AltURI: a thin middleware for simulated robot vision applications

Fast software performance is often the focus when developing real-time vision-based control applications for robot simulators. In this paper we have developed a thin, high performance middleware for USARSim and other simulators designed for real-time vision-based control applications. It includes a fast image server providing images in OpenCV, Matlab or web formats and a simple command/sensor processor. The interface has been tested in USARSim with an Unmanned Aerial Vehicle using two control applications; landing using a reinforcement learning algorithm and altitude control using elementary motion detection. The middleware has been found to be fast enough to control the flying robot as well as very easy to set up and use

User Effects in Beam-Space MIMO

The performance and design of the novel single-RF-chain beam-space MIMO antenna concept is evaluated for the first time in the presence of the user. First, the variations of different performance parameters are evaluated when placing a beam-space MIMO antenna in close proximity to the user body in several typical operating scenarios. In addition to the typical degradation of conventional antennas in terms of radiation efficiency and impedance matching, it is observed that the user body corrupts the power balance and the orthogonality of the beam-space MIMO basis. However, capacity analyses show that throughput reduction mainly stems from the absorption in user body tissues rather than from the power imbalance and the correlation of the basis. These results confirm that the beam-space MIMO concept, so far only demonstrated in the absence of external perturbation, still performs very well in typical human body interaction scenarios.Comment: 4 pages, 7 figures, 2 table

Performance Comparison of Dual Connectivity and Hard Handover for LTE-5G Tight Integration in mmWave Cellular Networks

MmWave communications are expected to play a major role in the Fifth generation of mobile networks. They offer a potential multi-gigabit throughput and an ultra-low radio latency, but at the same time suffer from high isotropic pathloss, and a coverage area much smaller than the one of LTE macrocells. In order to address these issues, highly directional beamforming and a very high-density deployment of mmWave base stations were proposed. This Thesis aims to improve the reliability and performance of the 5G network by studying its tight and seamless integration with the current LTE cellular network. In particular, the LTE base stations can provide a coverage layer for 5G mobile terminals, because they operate on microWave frequencies, which are less sensitive to blockage and have a lower pathloss. This document is a copy of the Master's Thesis carried out by Mr. Michele Polese under the supervision of Dr. Marco Mezzavilla and Prof. Michele Zorzi. It will propose an LTE-5G tight integration architecture, based on mobile terminals' dual connectivity to LTE and 5G radio access networks, and will evaluate which are the new network procedures that will be needed to support it. Moreover, this new architecture will be implemented in the ns-3 simulator, and a thorough simulation campaign will be conducted in order to evaluate its performance, with respect to the baseline of handover between LTE and 5G.Comment: Master's Thesis carried out by Mr. Michele Polese under the supervision of Dr. Marco Mezzavilla and Prof. Michele Zorz

Human-Machine Interface for Remote Training of Robot Tasks

Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task training, or remote research on massive robot farms for machine learning, the need to create an apt remote Human-Machine Interface is quite prevalent. The paper at hand proposes a novel solution to the programming/training of remote robots employing an intuitive and accurate user-interface which offers all the benefits of working with real robots without imposing delays and inefficiency. The system includes: a vision-based 3D hand detection and gesture recognition subsystem, a simulated digital twin of a robot as visual feedback, and the "remote" robot learning/executing trajectories using dynamic motion primitives. Our results indicate that the system is a promising solution to the problem of remote training of robot tasks.Comment: Accepted in IEEE International Conference on Imaging Systems and Techniques - IST201