There have been significant advances in the field of Internet of Things (IoT) recently. At the same time there exists an ever-growing demand for ubiquitous healthcare systems to improve human health and well-being. In most of IoTbased patient monitoring systems, especially at smart homes or hospitals, there exists a bridging point (i.e., gateway) between a sensor network and the Internet which often just performs basic functions such as translating between the protocols used in the Internet and sensor networks. These gateways have beneficial knowledge and constructive control over both the sensor network and the data to be transmitted through the Internet. In this paper, we exploit the strategic position of such gateways to offer several higher-level services such as local storage, real-time local data processing, embedded data mining, etc., proposing thus a Smart e-Health Gateway. By taking responsibility for handling some burdens of the sensor network and a remote healthcare center, a Smart e-Health Gateway can cope with many challenges in ubiquitous healthcare systems such as energy efficiency, scalability, and reliability issues. A successful implementation of Smart e-Health Gateways enables massive deployment of ubiquitous health monitoring systems especially in clinical environments. We also present a case study of a Smart e-Health Gateway called UT-GATE where some of the discussed higher-level features have been implemented. Our proof-of-concept design demonstrates an IoT-based health monitoring system with enhanced overall system energy efficiency, performance, interoperability, security, and reliability.
Search and rescue (SAR) operations can take significant advantage from supporting autonomous or teleoperated robots and multi-robot systems. These can aid in mapping and situational assessment, monitoring and surveillance, establishing communication networks, or searching for victims. This paper provides a review of multi-robot systems supporting SAR operations, with system-level considerations and focusing on the algorithmic perspectives for multi-robot coordination and perception. This is, to the best of our knowledge, the first survey paper to cover (i) heterogeneous SAR robots in different environments, (ii) active perception in multi-robot systems, while (iii) giving two complementary points of view from the multi-agent perception and control perspectives. We also discuss the most significant open research questions: shared autonomy, sim-to-real transferability of existing methods, awareness of victims' conditions, coordination and interoperability in heterogeneous multi-robot systems, and active perception. The different topics in the survey are put in the context of the different challenges and constraints that various types of robots (ground, aerial, surface, or underwater) encounter in different SAR environments (maritime, urban, wilderness, or other post-disaster scenarios). The objective of this survey is to serve as an entry point to the various aspects of multi-robot SAR systems to researchers in both the machine learning and control fields by giving a global overview of the main approaches being taken in the SAR robotics area.
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