Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars

Event cameras are bio-inspired vision sensors that naturally capture the dynamics of a scene, filtering out redundant information. This paper presents a deep neural network approach that unlocks the potential of event cameras on a challenging motion-estimation task: prediction of a vehicle's steering angle. To make the best out of this sensor-algorithm combination, we adapt state-of-the-art convolutional architectures to the output of event sensors and extensively evaluate the performance of our approach on a publicly available large scale event-camera dataset (~1000 km). We present qualitative and quantitative explanations of why event cameras allow robust steering prediction even in cases where traditional cameras fail, e.g. challenging illumination conditions and fast motion. Finally, we demonstrate the advantages of leveraging transfer learning from traditional to event-based vision, and show that our approach outperforms state-of-the-art algorithms based on standard cameras.Comment: 9 pages, 8 figures, 6 tables. Video: https://youtu.be/_r_bsjkJTH

Initial Delay Domain UWB Channel Characterization for In-body Area Networks

Wireless Body Area Networks (WBANs) have increased the attention of the research community for the next generation wireless medical devices. Among others, Wireless Capsule Endoscopy (WCE) aims to transmit better quality images. For this, the Ultra Wideband (UWB) frequency band is becoming a good alternative to currently allocated frequencies for in-body networks, allowing higher data rate and having a low power transmission. Common channel characterization in WBANs are performed in frequency domain, i.e., analyzing the received power as a function of frequency. Nevertheless, indepth studies in delay domain analyzing the impulse response of the channel are barely considered in current literature. In this paper, an initial study in delay domain, i.e., the Power Delay Profile (PDP) characteristics, is performed. Moreover, a comparison between the channel response in frequency and delay domain is performed. This work gives an insightful view of the impulse response of the channel for in-body to on-body communications. For that, an extensive campaign of phantom measurements and software simulations are conducted.This work was supported by the European Union’s H2020:MSCA:ITN program for the ”Wireless In-body Environment Communication- WiBEC” project under the grant agreement no. 675353. This work was also funded by by the European Union’s H2020: MSCA: ITN program for the ”mmWave Communications in the Built Environments - WaveComBE” project under the grant agreement no. 766231.Pérez-Simbor, S.; Garcia-Pardo, C.; Cardona Marcet, N. (2019). Initial Delay Domain UWB Channel Characterization for In-body Area Networks. IEEE. 1-5. https://doi.org/10.1109/ISMICT.2019.8743767S1

Analysis of the Localization Error for Capsule Endoscopy Applications at UWB Frequencies

Localization for Wireless Capsule Endoscopy (WCE) in the Ultra-Wideband frequency band is a very active field of investigation due to its potential advantages in future endoscopy applications. Received Signal Strength (RSS) based localization is commonly preferred due to its simplicity. Previous studies on Ultra-Wideband (UWB) RSS-based localization showed that the localization accuracy depends on the average ranging error related to the selected combination of receivers, which not always is the one experiencing the highest level of received power. In this paper the tendency of the localization error is further investigated through supplementary software simulations and previously conducted laboratory measurements. Two-dimensional (2D) and three-dimensional (3D) positioning are performed and the trend of the localization error compared in both cases. Results shows that the distribution of the selected path loss values, corresponding to the receivers used for localization, around the in-body position to estimate also affects the localization accuracy.This work was supported by the H2020:MSCA:ITN program for the “Wireless In-body Environment Communication- WiBEC” project under the grant agreement no. 675353. This work was also supported by the European Union’s H2020:MSCA:ITN program for the ”mmWave Communications in the Built Environments - WaveComBE” project under the grant agreement no. 766231.Barbi, M.; Pérez-Simbor, S.; Garcia-Pardo, C.; Cardona Marcet, N. (2019). Analysis of the Localization Error for Capsule Endoscopy Applications at UWB Frequencies. IEEE. https://doi.org/10.1109/ISMICT.2019.8743813

Experimental Assessment of Time Reversal for In-Body to In-Body UWB Communications

