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The majority of current commercial available Unmanned Aerial Vehicles (UAV) depend mainly on satellite signals to estimate their position. Although this is not a problem in outdoor environments, in scenarios where these signals are obstructed, the UAV may be unable to estimate its position, rendering navigation infeasible. Thus, in satellite-less environments alternative methods are required. The AutoNAV package allows the simulation of Unmanned Aerial Vehicles (UAVs) in environments with limited-to-no satellite signal (such as indoor environments), taking advantage of (terrestrial) radio measurements between stationary reference points (anchors) and a UAV to estimate the position of the UAV. The package provides Python implementations of two algorithms for this purpose: Generalized Trust Region Sub-Problem (GTRS) and Weighted Least Squares (WLS). To provide a user-friendly experience and a straightforward comparison process for other researchers, functions that extract the most relevant metrics and plot the ground truth trajectory and the estimated positions by the algorithms are also included. In the provided examples, a scenario of UAV navigation inside a warehouse, e.g., for stock inventory counting, is designed and depicted. Moreover, the package is designed with modularity in mind, enabling researchers to easily implement, compare and integrate their work, fostering a centralized and straightforward approach for analyzing the performance of existing methods.

In this paper, we present a novel reliability analysis of massive Internet of Things (IoT) connectivity in cellular networks. In massive IoT networks, IoT devices sporadically and unpredictably send short data packets to nearby base stations (BSs), potentially interfering with other IoT devices with whom they share the uplink channel. Assuming slotted ALOHA random access policy, we investigate the probability that an IoT device transmitting a short data packet is not decoded at the nearest BS under Nakagami fading. We derive error probability expressions combining the tools of finite block-length (FBL) information theory and stochastic geometry. Derived FBL-based results are confirmed by Monte Carlo simulations and further compared with the asymptotic expressions available in the previous studies that are obtained under assumption that a device transmits asymptotically long data packets. Numerical results confirm the accuracy of the obtained expressions and their applicability to the massive IoT system design and performance evaluation under a wide range of system parameters. For example, the matching between the values obtained by numerical integration and approximation results of the FBL error probability is in the range between 97.6-99.4 % for different choices of the parameters.

Abstract This work addresses one of the major challenges in the field of Unmanned Aerial Vehicles (UAVs), which is related to UAV navigation in 3‐dimensional indoor environments. This topic is highly relevant due to limited‐to‐no availability of satellite signals that are usually the main sources used to govern the movement of UAVs in outdoor environments. Instead, the algorithm proposed in this work resorts to terrestrial radio measurements between the UAV and a set of stationary reference points to accomplish accurate navigation. The radio measurements are first exploited to give origin to range information that is used to calculate intersection points between a suitable subset of spheres, which serve as a coarse estimate of the UAV's position. From the intersection points, both azimuth and elevation angle estimates are obtained at each reference point. Finally, by taking advantage of estimated bearing information and applying simple geometry, the localisation problem is formulated according to the Weighted Least Squares (WLS) criterion and solved in closed form. The authors’ simulation results show good performance of the proposed approach, matching or even outperforming the state‐of‐the‐art methods in terms of localisation accuracy with significantly lower computational complexity.

Non-orthogonal multiple access (NOMA) technique and unmanned aerial vehicles (UAVs) have been recognized as promising technologies for enabling the stringent requirements of the different network infrastructures expected for the next generation of wireless networks. In parallel, intelligent reconfigurable surfaces (IRSs) have been widely pointed out as an auspicious solution to further improve spectral efficiency, coverage range, and connectivity. By integrating IRS with UAV and NOMA schemes with multiple-input multiple-output (MIMO) it is possible to smartly improve the overall network performance. In order to explore some of these potentials, this paper provides a comprehensive discussion about the interplay of aerial IRS in MIMO-NOMA (AIRS-NOMA) networks, as well its architecture, functionality principles, and performance gains. In particular, attractive gains related to the data rate maximization, user fairness, energy efficiency, and coverage range are highlighted. Simulation results are provided to support our insightful discussions, in which it is revealed that the performance gains of AIRSNOMA networks are superior when compared to terrestrial deployment. In addition, to guide new studies perspectives, it is addressed some issues and research opportunities associated with this potential integration.

