Methods, architectures, apparatuses and systems for synchronization of sensing operations and connection management states

Abstract

Methods, architectures, apparatuses, and systems directed to synchronization of sensing operations and connection management states are described herein. In an embodiment, a method, implemented in a WTRU, may include sending a sensing request message to a first network element for synchronized sensing associated with a sensing task, receiving a sensing accept message from the first network element, receiving a synchronization message comprising configuration information associated with the sensing task, updating synchronization information (e.g., locally) based on the configuration information, performing sensor fusion based on the updated synchronization information and sending a fused result of the performed sensor fusion to the first network element.

Description

METHODS, ARCHITECTURES, APPARATUSES AND SYSTEMS FOR SYNCHRONIZATION OF SENSING OPERATIONS AND CONNECTION MANAGEMENT STATESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of European Patent Application No. 24160661.5 filed February 29, 2024, which is incorporated herein by reference in its entirety.TECHNICAL FIELD

[0002] The present disclosure is generally directed to the fields of communications, software and encoding, including methods, architectures, apparatuses, and systems directed to synchronization of sensing operations and connection management states.BACKGROUND

[0003] Sensing capabilities may allow to sense various properties (e.g., location, velocity, direction) of physical objects or the environment, using various sensors, for example, independently Embodiments described herein have been designed with the foregoing in mind.SUMMARY

[0004] Methods, architectures, apparatuses, and systems directed to synchronization of sensing operations and connection management states are described herein. In an embodiment, a wireless transmit / receive unit (WTRU) is described. The WTRU may include circuitry including a transmitter, a receiver, a processor, and memory. The circuitry may be configured to send a sensing request message to a first network element for synchronized sensing associated with a sensing task and to receive a sensing accept message from the first network element. The circuitry may be configured to receive a synchronization message comprising configuration information associated with the sensing task, update synchronization information (e.g., locally) based on the configuration information, perform sensor fusion based on the updated synchronization information and send a fused result of the performed sensor fusion to the first network element.

[0005] In an embodiment, a network element is described. The network element may include circuitry including a transmitter, a receiver, a processor, and memory. The circuitry may be configured to receive a sensing request message from a wireless transmit / receive unit (WTRU) for synchronized sensing associated with a sensing task, send a sensing accept message to the WTRU, and send a synchronization message comprising configuration information associated with a synchronization of the sensing task.

[0006] In an embodiment, a first method implemented in a WTRU is described. The first method may include sending a sensing request message to a first network element for synchronized sensing associated with a sensing task, receiving a sensing accept message from the first network element,receiving a synchronization message comprising configuration information associated with the sensing task, updating synchronization information (e.g., locally) based on the configuration information, performing sensor fusion based on the updated synchronization information and sending a fused result of the performed sensor fusion to the first network element.

[0007] In an embodiment, a second method implemented in a network element is described. The second method may include receiving a sensing request message from a WTRU for synchronized sensing associated with a sensing task, sending a sensing accept message to the WTRU, and sending a synchronization message comprising configuration information associated with a synchronization of the sensing task.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] A more detailed understanding may be had from the detailed description below, given by way of example in conjunction with drawings appended hereto. Figures in such drawings, like the detailed description, are examples. As such, the Figures (FIGs.) and the detailed description are not to be considered limiting, and other equally effective examples are possible and likely. Furthermore, like reference numerals ("ref.") in the FIGs. indicate like elements, and wherein:

[0009] FIG. 1 A is a system diagram illustrating an example communications system;

[0010] FIG. IB is a system diagram illustrating an example wireless transmit / receive unit (WTRU) that may be used within the communications system illustrated in FIG. 1 A;

[0011] FIG. 1C is a system diagram illustrating an example radio access network (RAN) and an example core network (CN) that may be used within the communications system illustrated in FIG. 1A;

[0012] FIG. ID is a system diagram illustrating a further example RAN and a further example CN that may be used within the communications system illustrated in FIG. 1 A;

[0013] FIG. 2 is a diagram illustrating an example architecture of 5G / NextGen network;

[0014] FIG. 3 is a diagram illustrating an example of pedestrian / animal intrusion detection;

[0015] FIG. 4 is a diagram illustrating an example of intruder detection;

[0016] FIG. 5 is a diagram illustrating two examples of sensing modes;

[0017] FIG. 6 is a diagram illustrating an example of sensor fusion classifications based on the data source;

[0018] FIG. 7A and FIG. 7B are two diagrams illustrating examples of sensor fusion classifications based on the architecture;

[0019] FIG. 8 is a diagram illustrating an example of sensor fusion classifications based on intermediate steps;

[0020] FIG. 9 is a diagram illustrating example uses cases of sensor fusion;

[0021] FIG. 10 is a diagram illustrating an example method for synchronization of sensing operations.

[0022] FIG. 11 is a diagram illustrating an example method for synchronization of sensing operations implemented in a WTRU; and

[0023] FIG. 12 is a diagram illustrating an example method for synchronization of sensing operations implemented in a network element.DETAILED DESCRIPTION

[0024] In the following detailed description, numerous specific details are set forth to provide a thorough understanding of embodiments and / or examples disclosed herein. However, it will be understood that such embodiments and examples may be practiced without some or all of the specific details set forth herein. In other instances, well-known methods, procedures, components and circuits have not been described in detail, so as not to obscure the following description. Further, embodiments and examples not specifically described herein may be practiced in lieu of, or in combination with, the embodiments and other examples described, disclosed or otherwise provided explicitly, implicitly and / or inherently (collectively "provided") herein. Although various embodiments are described and / or claimed herein in which an apparatus, system, device, etc. and / or any element thereof carries out an operation, process, algorithm, function, etc. and / or any portion thereof, it is to be understood that any embodiments described and / or claimed herein assume that any apparatus, system, device, etc. and / or any element thereof is configured to carry out any operation, process, algorithm, function, etc. and / or any portion thereof.Example Communications System

[0025] The methods, apparatuses and systems provided herein are well-suited for communications involving both wired and wireless networks. An overview of various types of wireless devices and infrastructure is provided with respect to FIGs. 1 A-1D, where various elements of the network may utilize, perform, be arranged in accordance with and / or be adapted and / or configured for the methods, apparatuses and systems provided herein.

[0026] FIG. 1A is a system diagram illustrating an example communications system 100 in which one or more disclosed embodiments may be implemented. The communications system 100 may be a multiple access system that provides content, such as voice, data, video, messaging, broadcast, etc., to multiple wireless users. The communications system 100 may enable multiple wireless users to access such content through the sharing of system resources, including wireless bandwidth. For example, the communications systems 100 may employ one or more channel access methods, such as code division multiple access (CDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), orthogonal FDMA (OFDMA), single-carrier FDMA (SC-FDMA), zero-tail (ZT) unique-word (UW) discrete Fourier transform (DFT) spread OFDM (ZT UW DTS-s OFDM), unique word OFDM (UW-OFDM), resource block-filtered OFDM, filter bank multicarrier (FBMC), and the like.

[0027] As shown in FIG. 1 A, the communications system 100 may include wireless transmit / receive units (WTRUs) 102a, 102b, 102c, 102d, a radio access network (RAN) 104 / 113, a core network (CN) 106 / 115, a public switched telephone network (PSTN) 108, the Internet 110, and other networks 112, though it will be appreciated that the disclosed embodiments contemplate any number of WTRUs, base stations, networks, and / or network elements. Each of the WTRUs 102a, 102b, 102c, 102d may be any type of device configured to operate and / or communicate in a wireless environment. By way of example, the WTRUs 102a, 102b, 102c, 102d, any of which may be referred to as a "station" and / or a "STA", may be configured to transmit and / or receive wireless signals and may include (or be) a user equipment (UE), a mobile station, a fixed or mobile subscriber unit, a subscription-based unit, a pager, a cellular telephone, a personal digital assistant (PDA), a smartphone, a laptop, a netbook, a personal computer, a wireless sensor, a hotspot or Mi-Fi device, an Internet of Things (loT) device, a watch or other wearable, a head-mounted display (HMD), a vehicle, a drone, a medical device and applications (e.g., remote surgery), an industrial device and applications (e.g., a robot and / or other wireless devices operating in an industrial and / or an automated processing chain contexts), a consumer electronics device, a device operating on commercial and / or industrial wireless networks, and the like. Any of the WTRUs 102a, 102b, 102c and 102d may be interchangeably referred to as a UE.

[0028] The communications systems 100 may also include a base station 114a and / or a base station 114b. Each of the base stations 114a, 114b may be any type of device configured to wirelessly interface with at least one of the WTRUs 102a, 102b, 102c, 102d, e.g., to facilitate access to one or more communication networks, such as the CN 106 / 115, the Internet 110, and / or the networks 112. By way of example, the base stations 114a, 114b may be any of a base transceiver station (BTS), a Node-B (NB), an eNode-B (eNB), a Home Node-B (HNB), a Home eNode-B (HeNB), a gNode-B (gNB), a new radio (NR) Node-B (NRNB), a site controller, an access point (AP), a wireless router, and the like. While the base stations 114a, 114b are each depicted as a single element, it will be appreciated that the base stations 114a, 114b may include any number of interconnected base stations and / or network elements.

[0029] The base station 114a may be part of the RAN 104 / 113, which may also include other base stations and / or network elements (not shown), such as a base station controller (BSC), a radio network controller (RNC), relay nodes, etc. The base station 114a and / or the base station 114b may be configured to transmit and / or receive wireless signals on one or more carrier frequencies, which maybe referred to as a cell (not shown). These frequencies may be in licensed spectrum, unlicensed spectrum, or a combination of licensed and unlicensed spectrum. A cell may provide coverage for a wireless service to a specific geographical area that may be relatively fixed or that may change over time. The cell may further be divided into cell sectors. For example, the cell associated with the base station 114a may be divided into three sectors. Thus, in an embodiment, the base station 114a may include three transceivers, i.e., one for each sector of the cell. In an embodiment, the base station 114a may employ multiple-input multiple output (MIMO) technology and may utilize multiple transceivers for each or any sector of the cell. For example, beamforming may be used to transmit and / or receive signals in desired spatial directions.

[0030] The base stations 114a, 114b may communicate with one or more of the WTRUs 102a, 102b, 102c, 102d over an air interface 116, which may be any suitable wireless communication link (e.g., radio frequency (RF), microwave, centimeter wave, micrometer wave, infrared (IR), ultraviolet (UV), visible light, etc.). The air interface 116 may be established using any suitable radio access technology (RAT).

[0031] More specifically, as noted above, the communications system 100 may be a multiple access system and may employ one or more channel access schemes, such as CDMA, TDMA, FDMA, OFDMA, SC-FDMA, and the like. For example, the base station 114a in the RAN 104 / 113 and the WTRUs 102a, 102b, 102c may implement a radio technology such as Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access (UTRA), which may establish the air interface 116 using wideband CDMA (WCDMA). WCDMA may include communication protocols such as High-Speed Packet Access (HSPA) and / or Evolved HSPA (HSPA+). HSPA may include High-Speed Downlink Packet Access (HSDPA) and / or High-Speed Uplink Packet Access (HSUPA).

