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The current navigation systems used in many autonomous mobile robotic applications, like unmanned vehicles, are always equipped with various sensors to get accurate navigation results. The key point is to fuse the information from different sensors efficiently. However, different sensors provide asynchronous measurements, some of which even appear to be nonlinear. Moreover, some sensors are vulnerable in specific environments, e.g., GPS signal is likely to work poorly in interior space, underground, and tall buildings. We propose a multi-sensor information fusion method based on a factor graph to fuse all available asynchronous sensor information and efficiently and accurately calculate a navigation solution. Assuming the sensor measurements and navigation states in a navigation system as factor nodes and variable nodes in a factor graph, respectively, the update of the states can be implemented in the framework of the factor graph. The proposed method is experimentally validated using two different datasets. A comparison with Federated Filter, which has been widely used in integrated navigation systems, demonstrates the proposed method’s effectiveness. Additionally, analyzing the navigation results with data loss verifies that the proposed method could achieve sensor plug and play in software., Interactive Intelligence, Cyber Security

The current navigation systems used in many autonomous mobile robotic applications, like unmanned vehicles, are always equipped with various sensors to get accurate navigation results. The key point is to fuse the information from different sensors efficiently. However, different sensors provide asynchronous measurements, some of which even appear to be nonlinear. Moreover, some sensors are vulnerable in specific environments, e.g., GPS signal is likely to work poorly in interior space, underground, and tall buildings. We propose a multi-sensor information fusion method based on a factor graph to fuse all available asynchronous sensor information and efficiently and accurately calculate a navigation solution. Assuming the sensor measurements and navigation states in a navigation system as factor nodes and variable nodes in a factor graph, respectively, the update of the states can be implemented in the framework of the factor graph. The proposed method is experimentally validated using two different datasets. A comparison with Federated Filter, which has been widely used in integrated navigation systems, demonstrates the proposed method’s effectiveness. Additionally, analyzing the navigation results with data loss verifies that the proposed method could achieve sensor plug and play in software., Interactive Intelligence, Cyber Security

[ES] En este estudio nos centraremos en el ecosistema emprendedor de la capital valenciana que últimamente avanza para posicionarse como referente en el escenario español de la innovación. Valencia, ciudad para emprender e innovar en comunidad y sede de varias aceleradoras. En este ecosistema emprendedor mencionaremos algunos de sus más importantes componentes, como las incubadoras, sistemas de emprendimiento de universidades (UPV), empresas privadas y aceleradoras, pero nos centraremos principalmente en esta última, la innovación de las aceleradoras en valencia. El presente documento se divide en tres partes diferenciadas. La primera es un estudio general de las aceleradoras donde se detalla su definición, como trabajan y qué buscan, además veremos la historia y evolución de estas, concretamente en Valencia, donde se explicaran sus orígenes y como surgieron. En esta parte también hablaremos de la situación inicial que está viviendo el ecosistema innovador en esta ciudad, además de mencionar todos aquellos elementos y organizaciones que lo componen. De igual forma, explicaremos las diferencias sustanciales que hay entre ellas (aceleradoras, incubadoras, escuelas de negocio, universidades, CEEIs ), y por último en esta parte, nos acompañaremos de un mapa donde se refleja la ubicación y zona de cada una de las organizaciones que componen el ecosistema emprendedor de la capital de la Comunidad Valenciana, Valencia. En la segunda parte, profundizaremos en el estudio de las funciones más importantes que desarrollan las aceleradoras, explicando los tipos que existen, sus procesos de selección y todos los agentes que pueden intervenir durante el proceso. Además, veremos qué fuentes tienen de financiación, cómo lo hacen y la forma en que obtienen beneficios. Plasmaremos las diferentes fases de aceleración y, por último, concluiremos esta segunda parte con las ventajas e inconvenientes que se nos pueden presentar al acudir a una aceleradora para impulsar nuestra idea o Start, [EN] Project about the research of the entrepreneurial ecosystem in Valencia, through the analysis, study of the functions and programs that are used, and description of each one of the accelerators that drive the startups or other companies that start to enter the business market.