[EN] The standard of in-body communications is limited to the use of narrowband systems. These systems are far from the high data rate connections achieved by other wireless telecommunication services today in force. The UWB frequency band has been proposed as a possible candidate for future in-body networks. However, the attenuation of body tissues at gigahertz frequencies could be a serious drawback. Experimental measurements for channel modeling are not easy to carry out, while the use of humans is practically forbidden. Sophisticated simulation tools could provide inaccurate results since they are not able to reproduce all the in-body channel conditions. Chemical solutions known as phantoms could provide a fair approximation of body tissues¿ behavior. In this work, the Time Reversal technique is assessed to increase the channel performance of in-body communications. For this task, a large volume of experimental measurements is performed at the low part of UWB spectrum (3.1-5.1 GHz) by using a highly accurate phantom-based measurement setup. This experimental setup emulates an in-body to in-body scenario, where all the nodes are implanted inside the body. Moreover, the in-body channel characteristics such as the path loss, the correlation in transmission and reception, and the reciprocity of the channel are assessed and discussed.This work was supported by the Programa de Ayudas de Investigacion y Desarrollo (PAID-01-16) from Universitat Politecnica de Valencia and by the Ministerio de Economia y Competitividad, Spain (TEC2014-60258-C2-1-R), by the European FEDER funds.Andreu-Estellés, C.; Garcia-Pardo, C.; Castelló-Palacios, S.; Cardona Marcet, N. (2018). Experimental Assessment of Time Reversal for In-Body to In-Body UWB Communications. Wireless Communications and Mobile Computing (Online). (8927107):1-12. https://doi.org/10.1155/2018/8927107S1128927107Fireman, Z. (2003). Diagnosing small bowel Crohn’s disease with wireless capsule endoscopy. Gut, 52(3), 390-392. doi:10.1136/gut.52.3.390Burri, H., & Senouf, D. (2009). Remote monitoring and follow-up of pacemakers and implantable cardioverter defibrillators. Europace, 11(6), 701-709. doi:10.1093/europace/eup110Scanlon, W. G., Burns, B., & Evans, N. E. (2000). Radiowave propagation from a tissue-implanted source at 418 MHz and 916.5 MHz. IEEE Transactions on Biomedical Engineering, 47(4), 527-534. doi:10.1109/10.828152Chavez-Santiago, R., Garcia-Pardo, C., Fornes-Leal, A., Valles-Lluch, A., Vermeeren, G., Joseph, W., … Cardona, N. (2015). Experimental Path Loss Models for In-Body Communications within 2.36-2.5 GHz. IEEE Journal of Biomedical and Health Informatics, 1-1. doi:10.1109/jbhi.2015.2418757Khaleghi, A., Chávez-Santiago, R., & Balasingham, I. (2010). Ultra-wideband pulse-based data communications for medical implants. IET Communications, 4(15), 1889. doi:10.1049/iet-com.2009.0692Khaleghi, A., Chávez-Santiago, R., & Balasingham, I. (2011). Ultra-wideband statistical propagation channel model for implant sensors in the human chest. IET Microwaves, Antennas & Propagation, 5(15), 1805. doi:10.1049/iet-map.2010.0537Kurup, D., Scarpello, M., Vermeeren, G., Joseph, W., Dhaenens, K., Axisa, F., … Vanfleteren, J. (2011). In-body path loss models for implants in heterogeneous human tissues using implantable slot dipole conformal flexible antennas. EURASIP Journal on Wireless Communications and Networking, 2011(1). doi:10.1186/1687-1499-2011-51Floor, P. A., Chavez-Santiago, R., Brovoll, S., Aardal, O., Bergsland, J., Grymyr, O.