A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on AI approaches, such as deep neural networks (DNNs) are becoming pervasive for standard-size drones, but are considered out of reach for nanodrones with size of a few cm${}^\mathrm{2}$. In this work, we present the first (to the best of our knowledge) demonstration of a navigation engine for autonomous nano-drones capable of closed-loop end-to-end DNN-based visual navigation. To achieve this goal we developed a complete methodology for parallel execution of complex DNNs directly on-bard of resource-constrained milliwatt-scale nodes. Our system is based on GAP8, a novel parallel ultra-low-power computing platform, and a 27 g commercial, open-source CrazyFlie 2.0 nano-quadrotor. As part of our general methodology we discuss the software mapping techniques that enable the state-of-the-art deep convolutional neural network presented in [1] to be fully executed on-board within a strict 6 fps real-time constraint with no compromise in terms of flight results, while all processing is done with only 64 mW on average. Our navigation engine is flexible and can be used to span a wide performance range: at its peak performance corner it achieves 18 fps while still consuming on average just 3.5% of the power envelope of the deployed nano-aircraft.Comment: 15 pages, 13 figures, 5 tables, 2 listings, accepted for publication in the IEEE Internet of Things Journal (IEEE IOTJ

MINI-ROBOT VIA WIRELESS COMMUNICATION

 The Emergence Of Nano-Electromagnetic Communications Supported Graphene Nano-Antennas Has Opened New Perspectives For Communications Between Small Things, Referred As To The Web Of MiniThings Or Maybe Because The Internet Of Nano-Things. However, These Antennas Make Use Of The Terahertz Band Which Raises Many Problems Just Like The Absorption Of Entire Range Of The Available Bandwidth By Any Molecule. Meanwhile, Recent Advances Are Made Within The Design And Fabrication Of Mini-Robots Enabling Formation Of Minirobots Networks. Nano-Antennas Are A Stimulating Way Of Communicating Between Mini-Robots. We Envision Two Types Of Bene_Ts Using Integrated NanoAntennas In Mini-Robots. Second, nano wireless communications can create new applications and new applications.This Article Presents A Simulation Framework For Mini-Robots Using Nano-Wireless Communications And An Application Being Developed Within Our Simulator.&nbsp

The Advantages of Using Raspberry Pi 3 Compared to Raspberry Pi 2 SoC Computers for Sensor System Support

This paper shows the comparison between two generations of\ud Raspberry Pi SoC computers, which can be marked as the first stage of nano revolution of ubiquitous computing and the Internet of Things

Molecular communications techniques for the internet of bio-nano things

The ”Internet of Bio-Nano Things” (IoBNT) is a new networking paradigm defined as the interconnection of nanoscale devices. IoBNT is a revolutionizing concept that will likely enable a wide range of applications, in particular, it is envisioned that healthcare systems will be transformed with the development and integration of body-centric networks into future generations of communication systems. Within this context, molecular communications (MC) emerge as the most promising way of transmitting information for in-body communications, due to being inherently biocompatible, energy-efficient, and robust in physiological conditions. One of the biggest challenges is how to minimize the effects of environmental noise and reduce intersymbol interference (ISI) which can be very high in an MC via diffusion scenario. Analogous to traditional communications, channel coding is one of the most promising types of techniques for addressing this problem. This work is based on the study and evaluation of novel energy efficient and low complexity coding, modulation and detection schemes for MC. With a special focus on the implementation of Tomlinson, Cercas, Hughes (TCH) codes as a new attractive approach for the MC environment, due to the particular codeword properties which enable simplified detection. Simulation results show that TCH codes are more effective for these scenarios when compared to other existing alternatives, without introducing too much complexity or processing power into the system. Furthermore, an experimental macroscale proof-of-concept is described, which uses pH as the information carrier and demonstrates that the proposed TCH codes can improve the reliability in this type of communication channel.A ”Internet das Coisas” Bio-Nano é um novo paradigma de rede definido como a interconexão de dispositivos nano escala. Este é um conceito revolucionário que espectavelmente permitirá uma vasta gama de aplicações. Em particular, prevê-se que os sistemas de saúde sejam transformados com a integração de redes centradas no corpo, em futuras gerações de sistemas de comunicação. Neste contexto, as comunicações moleculares (CM) emergem como a forma mais promissora de transmitir informação, devido ao facto de serem intrinsecamente biocompatíveis, eficientes em termos energéticos e robustos em condições fisiológicas. Um dos maiores desafios é como minimizar os efeitos do ruído ambiental e reduzir a interferência intersimbólica que pode ser muito elevada num cenário de CM por difusão. A codificação de canal é um dos tipos de técnicas mais promissoras para abordar este problema. Este trabalho baseia-se na avaliação da modulação, da deteção e de novos esquemas de codificação energeticamente eficientes e de baixa complexidade aplicados em CM. Com especial foco, na implementação de códigos Tomlinson, Cercas, Hughes (TCH) como uma nova abordagem para um ambiente de CM, devido às suas particulares propriedades das palavras de código, que permitem uma deteção simplificada. Os resultados das simulações mostram que os códigos TCH são mais eficazes para estes cenários quando comparados com outras alternativas existentes, sem introduzir demasiada complexidade ou poder de processamento no sistema. Adicionalmente, é descrita uma experiência macroscópica, que utiliza o pH como portador de informação, demonstrando que os códigos TCH propostos podem melhorar a fiabilidade para CM

