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GeoSensor Networks 1st Edition Anthony Stefanidis
Digital Instant Download
Author(s): Anthony Stefanidis, Silvia Nittel
ISBN(s): 9780415324045, 0415324041
Edition: 1
File Details: PDF, 4.65 MB
Year: 2004
Language: english
GeoSensor Networks
 GeoSensor Networks
EDITED BY

Anthony Stefanidis
Silvia Nittel

CRC PRESS
Boca Raton London New York Washington, D.C.
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 Preface

Advances in sensor technology and deployment strategies are revolutionizing the way
that geospatial information is collected and analyzed. For example, cameras and GPS
sensors on-board static or mobile platforms have the ability to provide continuous
streams of geospatially-rich information. Furthermore, with the advent of nano-
technology it becomes feasible and economically viable to develop and deploy low-cost,
low-power devices that are general-purpose computing platforms with multi-purpose on-
board sensing and wireless communications capabilities. All these types of sensors may
act collaboratively as nodes within broader network configurations. Such configurations
may range in scale from few cameras monitoring traffic to thousands of nodes monitoring
an ecosystem.
When drafting the call for papers that resulted in this book we left on purpose the term
“geosensor network” somewhat undefined, as we wanted it to be determined by the
research communities that are providing the pieces of its puzzle. However, despite this
lack of a formal definition there is a very clear inherent understanding of what a
geosensor network is. In geosensor networks the geospatial content of the information
collected by a sensor network is fundamental for the analysis of feeds. Thus, a geosensor
network may be loosely defined as a sensor network that monitors phenomena in a
geographic space. This space may range in scale from the confined environment of a
room to the highly complex dynamics of a large ecosystem.
With this emerging sensor deployment reality we are faced with substantial research
challenges related to the collection, management, analysis, and delivery of real-time
geospatial information using distributed geosensor networks. This book offers a
collection of papers that address some of these issues. The papers included here were
presented at the first GeoSensor Networks workshop, held in Portland, Maine, in October
2003. This fully refereed workshop brought together thirty-two researchers from diverse
research domains, including spatial databases and spatial information modeling, robotics
and digital image analysis, mobile computing, operating systems, database management,
and environmental applications.
Our objective was to provide a forum for experts from these overlapping communities
to exchange ideas and share knowledge, and we hope that this book will showcase this
spirit of collaboration. The papers in this volume have been grouped in four categories,
reflecting major aspects of geosensor networks, namely databases, image processing,
computer networks, and some application examples. Combined, these papers offer an
excellent snapshot of the state-of-the-art in these areas, and support a fair evaluation of
the current capabilities and emerging challenges for geosensor networks. Additional
information on our workshop, including program and presentation material, may be
found at the corresponding web site www.spatial maine.edu/~gsn03/.
We would like to thank the authors of the papers included in this volume, and
additional invited presenters at the workshop for their valuable contributions, the program
committee members for their input, and Working Group V/5 of the International Society
for Photogrammetry and Remote Sensing. We would also like to thank our students and
colleagues at the University of Maine who assisted in the organization of the workshop in
many ways, and especially Mr. Charalampos Georgiadis who assisted in the preparation
of this volume. We would like to particularly acknowledge the help and guidance of
Professor Max Egenhofer, who was instrumental in the realization of this event. Lastly,
we would like to acknowledge the National Science Foundation for supporting the
workshop through grant EIA-9876707.
February 2004 Anthony Stefanidis and Silvia Nittel
 Workshop Organization

Co-Organizers:
Silvia Nittel and Anthony Stefanidis
National Center for Geographic Information and Analysis
University of Maine

Workshop Steering Committee:

Chaitan Baru, San Diego Supercomputer Center
Deborah Estrin, University of California, Los Angeles
Mike Franklin, University of California, Berkeley
Johannes Gehrke, Cornell University
Mike Goodchild, University of California, Santa Barbara
Nick Koudas, AT&T Research
Richard Muntz, University of California, Los Angeles
Silvia Nittel, University of Maine (Workshop co-chair)
Anthony Stefanidis, University of Maine (Workshop co-chair)
Seth Teller, Massachusetts Institute of Technology
Mubarak Shah, University of Central Florida
 Editors

Anthony Stefanidis is Assistant Professor in the Department of Spatial Information