[0032] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement a radio technology such as Evolved UMTS Terrestrial Radio Access (E-UTRA), which may establish the air interface 116 using Long Term Evolution (LTE) and / or LTE-Advanced (LTE-A) and / or LTE- Advanced Pro (LTE-A Pro).

[0033] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement a radio technology such as NR Radio Access, which may establish the air interface 116 using New Radio (NR).

[0034] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement multiple radio access technologies. For example, the base station 114a and the WTRUs 102a, 102b, 102c may implement LTE radio access and NR radio access together, for instance using dual connectivity (DC) principles. Thus, the air interface utilized by WTRUs 102a, 102b, 102c may becharacterized by multiple types of radio access technologies and / or transmissions sent to / from multiple types of base stations (e.g., an eNB and a gNB).

[0035] In an embodiment, the base station 114a and the WTRUs 102a, 102b, 102c may implement radio technologies such as IEEE 802.11 (i.e., Wireless Fidelity (Wi-Fi), IEEE 802.16 (i.e., Worldwide Interoperability for Microwave Access (WiMAX)), CDMA2000, CDMA2000 IX, CDMA2000 EV- DO, Interim Standard 2000 (IS-2000), Interim Standard 95 (IS-95), Interim Standard 856 (IS-856), Global System for Mobile communications (GSM), Enhanced Data rates for GSM Evolution (EDGE), GSM EDGE (GERAN), and the like.

[0036] The base station 114b in FIG. 1 A may be a wireless router, Home Node-B, Home eNode-B, or access point, for example, and may utilize any suitable RAT for facilitating wireless connectivity in a localized area, such as a place of business, a home, a vehicle, a campus, an industrial facility, an air corridor (e.g., for use by drones), a roadway, and the like. In an embodiment, the base station 114b and the WTRUs 102c, 102d may implement a radio technology such as IEEE 802.11 to establish a wireless local area network (WLAN). In an embodiment, the base station 114b and the WTRUs 102c, 102d may implement a radio technology such as IEEE 802.15 to establish a wireless personal area network (WPAN). In an embodiment, the base station 114b and the WTRUs 102c, 102d may utilize a cellular-based RAT (e.g, WCDMA, CDMA2000, GSM, LTE, LTE-A, LTE-A Pro, NR, etc.) to establish any of a small cell, picocell or femtocell. As shown in FIG. 1 A, the base station 114b may have a direct connection to the Internet 110. Thus, the base station 114b may not be required to access the Internet 110 via the CN 106 / 115.

[0037] The RAN 104 / 113 may be in communication with the CN 106 / 115, which may be any type of network configured to provide voice, data, applications, and / or voice over internet protocol (VoIP) services to one or more of the WTRUs 102a, 102b, 102c, 102d. The data may have varying quality of service (QoS) requirements, such as differing throughput requirements, latency requirements, error tolerance requirements, reliability requirements, data throughput requirements, mobility requirements, and the like. The CN 106 / 115 may provide call control, billing services, mobile location-based services, pre-paid calling, Internet connectivity, video distribution, etc., and / or perform high-level security functions, such as user authentication. Although not shown in FIG. 1 A, it will be appreciated that the RAN 104 / 113 and / or the CN 106 / 115 may be in direct or indirect communication with other RANs that employ the same RAT as the RAN 104 / 113 or a different RAT. For example, in addition to being connected to the RAN 104 / 113, which may be utilizing an NR radio technology, the CN 106 / 115 may also be in communication with another RAN (not shown) employing any of a GSM, UMTS, CDMA 2000, WiMAX, E-UTRA, or Wi-Fi radio technology.

[0038] The CN 106 / 115 may also serve as a gateway for the WTRUs 102a, 102b, 102c, 102d to access the PSTN 108, the Internet 110, and / or other networks 112. The PSTN 108 may include circuit-switched telephone networks that provide plain old telephone service (POTS). The Internet 110 may include a global system of interconnected computer networks and devices that use common communication protocols, such as the transmission control protocol (TCP), user datagram protocol (UDP) and / or the internet protocol (IP) in the TCP / IP internet protocol suite. The networks 112 may include wired and / or wireless communications networks owned and / or operated by other service providers. For example, the networks 112 may include another CN connected to one or more RANs, which may employ the same RAT as the RAN 104 / 114 or a different RAT.

[0039] Some or all of the WTRUs 102a, 102b, 102c, 102d in the communications system 100 may include multi-mode capabilities (e.g., the WTRUs 102a, 102b, 102c, 102d may include multiple transceivers for communicating with different wireless networks over different wireless links). For example, the WTRU 102c shown in FIG. 1 A may be configured to communicate with the base station 114a, which may employ a cellular-based radio technology, and with the base station 114b, which may employ an IEEE 802 radio technology.

[0040] FIG. IB is a system diagram illustrating an example WTRU 102. As shown in FIG. IB, the WTRU 102 may include a processor 118, a transceiver 120, a transmit / receive element 122, a speaker / microphone 124, a keypad 126, a display / touchpad 128, non-removable memory 130, removable memory 132, a power source 134, a global positioning system (GPS) chipset 136, and / or other elements / peripherals 138, among others. It will be appreciated that the WTRU 102 may include any sub-combination of the foregoing elements while remaining consistent with an embodiment.

[0041] The processor 118 may be a general -purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) circuits, any other type of integrated circuit (IC), a state machine, and the like. The processor 118 may perform signal coding, data processing, power control, input / output processing, and / or any other functionality that enables the WTRU 102 to operate in a wireless environment. The processor 118 may be coupled to the transceiver 120, which may be coupled to the transmit / receive element 122. While FIG. IB depicts the processor 118 and the transceiver 120 as separate components, it will be appreciated that the processor 118 and the transceiver 120 may be integrated together, e.g., in an electronic package or chip.

[0042] The transmit / receive element 122 may be configured to transmit signals to, or receive signals from, a base station (e.g., the base station 114a) over the air interface 116. For example, in anembodiment, the transmit / receive element 122 may be an antenna configured to transmit and / or receive RF signals. In an embodiment, the transmit / receive element 122 may be an emitter / detector configured to transmit and / or receive IR, UV, or visible light signals, for example. In an embodiment, the transmit / receive element 122 may be configured to transmit and / or receive both RF and light signals. It will be appreciated that the transmit / receive element 122 may be configured to transmit and / or receive any combination of wireless signals.

[0043] Although the transmit / receive element 122 is depicted in FIG. IB as a single element, the WTRU 102 may include any number of transmit / receive elements 122. For example, the WTRU 102 may employ MIMO technology. Thus, in an embodiment, the WTRU 102 may include two or more transmit / receive elements 122 (e.g., multiple antennas) for transmitting and receiving wireless signals over the air interface 116.

[0044] The transceiver 120 may be configured to modulate the signals that are to be transmitted by the transmit / receive element 122 and to demodulate the signals that are received by the transmit / receive element 122. As noted above, the WTRU 102 may have multi-mode capabilities. Thus, the transceiver 120 may include multiple transceivers for enabling the WTRU 102 to communicate via multiple RATs, such as NR and IEEE 802.11, for example.

[0045] The processor 118 of the WTRU 102 may be coupled to, and may receive user input data from, the speaker / microphone 124, the keypad 126, and / or the display / touchpad 128 (e.g., a liquid crystal display (LCD) display unit or organic light-emitting diode (OLED) display unit). The processor 118 may also output user data to the speaker / microphone 124, the keypad 126, and / or the display / touchpad 128. In addition, the processor 118 may access information from, and store data in, any type of suitable memory, such as the non-removable memory 130 and / or the removable memory 132. The non-removable memory 130 may include random-access memory (RAM), read-only memory (ROM), a hard disk, or any other type of memory storage device. The removable memory 132 may include a subscriber identity module (SIM) card, a memory stick, a secure digital (SD) memory card, and the like. In other embodiments, the processor 118 may access information from, and store data in, memory that is not physically located on the WTRU 102, such as on a server or a home computer (not shown).

[0046] The processor 118 may receive power from the power source 134 and may be configured to distribute and / or control the power to the other components in the WTRU 102. The power source 134 may be any suitable device for powering the WTRU 102. For example, the power source 134 may include one or more dry cell batteries (e.g., nickel-cadmium (NiCd), nickel-zinc (NiZn), nickel metal hydride (NiMH), lithium-ion (Li-ion), etc.), solar cells, fuel cells, and the like.

[0047] The processor 118 may also be coupled to the GPS chipset 136, which may be configured to provide location information (e.g., longitude and latitude) regarding the current location of the WTRU 102. In addition to, or in lieu of, the information from the GPS chipset 136, the WTRU 102 may receive location information over the air interface 116 from a base station (e.g., base stations 114a, 114b) and / or determine its location based on the timing of the signals being received from two or more nearby base stations. It will be appreciated that the WTRU 102 may acquire location information by way of any suitable location-determination method while remaining consistent with an embodiment.

[0048] The processor 118 may further be coupled to other elements / peripherals 138, which may include one or more software and / or hardware modules / units that provide additional features, functionality and / or wired or wireless connectivity. For example, the elements / peripherals 138 may include an accelerometer, an e-compass, a satellite transceiver, a digital camera (e.g., for photographs and / or video), a universal serial bus (USB) port, a vibration device, a television transceiver, a hands free headset, a Bluetooth® module, a frequency modulated (FM) radio unit, a digital music player, a media player, a video game player module, an Internet browser, a virtual reality and / or augmented reality (VR / AR) device, an activity tracker, and the like. The elements / peripherals 138 may include one or more sensors, the sensors may be one or more of a gyroscope, an accelerometer, a hall effect sensor, a magnetometer, an orientation sensor, a proximity sensor, a temperature sensor, a time sensor; a geolocation sensor; an altimeter, a light sensor, a touch sensor, a magnetometer, a barometer, a gesture sensor, a biometric sensor, and / or a humidity sensor.

[0049] The WTRU 102 may include a full duplex radio for which transmission and reception of some or all of the signals (e.g., associated with particular subframes for both the uplink (e.g., for transmission) and downlink (e.g., for reception) may be concurrent and / or simultaneous. The full duplex radio may include an interference management unit to reduce and or substantially eliminate self-interference via either hardware (e.g., a choke) or signal processing via a processor (e.g., a separate processor (not shown) or via processor 118). In an embodiment, the WTRU 102 may include a half-duplex radio for which transmission and reception of some or all of the signals (e.g., associated with particular subframes for either the uplink (e.g., for transmission) or the downlink (e.g., for reception)).

[0050] FIG. 1C is a system diagram illustrating the RAN 104 and the CN 106 according to an embodiment. As noted above, the RAN 104 may employ an E-UTRA radio technology to communicate with the WTRUs 102a, 102b, and 102c over the air interface 116. The RAN 104 may also be in communication with the CN 106.

