An IMM algorithm with federated information mode‐matched filters for AGV

In this paper, a tracking algorithm for autonomous navigation of automated guided vehicles (AGVs) is presented. The developed navigation algorithm is an interacting multiple‐model (IMM) algorithm used to detect other AGVs using fused information from multiple sensors. In order to detect other AGVs, two kinematic models were derived: A constant‐velocity model for linear motion, and a constant‐speed turn model for curvilinear motion. In the constant‐speed turn model, a nonlinear information filter (IF) is used in place of the extended Kalman filter (KF). Being equivalent to the KF algebraically, the IF is extended to N‐sensor distributed dynamic systems. The model‐matched filter used in multi‐sensor environments takes the form of a federated nonlinear IF. In multi‐sensor environments, the information‐based filter is easier to decentralize, initialize, and fuse than a KF‐based filter. In this paper, the structural features and information‐sharing principle of the federated IF are discussed. The performance of the suggested algorithm using a Monte Carlo simulation is evaluated under the three navigation patterns. Copyright © 2006 John Wiley & Sons, Ltd.     

Statistical inference for ratiometric imaging of excitable cells: a self‐organizing state‐space model

Concentrations of free intracellular calcium ions ([Ca²⁺]_i) in excitable cells are often measured using indicator dyes, such as fura‐2. Of note, however, these indicator dyes are divalent metal ion chelators that affect intrinsic changes in [Ca²⁺]_i. To examine whether indicator dyes alter calcium signaling, we estimated [Ca²⁺]_i using a novel statistical inference method that examines fluorescence signals and the calcium current through the cell membrane. We first constructed a model of transient [Ca²⁺]_i, which was then translated into a state‐space model with such state variables as [Ca²⁺]_i, endogenous calcium buffer, and calcium indicators. Then, a self‐organizing state‐space model was defined by augmenting a state vector with unknown parameters from the original state‐space model. In the model, some unknown parameters were estimated with the original state vector. Next, we used a recursive Bayesian estimation to obtain a set of state vectors and the unknown parameters associated with a set of observation vectors. To calculate the recursive Bayesian estimation, we used a sequential Monte Carlo method, which is referred to as a particle filter method. To verify the effectiveness of the proposed method, we carried out experiments with a set of test data from a model with known parameters. The results show that our proposed method properly estimated the temporal profiles of [Ca²⁺]_i, the indicator dye concentration, and certain model parameters in a noisy environment. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Three‐stage multiphase‐switched‐capacitor boost DC‐AC inverter

A closed‐loop scheme of a three‐stage multiphase‐switched‐capacitor boost DC‐AC inverter (MPSCI) is proposed by combining the multiphase operation and sinusoidal‐pulse‐width‐modulation (SPWM) control for low‐power step‐up DC‐AC conversion and regulation. In this MPSCI, the power unit contains two parts: MPSC booster (front) and H‐bridge (rear). The MPSC booster is suggested for an inductor‐less step‐up DC‐DC conversion, where three voltage doublers in series are controlled with multiphase operation for boosting voltage gain up to 2³ = 8 at most. The H‐bridge is employed for DC‐AC inversion, where four solid‐state switches in H‐connection are controlled with SPWM to obtain a sinusoidal AC output. In addition, SPWM is adopted for enhancing output regulation not only to compensate the dynamic error, but also to reinforce robustness to source/loading variation. The relevant theoretical analysis and design include: MPSCI model, steady‐state/dynamic analysis, voltage conversion ratio, power efficiency, stability, capacitance selection, total harmonic distortion (THD), output filter, and closed‐loop control design. Finally, the closed‐loop MPSCI is simulated, and the hardware circuit is implemented and tested. All the results are illustrated to show the efficacy of the proposed scheme. Copyright © 2011 John Wiley & Sons, Ltd.     

Multiple operating points in a square‐root domain first‐order filter

In this paper novel corrective circuits to avoid multiple operating points in a square‐root domain first‐order filter are proposed. By employing a DC test it is demonstrated that the filter possesses three operating points (two stable and one unstable) and the corrective circuits enforce the proper operating mode. The corrective circuits and filter are able to operate with very low supply voltages (as low as V_GS+2V_DSsat). Moreover, a detailed analysis concerning the impact that produces the corrective circuits on the filter performance is discussed. Both measurement and simulation results are provided to validate the circuits and analysis employed. Copyright © 2006 John Wiley & Sons, Ltd.     