Science and Engineering, and the National Center for Geographic Information and
Analysis (NCGIA) at the University of Maine. He holds a Dipl. Eng. degree from the
National Technical University of Athens, Greece, and M.S. and Ph.D. degrees from
The Ohio State University. Before joining the University of Maine he spent two years
as senior researcher at the Swiss Federal Institute of Technology (ETH) in Zurich. His
research activities focus on digital image and video analysis for geospatial
applications, including optical sensor networks. His work is currently sponsored by the
National Science Foundation and the National Geospatial-Intelligence Agency. In
addition to numerous publications, Tony has edited one more book in his area of
expertise, and has contributed chapters to several other books.
Silvia Nittel is Assistant Professor with the Department of Spatial Information Science
and Engineering, and the National Center for Geographic Information and Analysis
(NCGIA) at the University of Maine. She obtained her Ph.D. in Computer Science at
the University of Zurich in 1994, and she specialized in non-traditional database
system architectures. Silvia spent several years as postdoctoral researcher and later co-
director of the UCLA Data Mining Lab. At UCLA, she worked on high performance
data mining tools for knowledge extraction from raster satellite data sets,
heterogeneous data integration for geoscientific data and interoperability issues. She
was the project lead of a large NASA-funded research effort at UCLA. In 2001, Silvia
joined the University of Maine, and has since focused on data management for sensor
networks, geosensor networks, and mobile computing.
 Contents

GeoSensor Networks and Virtual GeoReality 1

Silvia Nittel and Anthony Stefanidis

Databases and Sensor Networks

Querying Asynchronously Updated Sensor Data Sets under Quantified 10

Constraints
Lutz Schlesinger and Wolfgang Lehner
Window Query Processing in Highly Dynamic GeoSensor Networks: Issues and 31
Solutions
Yingqi Xu and Wang-Chien Lee
Approximate Query Answering on Sensor Network Data Streams 49
Alfredo Cuzzocrea, Filippo Furfaro, Elio Masciari, Domenico Sacca, and Cristina
Sirangelo
Georouting and Delta-gathering: Efficient Data Propagation Techniques for 67
GeoSensor Networks
Dina Goldin, Mingjun Song, Ayferi Kutlu, Huanyan Gao, and Hardik Dave
Information Handling in Mobile Applications: A Look beyond Classical 88
Approaches
Jochen Schiller and Agnes Voisard

Image Processing and Sensor Networks

Feature-Based Georegistration of Aerial Images 112

Mubarak Shah and Yaser Sheikh
Acquisition of a Predicitive Markov Model Using Object Tracking and 139
Correspondence in Geospatial Video Surveillance Networks
Christopher Jaynes
Generation and Application of Virtual Landscape Models for Location-Based 156
Services
Norbert Haala and Martin Kada
 A Low-Cost System for Creating 3D Terrain Models from Digital Images 170
Howard Schultz

Computer Networks and Sensor Networks

Location-Aware Routing for Data Aggregation in Sensor Networks 178

Jonathan Beaver, Mohamed Sharaf, Alexandros Labrinidis, and Panos Chrysanthis
Synthetic Data Generation to Support Irregular Sampling in Sensor Networks 196
Yan Yu, Deepak Ganesan, Lewis Girod, Deborah Estrin, and Ramesh Govindan
Energy Efficient Channel Allocation in Publish/Subscribe GeoSensor Networks 219
Saravanan Balasubramanian and Demet Aksoy

Geospatial Applications of Sensor Networks

In-Situ Sensorweb Prototype Demonstrations for Integrated Earth Sensing 244

Applications
Philippe Teillet, A.Chichagov, G.Fedosejevs, R.P.Gauthier, A.Deschamps,
T.J.Pultz, G.Ainsley, M.Maloley and F.Simard
GeoServNet Sensor Web: A Too for for Open Geospatial Sensing Services 251
Vincent Tao, Steven Liang, Arie Croitoru, Zia Moin Haider and Chris Wang
Symbiote: An Autonomous Sensor for Urban Operations Imagery 258
Ricard Benoit, Maj Michel Gareau and Martin Labrie

Author Index 266

Index 268
 GeoSensor Networks and Virtual
GeoReality
Silvia Nittel and Anthony Stefanidis
Department of Spatial Information Science & Engineering
National Center for Geographic Information and Analysis
Orono, ME 04469–5711
{nittel,tony}@spatial.maine.edu