Uavnoma is a set of Python functions and a front-end script for modeling, studying, and analyzing the communication system composed by an unmanned aerial vehicle (UAV) and two ground users. We assume that the UAV acts as an aerial base station to serve the users according to non-orthogonal multiple access (NOMA) principles. For more practical insights, residual hardware impairments (RHI) and imperfect successive interference cancellation (ipSIC) are considered. More specifically, uavnoma allows the modelers to study and visualize the system performance in terms of achievable rate and outage probability. Additionally, the package produces figures and tables showcasing results from the specified performance metrics.

Abstract Standard compressive sensing (CS) scenario assumes a single sparsifying basis used to reconstruct the signals from a small set of incoherent measurements. However, in many cases, the signal cannot be sparsely represented using a single transformation. Particularly, in ECG signal analysis, each signal segment is specific in nature and reflects different physical phenomena. Hence, using the same transformation for all segments may be inappropriate for efficient analysis and reconstruction. Moreover, in the CS scenario, it would be necessary to combine different transforms to achieve compact signal support and to provide successful reconstruction from randomly under-sampled data. This work proposes a hybrid CS reconstruction algorithm that combines different transform basis, based on the concept of orthogonal matching pursuit. The performance of the proposed approach is verified experimentally using the combination of the Fourier and the Hermite transform on the real ECG signals.

Technology plays a crucial role in the management of natural resources in agricultural production. Free and open-source software and sensor technology solutions have the potential to promote more sustainable agricultural production. The goal of this rapid review is to find exclusively free and open-source software for precision agriculture, available in different electronic databases, with emphasis on their characteristics and application formats, aiming at promoting sustainable agricultural production. A thorough search of the Google Scholar, GitHub, and GitLab electronic databases was performed for this purpose. Studies reporting and/or repositories containing up-to-date software were considered for this review. The various software packages were evaluated based on their characteristics and application formats. The search identified a total of 21 free and open-source software packages designed specifically for precision agriculture. Most of the identified software was shown to be extensible and customizable, while taking into account factors such as transparency, speed, and security, although some limitations were observed in terms of repository management and source control. This rapid review suggests that free and open-source software and sensor technology solutions play an important role in the management of natural resources in sustainable agricultural production, and highlights the main technological approaches towards this goal. Finally, while this review performs a preliminary assessment of existing free and open source solutions, additional research is needed to evaluate their effectiveness and usability in different scenarios, as well as their relevance in terms of environmental and economic impact on agricultural production.

Wireless communication systems are being considered for medical applications to facilitate the doctors’ operation and the quality of the medical procedures. A demonstrative example of this is the catheterization laboratory (CathLab), where it is desirable to replace the existent wired connections by wireless alternatives. However, there are some challenging requirements that need to be fulfilled by the wireless link, especially for intra-vascular ultra-sound (IVUS) systems, since the images acquired by the catheter should be transmitted with very high data rate and low latency, together with the highest possible amplification efficiency, to increase the battery life. The communication requirements can be achieved with latest the Wi-Fi standard IEEE 802.11ax (Wi-Fi 6). However, since Wi-Fi is based on orthogonal frequency division multiplexing (OFDM) waveforms, the transmitted signals present high envelope fluctuations, leading to amplification difficulties due to the nonlinear distortion effects and low energy efficiency. In this paper, we present an innovative amplification scheme named quantized digital amplification (QDA). It is shown that the QDA allows a quasi-linear amplification of IEEE 802.11ax signals while maintaining a very high energy efficiency. To demonstrate this, a QDA prototype and a set of performance results, regarding both the linearity of the transmitted signals and the energy efficiency, are presented.

This work studies the problem of target localization based on received signal strength (RSS) and angle of arrival (AOA) observations. In contrast to the existing solutions which base their derivations on separate manipulations of each of the measurement models and rely on additional quantity of information available through measurement fusion to boost their performance, we take a different approach here. Rather than treating the measurements individually, we combine them together in order to study the problem from a geometrical perspective. By exploiting the fact that the measurements are noise-corrupted, a fictitious sensor is introduced by each reference point in the network, which allows for application of law of cosines (LC) to fabricated triangles whose last vertex lies at the true target location. Based on weighted central mass of all fictitious sensors, additional side length of the triangles is estimated, which, together with the available angle information, enables straightforward conversion of the problem into a generalized trust region sub-problem (GTRS), which is solved exactly by a bisection method. Both cases of known and unknown transmit power are considered. The proposed algorithm has significantly inferior computational burden than the state-of-the-art approaches, and it not only matches their localization accuracy, but it outperforms them considerably for low number of reference points.

