Optical Synchronization of Time-of-Flight Cameras

Time-of-Flight (ToF)-Kameras erzeugen Tiefenbilder (3D-Bilder), indem sie Infrarotlicht aussenden und die Zeit messen, bis die Reflexion des Lichtes wieder empfangen wird. Durch den Einsatz mehrerer ToF-Kameras können ihre vergleichsweise geringere Auflösungen überwunden, das Sichtfeld vergrößert und Verdeckungen reduziert werden. Der gleichzeitige Betrieb birgt jedoch die Möglichkeit von Störungen, die zu fehlerhaften Tiefenmessungen führen. Das Problem der gegenseitigen Störungen tritt nicht nur bei Mehrkamerasystemen auf, sondern auch wenn mehrere unabhängige ToF-Kameras eingesetzt werden. In dieser Arbeit wird eine neue optische Synchronisation vorgestellt, die keine zusätzliche Hardware oder Infrastruktur erfordert, um ein Zeitmultiplexverfahren (engl. Time-Division Multiple Access, TDMA) für die Anwendung mit ToF-Kameras zu nutzen, um so die Störungen zu vermeiden. Dies ermöglicht es einer Kamera, den Aufnahmeprozess anderer ToF-Kameras zu erkennen und ihre Aufnahmezeiten schnell zu synchronisieren, um störungsfrei zu arbeiten. Anstatt Kabel zur Synchronisation zu benötigen, wird nur die vorhandene Hardware genutzt, um eine optische Synchronisation zu erreichen. Dazu wird die Firmware der Kamera um das Synchronisationsverfahren erweitert. Die optische Synchronisation wurde konzipiert, implementiert und in einem Versuchsaufbau mit drei ToF-Kameras verifiziert. Die Messungen zeigen die Wirksamkeit der vorgeschlagenen optischen Synchronisation. Während der Experimente wurde die Bildrate durch das zusätzliche Synchronisationsverfahren lediglich um etwa 1 Prozent reduziert.Time-of-Flight (ToF) cameras produce depth images (three-dimensional images) by measuring the time between the emission of infrared light and the reception of its reflection. A setup of multiple ToF cameras may be used to overcome their comparatively low resolution, increase the field of view, and reduce occlusion. However, the simultaneous operation of multiple ToF cameras introduces the possibility of interference resulting in erroneous depth measurements. The problem of interference is not only related to a collaborative multicamera setup but also to multiple ToF cameras operating independently. In this work, a new optical synchronization for ToF cameras is presented, requiring no additional hardware or infrastructure to utilize a time-division multiple access (TDMA) scheme to mitigate interference. It effectively enables a camera to sense the acquisition process of other ToF cameras and rapidly synchronizes its acquisition times to operate without interference. Instead of requiring cables to synchronize, only the existing hardware is utilized to enable an optical synchronization. To achieve this, the camera’s firmware is extended with the synchronization procedure. The optical synchronization has been conceptualized, implemented, and verified with an experimental setup deploying three ToF cameras. The measurements show the efficacy of the proposed optical synchronization. During the experiments, the frame rate was reduced by only about 1% due to the synchronization procedure