ABSTRACT
The use of sensor networks is revolutionizing the way that geospatial
information is collected and analyzed. The old paradigm of calibrated
sensors collecting information in a highly-controlled deployment
strategies is now substituted by wireless networks of diverse sensors that
collect information feeds that vary substantially in content, resolution, and
accuracy. This evolution is bringing forward substantial challenges in
terms of data management and analysis, but at the same time introduces
up to date unparalleled scene modeling capabilities. In this paper we
provide a brief summary of workshop findings, and introduce our vision
of the effect that geosensor networks will have on the communication,
access, and modeling of geospatial information

1. INTRODUCTION

Advances in sensor technology and deployment strategies are revolutionizing the way
that geospatial information is collected and analyzed. For example, cameras and GPS
sensors on-board static or mobile platforms have the ability to provide continuous
streams of geospatially-rich information. With the advent of nanotechnology it also
becomes feasible and economically viable to develop and deploy low-cost, low-power
devices that are general-purpose computing platforms with multi-purpose on-board
sensing and wireless communications capabilities.
These advances are introducing a novel data collection scheme, with continuous feeds
of data from distributed sensors, covering a broader area of interest. This emerging data
collection scheme is introducing interesting research challenges related to information
integration and the development of infrastructures for systems comprising numerous
sensor nodes. These types of sensors may act collaboratively within broader network
configurations that range in scale from a few cameras monitoring traffic to thousands of
nodes monitoring an ecosystem. The challenge of sensor networks is to aggregate sensor
nodes into computational infrastructures that are able to produce globally meaningful
information from raw local data obtained by individual sensor nodes. Emerging
applications are rather diverse in terms of their focus, ranging for example from the use
of sensor feeds for environmental applications [Ailamaki et al., 2003] and wildlife habitat
 GeoSensor Networks 2

monitoring [Juang et al., 2002; Mainwaring et al., 2002] to vehicle [Pister et al., 2002]
and structure monitoring [Lin et al., 2002], and even a kindergarten environment [Chen et
al., 2002].
This short paper is meant to provide both a brief summary of findings of this
workshop and a vision of the effect that geosensor networks can have on the
communication, access, and modeling of geospatial information. In Section 2 we discuss
the evolution of geospatial data collection from traditional approaches to geosensor
networks. In Sections 3 and 4 we address sensor network programming using DBMS and
discuss the issues of scale and mobility in sensor networks, as they were presented in the
GSN workshop. In Section 5 we present our vision of geospatial information modeling in
Virtual GeoReality, and follow with some concluding remarks in section 6.

2. GEOSENSOR NETWORKS

A geosensor network can be loosely defined as a sensor network that monitors

phenomena in geographic space, and in which the geospatial content of the information
collected, aggregated, analyzed, and monitored by a sensor network is fundamental.
Analysis and aggregation may be performed locally in real-time by the sensor nodes or
between sensor nodes, or off-line in several distributed, in-situ or centralized repositories.
Regardless of where these processes take place the spatial aspect is dominant in one or
both of the following levels:
—Content level, as it may be the dominant content of the information collected by the
sensors (e.g. sensors recording the movement or deformation of objects), or
—Analysis level, as the spatial distribution of sensors may provide the integrative
layer to support the analysis of the collected information (e.g. analyzing the spatial
distribution of chemical leak feeds to determine the extent and source of a
contamination).
The geographic space covered by the sensor network, or analyzed through its
measurements, may range in scale from the confined environment of a room to the highly
complex dynamics of an ecosystem region.
The use of sensor networks for geospatial applications is not really new. Satellites and
aerial cameras have been providing periodic coverage of the earth during the last few
decades. However, the evolution of sensing devices [Helerstein et al., 2003] is
revolutionizing geospatial applications. The old paradigm of calibrated sensors collecting
information in a highly-controlled deployment strategies is now substituted by wireless
networks of diverse sensors. This evolution has a profound effect on the nature of
collected datasets:
— Homogeneous collections of data (e.g. collections of imagery) are now substituted
by heterogeneous feeds for an area of interest (e.g. video and temperature feeds).
— Regularly sampled datasets (e.g. coordinates of similar accuracy in a regular grid)
are substituted by pieces of information that vary substantially in content, resolution, and
accuracy (e.g. feeds from few distinct irregularly distributed locations with sensors of
varying accuracy).
— Information becomes increasingly spatiotemporal instead of just spatial, as sensor
feeds capture the evolution over time of the properties they monitor.
 GeoSensor networks and virtual GeoReality 3

— This evolution is bringing forward substantial challenges in terms of data

management and analysis, but at the same time introduces up to date unparalleled scene
modeling capabilities.

