Combining TDoA and AoA with a particle filter in an outdoor LoRaWAN network

Internet of Things (IoT) applications that value long battery lifetime over accurate location-based services benefit from localization via Low Power Wide Area Networks (LPWANs) such as LoRaWAN. Recent work on Angle Of Arrival (AoA) estimation with LoRa enables us to explore new optimizations that decrease the estimation error and increase the reliability of Time Difference Of Arrival (TDoA) methods. In this paper, particle filtering is applied to combine TDoA and AoA measurements that were collected in a dense urban environment. The performance of this particle filter is compared to a TDoA estimator and our previous grid-based combination. The results show that a median estimation error of 199 m can be obtained with a particle filter without AoA, which is an error reduction of 10 % compared to the grid-based method. Moreover, the median error is reduced with 57 % if AoA measurements are used. Hence, more accurate and reliable localization is achieved compared to the performance of other baseline methods

LoRaWAN geo-tracking using map matching and compass sensor fusion

In contrast to accurate GPS-based localization, approaches to localize within LoRaWAN networks offer the advantages of being low power and low cost. This targets a very different set of use cases and applications on the market where accuracy is not the main considered metric. The localization is performed by the Time Difference of Arrival (TDoA) method and provides discrete position estimates on a map. An accurate "tracking-on-demand" mode for retrieving lost and stolen assets is important. To enable this mode, we propose deploying an e-compass in the mobile LoRa node, which frequently communicates directional information via the payload of the LoRaWAN uplink messages. Fusing this additional information with raw TDoA estimates in a map matching algorithm enables us to estimate the node location with a much increased accuracy. It is shown that this sensor fusion technique outperforms raw TDoA at the cost of only embedding a low-cost e-compass. For driving, cycling, and walking trajectories, we obtained minimal improvements of 65, 76, and 82% on the median errors which were reduced from 206 to 68 m, 197 to 47 m, and 175 to 31 m, respectively. The energy impact of adding an e-compass is limited: energy consumption increases by only 10% compared to traditional LoRa localization, resulting in a solution that is still 14 times more energy-efficient than a GPS-over-LoRa solution

Collaborative control of wave glider platforms - Local Communication and Sea State Estimation

Climate change is the focus of many oceanography and marine engineering researchers, with possible links between climate change and the carbon cycle in the Southern Ocean being considered. This type of investigation requires modern and cost-effective tools to conduct surveys and collect data from the ocean. The self-propelled unmanned surface vessel, the Liquid Robotics Wave Glider, was designed primarily as a marine research tool and offers several advantages over existing research vessels and other tools employed for data acquisition in the ocean. The main advantages are its robustness at sea, i.e. its ability to withstand extreme weather conditions, its propulsion energy source, which is the wave energy, and its customisable electronics payload. The inter-platform communication strategy of the Wave Glider inspired a few engineering questions, one of which is the focal point of this research: whether Low Power Wide Area Network (LPWAN) technology can be used to set up a local communication system enabling the collaboration of two or more Wave Gliders and reduce the cost, in terms of power and communication channels, involved in the communication with the Wave Glider platforms during missions. This research considers various LPWAN technologies available on the market and proposes LoRaWAN technology for the local communication system. LoRaWAN was selected as it presented a robust radio modulation and had growing support in the industry. In this research, a LoRa-based network of two nodes was developed, implemented and tested over the surface of the ocean. It was found that the system performs well over a distance of 1 km with both antennas having one end at the mean surface level of the sea. With the intention to increase the range of the platform and achieve a reliable and robust system, the research continued with the study of the influence of the surface waves on the proposed local communication system by exploring, firstly, the impact of seawater and, secondly, the wave height on signal transmission. The first study investigated the influence that the electromagnetic properties of seawater may have on the transmission of signals from one node to the second through simulations using the computational electromagnetic package FEKO. It revealed that, at the frequency of operation, which was 868 MHz, seawater reacted as a lossy conductor and reflected the signal upward, with negligible power penetrating the surface of the ocean. The subsequent study reviewed the statistical properties of the ocean surface waves in a sea of deep waters and proposed a relationship between the wind speed (or surface wave elevation), the antenna height, the distance separation between the two nodes and the probability of the presence of a line of sight (LoS) between the two nodes. This relationship quantifies the expected result that the probability of the LoS diminishes as the wind speed or the distance between the two nodes increases, whereas it improves with an increase in the antenna height. The last part of the research focused on initial works on sea state estimation using the lossless wave equation and Kalman Filter to provide 3D sea surface elevations that would be used to change to the probability of the LoS calculated previously in the research. Indeed, using the local communication to share the point-wise sea state data can be exploited to estimate the sea state over a rectangular region delimited to include these points. Sea state estimation is expected to enhance the joint navigation and coordination of the platforms and consequently, boost the probability of the LoS through the transmission at the crest of the waves. During the development of the Kalman Filter model, it was discovered that the sample time and the sample space significantly affect the performance and the stability of the discretised models. However, a carefully selected sampling time and sample space exhibited a stable system model. The results of the Kalman filtering were a realistic sea state estimate with a minimum error at the locations in the surrounding of the measurements