This work addresses the problem of unmanned aerial vehicle (UAV) navigation in indoor environments. Due to unavailability of satellite signals, the proposed algorithm takes advantage of terrestrial radio measurements between the UAV and a set of stationary reference points, from which it extracts range information, as well as odometry by means of inertial sensors, such as accelerometer. On the one hand, based on maximum a posteriori (MAP) criterion, the range information and accumulated knowledge throughout the UAV’s movement are employed to derive a generalized trust region sub-problem (GTRS), that is solved exactly via bisection procedure. On the other hand, by using the UAV’s transform in relation to the world, another position estimation is obtained by employing odometry. Finally, the two position estimates are combined through a Kalman filter (KF) to enhance the positioning accuracy and obtain the final UAV’s position estimation. The UAV is then navigated to a desired destination, by simply calculating the velocity components in the shortest path. Our results show that the proposed algorithm is robust to various model parameters for high precision (HP) UAV sensors, achieving reasonably good positioning accuracy. Besides, the results corroborate that the proposed algorithm is suitable for real-time applications, consuming (on average) only 21 ms to estimate the UAV position.

The present work proposes a new approach to address the energy-based acoustic localization problem. The proposed approach represents an improved version of evolutionary optimization based on Elephant Herding Optimization (EHO), where two major contributions are introduced. Firstly, instead of random initialization of elephant population, we exploit particularities of the problem at hand to develop an intelligent initialization scheme. More precisely, distance estimates obtained at each reference point are used to determine the regions in which a source is most likely to be located. Secondly, rather than letting elephants to simply wander around in their search for an update of the source location, we base their motion on a local search scheme which is found on a discrete gradient method. Such a methodology significantly accelerates the convergence of the proposed algorithm, and comes at a very low computational cost, since discretization allows us to avoid the actual gradient computations. Our simulation results show that, in terms of localization accuracy, the proposed approach significantly outperforms the standard EHO one for low noise settings and matches the performance of an existing enhanced version of EHO (EEHO). Nonetheless, the proposed scheme achieves this accuracy with significantly less number of function evaluations, which translates to greatly accelerated convergence in comparison with EHO and EEHO. Finally, it is also worth mentioning that the proposed methodology can be extended to any population-based metaheuristic method (it is not only restricted to EHO), which tackles the localization problem indirectly through distance measurements.

Collaborative beamforming (CBF) is a promising technique aimed at improving energy efficiency of communication in wireless sensor networks (WSNs) which has attracted considerable attention in the research community recently. It is based on a fact that beampattern with stable mainlobe can be formed, if multiple sensors synchronize their oscillators and jointly transmit a common message signal. In this paper, we consider application of CBF with one bit of feedback in different communication scenarios and analyze the impact of constraints imposed by simple sensor node hardware, on the resulting signal strength. First, we present a CBF scheme capable of reducing interference levels in the nearby WSN clusters by employing joint feedback from multiple base stations that surround the WSN of interest. Then, we present a collaborative power allocation and sensor selection algorithm, capable of achieving beamforming gains with transmitters that are not able to adjust their oscillators' signal phase. The performance of the algorithms is assessed by means of achieved beamforming gain which is given as a function of algorithm iterations. The presented results, which are based on numerical simulations and mathematical analysis, are compared with the ideal case without constraints and with negligible noise at the Base Station (BS).

This work addresses target localization problem in precarious surroundings where possibly no links are line of sight. It exploits the known architecture of available reference points to act as an irregular antenna array in order to estimate the azimuth angle between a reference point and a target, based on distance estimates withdrawn from integrated received signal strength (RSS) and time of arrival (TOA) observations. These fictitious azimuth angle observations are then used to linearize the measurement models, which triggers effortless derivation of a new estimator in a closed-form. It is shown here that, by using fixed network geometry in which target orientation with respect to a line formed by a pair of anchors can be correctly estimated, the localization performance can be significantly enhanced. The new approach is validated through computer simulations, which corroborate our intuition of profiting from inherent information within a network.

Abstract This work proposes an analog implementation of gradient-based algorithm for compressive sensing signal reconstruction. Compressive sensing has appeared as a promising technique for efficient acquisition and reconstruction of sparse signals in many real-world applications. It starts from the assumption that sparse signals can be exactly reconstructed using far less samples than in standard signal processing. In this paper, we consider the gradient-based algorithm as the optimal choice that provides lower complexity and competitive accuracy compared with existing methods. Since the efficient hardware implementations of reconstruction algorithms are still an emerging topic, this work is focused on the design of hardware that will provide fast parallel algorithm execution for real-time applications, overcoming the limitations imposed by the large number of nested iterations during the signal reconstruction. The proposed implementation is simple and fast, executing 400 iterations in 1 ms which is sufficient to obtain highly accurate reconstruction results.

