1. Prathyush P Menon and Debasish Ghose (Co-Investigators are Jim Haywood U. of Exeter/MetOffice and Peter Ashwin U. of Exeter ) Email: P.M.Prathyush@exeter.ac.ukP.M.Prathyush@exeter.ac.uk dghose@aero.iisc.ernet.in Contamination monitoring using mobile sensor networks (CM-MSN)

2. Objectives 1.Coordinated control of swarm of mobile sensor networks to steer a swarm of mobile sensors to track a contaminant source location and the boundaries of a contaminated region 2.Distributed contamination mapping with mobile sensors to obtain a density contour map of the contamination 3.Algorithms to estimate static as well as slowly varying boundaries of two and three dimensional regions that are contaminated 4.Algorithmic validation using realistic contamination data, and experimental validation in a laboratory set up using mobile robots

3. Motivational Problem

4. In Abstract Contamination sources 1. Effectively localise the unknown contamination sources 2. Estimate an approximate boundary of the contaminated region Assumptions: Slow diffusion, Constant altitude (can be relaxed) Distributed nature of implementation required

5. Algorithms Swarm control algorithm based on Glowworm Swarm Optimisation methodology for contaminant source localisation and boundary mapping – Objectives 1, 2, 3, 4 Novel nonlinear control algorithm to steer a mobile sensor along the boundaries – Objectives 3, 4 Moving contaminant source mapping using synchronised formations of mobile sensors – Objective 1 Contaminant boundary mapping using connected swarm of mobile sensors – Objective 2

6. Progress - Numerical Example Objectives 1, 2

7. Spatial Phenomena Ash cloud map created from the Eyjafjallaj (Iceland) volcanic eruption in 2010 Objective 4

8. Spatial Phenomena – Algorithmic Validation Objectives 1, 2, 4

9. Decreasing Altitude 3 – Dimensional problem Objectives 1, 2, 3

10. Initial positions Sample paths Final positions 3 – Dimensional Examples Objectives 2,3

11. 3 – Dimensional Examples Mobius strip Coupled sphere Hyperboloid Objectives 2,3

12. Dynamic Spatial Phenomena

15. 2 – Dimensional Moving Boundary Tracking Objectives 2,3

16. Algorithms for Single Mobile Sensor Novel nonlinear control laws are developed Gradient information is not utilised Objective 3

17. Experimental work Objective 4

18. Indian Institute of ScienceUniversity of Exeter Actual Funding received from UKIERI13.78 Lakhs INR18K £ Funding spent on the project activities7.65 Lakhs INR6K£ Funding committed for the Project timeline 13.78 Lakhs INR18K£ Any underspent or Overspent foreseenNone In kind contribution from partnering Institutions None49K £ In Kind contribution from other sourcesNone Additional funding leveraged on the project So far None Any Corporate funding leveraged ; Also specify any other contribution from the corporate. So far None Expense Status

19. No. of exchanges under the project (including academic staff and students) 5 Completed 5 more planned No. of joint publications / research papers 5 Conference papers published 2 Conference paper and 6 Journal papers are in progress Media mention / Press release Workshops organised (please include details like no of participants/key people/Key speakers and way forward from the workshop) Workshop being planned November 2013 in India In 2014 in Exeter Project Outreach

20. Algorithm 3 and 4 need more work (This is tied to the student visits to Exeter in 2013) Experimental verification using mobile robots needs to be completed Future Activities

21. Algorithms leading to identification of contamination sources and boundaries have wide applications in environment related problems and need to be disseminated to a wider audience of scientists This has been partially achieved through our conference presentations and will be followed by archival publications in scientific journals Success Indicators

22. Efforts are in progress to get a support for extending some of these ideas for Harmful Algae Blooms monitoring in oceans with support from Plymouth Marine Laboratories With the advent of nano-sensors, many of the algorithms developed under this project can become important tools in monitoring the environmental parameters and their dynamics Sustainability

23. UKIERI funding has helped in establishing collaboration between two groups of researchers in UK and India This project provided a platform to bring in the expertise that existed among the MetOffice scientists Visits helped in creating an environment of focused research effort and joint discussions that led to emergence of novel concepts and ideas in using multi agent systems for practical problems Best Practices and Lessons Learned

24. The project provided a unique opportunity for PhD students to take part in developing algorithms to address the challenges put forward by an interesting environmental application. Participation of bright PhD students is mutually beneficial. There are several direct and indirect benefits Working with a larger group of researchers outside the student advisor system – a valuable experience for a young researcher Experiencing a work culture followed in a different university Best Practices and Lessons Learned

25. Realignment of project end date Possible short time extension without financial commitment Issues and Concerns

26. Published P.P. Menon and D.Ghose, “Simultaneous localization and boundary mapping for contaminants,” In Proc. of ACC, 2012. P.P. Menon and D. Ghose, “3-Dimensional Boundary Mapping,” In Proc. of ACC, 2013. A. Derhgawen, P.P. Menon and D. Ghose, “Signal contour tracking using a Mobile Robot,” ICIUS, 2013. P.P. Menon and C. Edwards, “Distributed adaptive sliding mode observers for a network of dynamical systems,” In Proc. of ACC, 2013. A. Seuret, P.P. Menon, and C. Edwards, “LQR performance for multi-agent systems: benefits of introducing delayed inter-agent measurements,” In IEEE- CDC, 2013. Publication

27. In Preparation P.P. Menon and D. Ghose, “Moving Boundary Tracking using Multiple Mobile Sensors,” American Control Conference, 2014. P.P. Menon, Y. Shtessel and C. Edwards, “Dynamic discontinuous control for tracking of contours of spatial phenomena,” American Control Conference, 2014. P.P. Menon, J. Haywood, and D. Ghose, “Boundary Mapping Using Mobile Sensor Networks,” IEEE Transactions on Evolutionary Computation, 2013. P.P. Menon and D. Ghose, “3-Dimensional Boundary Mapping,” Applied Soft Computing, 2013. P.P. Menon and D. Ghose, “Distributed Tracking of Moving Boundaries,” IEEE, 2013. P.P.Menon, Y. Shtessel, J. Haywood, and C. Edwards, “Adaptive contour tracking control,” Systems and Control Letters, 2013 Publication

28. Staff exchanges UK to India P.P. Menon visited IISc, Bangalore for one month in Nov-Dec12, Aug13. (Nov13 expected) P. Ashwin/J. Haywood expected to visit IISc, Bangalore in Dec13 Anusha Mujumdhar (PhD student) is visiting IISc, Bangalore August – Oct13 Atul Kamath (PhD student) plan to visit IISc, Bangalore in October – Nov 13 India to UK Debasish Ghose visited University of Exeter in Jul 12 and Jun - Jul 13. Two PhD students (Dwaipayan Mukherjee and Anoop Jain) are expected to visit University of Exeter in Sep – Oct 13

29. Accommodated Prof. Yuri Shtessel, UAH, USA at University of Exeter for two weeks (20-May-2013 to 10-June-2013) to work on: algorithmic developments for carrying out boundary mapping of contaminated regions. Conference Trips: Following research papers are under preparation: American Control Conference (ACC 2012, ACC2013) IEEE Conference on Decision and Control (CDC 2013) ICIUS Other

30. Thank You