Energy-efficient MAC protocol for wireless sensor networks

A Wireless Sensor Network (WSN) is a collection of tiny devices called sensor nodes which are deployed in an area to be monitored. Each node has one or more sensors with which they can measure the characteristics of their surroundings. In a typical WSN, the data gathered by each node is sent wirelessly through the network from one node to the next towards a central base station. Each node typically has a very limited energy supply. Therefore, in order for WSNs to have acceptable lifetimes, energy efficiency is a design goal that is of utmost importance and must be kept in mind at all levels of a WSN system. The main consumer of energy on a node is the wireless transceiver and therefore, the communications that occur between nodes should be carefully controlled so as not to waste energy. The Medium Access Control (MAC) protocol is directly in charge of managing the transceiver of a node. It determines when the transceiver is on/off and synchronizes the data exchanges among neighbouring nodes so as to prevent collisions etc., enabling useful communications to occur. The MAC protocol thus has a big impact on the overall energy efficiency of a node. Many WSN MAC protocols have been proposed in the literature but it was found that most were not optimized for the group of WSNs displaying very low volumes of traffic in the network. In low traffic WSNs, a major problem faced in the communications process is clock drift, which causes nodes to become unsynchronized. The MAC protocol must overcome this and other problems while expending as little energy as possible. Many useful WSN applications show low traffic characteristics and thus a new MAC protocol was developed which is aimed at this category of WSNs. The new protocol, Dynamic Preamble Sampling MAC (DPS-MAC) builds on the family of preamble sampling protocols which were found to be most suitable for low traffic WSNs. In contrast to the most energy efficient existing preamble sampling protocols, DPS-MAC does not cater for the worst case clock drift that can occur between two nodes. Rather, it dynamically learns the actual clock drift experienced between any two nodes and then adjusts its operation accordingly. By simulation it was shown that DPS-MAC requires less protocol overhead during the communication process and thus performs more energy efficiently than its predecessors under various network operating conditions. Furthermore, DPS-MAC is less prone to become overloaded or unstable in conditions of high traffic load and high contention levels respectively. These improvements cause the use of DPS-MAC to lead to longer node and network lifetimes, thus making low traffic WSNs more feasible.Dissertation (MEng)--University of Pretoria, 2008.Electrical, Electronic and Computer EngineeringMEngUnrestricte

A GaN-Based Synchronous Rectifier with Reduced Voltage Distortion for 6.78 MHz Wireless Power Applications

The call for a larger degree of engineering innovation grows as wireless power transfer increases in popularity. In this thesis, 6.78 MHz resonant wireless power transfer is explained. Challenges in WPT such as dynamic load variation and electromagnetic interference due to harmonic distortion are discussed, and a literature review is conducted to convey how the current state of the art is addressing these challenges.A GaN-based synchronous rectifier is proposed as a viable solution, and a model of the circuit is constructed. The precisely derived model is compared to a linearized model to illustrate the importance of exactness within the model derivation. The model is then used to quantify the design space of circuit parameters Lr and Cr with regard to harmonic distortion, input phase control, and efficiency. Practical design decisions concerning the 6.78 MHz system are explained. These include gate driver choice and mitigation of PCB parasitics. The model is verified with open loop experimentation using a linear power amplifier, FPGA, electronic load, and two function generators. Current zero-crossing sensing is then introduced in order to achieve self-regulation of both the switching frequency and input phase. The details of the FPGA code and sensing scheme used to obtain this closed loop functionality are described in detail. Finally, conclusions are drawn, and future work is identified

On the Security of the Automatic Dependent Surveillance-Broadcast Protocol

Automatic dependent surveillance-broadcast (ADS-B) is the communications protocol currently being rolled out as part of next generation air transportation systems. As the heart of modern air traffic control, it will play an essential role in the protection of two billion passengers per year, besides being crucial to many other interest groups in aviation. The inherent lack of security measures in the ADS-B protocol has long been a topic in both the aviation circles and in the academic community. Due to recently published proof-of-concept attacks, the topic is becoming ever more pressing, especially with the deadline for mandatory implementation in most airspaces fast approaching. This survey first summarizes the attacks and problems that have been reported in relation to ADS-B security. Thereafter, it surveys both the theoretical and practical efforts which have been previously conducted concerning these issues, including possible countermeasures. In addition, the survey seeks to go beyond the current state of the art and gives a detailed assessment of security measures which have been developed more generally for related wireless networks such as sensor networks and vehicular ad hoc networks, including a taxonomy of all considered approaches.Comment: Survey, 22 Pages, 21 Figure

Estimation of clock parameters and performance benchmarks for synchronization in wireless sensor networks

