Managing big data experiments on smartphones

The explosive number of smartphones with ever growing sensing and computing capabilities have brought a paradigm shift to many traditional domains of the computing field. Re-programming smartphones and instrumenting them for application testing and data gathering at scale is currently a tedious and time-consuming process that poses significant logistical challenges. Next generation smartphone applications are expected to be much larger-scale and complex, demanding that these undergo evaluation and testing under different real-world datasets, devices and conditions. In this paper, we present an architecture for managing such large-scale data management experiments on real smartphones. We particularly present the building blocks of our architecture that encompassed smartphone sensor data collected by the crowd and organized in our big data repository. The given datasets can then be replayed on our testbed comprising of real and simulated smartphones accessible to developers through a web-based interface. We present the applicability of our architecture through a case study that involves the evaluation of individual components that are part of a complex indoor positioning system for smartphones, coined Anyplace, which we have developed over the years. The given study shows how our architecture allows us to derive novel insights into the performance of our algorithms and applications, by simplifying the management of large-scale data on smartphones

Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks

Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. So far, however, feedback control over wireless multi-hop networks has only been shown for update intervals on the order of seconds. This paper presents a wireless embedded system that tames imperfections impairing control performance (e.g., jitter and message loss), and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics. Using experiments on a cyber-physical testbed with 20 wireless nodes and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination over wireless multi-hop networks for update intervals of 20 to 50 milliseconds.Comment: Accepted final version to appear in: 10th ACM/IEEE International Conference on Cyber-Physical Systems (with CPS-IoT Week 2019) (ICCPS '19), April 16--18, 2019, Montreal, QC, Canad

Flexible dual-diversity wearable wireless node integrated on a dual-polarised textile patch antenna

A new textile wearable wireless node, for operation in the 2.45 GHz industrial, scientific and medical (ISM) band, is proposed. It consists of a dual-polarised textile patch antenna with integrated microcontroller, sensor, memory and transceiver with receive diversity. Integrated into a garment, the flexible unit may serve for fall detection, as well as for patient or rescue-worker monitoring. Fragile and lossy interconnections are eliminated. They are replaced by very short radiofrequency signal paths in the antenna feed plane, reducing electromagnetic compatibility and signal integrity problems. The compact and flexible module combines sensing and wireless channel monitoring functionality with reliable and energy-efficient off-body wireless communication capability, by fully exploiting dual polarisation diversity. By integrating a battery, a fully autonomous and flexible system is obtained. This novel textile wireless node was validated, both in flat and bent state, in the anechoic chamber, assessing the characteristics of the integrated system in free-space conditions. Moreover, its performance was verified in various real-world conditions, integrated into a firefighter garment, and used as an autonomous body-centric measurement device

Correlated shadowing and fading characterization of MIMO off-body channels by means of multiple autonomous on-body nodes

In off-body communication systems low-cost and compact transceivers are important for realistic applications. An autonomous off-body wireless node was designed and integrated onto a textile antenna. Channel measurements were performed for an indoor non line-off-sight 4x2 MIMO (Multiple-Input Multiple-Output) link using four off-body transmitting nodes and two similar fixed receiving nodes. The channel behavior is characterized as Rayleigh fading with lognormal shadowing and is fitted to a model determining fading and shadowing correlation matrices. The physics of the propagation is captured accurately by the model which is further used to simulate a link using diversity by means of Selection Combining, as implemented on the wireless nodes. The performance of measured and simulated links is compared in terms of outage probability level. The measurements and analysis confirm that the correlated shadowing and fading model is relevant for realistic off-body networks employing diversity by means of Selection Combining

Safe, Remote-Access Swarm Robotics Research on the Robotarium

This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference