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Angle-of-Arrival estimation technology, with its potential advantages, emerges as an intriguing choice for indoor localization. Notably, it holds the promise of reducing installation costs. In contrast to ToF/TDoA based systems, AoA-based approaches require a reduced number of nodes for effective localization. This characteristic establishes a trade-off between installation costs and the complexity of hardware and software. Moreover, the appeal of acoustic localization is further heightened by its capacity to provide cost-effective hardware solutions while maintaining a high degree of accuracy. Consequently, acoustic AoA estimation technology stands out as a feasible and compelling option in the field of indoor localization. Sparse arrays additionally have the ability to estimate the DoA of more sources than available sensors by placing sensors in a specific geometry. In this contribution, we introduce a measurement platform designed to evaluate various sparse array geometries experimentally. The acoustic microphone array comprises 64 microphones arranged in an 8x8 grid, following an Uniform Rectangular Array (URA) configuration, with a grid spacing of 8.255 mm. This configuration achieves a spatial Nyquist frequency of approximately 20.8 kHz in the acoustic domain at room temperature. Notably, the array exhibits a mean spherical error of 1.26{\deg} when excluding higher elevation angles. The platform allows for masking sensors to simulate sparse array configurations. We assess four array geometries through simulations and experimental data, identifying the Open-Box and Nested array geometries as robust candidates. Additionally, we demonstrate the array's capability to concurrently estimate the directions of three emitting sources using experimental data, employing waveforms consisting of orthogonal codes., Comment: Submitted for review to the IEEE Journal of Indoor and Seamless Positioning and Navigation (J-ISPIN) in April 24

Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic system designed for comprehensive plant inspection. This innovative system comprises a robotic platform equipped with a diverse array of sensors integrated to facilitate the detection of various process and infrastructure parameters. These sensors encompass optical (LiDAR, Stereo, UV/IR/RGB cameras), olfactory (electronic nose), and acoustic (microphone array) capabilities, enabling the identification of factors such as methane leaks, flow rates, and infrastructural anomalies. The proposed system underwent individual evaluation at a wastewater treatment site within a chemical plant, providing a practical and challenging environment for testing. The evaluation process encompassed key aspects such as object detection, 3D localization, and path planning. Furthermore, specific evaluations were conducted for optical methane leak detection and localization, as well as acoustic assessments focusing on pump equipment and gas leak localization., Comment: Submitted for publication in IEEE Sensors Journal

Convective storms (CS) on Saturn appear as bright clouds, irregular in shape and rapidly changing over time, accompanied by lightning phenomena. They cover a wide range of size scales, from 500 km or less and up to sizes that encircle the planet. In this chapter we focus on medium or synoptic-scale events (typical sizes 2,000 - 7,000 km) and planetary-scale major storms known as Great White Spots (GWS). In general, the storms emerge in westward jets and in the peak of the strong eastward equatorial jet. They have been observed preferentially in the northern hemisphere and seem to occur in the same latitude in intervals of 30 and 60 years coinciding with the times of maximum insolation within the seasonal cycle. Moist convection models locate the origin of the storms in the water clouds (at about 10 bars of pressure) and to some extent in ammonia clouds, and their thermodynamics explain the possible periodicity of the phenomena. Once triggered, the storms grow and expand, and their interaction with the zonal wind system gives rise to anticyclonic ovals and to disturbances that propagate zonally covering an entire latitude band in the case of the GWS., Comment: Peer reviewed and accepted for publication as Chapter 14 of a multi-volume work edited by Kevin Baines, Michael Flasar, Norbert Krupp, and Thomas Stallard, entitled Cassini at Saturn: The Grand Finale, to be published by Cambridge University Press. 31 pages, 15 figures

In today's chemical plants, human field operators perform frequent integrity checks to guarantee high safety standards, and thus are possibly the first to encounter dangerous operating conditions. To alleviate their task, we present a system consisting of an autonomously navigating robot integrated with various sensors and intelligent data processing. It is able to detect methane leaks and estimate its flow rate, detect more general gas anomalies, recognize oil films, localize sound sources and detect failure cases, map the environment in 3D, and navigate autonomously, employing recognition and avoidance of dynamic obstacles. We evaluate our system at a wastewater facility in full working conditions. Our results demonstrate that the system is able to robustly navigate the plant and provide useful information about critical operating conditions., Comment: Final submission for IEEE Sensors 2023

