A Hardware Platform for Communication and Localization Performance Evaluation of Devices inside the Human Body

Body area networks (BAN) is a technology gaining widespread attention for application in medical examination, monitoring and emergency therapy. The basic concept of BAN is monitoring a set of sensors on or inside the human body which enable transfer of vital parameters between the patient´s location and the physician in charge. As body area network has certain characteristics, which impose new demands on performance evaluation of systems for wireless access and localization for medical sensors. However, real-time performance evaluation and localization in wireless body area networks is extremely challenging due to the unfeasibility of experimenting with actual devices inside the human body. Thus, we see a need for a real-time hardware platform, and this thesis addressed this need. In this thesis, we introduced a unique hardware platform for performance evaluation of body area wireless access and in-body localization. This hardware platform utilizes a wideband multipath channel simulator, the Elektrobit PROPSimâ„¢ C8, and a typical medical implantable device, the Zarlink ZL70101 Advanced Development Kit. For simulation of BAN channels, we adopt the channel model defined for the Medical Implant Communication Service (MICS) band. Packet Reception Rate (PRR) is analyzed as the criteria to evaluate the performance of wireless access. Several body area propagation scenarios simulated using this hardware platform are validated, compared and analyzed. We show that among three modulations, two forms of 2FSK and 4FSK. The one with lowest raw data rate achieves best PRR, in other word, best wireless access performance. We also show that the channel model inside the human body predicts better wireless access performance than through the human body. For in-body localization, we focus on a Received Signal Strength (RSS) based localization algorithm. An improved maximum likelihood algorithm is introduced and applied. A number of points along the propagation path in the small intestine are studied and compared. Localization error is analyzed for different sensor positions. We also compared our error result with the Cramèr- Rao lower bound (CRLB), shows that our localization algorithm has acceptable performance. We evaluate multiple medical sensors as device under test with our hardware platform, yielding satisfactory localization performance

Perception Intelligence Integrated Vehicle-to-Vehicle Optical Camera Communication.

Ubiquitous usage of cameras and LEDs in modern road and aerial vehicles open up endless opportunities for novel applications in intelligent machine navigation, communication, and networking. To this end, in this thesis work, we hypothesize the benefit of dual-mode usage of vehicular built-in cameras through novel machine perception capabilities combined with optical camera communication (OCC). Current key conception of understanding a line-of-sight (LOS) scenery is from the aspect of object, event, and road situation detection. However, the idea of blending the non-line-of-sight (NLOS) information with the LOS information to achieve a see-through vision virtually is new. This improves the assistive driving performance by enabling a machine to see beyond occlusion. Another aspect of OCC in the vehicular setup is to understand the nature of mobility and its impact on the optical communication channel quality. The research questions gathered from both the car-car mobility modelling, and evaluating a working setup of OCC communication channel can also be inherited to aerial vehicular situations like drone-drone OCC. The aim of this thesis is to answer the research questions along these new application domains, particularly, (i) how to enable a virtual see-through perception in the car assisting system that alerts the human driver about the visible and invisible critical driving events to help drive more safely, (ii) how transmitter-receiver cars behaves while in the mobility and the overall channel performance of OCC in motion modality, (iii) how to help rescue lost Unmanned Aerial Vehicles (UAVs) through coordinated localization with fusion of OCC and WiFi, (iv) how to model and simulate an in-field drone swarm operation experience to design and validate UAV coordinated localization for group of positioning distressed drones. In this regard, in this thesis, we present the end-to-end system design, proposed novel algorithms to solve the challenges in applying such a system, and evaluation results through experimentation and/or simulation

Communication for Teams of Networked Robots

There are a large class of problems, from search and rescue to environmental monitoring, that can benefit from teams of mobile robots in environments where there is no existing infrastructure for inter-agent communication. We seek to address the problems necessary for a team of small, low-power, low-cost robots to deploy in such a way that they can dynamically provide their own multi-hop communication network. To do so, we formulate a situational awareness problem statement that specifies both the physical task and end-to-end communication rates that must be maintained. In pursuit of a solution to this problem, we address topics ranging from the modeling of point-to-point wireless communication to mobility control for connectivity maintenance. Since our focus is on developing solutions to these problems that can be experimentally verified, we also detail the design and implantation of a decentralized testbed for multi-robot research. Experiments on this testbed allow us to determine data-driven models for point-to-point wireless channel prediction, test relative signal-strength-based localization methods, and to verify that our algorithms for mobility control maintain the desired instantaneous rates when routing through the wireless network. The tools we develop are integral to the fielding of teams of robots with robust wireless network capabilities