Reliable and efficient transmission of emergency calls during a massive network failure is both an indispensable and challenging task. In this paper, we propose a novel fully 3GPP and 5G compatible emergency call protocol named 5G StandalOne Service (5G-SOS). A 5G-SOS-enabled emergency service provides potential out-of-coverage victims’ devices with a way to contact the 4G/5G core network through D2D multi-hop relaying protocol. The objective of 5G-SOS is to maintain this connection even when a large fraction of the network infrastructure is destroyed. 5G-SOS is a fully distributed protocol designed to generate zero additional control traffic and to adapt its parameters based on the local emergency call congestion. Therefore, devices behave as an ad-hoc network with the common purpose to ensure the best chances for emergency call transfer within a reasonable delay. A densely populated Traverse city of Michigan, USA, with a 15,000 population, is used to evaluate 5G-SOS under extreme emergency scenarios. The performance of 5G-SOS is shown to be significant when compared with existing protocols, namely, M-HELP and FINDER, in terms of transmission success rate, end-to-end latency, network traffic control, and energy management. 5G-SOS provides satisfactory performance (success rate of 50%) even when the number of simultaneous emergency calls is very high (5000 calls over 10 min). On average, 5G-SOS performs 24.9% better than M-HELP and 73.9% than FINDER in terms of success rate. Additionally, 5G-SOS reduces the average end-end latency of the emergency calls transfer by 20.8% compared to M-HELP and 61.7% compared to FINDER.

Locating the position of a remote node on a wireless network is becoming more relevant, as we move forward in the Internet of things and in autonomous vehicles. This paper proposes a new system to implement the location of remote nodes. A new prototype Android application has been developed to collect real measurements and to study the performance of several smartphone's sensors and location algorithms, including an innovative one, based on the second order cone programming (SOCP) relaxation. The application collects the WiFi access points information and the terminal location. An internal odometry module developed for the prototype is used when Android's service is unavailable. This paper compares the performance of existing location estimators given in closed form, an existing SOCP one, and the new SOCP location estimator proposed, which has reduced complexity. An algorithm to merge measurements from non-identical terminals is also proposed. Cooperative and terminal stand-alone operations are compared, showing a higher performance for SOCP-based ones, that are capable of estimating the path loss exponent and the transmission power. The heterogeneous terminals were also used in the tests. Our results show that the accurate positioning of static remote entities can be achieved using a single smartphone. On the other hand, the accurate real-time positioning of the mobile terminal is provided when three or more scattered terminal nodes cooperate sharing the samples taken synchronously.

In the last decades, several swarm-based optimization algorithms have emerged in the scientific literature, followed by a massive increase in terms of their fields of application. Most of the studies and comparisons are restricted to high-level languages (such as MATLAB®) and testing methods on classical benchmark mathematical functions. Specifically, the employment of swarm-based methods for solving energy-based acoustic localization problems is still in its inception and has not yet been extensively studied. As such, the present work marks the first comprehensive study of swarm-based optimization algorithms applied to the energy-based acoustic localization problem. To this end, a total of 10 different algorithms were subjected to an extensive set of simulations with the following aims: (1) to compare the algorithms’ convergence performance and recognize novel, promising methods for solving the problem of interest; (2) to validate the importance (in convergence speed) of an intelligent swarm initialization for any swarm-based algorithm; (3) to analyze the methods’ time efficiency when implemented in low-level languages and when executed on embedded processors. The obtained results disclose the high potential of some of the considered swarm-based optimization algorithms for the problem under study, showing that these methods can accurately locate acoustic sources with low latency and bandwidth requirements, making them highly attractive for edge computing paradigms.

This paper presents a mobility model for the variations in position and orientation of wearable antennas on dynamic users, considering walking and running motions. Motion is represented as a composition of a linear forward movement plus a periodic component, modeled by a Fourier series with up to two harmonics. The model is simple, yet realistic, as Motion Capture (MoCap) data are used to calculate its parameters. It is suitable for use with a variety of propagation channel models, including deterministic ray-tracing and stochastic geometry-based ones, but can also allow for analytical inference in simplified scenarios. Considering an off-body communication scenario, simulations show that the proposed mobility model provides similar received power as the skeleton-based model with MoCap data, the maximum difference in the considered scenario being below 1 dB. A significant influence of user's motion on the channel is observed for both free-space and multipath propagation, yielding received power variations up to 28 dB in the considered scenarios.