[0051] The RAN 104 may include eNode-Bs 160a, 160b, 160c, though it will be appreciated that the RAN 104 may include any number of eNode-Bs while remaining consistent with an embodiment. The eNode-Bs 160a, 160b, 160c may each include one or more transceivers for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In an embodiment, the eNode-Bs 160a, 160b, 160c may implement MIMO technology. Thus, the eNode-B 160a, for example, may use multiple antennas to transmit wireless signals to, and receive wireless signals from, the WTRU 102a.

[0052] Each of the eNode-Bs 160a, 160b, and 160c may be associated with a particular cell (not shown) and may be configured to handle radio resource management decisions, handover decisions, scheduling of users in the uplink (UL) and / or downlink (DL), and the like. As shown in FIG. 1C, the eNode-Bs 160a, 160b, 160c may communicate with one another over an X2 interface.

[0053] The CN 106 shown in FIG. 1C may include a mobility management entity (MME) 162, a serving gateway (SGW) 164, and a packet data network (PDN) gateway (PGW) 166. While each of the foregoing elements are depicted as part of the CN 106, it will be appreciated that any one of these elements may be owned and / or operated by an entity other than the CN operator.

[0054] The MME 162 may be connected to each of the eNode-Bs 160a, 160b, and 160c in the RAN 104 via an SI interface and may serve as a control node. For example, the MME 162 may be responsible for authenticating users of the WTRUs 102a, 102b, 102c, bearer activation / deactivation, selecting a particular serving gateway during an initial attach of the WTRUs 102a, 102b, 102c, and the like. The MME 162 may provide a control plane function for switching between the RAN 104 and other RANs (not shown) that employ other radio technologies, such as GSM and / or WCDMA.

[0055] The SGW 164 may be connected to each of the eNode-Bs 160a, 160b, 160c in the RAN 104 via the SI interface. The SGW 164 may generally route and forward user data packets to / from the WTRUs 102a, 102b, 102c. The SGW 164 may perform other functions, such as anchoring user planes during inter-eNode-B handovers, triggering paging when DL data is available for the WTRUs 102a, 102b, 102c, managing and storing contexts of the WTRUs 102a, 102b, 102c, and the like.

[0056] The SGW 164 may be connected to the PGW 166, which may provide the WTRUs 102a, 102b, 102c with access to packet- switched networks, such as the Internet 110, to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices.

[0057] The CN 106 may facilitate communications with other networks. For example, the CN 106 may provide the WTRUs 102a, 102b, 102c with access to circuit-switched networks, such as the PSTN 108, to facilitate communications between the WTRUs 102a, 102b, 102c and traditional landline communications devices. For example, the CN 106 may include, or may communicate with, an IP gateway (e.g., an IP multimedia subsystem (IMS) server) that serves as an interface between the CN 106 and the PSTN 108. In addition, the CN 106 may provide the WTRUs 102a, 102b, 102c withaccess to the other networks 112, which may include other wired and / or wireless networks that are owned and / or operated by other service providers.

[0058] Although the WTRU is described in FIGs. 1 A-1D as a wireless terminal, it is contemplated that in certain representative embodiments that such a terminal may use (e.g., temporarily or permanently) wired communication interfaces with the communication network.

[0059] In representative embodiments, the other network 112 may be a WLAN.

[0060] A WLAN in infrastructure basic service set (BSS) mode may have an access point (AP) for the BSS and one or more stations (STAs) associated with the AP. The AP may have an access or an interface to a distribution system (DS) or another type of wired / wireless network that carries traffic into and / or out of the BSS. Traffic to STAs that originates from outside the BSS may arrive through the AP and may be delivered to the STAs. Traffic originating from STAs to destinations outside the BSS may be sent to the AP to be delivered to respective destinations. Traffic between STAs within the BSS may be sent through the AP, for example, where the source STA may send traffic to the AP and the AP may deliver the traffic to the destination STA. The traffic between STAs within a BSS may be considered and / or referred to as peer-to-peer traffic. The peer-to-peer traffic may be sent between (e.g., directly between) the source and destination STAs with a direct link setup (DLS). In certain representative embodiments, the DLS may use an 802. l ie DLS or an 802.1 Iz tunneled DLS (TDLS). A WLAN using an Independent BSS (IBSS) mode may not have an AP, and the STAs (e.g., all of the STAs) within or using the IBSS may communicate directly with each other. The IBSS mode of communication may sometimes be referred to herein as an "ad-hoc" mode of communication.

[0061] When using the 802.1 lac infrastructure mode of operation or a similar mode of operations, the AP may transmit a beacon on a fixed channel, such as a primary channel. The primary channel may be a fixed width (e.g., 20 MHz wide bandwidth) or a dynamically set width via signaling. The primary channel may be the operating channel of the BSS and may be used by the STAs to establish a connection with the AP. In certain representative embodiments, Carrier sense multiple access with collision avoidance (CSMA / CA) may be implemented, for example in in 802.11 systems. For CSMA / CA, the STAs (e.g., every STA), including the AP, may sense the primary channel. If the primary channel is sensed / detected and / or determined to be busy by a particular STA, the particular STA may back off. One STA (e.g., only one station) may transmit at any given time in a given BSS.

[0062] High throughput (HT) STAs may use a 40 MHz wide channel for communication, for example, via a combination of the primary 20 MHz channel with an adjacent or nonadj acent 20 MHz channel to form a 40 MHz wide channel.

[0063] Very high throughput (VHT) STAs may support 20 MHz, 40 MHz, 80 MHz, and / or 160 MHz wide channels. The 40 MHz, and / or 80 MHz, channels may be formed by combiningcontiguous 20 MHz channels. A 160 MHz channel may be formed by combining 8 contiguous 20 MHz channels, or by combining two non-contiguous 80 MHz channels, which may be referred to as an 80+80 configuration. For the 80+80 configuration, the data, after channel encoding, may be passed through a segment parser that may divide the data into two streams. Inverse fast Fourier transform (IFFT) processing, and time domain processing, may be done on each stream separately. The streams may be mapped on to the two 80 MHz channels, and the data may be transmitted by a transmitting STA. At the receiver of the receiving STA, the above-described operation for the 80+80 configuration may be reversed, and the combined data may be sent to a medium access control (MAC) layer, entity, etc.

[0064] Sub 1 GHz modes of operation are supported by 802.1 laf and 802.11 ah. The channel operating bandwidths, and carriers, are reduced in 802.1 laf and 802.11 ah relative to those used in 802.1 In, and 802.1 lac. 802.1 laf supports 5 MHz, 10 MHz and 20 MHz bandwidths in the TV white space (TVWS) spectrum, and 802.11 ah supports 1 MHz, 2 MHz, 4 MHz, 8 MHz, and 16 MHz bandwidths using non-TVWS spectrum. According to a representative embodiment, 802.11 ah may support meter type control / machine-type communications (MTC), such as MTC devices in a macro coverage area. MTC devices may have certain capabilities, for example, limited capabilities including support for (e.g., only support for) certain and / or limited bandwidths. The MTC devices may include a battery with a battery life above a threshold (e.g., to maintain a very long battery life).

[0065] WLAN systems, which may support multiple channels, and channel bandwidths, such as 802.1 In, 802.1 lac, 802.1 laf, and 802.11ah, include a channel which may be designated as the primary channel. The primary channel may have a bandwidth equal to the largest common operating bandwidth supported by all STAs in the BSS. The bandwidth of the primary channel may be set and / or limited by a STA, from among all STAs in operating in a BSS, which supports the smallest bandwidth operating mode. In the example of 802.1 lah, the primary channel may be 1 MHz wide for STAs (e.g., MTC type devices) that support (e.g., only support) a 1 MHz mode, even if the AP, and other STAs in the BSS support 2 MHz, 4 MHz, 8 MHz, 16 MHz, and / or other channel bandwidth operating modes. Carrier sensing and / or network allocation vector (NAV) settings may depend on the status of the primary channel. If the primary channel is busy, for example, due to a STA (which supports only a 1 MHz operating mode), transmitting to the AP, the entire available frequency bands may be considered busy even though a majority of the frequency bands remains idle and may be available.

[0066] In the United States, the available frequency bands, which may be used by 802.1 lah, are from 902 MHz to 928 MHz. In Korea, the available frequency bands are from 917.5 MHz to923.5 MHz. In Japan, the available frequency bands are from 916.5 MHz to 927.5 MHz. The total bandwidth available for 802.1 lah is 6 MHz to 26 MHz depending on the country code.

[0067] FIG. ID is a system diagram illustrating the RAN 113 and the CN 115 according to an embodiment. As noted above, the RAN 113 may employ an NR radio technology to communicate with the WTRUs 102a, 102b, 102c over the air interface 116. The RAN 113 may also be in communication with the CN 115.

[0068] The RAN 113 may include gNBs 180a, 180b, 180c, though it will be appreciated that the RAN 113 may include any number of gNBs while remaining consistent with an embodiment. The gNBs 180a, 180b, 180c may each include one or more transceivers for communicating with the WTRUs 102a, 102b, 102c over the air interface 116. In an embodiment, the gNBs 180a, 180b, 180c may implement MIMO technology. For example, gNBs 180a, 180b may utilize beamforming to transmit signals to and / or receive signals from the WTRUs 102a, 102b, 102c. Thus, the gNB 180a, for example, may use multiple antennas to transmit wireless signals to, and / or receive wireless signals from, the WTRU 102a. In an embodiment, the gNBs 180a, 180b, 180c may implement carrier aggregation technology. For example, the gNB 180a may transmit multiple component carriers to the WTRU 102a (not shown). A subset of these component carriers may be on unlicensed spectrum while the remaining component carriers may be on licensed spectrum. In an embodiment, the gNBs 180a, 180b, 180c may implement Coordinated Multi-Point (CoMP) technology. For example, WTRU 102a may receive coordinated transmissions from gNB 180a and gNB 180b (and / or gNB 180c).

[0069] The WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c using transmissions associated with a scalable numerology. For example, OFDM symbol spacing and / or OFDM subcarrier spacing may vary for different transmissions, different cells, and / or different portions of the wireless transmission spectrum. The WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c using subframe or transmission time intervals (TTIs) of various or scalable lengths (e.g., including a varying number of OFDM symbols and / or lasting varying lengths of absolute time).

[0070] The gNBs 180a, 180b, 180c may be configured to communicate with the WTRUs 102a, 102b, 102c in a standalone configuration and / or a non- standalone configuration. In the standalone configuration, WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c without also accessing other RANs (e.g., such as eNode-Bs 160a, 160b, 160c). In the standalone configuration, WTRUs 102a, 102b, 102c may utilize one or more of gNBs 180a, 180b, 180c as a mobility anchor point. In the standalone configuration, WTRUs 102a, 102b, 102c may communicate with gNBs 180a, 180b, 180c using signals in an unlicensed band. In a non- standalone configuration WTRUs 102a, 102b, 102c may communicate with / connect to gNBs 180a, 180b, 180c while alsocommunicating with / connecting to another RAN such as eNode-Bs 160a, 160b, 160c. For example, WTRUs 102a, 102b, 102c may implement DC principles to communicate with one or more gNBs 180a, 180b, 180c and one or more eNode-Bs 160a, 160b, 160c substantially simultaneously. In the non- standalone configuration, eNode-Bs 160a, 160b, 160c may serve as a mobility anchor for WTRUs 102a, 102b, 102c and gNBs 180a, 180b, 180c may provide additional coverage and / or throughput for servicing WTRUs 102a, 102b, 102c.