Multi‐objective optimization power control for code division multiple access systems

In code division multiple access (CDMA) communication systems, the communication channel is usually corrupted with time‐varying interferences, which include channel fading, multiple access interference, round‐trip delay, and noise. Power control is an important issue for CDMA systems to achieve higher communication link quality and better system capacity under time‐varying interferences. In the previous studies, most of power control algorithms only considered the user's target signal‐to‐interference‐and‐noise‐ratio (SINR) to maintain quality of service. In this study, a multi‐objective optimization method is proposed for power control design in CDMA systems. With a shadow system and an h _∞ filter to compensate for the round‐trip delay, the proposed power control scheme can simply adjust transmission power to achieve the best compromise between several objectives, such as minimization of SINR deviation, minimization of power consumption, and minimization of the system outage. Several simulation results are given to confirm the performance of the proposed power control scheme. Copyright © 2013 John Wiley & Sons, Ltd.     

Efficient filter for the generation/correlation of Golay binary sequence pairs

In this paper, a digital filter for the generation/correlation of binary Golay pairs of sequences of length 2^N · 10^M · 26^P (N, M and P are non‐negative integers) is proposed. It is carried out by means of a novel Golay kernel 26 decomposition, also introduced in this paper, combined with building blocks of Golay kernels 2 and 10, presented in previous works. The proposed filter has a similar architecture to the digital filter for the generation/correlation of Golay multilevel pairs of sequences, where the parameters at intermediate stages have to be adjusted to obtain Golay binary pairs of sequences in the final stage. Copyright © 2013 John Wiley & Sons, Ltd.     

Optimal and self‐tuning fusion Kalman filters for discrete‐time stochastic singular systems

Based on the optimal fusion estimation algorithm weighted by scalars in the linear minimum variance sense, a distributed optimal fusion Kalman filter weighted by scalars is presented for discrete‐time stochastic singular systems with multiple sensors and correlated noises. A cross‐covariance matrix of filtering errors between any two sensors is derived. When the noise statistical information is unknown, a distributed identification approach is presented based on correlation functions and the weighted average method. Further, a distributed self‐tuning fusion filter is given, which includes two stage fusions where the first‐stage fusion is used to identify the noise covariance and the second‐stage fusion is used to obtain the fusion state filter. A simulation verifies the effectiveness of the proposed algorithm. Copyright © 2008 John Wiley & Sons, Ltd.     

A DC stabilized log‐domain nth‐order multifunction filter based on the decomposition of nth‐order HP filter function to FLF topology

The design of high‐order log‐domain filters can be easily accomplished by transposing already known linear‐domain G_m‐C filter topologies to their counterparts in the log‐domain through the employment of a set of complementary operators. To achieve the G_m‐C filter topologies, the multiple feedback approach is widely used due to its accrued advantages. In this paper a synthesis approach for the development of an nth‐order multifunction log‐domain filter comprising lowpass (LP), highpass (HP) and bandpass (BP) filter functions is proposed. The approach is based on the decomposition of nth‐order HP filter function to follow‐the‐leader‐feedback (FLF) topology. The design is simple and simultaneously achieves nearly all of the chief advantages. The design offers superior performance factors vis‐à‐vis the ones recently reported. To verify the high‐order behavior of the topology, a 5th‐order multifunction filter was designed and the achieved simulated results verify the theory. Copyright © 2008 John Wiley & Sons, Ltd.     

Stabilization of controlled positive discrete‐time T‐S fuzzy systems by state feedback control

This paper deals with sufficient conditions of asymptotic stability and stabilization for nonlinear discrete‐time systems represented by a Takagi–Sugeno‐type fuzzy model whose state variables take only nonnegative values at all times t for any nonnegative initial state. This class of systems is called positive systems. The conditions of stabilizability are obtained with state feedback control. This work is based on multiple Lyapunov functions. The results are presented in linear matrix inequalities form. A real plant is studied to illustrate this technique. Copyright © 2010 John Wiley & Sons, Ltd.     

Implementation of a square‐root filtering approach in marginalized particle filters for mixed linear/nonlinear state‐space models

Marginalized particle filter (MPF) takes advantage of both Kalman filter and particle filter frameworks to estimate nonlinear state‐space models with reduced number of calculations in comparison to particle filter. However, due to existence of Kalman filter framework inside MPF, some limitations are introduced in implementation of MPF especially in embedded systems with finite numerical accuracies. In this paper, for the first time, we propose a novel square‐root filtering strategy for MPFs to alleviate these restrictions using modified factorization. Typical square‐root Kalman filters cannot be employed inside MPF due to the presence of minus operations in some equations of MPF. However, our method can be easily implemented inside the MPF structure. The proposed method can be used in any application that employs MPFs to estimate the mixed linear/nonlinear state‐space models. In order to demonstrate its usefulness, we employed the proposed square‐root filtering method inside a marginalized particle extended Kalman filter (MP‐EKF) structure, which was specifically designed for ECG denoising. The experimental results showed that, in the field of ECG denoising, the square‐root MP‐EKF performs more consistently than MP‐EKF in white Gaussian noises.     

