Application priority framework for fixed mobile converged communication networks

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.The current prospects in wired and wireless access networks, it is becoming increasingly important to address potential convergence in order to offer integrated broadband services. These systems will need to offer higher data transmission capacities and long battery life, which is the catalyst for an everincreasing variety of air interface technologies targeting local area to wide area connectivity. Current integrated industrial networks do not offer application aware context delivery and enhanced services for optimised networks. Application aware services provide value-added functionality to business applications by capturing, integrating, and consolidating intelligence about users and their endpoint devices from various points in the network. This thesis mainly intends to resolve the issues related to ubiquitous application aware service, fair allocation of radio access, reduced energy consumption and improved capacity. A technique that measures and evaluates the data rate demand to reduce application response time and queuing delay for multi radio interfaces is proposed. The technique overcomes the challenges of network integration, requiring no user intervention, saving battery life and selecting the radio access connection for the application requested by the end user. This study is split in two parts. The first contribution identifies some constraints of the services towards the application layer in terms of e.g. data rate and signal strength. The objectives are achieved by application controlled handover (ACH) mechanism in order to maintain acceptable data rate for real-time application services. It also looks into the impact of the radio link on the application and identifies elements and parameters like wireless link quality and handover that will influence the application type. It also identifies some enhanced traditional mechanisms such as distance controlled multihop and mesh topology required in order to support energy efficient multimedia applications. The second contribution unfolds an intelligent application priority assignment mechanism (IAPAM) for medical applications using wireless sensor networks. IAPAM proposes and evaluates a technique based on prioritising multiple virtual queues for the critical nature of medical data to improve instant transmission. Various mobility patterns (directed, controlled and random waypoint) has been investigated and compared by simulating IAPAM enabled mobile BWSN. The following topics have been studied, modelled, simulated and discussed in this thesis: 1. Application Controlled Handover (ACH) for multi radios over fibre 2. Power Controlled Scheme for mesh multi radios over fibre using ACH 3. IAPAM for Biomedical Wireless Sensor Networks (BWSN) and impact of mobility over IAPAM enabled BWSN. Extensive simulation studies are performed to analyze and to evaluate the proposed techniques. Simulation results demonstrate significant improvements in multi radios over fibre performance in terms of application response delay and power consumption by upto 75% and 15 % respectively, reduction in traffic loss by upto 53% and reduction in delay for real time application by more than 25% in some cases

MFPL: Multi-frequency phase difference combination based device-free localization

Copyright © 2020 The Author(s). With the popularity of indoor wireless network, device-free indoor localization has attracted more and more attention. Unlike device-based localization where the target is required to carry an active transmitter, their frequent signal scanning consumes a large amount of energy, which is inconvenient for devices with limited energy. In this work, we propose the MFPL, device-free localization (DFL) system based on WiFi distance measurement. First, we combine multi-subcarrier characteristic of Channel State Information (CSI) with classical Fresnel reflection model to get the linear relationship between the change of the length of reflection path and the subcarrier phase difference. Then we calculate the Fresnel phase difference between subcarrier pairs with different spacing from CSI amplitude time series. Finally, we get the change of the length of the reflection path caused by target moving to achieve distance measurement and localization. Using a combination of subcarriers with different spacing to achieve distance measurement effectively broadens the maximum unambiguous distance of the system. To solve the complex non-linear problem of the intersection of two elliptic equations, we introduce Newton's method to transform the non-linear problem into a linear one. The effectiveness of our approach is verified using commodity WiFi infrastructures. The experimental results show our method achieves a median error of 0.87 m in actual indoor environment.National Natural Science Foundation of China (61771083, 61704015); Program for Changjiang Scholars and Innovative Research Team in University (IRT1299); Fundamental and Frontier Research Project of Chongqing (Nos. cstc2017jcyjAX0380, cstc2015jcyjBX0065); Sichuan Science and Technology Program (2018GZ0184); University Outstanding Achievement Transformation Project of Chongqing (No. KJZH17117)

