Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links

Underwater cooperative robotics offers the possibility to perform challenging intervention applications, such as recovering archeological objects as within the context of the MERBOTS research project, or grasping, transporting and assembly of big objects, using more than one mobile manipulator, as faced by the TWINBOT project. In order to enhance safety during the intervention, it is reasonable to avoid the umbilical, also giving more mobility to the robots, and enabling a broader set of cooperative movements. Several solutions, based on acoustic, radiofrequency (RF) or Visual Light Communication (VLC) have been proposed for underwater communications in the literature. This paper presents the architecture of an underwater wireless communication framework for the control of multiple semi-autonomous robots in cooperative interventions. The proposed framework is composed of several modules as the virtual reality interface using UWSim, the Underwater Multi-robot Cooperative Intervention Remote Control Protocol (UMCI-RCP) and a Generic Link Layer (GLL). UMCI-RCP allows the control of an underwater robot over limited communication links. UMCI-RCP integrates a progressive compression algorithm that provides visual feedback at a constant rate and ensures image reception even in channels with loses. The Time Division Multiple Access (TDMA) medium access strategy minimizes the jitter of transmitted packets. The GLL has been designed in order to provide support for multimodal transmission (i.e. acoustic, RF and VLC) and also to interface with the UWSim-NET simulator so that facilitates the experimentation either with a real or with a simulated modem. The possibility of exchange real and simulated devices in the proposed framework are demonstrated by means of a teleoperation experiment with a BlueROV equipped with the S100 RF modems. Hardware-In-the-Loop (HIL) capabilities are demonstrated repeating the experiment with the real modems and modeling the BlueROV, and also modeling both the modems and the BlueROV

Algorithms for advance bandwidth reservation in media production networks

Media production generally requires many geographically distributed actors (e.g., production houses, broadcasters, advertisers) to exchange huge amounts of raw video and audio data. Traditional distribution techniques, such as dedicated point-to-point optical links, are highly inefficient in terms of installation time and cost. To improve efficiency, shared media production networks that connect all involved actors over a large geographical area, are currently being deployed. The traffic in such networks is often predictable, as the timing and bandwidth requirements of data transfers are generally known hours or even days in advance. As such, the use of advance bandwidth reservation (AR) can greatly increase resource utilization and cost efficiency. In this paper, we propose an Integer Linear Programming formulation of the bandwidth scheduling problem, which takes into account the specific characteristics of media production networks, is presented. Two novel optimization algorithms based on this model are thoroughly evaluated and compared by means of in-depth simulation results

Master of Science

thesisComputing and data acquisition have become an integral part of everyday life. From reading emails on a cell phone, to kids playing with motion sensing game consoles, we are surrounded with sensors and mobile devices. As the availability of powerful mobile computing devices expands, the road is paved for applications in previously limited environments. Rehabilitative devices are emerging that embrace these mobile advances. Research has explored the use of smartphones in rehabilitation as a means to process data and provide feedback in conjunction with established rehabilitative methods. Smartphones, combined with sensor embedded insoles, provide a powerful tool for the clinician in gathering data and may act as a standalone training technique. This thesis presents continuing research of a sensor integrated insole system that provides real-time feedback through a mobile platform, the Adaptive Real-Time Instrumentation System for Tread Imbalance Correction (ARTISTIC). The system interfaces a wireless instrumented insole with an Android smartphone application to receive gait data and provide sensory feedback to modify gait patterns. Revisions to the system hardware, software, and feedback modes brought about the introduction of the ARTISTIC 2.0. The number of sensors in the insole was increased from two to 10. The microprocessor and a vibrotactile motor were embedded in the insole and the communications box was reduced in size and weight by more than 50%. Stance time iv measurements were validated against force plate equipment and found to be within 13.5 ± 3.3% error of force plate time measurements. Human subjects were tested using each of the feedback modes to alter gait symmetry. Results from the testing showed that more than one mode of feedback caused a statistically significant change in gait symmetry ratios (p < 0.05). Preference of feedback modes varied among subjects, with the majority agreeing that several feedback modes made a difference in their gait. Further improvements will prepare the ARTISTIC 2.0 for testing in a home environment for extended periods of time and improve data capture techniques, such as including a database in the smartphone application

