waveSLAM: Empowering accurate indoor mapping using off-the-shelf millimeter-wave self-sensing

Proceedings of: 2023 IEEE 98th Vehicular Technology Conference: VTC2023-Fall, 10-13 October 2023, Hong Kong.This paper presents the design, implementation and evaluation of waveSLAM, a low-cost mobile robot system that uses the millimetre wave (mmWave) communication devices to enhance the indoor mapping process targeting environments with reduced visibility or glass/mirror walls. A unique feature of waveSLAM is that it only leverages existing Commercial-Off-The-Shelf (COTS) hardware (Lidar and mmWave radios) that are mounted on mobile robots to improve the accurate indoor mapping achieved with optical sensors. The key intuition behind the waveSLAM design is that while the mobile robots moves freely, the mmWave radios can periodically exchange angle and distance estimates between themselves (self-sensing) by bouncing the signal from the environment, thus enabling accurate estimates of the target object/material surface. Our experiments verify that waveSLAM can archive cm-level accuracy with errors below 22 cm and 20◦ in angle orientation which is compatible with Lidar when building indoor maps.This work has been partially funded by the European Union's Horizon Europe research and innovation program under grant agreement No 101095759 (Hexa-X-II) and the Spanish Ministry of Economic Affairs and Digital Transformation and the European Union-Next Generation EU through the UNICO 5G I+D 6G-EDGEDT

waveSLAM: Empowering Accurate Indoor Mapping Using Off-the-Shelf Millimeter-wave Self-sensing

This paper presents the design, implementation and evaluation of waveSLAM, a low-cost mobile robot system that uses the millimetre wave (mmWave) communication devices to enhance the indoor mapping process targeting environments with reduced visibility or glass/mirror walls. A unique feature of waveSLAM is that it only leverages existing Commercial-Off-The-Shelf (COTS) hardware (Lidar and mmWave radios) that are mounted on mobile robots to improve the accurate indoor mapping achieved with optical sensors. The key intuition behind the waveSLAM design is that while the mobile robots moves freely, the mmWave radios can periodically exchange angle and distance estimates between themselves (self-sensing) by bouncing the signal from the environment, thus enabling accurate estimates of the target object/material surface. Our experiments verify that waveSLAM can archive cm-level accuracy with errors below 22 cm and 20deg in angle orientation which is compatible with Lidar when building indoor maps

IEEE 802.11az Indoor Positioning with mmWave

Last years we have witnessed the uprising of location based applications, which depend on the devices ability to accurately obtain their position. IEEE 802.11, foretelling the need for such applications, started the IEEE 802.11az work on Next Generation Positioning. Although this standard provides positioning enhancements for sub-6GHz and mmWave bands, high accuracy in the order of centimeters can only be obtained in the latter band, thanks to the beamforming information available at mmWave operation. This work presents a detailed analysis on the new techniques provided by IEEE 802.11az for enhanced secured positioning in the mmWave band, assessing them through experimentation.Comment: 8 pages, 6 figures, magazine submissio

Privilegio, honra y distinción. Exenciones fiscales e identidad política urbana en la Castilla bajomedieval

A lo largo de los siglos bajomedievales diversas ciudades castellanas se fueron dotando de una identidad colectiva que marcó su papel como agentes políticos. Un proceso en el que la concesión, mantenimiento y defensa de sus privilegios fiscales tuvo un papel central. En este trabajo abordaremos la compleja interrelación entre privilegio fiscal e identidad urbana a través del estudio de tres ciudades —Toledo, Sevilla y Murcia— que gozaron de un estatuto ya reconocido como excepcional por sus contemporáneos.Trabajo patrocinado por los proyectos «La construcción de una cultura fiscal en Cas tilla: poderes, negociación y articulación social (ca. 1250-1550)» (PGC2018-097738-B-100), «De la lucha de Bandos a la hidalguía universal: transformaciones sociales, políticas e ideológicas en el País Vasco (siglos XIV-XVI)» (HAR2017-83980-P) del Ministerio de Ciencia, Innovación y Universidades, y «Circuitos financieros, crecimiento económico y guerra (siglos XV-XVI)» (UMA18-FEDERJA-098) de la Junta de Andalucía, y por el Grupo Consolidado de Investigación del Gobierno Vasco «Sociedad, poder y cultura (siglos XIV-XVIII)» (IT896-16

HOLISDER Project: Introducing Residential and Tertiary Energy Consumers as Active Players in Energy Markets

Although it has been demonstrated that demand-side flexibility is possible, business application of residential and small tertiary demand response programs has been slow to develop. This paper presents a holistic demand response optimization framework that enables significant energy costs reduction for consumers. Moreover, buildings are introduced as main contributors to balance energy networks. The solution basis consists of a modular interoperability and data management framework that enables open standards-based communication along the demand response value chain. The solution is being validated in four large-scale pilot sites, which have diverse building types, energy systems and energy carriers. Furthermore, they offer diverse climatic conditions, and demographic and cultural characteristics to establish representative results.Research leading to these results has been supported by HOLISDER project. This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No. 768614. The APC was funded by HOLISDER project