Recent years have seen a tremendous growth in the development of small sensing devices capable of data processing and wireless communication through their embed- ded processors and radios. Wireless Sensor Networks (WSNs) are ad hoc networks consisting of such devices gaining importance due to their emerging applications. For a meaningful processing of the information sensed by WSN nodes, the clocks of these individual nodes need to be matched through some well de¯ned procedures. This dissertation focuses on deriving e±cient estimators for the clock parameters of the network nodes for synchronization with the reference node and the estimators variance thresholds are obtained to lower bound the maximum achievable performance. For any general time synchronization protocol involving a two way message ex- change mechanism, the BLUE-OS and the MVUE of the clock o®set between them is derived assuming both symmetric and asymmetric exponential network delays. Next, with the inclusion of clock skew in the model, the joint MLE of clock o®set and skew under both the Gaussian and the exponential delay model and the corresponding al- gorithms for ¯nding these estimates are presented. Also, for applications where even clock skew correction cannot maintain long-term clock synchronization, a closed-form expression for the joint MLE for a quadratic model is obtained. Although the derived MLEs are not computationally very complex, two compu- tationally e±cient algorithms have been proposed to estimate the clock o®set and skew regardless of the distribution of the delays. Afterwards, extending the idea of having inactive nodes in a WSN overhear the two-way timing message communication between two active (master and slave) nodes, the MLE, the BLUE-OS, the MVUE and the MMSE estimators for the clock o®sets of the inactive nodes located within the communication range of the active nodes are derived, hence synchronizing with the reference node at a reduced cost. Finally, focusing on the the one-way timing exchange mechanism, the joint MLE for clock phase o®set and skew under exponential noise model and the Gibbs Sampler for a receiver-receiver protocol is formulated and found via a direct algorithm. Lower and upper bounds for the MSE of JMLE and Gibbs Sampler are introduced in terms of the MSEs of the MVUE and the conventional BLUE, respectively

Decentralized Ultra-Reliable Low-Latency Communications through Concurrent Cooperative Transmission

Emerging cyber-physical systems demand for communication technologies that enable seamless interactions between humans and physical objects in a shared environment. This thesis proposes decentralized URLLC (dURLLC) as a new communication paradigm that allows the nodes in a wireless multi-hop network (WMN) to disseminate data quickly, reliably and without using a centralized infrastructure. To enable the dURLLC paradigm, this thesis explores the practical feasibility of concurrent cooperative transmission (CCT) with orthogonal frequency-division multiplexing (OFDM). CCT allows for an efficient utilization of the medium by leveraging interference instead of trying to avoid collisions. CCT-based network flooding disseminates data in a WMN through a reception-triggered low-level medium access control (MAC). OFDM provides high data rates by using a large bandwidth, resulting in a short transmission duration for a given amount of data. This thesis explores CCT-based network flooding with the OFDM-based IEEE 802.11 Non-HT and HT physical layers (PHYs) to enable interactions with commercial devices. An analysis of CCT with the IEEE 802.11 Non-HT PHY investigates the combined effects of the phase offset (PO), the carrier frequency offset (CFO) and the time offset (TO) between concurrent transmitters, as well as the elapsed time. The analytical results of the decodability of a CCT are validated in simulations and in testbed experiments with Wireless Open Access Research Platform (WARP) v3 software-defined radios (SDRs). CCT with coherent interference (CI) is the primary approach of this thesis. Two prototypes for CCT with CI are presented that feature mechanisms for precise synchronization in time and frequency. One prototype is based on the WARP v3 and its IEEE 802.11 reference design, whereas the other prototype is created through firmware modifications of the Asus RT-AC86U wireless router. Both prototypes are employed in testbed experiments in which two groups of nodes generate successive CCTs in a ping-pong fashion to emulate flooding processes with a very large number of hops. The nodes stay synchronized in experiments with 10 000 successive CCTs for various modulation and coding scheme (MCS) indices and MAC service data unit (MSDU) sizes. The URLLC requirement of delivering a 32-byte MSDU with a reliability of 99.999 % and with a latency of 1 ms is assessed in experiments with 1 000 000 CCTs, while the reliability is approximated by means of the frame reception rate (FRR). An FRR of at least 99.999 % is achieved at PHY data rates of up to 48 Mbit/s under line-of-sight (LOS) conditions and at PHY data rates of up to 12 Mbit/s under non-line-of-sight (NLOS) conditions on a 20 MHz wide channel, while the latency per hop is 48.2 µs and 80.2 µs, respectively. With four multiple input multiple output (MIMO) spatial streams on a 40 MHz wide channel, a LOS receiver achieves an FRR of 99.5 % at a PHY data rate of 324 Mbit/s. For CCT with incoherent interference, this thesis proposes equalization with time-variant zero-forcing (TVZF) and presents a TVZF receiver for the IEEE 802.11 Non-HT PHY, achieving an FRR of up to 92 % for CCTs from three unsyntonized commercial devices. As CCT-based network flooding allows for an implicit time synchronization of all nodes, a reception-triggered low-level MAC and a reservation-based high-level MAC may in combination support various applications and scenarios under the dURLLC paradigm