Nano-networks communication architecture: Modeling and functions

Nano-network is a communication network at the Nano-scale between Nano-devices. Nano-devices face certain challenges in functionalities, because of limitations in their processing capabilities and power management. Hence, these devices are expected to perform simple tasks, which require different and novel approaches. In order to exploit different functionalities of Nano-machines, we need to manage and control a set of Nano-devices in a full Nano-network using an appropriate architecture. This step will enable unrivaled applications in the biomedical, environmental and industrial fields. By the arrival of Internet of Things (IoT) the use of the Internet has transformed, where various types of objects, sensors and devices can interact making our future networks connect nearly everything from traditional network devices to people. In this paper, we provide an unified architectural model of Nano-network communication with a layered approach combining Software Defined Network (SDN), Network Function Virtualization (NFV) and IoT technologies and present how this combination can help in Nano-networks’ context. Consequently, we propose a set of functions and use cases that can be implemented by Nano-devices and discuss the significant challenges in implementing these functions with Nano-technology paradigm and the open research issues that need to be addressed.Peer ReviewedPostprint (published version

Graphene and Related Materials for the Internet of Bio-Nano Things

Internet of Bio-Nano Things (IoBNT) is a transformative communication framework, characterized by heterogeneous networks comprising both biological entities and artificial micro/nano-scale devices, so-called Bio-Nano Things (BNTs), interfaced with conventional communication networks for enabling innovative biomedical and environmental applications. Realizing the potential of IoBNT requires the development of new and unconventional communication technologies, such as molecular communications, as well as the corresponding transceivers, bio-cyber interfacing technologies connecting the biochemical domain of IoBNT to the electromagnetic domain of conventional networks, and miniaturized energy harvesting and storage components for the continuous power supply to BNTs. Graphene and related materials (GRMs) exhibit exceptional electrical, optical, biochemical, and mechanical properties, rendering them ideal candidates for addressing the challenges posed by IoBNT. This perspective article highlights recent advancements in GRM-based device technologies that are promising for implementing the core components of IoBNT. By identifying the unique opportunities afforded by GRMs and aligning them with the practical challenges associated with IoBNT, particularly in the materials domain, our aim is to accelerate the transition of envisaged IoBNT applications from theoretical concepts to practical implementations, while also uncovering new application areas for GRMs

The roles of nanotechnology and internet of nano things in healthcare transformation