[ES] En este estudio nos centraremos en el ecosistema emprendedor de la capital valenciana que últimamente avanza para posicionarse como referente en el escenario español de la innovación. Valencia, ciudad para emprender e innovar en comunidad y sede de varias aceleradoras. En este ecosistema emprendedor mencionaremos algunos de sus más importantes componentes, como las incubadoras, sistemas de emprendimiento de universidades (UPV), empresas privadas y aceleradoras, pero nos centraremos principalmente en esta última, la innovación de las aceleradoras en valencia. El presente documento se divide en tres partes diferenciadas. La primera es un estudio general de las aceleradoras donde se detalla su definición, como trabajan y qué buscan, además veremos la historia y evolución de estas, concretamente en Valencia, donde se explicaran sus orígenes y como surgieron. En esta parte también hablaremos de la situación inicial que está viviendo el ecosistema innovador en esta ciudad, además de mencionar todos aquellos elementos y organizaciones que lo componen. De igual forma, explicaremos las diferencias sustanciales que hay entre ellas (aceleradoras, incubadoras, escuelas de negocio, universidades, CEEIs ), y por último en esta parte, nos acompañaremos de un mapa donde se refleja la ubicación y zona de cada una de las organizaciones que componen el ecosistema emprendedor de la capital de la Comunidad Valenciana, Valencia. En la segunda parte, profundizaremos en el estudio de las funciones más importantes que desarrollan las aceleradoras, explicando los tipos que existen, sus procesos de selección y todos los agentes que pueden intervenir durante el proceso. Además, veremos qué fuentes tienen de financiación, cómo lo hacen y la forma en que obtienen beneficios. Plasmaremos las diferentes fases de aceleración y, por último, concluiremos esta segunda parte con las ventajas e inconvenientes que se nos pueden presentar al acudir a una aceleradora para impulsar nuestra idea o Start, [EN] Project about the research of the entrepreneurial ecosystem in Valencia, through the analysis, study of the functions and programs that are used, and description of each one of the accelerators that drive the startups or other companies that start to enter the business market.

The way we develop software struggles to keep pace with changes in technology and business. Even with the rise of agile, people still flip-flop from one branded method to another, throwing away the good with the bad and behaving more like religious cultists than like scientists. The problem is that the professional practices that have been developed and refined over many years, and that together represent our shared industry knowledge and experience, are all too often imprisoned within proprietary method jails. The only option that development organizations and teams see themselves as having is to adopt this method or that method wholesale, and to reject all others-whereas, in fact, what is needed is for organizations and teams to be free to select the professional practices that they need, from wherever these may be defined, and use them in whatever permutations and combinations are appropriate to meet the exact set of circumstances and challenges they face. There is a simple way to break out of this cycle of unhealthy competition among methods-which are more similar than they are different-and that is to free the practices from their method prisons. Free the practices to rise and fall on their own merits. Free the practices so that teams can experiment, innovate, and plug and play with proven practices to create the way of working that they need today and to evolve seamlessly into the one they need tomorrow. This article explains why we need to break out of this repetitive dysfunctional behavior, and it introduces Essence, a new way of thinking that promises to free the practices from their method prisons and thus enable true learning organizations., QC 20220620

The study of global phenomena requires the integration of scientific data coming from multiple sources. Data is usually acquired by a wide variety of observation platforms, managed by different institutions and often using non-standardized data and metadata formats. In order to address these issues a generic solution to integrate sensor data into spatial data infrastructures based on the Sensor Web Enablement framework is proposed., Peer Reviewed

The study of global phenomena requires the combination of a considerable amount of data coming from different sources, acquired by different observation platforms and managed by institutions working in different scientific fields. Merging this data to provide extensive and complete data sets to monitor the long-term, global changes of our oceans is a major challenge. The data acquisition and data archival procedures usually vary significantly depending on the acquisition platform. This lack of standardization ultimately leads to information silos, preventing the data to be effectively shared across different scientific communities. In the past years, important steps have been taken in order to improve both standardization and interoperability, such as the Open Geospatial Consortium’s SensorWeb Enablement (SWE) framework. Within this framework, standardized models and interfaces to archive, access and visualize the data from heterogeneous sensor resources have been proposed. However, due to the wide variety of software and hardware architectures presented by marine sensors and marine observation platforms, there is still a lack of uniform procedures to integrate sensors into existing SWE-based data infrastructures. In this work, a framework aimed to enable sensor plug and play integration into existing SWE-based data infrastructures is presented. First, an analysis of the operations required to automatically identify, configure and operate a sensor are analysed. Then, the metadata required for these operations is structured in a standard way. Afterwards, a modular, plug and play, SWE-based acquisition chain is proposed. Finally different use cases for this framework are presented., Peer Reviewed, Postprint (published version)