Smart Grid communications in high traffic environments

The establishment of a previously non-existent data class known as the Smart Grid will pose many difficulties on current and future communication infrastructure. It is imperative that the Smart Grid (SG), as the reactionary and monitory arm of the Power Grid (PG), be able to communicate effectively between grid controllers and individual User Equipment (UE). By doing so, the successful implementation of SG applications can occur, including support for higher capacities of Renewable Energy Resources. As the SG matures, the number of UEs required is expected to rise increasing the traffic in an already burdened communications network. This thesis aims to optimally allocate radio resources such that the SG Quality of Service (QoS) requirements are satisfied with minimal effect on pre-existing traffic. To address this resource allocation problem, a Lotka-Volterra (LV) based resource allocation and scheduler was developed due to its ability to easily adapt to the dynamics of a telecommunications environment. Unlike previous resource allocation algorithms, the LV scheme allocated resources to each class as a function of its growth rate. By doing so, the QoS requirements of the SG were satisfied, with minimal effect on pre-existing traffic. Class queue latencies were reduced by intelligent scheduling of periodic traffic and forward allocation of resources. This thesis concludes that the SG will have a large effect on the telecommunications environment if not successfully controlled and monitored. This effect can be minimized by utilizing the proposed LV based resource allocation and scheduler system. Furthermore, it was shown that the allocation of periodic SG radio channels was optimized by continual updates of the LV model. This ensured the QoS requirements of the SG are achieved and provided enhanced performance. Successful integration of SG UEs in a wireless network can pave the way for increased capacity of Renewable and Intermittent Energy Resources operating on the PG

Software-hardware systems for the Internet-of-Things

Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2018.Cataloged from PDF version of thesis.Includes bibliographical references (pages [187]-201).Although interest in connected devices has surged in recent years, barriers still remain in realizing the dream of the Internet of Things (IoT). The main challenge in delivering IoT systems stems from a huge diversity in their demands and constraints. Some applications work with small sensors and operate using minimal energy and bandwidth. Others use high-data-rate multimedia and virtual reality systems, which require multiple-gigabits-per-second throughput and substantial computing power. While both extremes stress the computation, communications, and energy resources available to the underlying devices, each intrinsically requires different solutions to satisfy its needs. This thesis addresses both bandwidth and energy constraints by developing custom software-hardware systems. To tackle the bandwidth constraint, this thesis introduces three systems. First, it presents AirShare, a synchronized abstraction to the physical layer, which enables the direct implementation of diverse kinds of distributed protocols for loT sensors. This capability results in a much higher throughput in today's IoT networks. Then, it presents Agile-Link and MoVR, new millimeter wave devices and protocols which address two main problems that prevent the adoption of millimeter wave frequencies in today's networks: signal blockage and beam alignment. Lastly, this thesis shows how these systems enable new IoT applications, such as untethered high-quality virtual reality. To tackle the energy constraint, this thesis introduces a VLSI chip, which is capable of performing a million-point Fourier transform in real-time, while consuming 40 times less power than prior fast Fourier transforms. Then, it presents Caraoke, a small, low-cost and low-power sensor, which harvests its energy from solar and enables new smart city applications, such as traffic management and smart parking.by Omid Salehi-Abari.Ph. D