5G network end-to-end delay measurements for live video streaming

Abstract. Focus of this thesis is in the data transmission delay comparison between Edge server and Cloud server when utilizing either 4G or 5G connectivity. In previous mobile phone network generations for example a multimedia server had to be installed on a Cloud server in the internet. 5G mobile phone network introduces a new concept called Edge server. Edge server is located close to the base station and therefore it is assumed to shorten the data transmission delay between the 5G mobile/client and a server application. Edge server can be used both in 4G and 5G networks. In this thesis first the 5G network and the essential new 5G architecture main design principles are gone through. Next the 5G Test Network that is used as a test environment is described and 5G main modules like Multi-access Edge Computing are introduced. 5G performance is clarified and compared against 4G. Delay testing is done in the 5G Test Network using Hospital Use Case demo. There operating room personnel like doctors and nurses is wearing Augmented Reality glasses and they are streaming their view together with patient status related information to multimedia server residing in 5G Test Network Edge server or in internet cloud. From the multimedia server the video is streamed by for example students, medical experts or consultants in a remote location. As part of the thesis the test system is defined and built based on the Hospital Use Case demo. Test specification is created, and tests are executed according to it. Results are recorded and analysed. Data transmission delays between the video stream originator and multimedia server are measured using Qosium measurement system. Also delay between the multimedia server and the streaming client is measured. Measurements are done for configurations where multimedia server is located at the Edge server and the internet cloud server. Both 4G and 5G connectivity is used for both server locations. When delay measurement results were compared it became clear that Edge server has much shorter data transmission delays compared to the internet cloud server. With 5G connectivity the delay was measured to be around 10 milliseconds for both uplink and downlink. With internet cloud the delays varied between 31 and 45 milliseconds with 5G connection. It can be concluded that from today’s mobile phone networks, 5G network does offer the fastest connection to a server environment by utilizing Edge server.5G verkon viiveen mittaaminen videostriimille. Tiivistelmä. Tämä diplomityö keskittyy vertaamaan datatiedonsiirron eroja reunapalvelimen ja internetin pilvipalvelimen välillä 4G ja 5G matkapuhelinverkossa. Aiempien sukupolvien matkapuhelinverkoissa esimerkiksi multimediapalvelin oli asennettava internetin pilvipalvelimelle. Viidennen sukupolven matkapuhelinverkossa otetaan käyttöön reunapalvelin. Reunapalvelin sijaitsee tukiaseman läheisyydessä ja täten sen oletetaan lyhentävän 5G-päätelaitteen ja palvelimen sovelluksen välistä tiedonsiirtoviivettä. Reunapalvelinta voidaan käyttää sekä neljännen että viidennen sukupolven matkapuhelinverkoissa. Tässä diplomityössä käydään ensin läpi 5G-matkapuhelinverkko ja sen arkkitehtuurin pääsuunnittelukriteerit. Seuraavaksi kuvataan testaamisessa käytettävä 5G-testiverkko ja 5G-verkon tärkeimmät moduulit kuten Multi-access Edge Computing. 5G-verkon suorituskyky selitetään ja sitä verrataan edelliseen 4. sukupolven verkkoon. Viivemittaukset tehdään 5G testiverkossa käyttäen 5G lääketieteen käyttötapauksen demoympäristöä. Siinä operointihuoneen henkilöstöllä, kuten lääkäreillä ja hoitajilla, on yllään lisätyn todellisuuden lasit. Lasit lähettävät henkilön näkymän ja potilaaseen liittyvää tietoa 5G-testiverkon reunapalvelimella tai internetin pilvipalvelimella sijaitsevalle multimediapalvelimelle. Multimediapalvelimelta video striimataan esimerkiksi lääketieteen opiskelijoille, asiantuntijoille tai konsulteille, jotka ovat etäällä lähetyspaikasta. Osana diplomityötä määritellään ja rakennetaan lääketieteen käyttötapauksen demon perustuva testausjärjestelmä. Testispesifikaatio luodaan, testit suoritetaan sen perusteella. Testitulokset tallennetaan ja analysoidaan. Tiedonsiirtoviiveet videolähteen ja multimediapalvelimen välillä mitataan käyttäen Qosium mittausjärjestelmää. Myös multimediapalvelimen ja videostriimin vastaanottajan väliset viiveet mitataan. Mittaukset tehdään konfiguraatiolle, jossa multimediapalvelin on sijoitettu reunapalvelimelle ja konfiguraatiolle, jossa se on sijoitettu internetin pilvipalvelimelle. Sekä 4G että 5G-yhteyttä käytetään molemmille konfiguraatiolle. Kun mittaustuloksia verrataan, käy selväksi, että reunapalvelimella on huomattavasti lyhyempi tiedonsiirtoviive kuin internetin pilvipalvelimella. 5G-yhteydellä mitattu viive oli noin 10 ms sekä ylössyöttö- että alassyöttösuuntaan. Internetin pilvipalvelimella viiveet vaihtelivat 31 ja 45 millisekunnin välillä 5G-yhteydellä. Voidaankin todeta, että nykyisistä matkapuhelinverkoista 5G-verkko tarjoaa nopeimman yhteyden palvelinympäristöön reunapalvelimen avulla