UWB Technology

Ultra Wide Band (UWB) technology has attracted increasing interest and there is a growing demand for UWB for several applications and scenarios. The unlicensed use of the UWB spectrum has been regulated by the Federal Communications Commission (FCC) since the early 2000s. The main concern in designing UWB circuits is to consider the assigned bandwidth and the low power permitted for transmission. This makes UWB circuit design a challenging mission in today's community. Various circuit designs and system implementations are published in this book to give the reader a glimpse of the state-of-the-art examples in this field. The book starts at the circuit level design of major UWB elements such as filters, antennas, and amplifiers; and ends with the complete system implementation using such modules

Collaborative autonomy in heterogeneous multi-robot systems

As autonomous mobile robots become increasingly connected and widely deployed in different domains, managing multiple robots and their interaction is key to the future of ubiquitous autonomous systems. Indeed, robots are not individual entities anymore. Instead, many robots today are deployed as part of larger fleets or in teams. The benefits of multirobot collaboration, specially in heterogeneous groups, are multiple. Significantly higher degrees of situational awareness and understanding of their environment can be achieved when robots with different operational capabilities are deployed together. Examples of this include the Perseverance rover and the Ingenuity helicopter that NASA has deployed in Mars, or the highly heterogeneous robot teams that explored caves and other complex environments during the last DARPA Sub-T competition. This thesis delves into the wide topic of collaborative autonomy in multi-robot systems, encompassing some of the key elements required for achieving robust collaboration: solving collaborative decision-making problems; securing their operation, management and interaction; providing means for autonomous coordination in space and accurate global or relative state estimation; and achieving collaborative situational awareness through distributed perception and cooperative planning. The thesis covers novel formation control algorithms, and new ways to achieve accurate absolute or relative localization within multi-robot systems. It also explores the potential of distributed ledger technologies as an underlying framework to achieve collaborative decision-making in distributed robotic systems. Throughout the thesis, I introduce novel approaches to utilizing cryptographic elements and blockchain technology for securing the operation of autonomous robots, showing that sensor data and mission instructions can be validated in an end-to-end manner. I then shift the focus to localization and coordination, studying ultra-wideband (UWB) radios and their potential. I show how UWB-based ranging and localization can enable aerial robots to operate in GNSS-denied environments, with a study of the constraints and limitations. I also study the potential of UWB-based relative localization between aerial and ground robots for more accurate positioning in areas where GNSS signals degrade. In terms of coordination, I introduce two new algorithms for formation control that require zero to minimal communication, if enough degree of awareness of neighbor robots is available. These algorithms are validated in simulation and real-world experiments. The thesis concludes with the integration of a new approach to cooperative path planning algorithms and UWB-based relative localization for dense scene reconstruction using lidar and vision sensors in ground and aerial robots

Robust, Energy-Efficient, and Scalable Indoor Localization with Ultra-Wideband Technology