-J. H. N., … Balasingham, I. (2015). In-Body to On-Body Ultrawideband Propagation Model Derived From Measurements in Living Animals. IEEE Journal of Biomedical and Health Informatics, 19(3), 938-948. doi:10.1109/jbhi.2015.2417805Shimizu, Y., Anzai, D., Chavez-Santiago, R., Floor, P. A., Balasingham, I., & Wang, J. (2017). Performance Evaluation of an Ultra-Wideband Transmit Diversity in a Living Animal Experiment. IEEE Transactions on Microwave Theory and Techniques, 65(7), 2596-2606. doi:10.1109/tmtt.2017.2669039Anzai, D., Katsu, K., Chavez-Santiago, R., Wang, Q., Plettemeier, D., Wang, J., & Balasingham, I. (2014). Experimental Evaluation of Implant UWB-IR Transmission With Living Animal for Body Area Networks. IEEE Transactions on Microwave Theory and Techniques, 62(1), 183-192. doi:10.1109/tmtt.2013.2291542Chou, C.-K., Chen, G.-W., Guy, A. W., & Luk, K. H. (1984). Formulas for preparing phantom muscle tissue at various radiofrequencies. Bioelectromagnetics, 5(4), 435-441. doi:10.1002/bem.2250050408Cheung, A. Y., & Koopman, D. W. (1976). Experimental Development of Simulated Biomaterials for Dosimetry Studies of Hazardous Microwave Radiation (Short Papers). IEEE Transactions on Microwave Theory and Techniques, 24(10), 669-673. doi:10.1109/tmtt.1976.1128936YAMAMOTO, H., ZHOU, J., & KOBAYASHI, T. (2008). Ultra Wideband Electromagnetic Phantoms for Antennas and Propagation Studies. IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E91-A(11), 3173-3182. doi:10.1093/ietfec/e91-a.11.3173Lazebnik, M., Madsen, E. L., Frank, G. R., & Hagness, S. C. (2005). Tissue-mimicking phantom materials for narrowband and ultrawideband microwave applications. Physics in Medicine and Biology, 50(18), 4245-4258. doi:10.1088/0031-9155/50/18/001Yilmaz, T., Foster, R., & Hao, Y. (2014). Broadband Tissue Mimicking Phantoms and a Patch Resonator for Evaluating Noninvasive Monitoring of Blood Glucose Levels. IEEE Transactions on Antennas and Propagation, 62(6), 3064-3075. doi:10.1109/tap.2014.2313139Gezici, S., Zhi Tian, Giannakis, G. B., Kobayashi, H., Molisch, A. F., Poor, H. V., & Sahinoglu, Z. (2005). Localization via ultra-wideband radios: a look at positioning aspects for future sensor networks. IEEE Signal Processing Magazine, 22(4), 70-84. doi:10.1109/msp.2005.1458289Marinova, M., Thielens, A., Tanghe, E., Vallozzi, L., Vermeeren, G., Joseph, W., … Martens, L. (2015). Diversity Performance of Off-Body MB-OFDM UWB-MIMO. IEEE Transactions on Antennas and Propagation, 63(7), 3187-3197. doi:10.1109/tap.2015.2422353SHI, J., ANZAI, D., & WANG, J. (2012). Channel Modeling and Performance Analysis of Diversity Reception for Implant UWB Wireless Link. IEICE Transactions on Communications, E95.B(10), 3197-3205. doi:10.1587/transcom.e95.b.3197Pajusco, P., & Pagani, P. (2009). On the Use of Uniform Circular Arrays for Characterizing UWB Time Reversal. IEEE Transactions on Antennas and Propagation, 57(1), 102-109. doi:10.1109/tap.2008.2009715Chavez-Santiago, R., Sayrafian-Pour, K., Khaleghi, A., Takizawa, K., Wang, J., Balasingham, I., & Li, H.-B. (2013). Propagation models for IEEE 802.15.6 standardization of implant communication in body area networks. IEEE Communications Magazine, 51(8), 80-87. doi:10.1109/mcom.2013.6576343Andreu, C., Castello-Palacios, S., Garcia-Pardo, C., Fornes-Leal, A., Valles-Lluch, A., & Cardona, N. (2016). Spatial In-Body Channel Characterization Using an Accurate UWB Phantom. IEEE Transactions on Microwave Theory and Techniques, 64(11), 3995-4002. doi:10.1109/tmtt.2016.2609409Pahlavan, K., & Levesque, A. H. (2005). Wireless Information Networks. doi:10.1002/0471738646Qiu, R. C., Zhou, C., Guo, N., & Zhang, J. Q. (2006). Time Reversal With MISO for Ultrawideband Communications: Experimental Results. IEEE Antennas and Wireless Propagation Letters, 5, 269-273. doi:10.1109/lawp.2006.875888Ando, H., Takizawa, K., Yoshida, T., Matsushita, K., Hirata, M., & Suzuki, T. (2016). Wireless Multichannel Neural Recording With a 128-Mbps UWB Transmitter for an Implantable Brain-Machine Interfaces. IEEE Transactions on Biomedical Circuits and Systems, 10(6), 1068-1078. doi:10.1109/tbcas.2016.251452