ESA's Jupiter Icy Moons Explorer (JUICE) will provide a detailed investigation of the Jovian system in the 2030s, combining a suite of state-of-the-art instruments with an orbital tour tailored to maximise observing opportunities. We review the Jupiter science enabled by the JUICE mission, building on the legacy of discoveries from the Galileo, Cassini, and Juno missions, alongside ground- and space-based observatories. We focus on remote sensing of the climate, meteorology, and chemistry of the atmosphere and auroras from the cloud-forming weather layer, through the upper troposphere, into the stratosphere and ionosphere. The Jupiter orbital tour provides a wealth of opportunities for atmospheric and auroral science: global perspectives with its near-equatorial and inclined phases, sampling all phase angles from dayside to nightside, and investigating phenomena evolving on timescales from minutes to months. The remote sensing payload spans far-UV spectroscopy (50-210 nm), visible imaging (340-1080 nm), visible/near-infrared spectroscopy (0.49-5.56 $\mu$m), and sub-millimetre sounding (near 530-625\,GHz and 1067-1275\,GHz). This is coupled to radio, stellar, and solar occultation opportunities to explore the atmosphere at high vertical resolution; and radio and plasma wave measurements of electric discharges in the Jovian atmosphere and auroras. Cross-disciplinary scientific investigations enable JUICE to explore coupling processes in giant planet atmospheres, to show how the atmosphere is connected to (i) the deep circulation and composition of the hydrogen-dominated interior; and (ii) to the currents and charged particle environments of the external magnetosphere. JUICE will provide a comprehensive characterisation of the atmosphere and auroras of this archetypal giant planet., Comment: 83 pages, 24 figures, accepted to Space Science Reviews special issue on ESA's JUICE mission

In this second part of our survey on experimental research in Synthetic Molecular Communication (SMC), we review works on long-range SMC systems, i.e., systems with communication ranges of more than a few millimeters. Despite the importance of experimental research for the evolution of SMC towards a mature communication paradigm that will eventually support revolutionary applications beyond the reach of today's prevalent communication paradigms, the existing body of literature is still comparatively sparse. Long-range SMC systems have been proposed in the literature for information transmission in two types of fluid media, liquid and air. While both types of SMC systems, liquid-based and air-based systems, rely on encoding and transmitting information using molecules, they differ substantially in terms of the physical system designs and in the type of applications they are intended for. In this paper, we present a systematic characterization of experimental works on long-range SMC that reveals the major drivers of these works in terms of the respective target applications. Furthermore, the physical designs for long-range SMC proposed in the literature are comprehensively reviewed. In this way, our survey will contribute to making experimental research in this field more accessible and identifying novel directions for future research., Comment: 10 pages, 2 tables, 4 figures. Accepted for publication in the IEEE Nanotechnology Magazine

Since its emergence from the communication engineering community around one and a half decades ago, the field of Synthetic Molecular Communication (SMC) has experienced continued growth, both in the number of technical contributions from a vibrant community and in terms of research funding. Throughout this process, the vision of SMC as a novel, revolutionary communication paradigm has constantly evolved, driven by feedback from theoretical and experimental studies, respectively. It is believed that especially the latter ones will be crucial for the transition of SMC towards a higher technology readiness level in the near future. In this spirit, we present here a comprehensive survey of experimental research in SMC. In particular, this survey focuses on highlighting the major drivers behind different lines of experimental research in terms of the respective envisioned applications. This approach allows us to categorize existing works and identify current research gaps that still hinder the development of practical SMC-based applications. Our survey consists of two parts; this paper and a companion paper. While the companion paper focuses on SMC with relatively long communication ranges, this paper covers SMC over short distances of typically not more than a few millimeters., Comment: 10 pages, 1 table, 5 figures. Accepted for publication in the IEEE Nanotechnology Magazine

Since the introduction of massive MIMO (mMIMO), the design of a transceiver with feasible complexity has been a challenging problem. Initially, it was believed that the main issue in this respect is the overall RF-cost. However, as mMIMO is becoming more and more a key technology for future wireless networks, it is realized, that the RF-cost is only one of many implementational challenges and design trade-offs. In this paper, we present, analyze and compare various novel mMIMO architectures, considering recent emerging technologies such as intelligent surface-assisted and Rotman lens based architectures. These are compared to the conventional fully digital (FD) and hybrid analog-digital beamforming (HADB) approaches. To enable a fair comparison, we account for various hardware imperfections and losses and utilize a novel, universal algorithm for signal precoding. Based on our thorough investigations, we draw a generic efficiency to quality trade-off for various mMIMO architectures. We find that in a typical cellular communication setting the reflect/transmit array based architectures sketch the best overall trade-off. Further, we show that in a qualitative ranking the power efficiency of the considered architectures is independent of the frequency range., Comment: 11 pages, 3 tables, 3 figures