This paper proposes a non--centralized Model Predictive Control (MPC) scheme for a system comprised by several sub-systems. Operational constraints for each subsystem are considered as well as a single coupled constraint on the control inputs that models a limitation of the emph{resource} supplied by the controller. If the underlying optimization problem is of large-scale nature, traditional MPC suffers from computational burden issues. A cause of this problem is the requirement of having centralized information to guarantee that the computed control actions satisfy the coupled constraint. In this work, a traditional MPC is made non--centralized by means of a strategy based on distributed population dynamics. The proposed methodology divides the problem into several local MPC controllers that coordinate their decisions by using a communication network without the need of a centralized scheme. It is proved that this methodology provides an optimal solution that satisfies both the operational constraints of each sub--system, and the coupled constraint of the control signals. Finally, the proposed method is compared with a traditional centralized MPC in an industrial problem that involves several continuously stirred tank reactors.

A microgrid contains both distributed generators (DGs) and loads and can be viewed by a controllable load by utilities. The DGs can be either inertial synchronous generators or non-inertial converter interfaced. Moreover, some of them can come online or go offline in plug and play fashion. The combination of these various types of operation makes the microgrid control a challenging task, especially when the microgrid operates in an autonomous mode. In this paper, a new phase locked loop (PLL) algorithm is proposed for smooth synchronization of plug and play DGs. A frequency droop for power sharing is used and a pseudo inertia has been introduced to non-inertial DGs in order to match their response with inertial DGs. The proposed strategy is validated through PSCAD simulation studies.

A microgrid may contain a large number of distributed generators (DGs). These DGs can be either inertial or non-inertial, either dispatchable or non-dispatchable. Moreover, the DGs may operate in plug and play fashion. The combination of these various types of operation makes the microgrid control a challenging task, especially when the microgrid operates in an autonomous mode. In this paper, a new control algorithm for converter interfaced (dispatchable) DG is proposed which facilitates smooth operation in a hybrid microgrid containing inertial and non-inertial DGs. The control algorithm works satisfactorily even when some of the DGs operate in plug and play mode. The proposed strategy is validated through PSCAD simulation studies.

This BAA is providing core program support to develop key capabilities of the Medical Device Plug-and-Play (MD PnP) Interoperability Program to lead medical device interoperability to support clinical solutions for improving patient safety and healthcare efficiency. Under MD PnP program leadership during the past year, progress was made on interoperability-related standards, including gap analyses; a multi-institutional/industry working group defined safety components of a prototype regulatory submission of an integrated medical device system and handed off its work products to the FDA; an updated version of the MD FIRE contracting language is being reviewed by the VA and other federal agencies; our mobile PCA safety demonstration was reconfigured with smaller, more adaptable components; notable progress was made in collaborations with the VA, NIST, and other federal agencies, leading to joint projects and initiatives., The original document contains color images.

Validation results are discussed and compared in confirming the tendency of certain parameters being well represented by simulation with the actual at-sea result. The primary objective of this field of study is to determine the feasibility of applying full motion simulators and plug and play simulations in support of dynamic interface at-sea testing and experimentation. Several years of simulated flight test programs using the Merlin CAE Trainer System at RNAS Culdrose (UK) and the Manned Flight Simulator at Naval Air System Command, Aircraft Division at Patuxent River, Maryland have been conducted. A typical simulation consists of modular "plug and play" components contributed by the project participants assembled in a High Level Architecture (HLA) with the combined components reflecting the ship environment, the long and short term prediction methodologies and the ship's response mechanism. The use of 6 degree-of-freedom motion flight simulator to forecast physical deck motion and deck motion limits, is discussed. In the manned version, the simulated flight test has several objectives including assess the capabilities of the Cockpit Dynamic Simulator (CDS) to support Ship-Helicopter Operational Limit (SHOL) / Naval Air Training and Operating Procedures Standardization (NATOPS) limits demonstrate High Level Architecture (HLA) with selected modules; and determine feasibility of applying these simulators in support of dynamic interface at-sea testing. The unmanned and manned systems studied focused on specific simulated aircraft-ship interface responses. An application of this simulation is the forecast of deck limits computed by the motion characterization of a platform in terms of, and as a function of, the deflection of landing gear configured for vertical landing aircraft or rolling vertical landing., Presented at the American Society of Naval Engineers Launch and Recovery Symposium, entitled "Launch, Recovery and Operations of Manned and Unmanned Vehicles from Marine Platforms," held in Arlington, VA, on 8-9 December 2010. The original document contains color images.