Explicative Factors Driving the Tomato Consumption in the Mediterranean Basin: A Panel Data Approach

This chapter studies the consumer behavior of the tomato market in six Mediterranean countries, four of them belong to the European Union, EU—Spain, France, Italy, and Portugal, one to North Africa—Morocco, a highly competitive market with a major trade agreement with the EU since 2004, and another in Asia—Turkey. The main objective of the chapter is to analyze which are the most important explanatory factors, of a series of 13, that explain tomato consumption in the Mediterranean Basin. These factors, which are assumed as significant, are analyzed with an approach that uses panel data (fixed effects) models, a type of models that has clear advantages over the traditional methodologies. The results show significant differences between countries, that there are empirical evidence between consumption of tomatoes and price, imports and exports, production, growth area, technological developments and euro-dollar exchange rate; some importance lies on the EU-Morocco trade agreement; less empirical evidence was found between consumption and the exchange rates of the Turkish and Morocco currencies (Turkish pound and the Morocco dirham)

Displacements Monitoring over Czechia by IT4S1 System for Automatised Interferometric Measurements Using Sentinel-1 Data

The Sentinel-1 satellite system continuously observes European countries at a relatively high revisit frequency of six days per orbital track. Given the Sentinel-1 configuration, most areas in Czechia are observed every 1–2 days by different tracks in a moderate resolution. This is attractive for various types of analyses by various research groups. The starting point for interferometric (InSAR) processing is an original data provided in a Single Look Complex (SLC) level. This work represents advantages of storing data augmented to a specifically corrected level of data, SLC-C. The presented database contains Czech nationwide Sentinel-1 data stored in burst units that have been pre-processed to the state of a consistent well-coregistered dataset of SLC-C. These are resampled SLC data with their phase values reduced by a topographic phase signature, ready for fast interferometric analyses (an interferogram is generated by a complex conjugate between two stored SLC-C files). The data can be used directly into multitemporal interferometry techniques, e.g., Persistent Scatterers (PS) or Small Baseline (SB) techniques applied here. A further development of the nationwide system utilising SLC-C data would lead into a dynamic state where every new pre-processed burst triggers a processing update to detect unexpected changes from InSAR time series and therefore provides a signal for early warning against a potential dangerous displacement, e.g., a landslide, instability of an engineering structure or a formation of a sinkhole. An update of the processing chain would also allow use of cross-polarised Sentinel-1 data, needed for polarimetric analyses. The current system is running at a national supercomputing centre IT4Innovations in interconnection to the Czech Copernicus Collaborative Ground Segment (CESNET), providing fast on-demand InSAR results over Czech territories. A full nationwide PS processing using data over Czechia was performed in 2017, discovering several areas of land deformation. Its downsampled version and basic findings are demonstrated within the article

STRING v9.1: protein-protein interaction networks, with increased coverage and integration

Complete knowledge of all direct and indirect interactions between proteins in a given cell would represent an important milestone towards a comprehensive description of cellular mechanisms and functions. Although this goal is still elusive, considerable progress has been made—particularly for certain model organisms and functional systems. Currently, protein interactions and associations are annotated at various levels of detail in online resources, ranging from raw data repositories to highly formalized pathway databases. For many applications, a global view of all the available interaction data is desirable, including lower-quality data and/or computational predictions. The STRING database (http://string-db.org/) aims to provide such a global perspective for as many organisms as feasible. Known and predicted associations are scored and integrated, resulting in comprehensive protein networks covering >1100 organisms. Here, we describe the update to version 9.1 of STRING, introducing several improvements: (i) we extend the automated mining of scientific texts for interaction information, to now also include full-text articles; (ii) we entirely re-designed the algorithm for transferring interactions from one model organism to the other; and (iii) we provide users with statistical information on any functional enrichment observed in their network

The STRING database in 2011: functional interaction networks of proteins, globally integrated and scored

An essential prerequisite for any systems-level understanding of cellular functions is to correctly uncover and annotate all functional interactions among proteins in the cell. Toward this goal, remarkable progress has been made in recent years, both in terms of experimental measurements and computational prediction techniques. However, public efforts to collect and present protein interaction information have struggled to keep up with the pace of interaction discovery, partly because protein-protein interaction information can be error-prone and require considerable effort to annotate. Here, we present an update on the online database resource Search Tool for the Retrieval of Interacting Genes (STRING); it provides uniquely comprehensive coverage and ease of access to both experimental as well as predicted interaction information. Interactions in STRING are provided with a confidence score, and accessory information such as protein domains and 3D structures is made available, all within a stable and consistent identifier space. New features in STRING include an interactive network viewer that can cluster networks on demand, updated on-screen previews of structural information including homology models, extensive data updates and strongly improved connectivity and integration with third-party resources. Version 9.0 of STRING covers more than 1100 completely sequenced organisms; the resource can be reached at http://string-db.or