3. PROGRAMMING SENSOR NETWORKS USING DBMS

TECHNOLOGY

It is a common assumption in the database community that programming sensor networks

is hard, and database management system (DBMS) technology with its characteristics of
declarative data models, query languages and automatic query optimization makes the job
of programming sensor networks significantly simpler. DBMS-style query execution over
sensor networks is developed with the requirement that queries are formalized in such a
way that their execution plans over the sensor network infrastructure are automatically
optimizable by the DBMS.
The main optimization criterion is energy-efficient processing of information since
batteries are typically not renewed during the lifetime of an application deployment.
Since the transmission of data between sensor nodes is costly with regard to energy
consumption, optimization attempts to minimize communication between nodes while
guaranteeing quality of service. Strategies include minimization of data acquisition, i.e.
instructing sensor nodes to only generate (sample) the data that is necessary for a query,
or to only forward new values that are within a significant threshold change of the current
sampling values. Another strategy is to exploit automatic operator reordering during
query processing so that operators that are ‘cheaper’ (i.e. lower drain on energy to obtain
a sensor sample) are evaluated first, and sampling of more ‘expensive’ sensors for a
conjunctive predicate can be avoided. Other strategies are compressing values so that less
data is transmitted between nodes, or suppressing values within a temporal coherency
tolerance.
Today, power consumption is driven by sampling sensor values, and listening to
queries. Minimizing the listing time of sensor nodes allows them to only wake up and
synchronize for very short periods of time. With such a massively distributed computing
system the notion of synchronized system time is a major challenge. Also, sampling
frequency can be adapted over time to prolong the battery lifetime of sensor nodes.

4. SCALE AND MOBILITY OF SENSOR NODES

The scale of sensor data collection and processing is a significant challenge in geosensor
networks. Varying scales of sensor data collection and processing are required for
different aspects of a problem or even a particular user. The issue matters with regard to
sensor node locations and their distribution density, the size of regions of interest, and
intervals of sampling. Also, user and application needs play a significant role as such to
collect raw data, statistical data, or models, and the level of quality of service such as
freshness of data, response time, etc.
To enable multi-resolution queries, different epoch sizes can be assigned to different
spatial areas of the network. Shorter epochs enable a higher frequency data sampling and
 GeoSensor Networks 4

aggregation. Another alternative consists of a group-based routing tree construction. A

‘group’ is a set of sensors that e.g. exhibits the same capabilities (e.g. temperature
sensing), and the routing tree consists of parent-child nodes of the same group while all
nodes are collocated. This decreases the number of messages a parent node has to send,
and the number of queries to respond to. Simulation results demonstrate that this
mechanism works well for a small number of different groups, but a larger number of
members per group.
For today’s prototypes, the assumption is made that sensor nodes are stationary for the
time being. However, it is most likely that sensors are mobile by either being self-
propelled or being attached to moving objects. In the environmental domain for example,
sensors may be floating in a drainage or be carried by the wind in storms. Network
protocols contain built-in mechanisms to construct flexible routing trees despite the
mobility of sensor nodes. Nevertheless, sensor nodes need to be able to geolocate their
own position with sufficient accuracy, a problem that is still open today. Current research
work in robotics with regard to self localization of robots could be leveraged [Howard et
al., 2003]. Likely, sensors nodes are rarely located at exactly the position that is necessary
for a spatial region query in the geographic space. Mappings between higher-level spatial
user predicates and actual physical sensor node locations are of interest, and also
constructing an optimal routing tree for a specific spatial query predicate (see the paper
by Goldin et al. in this volume). Furthermore, the density of sensor nodes needs to be
mapped to different application resolution needs. Dense deployment of sensor nodes is
economically not viable. Mechanisms such as robots fixing density problems by
‘dropping’ sensor nodes in low density areas might be a more flexible and economic
solution.

5. SENSOR NETWORKS ENABLING VIRTUAL GEOREALITY

Communicating the content of geospatial databases has evolved from static

representations (e.g. maps) to complex virtual reality models. The development of
realistic virtual reality (VR) models of urban environments has been the topic of
substantial research efforts in the last few years. One of the premier efforts in this
direction is the collaborative effort of the groups of Bill Jepson and Richard Muntz at
UCLA for the development of Virtual LA, a large-scale virtual model of the city of Los
Angeles (see e.g. [Jepson et al., 1996] and the web site
www.aud.ucla.edu/~bill/UST.html). The photorealistic 3D model of Los Angeles was
created using aerial and street-level imagery, and is used to support a variety of cross-
disciplinary simulations (e.g. evaluating urban planning, and rehearsing emergency
response actions). From a research point of view the major strength of this effort lies in
the development of a system to support interactive navigation over the entire model by
integrating many smaller models (over a dozen models) into a large virtual environment.
Other notable efforts focus on image analysis issues to create 3D urban scene models.
They include the work of [Brenner, 2000] on the automatic 3D reconstruction of complex
urban scenes using height data from airborne laser scanning and the groundplans of
buildings as they are provided by existing 2D GIS or map data. Height data are used to
create a digital elevation model (DEM) of the city, and a photorealistic virtual city model
 GeoSensor networks and virtual GeoReality 5