Smart Monitoring and Control in the Future Internet of Things

The Internet of Things (IoT) and related technologies have the promise of realizing pervasive and smart applications which, in turn, have the potential of improving the quality of life of people living in a connected world. According to the IoT vision, all things can cooperate amongst themselves and be managed from anywhere via the Internet, allowing tight integration between the physical and cyber worlds and thus improving efficiency, promoting usability, and opening up new application opportunities. Nowadays, IoT technologies have successfully been exploited in several domains, providing both social and economic benefits. The realization of the full potential of the next generation of the Internet of Things still needs further research efforts concerning, for instance, the identification of new architectures, methodologies, and infrastructures dealing with distributed and decentralized IoT systems; the integration of IoT with cognitive and social capabilities; the enhancement of the sensing–analysis–control cycle; the integration of consciousness and awareness in IoT environments; and the design of new algorithms and techniques for managing IoT big data. This Special Issue is devoted to advancements in technologies, methodologies, and applications for IoT, together with emerging standards and research topics which would lead to realization of the future Internet of Things

A Novel Real-Time Edge-Cloud Big Data Management and Analytics Framework for Smart Cities

Exposing city information to dynamic, distributed, powerful, scalable, and user-friendly big data systems is expected to enable the implementation of a wide range of new opportunities; however, the size, heterogeneity and geographical dispersion of data often makes it difficult to combine, analyze and consume them in a single system. In the context of the H2020 CLASS project, we describe an innovative framework aiming to facilitate the design of advanced big-data analytics workflows. The proposal covers the whole compute continuum, from edge to cloud, and relies on a well-organized distributed infrastructure exploiting: a) edge solutions with advanced computer vision technologies enabling the real-time generation of “rich” data from a vast array of sensor types; b) cloud data management techniques offering efficient storage, real-time querying and updating of the high-frequency incoming data at different granularity levels. We specifically focus on obstacle detection and tracking for edge processing, and consider a traffic density monitoring application, with hierarchical data aggregation features for cloud processing; the discussed techniques will constitute the groundwork enabling many further services. The tests are performed on the real use-case of the Modena Automotive Smart Area (MASA)

Ultra-wideband Based Indoor Localization of Mobile Nodes in ToA and TDoA Configurations

Zandian R. Ultra-wideband Based Indoor Localization of Mobile Nodes in ToA and TDoA Configurations. Bielefeld: Universität Bielefeld; 2019.This thesis discusses the utilization of ultra-wideband (UWB) technology in indoor localization scenarios and proposes system setup and evaluates different localization algorithms in order to improve the localization accuracy and stability of such systems in non-ideal conditions of the indoor environment. Recent developments and advances of technology in the areas of ubiquitous Internet, robotics and internet of things (IoT) have resulted in emerging new application areas in daily life in which localization systems are vital. The significant demand for a robust and accurate localization system that is applicable in indoor areas lacking satellites link, can be sensed. The UWB technology offers accurate localization systems with an accuracy of below 10 cm and covering the range of up to a few hundred meters thanks to their dedicated large bandwidth, modulation technique and signal power. In this thesis, the technology behind the UWB systems is discussed in detail. In terms of localization topologies, different scenarios with the focus on time-based methods are introduced. The main focus of this thesis is on the differential time of arrival localization systems (TDoA) with unilateral constellation that is suitable for robotic localization and navigation applications. A new approach for synchronization of TDoA topology is proposed and influence of clock inaccuracies in such systems are thoroughly evaluated. For localization engine, two groups of static and dynamic iterative algorithms are introduced. Among the possible dynamic methods, extended Kalman filter (EKF), H∞ and unscented Kalman filter (UKF) are discussed and meticulously evaluated. In order to tackle the non-line of sight (NLOS) problem of such systems, for detection stage several solutions which are based on parametric machine learning methods are proposed. Furthermore, for mitigation phase two solutions namely adjustment of measurement variance and innovation term are suggested. Practical results prove the efficiency and high reliability of the proposed algorithms with positive NLOS condition detection rate of more than 87%. In practical trials, the localization system is evaluated in indoor and outdoor arenas in both line of sight and non-line of sight conditions. The results show that the proposed detection and mitigation methods can be successfully applied for both small and large-scale arenas with the higher performance of the localization filters in terms of accuracy in large-scale scenarios