Tato diplomová práce popisuje průběh detekce a instalace hardwaru v operačním systému MS Windows. Hlavním cílem však bylo vytvořit software typu klient-server, který sleduje hardwarové konfigurace jednotlivých stanic v lokální síti. K tomu právě využívá informací o hardware získaných operačním systémem. Zjištěné změny jsou uloženy na serveru v databázi. Dále byla pro správce sítě vytvořena webová aplikace umožňující pohodlné prohlížení a správu takto získaných dat. Popisem tohoto software se zabývá praktická část této práce., This master thesis describes the progress of hardware detection and installation in the MS Windows operating system. The main goal however was to create a software client-server, which monitors hardware configuration of individual PC stations in the local network. The software use information about hardware obtained from the operating system. The changes are stored on the server in the database. It was develope web application for network administrator to enable easy viewing and management of data. Practical part deals with description of the software., Ústav aplikované informatiky, obhájeno

This BAA provided core program support to develop key capabilities of the Medical Device "Plug-and-Play" (MD PnP) Interoperability Program to lead the evaluation and adoption of open standards and technology for networking medical devices to support clinical solutions for improved patient safety and healthcare efficiency. Towards these goals, a medical device interoperability lab was created at CIMIT in Cambridge, MA, as a vendor-neutral, shared collaborative resource; clinical use cases demonstrating the capability of medical device interoperability to improve patient safety were developed and exhibited at major national conferences; Part I of a multi-part international standard (ICE) describing the functional architecture and risk mitigation strategies for networked patient-centric interoperable medical devices was written and is being published by ASTM International; a conference on "Improving Patient Safety through Medical Device Interoperability & High Confidence Software" was held, with a subsequent workshop; a working group of MD PnP collaborators was convened., The original document contains color images.

The main objective of this project has been to investigate means to standardize communications and control systems in order to develop seamless "Plug and Play" (PnP) power electronics. The intent within has been to pave the way for the development of reconfigurable low-cost, high reliability, and easy to use power processing devices. Such devices, known as Power Electronics Building Blocks (PEBBs), would certainly encourage the proliferation of power electronics into markets not yet penetrated due to a significant, critical lack of industrial modularization and standardization in this area. In fact, the flexibility level that could be attained is such that it would ensure significant increments of production, as well as manufacturing cost reductions due to economies of scale.

Power electronics applications in high power are normally large, expensive, spatially distributed systems. These systems are typically complex and have multiple functions. Due to these properties, the control algorithm and its implementation are challenging, and a different approach is needed to avoid customized solutions to every application while still having reliable sensor measurements and converter communication and control. This thesis proposes a synchronous digital control architecture that allows for the communication and control of devices via a fiber optic communication ring using digital technology. The proposed control architecture is a multidisciplinary approach consisting of concepts from several areas of electrical engineering. A review of the state of the art is presented in Chapter 2 in the areas of power electronics, fieldbus control networks, and digital design. A universal controller is proposed as a solution to the hardware independent control of these converters. Chapter 3 discusses how the controller was specified, designed, implemented, and tested. The power level specific hardware is implemented in modules referred to as hardware managers. A design for a hardware manager was previously implemented and tested. Based on these results and experiences, an improved hardware manager is specified in Chapter 4. A fault tolerant communication protocol is specified in Chapter 5. This protocol is an improvement on a previous version of the protocol, adding benefits of improved synchronization, multimaster support, fault tolerant structure with support for hot-swapping, live insertion and removals, a variable ring structure, and a new network based clock concept for greater flexibility and control. Chapter 6 provides a system demonstration, verifying the components work in configurations involving combinations of controllers and hardware managers to form applications. Chapter 7 is the conclusion. VHDL code is included for the controller, the hardware ma