A new hybrid model of dengue incidence rate using negative binomial generalised additive model and fuzzy c-means model: a case study in Selangor

Dengue is one of the top reason for illness and mortality in the world with beyond one­third of the world's population living in the risk areas of dengue infection. In this study, there are five stages to achieve the research objectives. Firstly, the verification of predetem1ined variables. Secondly, the identification of new datasets after clustered by district and Fuzzy C-Means Model (FCM). Thirdly, the development of models using the existing dataset and the new datasets which clustered by the two different clustering categories. Then, to assess the models developed by using three measurement methods which are deviance (D), Akaike Jnfonnation Criteria (AIC) and Bayesian Infonnation Criteria (BIC} Lastly, the validation of model developed by comparing the value of D, AIC and BIC between the existing model and the new models developed which used the new datasets. There are two different clustering techniques applied which are clustering the data by district and by FCM. This study proposed a new modelling hybrid framework by using two statistical models which are FCM and negative binomial Generalised Additive Model (GAM). This study successfully presents the significant difference in the climatic and non-climatic factors that influenced dengue incidence rate (DIR) in Selangor, Malaysia. Results show that the climatic factors such as rainfall with current month up to 3 months and number of rainy days with current month up to lag 3 months are significant to DIR. Besides, the interaction between rainfall and number of rainy days also shows strong positive relationship to DIR. Meanwhile, non-climatic vaiiables such as population density, number of locality and lag DIR from I month until 3 months also show significant relationship towards DIR For both clustering techniques, there are two clusters fonned and there are four new models developed in this study. After comparing the values of D, AIC ai1d BIC between the existing model and the new models, this study concluded that four new models recorded lower values compared to the existing model. Therefore, the four new models are selected to present the dengue incidence in Selangor

Communication blades: modular communications for tangible and embedded interfaces

Bladed Tiles is a modular hardware toolkit for building tangible and embedded interface devices. It includes “function blades” and “interaction tiles,” which can provide a flexible, inexpensive, open-ended platform for constructing a wide variety of tangible and embedded interfaces. In this paper, we propose Communication Blades. These are a class of electronic modules with varied computational capabilities for interfacing devices built using bladed tiles toolkit and also for interfacing embedded devices as adapters with external communication networks. These blades provide flexibility by offering the ability to select between different communication technologies and connectivity by providing devices with interoperability over different communication mediums. Furthermore, the modular blade architecture allows different types of communication blades to be plugged in on demand. This reduces the need for development and knowledge of communication protocols by the developers, thus abstracting the underlying complexity. My research work includes studying and designing various communication blades i.e. Serial, USB, Bluetooth and Gumstix. It also includes prototyping, testing and implementing the communication blades