UWB Path Loss Models for Ingestible Devices

[EN] Currently, some medical devices such as the Wireless Capsule Endoscopy (WCE) are used for data transmission from inside to outside the body. Nevertheless, for certain applications such as WCE, the data rates offered by current medical frequency bands can result insufficient. Ultra Wideband (UWB) frequency band has become an interesting solution for this. However, to date, there is not a formal channel path loss model for the UWB frequency band in the gastrointestinal (GI) scenario due to the huge differences between the proposed studies. There are three main methodologies to characterize the propagation channel, software simulations and experimental measurements either in phantom or in in vivo animals. Previous works do not compare all the methodologies or present some disagreements with the literature. In this paper, a dedicated study of the path loss using the three methodologies aforementioned (simulations, phantoms and in vivo measurements) and a comparison with previous researches in the literature is performed. Moreover, numerical values for a path loss model which agrees with the three methodologies and the literature are proposed. This paper aims at being the starting point for a formal path loss model in the UWB frequency band for WBANs in the GI scenarioThis work was supported in part by the European Union's H2020-MSCA-ITN Program for the "Wireless In-body Environment Communication" Project under Grant 675353, in part by the Programa de Ayudas de Investigacion y Desarrollo (PAID-01-16) from Universitat Politecnica de Valencia, and in part by the Ministerio de Economia y Competitividad, Spain under Grant TEC2014-60258-C2-1-R through the European FEDER Funds.Pérez-Simbor, S.; Andreu-Estellés, C.; Garcia-Pardo, C.; Frasson, M.; Cardona Marcet, N. (2019). UWB Path Loss Models for Ingestible Devices. IEEE Transactions on Antennas and Propagation. 67(8):5025-5034. https://doi.org/10.1109/TAP.2019.2891717S5025503467

Initial UWB in-body channel characterization using a novel multilayer phantom measurement setup

[EN] Wireless Body Area Networks (WBANs) are a promising technology for medical purposes. Currently the WBAN are classified into: implanted (in-), surface (on-) or outside (off-) body communications regarding the location of the devices with reference to the human body. The Ultra Wide-Band (UWB) frequency band is growing as a band of interest for implanted communications because of its high data rate and low power consumption among other benefits. Software simulations, in-vivo measurements and experimental phantom measurements are common methods to properly characterize the propagation channel. Nevertheless, up to now, experimental phantoms measurements presented in the literature show some inconveniences, i.e., the accuracy of the phantoms compared with the real human tissues or the testbed used for the measurements. This paper aims at overcoming these issues using accurate phantoms designed for the purpose of implanted communications in the UWB frequency band. In addition, a multilayer phantom container was developed. This container has capacity for two different phantoms, emulating a heterogeneous propagation medium for in-body measurements. Moreover, a novel setup was built for in-body phantom measurements. As a result, an experimental path loss model is presented from the measurements obtained with phantoms. Besides, software simulations mimicking the experimental setup are performed in order to validate the previous results obtainedThis work was supported by the European Union's H2020:MSCA:ITN program for the "Wireless In-body Environment Communication-WiBEC" project under the grant agreement no. 675353. this work was also funded by the Programa de Ayudas de Investigación y Desarrollo 8PAID-01-16) from Univeristat Politècnica de València and by the Ministerio de Economía y Competitividad, Spain (TEC2014-60258-C2-1-R), by the European FEDER funds.Pérez-Simbor, S.; Barbi, M.; Garcia-Pardo, C.; Castelló-Palacios, S.; Cardona Marcet, N. (2018). Initial UWB in-body channel characterization using a novel multilayer phantom measurement setup. IEEE. 384-389. https://doi.org/10.1109/WCNCW.2018.8369011S38438

Wideband phantoms of different body tissues for heterogeneous models in body area networks

[EN] One of the key issues about wireless technologies is their interaction with the human body. The so-called internet of things will comprise many devices that will transmit either around or through the human body. These devices must be tested either in their working medium, when possible, or in the most realistic one. For this purpose, tissue-like phantoms are the best alternative to carry out realistic analyses of the performance of body area networks. In addition, they are the conventional way to certify the compliance of commercial standards by these devices. However, the number of phantoms that work in large bandwidths is limited in literature. This work aims at presenting chemical solutions that will be useful to prepare a variety of wideband tissue phantoms. Besides, the colon was mimicked in two ways, the healthy tissue and the malignant one, taking into account studies that relate changes on the relative permittivity with cancer. They were designed on the basis of acetonitrile in aqueous solutions as described in a previous work. Thus, many scenarios could be developed such as multilayers which imitate parts of the heterogeneous body.Research supported by the Programa de Ayudas de Investigación y Desarrollo (PAID-01-16) from Universitat Politècnica de València, by the Ministerio de Economía y Competitividad, Spain (TEC2014-60258-C2-1- R) and by the European FEDER Funds.Castelló-Palacios, S.; Garcia-Pardo, C.; Fornés Leal, A.; Cardona Marcet, N.; Vallés Lluch, A. (2018). Wideband phantoms of different body tissues for heterogeneous models in body area networks. IEEE. 3032-3035. https://doi.org/10.1109/EMBC.2017.8037496S3032303