[0071] Each of the gNBs 180a, 180b, 180c may be associated with a particular cell (not shown) and may be configured to handle radio resource management decisions, handover decisions, scheduling of users in the UL and / or DL, support of network slicing, dual connectivity, interworking between NR and E-UTRA, routing of user plane data towards user plane functions (UPFs) 184a, 184b, routing of control plane information towards access and mobility management functions (AMFs) 182a, 182b, and the like. As shown in FIG. ID, the gNBs 180a, 180b, 180c may communicate with one another over an Xn interface.

[0072] The CN 115 shown in FIG. ID may include at least one AMF 182a, 182b, at least one UPF 184a, 184b, at least one session management function (SMF) 183a, 183b, and at least one Data Network (DN) 185a, 185b. While each of the foregoing elements are depicted as part of the CN 115, it will be appreciated that any of these elements may be owned and / or operated by an entity other than the CN operator.

[0073] The AMF 182a, 182b may be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 113 via an N2 interface and may serve as a control node. For example, the AMF 182a, 182b may be responsible for authenticating users of the WTRUs 102a, 102b, 102c, support for network slicing (e.g., handling of different protocol data unit (PDU) sessions with different requirements), selecting a particular SMF 183a, 183b, management of the registration area, termination of non- access stratum (NAS) signaling, mobility management, and the like. Network slicing may be used by the AMF 182a, 182b, e.g., to customize CN support for WTRUs 102a, 102b, 102c based on the types of services being utilized by WTRUs 102a, 102b, 102c. For example, different network slices may be established for different use cases such as services relying on ultra-reliable low latency (URLLC) access, services relying on enhanced massive mobile broadband (eMBB) access, services for MTC access, and / or the like. The AMF 182a, 182b may provide a control plane function for switching between the RAN 113 and other RANs (not shown) that employ other radio technologies, such as LTE, LTE-A, LTE-A Pro, and / or non-3GPP access technologies such as Wi-Fi.

[0074] The SMF 183a, 183b may be connected to an AMF 182a, 182b in the CN 115 via an Ni l interface. The SMF 183a, 183b may also be connected to a UPF 184a, 184b in the CN 115 via an N4 interface. The SMF 183a, 183b may select and control the UPF 184a, 184b and configure the routingof traffic through the UPF 184a, 184b. The SMF 183a, 183b may perform other functions, such as managing and allocating UE IP address, managing PDU sessions, controlling policy enforcement and QoS, providing downlink data notifications, and the like. A PDU session type may be IP -based, nonIP based, Ethernet-based, and the like.

[0075] The UPF 184a, 184b may be connected to one or more of the gNBs 180a, 180b, 180c in the RAN 113 via an N3 interface, which may provide the WTRUs 102a, 102b, 102c with access to packet-switched networks, such as the Internet 110, e.g., to facilitate communications between the WTRUs 102a, 102b, 102c and IP-enabled devices. The UPF 184a, 184b may perform other functions, such as routing and forwarding packets, enforcing user plane policies, supporting multi-homed PDU sessions, handling user plane QoS, buffering downlink packets, providing mobility anchoring, and the like.

[0076] The CN 115 may facilitate communications with other networks. For example, the CN 115 may include, or may communicate with, an IP gateway (e.g., an IP multimedia subsystem (IMS) server) that serves as an interface between the CN 115 and the PSTN 108. In addition, the CN 115 may provide the WTRUs 102a, 102b, 102c with access to the other networks 112, which may include other wired and / or wireless networks that are owned and / or operated by other service providers. In an embodiment, the WTRUs 102a, 102b, 102c may be connected to a local Data Network (DN) 185a, 185b through the UPF 184a, 184b via the N3 interface to the UPF 184a, 184b and an N6 interface between the UPF 184a, 184b and the DN 185a, 185b.

[0077] In view of FIGs. 1A-1D, and the corresponding description of FIGs. 1A-1D, one or more, or all, of the functions described herein with regard to any of: WTRUs 102a-d, base stations 114a-b, eNode-Bs 160a-c, MME 162, SGW 164, PGW 166, gNBs 180a-c, AMFs 182a-b, UPFs 184a-b, SMFs 183a-b, DNs 185a-b, and / or any other element(s) / device(s) described herein, may be performed by one or more emulation elements / devices (not shown). The emulation devices may be one or more devices configured to emulate one or more, or all, of the functions described herein. For example, the emulation devices may be used to test other devices and / or to simulate network and / or WTRU functions.

[0078] The emulation devices may be designed to implement one or more tests of other devices in a lab environment and / or in an operator network environment. For example, the one or more emulation devices may perform the one or more, or all, functions while being fully or partially implemented and / or deployed as part of a wired and / or wireless communication network in order to test other devices within the communication network. The one or more emulation devices may perform the one or more, or all, functions while being temporarily implemented / deployed as part of a wired and / or wireless communication network. The emulation device may be directly coupled toanother device for purposes of testing and / or may performing testing using over-the-air wireless communications.

[0079] The one or more emulation devices may perform the one or more, including all, functions while not being implemented / deployed as part of a wired and / or wireless communication network. For example, the emulation devices may be utilized in a testing scenario in a testing laboratory and / or a non-deployed (e.g., testing) wired and / or wireless communication network in order to implement testing of one or more components. The one or more emulation devices may be test equipment. Direct RF coupling and / or wireless communications via RF circuitry (e.g., which may include one or more antennas) may be used by the emulation devices to transmit and / or receive data.

[0080] Throughout embodiments described herein the terms "base station", "network", and "gNB", collectively "the network" may be used interchangeably to designate any network element such as e.g., a network element acting as a serving base station. Embodiments described herein are not limited to gNBs and are applicable to any other type of base stations.

[0081] For the sake of clarity, satisfying, failing to satisfy a condition, and configuring condition parameter(s) are described throughout embodiments described herein as relative to a threshold (e.g., greater, or lower than) a (e.g., threshold) value, configuring the (e.g., threshold) value, etc. For example, satisfying a condition may be described as being above a (e.g., threshold) value, and failing to satisfy a condition may be described as being below a (e.g., threshold) value. Embodiments described herein are not limited to threshold-based conditions. Any kind of other condition and parameter(s) (such as e.g., belonging or not belonging to a range of values) may be applicable to embodiments described herein.

[0082] Throughout embodiments described herein, (e.g., configuration) information may be described as received by a WTRU from the network, for example, through system information or via any kind of protocol message. Although not explicitly mentioned throughout embodiments described herein, the same (e.g., configuration) information may be pre-configured in the WTRU (e.g., via any kind of pre-configuration methods such as e.g., via factory settings), such that this (e.g., configuration) information may be used by the WTRU without being received from the network.

[0083] Throughout embodiments described herein, the expression "the WTRU may be configured with a set of parameters" is equivalent or may be used interchangeably with "the WTRU may receive configuration information (e.g., from another network element (e.g., gNB)) indicating a set of parameters". Throughout embodiments described herein, the expressions "the WTRU may report something", and "the WTRU may be configured to report something", is equivalent or may be used interchangeably with "the WTRU may transmit (e.g., reporting) information indicating something".

[0084] In embodiments described herein, ‘a’ and ‘an’ and similar phrases are to be interpreted as ‘one or more’ and ‘at least one’. Similarly, any term which ends with the suffix ‘(s)’ is to be interpreted as ‘one or more’ and ‘at least one’. The term ‘may’ is to be interpreted as ‘may, for example’.

[0085] A symbol 7’ (e.g., forward slash) may be used herein to represent ‘and / or’, where for example, ‘A / B’ may imply ‘A and / or B’.

[0086] In embodiments described herein, a network element may refer to any kind of device including computing resources and networking capabilities, that may be connected to a network. The terms “node” and “network element” may be used interchangeably. A network element may be any kind of network infrastructure device and or a WTRU. The architecture depicted at FIG. IB for a WTRU 102 may be applicable more generally to any kind of network element.

[0087] Synchronization examples of sensing operations and connection management states for sensor fusion are described herein. In an embodiment, an integrated sensing function (ISF) network element is described.

[0088] In an example, the ISF network element may trigger synchronized sensing (e.g., a sensing fusion).

[0089] In an example, the ISF network element may send a notification to the 5GC (e.g., AMF) to inform of (e.g., indicating) an (e.g., anticipated) sensing task and related traffic.

[0090] In an example, the ISF network element may receive a sensing request message from a WTRU. The sensing request message may indicate that synchronized sensing (e.g., sensing fusion) may be requested (e.g., required) and / or the requested (e.g., required) type of fusion. The sensing request message may indicate that the sensor node may support synchronization messages.

[0091] In an example, the ISF network element may send a sensing request accept message to the WTRU. The sensing request accept message may (e.g., also) indicate that any of sensor fusion and synchronization may be supported.

[0092] In an example, the ISF network element may determine that synchronization notification messages may be sent to nodes associated with the sensing task (e.g., any of RAN node, fuser node, sensor node). The determination may take into consideration (e.g., may be based on) the sensor request that may be received from any of the WTRU and the application function / application server (AF / AS).

[0093] In an example, the ISF network element may send a synchronization message to any of the sensor nodes and the fuser nodes The synchronization message may include configuration information related to the synchronization of the sensing task.

[0094] In an embodiment, a WTRU is described herein.

[0095] In an example, the WTRU may send a sensing request message to an ISF network element. The sensing request message may specify (e.g. indicate) that synchronized sensing (e.g., sensing fusion) may be requested (e.g., required) and / or the requested (e.g., required) type of fusion. The sensing request message may indicate that the sensor node may support synchronization messages.

[0096] In an example, the WTRU may receive a sensing request accept message from the ISF network element. The sensing request accept message may (e.g., also) indicate that sensor fusion and synchronization may be supported.

[0097] In an example, the WTRU may receive a synchronization message from the network. The synchronization message may include configuration information related to the synchronization of the sensing task.

[0098] In an example, the WTRU may update (e.g., local) synchronization related configuration (e.g., may update synchronization information locally) based on (e.g., configuration) information received.

[0099] In an example, the WTRU may perform a sensing task and may gather sensing data.

[0100] In an example, the WTRU may receive sensing data to be fused, e.g., over any of Uu reference point and PC 5 reference point.

[0101] In an example, the WTRU may perform sensor fusion. After a fused result may be generated it may be sent to the network (e.g., ISF).

[0102] A reference model of a 5G network is described herein.

[0103] FIG. 2 is a diagram illustrating an example architecture of 5G / NextGen network.

[0104] A RAN 21 may refer to a radio access network based on the 5G radio access technology (RAT) or Evolved E-UTRA that may connect to the NextGen core network.

