A system comprising: at least one sensor and at least one control apparatus wherein; the sensor comprises: at least one processor; and at least one memory including computer program code; the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform; compressing a sensor data signal using a sampling basis to obtain a compressed data signal; and in response to a first feedback signal changing a sampling basis used to obtain the compressed data signal; and wherein the control apparatus comprises: at least one processor; and at least one memory including computer program code; the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to perform; receiving the data signal from the at least one sensor; determining a quality of the received data signal; and if the quality of the received data signal is within a first threshold providing a feedback signal to control the sampling basis of the sensor.