This paper presents a parametric variational autoencoder-based human target detection and localization framework working directly with the raw analog-to-digital converter data from the frequency modulated continous wave radar. We propose a parametrically constrained variational autoencoder, with residual and skip connections, capable of generating the clustered and localized target detections on the range-angle image. Furthermore, to circumvent the problem of training the proposed neural network on all possible scenarios using real radar data, we propose domain adaptation strategies whereby we first train the neural network using ray tracing based model data and then adapt the network to work on real sensor data. This strategy ensures better generalization and scalability of the proposed neural network even though it is trained with limited radar data. We demonstrate the superior detection and localization performance of our proposed solution compared to the conventional signal processing pipeline and earlier state-of-art deep U-Net architecture with range-doppler images as inputs

The spatial distribution and polarization of Saturn narrowband (NB) emissions have been studied by using Cassini Radio and Plasma Wave Sciences data and goniopolarimetric data obtained through an inversion algorithm with a preset source located at the center of Saturn. From 2004 January 1 to 2017 September 12, NB emissions were selected automatically by a computer program and rechecked manually. The spatial distribution shows a preference for high latitude and intensity peaks in the region within 6 Saturn radii for both 5 and 20 kHz NB emissions. 5 kHz NB emissions also show a local time preference roughly in the 18:00-22:00 sector. The Enceladus plasma torus makes it difficult for NB emissions to propagate to the low latitude regions outside the plasma torus. The extent of the low latitude regions where 5 and 20 kHz NB emissions were never observed is consistent with the corresponding plasma torus density contour in the meridional plane. 20 kHz NB emissions show a high circular polarization while 5 kHz NB emissions are less circularly polarized with |V|<0.6 for majority of the cases. And cases of 5kHz NB emissions with high circular polarization are more frequently observed at high latitude especially at the northern and southern edges of the Enceladus plasma torus., Comment: accepted for publication in The Astrophysical Journal

This paper proposes two efficient and easy-to-use error mitigation solutions to the problem of three-dimensional (3-D) angle-of-arrival (AOA) source localization in the mixed line-of-sight (LOS) and non-line-of-sight (NLOS) indoor environments. A weighted linear least squares estimator is derived first for the LOS AOA components in terms of the direction vectors of arrival, albeit in a sub-optimal manner. Next, data selection exploiting the sum of squared residuals is carried out to discard the error-prone NLOS connections. In so doing, the first approach is constituted and more accurate closed-form location estimates can be obtained. The second method applies a simulated annealing stochastic framework to realize the robust $\ell_1$-minimization criterion, which therefore falls into the methodology of statistical robustification. Computer simulations and ultrasonic onsite experiments are conducted to evaluate the performance of the two proposed methods, demonstrating their outstanding positioning results in the respective scenarios., Comment: This paper has been accepted for oral presentation at 2021 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 29 Nov. -- 2 Dec. 2021, Lloret de Mar, Spain

In the emerging field of molecular communication (MC), testbeds are needed to validate theoretical concepts, motivate applications, and guide further modeling efforts. To this end, this paper presents a flexible and extendable in-vessel testbed for flow-based macroscopic MC, abstractly modeling, e.g., a part of a chemical reactor or a blood vessel. Signaling is based on injecting non-reactive superparamagnetic iron oxide nanoparticles (SPIONs) dispersed in an aqueous suspension into a tube with background flow. A commercial magnetic susceptometer is used for non-intrusive downstream signal reception. To shed light on the operation of the testbed, we identify the physical mechanisms governing the transmission, propagation, and reception of the information-carrying SPIONs. Moreover, to facilitate system design, we propose a closed-form parametric expression for the end-to-end channel impulse response (CIR). The proposed CIR model is shown to consistently capture the experimentally observed distance-dependent impulse response peak heights and peak decays for transmission distances from 5cm to 40cm. Moreover, to validate our testbed, reliable communication is demonstrated based on experimental data for model-agnostic and model-based detection methods., Comment: \c{opyright} 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works

In this work, we propose a new single-RF MIMO architecture which enjoys high scalability and energy-efficiency. The transmitter in this proposal consists of a single RF illuminator radiating towards a reflecting surface. Each element on the reflecting surface re-transmits its received signal after applying a phase-shift, such that a desired beamforming pattern is obtained. For this architecture, the problem of beamforming is interpreted as linear regression and a solution is derived via the method of least-squares. Using this formulation, a fast iterative algorithm for tuning of the reflecting surface is developed. Numerical results demonstrate that the proposed architecture is fully compatible with current designs of reflecting surfaces., Comment: To be presented in the 45th IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP) 2020, 5 pages, 4 figures