[0105] The access control and mobility management function (AMF) 22 may include any of registration management, connection management, reachability management, mobility Management, etc.

[0106] The session management function (SMF) 23 may include any of session management (including any of session establishment, modify and release), WTRU internet protocol (IP) address allocation, selection, and control of user plane (UP) function, etc.

[0107] The user plane function (UPF) 24 may include any of packet routing & forwarding, packet inspection, traffic usage reporting, etc.

[0108] In embodiments described herein, the terms RAN node, gNodeB, base station, access network (AN), NG-RAN, and RAN may be used interchangeably.

[0109] In embodiments described herein, the term “Uu reference point” may be used to refer to the uplink / downlink between a WTRU and a gNB.

[0110] In embodiments described herein, the term “PC5” may refer to a reference point where a WTRU may (e.g., directly) communicate with another WTRU e.g., over sidelink.[OHl] An integrated sensing example is described herein.

[0112] Third Generation Partnership Project (3GPP) technical specification (TS) 22.837 vl9.0.0: “Study on Integrated Sensing and Communication” describes integrated sensing use cases and potential requirements for enhancements in the 5G system. Such enhancements may provide sensing services addressing different target verticals / applications (e.g., any of autonomous / assisted driving, vehicle to anything (V2X), unmanned aerial vehicles (UAVs), 3D map, smart city, smart home, factories, healthcare, maritime sector, etc.).

[0113] For integrated sensing, there may be a process of collecting sensing measurement data which may comprise data collected about radio / wireless signals impacted (e.g., any of reflected, refracted, diffracted) by an object and / or environment of interest for sensing purposes, and for deriving sensing results from processing sensing measurement data. There may be an area defined for sensing, sensing service area location, which may be an area location where with or without obstacle, the 5G system may provide sensing service with (e.g., certain) quality.

[0114] Other non 3 GPP (N3GPP) entities may be considered. Those sensing measurement data may be considered as transparent to 5G system (5GS) such that those data may be communicated using a protocol to an interface defined by the 5GS.

[0115] One of the use cases for integrated sensing may include object detection.

[0116] FIG. 3 is a diagram illustrating an example of pedestrian / animal intrusion detection, e.g., on a highway.

[0117] FIG. 4 is a diagram illustrating an example of intruder detection e.g., in surroundings of smart home.

[0118] In these examples, the RAN node / BS and / or the WTRU may detect the intrusion on the sensing area of a base station by itself (e.g., on its own) or via a collaboration (e.g., interaction) between the WTRU and the base station (BS). Sensing measurements may be transferred (e.g., transmitted) to the network and further processed into the sensing result.

[0119] Transparent sensing may be another example (e.g., use case) for integrated sensing. In transparent sensing, sensing data may be captured by the WTRU and communicated so that 5GS may be aware of the sensing information.

[0120] In this scenario, a WTRU may acquire sense signals from any of 3GPP and non3GPP devices. In an example, 5GC may determine various available sensing services by processing collated sensing data.

[0121] Different modes of sensing may be used.

[0122] FIG. 5 is a diagram illustrating two examples of sensing modes. In a first mode 51, which may be referred to as monostatic sensing, the sensing signal sender and the sensing signal receiver may be the same node. In a second mode 52, which may be referred to as bi-static sensing, the sensing signal sender and the sensing signal receiver may be (e.g., included in) two different nodes.

[0123] Sensor fusion is described herein.

[0124] FIG. 6 is a diagram illustrating an example of sensor fusion classifications based on the data source. One categorization of sensor fusion techniques may be based on how sensor data sources may be used for the fusion of data.

[0125] In complementary fusion, the information provided by the input sources may represent different parts of the scene and may be used to obtain more complete global information.

[0126] In redundant fusion, two or more input sources may provide information about the same target and may be fused to increment the confidence.

[0127] In cooperative fusion, the provided information may be combined into new information that may be, for example, more complex than the original information. For example, multi-modal (audio and video) data fusion may be considered cooperative.

[0128] Sensor fusion types may be classified based on architecture as described herein. Another classification of sensor fusion techniques may be based on the architecture used in a distributed system.

[0129] FIG. 7A and FIG. 7B are two diagrams illustrating examples of sensor fusion classifications based on the architecture.

[0130] In a decentralized fusion, a (e.g., each) node may have its own processing capabilities and there may be no single point of data fusion.

[0131] In a distributed architecture, measurements from a (e.g., each) source node may be processed independently before the information may be sent to the fusion node.

[0132] A hierarchical architecture may be another architecture comprising a combination of decentralized and distributed nodes, generating hierarchical schemes in which the data fusion process may be performed at different levels in the hierarchy.

[0133] Sensor fusion types may be classified based on intermediate steps as described herein. A classification of sensor fusion techniques may differentiate based on the intermediate steps at various levels used when generating the fusion result.

[0134] FIG. 8 is a diagram illustrating an example of sensor fusion classifications based on intermediate steps.

[0135] PDU set header fields are described herein.

[0136] S4-231026 from Nokia Corporation, “pCR to TS 26.522 on PDU set HE study on architecture enhancement for XR and media services phase 2” describes header fields that may be associated with a PDU set. A PDU set sequence number (PSSN) may be defined as a header field that may encode the sequence number of the PDU set to which the (e.g., current) PDU may belong acting as a ten-bit numerical identifier for the PDU set.

[0137] Today’s systems may not enable synchronous on device functions as described herein. Multiple data sources / sensors may be used for sensing the same environment. In an example, data from sensors may be combined (fused) in some ways to be able to make sensing results intelligible. For example, in complementary sensor fusion, a (e.g., each) sensor node may sense (e.g., only) a partial view of the (e.g., whole) scene, containing different features. In another example, in cooperative fusion different modes of sensing data may be combined into (e.g., new) information that may be, for example, more complex (e.g., may include more information) than the original information. In an example, for combining different streams into one fused result, any of sensing processes, components, and procedures may be synchronized to (e.g., be able to) identify (e.g., correctly and efficiently) inter-related (e.g., temporally) data from different sensor streams. Available 3 GPP system may not enable on-device sensor fusion and procedures for synchronization.

[0138] Today’ s systems may not enable synchronization of sensing and fusion tasks across multiple nodes, as described herein. In an example, sensor traffic may be treated across nodes that may belong to the same sensing task and may be synchronized. If internal reference clocks, timers and the data itself are not synchronized, the traffic that may be transferred to be fused, and / or the fused result, may risk being unintelligible and / or useless. This may originate from losing correlation (e.g., time) information in different sensor streams. Today’s 3GPP system does not provide procedures for synchronizing a sensing operation involving multiple nodes that may belong to the same sensing task.

[0139] Embodiments described herein may allow to enable the synchronization of correlated information and sensing operations across multiple nodes.

[0140] Sensing capabilities may allow to sense various properties (such as e.g., any of location, velocity, direction) of physical objects or the environment, using various sensors e.g., independently.

[0141] Throughout embodiments described herein, an entity (e.g., network element) with local sensing capabilities may be referred to as any of a sensing node, sensing entity, a sensor, and a WTRU (e.g., if a sensor is associated with a WTRU).

[0142] Sensor fusion may have limitations of sensing mechanisms (hardware and algorithms / software), such as, limited coverage (e.g., a sensing node may have coverage limitations), single dimensionality / modality (e.g., a sensor may sense using (e.g., only) a single modality at a (e.g., given) time - e.g., video, audio), limited confidence improvements (e.g., confidence level of a resulta sensor may have produced may be limited to its own data), basic level of information or incomplete / limited information of the sensed object (e.g., one sensor may not be able sense (e.g., all) properties of an object with high confidence).

[0143] Embodiments described herein may allow to combine (e.g., fuse) data from multiple varying (in capabilities) sensors, towards (e.g., ultimately) generating a more complete sensing result.

[0144] FIG. 9 is a diagram illustrating example uses cases of sensor fusion. FIG. 9 illustrates two scenarios where multiple sensing nodes may be used for sensing a target object 900. In an example, the properties such as e.g., any of a direction, an orientation, a location, and sensing capabilities (e.g., sensing frequency) available at a (e.g., each) sensor node may differ. In an example, the features (e.g., shape, distance) of the data being gathered of the target object may differ. For example, for gaining a (e.g., more complete) result of the target object, data gathered from sensor nodes may be fused. In a first example, shown at 90A, (e.g., all) partial sensor results, for (e.g., each) sensor node, may be gathered at the network 90, and may be fused at the network 90. In a second example, shown at 90B, sensor fusion may be performed at the sensor node 91 before sending the final fused result to the network 90.

[0145] Sensing features are described herein. Sensing features may refer to the physical features and / or properties of the sensing target (e.g., object, environment), that may be reflected on the sensing data. The features and the properties sensed by a sensor node may change depending on various factors, in relation to the same sensing target. For example, the location of a sensor node, in relation to the sensing target may determine which part of the sensed object may be visible to the sensor and which parts of the sensed object may be hidden. In an example, (e.g., only) a part of the features of the object may be detected by the sensor.

[0146] The features that may be reflected in sensing data may (e.g., also) differ based on the sensing capabilities of the sensor node. For example, two sensor nodes may be placed in identical locations, in relation to the target object. A first sensor may be a radio sensor, which may (e.g., accurately) sense the materials used on the surface of the target object, and a second sensor may be a lidar sensor, which may (e.g., accurately) sense the relative distance between the second sensor and the target object.

[0147] Throughout embodiments described herein, the nodes that may be using local sensing capabilities for sensing are referred to as any of sensing nodes, sensing WTRUs and sensing RAN nodes. These nodes may be (e.g., may include) WTRUs. These nodes may be (e.g., may include) RAN nodes, or a combination of WTRUs and RAN nodes.

[0148] Throughout embodiments described herein, the fuser may be any of a sensing node, a WTRU and a RAN node.

[0149] Throughout embodiments described herein, the terms “synchronization notification message”, “synchronization message”, “synchronization information” may be used interchangeably to refer to any information / message that may be used for synchronization purposes.

[0150] Throughout embodiments described herein, the terms “sensing request accept message”, “sensing accept message”, “sensing response message” may be used interchangeably.

[0151] Architectural considerations and sensing functions are described herein.

[0152] A (e.g., new) functionality in the 5GS, that may assist in managing and coordinating sensing operations is described herein. The logical function, which may be collectively referred to herein as integrated sensing function (ISF), may be seen as a collection of functionalities that may be implemented collocated in a single function (e.g., network element) or may be implemented as separate functions (e.g., network elements). For example, ISF maybe collocated with any of network exposure function (NEF), AMF, SMF and RAN. In scenarios where the ISF may not be trusted by the 5GS, it may communicate with the CN functions through NEF and may be akin to an AF or an AS.

[0153] An ISF may be capable of receiving and / or storing service requirements, and of identifying sensing capabilities in any of the 5GS, in the WTRUs (sensing nodes), or non-3GPP sensing capabilities, that may satisfy those requirements. Based on the capabilities, it may communicate with other network functions.

[0154] Various capabilities of ISF are described herein.

[0155] Synchronization of sensing operations and connection management states are described herein.