is generated by projecting aerial or terrestrial images onto this DEM. This approach has
been used to create a virtual model of the city of Stuttgart (Germany), covering more than
5000 buildings in an area of 2km×3km [Haala & Brenner, 1999]. Before the work of the
Stuttgart group, the group of Gruen at ETH (Zurich) had worked on the integration of
terrain imagery and aerial-sensor-derived 3D city models [Gruen & Wang, 1999]. Similar
approaches have been followed in the UK to develop virtual models of the city of Bath,
covering several square kilometers of the historic center of the city at sub-meter
resolution [Day et al., 1996], in Austria to establish models of the cities of Graz and
Vienna [Ranzinger & Gleixner 1997], and in Australia to develop a 3D GIS model for the
city of Adelaide [Kirkby et al., 1997]. Notable work on city modeling has also been
performed by the MIT group of Seth Teller, focusing mostly on image capturing, sensor
calibration, and scene modeling using specially developed equipment like the Argus
camera and the roaming platform of Rover [Antone & Teller, 2000]. Argus is a high-
resolution digital camera mounted on a small mobile platform and wheeled around
campus. It incorporates specialized instrumentation to estimate the geolocation of
exposure station and camera orientation parameters for each image acquired. Rover is a
controlled vehicle used to acquire geo-referenced video images of interiors and exteriors.
These VR models of urban scenes are photorealistic: they provide views of the world
very similar to the ones we would perceive if we were to roam the scene, sometimes even
to the point of including graffiti on the walls. However, these models are not tempo-
realistic: the real world is in flux, yet these models represent only a single instance of the
scene, namely the moment when the images used to create them were actually collected.
Considering the high cost to actually build such models, their updating is rarely a priority,
unless of course specific information (e.g. the demolition of an important building) makes
it necessary to update a small part of the database. Furthermore, it is often remarked that
VR models feel empty, failing to incorporate the movement of vehicles and people. This
lack of temporal validity has hindered the use of virtual models as convenient interface to
spatial databases, even though they convey geospatial information and their expressive
power is of tremendous value to the communities that use geospatial information in
everyday activities.
Geosensor networks force us to re-evaluate whether this rather static visualization
approach is actually adequate. The challenge we face is to incorporate the temporal
aspect into VR models, thus supporting theior evolution to Virtual GeoReality (VGR)
models. Our vision of a VGR model is characterized by two important properties that are
not offered by current VR models:
— automated updates to capture the current state of the scene they depict, and the
— ability to communicate the temporal evolution of their content (e.g. changes in the
façade of a building, the movement of vehicles, and the spread of a fire within a scene).
Thus a VGR model is much more than a display of up-to-date geospatial information.
It should be perceived as a novel form of a portal to spatiotemporal information as it is
captured by distributed sensors: the evolution of an object may be captured by numerous
distributed sensors. At the same time the VGR model also provides the integrating
medium to link all these sensors into a network: by identifying common objects in their
feed (e.g. the same car in different instances, or the same building) we can link the feeds
of multiple sensors that otherwise would only share a common temporal reference. In this
manner Virtual GeoReality models reflect a merging of virtual and spatiotemporal
 GeoSensor Networks 6

models. Through this merger each field can be infused by the advantages of the other,
introducing the dimension of time and enabling complex spatiotemporal analysis in the
use of VR models, and enhancing GIS with the superb communication capabilities of VR
models.

