Wireless control of a multihop mobile robot squad - [wireless communications in networked robotics]

Wireless controls offer attractive features including flexibility, self-organization, and dynamic networking, especially in mobile control scenarios. At the same time, wireless controls pose new design challenges because network and control performance affect each other. We focus our study on a wireless, mobile, multihop, robot-control scenario and compare the applicability of standard routing protocols and two network-aware control methods in realistic simulations. The scenario is demanding ? with high mobility causing link breaks ? and stresses the routing and control algorithms. The system is modeled and evaluated on a platform for integrated control and communication co-simulator. The performance of the algorithms is evaluated not only at the network layer, but also from the application viewpoint, in this case the mobile robot-control system.     

Using mobile robots to harvest data from sensor fields - [wireless communications in networked robotics]

We explore synergies among mobile robots and wireless sensor networks in environmental monitoring through a system in which robotic data mules collect measurements gathered by sensing nodes. A proof-of-concept implementation demonstrates that this approach significantly increases the lifetime of the system by conserving energy that the sensing nodes otherwise would use for communication.     

Wireless communications in networked robotics - [guest editorial]

Over the last two decades, the success of wireless communications has exceeded our expectations, from both the marketing and technological aspects. It is evolving toward next-generation systems that will support wireless services in the most spectral and energy- efficient ways. At the same time, we have observed rapid technical advances in radio access. Among other areas, we would like to draw attention to the following aspects.     

A networking framework for teleoperation in safety, security, and rescue robotics - [wireless communications in networked robotics]

Safety, security, and rescue robotics is an important application field that can be viewed as a prototypical example of a domain where networked mobile robots are used for the exploration of unstructured environments that are inaccessible to or dangerous for humans. Teleoperation, based on wireless networks, is much more complex than what one might expect at first glance because it goes well beyond mere mappings of low-level user inputs ? like joystick commands ? to motor activations on a robot. Teleoperation for SSRR must move up to the behavior and mission levels where a single operator triggers short-time, autonomous behaviors, respectively, and supervises a whole team of autonomously operating robots. Consequently, a significant amount of heterogeneous data ? video, maps, goal points, victim data, and so on ? must be transmitted between robots and mission control. In this article, a networking framework for teleoperation in SSRR is presented. It was evaluated in a series of field tests and competitions, including the European Land Robot Trials and RoboCup events.     

RF-mobility gain: concept, measurement campaign, and exploitation - [wireless communications in networked robotics]

Self-directed movement of radio devices can enable large amounts of power gain since the sources of fluctuations in received signal power due to multipath-induced small-scale fading have highly localized effects. We call the gain achieved by finding a better location the mobility gain. Experimental data for indoor as well as outdoor measurement studies are used to illustrate the potential of this RF-Mobility Gain concept over a wide range of frequencies. An analysis of the RF data reveals that a small amount of energy spent on searching for a better location can pay large dividends in long-term power expenditures for RF transmission. Challenges in building such a system for peer-to-peer links and network applications are discussed along with potential coordination algorithms.     

Estimation of multipath parameters in wireless communications

In a parametric multipath propagation model, a source is received by an antenna array via a number of rays, each described by an arrival angle, a delay, and a fading parameter. Unlike the fading, the angles and delays are stationary over long time intervals. This fact is exploited in a new subspace-based high-resolution method for simultaneous estimation of the angle/delay parameters from multiple estimates of the channel impulse response. A computationally expensive optimization search can be avoided by using an ESPRIT-like algorithm. Finally, we investigate certain resolution issues that take the fact that the source is bandlimited into account     

Joint detection for OFDM-CDMA communications in multipath fading channels

This paper proposes and compares four block joint detection algorithms for the orthogonal frequency division multiplexing (OFDM)-code division multiple access (CDMA) communication systems. The performance of the proposed OFDM-CDMA joint detectors with orthogonal and non-orthogonal spreading sequences are investigated in mobile radio channels. The proposed OFDM-CDMA detectors are zero forcing (ZF) and minimum mean square error (MMSE) detectors with decision feedback (DF) structures. The proposed joint detectors do not require discrete Fourier transform (DFT) or fast Fourier transform (FFT) operations and can be used to compensate the channel distortion. Hence for hardware implementation, the proposed detectors are more efficient than the conventional methods. The channel sorting method offers approximately 2 dB gain for the DF joint detectors and reduces the impairing effect of error propagation. The bit error rate (BER) performance of orthogonal codes is better than that of non-orthogonal ones in time varying channels. Simulation examples are given to demonstrate the effectiveness of the proposed detectors.     