[0156] FIG. 10 is a diagram illustrating an example method for synchronization of sensing operations.

[0157] The processing shown at 1010 and 1020 may occur before the (e.g., actual) sensing task may be triggered as shown at 1030. The processing shown at 1010 may be seen as a trigger for the initialization of the sensing resources (e.g., any of sensing entities, network entities).

[0158] As shown at 1010, ISF may trigger synchronized sensing (e.g., a sensing fusion). The triggering may be based on any combination of the following two examples.

[0159] In a first example, the triggering may be based on a request (e.g., a need) for network optimization (e.g., to reduce bandwidth utilization in the network or on the air interface). The request may be received from any of AMF, SMF or a NF that may hold network analytics such as a network data analytics function (NWDAF).

[0160] In a second example, the triggering may be based on a sensing request received with sensing parameters (e.g., requirements). Such parameters (e.g., requirements) may indicate that sensor fusionmay be requested (e.g., needed). In another example, ISF may determine that sensor fusion may be needed (e.g., to be performed). For example, the ISF may determine that the sensor fusion may be synchronized to a (e.g., certain) level. This may be indicated as a value (e.g., a delay value / range) and / or a category (low, medium, high).

[0161] The sensing task initialization trigger shown at 1010 may include configuring the RAN and participating WTRUs with configuration information such as (e.g., indicating any of) QoS profiles for handling sensing flows, any processing to be done by the node before transmitting sensing data, any marking to be done on the data or on the data packets carrying the data. This configuration information may include any synchronization parameters (e.g., requirements) such as e.g., delay requirements between interrelated data in two or more flows.

[0162] As shown at 1020, ISF may send configuration information (e.g., in one or more notification / configuration messages) to the 5GC (e.g., AMF) and / or to the sensing entities (WTRU and / or fuser network element) to inform of any of the anticipated sensing task and related traffic (e.g., associated with the sensing task).

[0163] The one or more notification / configuration messages may include time information to inform the AMF of when traffic may be anticipated. The time information may be indicated as a timer and / or a time value. The time information may be derived based on when the sensing task may be meant to be executed at the sensor nodes (which in itself may be indicated as a (e.g., second) timer and / or a (e.g., second) time value). For example, the time information included in the notification / configuration messages may indicate a time period during which traffic associated with a sensing task may be expected.

[0164] In an example, the AMF may send a request to the RAN (e.g., including information indicating) to page the nodes that may be part of the same sensing task. The request may be sent by the AMF to the RAN as a configuration message, that may have been received by the AMF from the SMF and forwarded to the RAN. In some examples, the AMF may be able to delay paging the nodes until the start time of the anticipated traffic may be received at the RAN. In an example, the start time may be indicated in the request (e.g., configuration message) that may be sent by the AMF to the RAN.

[0165] The configuration message may configure the RAN to send (e.g., received) synchronization notifications to the WTRUs. The RAN may send synchronization notifications to the WTRU as radio resource control (RRC) messages. In an example, the RAN may be configured by the core network (e.g., SMF) to send synchronization notifications based on any of a clock value, a timer, a trigger message received in the control plane from a NF, and a signal received in the user plane (e.g., a header value).

[0166] A configuration message may configure the participating WTRUs (and / or fuser network elements) with configuration information (e.g., needed) for (e.g., associated with) the sensing tasks. The configuration information may include (e.g., may indicate) any of (i) a sensor device to be used, (ii) location information associated with a sensing target and (iii) time information associated with the sensing task. Any piece of information of the configuration information may be sent to any of the participating WTRUs, the fuser network elements, the AMF, and the RAN. The configuration information may not be limited to the described pieces of information.

[0167] In an example, a first piece of information that may be included in the configuration information may indicate a sensor device to be used. For example, a WTRU may host more than one sensor device. This may include sensor configurations to be used (such as e.g., any of a frequency of the sensing signal, bistatic and monostatic configurations, etc.)

[0168] In an example, a second piece of information that may be included in the configuration information may include any of location information and direction information of the sensing target (e.g., a billboard).

[0169] In an example, a third piece of information that may be included in the configuration information may indicate a time the sensing task may be to be executed (such as e.g., any of a starting time, and ending time, a duration, a periodicity, ...etc.). For example, the configuration information may indicate a time trigger, e.g., to trigger a WTRU to perform the sensing task.

[0170] In one example, the network may configure the WTRUs for a sensing task for helping the 5G system to improve beam forming.

[0171] A configuration message, that may be sent, for example, by any of the ISF and the SMF may include (e.g., indicate) a time trigger. For example, a sensor may be configured to wake up at a (e.g., certain) time.

[0172] As shown at 1030, the sensor node may send a sensing request message 1031 to ISF (e.g., via the AMF). The sensing request message 1031 may be sent as (e.g., included in) a non-access stratum (NAS) message and may include sensing service parameters (e.g., requirements). The sensing request message 1031 may include information indicating that synchronized sensing (e.g., sensing fusion) may be requested (e.g., required) and / or the (e.g., requested, required) type of fusion. In an example, the WTRU may (e.g., be triggered to) send the request based on any of a (e.g., preconfigured) time trigger, a message received a network function (NF), and a message received from a fuser node.

[0173] In a first example, the WTRU may (e.g., be triggered to) send the request by a preconfigured time trigger. For example, a sensor may be configured to wake up at a (e.g., certain) time (e.g., after a (e.g., configurable) amount of time may have elapsed).

[0174] In a second example, the WTRU may (e.g., be triggered to) send the request by a message (e.g., received) from one of the NFs such as e.g., any of AMF, ISF, AS, and RAN. For example, the sensor may send the sensing request message 1031, after it may know that RAN may support sensing.

[0175] In a third example, the WTRU may (e.g., be triggered to) send the request by a message (e.g., received) from a fuser node. For example, a sensor node may send the sensing request message 1031, after reception of a message from a fuser node for (e.g., indicating) performing a sensing task.

[0176] The sensing request message 1031 may indicate that the sensing task may expect (e.g., may require) results that may be synchronized to a (e.g., certain) level. This may be indicated as any of a value (e.g., a delay value / range) and a category (low, medium, high).

[0177] The sensing request message 1031 may indicate, for example, that the sensor node may support synchronization messages from the network. In another example, the sensing request message 1031 may request synchronization support (e.g., may indicate that synchronization support may be requested) from the network.

[0178] In an example, the ISF may send a sensing request accept message 1040 to the WTRU. The sensing request accept message 1040 may (e.g., also) indicate that sensor fusion may be supported.

[0179] The sensing request accept message 1040 may indicate that the network may assist in synchronization of the sensing task and include (e.g., indicate) the sensing synchronization capability (e.g., which may indicate that the network may be capable of supporting synchronization of (e.g., certain, specific) applications or traffic, this may (e.g., also) indicate synchronization accuracy and / or precision information that may be supported). In an example, the sensing request accept message 1040 may indicate that the network may send synchronization notification messages (e.g., single-shot or during the execution of the task).

[0180] As shown at 1050, ISF may determine that synchronization notification messages 1060 may (e.g., need to) be sent to nodes associated with the sensing task (e.g., any of RAN node, fuser node, sensor node). In an example, the determination to send synchronization notification messages 1060 may be based on the sensing request message 1031 that may have been received from the WTRU and / or AF / AS. In another example, the determination to send synchronization notification messages 1060 may be based on information received from another NF (e.g., subscriber information).

[0181] The determination to send synchronization notification messages 1060 may (e.g., also) be based on analytics. In one example, a network function (e.g., NWDAF) may determine that sensing data that may (e.g., due to clock drift) be received may not be synchronized and / or that the sensor fusion task may not have been started, restarted, or updated in a synchronized manner. For example, ISF may determine that a notification message may be sent to nodes with (e.g., including) synchronization information 1060 (e.g., indicating clock start / update trigger). In another example,the NWDAF may notify ISF that sensing traffic may be taking an exceeding level of bandwidth and / or may incur extra delay. In an example, ISF may decide (e.g., determine) that fusion may be performed before receiving data in the network.

[0182] Information (e.g., configuration information) included in a synchronization notification message 1060 may include any of (i) information of an updated reference clock, (ii) a timer for starting the sensing task, (iii) a timer for starting sensor fusion, (iv) an indication on whether connection management (CM) state coordination may be enabled (as described herein), and (v) information on CM state coordination.

[0183] In an example, information of an updated reference clock may be included in the synchronization notification message 1060. For example, the sensor devices may be updated with information of a reference clock hosted in the fuser node, and the following clock synchronization messages (e.g., clock start trigger - a trigger sent by the master clock to other clocks to start in phase) may be exchanged over proximity-based services (ProSe) communication.

[0184] In an example, information on CM state coordination may be included in synchronization notification message. For example, this information may indicate that the sensor node may wake up in connected state (e.g., CM-CONNECTED) e.g., when the sync timer (e.g., sensing timer, timer to start the sensing task) may go off (e.g., expire). Information on CM state coordination may include any of (i) CM state change trigger and conditions (e.g., time or a timer), (ii) CM state to be changed from, and (iii) CM state to be changed to.

[0185] In a first example shown at 1065, ISF may send a (e.g., first) synchronization message 1061 to any of the sensor nodes and the fuser nodes. In a second example shown at 1066, the RAN node may send the synchronization messages 1062 to the (e.g., sensor and / or fuser) nodes (based on the configuration information received as shown at 1020). The synchronization message 1060, 1061, 1062 may include configuration information related to the synchronization of the sensing task such as e.g., any of (i) information of an updated reference clock, (ii) a timer for starting the sensing task, (iii) a timer for starting sensor fusion, (iv) an indication on whether CM state coordination may be enabled (as described herein), and (v) information on CM state coordination, as described herein.

[0186] As shown at 1071 and 1072, sensor nodes and fuser nodes may update configuration based on information received in synchronization messages 1060, 1061, 1062. For example, any of sensor nodes and fuser nodes may update synchronization information e.g., locally based the configuration information received in the synchronization message.

[0187] The (sensor / fuser) nodes may use information received in synchronization messages 1060, 1061, 1062 for power saving procedures. For example, computing and / or communication resources may be put to an idle mode before sensing may start and may activate before the (e.g., sensing) timermay expire. This may (e.g., also) allow to reduce any delay that may be incurred due to the time taken to any of change status, allocate and prepare resources.

[0188] If other devices are tethered to these nodes, information received in synchronization messages 1060, 1061, 1062 may be used for managing tethered connectivity (e.g., activate tethered connectivity when (e.g., after) the timer may expire).

[0189] As shown at 1080, sensor nodes may perform sensing task and may gather sensing data.

[0190] In an example, sensor nodes may send sensing data 1090 to the fuser node to be fused. In an example, sensing data 1090 may be sent over any of Uu reference point (e.g., interface) and PC5 reference point (e.g., interface).

[0191] As shown at 1091, fuser nodes may perform sensor fusion and may generate a fused result (e.g., based on sensing data 1090 received from one or more sensing devices and, e.g., locally generated sensing data). After having been generated, the fused result (e.g., data) 1092 may be sent to the network.