Ultra-wideband (UWB) technology has been rediscovered in recent years for its potential to provide centimeter-level accuracy in GNSS-denied environments. The large-scale adoption of UWB chipsets in smartphones brings demanding needs on the energy-efficiency, robustness, scalability, and crossdevice compatibility of UWB localization systems. This thesis investigates, characterizes, and proposes several solutions for these pressing concerns. First, we investigate the impact of different UWB device architectures on the energy efficiency, accuracy, and cross-platform compatibility of UWB localization systems. The thesis provides the first comprehensive comparison between the two types of physical interfaces (PHYs) defined in the IEEE 802.15.4 standard: with low and high pulse repetition frequency (LRP and HRP, respectively). In the comparison, we focus not only on the ranging/localization accuracy but also on the energy efficiency of the PHYs. We found that the LRP PHY consumes between 6.4–100 times less energy than the HRP PHY in the evaluated devices. On the other hand, distance measurements acquired with the HRP devices had 1.23–2 times lower standard deviation than those acquired with the LRP devices. Therefore, the HRP PHY might be more suitable for applications with high-accuracy constraints than the LRP PHY. The impact of different UWB PHYs also extends to the application layer. We found that ranging or localization error-mitigation techniques are frequently trained and tested on only one device and would likely not generalize to different platforms. To this end, we identified four challenges in developing platform-independent error-mitigation techniques in UWB localization, which can guide future research in this direction. Besides the cross-platform compatibility, localization error-mitigation techniques raise another concern: most of them rely on extensive data sets for training and testing. Such data sets are difficult and expensive to collect and often representative only of the precise environment they were collected in. We propose a method to detect and mitigate non-line-of-sight (NLOS) measurements that does not require any manually-collected data sets. Instead, the proposed method automatically labels incoming distance measurements based on their distance residuals during the localization process. The proposed detection and mitigation method reduces, on average, the mean and standard deviation of localization errors by 2.2 and 5.8 times, respectively. UWB and Bluetooth Low Energy (BLE) are frequently integrated in localization solutions since they can provide complementary functionalities: BLE is more energy-efficient than UWB but it can provide location estimates with only meter-level accuracy. On the other hand, UWB can localize targets with centimeter-level accuracy albeit with higher energy consumption than BLE. In this thesis, we provide a comprehensive study of the sources of instabilities in received signal strength (RSS) measurements acquired with BLE devices. The study can be used as a starting point for future research into BLE-based ranging techniques, as well as a benchmark for hybrid UWB–BLE localization systems. Finally, we propose a flexible scheduling scheme for time-difference of arrival (TDOA) localization with UWB devices. Unlike in previous approaches, the reference anchor and the order of the responding anchors changes every time slot. The flexible anchor allocation makes the system more robust to NLOS propagation than traditional approaches. In the proposed setup, the user device is a passive listener which localizes itself using messages received from the anchors. Therefore, the system can scale with an unlimited number of devices and can preserve the location privacy of the user. The proposed method is implemented on custom hardware using a commercial UWB chipset. We evaluated the proposed method against the standard TDOA algorithm and range-based localization. In line of sight (LOS), the proposed TDOA method has a localization accuracy similar to the standard TDOA algorithm, down to a 95% localization error of 15.9 cm. In NLOS, the proposed TDOA method outperforms the classic TDOA method in all scenarios, with a reduction of up to 16.4 cm in the localization error.Cotutelle -yhteisväitöskirj

Applications

Volume 3 describes how resource-aware machine learning methods and techniques are used to successfully solve real-world problems. The book provides numerous specific application examples: in health and medicine for risk modelling, diagnosis, and treatment selection for diseases in electronics, steel production and milling for quality control during manufacturing processes in traffic, logistics for smart cities and for mobile communications

Accurate Localization with Ultra-Wideband Ranging for Multi-Robot Systems

RÉSUMÉ : Avec l’avancement de la technologie matérielle et logicielle, l’application de l’automatisation et de la robotique se développe rapidement. Les systèmes multi-robots sont particulièrement prometteurs en raison de leur grande efficacité et robustesse. De tels systèmes peuvent être utilisés pour aider les humains à effectuer efficacement des tâches dangereuses ou pénibles, telles que l’intervention en cas de catastrophe, l’exploration souterraine, etc. Pour déployer un système multi-robot dans un environnement sans GPS, la coordination des robots dans le système est un défi crucial. Chaque robot doit avoir une estimation précise de sa propre position pour permettre aux robots du système de collaborer pour la réalisation de leur tâche. Comme cette direction de recherche est relativement nouvelle, les approches existantes ne sont pas encore abouties. Elles consistent principalement en des systèmes centralisés qui reposent sur des signaux GPS. La dépendance sur un signal GPS limite l’application aux espaces extérieurs ouverts. De plus, les systèmes centralisés sont confrontés au risque d’un point de défaillance unique, qui limite la robustesse du système. Par ailleurs, un système centralisé n’est pas toujours approprié à une taille grandissante, comme lors d’ajout de nouveaux groupes de robots ou lors de la fusion de différents groupes. Par conséquent, une solution distribuée, décentralisée, et adaptée à de larges groupes de tailles variables pouvant produire une estimation et un suivi du positionnement des robots dans un environnement sans GPS est souhaitée. Dans ce travail, nous adoptons une stratégie descendante pour relever ces défis.----------ABSTRACT : With the advancement of hardware and software technology, the everyday applications of automation and robotics are developing rapidly. Multi-robot systems are particularly promising because of their high efficiency and robustness. Such systems can be used to assist humans in performing dangerous or strenuous tasks, such as disaster response, subterranean exploration, etc. To deploy a multi-robot system in an environment without a global positioning system (GPS), coordinating the robots in the system is a crucial challenge. Each robot needs to have the correct tracking of its own and its teammates positions to enable the robots to cooperate. Because this research direction is relatively new, there are not many mature methods: existing approaches are mainly centralized systems that rely on GPS signals. The dependence on GPS restricts the application to the outdoors or indoor spaces with expensive infrastructure. Centralized systems also face the risk of a single point of failure, which is not acceptable for critical systems. In addition, centralized systems can be hard to scale both statically and dynamically (e.g. adding new groups of robots or merging different groups). Therefore, a distributed and scalable solution with accurate positioning and tracking in a GPS-denied environment is desired. In this work, we follow a top-down strategy to address these challenges

