Soft-connected Rigid Body Localization: State-of-the-Art and Research Directions for 6G

This white paper describes a proposed article that will aim to provide a thorough study of the evolution of the typical paradigm of wireless localization (WL), which is based on a single point model of each target, towards wireless rigid body localization (W-RBL). We also look beyond the concept of RBL itself, whereby each target is modeled as an independent multi-point three-dimensional (3D), with shape enforced via a set of conformation constraints, as a step towards a more general approach we refer to as soft-connected RBL, whereby an ensemble of several objects embedded in a given environment, is modeled as a set of soft-connected 3D objects, with rigid and soft conformation constraints enforced within each object and among them, respectively. A first intended contribution of the full version of this article is a compact but comprehensive survey on mechanisms to evolve WL algorithms in W-RBL schemes, considering their peculiarities in terms of the type of information, mathematical approach, and features the build on or offer. A subsequent contribution is a discussion of mechanisms to extend W-RBL techniques to soft-connected rigid body localization (SCW-RBL) algorithms

A Review of Indoor Millimeter Wave Device-based Localization and Device-free Sensing Technologies and Applications

The commercial availability of low-cost millimeter wave (mmWave) communication and radar devices is starting to improve the penetration of such technologies in consumer markets, paving the way for large-scale and dense deployments in fifth-generation (5G)-and-beyond as well as 6G networks. At the same time, pervasive mmWave access will enable device localization and device-free sensing with unprecedented accuracy, especially with respect to sub-6 GHz commercial-grade devices. This paper surveys the state of the art in device-based localization and device-free sensing using mmWave communication and radar devices, with a focus on indoor deployments. We first overview key concepts about mmWave signal propagation and system design. Then, we provide a detailed account of approaches and algorithms for localization and sensing enabled by mmWaves. We consider several dimensions in our analysis, including the main objectives, techniques, and performance of each work, whether each research reached some degree of implementation, and which hardware platforms were used for this purpose. We conclude by discussing that better algorithms for consumer-grade devices, data fusion methods for dense deployments, as well as an educated application of machine learning methods are promising, relevant and timely research directions.Comment: 43 pages, 13 figures. Accepted in IEEE Communications Surveys & Tutorials (IEEE COMST

Edge Artificial Intelligence for Real-Time Target Monitoring

The key enabling technology for the exponentially growing cellular communications sector is location-based services. The need for location-aware services has increased along with the number of wireless and mobile devices. Estimation problems, and particularly parameter estimation, have drawn a lot of interest because of its relevance and engineers' ongoing need for higher performance. As applications expanded, a lot of interest was generated in the accurate assessment of temporal and spatial properties. In the thesis, two different approaches to subject monitoring are thoroughly addressed. For military applications, medical tracking, industrial workers, and providing location-based services to the mobile user community, which is always growing, this kind of activity is crucial. In-depth consideration is given to the viability of applying the Angle of Arrival (AoA) and Receiver Signal Strength Indication (RSSI) localization algorithms in real-world situations. We presented two prospective systems, discussed them, and presented specific assessments and tests. These systems were put to the test in diverse contexts (e.g., indoor, outdoor, in water...). The findings showed the localization capability, but because of the low-cost antenna we employed, this method is only practical up to a distance of roughly 150 meters. Consequently, depending on the use-case, this method may or may not be advantageous. An estimation algorithm that enhances the performance of the AoA technique was implemented on an edge device. Another approach was also considered. Radar sensors have shown to be durable in inclement weather and bad lighting conditions. Frequency Modulated Continuous Wave (FMCW) radars are the most frequently employed among the several sorts of radar technologies for these kinds of applications. Actually, this is because they are low-cost and can simultaneously provide range and Doppler data. In comparison to pulse and Ultra Wide Band (UWB) radar sensors, they also need a lower sample rate and a lower peak to average ratio. The system employs a cutting-edge surveillance method based on widely available FMCW radar technology. The data processing approach is built on an ad hoc-chain of different blocks that transforms data, extract features, and make a classification decision before cancelling clutters and leakage using a frame subtraction technique, applying DL algorithms to Range-Doppler (RD) maps, and adding a peak to cluster assignment step before tracking targets. In conclusion, the FMCW radar and DL technique for the RD maps performed well together for indoor use-cases. The aforementioned tests used an edge device and Infineon Technologies' Position2Go FMCW radar tool-set