Agricultural Monitoring System using Images through a LPWAN Network

Internet of things (IoT) has turned into an opportunity to connect millions of devices through communication networks in digital environments. Inside IoT and mainly in the technologies of communication networks, it is possible to find Low Power Wide Area Networks (LPWAN). Within these technologies, there are service platforms in unlicensed frequency bands such as the LoRa Wide Area Network (LoRaWAN). It has features such as low power consumption, long-distance operation between gateway and node, and low data transport capacity. LPWAN networks are not commonly used to transport high data rates as in the case of agricultural images. The main goal of this research is to present a methodology to transport images through LPWAN networks using LoRa modulation. The methodology presented in this thesis is composed of three stages mainly. The first one is image processing and classification process. This stage allows preparing the image in order to give the information to the classifier and separate the normal and abnormal images; i.e. to classify the images under the normal conditions of its representation in contrast with the images that can represent some sick or affectation with the consequent presence of a particular pathology. For this activity. it was used some techniques were used classifiers such as Support Vector Machine SVM, K-means clustering, neuronal networks, deep learning and convolutional neuronal networks. The last one offered the best results in classifying the samples of the images. The second stage consists in a compression technique and reconstruction algorithms. In this stage, a method is developed to process the image and entails the reduction of the high amount of information that an image has in its normal features with the goal to transport the lowest amount of information. For this purpose, a technique will be presented for the representation of the information of an image in a common base that improves the reduction process of the information. For this activity, the evaluated components were Wavelet, DCT-2D and Kronecker algorithms. The best results were obtained by Wavelet Transform. On the other hand, the compres- sion process entails a series of iterations in the vector information, therefore, each iteration is a possibility to reduce that vector until a value with a minimum PSNR (peak signal to noise ratio) that allows rebuilding the original vector. In the reconstruction process, Iterative Hard Thresholding (IHT), Ortogonal MAtching Pur- suit (OMP), Gradient Projection for Sparse Reconstruction (GPSR)and Step Iterative Shrinage/Thresholding (Twist) algorithms were evaluated. Twist showed the best performance in the results. Finally, in the third stage, LoRa modulation is implemented through the creation of LoRa symbols in Matlab with the compressed information. The symbols were delivered for transmission to Software Defined Radio (SDR). In the receptor, a SDR device receives the signal, which is converted into symbols that are in turn converted in an information vector. Then, the reconstruction process is carried out following the description in the last part of stage 2 - compression technique and reconstruction algorithms, which is described in more detailed in chapter 3, section 3.2. Finally, the image reconstructed is presented. The original image and the result image were compared in order to find the differences. This comparison used Peak Signal-to-Noise Ratio (PSNR) feature in order to get the fidelity of the reconstructed image with respect of the original image. In the receptor node, it is possible to observe the pathology of the leaf. The methodology is particularly applied for monitoring abnormal leaves samples in potato crops. This work allows finding a methodology to communicate images through LPWAN using the LoRa modulation technique. In this work, a framework was used to classify the images, then, to process them in order to reduce the amount of data, to establish communication between a transmitter and a receiver through a wireless communication system and finally, in the receptor, to obtain a picture that shows the particularity of the pathology in an agricultural crop.Gobernación de Boyacá, Colfuturo, Colciencias, Universidad Santo Tomás, Pontificia Universidad JaverianaInternet of things (IoT) has turned into an opportunity to connect millions of devices through communication networks in digital environments. Inside IoT and mainly in the technologies of communication networks, it is possible to find Low Power Wide Area Networks (LPWAN). Within these technologies, there are service platforms in unlicensed frequency bands such as the LoRa Wide Area Network (LoRaWAN). It has features such as low power consumption, long-distance operation between gateway and node, and low data transport capacity. LPWAN networks are not commonly used to transport high data rates as in the case of agricultural images. The main goal of this research is to present a methodology to transport images through LPWAN networks using LoRa modulation. The methodology presented in this thesis is composed of three stages mainly. The first one is image processing and classification process. This stage allows preparing the image in order to give the information to the classifier and separate the normal and abnormal images; i.e. to classify the images under the normal conditions of its representation in contrast with the images that can represent some sick or affectation with the consequent presence of a particular pathology. For this activity. it was used some techniques were used classifiers such as Support Vector Machine SVM, K-means clustering, neuronal networks, deep learning and convolutional neuronal networks. The last one offered the best results in classifying the samples of the images. The second stage consists in a compression technique and reconstruction algorithms. In this stage, a method is developed to process the image and entails the reduction of the high amount of information that an image has in its normal features with the goal to transport the lowest amount of information. For this purpose, a technique will be presented for the representation of the information of an image in a common base that improves the reduction process of the information. For this activity, the evaluated components were Wavelet, DCT-2D and Kronecker algorithms. The best results were obtained by Wavelet Transform. On the other hand, the compres- sion process entails a series of iterations in the vector information, therefore, each iteration is a possibility to reduce that vector until a value with a minimum PSNR (peak signal to noise ratio) that allows rebuilding the original vector. In the reconstruction process, Iterative Hard Thresholding (IHT), Ortogonal MAtching Pur- suit (OMP), Gradient Projection for Sparse Reconstruction (GPSR)and Step Iterative Shrinage/Thresholding (Twist) algorithms were evaluated. Twist showed the best performance in the results. Finally, in the third stage, LoRa modulation is implemented through the creation of LoRa symbols in Matlab with the compressed information. The symbols were delivered for transmission to Software Defined Radio (SDR). In the receptor, a SDR device receives the signal, which is converted into symbols that are in turn converted in an information vector. Then, the reconstruction process is carried out following the description in the last part of stage 2 - compression technique and reconstruction algorithms, which is described in more detailed in chapter 3, section 3.2. Finally, the image reconstructed is presented. The original image and the result image were compared in order to find the differences. This comparison used Peak Signal-to-Noise Ratio (PSNR) feature in order to get the fidelity of the reconstructed image with respect of the original image. In the receptor node, it is possible to observe the pathology of the leaf. The methodology is particularly applied for monitoring abnormal leaves samples in potato crops. This work allows finding a methodology to communicate images through LPWAN using the LoRa modulation technique. In this work, a framework was used to classify the images, then, to process them in order to reduce the amount of data, to establish communication between a transmitter and a receiver through a wireless communication system and finally, in the receptor, to obtain a picture that shows the particularity of the pathology in an agricultural crop.Doctor en IngenieríaDoctoradohttps://orcid.org/0000-0002-3554-1531https://scholar.google.com/citations?user=5_dx9REAAAAJ&hl=eshttps://scienti.minciencias.gov.co/cvlac/EnRecursoHumano/query.d