La salud, como derecho humano básico, no ha permanecido inmune a las tecnologías innovadoras. El progreso tecnológico ha contribuido significativamente a un servicio de salud de alta calidad, aceptable y asequible. Desde su aparición, la nanotecnología y el Internet de las Nanocosas (IoNT, por sus siglas en inglés) han cambiado la atención médica y han influenciado tremendamente su transformación para obtener mejores resultados. La inclusión de la nanotecnología en medicina a través de nanomateriales y nanodispositivos se conoce como nanomedicina. Esta ha brindado numerosos beneficios a la prevención, diagnóstico y tratamiento de enfermedades. Al ir más allá y conectar los nanodispositivos a Internet, nació el paradigma del IoNT. La inclusión de conceptos del IoNT en los servicios de salud ha resultado en monitoreo y tratamiento más personalizados, oportunos y convenientes. Por estos motivos, la nanotecnología y el IoNT tienen el potencial para revolucionar completamente la asistencia médica en el siglo XXI, creando un sistema que permitirá la detección y diagnóstico tempranos de enfermedades, seguidos por un tratamiento preciso, oportuno y efectivo con costos significativamente menores. Este artículo presenta el papel que la nanotecnología y el IoNT tienen en medicina y los servicios de salud. Además, intenta ampliar el conocimiento sobre las soluciones y enfoques a nanoescala, resaltando los beneficios y analizando los riesgos y preocupaciones potenciales. A pesar de los miedos relacionados con la nanotoxicidad y privacidad, se anticipa que la nanotecnología y el IoNT muestren todo su potencial en el campo de la medicina y la salud en los próximos años.Healthcare, as a basic human right, did not remain immune to innovative technologies. Technological progress has significantly contributed to high-quality, on-time, acceptable and affordable healthcare. Since their appearance, nanotechnology and the Internet of Nano Things (IoNT) have continuously affected healthcare and have a tremendous influence on its transformation, contributing to the better outcome. The inclusion of nanotechnology in medicine through nanomaterials and nanodevices, known as nanomedicine, has brought numerous benefits in disease prevention, diagnosis, and treatment. Going further by connecting nanodevices to the Internet, the IoNT paradigm has been created. The inclusion of IoNT concepts in healthcare has resulted in more personalized, timely, and convenient health monitoring and treatment. Hence, nanotechnology and the IoNT hold the potential to completely revolutionize healthcare in the 21st Century, creating a system that will enable early disease detection and diagnosis followed by accurate, on-time and effective treatment with significantly reduced healthcare costs. This paper presents the roles of nanotechnology and IoNT in medicine and healthcare, and attempts to gain an insight of nanoscale solutions and approaches, highlighting benefits and discussing potential risks and concerns. Despite concerns regarding nanotoxicity, privacy and security issues, it is anticipated that nanotechnology and IoNT will show their full potential in medicine and healthcare in the years to come

Machine learning models for traffic classification in electromagnetic nano-networks

The number of nano-sensors connected to wireless electromagnetic nano-network generates different traffic volumes that have increased dramatically, enabling various applications of the Internet of nano-things. Nano-network traffic classification is more challenging nowadays to analyze different types of flows and study the overall performance of a nano-network that connects to the Internet through micro/nanogateways. There are traditional techniques to classify traffic, such as port-based technique and load-based technique, however the most promising technique used recently is machine learning. As machine learning models have a great impact on traffic classification and network performance evaluation in general, it is difficult to declare which is the best or the most suitable model to address the analysis of large volumes of traffic collected in operational nano-networks. In this paper, we study the classification problem of nano-network traffic captured by micro/nano-gateway, and then five supervised machine learning algorithms are used to analyze and classify the nano-network traffic from traditional traffic. Experimental analysis of the proposed models is evaluated and compared to show the most adequate classifier for nano-network traffic that gives very good accuracy and performance score to other classifiers.This work was supported in part by the ‘‘Agencia Estatal de Investigación’’ of ‘‘Ministerio de Ciencia e Innovación’’ of Spain under Project PID2019-108713RB-C51/MCIN/AEI/10.13039/501100011033, and in part by the ‘‘Agència de Gestió d’Ajuts Universitaris i de Recerca’’ (AGAUR) of the ‘‘Generalitat de Catalunya’’ under Grant 2021FI_B2 00091.Postprint (published version