Invoking large transmit antenna arrays, massive MIMO wiretap settings are capable of suppressing passive eavesdroppers via narrow beamforming towards legitimate terminals. This implies that secrecy is obtained almost for free in these settings. We show that this property holds not only for fully digital MIMO architectures, but also in massive MIMO settings whose transmitters employ architectures with reduced complexity. The investigations consider two dominant approaches for complexity reduction, namely antenna selection and hybrid analog-digital precoding. We show that using either approach, the information leakage normalized by the achievable sum-rate vanishes as the transmit array size grows large. For both approaches, the decaying speed is determined. The results demonstrate that, as the transmit array size grows large, the normalized leakages obtained by antenna selection and hybrid analog-digital precoding converge to zero double-logarithmically and logarithmically, respectively. These analytic derivations are confirmed for various benchmark architectures through numerical investigations.

Conventional hybrid analog-digital architectures for millimeter-wave massive multiple-input multiple-output (MIMO) systems suffer from poor scalability and high implementational costs. The former is caused by the high power loss in the analog network, and the latter is due to the fact that classic MIMO transmission techniques require power amplifiers with high back-offs. This paper proposes a novel hybrid analog-digital architecture which addresses both of these challenges. This architecture implements the analog front-end via a passive reflect- or transmit-array to resolve the scalability issue. To keep the system cost-efficient, a digital precoder is designed whose peak-to-average power ratio (PAPR) on each active antenna is tunable. Using the approximate message passing algorithm, this precoder is implemented with tractable computational complexity. The proposed architecture allows for the use of power amplifiers with low back-offs which reduces the overall radio frequency cost of the system. Numerical results demonstrate that for low PAPRs, significant performance enhancements are achieved compared to the state of the art., Comment: Presented in the 2019 Asilomar Conference on Signals, Systems, and Computers. 5 pages, 2 figures

Superparamagnetic iron oxide nanoparticles (SPIONs) have recently been introduced as information carriers in a testbed for molecular communication (MC) in duct flow. Here, a new receiver for this testbed is presented, based on the concept of a bridge circuit. The capability for a reliable transmission using the testbed and detection of the proposed receiver was evaluated by sending a text message and a 80 bit random sequence at a bit rate of 1/s, which resulted in a bit error rate of 0 %. Furthermore, the sensitivity of the device was assessed by a dilution series, which gave a limit for the detectability of peaks between 0.1 to 0.5 mg/mL. Compared to the commercial susceptometer that was previously used as receiver, the new detector provides an increased sampling rate of 100 samples/s and flexibility in the dimensions of the propagation channel. Furthermore, it allows to implement both single-ended and differential signaling in SPION-bases MC testbeds., Comment: ACM NanoCom 2019

In this paper, we study two novel massive multiple-input multiple-output (MIMO) transmitter architectures for millimeter wave (mmWave) communications which comprise few active antennas, each equipped with a dedicated radio frequency (RF) chain, that illuminate a nearby large intelligent reflecting/transmitting surface (IRS/ITS). The IRS (ITS) consists of a large number of low-cost and energy-efficient passive antenna elements which are able to reflect (transmit) a phase-shifted version of the incident electromagnetic field. Similar to lens array (LA) antennas, IRS/ITS-aided antenna architectures are energy efficient due to the almost lossless over-the-air connection between the active antennas and the intelligent surface. However, unlike for LA antennas, for which the number of active antennas has to linearly grow with the number of passive elements (i.e., the lens aperture) due to the non-reconfigurablility (i.e., non-intelligence) of the lens, for IRS/ITS-aided antennas, the reconfigurablility of the IRS/ITS facilitates scaling up the number of radiating passive elements without increasing the number of costly and bulky active antennas. We show that the constraints that the precoders for IRS/ITS-aided antennas have to meet differ from those of conventional MIMO architectures. Taking these constraints into account and exploiting the sparsity of mmWave channels, we design two efficient precoders; one based on maximizing the mutual information and one based on approximating the optimal unconstrained fully digital (FD) precoder via the orthogonal matching pursuit algorithm. Furthermore, we develop a power consumption model for IRS/ITS-aided antennas that takes into account the impacts of the IRS/ITS imperfections, namely the spillover loss, taper loss, aperture loss, and phase shifter loss., Comment: Journal version of arXiv:1811.02948

