Exploring IMU Attitude and Position Estimation for Improved Location in Indoor Environments

Wearable sensors with an inertial measurement unit (IMU) are popular for indoor positioning and activity pattern detection. The IMUs can be connected to a wireless transmission module, allowing users to monitor and process motion-related parameters remotely. Because of the complexity and uncertainty of signals in indoor environments, a radio frequency (RF) positioning system alone is often insufficient to provide the position accuracy and stability required for many applications, for example, position-guided indoor mobile robots. Our idea is to fuse two or more sources of data to generate highly accurate positioning information. Specifically, we have developed an IMU-aided RF positioning system, aiming to improve the accuracy of the system in indoor environments for mobile robotics. This approach combines the measurements of the accelerometers, gyroscopes, and magnetometer from an IMU via a complementary filter. The work includes a development of a calibration algorithm, which reduces the IMU drift and error. With the calibrated data, the trapezoidal integration method can now better use the accelerometer data to estimate the velocity and displacement of the mobile robot. In order to transform the data in the coordinate system of the IMU mounted on the mobile robot body to the ground positioning coordinate that RF positioning uses, we implement a quaternion rotation algorithm. This enables the fusion of the IMU and RF positioning estimates to accurately determine the moving trajectory of the mobile robot and guide its moving directions

Ultra Low Power Communication Protocols for UWB Impulse Radio Wireless Sensor Networks

This thesis evaluates the potential of Ultra Wideband Impulse Radio for wireless sensor network applications. Wireless sensor networks are collections of small electronic devices composed of one or more sensors to acquire information on their environment, an energy source (typically a battery), a microcontroller to control the measurements, process the information and communicate with its peers, and a radio transceiver to enable these communications. They are used to regularly collect information within their deployment area, often for very long periods of time (up to several years). The large number of devices often considered, as well as the long deployment durations, makes any manual intervention complex and costly. Therefore, these networks must self-configure, and automatically adapt to changes in their electromagnetic environment (channel variations, interferers) and network topology modifications: some nodes may run out of energy, or suffer from a hardware failure. Ultra Wideband Impulse Radio is a novel wireless technology that, thanks to its extremely large bandwidth, is more robust to frequency dependent propagation effects. Its impulsional nature makes it robust to multipath fading, as the short duration of the pulses leads most multipath components to arrive isolated. This technology should also enable high precision ranging through time of flight measurements, and operate at ultra low power levels. The main challenge is to design a system that reaches the same or higher degree of energy savings as existing narrowband systems considering all the protocol layers. As these radios are not yet widely available, the first part of this thesis presents Maximum Pulse Amplitude Estimation, a novel approach to symbol-level modeling of UWB-IR systems that enabled us to implement the first network simulator of devices compatible with the UWB physical layer of the IEEE 802.15.4A standard for wireless sensor networks. In the second part of this thesis, WideMac, a novel ultra low power MAC protocol specifically designed for UWB-IR devices is presented. It uses asynchronous duty cycling of the radio transceiver to minimize the power consumption, combined with periodic beacon emissions so that devices can learn each other's wake-up patterns and exchange packets. After an analytical study of the protocol, the network simulation tool presented in the first part of the thesis is used to evaluate the performance of WideMac in a medical body area network application. It is compared to two narrowband and an FM-UWB solutions. The protocol stack parameters are optimized for each solution, and it is observed that WideMac combined to UWB-IR is a credible technology for such applications. Similar simulations, considering this time a static multi-hop network are performed. It is found that WideMac and UWB-IR perform as well as a mature and highly optimized narrowband solution (based on the WiseMAC ULP MAC protocol), despite the lack of clear channel assessment functionality on the UWB radio. The last part of this thesis studies analytically a dual mode MAC protocol named WideMac-High Availability. It combines the Ultra Low PowerWideMac with the higher performance Aloha protocol, so that ultra low power consumption and hence long deployment times can be combined with high performance low latency communications when required by the application. The potential of this scheme is quantified, and it is proposed to adapt it to narrowband radio transceivers by combining WiseMAC and CSMA under the name WiseMAC-HA