6. OUTLOOK AND OPEN ISSUES

Geosensor networks are a rapidly evolving multidisciplinary field that challenges the
research areas involved to integrate new techniques, models and methods that are often
not found in their classical research agendas. Interdisciplinary workshops like the first
Geo Sensor Networks meeting are an important step towards providing an exchange
forum for this newly emerging community. Due to the large overlap of research
challenges but varying backgrounds in the different domains, such workshops can be a
fruitful opportunity for collaborations. During several panel discussions, open issues were
discussed.
One of the prominent open issues using sensor networks today is the issue of sensor
data privacy. With the requirements to design ultra-light wireless communication
protocols for small-form devices, not much room is left for advanced encryption
schemes. A related issue is the need for authentication of sensed data. If sensor networks
are deployed in security sensitive areas, built-in mechanisms need to be available to
provide for such data authentication. A third open issue is data quality. Mechanisms need
to assure that defective or incorrectly calibrated sensors are excluded from the
computation, and that calibration is established individually as well as collectively before
deployment and also continuously later on. Today, many research efforts in sensor
networks are conducted under assumptions derived from the constraints of current
hardware platforms such as the Berkeley motes. Many of these assumptions such as using
radio broadcasting as communication modality or restricted battery life might not be valid
in a few years, and these assumptions might change completely.

ACKNOWLEDGEMENTS

We would like to acknowledge the input of D.Goldin, I.Cruz, M.Egenhofer, A.Howard,

A.Labrinidis, S.Madden, S.Voisard and M.Worboys in summarizing the workshop
findings. The work of the authors is supported by the National Imagery and Mapping
Agency through NURI Award NMA 401–02–1–2008; the workshop of Dr. Stefanidis is
further supported by the National Science Foundation through grant ITR-0121269.
Finally, we would like to acknowledge the National Science Foundation for supporting
the GSN workshop through grant EIA-9876707.
 GeoSensor networks and virtual GeoReality 7

REFERENCES

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Antone M. and S.Teller, 2000. Automatic Recovery of Relative Camera Rotations for Urban
Scenes, Proceedings of CVPR, Vol. II, pp. 282–289.
Brenner C., 2000. Towards Fully Automatic Generation of City Models, Int. Arch, of
Photogrammetry & Remote Sensing, Vol. 33(B3/1), pp. 85–92.
Chen A., R.Muntz, S.Yuen, I.Locher, S.Park, and M.Srivastava, 2002. A Support Infrastructure for
the Smart Kindergarten, IEEE Pervasive Computing, 1(2), pp. 49–57.
Day A., V.Bourdakis, and J.Robson, 1996. Living with a Virtual City, Architectural Research
Quarterly, 2, pp. 84–91.
Gruen A. and X.Wang, 1999. CyberCity Modeler, a Tool for Interactive 3D City Model
Generation, Photogrammetric Week’99, D.Fritsch and R. Spiller (Eds.), Wichmann Verlag,
Heidelberg, pp. 317–327.
Haala N. and C.Brenner, 1999. Virtual City Models from Laser Altimeter and 2D Map Data,
Photogrammetric Engineering & Remote Sensing, 65(7), 787–795.
Hellerstein J., W.Hong, and S.Madden, 2003. The Sensor Spectrum: Technology, Trends, and
Requirements, SIGMOD Record, 32(4), pp. 22–27.
Howard A., M.Mataric, and G.Sukhatme, 2003. From Mobile Robot Teams to Sensor/Actuator
Networks: The Promise and Perils of Mobility, downloadable from
www.spatial.maine.edu/~gsn03/program.html
Juang P., H.Oki, Y.Wang, M.Martonosi, L.Peh, and D.Rubenstein, 2002. Energy-Efficient
Computing for Wildlife Tracking: Design Tradeoffs and Early Experiences with ZebraNet, in
Proc. Intl. Conf. On Architectural Support for Programming Languages and Operating Systems
(ASPLOS-X), San Jose, CA, pp. 96–107.
Kirby S., R.Flint, H.Murakami, and E.Bamford, 1997. The Changing Role of GIS in Urban
Planning: The Adelaide Model Case Study, International Journal for Geomatics, 11(8), pp. 6–8.
Lin C., C.Federspiel, and D.M.Auslander, 2002. Multi-Sensor Single Actuator Control of HVAC
Systems, in Proc. Intl. Conf. For Enhanced Building Operations, Austin, TX.
Mainwaring A., J.Polastre, R.Szewczyk, and D.Culler, 2002. Wireless Sensor Networks for Habitat
Monitoring, Technical Report IRB-TR-02–006, Intel Laboratory, UC Berkeley.
Pister K. et al., 2002. 29 Palms Fixed/Mobile Experiment,
robotics.eecs.Berkeley.edu/~pister/29Palms0103/.
Ranziger M. and G.Gleixner, 1997. GIS-Datasets for 3D Urban Planning, Computers,
Environments & Urban Systems, 21(2), pp. 159–173.
Exploring the Variety of Random
Documents with Different Content
 Science - Complete Guide
Winter 2025 - Department