Sensors and Systems for Indoor Positioning

This reprint is a reprint of the articles that appeared in Sensors' (MDPI) Special Issue on “Sensors and Systems for Indoor Positioning". The published original contributions focused on systems and technologies to enable indoor applications

Autonomous wheelchair with a smart driving mode and a Wi-Fi positioning system

Wheelchairs are an important aid that enhances the mobility of people with several types of disabilities. Therefore, there has been considerable research and development on wheelchairs to meet the needs of the disabled. Since the early manual wheelchairs to their more recent electric powered counterparts, advancements have focused on improving autonomy in mobility. Other developments, such as Internet advancements, have developed the concept of the Internet of Things (IoT). This is a promising area that has been studied to enhance the independent operation of the electrical wheelchairs by enabling autonomous navigation and obstacle avoidance. This dissertation describes shortly the design of an autonomous wheelchair of the IPL/IT (Instituto Politécnico de Leiria/Instituto de Telecomunicações) with smart driving features for persons with visual impairments. The objective is to improve the prototype of an intelligent wheelchair. The first prototype of the wheelchair was built to control it by voice, ocular movements, and GPS (Global Positioning System). Furthermore, the IPL/IT wheelchair acquired a remote control feature which could prove useful for persons with low levels of visual impairment. This tele-assistance mode will be helpful to the family of the wheelchair user or, simply, to a health care assistant. Indoor and outdoor positioning systems, with printed directional Wi-Fi antennas, have been deployed to enable a precise location of our wheelchair. The underlying framework for the wheelchair system is the IPL/IT low cost autonomous wheelchair prototype that is based on IoT technology for improved affordability

Autonomous Vehicles

This edited volume, Autonomous Vehicles, is a collection of reviewed and relevant research chapters, offering a comprehensive overview of recent developments in the field of vehicle autonomy. The book comprises nine chapters authored by various researchers and edited by an expert active in the field of study. All chapters are complete in itself but united under a common research study topic. This publication aims to provide a thorough overview of the latest research efforts by international authors, open new possible research paths for further novel developments, and to inspire the younger generations into pursuing relevant academic studies and professional careers within the autonomous vehicle field

Practical investigations in robot localization using ultra-wideband sensors

Robot navigation is rudimentary compared to the capabilities of humans and animals to move about their environments. One of the core processes of navigation is localization, the problem of answering where one is at the present time. Robot localization is the science of using various sensors to inform a robot of where it is within its environment. Ultra-wideband (UWB) radio is one such sensor technology that can return absolute position information. The algorithm to accomplish this is known as multilateration, which uses a collection of distance measurements between multiple robot tag and environment anchor pairs to calculate the tag’s position. UWB is especially suited to the task of returning precise distance measurements due to its capabilities of short duration, high amplitude pulse generation and detection. Decawave Ltd. has created an UWB integrated circuit to perform ranging and a suite of products to support this technology. Claimed and verified accuracies using this implementation are on the order of 10cm. This thesis describes various experiments carried out using Decawave technology for robot localization. The progression of the chapters starts with commercial product verification before moving into development and testing in various environments of an open-source driver package for the Robot Operating System (ROS), then the development of a novel phase difference of arrival (PDoA) sensor for three-dimensional robot localization without an UWB anchor mesh, before concluding with future research directions and commercialization potential of UWB. This thesis is designed as a compilation of all that the author has learned through primary and secondary research over the past three years of investigation. The primary contributions are: 1. A modular ROS UWB driver framework and series of ROS bags for offline experimentation with multilateration algorithms. 2. A robust ROS framework for comparing motion capture system (MoCap) ground truth vs sensor data for rigorous statistical analysis and characterization of multiple sensors. 3. Development of a novel UWB PDoA sensor array and data model to allow 3D localization of a target from a single point without the deployment of an antenna mesh

Advanced Radio Frequency Antennas for Modern Communication and Medical Systems

The main objective of this book is to present novel radio frequency (RF) antennas for 5G, IOT, and medical applications. The book is divided into four sections that present the main topics of radio frequency antennas. The rapid growth in development of cellular wireless communication systems over the last twenty years has resulted in most of world population owning smartphones, smart watches, I-pads, and other RF communication devices. Efficient compact wideband antennas are crucial in RF communication devices. This book presents information on planar antennas, cavity antennas, Vivaldi antennas, phased arrays, MIMO antennas, beamforming phased array reconfigurable Pabry-Perot cavity antennas, and time modulated linear array