developed for the prototype is used when Android's service is unavailable. This paper compares the performance of existing location estimators given in closed form, an existing SOCP one, and the new SOCP location estimator proposed, which has reduced complexity. An algorithm to merge measurements from non-identical terminals is also proposed. Cooperative and terminal stand-alone operations are compared, showing a higher performance for SOCP-based ones, that are capable of estimating the path loss exponent and the transmission power. The heterogeneous terminals were also used in the tests. Our results show that the accurate positioning of static remote entities can be achieved using a single smartphone. On the other hand, the accurate real-time positioning of the mobile terminal is provided when three or more scattered terminal nodes cooperate sharing the samples taken synchronously.Item Estimating directional data from Network Topology for improving tracking performance(Multidisciplinary Digital Publishing Institute (MDPI), 2019) Tomic, Slavisa; Beko, Marko; Dinis, Rui; Montezuma, Paulo; COPELABS (FCT) - Centro de Investigação em Computação Centrada nas Pessoas e Cognição (CTS)This work proposes a novel approach for tracking a moving target in non-line-of-sight (NLOS) environments based on range estimates extracted from received signal strength (RSS) and time of arrival (TOA) measurements. By exploiting the known architecture of reference points to act as an improper antenna array and the range estimates, angle of arrival (AOA) of the signal emitted by the target is first estimated at each reference point. We then show how to take advantage of these angle estimates to convert the problem into a more convenient, polar space, where a linearization of the measurement models is easily achieved. The derived linear model serves as the main building block on top of which prior knowledge acquired during the movement of the target is incorporated by adapting a Kalman filter (KF). The performance of the proposed approach was assessed through computer simulations, which confirmed its effectiveness in combating the negative effect of NLOS bias and superiority in comparison with its naive counterpart, which does not take prior knowledge into consideration.