This work presents a multistart algorithm for solving the capacitated vehicle routing problem with 2D loading constraints (2L-CVRP) allowing for the rotation of goods. Research dedicated to graph theory and symmetry considered the vehicle routing problem as a classical application. This problem has complex aspects that stimulate the use of advanced algorithms and symmetry in graphs. The use of graph modeling of the 2L-CVRP problem by undirected graph allowed the high performance of the algorithm. The developed algorithm is based on metaheuristics, such as the Constructive Genetic Algorithm (CGA) to construct promising initial solutions; a Tabu Search (TS) to improve the initial solutions on the routing problem, and a Large Neighborhood Search (LNS) for the loading subproblem. Although each one of these algorithms allowed to solve parts of the 2L-CVRP, the combination of these three algorithms to solve this problem was unprecedented in the scientific literature. In our approach, a parallel mechanism for checking the loading feasibility of routes was implemented using multithreading programming to improve the performance. Additionally, memory structures such as hash-tables were implemented to save time by storing and querying previously evaluated results for the loading feasibility of routes. For benchmarks, tests were done on well-known instances available in the literature. The results proved that the framework matched or outperformed most of the previous approaches. As the main contribution, this work brings higher quality solutions for large-size instances of the pure CVRP. This paper involves themes related to the symmetry journal, mainly complex algorithms, graphs, search strategies, complexity, graph modeling, and genetic algorithms. In addition, the paper especially focuses on topic-related aspects of special interest to the community involved in symmetry studies, such as graph algorithms and graph theory.

The present work proposed a low-cost portable device as an enabling technology for agriculture using multispectral imaging and machine learning in soil texture. Clay is an important factor for the verification and monitoring of soil use due to its fast reaction to chemical and surface changes. The system developed uses the analysis of reflectance in wavebands for clay prediction. The selection of each wavelength is performed through an LED lamp panel. A NoIR microcamera controlled by a Raspberry Pi device is employed to acquire the image and unfold it in RGB histograms. Results showed a good prediction performance with R2 of 0.96, RMSEC of 3.66% and RMSECV of 16.87%. The high portability allows the equipment to be used in a field providing strategic information related to soil sciences.

The localization of an acoustic source has attracted much attention in the scientific community, having been applied in several different real-life applications. At the same time, the use of neural networks in the acoustic source localization problem is not common; hence, this work aims to show their potential use for this field of application. As such, the present work proposes a deep feed-forward neural network for solving the acoustic source localization problem based on energy measurements. Several network typologies are trained with ideal noise-free conditions, which simplifies the usual heavy training process where a low mean squared error is obtained. The networks are implemented, simulated, and compared with conventional algorithms, namely, deterministic and metaheuristic methods, and our results indicate improved performance when noise is added to the measurements. Therefore, the current developed scheme opens up a new horizon for energy-based acoustic localization, a field where machine learning algorithms have not been applied in the past.

In this paper, we propose a new algorithm for distributed spectrum sensing and channel selection in cognitive radio networks based on consensus. The algorithm operates within a multi-agent reinforcement learning scheme. The proposed consensus strategy, implemented over a directed, typically sparse, time-varying low-bandwidth communication network, enforces collaboration between the agents in a completely decentralized and distributed way. The motivation for the proposed approach comes directly from typical cognitive radio networks’ practical scenarios, where such a decentralized setting and distributed operation is of essential importance. Specifically, the proposed setting provides all the agents, in unknown environmental and application conditions, with viable network-wide information. Hence, a set of participating agents becomes capable of successful calculation of the optimal joint spectrum sensing and channel selection strategy even if the individual agents are not. The proposed algorithm is, by its nature, scalable and robust to node and link failures. The paper presents a detailed discussion and analysis of the algorithm’s characteristics, including the effects of denoising, the possibility of organizing coordinated actions, and the convergence rate improvement induced by the consensus scheme. The results of extensive simulations demonstrate the high effectiveness of the proposed algorithm, and that its behavior is close to the centralized scheme even in the case of sparse neighbor-based inter-node communication.