[0192] Sensing data may be received by any of AF, AS, ISF, NF, and a another WTRU (through sidelink communication and / or via the RAN / CN).

[0193] In some examples, before receiving data at the destination (e.g., AF / AS, ISF), an intermediate node may consume the data (e.g., RAN node).

[0194] The processing shown at 1060-1092 may be repeated throughout the duration of the sensing / fusion task execution.

[0195] Synchronization of CM states is described herein.

[0196] In an example, for sensing and fusion tasks that may have low latency expectations (e.g., requirements), changes in traffic transmission may be anticipated and / or the connection management states may be changed ahead of time to avoid delays caused by changing connection management states (e.g., wake up and receive sensor data for fusion). Based on the knowledge of the nodes that may be part of the same sensing task, coordination and / or synchronization of the CM states across (e.g., all) the nodes may be performed.

[0197] One or more WTRUs may be put out of the idle (e.g., CM-IDLE) state, (e.g., even) if these one or more WTRUs are not receiving this flow. If multiple nodes (e.g., any of sensor nodes, fuser nodes) are used for the same sensing task, there may be examples where some sensor nodes may not send or receive data (any of sensing signals and data signals). It may be beneficial for those nodes to be prepared to send or receive signals. For example, not all sensor nodes may be performing sensing at the same time, and it may be useful to change the CM state (e.g., from CM-IDLE to CM- CONNECTED) in anticipation of upcoming data transmissions. In another example, the fuser node may not receive data from other sensor nodes (e.g., straight) after the sensing task, as there may be a(e.g., small) delay in collecting sensing data and pre-processing at the sensor node. For example, in anticipation of the reception of sensing data from other nodes, the fuser node may prepare (e.g., change) the CM state.

[0198] The interface that may be coordinated with (e.g., new) state information may (e.g., also) depend on the communication model and the architecture assumed for a sensor or fusion task. For example, in the scenario shown at 90A in FIG. 9, the connectivity state may (e.g., only) be updated for the Uu reference point. In the scenario shown at 90B in FIG.9, the states for PC5 connectivity may (e.g., also) be coordinated, in anticipation of sensor data at the fuser node 91.

[0199] It may be that a new connectivity state(s) may be introduced (e.g., in the future), to be used when performing sensing tasks (e.g., CM-SENSE-TX CM-SENSE-RX), and those states may be used accordingly.

[0200] Embodiments have been described herein with the example of CM states, such as CM-IDLE and CM-CONNECTED states. Embodiments described herein are not limited to the described CM state examples. Embodiments described herein may be applicable to any other kinds of states of any communication stack managing one or more connection.

[0201] FIG. 11 is a diagram illustrating an example method 1100 for synchronization of sensing operations implemented in a WTRU. The WTRU may include circuitry including a transmitter, a receiver, a processor, and memory. The WTRU (e.g., circuitry) may be configured to carry out the method 1100. As shown at 1110, the method 1100 may include sending a sensing request message to a first network element. In various embodiments, the sensing request message may indicate a request for synchronized sensing associated with a sensing task. As shown at 1120, the method 1100 may include receiving a sensing accept message from the first network element. As shown at 1130, the method 1100 may include receiving a synchronization message comprising configuration information associated with the sensing task. As shown at 1140, the method 1100 may include updating synchronization information (e.g., locally) based on the configuration information. As shown at 1150, the method 1100 may include performing sensor fusion based on the updated synchronization information. As shown at 1160, the method 1100 may include sending a fused result of the performed sensor fusion to the first network element.

[0202] In various embodiments, the sensing request message may indicate any of (i) a type of fusion and (ii) a support of synchronization messages.

[0203] In various embodiments, the sensing accept message may indicate a support of any of fusion and synchronization.

[0204] In various embodiments, the method may further comprise performing the sensing task to gather first sensing data.

[0205] In various embodiments, the method may further comprise receiving second sensing data to be fused.

[0206] In various embodiments, performing sensor fusion may comprise fusing the first sensing data and the second sensing data.

[0207] In various embodiments, the method may further comprise receiving configuration information indicating any of (i) a sensor to be used, (ii) a location of a sensing target, (iii) a direction of the sensing target, and a time trigger for performing the sensing task.

[0208] In various embodiments, sending the sensing request message may comprise the WTRU being triggered to send the sensing request message based on the time trigger.

[0209] In various embodiments, the synchronization message may be received from the first network element.

[0210] In various embodiments, the first network element may comprise an integrated sensing function.

[0211] FIG. 12 is a diagram illustrating an example method 1200 for synchronization of sensing operations implemented in a network element. The network element may include circuitry including a transmitter, a receiver, a processor, and memory. The WTRU (e.g., circuitry) may be configured to carry out the method 1200. As shown at 1210, the method 1200 may include receiving a sensing request message from a WTRU. In various embodiments, the sensing request message may indicate a request for synchronized sensing associated with a sensing task. As shown at 1220, the method 1200 may include sending a sensing accept message to the WTRU. As shown at 1230, the method 1200 may include sending a synchronization message. In various embodiments, the synchronization message may comprise configuration information associated with a synchronization of the sensing task.

[0212] In various embodiments, the sensing request message may indicate any of (i) a type of fusion and (ii) a support of synchronization messages.

[0213] In various embodiments, the sensing accept message may indicate a support of any of fusion and synchronization.

[0214] In various embodiments, the method may further comprise sending a notification associated with a sensing task.

[0215] In various embodiments, the notification may be sent to an AMF network element.

[0216] In various embodiments, the notification may indicate any of the sensing task, a traffic associated with the sensing task, an indication of when the traffic associated with the sensing task may be anticipated.

[0217] In various embodiments, the notification may be sent to the WTRU.

[0218] In various embodiments, the notification may indicate any of (i) a sensor to be used, (ii) a location of a sensing target, (iii) a direction of the sensing target, and a time trigger for (e.g., triggering the WTRU to) perform the sensing task.

[0219] In various embodiments, the synchronization message may be sent to any of the WTRU, a sensor network element and a fuser network element.

[0220] In various embodiments, the network element may comprise an integrated sensing function.

[0221] While not explicitly described, embodiments described herein may be employed in any combination or sub-combination. For example, the present principles are not limited to the described variants, and any arrangement of variants and embodiments can be used.

[0222] Besides, any characteristic, variant or embodiment described for a method is compatible with an apparatus device comprising means for processing the disclosed method, with a device comprising circuitry, including any of a transmitter, a receiver, a processor, and a memory, the circuitry being operable (e.g., configured) to process the disclosed method, with a computer program product comprising program code instructions and with a non-transitory computer-readable storage medium storing program instructions.

[0223] Although features and elements are provided above in particular combinations, one of ordinary skill in the art will appreciate that each feature or element can be used alone or in any combination with the other features and elements. The present disclosure is not to be limited in terms of the particular embodiments described in this application, which are intended as illustrations of various aspects. Many modifications and variations may be made without departing from its spirit and scope, as will be apparent to those skilled in the art. No element, act, or instruction used in the description of the present application should be construed as critical or essential to the invention unless explicitly provided as such. Functionally equivalent methods and apparatuses within the scope of the disclosure, in addition to those enumerated herein, will be apparent to those skilled in the art from the foregoing descriptions. Such modifications and variations are intended to fall within the scope of the appended claims. The present disclosure is to be limited only by the terms of the appended claims, along with the full scope of equivalents to which such claims are entitled. It is to be understood that this disclosure is not limited to particular methods or systems.

[0224] The foregoing embodiments are discussed, for simplicity, with regard to the terminology and structure of infrared capable devices, i.e., infrared emitters and receivers. However, the embodiments discussed are not limited to these systems but may be applied to other systems that use other forms of electromagnetic waves or non-electromagnetic waves such as acoustic waves.

[0225] It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting. As used herein, the term "video" or the term "imagery" may mean any of a snapshot, single image and / or multiple images displayed over a time basis. As another example, when referred to herein, the terms "user equipment" and its abbreviation "UE", the term "remote" and / or the terms "head mounted display" or its abbreviation "HMD" may mean or include (i) a wireless transmit and / or receive unit (WTRU); (ii) any of a number of embodiments of a WTRU; (iii) a wireless-capable and / or wired-capable (e.g., tetherable) device configured with, inter alia, some or all structures and functionality of a WTRU; (iii) a wireless- capable and / or wired-capable device configured with less than all structures and functionality of a WTRU; or (iv) the like. Details of an example WTRU, which may be representative of any WTRU recited herein, are provided herein with respect to FIGs. 1A-1D. As another example, various disclosed embodiments herein supra and infra are described as utilizing a head mounted display. Those skilled in the art will recognize that a device other than the head mounted display may be utilized and some or all of the disclosure and various disclosed embodiments can be modified accordingly without undue experimentation. Examples of such other device may include a drone or other device configured to stream information for providing the adapted reality experience.

[0226] In addition, the methods provided herein may be implemented in a computer program, software, or firmware incorporated in a computer-readable medium for execution by a computer or processor. Examples of computer-readable media include electronic signals (transmitted over wired or wireless connections) and computer-readable storage media. Examples of computer-readable storage media include, but are not limited to, a read only memory (ROM), a random access memory (RAM), a register, cache memory, semiconductor memory devices, magnetic media such as internal hard disks and removable disks, magneto-optical media, and optical media such as CD-ROM disks, and digital versatile disks (DVDs). A processor in association with software may be used to implement a radio frequency transceiver for use in a WTRU, UE, terminal, base station, RNC, or any host computer.

[0227] Variations of the method, apparatus and system provided above are possible without departing from the scope of the invention. In view of the wide variety of embodiments that can be applied, it should be understood that the illustrated embodiments are examples only, and should not be taken as limiting the scope of the following claims. For instance, the embodiments provided herein include handheld devices, which may include or be utilized with any appropriate voltage source, such as a battery and the like, providing any appropriate voltage.

[0228] Moreover, in the embodiments provided above, processing platforms, computing systems, controllers, and other devices that include processors are noted. These devices may include at leastone Central Processing Unit ("CPU") and memory. In accordance with the practices of persons skilled in the art of computer programming, reference to acts and symbolic representations of operations or instructions may be performed by the various CPUs and memories. Such acts and operations or instructions may be referred to as being "executed," "computer executed" or "CPU executed."

[0229] One of ordinary skill in the art will appreciate that the acts and symbolically represented operations or instructions include the manipulation of electrical signals by the CPU. An electrical system represents data bits that can cause a resulting transformation or reduction of the electrical signals and the maintenance of data bits at memory locations in a memory system to thereby reconfigure or otherwise alter the CPU's operation, as well as other processing of signals. The memory locations where data bits are maintained are physical locations that have particular electrical, magnetic, optical, or organic properties corresponding to or representative of the data bits. It should be understood that the embodiments are not limited to the above-mentioned platforms or CPUs and that other platforms and CPUs may support the provided methods.