Advanced blind adaptive multi-user detector for communications innonstationary multipath fading channel

This paper deals with an adaptive multi-user detector for direct sequence code division multiple access (DS/CDMA) wireless communication systems, named advanced blind adaptive multi-user detector (ABA-MUD), whose main features are low complexity and joint utilization of time diversity and adaptive blind processing techniques. Differently from known blind adaptive detectors, the proposed scheme achieves remarkable performance even in critical time-varying environments by means of a suitable window reprocessing technique. The ABA-MUD avoids the use of training sequences and only needs knowledge of timing and signature waveform of the desired user, number of active users and a rough evaluation of the signal-to-interference ratio (SIR) for a proper setting of the detection algorithm. Numerical results, shown here in terms of bit error rate (BER), highlight good behavior and remarkable near-far resistance of the proposed ABA-MUD receiver with respect to different alternatives, in particular, in the case of worst fading environments     

A generic correlated Nakagami fading model for wireless communications

A complete statistical characterization of correlated Nakagami channels is either their joint probability density function or their joint characteristic function (CHF), which is indispensable to many applications in wireless communications. The classical correlated multivariate Nakagami model in current use is subject to a restriction that the fading parameters must be identical. We derive a generic correlated Nakagami fading model, in the form of a multiple CHF, allowing for an arbitrary covariance matrix and distinct real fading parameters. The application of the new model to wireless communications is also presented.     

Multitone spread spectrum multiple access communications system ina multipath Rician fading channel

The paper proposes a new multiple access communications system based on the combination of multitone transmission and direct sequence spectrum spreading (DS/SS). Multitone transmission is proposed because the associated larger symbol duration is favorable to combat the effects of multipath propagation. The multiple access capability of the system is achieved by means of DS/SS which also helps to combat the presence of several paths. On the other hand, DS/SS is also attractive to decrease the multiple access interference. The performance of this system is investigated for a multipath, slowly Rician fading and frequency selective channel, and a suboptimal receiver based on matched filters. The multiple access interference is also taken into account, A model for the computation of the bit error probability is derived for QPSK modulation of the orthogonal tones by the spread symbols. The system performance is investigated for selection diversity and maximal ratio combining (RAKE reception). Then the influence of the number of tones is investigated for given bandwidth, bit rate and transmission power. The positive effect of a multitone spread spectrum transmission is demonstrated     

Mobile speed estimation for broadband wireless communications over Rician fading channels

In this paper, a new algorithm is proposed to estimate mobile speed for broadband wireless communications, which often encounter large number of fading channel taps causing severe intersymbol interference. Different from existing algorithms, which commonly assume that the fading channel coefficients are available for the speed estimators, the proposed algorithm is based on the received signals which contain unknown transmitted data, unknown frequency selective fading channel coefficients possibly including line-of-sight (LOS) components, and random receiver noise. Theoretical analysis is first carried out from the received signals, and a practical algorithm is proposed based on the analytical results. The algorithm employs a modified normalized auto-covariance of received signal power to estimate the speed of mobiles. The algorithm works well for frequency selective Rayleigh and Rician channels. The algorithm is very resistant to noise, it provides accurate speed estimation even if the signal-to-noise ratio (SNR) is as low as 0 dB. Simulation results indicate that the new algorithm is very reliable and effective to estimate mobile speed corresponding to a maximum Doppler up to 500 Hz. The algorithm has high computational efficiency and low estimation latency, with results being available within one second after communication is established.     

Error modeling schemes for fading channels in wireless communications: A survey

Network system designers need to understand the error performance of wireless mobile channels in order to improve the quality of communications by deploying better modulation and coding schemes, and better network architectures. It is also desirable to have an accurate and thoroughly reproducible error model, which would allow network designers to evaluate a protocol or algorithm and its variations in a controlled and repeatable way. However, the physical properties of radio propagation, and the diversities of error environments in a wireless medium, lead to complexity in modeling the error performance of wireless channels. This article surveys the error modeling methods of fading channels in wireless communications, and provides a novel user-requirement (researchers and designers) based approach to classify the existing wireless error models.     

Outage intensity due to multipath fading in terrestrial links

Measured data of multipath fading from 20 microwave line-of-sight links, operating in the 4 and 6 GHz frequency bands, were analysed to provide statistics of fade durations as a function of the attenuation threshold. From these results, an empirical method for predicting outage intensity due to multipath propagation was derived, which shows good agreement with the measurements.     

