1. Sensor Network with Mobile Access: Network-Based Control (An Experimental Testbed) Youngchul Sung Adaptive Communications and Signal Processing Group School of Electrical & Computer Engineering Cornell University Ithaca, NY 14853

2. Sensor Network with Mobile Access Minimal Low Power Sensors Local sensor communications Local sensor communications Opportunistic multiaccess to mobile access points Opportunistic multiaccess to mobile access points Powerful Mobile Access Points Data collection and transport Data collection and transport Network management Network management Opportunistic Protocol

3. Network-Based Control (NBC) using SENMA Sensor network based control Large sensor network distributed on a wide area Large sensor network distributed on a wide area Unmaned vehicle/Mobile access point Unmaned vehicle/Mobile access point Local communication between MAP and sensors Local communication between MAP and sensors Estimation of target location and movement control Estimation of target location and movement control Ex. Target tracking based on distributed sensor data

4. Target Functional Block of NBC Sensor Network Mobile Access Point (UAV) Location Device Sensing Signal processing DOA estimation, etc Communication Networking Sensor localization Location monitoring Data fusion Control of UAV

5. UAV Movement Control Sensor data Fusion/control algorithm Location information Movement control Previous sensor data

6. System Configuration

7. Implemented System

8. Image Extraction for Precision Control (IEPG)

9. Uplink Opportunistic Packet Communication FrameMaker Preamble Training Sensor ID BatteryLevel Sensor Data FEC Uplink Packet Format Downlink Communication Beacon transmission Beacon transmission Channel state estimation/Opportunistic transmission Channel state estimation/Opportunistic transmission

10. Multiaccess Receiver Design FDMA-based Uplink Receiver Structure

11. Related Research Issues Research Topics Combining large sensor network and control Combining large sensor network and control Network-based signal processing: Ex. DOA estimation Network-based signal processing: Ex. DOA estimation Data fusion Data fusion Sensor localization using UAV Sensor localization using UAV Potential Applications Military Military Commercial Commercial

12. Live Demo Sensor-Directed Guidance for Unmaned Vehicle 1. Target location setting 2. Emulating DOA estimation 3. Start operation 1. Local data collection 2. UAV location extraction 3. Estimating target location 4. Movement control