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The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly configurable with respect to latency, ROS2 is often used with its default settings. In this paper, we investigate the end-to-end latency of ROS2 for distributed systems with default settings and different Data Distribution Service (DDS) middlewares. In addition, we profile the ROS2 stack and point out latency bottlenecks. Our findings indicate that end-to-end latency strongly depends on the used DDS middleware. Moreover, we show that ROS2 can lead to 50% latency overhead compared to using low-level DDS communications. Our results imply guidelines for designing distributed ROS2 architectures and indicate possibilities for reducing the ROS2 overhead.

The fifth generation of mobile communication networks will support a large set of new services and applications. One important use case is the remote area coverage for broadband Internet access. This use case ha significant social and economic impact, since a considerable percentage of the global population living in low populated area does not have Internet access and the communication infrastructure in rural areas can be used to improve agribusiness productivity. The aim of this paper is to analyze the performance of a 5G for Remote Areas transceiver, implemented on field programmable gate array based hardware for real-time processing. This transceiver employs the latest digital communication techniques, such as generalized frequency division multiplexing waveform combined with 2 by 2 multiple-input multiple-output diversity scheme and polar channel coding. The performance of the prototype is evaluated regarding its out-of-band emissions and bit error rate under AWGN channel., Comment: Presented in 2018 European Conference on Networks and Communications (EuCNC),18-21 June, 2018, Ljubljana, Slovenia

Orthogonal time frequency space modulation (OTFS) has been recently proposed to achieve time and frequency diversity, especially in linear time-variant (LTV) channels with large Doppler frequencies. The idea is based on the precoding of the data symbols using symplectic finite Fourier transform (SFFT) then transmitting them by mean of orthogonal frequency division multiplexing (OFDM) waveform. Consequently, the demodulator and channel equalization can be coupled in one processing step. As a distinguished feature, the demodulated data symbols have roughly equal gain independent of the channel selectivity. On the other hand, generalized frequency division multiplexing (GFDM) modulation also employs the spreading over the time and frequency domains using circular filtering. Accordingly, the data symbols are implicitly precoded in a similar way as applying SFFT in OTFS. In this paper, we present an extended representation of GFDM which shows that OTFS can be processed as a GFDM signal with simple permutation. Nevertheless, this permutation is the key factor behind the outstanding performance of OTFS in LTV channels, as demonstrated in this work. Furthermore, the representation of OTFS in the GFDM framework provides an efficient implementation, that has been intensively investigated for GFDM, and facilitates the understanding of the OTFS distinct features., Comment: Accepted in IEEE Global Communications Conference 9-13 December 2018 Abu Dhabi, UAE

For a linear waveform, a finite condition number of the corresponding modulation matrix is necessary for the waveform to convey the message without ambiguity. Based on the Zak transform, this letter presents an analytical approach to compute the condition number of the modulation matrix for the multi-carrier waveform generalized frequency division multiplexing (GFDM). On top, we further propose a filter design that yields non-singular modulation matrices for an even number of subcarriers and subsymbols, which is not achievable for any previous work. Such new design has significant impact on implementation complexity, as the radix-2 FFT operations for conventional multicarrier waveforms can readily be employed for GFDM. Additionally, we analytically derive the optimal filter that minimizes the condition number.We further numerically evaluate the signal-to-interference ratio (SIR) and noise-enhancement factor (NEF) for matched filter (MF) and zero-forcing (ZF) GFDM receivers for such design, respectively.

In this paper, we investigate preamble designs for channel estimation, that jointly address the estimation efficiency in terms of MSE of the channel estimates, and the OOB radiation of the transmit preambles. We provide two novel design techniques, based on a convex optimization problem, to obtain optimal preambles for a single carrier and provide a juxtaposition based method to extend their application to multi-carrier systems. The obtained preambles are shown to have 10 dB to 35 dB lower OOB radiation than the existing preamble based estimation techniques. We also show the fundamental trade-off between the estimation efficiency and the OOB radiation and highlight that the improved OOB performance comes at a cost of increased estimation error. Finally, as a case study, the estimated channel values are used in equalization of a MIMO GFDM system that is aimed for transmit diversity.

This document provides a comparison of the transmission techniques used in Generalized Frequency Division Multiplexing (GFDM) and Vector-OFDM (VOFDM). Within the document both systems are coarsely described and common and distinct properties are highlighted.

The next generation of wireless networks will face different challenges from new scenarios. The main contribution of this paper is to show that Generalized Frequency Division Multiplexing (GFDM), as a baseline of flexible circular filtered multicarrier systems, can be used as a framework to virtualize the PHY service for the upper layers of 5G networks. This framework opens the possibility to apply software-defined network principles to produce software-defined waveforms capable of addressing the requirements of future mobile networks. Hence, a block oriented concept will be used to provide the modulation service, emulating different flavors of waveforms designed to go beyond the well-established Orthogonal Frequency Division Multiplexing (OFDM) principles, in scenarios where they perform best. The virtual physical layer (PHY) service opens the opportunity to have a fast and dynamic evolution of the infrastructure, as applications change over time. The presented unified modulation concept contributes with future research directions to address burst and continuous transmissions, referencing basic approaches for synchronization and advanced receiver design that can be exploited in future for the whole frame structure design and channel estimation strategies.

Future wireless communication systems are demanding a more flexible physical layer. GFDM is a block filtered multicarrier modulation scheme proposed to add multiple degrees of freedom and cover other waveforms in a single framework. In this paper, GFDM modulation and demodulation will be presented as a frequency-domain circular convolution, allowing for a reduction of the implementation complexity when MF, ZF and MMSE filters are employed in the inner and outer receiver operation. Also, precoding is introduced to further increase GFDM flexibility, addressing a wider set of applications., Comment: Submitted to IEEE Wireless Communication Letter

Current implementations of OFDM/OQAM are restricted to band-limited symmetric filters. To circumvent this, non-symmetric conjugate root (CR) filters are proposed for OQAM modulation. The system is applied to Generalized Frequency Division Multiplexing (GFDM) and a method for achieving transmit diversity with OQAM modulation is presented. The proposal reduces implementation complexity compared to existing works and provides a more regular phase space. GFDM/CR-OQAM outperforms conventional GFDM in terms of symbol error rate in fading multipath channels and provides a more localized spectrum compared to conventional OQAM., Comment: 4pages, revised version submitted to IEEE WCL

A low-complexity algorithm for calculation of the LMMSE filter coefficients for GFDM in a block-fading multipath environment is derived in this letter. The simplification is based on the block circularity of the involved matrices. The proposal reduces complexity from cubic to squared order. The proposed approach can be generalized to other waveforms with circular pulse shaping., Comment: Submitted to IEEE Electronics Letters