Real-Time Waveform Prototyping

Mobile Netzwerke der fünften Generation zeichen sich aus durch vielfältigen Anforderungen und Einsatzszenarien. Drei unterschiedliche Anwendungsfälle sind hierbei besonders relevant: 1) Industrie-Applikationen fordern Echtzeitfunkübertragungen mit besonders niedrigen Ausfallraten. 2) Internet-of-things-Anwendungen erfordern die Anbindung einer Vielzahl von verteilten Sensoren. 3) Die Datenraten für Anwendung wie z.B. der Übermittlung von Videoinhalten sind massiv gestiegen. Diese zum Teil gegensätzlichen Erwartungen veranlassen Forscher und Ingenieure dazu, neue Konzepte und Technologien für zukünftige drahtlose Kommunikationssysteme in Betracht zu ziehen. Ziel ist es, aus einer Vielzahl neuer Ideen vielversprechende Kandidatentechnologien zu identifizieren und zu entscheiden, welche für die Umsetzung in zukünftige Produkte geeignet sind. Die Herausforderungen, diese Anforderungen zu erreichen, liegen jedoch jenseits der Möglichkeiten, die eine einzelne Verarbeitungsschicht in einem drahtlosen Netzwerk bieten kann. Daher müssen mehrere Forschungsbereiche Forschungsideen gemeinsam nutzen. Diese Arbeit beschreibt daher eine Plattform als Basis für zukünftige experimentelle Erforschung von drahtlosen Netzwerken unter reellen Bedingungen. Es werden folgende drei Aspekte näher vorgestellt: Zunächst erfolgt ein Überblick über moderne Prototypen und Testbed-Lösungen, die auf großes Interesse, Nachfrage, aber auch Förderungsmöglichkeiten stoßen. Allerdings ist der Entwicklungsaufwand nicht unerheblich und richtet sich stark nach den gewählten Eigenschaften der Plattform. Der Auswahlprozess ist jedoch aufgrund der Menge der verfügbaren Optionen und ihrer jeweiligen (versteckten) Implikationen komplex. Daher wird ein Leitfaden anhand verschiedener Beispiele vorgestellt, mit dem Ziel Erwartungen im Vergleich zu den für den Prototyp erforderlichen Aufwänden zu bewerten. Zweitens wird ein flexibler, aber echtzeitfähiger Signalprozessor eingeführt, der auf einer software-programmierbaren Funkplattform läuft. Der Prozessor ermöglicht die Rekonfiguration wichtiger Parameter der physikalischen Schicht während der Laufzeit, um eine Vielzahl moderner Wellenformen zu erzeugen. Es werden vier Parametereinstellungen 'LLC', 'WiFi', 'eMBB' und 'IoT' vorgestellt, um die Anforderungen der verschiedenen drahtlosen Anwendungen widerzuspiegeln. Diese werden dann zur Evaluierung der die in dieser Arbeit vorgestellte Implementierung herangezogen. Drittens wird durch die Einführung einer generischen Testinfrastruktur die Einbeziehung externer Partner aus der Ferne ermöglicht. Das Testfeld kann hier für verschiedenste Experimente flexibel auf die Anforderungen drahtloser Technologien zugeschnitten werden. Mit Hilfe der Testinfrastruktur wird die Leistung des vorgestellten Transceivers hinsichtlich Latenz, erreichbarem Durchsatz und Paketfehlerraten bewertet. Die öffentliche Demonstration eines taktilen Internet-Prototypen, unter Verwendung von Roboterarmen in einer Mehrbenutzerumgebung, konnte erfolgreich durchgeführt und bei mehreren Gelegenheiten präsentiert werden.:List of figures List of tables Abbreviations Notations 1 Introduction 1.1 Wireless applications 1.2 Motivation 1.3 Software-Defined Radio 1.4 State of the art 1.5 Testbed 1.6 Summary 2 Background 2.1 System Model 2.2 PHY Layer Structure 2.3 Generalized Frequency Division Multiplexing 2.4 Wireless Standards 2.4.1 IEEE 802.15.4 2.4.2 802.11 WLAN 2.4.3 LTE 2.4.4 Low Latency Industrial Wireless Communications 2.4.5 Summary 3 Wireless Prototyping 3.1 Testbed Examples 3.1.1 PHY - focused Testbeds 3.1.2 MAC - focused Testbeds 3.1.3 Network - focused testbeds 3.1.4 Generic testbeds 3.2 Considerations 3.3 Use cases and Scenarios 3.4 Requirements 3.5 Methodology 3.6 Hardware Platform 3.6.1 Host 3.6.2 FPGA 3.6.3 Hybrid 3.6.4 ASIC 3.7 Software Platform 3.7.1 Testbed Management Frameworks 3.7.2 Development Frameworks 3.7.3 Software Implementations 3.8 Deployment 3.9 Discussion 3.10 Conclusion 4 Flexible Transceiver 4.1 Signal Processing Modules 4.1.1 MAC interface 4.1.2 Encoding and Mapping 4.1.3 Modem 4.1.4 Post modem processing 4.1.5 Synchronization 4.1.6 Channel Estimation and Equalization 4.1.7 Demapping 4.1.8 Flexible Configuration 4.2 Analysis 4.2.1 Numerical Precision 4.2.2 Spectral analysis 4.2.3 Latency 4.2.4 Resource Consumption 4.3 Discussion 4.3.1 Extension to MIMO 4.4 Summary 5 Testbed 5.1 Infrastructure 5.2 Automation 5.3 Software Defined Radio