Power electronics applications in high power are normally large, expensive, spatially distributed systems. These systems are typically complex and have multiple functions. Due to these properties, the control algorithm and its implementation are challenging, and a different approach is needed to avoid customized solutions to every application while still having reliable sensor measurements and converter communication and control. This thesis proposes a synchronous digital control architecture that allows for the communication and control of devices via a fiber optic communication ring using digital technology. The proposed control architecture is a multidisciplinary approach consisting of concepts from several areas of electrical engineering. A review of the state of the art is presented in Chapter 2 in the areas of power electronics, fieldbus control networks, and digital design. A universal controller is proposed as a solution to the hardware independent control of these converters. Chapter 3 discusses how the controller was specified, designed, implemented, and tested. The power level specific hardware is implemented in modules referred to as hardware managers. A design for a hardware manager was previously implemented and tested. Based on these results and experiences, an improved hardware manager is specified in Chapter 4. A fault tolerant communication protocol is specified in Chapter 5. This protocol is an improvement on a previous version of the protocol, adding benefits of improved synchronization, multimaster support, fault tolerant structure with support for hot-swapping, live insertion and removals, a variable ring structure, and a new network based clock concept for greater flexibility and control. Chapter 6 provides a system demonstration, verifying the components work in configurations involving combinations of controllers and hardware managers to form applications. Chapter 7 is the conclusion. VHDL code is included for the controller, the hardware ma

This project addressed the 'system-on-a-chip' implementation of a PicoNode, which can provide all the communication, computation, and geolocation functions necessary for an adaptive distributed sensor-and-monitor network. The program embodied many key principles of DARPA's initiatives in advanced computing, including adaptive computing and power-awareness. The program explored three complete design cycles. Sixty units of PicoNode I (460mW, 18cu.in.) were built. The chip-set for PicoNode II was functionally demonstrated, and a test-board was constructed. At 15mW, the chipset of the second generation represented a 23X improvement over the first generation. Significant progress on the final generation was achieved, including an FPGA version and an energy scavenging power train. Project goals of the final system: 0.15 cu.in. (30x improvement) and 1 mW (460x improvement)., The original document contains color images.

This thesis-project aims to research the possibilities of new wireless technologies in general control-situations. We have studied different existing control protocols, and developed a new protocol focusing on textbased menus. Our protocol is scaleable, easy to implement, and platform- and media independent. Since our protocol supports Plug and Play with dynamically allocated id’s, it does not require a unique id in the hardware. To test the protocol we have developed a prototype system, consisting of a mobile phone connected to a server, which in turn is connected to two slave units, controlling peripheral equipment on 220 Volt. The phone is an Ericsson T28, equipped with a Bluetooth unit. The server is runningthe real-time OS eCos on an ARM 7TDMI Evaluation Kit, and the slave units consist of two developer boards equipped with PIC-processors. Communication between the phone and the server is done over Bluetooth. However we did not find a working Bluetooth protocol stack ported to eCos, so a serial cable was used instead. Communication between the server and the slaves is done over a RS-485 serial network which simulates the traffic over a radio-network. The results show that our protocol is working, and that our system would be easy to implement, cheap to produce and very scalable.

This thesis-project aims to research the possibilities of new wireless technologies in general control-situations. We have studied different existing control protocols, and developed a new protocol focusing on textbased menus. Our protocol is scaleable, easy to implement, and platform- and media independent. Since our protocol supports Plug and Play with dynamically allocated id’s, it does not require a unique id in the hardware. To test the protocol we have developed a prototype system, consisting of a mobile phone connected to a server, which in turn is connected to two slave units, controlling peripheral equipment on 220 Volt. The phone is an Ericsson T28, equipped with a Bluetooth unit. The server is runningthe real-time OS eCos on an ARM 7TDMI Evaluation Kit, and the slave units consist of two developer boards equipped with PIC-processors. Communication between the phone and the server is done over Bluetooth. However we did not find a working Bluetooth protocol stack ported to eCos, so a serial cable was used instead. Communication between the server and the slaves is done over a RS-485 serial network which simulates the traffic over a radio-network. The results show that our protocol is working, and that our system would be easy to implement, cheap to produce and very scalable.

In this paper, we demonstrate a 'Plug and Play' approach, whereby externally synthesized nanoparticles of desired functions and size are incorporated into the semiconductor. followed by the manipulation of surface chemical bonds in order to achieve multiple functionality. Sonochemically synthesised Fe2O3 nanoparticles were introduced onto device quality Si wafers. On annealing the particle-treated Si wafer in ultra high vacuum, oxygen changes the bonding partner from Fe to Si and desorb as SiO at ^ 760 deg C, leading to the formation of uniform sized Fe nanoparticles (size ^ 6-8 nm) on the surface and the sample shows ferromagnetic behaviour. More importantly, the particle treated Si exhibits light emission at wavelengths 1.57, 1.61 and 1.65 microns (full width at half maximum ^ 20 meV). Emission in this wavelength range is crucial for optical communications and is highly desired from a Si based material. Further, oxidation of this material leads to the formation of a selective capping layer of SiO2. Thus, by manipulating the surface chemical bonds, we are able to introduce optical, magnetic, metallic and insulating functions to Si. Additionally, the particles exhibit self-assembly on a patterned Si surface. We believe that this approach is universal and the material developed here is compatible with the planar Si technology, bringing us closer to realization of Si based monolithic electronics., Pub in: Materials Research Society Symposium Proceedings, Volume 703. This article is from ADA401575 Nanophase and Nanocomposite Materials IV held in Boston, Massachusetts on November 26-29, 2001