Prepared by: Teaching Assistant Smith

Date: July 28, 2025

Unit 1: Critical analysis and evaluation

Learning Objective 1: Study tips and learning strategies
• Problem-solving strategies and techniques
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Learning Objective 2: Historical development and evolution
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Learning Objective 3: Problem-solving strategies and techniques
• Fundamental concepts and principles
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 3: Diagram/Chart/Graph]
Learning Objective 4: Literature review and discussion
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 4: Diagram/Chart/Graph]
Learning Objective 5: Key terms and definitions
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Example 5: Research findings and conclusions
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 6: Statistical analysis and interpretation
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Key Concept: Problem-solving strategies and techniques
• Research findings and conclusions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 8: Theoretical framework and methodology
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
[Figure 9: Diagram/Chart/Graph]
Definition: Ethical considerations and implications
• Research findings and conclusions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 10: Diagram/Chart/Graph]
Results 2: Practical applications and examples
Practice Problem 10: Historical development and evolution
• Current trends and future directions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Example 11: Critical analysis and evaluation
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Interdisciplinary approaches
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Best practices and recommendations
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Remember: Current trends and future directions
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Important: Historical development and evolution
• Problem-solving strategies and techniques
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Important: Assessment criteria and rubrics
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Remember: Case studies and real-world applications
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Practice Problem 18: Comparative analysis and synthesis
• Best practices and recommendations
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Important: Study tips and learning strategies
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Part 3: Ethical considerations and implications
Definition: Study tips and learning strategies
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Practice Problem 21: Practical applications and examples
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Critical analysis and evaluation
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 23: Comparative analysis and synthesis
• Fundamental concepts and principles
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Important: Practical applications and examples
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
[Figure 25: Diagram/Chart/Graph]
Example 25: Learning outcomes and objectives
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
Practice Problem 26: Ethical considerations and implications
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Important: Fundamental concepts and principles
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Note: Learning outcomes and objectives
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Important: Comparative analysis and synthesis
• Experimental procedures and results
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Part 4: Study tips and learning strategies
Remember: Historical development and evolution
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Fundamental concepts and principles
• Problem-solving strategies and techniques
- Sub-point: Additional details and explanations
- Example: Practical application scenario
[Figure 32: Diagram/Chart/Graph]
Practice Problem 32: Fundamental concepts and principles
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Example 33: Research findings and conclusions
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Literature review and discussion
• Case studies and real-world applications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Current trends and future directions
• Research findings and conclusions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 36: Diagram/Chart/Graph]
Practice Problem 36: Case studies and real-world applications
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
Practice Problem 37: Experimental procedures and results
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Fundamental concepts and principles
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 39: Diagram/Chart/Graph]
Example 39: Critical analysis and evaluation
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Quiz 5: Case studies and real-world applications
Practice Problem 40: Historical development and evolution
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 41: Diagram/Chart/Graph]
Remember: Theoretical framework and methodology
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
Note: Theoretical framework and methodology
• Experimental procedures and results
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Best practices and recommendations
• Experimental procedures and results
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 44: Historical development and evolution
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Current trends and future directions
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Research findings and conclusions
• Experimental procedures and results
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Study tips and learning strategies
• Problem-solving strategies and techniques
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
[Figure 48: Diagram/Chart/Graph]
Note: Theoretical framework and methodology
• Historical development and evolution
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Comparative analysis and synthesis
• Case studies and real-world applications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Chapter 6: Experimental procedures and results
Remember: Interdisciplinary approaches
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
Key Concept: Experimental procedures and results
• Historical development and evolution
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Best practices and recommendations
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Key Concept: Fundamental concepts and principles
• Current trends and future directions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Statistical analysis and interpretation
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Key Concept: Comparative analysis and synthesis
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Practical applications and examples
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 57: Diagram/Chart/Graph]
Definition: Case studies and real-world applications
• Practical applications and examples
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
[Figure 58: Diagram/Chart/Graph]
Note: Practical applications and examples
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 59: Diagram/Chart/Graph]
Definition: Historical development and evolution
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Module 7: Fundamental concepts and principles
Definition: Critical analysis and evaluation
• Practical applications and examples
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
Key Concept: Case studies and real-world applications
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 62: Assessment criteria and rubrics
• Historical development and evolution
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Remember: Comparative analysis and synthesis
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 64: Diagram/Chart/Graph]
Remember: Ethical considerations and implications
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Practice Problem 65: Case studies and real-world applications