Hybrid analog-digital architectures are considered as promising candidates for implementing millimeter wave (mmWave) massive multiple-input multiple-output (MIMO) systems since they enable a considerable reduction of the required number of costly radio frequency (RF) chains by moving some of the signal processing operations into the analog domain. However, the analog feed network, comprising RF dividers, combiners, phase shifters, and line connections, of hybrid MIMO architectures is not scalable due to its prohibitively high power consumption for large numbers of transmit antennas. Motivated by this limitation, in this paper, we study novel massive MIMO architectures, namely reflect-array (RA) and transmit-array (TA) antennas. We show that the precoders for RA and TA antennas have to meet different constraints compared to those for conventional MIMO architectures. Taking these constraints into account and exploiting the sparsity of mmWave channels, we design an efficient precoder for RA and TA antennas based on the orthogonal matching pursuit algorithm. Furthermore, in order to fairly compare the performance of RA and TA antennas with conventional fully-digital and hybrid MIMO architectures, we develop a unified power consumption model. Our simulation results show that unlike conventional MIMO architectures, RA and TA antennas are highly energy efficient and fully scalable in terms of the number of transmit antennas., Comment: submitted to IEEE ICC 2019

Although many exciting applications of molecular communication (MC) systems are envisioned to be at microscale, the MC testbeds reported so far are mostly at macroscale. To link the macroworld to the microworld, we propose and demonstrate a biological signal conversion interface that can also be seen as a microscale modulator. In particular, the proposed interface transduces an optical signal, which is controlled using an LED, into a chemical signal by changing the pH of the environment. The modulator is realized using E. coli bacteria as microscale entity expressing the light-driven proton pump gloeorhodopsin from Gloeobacter violaceus. Upon inducing external light stimuli, these bacteria locally change their surrounding pH level by exporting protons into the environment. To verify the effectiveness of the proposed optical-to-chemical signal converter, we analyze the pH signal measured by a pH sensor, which serves as receiver. We develop an analytical parametric model for the induced chemical signal as a function of the applied optical signal. Using this model, we derive a training-based channel estimator which estimates the parameters of the proposed model to fit the measurement data. We further derive the optimal maximum likelihood detector and a suboptimal low-complexity detector to recover the transmitted data from the measured received signal. It is shown that the proposed parametric model is in good agreement with the measurement data. Moreover, for an example scenario, we show that the proposed setup is able to successfully convert an optical signal representing a sequence of binary symbols into a chemical signal with a bit rate of 1 bit/minute and recover the transmitted data from the chemical signal using the proposed estimation and detection~schemes. The proposed modulator may form the basis for future MC testbeds and applications at microscale., Comment: 28 pages, 10 figures. This work has been submitted to the IEEE for possible publication. arXiv admin note: substantial text overlap with arXiv:1804.05555

This paper proposes the class of Generalized Least-Square-Error (GLSE) precoders for multiuser massive MIMO systems. For a generic transmit constellation, GLSE precoders minimize the interference at user terminals assuring that given constraints on the transmit signals are satisfied. The general form of these precoders enables us to impose multiple restrictions at the transmit signal such as limited peak power and restricted number of active transmit antennas. Invoking the replica method from statistical mechanics, we study the performance of GLSE precoders in the large-system limit. We show that the output symbols of these precoders are identically distributed and their statistics are described with an equivalent scalar GLSE precoder. Using the asymptotic results, we further address some applications of the GLSE precoders; namely forming transmit signals over a restricted alphabet and transmit antenna selection. Our investigations demonstrate that a computationally efficient GLSE precoder requires $41\%$ fewer active transmit antennas than conventional selection protocols in order to achieve a desired level of input-output distortion., Comment: 49 pages, 7 figures. This is the extended version of the paper submitted to IEEE Transactions on Wireless Communications

Simple and easy to implement testbeds are needed to further advance molecular communication research. To this end, this paper presents an in-vessel molecular communication testbed using magnetic nanoparticles dispersed in an aqueous suspension as they are also used for drug targeting in biotechnology. The transmitter is realized by an electronic pump for injection via a Y-connector. A second pump provides a background flow for signal propagation. For signal reception, we employ a susceptometer, an electronic device including a coil, where the magnetic particles move through and generate an electrical signal. We present experimental results for the transmission of a binary sequence and the system response following a single injection. For this flow-driven particle transport, we propose a simple parameterized mathematical model for evaluating the system response., Comment: 6 pages, 4 figures, 1 table, invited paper in IEEE International Workshop on Signal Processing Advances in Wireless Communications (SPAWC) 2018