This report can be divided into three parts: advanced power semiconductor devices, active IGBT gate driver and high performance drive, and testbed for PEBB system integration. On devices, two-terminal high voltage rectifiers and three-terminal MOS-gated power transistors have been studied; different mask designs have been fabricated; decent performance and yield have been demonstrated. The research effort on the active gate drive has mainly focused on the integration of the three-stage active gate drive with fast fault current limiting protection circuits to improve the overall reliability of the power converter and reduce conduction loss. Efforts on high-performance drive are devoted to the investigation of control techniques, the simulation and the hardware prototyping of a hybrid seven-level inverter system. Its feasibility as a well-modularized medium-voltage power converter has been experimentally demonstrated. On PEBB system integration testbed, the soft-switched DC bus regulator as been successfully tested under 100kW with 20kHz switching frequency; a four-leg secondary utility power supply has been fully implemented and intensively tested with different kinds of loads, including balanced/unbalanced, linear/nonlinear cases; the DC bus conditioner, which decouples the AC dynamic load from the DC distribution bus and improves the system stability, has been constructed and tested; the parallel operation of multiple converters in a high-power DPS has been investigated and new control strategy has been proposed; a distributed control architecture for PEBB-based system has been proposed and demonstrated for "plug and play.", Prepared in collaboration with Wisconsin Univ-Madison, Madison, WI and Rensselaer Polytechnic Inst., Troy, NY.

Die Einführung des Internets hat einen stetigen Wandel des täglichen, sowie beruflichen Alltags verursacht. Hierbei ist eine deutliche Verlagerung in den virtuellen Raum (Internet) festzustellen. Zusätzlich hat die Einführung von sozialen Netzwerken, wie beispielsweise Facebook das Verlangen des Nutzers immer „online“ zu sein, deutlich verstärkt. Hinzu kommen die kontinuierlich wachsenden Datenmengen, welche beispielsweise durch Videostreaming (YouTube oder Internet Protocol Television (IPTV)) oder den Austausch von Bildern verursacht werden. Zusätzlich verursachen neue Dienste, welche beispielsweise im Rahmen vom Internet der Dinge und auch Industrie 4.0 eingeführt werden, zusätzliche Datenmengen. Aktuelle Technologien wie Long Term Evolution Advanced (LTE-A) im Funkbereich und Very High Speed Digital Subsciber Line (VDSL) beziehungsweise Glasfaser in kabelgebundenen Netzen, versuchen diesen Anforderungen gerecht zu werden. Angesichts der steigenden Anforderungen an die Mobilität des Nutzers, ist die Verwendung von Funktechnologien unabdingbar. In Verbindung mit dem stetig wachsenden Datenaufkommen und den ansteigenden Datenraten ist ein wachsender Bedarf an Spektrum, also freien, beziehungsweise ungenutzten Frequenzbereichen einhergehend. Für die Identifikation geeigneter Bereiche müssen allerdings eine Vielzahl von Parametern und Einflussfaktoren betrachtet werden. Einer der entscheidenden Parameter ist die entstehende Dämpfung im betrachteten Frequenzbereich, da diese mit steigender Frequenz größer wird und somit die resultierende Abdeckung bei gleichbleibender Sendeleistung sinkt. In aktuellen Funksystemen werden Frequenzen < 6 GHz verwendet, da diese von den Ausbreitungseigenschaften geeignete Eigenschaften aufweisen. Des Weiteren müssen vorhandene Nutzungsrechte, Inhaber des Spektrums, Nutzungsbedingungen und so weiter im Vorfeld abgeklärt werden. In Deutschland wird die Koordination von der Bundesnetzagentur vorgenommen. Aufgrund der Vielfalt der vorhandenen