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Example 66: Study tips and learning strategies
• Best practices and recommendations
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Important: Current trends and future directions
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Learning outcomes and objectives
• Best practices and recommendations
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Study tips and learning strategies
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 70: Diagram/Chart/Graph]
References 8: Ethical considerations and implications
Definition: Research findings and conclusions
• Historical development and evolution
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Literature review and discussion
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Statistical analysis and interpretation
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 73: Diagram/Chart/Graph]
Definition: Learning outcomes and objectives
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 74: Learning outcomes and objectives
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 75: Diagram/Chart/Graph]
Remember: Literature review and discussion
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Example 76: Statistical analysis and interpretation
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 77: Diagram/Chart/Graph]
Example 77: Problem-solving strategies and techniques
• Best practices and recommendations
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Case studies and real-world applications
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Experimental procedures and results
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Appendix 9: Case studies and real-world applications
Practice Problem 80: Study tips and learning strategies
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Remember: Learning outcomes and objectives
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Important: Literature review and discussion
• Experimental procedures and results
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Problem-solving strategies and techniques
• Case studies and real-world applications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Practice Problem 84: Case studies and real-world applications
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Practical applications and examples
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Theoretical framework and methodology
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 87: Diagram/Chart/Graph]
Remember: Theoretical framework and methodology
• Historical development and evolution
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Case studies and real-world applications
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 89: Diagram/Chart/Graph]
Example 89: Comparative analysis and synthesis
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Methodology 10: Critical analysis and evaluation
Key Concept: Ethical considerations and implications
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Remember: Study tips and learning strategies
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 92: Diagram/Chart/Graph]
Important: Historical development and evolution
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Best practices and recommendations
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Important: Comparative analysis and synthesis
• Practical applications and examples
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Practice Problem 95: Historical development and evolution
• Case studies and real-world applications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Remember: Critical analysis and evaluation
• Best practices and recommendations
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 97: Diagram/Chart/Graph]
Practice Problem 97: Assessment criteria and rubrics
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Practice Problem 98: Ethical considerations and implications
• Research findings and conclusions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Note: Case studies and real-world applications
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Introduction 11: Fundamental concepts and principles
Key Concept: Best practices and recommendations
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Practice Problem 101: Statistical analysis and interpretation
• Current trends and future directions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Assessment criteria and rubrics
• Research findings and conclusions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 103: Diagram/Chart/Graph]
Remember: Theoretical framework and methodology
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Important: Case studies and real-world applications
• Historical development and evolution
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Practical applications and examples
• Ethical considerations and implications
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Literature review and discussion
• Practical applications and examples
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Note: Statistical analysis and interpretation
• Experimental procedures and results
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Note: Historical development and evolution
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Formula: [Mathematical expression or equation]
Practice Problem 109: Statistical analysis and interpretation
• Key terms and definitions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Part 12: Study tips and learning strategies
Important: Assessment criteria and rubrics
• Literature review and discussion
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 111: Diagram/Chart/Graph]
Key Concept: Best practices and recommendations
• Critical analysis and evaluation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Theoretical framework and methodology
• Research findings and conclusions
- Sub-point: Additional details and explanations
- Example: Practical application scenario
Note: Statistical analysis and interpretation
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Critical analysis and evaluation
• Practical applications and examples
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Ethical considerations and implications
• Comparative analysis and synthesis
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 116: Diagram/Chart/Graph]
Definition: Best practices and recommendations
• Study tips and learning strategies
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Remember: Comparative analysis and synthesis
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
[Figure 118: Diagram/Chart/Graph]
Example 118: Interdisciplinary approaches
• Assessment criteria and rubrics
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Key Concept: Study tips and learning strategies
• Learning outcomes and objectives
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Introduction 13: Theoretical framework and methodology
Example 120: Problem-solving strategies and techniques
• Theoretical framework and methodology
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Example 121: Experimental procedures and results
• Interdisciplinary approaches
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Assessment criteria and rubrics
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Literature review and discussion
• Best practices and recommendations
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Note: Case studies and real-world applications
• Best practices and recommendations
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
Definition: Practical applications and examples
• Statistical analysis and interpretation
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Definition: Current trends and future directions
• Practical applications and examples
- Sub-point: Additional details and explanations
- Example: Practical application scenario
- Note: Important consideration
Formula: [Mathematical expression or equation]
[Figure 127: Diagram/Chart/Graph]
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