Formulas for easy-to-prepare tailored phantoms at 2.4 GHz ISM band

[EN] Emerging integration of communication networks into wearable or implantable body devices involves a challenge due to the transmitting medium, the body itself. This medium is heterogeneous and lossier than air, so devices that are supposed to work on it should be tested in tissue-equivalent materials. A number of materials with the electromagnetic response of body tissues have been proposed. Most of them are sucrose aqueous solutions that are supposed to simulate human's muscle tissue mainly within medical frequency bands. However, these recipes are restricted to a single tissue and it is difficult to adapt them to fit the permittivity values of different body tissues. The significance of this study lies in the development of a mathematical relationship that models the dielectric properties of an aqueous solution according to the concentration of sugar and salt at 2.4 GHz, the frequency around which an Industrial, Scientific and Medical (ISM) band is placed. Thus, it becomes possible to create custom-made phantoms with simple and accessible ingredients that are easy to prepare in any laboratory.This work was supported by the Ministerio de Economia y Competitividad, Spain (TEC2014-60258-C2-1-R) and by the European FEDER Funds.Castelló-Palacios, S.; Garcia-Pardo, C.; Fornés Leal, A.; Cardona Marcet, N.; Vallés Lluch, A. (2017). Formulas for easy-to-prepare tailored phantoms at 2.4 GHz ISM band. IEEE. 27-31. https://doi.org/10.1109/ISMICT.2017.7891760S273

Impact of Receivers Location on the Accuracy of Capsule Endoscope Localization

[EN] In recent years, localization for capsule endoscopy applications using Ultra-Wideband (UWB) technology has become an attractive field of study due to its potential benefits for patients. Performance analysis of RF-based localization techniques are very limited in literature. Most of the available studies rely on software simulations using digital human models. Nonetheless, no realistic studies based on in-vivo measurements has been reported yet. This paper investigates the performance of RSS-based technique for three-dimensional (3D) localization in the UWB frequency band. Impact of receivers selection as well as of the evaluated path loss model on the localization accuracy is investigated. Results obtained through CST-based simulations and from recently conducted in-vivo measurements are presented and compared.This work was supported by the European Union's H2020:MSCA:ITN program for the "Wireless In-body Environment Communication- WiBEC" project under the grant agreement no. 675353. This work was also funded by the Ministerio de Economia y Competitividad, Spain (TEC2014-60258-C2-1-R), by the European FEDER funds.Barbi, M.; Garcia-Pardo, C.; Cardona Marcet, N.; Andrea Nevárez; Vicente Pons Beltrán; Frasson, M. (2018). Impact of Receivers Location on the Accuracy of Capsule Endoscope Localization. IEEE. 340-344. https://doi.org/10.1109/PIMRC.2018.8580862S34034

Frequency Dependence of UWB In-Body Radio Channel Characteristics

(c) 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.[EN] In this letter, a research of ultra-wideband in-body channel by using a high accurate phantom is performed in order to evaluate the impact of frequency dependence of human tissues on the channel characteristics. Hence, a phantom-based measurement campaign from 3.1 to 5.1 GHz has been conducted. From postprocessing data, the path loss is assessed considering subbands of 500 MHz as well as the entire frequency range under test. In addition, the correlation in transmission is computed and discussed.This work was supported in part by the Ministerio de Economia y Competitividad, Spain, under Grant TEC2014-60258-C2-1-R, and in part by the European FEDER funds. (Corresponding author: Carlos Andreu.)Andreu-Estellés, C.; Garcia-Pardo, C.; Castelló-Palacios, S.; Vallés Lluch, A.; Cardona Marcet, N. (2018). Frequency Dependence of UWB In-Body Radio Channel Characteristics. IEEE Microwave and Wireless Components Letters. 28(4):359-361. https://doi.org/10.1109/LMWC.2018.2808427S35936128