Time diversity solutions to cope with lost packets

A dissertation submitted to Departamento de Engenharia Electrotécnica of Faculdade de Ciências e Tecnologia of Universidade Nova de Lisboa in partial fulfilment of the requirements for the degree of Doctor of Philosophy in Engenharia Electrotécnica e de ComputadoresModern broadband wireless systems require high throughputs and can also have very high Quality-of-Service (QoS) requirements, namely small error rates and short delays. A high spectral efficiency is needed to meet these requirements. Lost packets, either due to errors or collisions, are usually discarded and need to be retransmitted, leading to performance degradation. An alternative to simple retransmission that can improve both power and spectral efficiency is to combine the signals associated to different transmission attempts. This thesis analyses two time diversity approaches to cope with lost packets that are relatively similar at physical layer but handle different packet loss causes. The first is a lowcomplexity Diversity-Combining (DC) Automatic Repeat reQuest (ARQ) scheme employed in a Time Division Multiple Access (TDMA) architecture, adapted for channels dedicated to a single user. The second is a Network-assisted Diversity Multiple Access (NDMA) scheme, which is a multi-packet detection approach able to separate multiple mobile terminals transmitting simultaneously in one slot using temporal diversity. This thesis combines these techniques with Single Carrier with Frequency Division Equalizer (SC-FDE) systems, which are widely recognized as the best candidates for the uplink of future broadband wireless systems. It proposes a new NDMA scheme capable of handling more Mobile Terminals (MTs) than the user separation capacity of the receiver. This thesis also proposes a set of analytical tools that can be used to analyse and optimize the use of these two systems. These tools are then employed to compare both approaches in terms of error rate, throughput and delay performances, and taking the implementation complexity into consideration. Finally, it is shown that both approaches represent viable solutions for future broadband wireless communications complementing each other.Fundação para a Ciência e Tecnologia - PhD grant(SFRH/BD/41515/2007); CTS multi-annual funding project PEst-OE/EEI/UI0066/2011, IT pluri-annual funding project PEst-OE/EEI/LA0008/2011, U-BOAT project PTDC/EEATEL/ 67066/2006, MPSat project PTDC/EEA-TEL/099074/2008 and OPPORTUNISTICCR project PTDC/EEA-TEL/115981/200

Energy-efficient diversity combining for different access schemes in a multi-path dispersive channel

Dissertação para obtenção do Grau de Doutor em Engenharia Electrotécnica e ComputadoresThe forthcoming generation of mobile communications, 5G, will settle a new standard for a larger bandwidth and better Quality of Service (QoS). With the exploding growth rate of user generated data, wireless standards must cope with this growth and at the same time be energy efficient to avoid depleting the batteries of wireless devices. Besides these issues, in a broadband wireless setting QoS can be severely affected from a multipath dispersive channel and therefore be energy demanding. Cross-layered architectures are a good choice to enhance the overall performance of a wireless system. Examples of cross-layered Physical (PHY) - Medium Access Control (MAC) architectures are type-II Diversity Combining (DC) Hybrid-ARQ (H-ARQ) and Multi-user Detection (MUD) schemes. Cross-layered type-II DC H-ARQ schemes reuse failed packet transmissions to enhance data reception on posterior retransmissions; MUD schemes reuse data information from previously collided packets on posterior retransmissions to enhance data reception. For a multipath dispersive channel, a PHY layer analytical model is proposed for Single-Carrier with Frequency Domain Equalization (SC-FDE) that supports DC H-ARQ and MUD. Based on this analytical model, three PHY-MAC protocols are proposed. A crosslayered Time Division Multiple Access (TDMA) scheme that uses DC H-ARQ is modeled and its performance is studied in this document; the performance analysis shows that the scheme performs better with DC and achieves a better energy efficiency at the cost of a higher delay. A novel cross-layered prefix-assisted Direct-Sequence Code Division Multiple Access (DS-CDMA) scheme is proposed and modeled in this document, it uses principles of DC and MUD. This protocol performs better by means of additional retransmissions, achieving better energy efficiency, at the cost of higher redundancy from a code spreading gain. Finally, a novel cross-layered protocol H-ARQ Network Division Multiple Access (H-NDMA) is proposed and modeled, where the combination of DC H-ARQ and MUD is used with the intent of maximizing the system capacity with a lower delay; system results show that the proposed scheme achieves better energy efficiency and a better performance at the cost of a higher number of retransmissions. A comparison of the three cross-layered protocols is made, using the PHY analytical model, under normalized conditions using the same amount of maximum redundancy. Results show that the H-NDMA protocol, in general, obtains the best results, achieving a good performance and a good energy efficiency for a high channel load and low Signal-to-Noise Ratio (SNR). TDMA with DC H-ARQ achieves the best energy efficiency, although presenting the worst delay. Prefix-assisted DS-CDMA in the other hand shows good delay results but presents the worst throughput and energy efficiency

Mobile Health Technologies

Mobile Health Technologies, also known as mHealth technologies, have emerged, amongst healthcare providers, as the ultimate Technologies-of-Choice for the 21st century in delivering not only transformative change in healthcare delivery, but also critical health information to different communities of practice in integrated healthcare information systems. mHealth technologies nurture seamless platforms and pragmatic tools for managing pertinent health information across the continuum of different healthcare providers. mHealth technologies commonly utilize mobile medical devices, monitoring and wireless devices, and/or telemedicine in healthcare delivery and health research. Today, mHealth technologies provide opportunities to record and monitor conditions of patients with chronic diseases such as asthma, Chronic Obstructive Pulmonary Diseases (COPD) and diabetes mellitus. The intent of this book is to enlighten readers about the theories and applications of mHealth technologies in the healthcare domain