This work addresses the problem of target localization in three-dimensional wireless sensor networks (WSNs). The proposed algorithm is based on a hybrid system that employs angle of arrival (AOA) and received signal strength (RSS) measurements, where the target’s transmit power is considered as an unknown parameter. Although both cases of a known and unknown target’s transmit power have been addressed in the literature, most of the existing approaches for unknown transmit power are either carried out recursively, or require a high computational cost. This results in an increased execution time of these algorithms, which we avoid in this work by proposing a single-iteration solution with moderate computational complexity. By exploiting the measurement models, a non-convex least squares (LS) estimator is derived first. Then, to tackle its nonconvexity, we resort to second-order cone programming (SOCP) relaxation techniques to transform the non-convex estimator into a convex one. Additionally, to make the estimator tighter, we exploit the angle between two vectors by using the definition of their inner product, which arises naturally from the derivation steps that are taken. The proposed method not only matches the performance of a computationally more complex state-of-the-art method, but it outperforms it for small N. This result is of a significant value in practice, since one desires to localize the target using the least number of anchor nodes as possible due to network costs.

The third affiliation of the paper should have been completed in our original article [...]

In a wiretap channel system model, the jammer node adopts the energy-harvesting signal as artificial noise (jamming signal) against the cooperative eavesdroppers. There are two eavesdroppers in the wiretap channel: eavesdropper E1 is located near the transmitter and eavesdropper E2 is located near the jammer. The eavesdroppers are equipped with multiple antennas and employ the iterative block decision feedback equalization decoder to estimate the received signal, i.e., information signal at E1 and jamming signal at E2. It is assumed that E1 has the channel state information (CSI) of the channel between transmitter and E1, and similarly, E2 has the CSI of channel between jammer and E2. The eavesdroppers establish communication link between them and cooperate with each other to reduce the information signal interference at E2 and jamming signal interference at E1. The performance of decoders depends on the signal to interference plus noise ratio (SINR) of the received signal. The power of information signal is fixed and the power of the jamming signal is adjusted to improve the SINR of the received signal. This research work is solely focused on optimizing the jamming signal power to degrade the performance of cooperative eavesdroppers. The jamming signal power is optimized for the given operating SINR with the support of simulated results. The jamming signal power optimization leads to better energy conservation and degrades the performance of eavesdroppers.

Cryptography is considered indispensable among security measures applied to data concerning insecure means of transmission. Among various existent algorithms on asymmetric cryptography, we may cite Elliptic Curve Cryptography (ECC), which has been widely used due to its security level and reduced key sizes. When compared to Rivest, Shamir and Adleman (RSA), for example, ECC can maintain security levels with a shorter key. Elliptic Curve Point Multiplication (ECPM) is the main function in ECC, and is the component with the highest hardware cost. Lots of ECPM implementations have been applied on hardware targeting the acceleration of its calculus. This article presents a systematic review of literature on ECPM implementations on both Field-Programmable Gate Array (FPGA) and Application-Specific Integrated Circuit (ASIC). The obtained results show which methods and technologies have been used to implement ECPM on hardware and present some findings of the choices available to the hardware designers.

The present work addresses the development of a test-bench for the embedded implementation, validity, and testing of the recently proposed Improved Elephant Herding Optimization (iEHO) algorithm, applied to the acoustic localization problem. The implemented methodology aims to corroborate the feasibility of applying iEHO in real-time applications on low complexity and low power devices, where three different electronic modules are used and tested. Swarm-based metaheuristic methods are usually examined by employing high-level languages on centralized computers, demonstrating their capability in finding global or good local solutions. This work considers iEHO implementation in C-language running on an embedded processor. Several random scenarios are generated, uploaded, and processed by the embedded processor to demonstrate the algorithm’s effectiveness and the test-bench usability, low complexity, and high reliability. On the one hand, the results obtained in our test-bench are concordant with the high-level implementations using MatLab® in terms of accuracy. On the other hand, concerning the processing time and as a breakthrough, the results obtained over the test-bench allow to demonstrate a high suitability of the embedded iEHO implementation for real-time applications due to its low latency.

