2,771 research outputs found
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
LTE Spectrum Sharing Research Testbed: Integrated Hardware, Software, Network and Data
This paper presents Virginia Tech's wireless testbed supporting research on
long-term evolution (LTE) signaling and radio frequency (RF) spectrum
coexistence. LTE is continuously refined and new features released. As the
communications contexts for LTE expand, new research problems arise and include
operation in harsh RF signaling environments and coexistence with other radios.
Our testbed provides an integrated research tool for investigating these and
other research problems; it allows analyzing the severity of the problem,
designing and rapidly prototyping solutions, and assessing them with
standard-compliant equipment and test procedures. The modular testbed
integrates general-purpose software-defined radio hardware, LTE-specific test
equipment, RF components, free open-source and commercial LTE software, a
configurable RF network and recorded radar waveform samples. It supports RF
channel emulated and over-the-air radiated modes. The testbed can be remotely
accessed and configured. An RF switching network allows for designing many
different experiments that can involve a variety of real and virtual radios
with support for multiple-input multiple-output (MIMO) antenna operation. We
present the testbed, the research it has enabled and some valuable lessons that
we learned and that may help designing, developing, and operating future
wireless testbeds.Comment: In Proceeding of the 10th ACM International Workshop on Wireless
Network Testbeds, Experimental Evaluation & Characterization (WiNTECH),
Snowbird, Utah, October 201
A study of existing Ontologies in the IoT-domain
Several domains have adopted the increasing use of IoT-based devices to
collect sensor data for generating abstractions and perceptions of the real
world. This sensor data is multi-modal and heterogeneous in nature. This
heterogeneity induces interoperability issues while developing cross-domain
applications, thereby restricting the possibility of reusing sensor data to
develop new applications. As a solution to this, semantic approaches have been
proposed in the literature to tackle problems related to interoperability of
sensor data. Several ontologies have been proposed to handle different aspects
of IoT-based sensor data collection, ranging from discovering the IoT sensors
for data collection to applying reasoning on the collected sensor data for
drawing inferences. In this paper, we survey these existing semantic ontologies
to provide an overview of the recent developments in this field. We highlight
the fundamental ontological concepts (e.g., sensor-capabilities and
context-awareness) required for an IoT-based application, and survey the
existing ontologies which include these concepts. Based on our study, we also
identify the shortcomings of currently available ontologies, which serves as a
stepping stone to state the need for a common unified ontology for the IoT
domain.Comment: Submitted to Elsevier JWS SI on Web semantics for the Internet/Web of
Thing
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