Real-Time Sensor Networks and Systems for the Industrial IoT

The Industrial Internet of Things (Industrial IoT—IIoT) has emerged as the core construct behind the various cyber-physical systems constituting a principal dimension of the fourth Industrial Revolution. While initially born as the concept behind specific industrial applications of generic IoT technologies, for the optimization of operational efficiency in automation and control, it quickly enabled the achievement of the total convergence of Operational (OT) and Information Technologies (IT). The IIoT has now surpassed the traditional borders of automation and control functions in the process and manufacturing industry, shifting towards a wider domain of functions and industries, embraced under the dominant global initiatives and architectural frameworks of Industry 4.0 (or Industrie 4.0) in Germany, Industrial Internet in the US, Society 5.0 in Japan, and Made-in-China 2025 in China. As real-time embedded systems are quickly achieving ubiquity in everyday life and in industrial environments, and many processes already depend on real-time cyber-physical systems and embedded sensors, the integration of IoT with cognitive computing and real-time data exchange is essential for real-time analytics and realization of digital twins in smart environments and services under the various frameworks’ provisions. In this context, real-time sensor networks and systems for the Industrial IoT encompass multiple technologies and raise significant design, optimization, integration and exploitation challenges. The ten articles in this Special Issue describe advances in real-time sensor networks and systems that are significant enablers of the Industrial IoT paradigm. In the relevant landscape, the domain of wireless networking technologies is centrally positioned, as expected

Selected Papers from the 5th International Electronic Conference on Sensors and Applications

This Special Issue comprises selected papers from the proceedings of the 5th International Electronic Conference on Sensors and Applications, held on 15–30 November 2018, on sciforum.net, an online platform for hosting scholarly e-conferences and discussion groups. In this 5th edition of the electronic conference, contributors were invited to provide papers and presentations from the field of sensors and applications at large, resulting in a wide variety of excellent submissions and topic areas. Papers which attracted the most interest on the web or that provided a particularly innovative contribution were selected for publication in this collection. These peer-reviewed papers are published with the aim of rapid and wide dissemination of research results, developments, and applications. We hope this conference series will grow rapidly in the future and become recognized as a new way and venue by which to (electronically) present new developments related to the field of sensors and their applications

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