Platform 5.4 Radio Frequency Front-end 5.4.1 Sub 6 GHz front-end 5.4.2 26 GHz mmWave front-end 5.5 Performance evaluation 5.6 Summary 6 Experiments 6.1 Single Link 6.1.1 Infrastructure 6.1.2 Single Link Experiments 6.1.3 End-to-End 6.2 Multi-User 6.3 26 GHz mmWave experimentation 6.4 Summary 7 Key lessons 7.1 Limitations Experienced During Development 7.2 Prototyping Future 7.3 Open points 7.4 Workflow 7.5 Summary 8 Conclusions 8.1 Future Work 8.1.1 Prototyping Workflow 8.1.2 Flexible Transceiver Core 8.1.3 Experimental Data-sets 8.1.4 Evolved Access Point Prototype For Industrial Networks 8.1.5 Testbed Standardization A Additional Resources A.1 Fourier Transform Blocks A.2 Resource Consumption A.3 Channel Sounding using Chirp sequences A.3.1 SNR Estimation A.3.2 Channel Estimation A.4 Hardware part listThe demand to achieve higher data rates for the Enhanced Mobile Broadband scenario and novel fifth generation use cases like Ultra-Reliable Low-Latency and Massive Machine-type Communications drive researchers and engineers to consider new concepts and technologies for future wireless communication systems. The goal is to identify promising candidate technologies among a vast number of new ideas and to decide, which are suitable for implementation in future products. However, the challenges to achieve those demands are beyond the capabilities a single processing layer in a wireless network can offer. Therefore, several research domains have to collaboratively exploit research ideas. This thesis presents a platform to provide a base for future applied research on wireless networks. Firstly, by giving an overview of state-of-the-art prototypes and testbed solutions. Secondly by introducing a flexible, yet real-time physical layer signal processor running on a software defined radio platform. The processor enables reconfiguring important parameters of the physical layer during run-time in order to create a multitude of modern waveforms. Thirdly, by introducing a generic test infrastructure, which can be tailored to prototype diverse wireless technology and which is remotely accessible in order to invite new ideas by third parties. Using the test infrastructure, the performance of the flexible transceiver is evaluated regarding latency, achievable throughput and packet error rates.:List of figures List of tables Abbreviations Notations 1 Introduction 1.1 Wireless applications 1.2 Motivation 1.3 Software-Defined Radio 1.4 State of the art 1.5 Testbed 1.6 Summary 2 Background 2.1 System Model 2.2 PHY Layer Structure 2.3 Generalized Frequency Division Multiplexing 2.4 Wireless Standards 2.4.1 IEEE 802.15.4 2.4.2 802.11 WLAN 2.4.3 LTE 2.4.4 Low Latency Industrial Wireless Communications 2.4.5 Summary 3 Wireless Prototyping 3.1 Testbed Examples 3.1.1 PHY - focused Testbeds 3.1.2 MAC - focused Testbeds 3.1.3 Network - focused testbeds 3.1.4 Generic testbeds 3.2 Considerations 3.3 Use cases and Scenarios 3.4 Requirements 3.5 Methodology 3.6 Hardware Platform 3.6.1 Host 3.6.2 FPGA 3.6.3 Hybrid 3.6.4 ASIC 3.7 Software Platform 3.7.1 Testbed Management Frameworks 3.7.2 Development Frameworks 3.7.3 Software Implementations 3.8 Deployment 3.9 Discussion 3.10 Conclusion 4 Flexible Transceiver 4.1 Signal Processing Modules 4.1.1 MAC interface 4.1.2 Encoding and Mapping 4.1.3 Modem 4.1.4 Post modem processing 4.1.5 Synchronization 4.1.6 Channel Estimation and Equalization 4.1.7 Demapping 4.1.8 Flexible Configuration 4.2 Analysis 4.2.1 Numerical Precision 4.2.2 Spectral analysis 4.2.3 Latency 4.2.4 Resource Consumption 4.3 Discussion 4.3.1 Extension to MIMO 4.4 Summary 5 Testbed 5.1 Infrastructure 5.2 Automation 5.3 Software Defined Radio Platform 5.4 Radio Frequency Front-end 5.4.1 Sub 6 GHz front-end 5.4.2 26 GHz mmWave front-end 5.5 Performance evaluation 5.6 Summary 6 Experiments 6.1 Single Link 6.1.1 Infrastructure 6.1.2 Single Link Experiments 6.1.3 End-to-End 6.2 Multi-User 6.3 26 GHz mmWave experimentation 6.4 Summary 7 Key lessons 7.1 Limitations Experienced During Development 7.2 Prototyping Future 7.3 Open points 7.4 Workflow 7.5 Summary 8 Conclusions 8.1 Future Work 8.1.1 Prototyping Workflow 8.1.2 Flexible Transceiver Core 8.1.3 Experimental Data-sets 8.1.4 Evolved Access Point Prototype For Industrial Networks 8.1.5 Testbed Standardization A Additional Resources A.1 Fourier Transform Blocks A.2 Resource Consumption A.3 Channel Sounding using Chirp sequences A.3.1 SNR Estimation A.3.2 Channel Estimation A.4 Hardware part lis