The virtual (software) instrument with a statistical analyzer for testing algorithms for biomedical signals’ recovery in compressive sensing (CS) scenario is presented. Various CS reconstruction algorithms are implemented with the aim to be applicable for different types of biomedical signals and different applications with under-sampled data. Incomplete sampling/sensing can be considered as a sort of signal damage, where missing data can occur as a result of noise or the incomplete signal acquisition procedure. Many approaches for recovering the missing signal parts have been developed, depending on the signal nature. Here, several approaches and their applications are presented for medical signals and images. The possibility to analyze results using different statistical parameters is provided, with the aim to choose the most suitable approach for a specific application. The instrument provides manifold possibilities such as fitting different parameters for the considered signal and testing the efficiency under different percentages of missing data. The reconstruction accuracy is measured by the mean square error (MSE) between original and reconstructed signal. Computational time is important from the aspect of power requirements, thus enabling the selection of a suitable algorithm. The instrument contains its own signal database, but there is also the possibility to load any external data for analysis.

Recent and continuous development of mobile computing and user-centric applications has led to a requirement for accurate and low-cost localization and tracking systems.[...]

Remarkable progress in radio frequency and micro-electro-mechanical systems integrated circuit design over the last two decades has enabled the use of wireless sensor networks with thousands of nodes. It is foreseen that the fifth generation of networks will provide significantly higher bandwidth and faster data rates with potential for interconnecting myriads of heterogeneous devices (sensors, agents, users, machines, and vehicles) into a single network (of nodes), under the notion of Internet of Things. The ability to accurately determine the physical location of each node (stationary or moving) will permit rapid development of new services and enhancement of the entire system. In outdoor environments, this could be achieved by employing global navigation satellite system (GNSS) which offers a worldwide service coverage with good accuracy. However, installing a GNSS receiver on each device in a network with thousands of nodes would be very expensive in addition to energy constraints. Besides, in indoor or obstructed environments (e.g., dense urban areas, forests, and canyons) the functionality of GNSS is limited to non-existing, and alternative methods have to be adopted. Many of the existing alternative solutions are centralized, meaning that there is a sink in the network that gathers all information and executes all required computations. This approach quickly becomes cumbersome as the number of nodes in the network grows, creating bottle-necks near the sink and high computational burden. Therefore, more effective approaches are needed. As such, this work presents a survey (from a signal processing perspective) of existing distributed solutions, amalgamating two radio measurements, received signal strength (RSS) and angle of arrival (AOA), which seem to have a promising partnership. The present article illustrates the theory and offers an overview of existing RSS-AOA distributed solutions, as well as their analysis from both localization accuracy and computational complexity points of view. Finally, the article identifies potential directions for future research.

In this paper, we propose a new approach based on convex optimization to address the received signal strength (RSS)-based cooperative localization problem in wireless sensor networks (WSNs). By using iterative procedures and measurements between two adjacent nodes in the network exclusively, each target node determines its own position locally. The localization problem is formulated using the maximum likelihood (ML) criterion, since ML-based solutions have the property of being asymptotically efficient. To overcome the non-convexity of the ML optimization problem, we employ the appropriate convex relaxation technique leading to second-order cone programming (SOCP). Additionally, a simple heuristic approach for improving the convergence of the proposed scheme for the case when the transmit power is known is introduced. Furthermore, we provide details about the computational complexity and energy consumption of the considered approaches. Our simulation results show that the proposed approach outperforms the existing ones in terms of the estimation accuracy for more than 1:5 m. Moreover, the new approach requires a lower number of iterations to converge, and consequently, it is likely to preserve energy in all presented scenarios, in comparison to the state-of-the-art approaches.

This work proposes a novel approach for tracking a moving target in non-line-of-sight (NLOS) environments based on range estimates extracted from received signal strength (RSS) and time of arrival (TOA) measurements. By exploiting the known architecture of reference points to act as an improper antenna array and the range estimates, angle of arrival (AOA) of the signal emitted by the target is first estimated at each reference point. We then show how to take advantage of these angle estimates to convert the problem into a more convenient, polar space, where a linearization of the measurement models is easily achieved. The derived linear model serves as the main building block on top of which prior knowledge acquired during the movement of the target is incorporated by adapting a Kalman filter (KF). The performance of the proposed approach was assessed through computer simulations, which confirmed its effectiveness in combating the negative effect of NLOS bias and superiority in comparison with its naive counterpart, which does not take prior knowledge into consideration.