Programming techniques for efficient and interoperable software defined radios

Recently, Software-Dened Radios (SDRs) has became a hot research topic in wireless communications eld. This is jointly due to the increasing request of reconfigurable and interoperable multi-standard radio systems able to learn from their surrounding environment and efficiently exploit the available frequency spectrum resources, so realizing the cognitive radio paradigm, and to the availability of reprogrammable hardware architectures providing the computing power necessary to meet the tight real-time constraints typical of the state-of-art wideband communications standards. Most SDR implementations are based on mixed architectures in which Field Programmable Gate Arrays (FPGA), Digital Signal Processors (DSP) and General Purpose Processors (GPP) coexist. GPP-based solutions, even if providing the highest level of flexibility, are typically avoided because of their computational inefficiency and power consumption. Starting from these assumptions, this thesis tries to jointly face two of the main important issues in GPP-based SDR systems: the computational efficiency and the interoperability capacity. In the first part, this thesis presents the potential of a novel programming technique, named Memory Acceleration (MA), in which the memory resources typical of GPP-based systems are used to assist central processor in executing real-time signal processing operations. This technique, belonging to the classical computer-science optimization techniques known as Space-Time trade-offs, defines novel algorithmic methods to assist developers in designing their software-defined signal processing algorithms. In order to show its applicability some "real-world" case studies are presented together with the acceleration factor obtained. In the second part of the thesis, the interoperability issue in SDR systems is also considered. Existing software architectures, like the Software Communications Architecture (SCA), abstract the hardware/software components of a radio communications chain using a middleware like CORBA for providing full portability and interoperability to the implemented chain, called waveform in the SCA parlance. This feature is paid in terms of computational overhead introduced by the software communications middleware and this is one of the reasons why GPP-based architecture are generally discarded also for the implementation of narrow-band SCA-compliant communications standards. In this thesis we briefly analyse SCA architecture and an open-source SCA-compliant framework, ie. OSSIE, and provide guidelines to enable component-based multithreading programming and CPU affinity in that framework. We also detail the implementation of a real-time SCA-compliant waveform developed inside this modified framework, i.e. the VHF analogue aeronautical communications transceiver. Finally, we provide the proof of how it is possible to implement an efficient and interoperable real-time wideband SCA-compliant waveform, i.e. the AeroMACS waveform, on a GPP-based architecture by merging the acceleration factor provided by MA technique and the interoperability feature ensured by SCA architecture

Applications

Volume 3 describes how resource-aware machine learning methods and techniques are used to successfully solve real-world problems. The book provides numerous specific application examples: in health and medicine for risk modelling, diagnosis, and treatment selection for diseases in electronics, steel production and milling for quality control during manufacturing processes in traffic, logistics for smart cities and for mobile communications