Minimum-value distribution of random electromagnetic fields for modeling deep fading in wireless communications

In this work, we presented a theoretical investigation of the minimum-value distribution inside complex electromagnetic environments. In particular, a statistical model for characterizing the minimum value of the complex-value field or power inside a dynamic mode-tuned or mode-stirred reverberation chamber is presented and discussed. Such an EM environment serves as an emulator of multipath radiowave propagation for indoor/outdoor wireless communication channels. It is found that, for both overmoded and undermoded regimes, the generalized extreme value distribution leads to the reverse Fréchet and Weibull types for complex-value (Cartesian and total) fields and for the total energy (or intensity). These distributions are stable and follow from the convergent behavior of the lower tail for their corresponding parent distribution of the Cartesian field magnitude, namely a χ ². On the other hand, received power exhibits a Pareto-type distribution because of the unbounded left tail of the negative exponential parent distribution.     

多径衰落信道下的一种盲多用户检测方法

多径衰落信道下的盲自适应多用户检测算法的运算复杂度通常都比较大,提出了一种基于MSWF和CMA的盲自适应多用户检测方法,该方法避免了矩阵求逆和信道估计运算,具有相对较小的运算复杂度。通过模拟实验比较了几种算法的误码率性能,结果表明,所提方法具有明显的优势。     

Performance of multiuser detectors based on EM-like method for ultra-wideband communications systems in multipath fading channel

An adaptive multiuser detector (MUD) is proposed for direct-sequence ultra-wideband (DS-UWB) multiple access communication systems to suppress both multiple access interference (MAI) and inter-symbol interference (ISI). In this contribution, considering the MUD from a combination viewpoint, we proposed a MUD based on electromagnetism-like (EM) method, which applied the concept of EM search to Hopfield neural network (EMHNN) for solving optimization problems. We analyze the performance of the EMHNN MUD in multipath fading channel, and compare it with the optimum detector and several suboptimum schemes such as conventional, decorrelator detector (DD), minimum-mean-squared error (MMSE) and HNN MUD. Simulation results will demonstrate that the proposed EMHNN MUD, which alleviates the detrimental effects of the MAI problem, can significantly improve the system performance.     

Performance of wireless multihop communications systems with cooperative diversity over fading channels

We present closed‐form bounds for the performance of wireless multihop communications systems with cooperative diversity over Nakagami‐m fading channels. The end‐to‐end signal‐to‐noise ratio is formulated and upper bounded by using the inequality between harmonic and geometric means of positive random variables. Closed‐form expression is derived for the moment‐generating function and is used to obtain lower bounds for the average error probability. Numerical results are compared with computer simulations showing the tightness of the proposed bounds. Copyright © 2007 John Wiley & Sons, Ltd.     

一种适用于多径衰落无线信道的快速盲均衡算法研究

在无线数字通信中,信道衰落和多途传播效应引起的码间干扰,严重影响了通信的有效性和可靠性,盲均衡是对抗码间干扰的有效方法。文章研究了一种适用于无线信道的快速盲均衡算法,并进行了计算机仿真。仿真结果表明,在算法剩余均方误差非常接近的情况下,该算法快于传统的常数模算法。     

Energy efficient collaborative communications in AWGN and Rayleigh fading channel in wireless sensor networks

Collaborative communication produces high power gain and significantly reduces bit error rate (BER) if both frequency and phase synchronization are achieved. In this paper, a novel collaborative communication system with imperfect phase and frequency synchronization that includes the influence of noise and fading is proposed, modeled, theoretically analyzed, and simulated. Mathematical expressions are derived for the received power as a function of number of collaborative nodes and BER as a function of signal to noise ratio (E_b ∕ N₀). To analyze the energy efficiency of our proposed collaborative communication system, energy consumption of the system is modeled, simulated, and analyzed by considering the parameters of the off‐the‐shelf products. Analytical and simulation results showed that the proposed system produces significant power gain and reduction in BER in the presence of phase errors, frequency errors, additive white Gaussian noise, and Rayleigh fading. A detailed theoretical analysis and Monte Carlo simulation revealed that the proposed collaborative communication system is an energy efficient communication system that can be implemented in sensor networks, as approximately N (number of collaborative nodes) times less total transmitted power is required than for the single input single output communication for a specifies transmission range. Copyright © 2012 John Wiley & Sons, Ltd.