This work addresses the problem of target localization in adverse non-line-of-sight (NLOS) environments by using received signal strength (RSS) and time of arrival (TOA) measurements. It is inspired by a recently published work in which authors discuss about a critical distance below and above which employing combined RSS-TOA measurements is inferior to employing RSS-only and TOA-only measurements, respectively. Here, we revise state-of-the-art estimators for the considered target localization problem and study their performance against their counterparts that employ each individual measurement exclusively. It is shown that the hybrid approach is not the best one by default. Thus, we propose a simple heuristic approach to choose the best measurement for each link, and we show that it can enhance the performance of an estimator. The new approach implicitly relies on the concept of the critical distance, but does not assume certain link parameters as given. Our simulations corroborate with findings available in the literature for line-of-sight (LOS) to a certain extent, but they indicate that more work is required for NLOS environments. Moreover, they show that the heuristic approach works well, matching or even improving the performance of the best fixed choice in all considered scenarios.

This paper deals with recently proposed algorithms for real-time distributed blind macro-calibration of sensor networks based on consensus (synchronization). The algorithms are completely decentralized and do not require a fusion center. The goal is to consolidate all of the existing results on the subject, present them in a unified way, and provide additional important analysis of theoretical and practical issues that one can encounter when designing and applying the methodology. We first present the basic algorithm which estimates local calibration parameters by enforcing asymptotic consensus, in the mean-square sense and with probability one (w.p.1), on calibrated sensor gains and calibrated sensor offsets. For the more realistic case in which additive measurement noise, communication dropouts and additive communication noise are present, two algorithm modifications are discussed: one that uses a simple compensation term, and a more robust one based on an instrumental variable. The modified algorithms also achieve asymptotic agreement for calibrated sensor gains and offsets, in the mean-square sense and w.p.1. The convergence rate can be determined in terms of an upper bound on the mean-square error. The case when the communications between nodes is completely asynchronous, which is of substantial importance for real-world applications, is also presented. Suggestions for design of a priori adjustable weights are given. We also present the results for the case in which the underlying sensor network has a subset of (precalibrated) reference sensors with fixed calibration parameters. Wide applicability and efficacy of these algorithms are illustrated on several simulation examples. Finally, important open questions and future research directions are discussed.

This work addresses the energy-based source localization problem in wireless sensors networks. Instead of circumventing the maximum likelihood (ML) problem by applying convex relaxations and approximations, we approach it directly by the use of metaheuristics. To the best of our knowledge, this is the first time that metaheuristics are applied to this type of problem. More specifically, an elephant herding optimization (EHO) algorithm is applied. Through extensive simulations, the key parameters of the EHO algorithm are optimized such that they match the energy decay model between two sensor nodes. A detailed analysis of the computational complexity is presented, as well as a performance comparison between the proposed algorithm and existing non-metaheuristic ones. Simulation results show that the new approach significantly outperforms existing solutions in noisy environments, encouraging further improvement and testing of metaheuristic methods.

This work revises existing solutions for a problem of target localization in wireless sensor networks (WSNs), utilizing integrated measurements, namely received signal strength (RSS) and angle of arrival (AoA). The problem of RSS/AoA-based target localization became very popular in the research community recently, owing to its great applicability potential and relatively low implementation cost. Therefore, here, a comprehensive study of the state-of-the-art (SoA) solutions and their detailed analysis is presented. The beginning of this work starts by considering the SoA approaches based on convex relaxation techniques (more computationally complex in general), and it goes through other (less computationally complex) approaches, as well, such as the ones based on the generalized trust region sub-problems framework and linear least squares. Furthermore, a detailed analysis of the computational complexity of each solution is reviewed. Furthermore, an extensive set of simulation results is presented. Finally, the main conclusions are summarized, and a set of future aspects and trends that might be interesting for future research in this area is identified.

This work addresses the problem of tracking a signal-emitting mobile target in wireless sensor networks (WSNs) with navigated mobile sensors. The sensors are properly equipped to acquire received signal strength (RSS) and angle of arrival (AoA) measurements from the received signal, while the target transmit power is assumed not known. We start by showing how to linearize the highly non-linear measurement model. Then, by employing a Bayesian approach, we combine the linearized observation model with prior knowledge extracted from the state transition model. Based on the maximum a posteriori (MAP) principle and the Kalman filtering (KF) framework, we propose new MAP and KF algorithms, respectively. We also propose a simple and efficient mobile sensor navigation procedure, which allows us to further enhance the estimation accuracy of our algorithms with a reduced number of sensors. Model flaws, which result in imperfect knowledge about the path loss exponent (PLE) and the true mobile sensors’ locations, are taken into consideration. We have carried out an extensive simulation study, and our results confirm the superiority of the proposed algorithms, as well as the effectiveness of the proposed navigation routine.