[0230] The data bits may also be maintained on a computer readable medium including magnetic disks, optical disks, and any other volatile (e.g., Random Access Memory (RAM)) or non-volatile (e.g., Read-Only Memory (ROM)) mass storage system readable by the CPU. The computer readable medium may include cooperating or interconnected computer readable medium, which exist exclusively on the processing system or are distributed among multiple interconnected processing systems that may be local or remote to the processing system. It should be understood that the embodiments are not limited to the above-mentioned memories and that other platforms and memories may support the provided methods.

[0231] In an illustrative embodiment, any of the operations, processes, etc. described herein may be implemented as computer-readable instructions stored on a computer-readable medium. The computer-readable instructions may be executed by a processor of a mobile unit, a network element, and / or any other computing device.

[0232] There is little distinction left between hardware and software implementations of aspects of systems. The use of hardware or software is generally (but not always, in that in certain contexts the choice between hardware and software may become significant) a design choice representing cost versus efficiency tradeoffs. There may be various vehicles by which processes and / or systems and / or other technologies described herein may be effected (e.g., hardware, software, and / or firmware), and the preferred vehicle may vary with the context in which the processes and / or systems and / or other technologies are deployed. For example, if an implem enter determines that speed and accuracy are paramount, the implementer may opt for a mainly hardware and / or firmware vehicle. If flexibility isparamount, the implementer may opt for a mainly software implementation. Alternatively, the implementer may opt for some combination of hardware, software, and / or firmware.

[0233] The foregoing detailed description has set forth various embodiments of the devices and / or processes via the use of block diagrams, flowcharts, and / or examples. Insofar as such block diagrams, flowcharts, and / or examples include one or more functions and / or operations, it will be understood by those within the art that each function and / or operation within such block diagrams, flowcharts, or examples may be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. In an embodiment, several portions of the subject matter described herein may be implemented via Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), digital signal processors (DSPs), and / or other integrated formats. However, those skilled in the art will recognize that some aspects of the embodiments disclosed herein, in whole or in part, may be equivalently implemented in integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and / or writing the code for the software and or firmware would be well within the skill of one of skill in the art in light of this disclosure. In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein may be distributed as a program product in a variety of forms, and that an illustrative embodiment of the subject matter described herein applies regardless of the particular type of signal bearing medium used to actually carry out the distribution. Examples of a signal bearing medium include, but are not limited to, the following: a recordable type medium such as a floppy disk, a hard disk drive, a CD, a DVD, a digital tape, a computer memory, etc., and a transmission type medium such as a digital and / or an analog communication medium (e.g., a fiber optic cable, a waveguide, a wired communications link, a wireless communication link, etc.).

[0234] Those skilled in the art will recognize that it is common within the art to describe devices and / or processes in the fashion set forth herein, and thereafter use engineering practices to integrate such described devices and / or processes into data processing systems. That is, at least a portion of the devices and / or processes described herein may be integrated into a data processing system via a reasonable amount of experimentation. Those having skill in the art will recognize that a typical data processing system may generally include one or more of a system unit housing, a video display device, a memory such as volatile and non-volatile memory, processors such as microprocessors and digital signal processors, computational entities such as operating systems, drivers, graphical user interfaces, and applications programs, one or more interaction devices, such as a touch pad or screen,and / or control systems including feedback loops and control motors (e.g., feedback for sensing position and / or velocity, control motors for moving and / or adjusting components and / or quantities). A typical data processing system may be implemented utilizing any suitable commercially available components, such as those typically found in data computing / communication and / or network computing / communication systems.

[0235] The herein described subject matter sometimes illustrates different components included within, or connected with, different other components. It is to be understood that such depicted architectures are merely examples, and that in fact many other architectures may be implemented which achieve the same functionality. In a conceptual sense, any arrangement of components to achieve the same functionality is effectively "associated" such that the desired functionality may be achieved. Hence, any two components herein combined to achieve a particular functionality may be seen as "associated with" each other such that the desired functionality is achieved, irrespective of architectures or intermedial components. Likewise, any two components so associated may also be viewed as being "operably connected", or "operably coupled", to each other to achieve the desired functionality, and any two components capable of being so associated may also be viewed as being "operably couplable" to each other to achieve the desired functionality. Specific examples of operably couplable include but are not limited to physically mateable and / or physically interacting components and / or wirelessly interactable and / or wirelessly interacting components and / or logically interacting and / or logically interactable components.

[0236] With respect to the use of substantially any plural and / or singular terms herein, those having skill in the art can translate from the plural to the singular and / or from the singular to the plural as is appropriate to the context and / or application. The various singular / plural permutations may be expressly set forth herein for sake of clarity.

[0237] It will be understood by those within the art that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as "open" terms (e.g., the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," the term "includes" should be interpreted as "includes but is not limited to," etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, where only one item is intended, the term "single" or similar language may be used. As an aid to understanding, the following appended claims and / or the descriptions herein may include usage of the introductory phrases "at least one" and "one or more" to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles "a" or"an" limits any particular claim including such introduced claim recitation to embodiments including only one such recitation, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "a" or "an" (e.g., "a" and / or "an" should be interpreted to mean "at least one" or "one or more"). The same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should be interpreted to mean at least the recited number (e.g., the bare recitation of "two recitations," without other modifiers, means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to "at least one of A, B, and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, and C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). In those instances where a convention analogous to "at least one of A, B, or C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, or C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). It will be further understood by those within the art that virtually any disjunctive word and / or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase "A or B" will be understood to include the possibilities of "A" or "B" or "A and B." Further, the terms "any of' followed by a listing of a plurality of items and / or a plurality of categories of items, as used herein, are intended to include "any of," "any combination of," "any multiple of," and / or "any combination of multiples of the items and / or the categories of items, individually or in conjunction with other items and / or other categories of items. Moreover, as used herein, the term "set" is intended to include any number of items, including zero. Additionally, as used herein, the term "number" is intended to include any number, including zero. And the term "multiple", as used herein, is intended to be synonymous with "a plurality".

[0238] In addition, where features or aspects of the disclosure are described in terms of Markush groups, those skilled in the art will recognize that the disclosure is also thereby described in terms of any individual member or subgroup of members of the Markush group.

[0239] As will be understood by one skilled in the art, for any and all purposes, such as in terms of providing a written description, all ranges disclosed herein also encompass any and all possible subranges and combinations of subranges thereof. Any listed range can be easily recognized assufficiently describing and enabling the same range being broken down into at least equal halves, thirds, quarters, fifths, tenths, etc. As a non-limiting example, each range discussed herein may be readily broken down into a lower third, middle third and upper third, etc. As will also be understood by one skilled in the art all language such as "up to," "at least," "greater than," "less than," and the like includes the number recited and refers to ranges which can be subsequently broken down into subranges as discussed above. Finally, as will be understood by one skilled in the art, a range includes each individual member. Thus, for example, a group having 1-3 cells refers to groups having 1, 2, or 3 cells. Similarly, a group having 1-5 cells refers to groups having 1, 2, 3, 4, or 5 cells, and so forth.

[0240] Moreover, the claims should not be read as limited to the provided order or elements unless stated to that effect. In addition, use of the terms "means for" in any claim is intended to invoke 35 U.S.C. § 112, 6 or means-plus-function claim format, and any claim without the terms "means for" is not so intended.

Claims

CLAIMSWhat is claimed is:

1. A wireless transmit / receive unit (WTRU) comprising circuitry, including any of a transmitter, a receiver, a processor, and memory, configured to: send a sensing request message to a first network element, wherein the sensing request message indicates a request for synchronized sensing associated with a sensing task; receive a sensing accept message from the first network element; receive a synchronization message, wherein the synchronization message comprises configuration information associated with the sensing task; update synchronization information locally based on the configuration information; perform sensor fusion based on the updated synchronization information; and send a fused result of the performed sensor fusion to the first network element.

2. The WTRU of claim 1, wherein the sensing request message indicates any of (i) a type of fusion and (ii) a support of synchronization messages.

3. The WTRU of claim 1 or 2, wherein the sensing accept message indicates a support of any of fusion and synchronization.

4. The WTRU of any of claims 1 to 3, further configured to perform the sensing task to gather first sensing data.

5. The WTRU of any of claims 1 to 4, further configured to receive second sensing data to be fused.

6. The WTRU of claims 4 and 5, wherein being configured to perform sensor fusion comprises being configured to fuse the first sensing data and the second sensing data.

7. The WTRU of any of claims 1 to 6, further configured to receive configuration information indicating any of (i) a sensor to be used, (ii) a location of a sensing target, (iii) a direction of the sensing target, and a time trigger for performing the sensing task.

8. The WTRU of claim 7, wherein being configured to send the sensing request message comprises being triggered to send the sensing request message based on the time trigger.

9. The WTRU of any of claims 1 to 8, wherein the synchronization message is received from the first network element.

10. The WTRU of any of claims 1 to 9, wherein the first network element comprises an integrated sensing function.

11. A network element comprising circuitry, including any of a transmitter, a receiver, a processor, and memory, configured to: receive a sensing request message from a wireless transmit / receive unit (WTRU), wherein the sensing request message indicates a request for synchronized sensing associated with a sensing task; send a sensing accept message to the WTRU; and send a synchronization message, wherein the synchronization message comprises configuration information associated with a synchronization of the sensing task.

12. The network element of claim 11, wherein the sensing request message indicates any of (i) a type of fusion and (ii) a support of synchronization messages.

13. The network element of claim 11 or 12, wherein the sensing accept message indicates a support of any of fusion and synchronization.

14. The network element of any of claims 11 to 13, further configured to send a notification associated with a sensing task.

15. The network element of claim 14, wherein the notification is sent to an access and mobility management function network element.

16. The network element of claim 15, wherein the notification indicates any of the sensing task, a traffic associated with the sensing task, an indication of when the traffic associated with the sensing task is anticipated.

17. The network element of claim 14, wherein the notification is sent to the WTRU.

18. The network element of claim 17, wherein the notification indicates any of (i) a sensor to be used, (ii) a location of a sensing target, (iii) a direction of the sensing target, and a time trigger for triggering the WTRU to perform the sensing task.

19. The network element of any of claims 11 to 17, wherein the synchronization message is sent to any of the WTRU, a sensor network element and a fuser network element.

20. The network element of any of claims 11 to 19, wherein the network element comprises an integrated sensing function.

21. A method implemented in a wireless transmit / receive unit (WTRU), the method comprising: sending a sensing request message to a first network element, wherein the sensing request message indicates a request for synchronized sensing associated with a sensing task; receiving a sensing accept message from the first network element;receiving a synchronization message, wherein the synchronization message comprises configuration information associated with the sensing task; updating synchronization information locally based on the configuration information; performing sensor fusion based on the updated synchronization information; and sending a fused result of the performed sensor fusion to the first network element.

22. A method implemented in a network element, the method comprising: receiving a sensing request message from a wireless transmit / receive unit (WTRU), wherein the sensing request message indicates a request for synchronized sensing associated with a sensing task; sending a sensing accept message to the WTRU; and sending a synchronization message, wherein the synchronization message comprises configuration information associated with a synchronization of the sensing task.

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