Fault detection filter design for discrete‐time switched linear systems with mode‐dependent average dwell‐time

This paper is concerned with the problem of the fault detection (FD) filter design for discrete‐time switched linear systems with mode‐dependent average dwell‐time. The switching law is mode‐dependent and each subsystem has its own average dwell‐time. The FD filters are designed such that the augmented switched systems are asymptotically stable, and the residual signal generated by the filters achieves a weighted l₂‐gain for some disturbances and guarantees an H _? performance for the fault. By the aid of multiple Lyapunov functions combined with projection lemma, sufficient conditions for the design of the FD filters are formulated by linear matrix inequalities, furthermore, the filters gains are characterized in terms of the solution of a convex optimization problem. Finally, an application to boost convertor is given to illustrate the effectiveness and the applicability of the proposed design method. Copyright © 2013 John Wiley & Sons, Ltd.     

Network‐based fault detection for discrete‐time state‐delay systems: A new measurement model

In this paper, the fault detection problem is studied for a class of discrete‐time networked systems with multiple state delays and unknown input. A new measurement model is proposed to account for both the random measurement delays and the stochastic data missing (package dropout) phenomenon, which are typically resulted from the limited capacity of the communication networks. At any time point, one of the following cases (random events) occurs: measurement missing case, no time‐delay case, one‐step delay case, two‐step delay case, …, q‐step delay case. The probabilistic switching between different cases is assumed to obey a homogeneous Markovian chain. We aim to design a fault detection filter such that, for all unknown input and incomplete measurements, the error between the residual and weighted faults is made as small as possible. The addressed fault detection problem is first converted into an auxiliary H_∞ filtering problem for a certain Markovian jumping system (MJS). Then, with the help of the bounded real lemma of MJSs, a sufficient condition for the existence of the desired fault detection filter is established in terms of a set of linear matrix inequalities (LMIs). A simulation example is provided to illustrate the effectiveness and applicability of the proposed techniques. Copyright © 2007 John Wiley & Sons, Ltd.     

Stability and H∞ performance of multiple‐delay systems with successive delay components

This paper presents a new model for linear time‐delay systems with multiple delayed states where each delay contains finite number of successive components with different time‐varying properties, referred to as multiple‐delay system with successive time‐varying delay components (MDSSTDCs). General stability result and H_∞ performance conditions, under which the MDSSTDCs are asymptotically stable with certain H_∞ disturbance attenuation level, are derived by exploiting a general Lyapunov–Krasovskii functional and by making use of novel techniques for time‐delay systems. The result is applied to two special types of time‐delay systems frequently used in engineering applications and corresponding conditions for stability and H_∞ performance are obtained. Copyright © 2010 John Wiley & Sons, Ltd.     

Neutralizing interferences in two‐hop amplify‐and‐forward MIMO relay systems

In this paper, we present the interference neutralization technique for two‐hop multiple‐input multiple‐output (MIMO) relay systems. It enables multiple MIMO transmitters (sources) to simultaneously transmit independent data streams to their MIMO receivers (destinations) without mutual interferences, thereby improving spectral efficiency of the systems. To neutralize the mutual interferences using multiple amplify‐and‐forward (AF) MIMO relays, we establish the sufficient condition for the antenna configuration in the MIMO relay networks, and provide a filter design technique for the AF MIMO relays. The proposed method increases sum rates of the systems linearly with the number of transmitters participating in simultaneous transmission. To improve the sum rates further, this method is combined with transmit power allocation using the water‐filling algorithm. In addition, it is shown that by employing the minimum number of relays required to meet the sufficient condition, the system cost for the proposed method can be reduced without compromising the sum rate performance severely. Finally, simulation results successfully demonstrate that by exploiting radio resources such as frequency and time efficiently, the proposed method achieves a higher sum rate than the existing techniques based on interference avoidance. © 2016 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Real‐time identification of nonlinear multiple‐input–multiple‐output systems with unknown input time delay using Wiener model with Neuro‐Laguerre structure

In this article, a real‐time block‐oriented identification method for nonlinear multiple‐input–multiple‐output systems with input time delay is proposed. The proposed method uses the Wiener structure, which consists of a linear dynamic block (LDB) followed by a nonlinear static block (NSB). The LDB is described by the Laguerre filter lattice, whereas the NSB is characterized using the neural networks. Due to the online adaptation of the parameters, the proposed method can cope with the changes in the system parameters. Moreover, the convergence and bounded modeling error are shown using the Lyapunov direct method. Four practical case studies show the effectiveness of the proposed algorithm in the open‐loop and closed‐loop identification scenarios. The proposed method is compared with the recently published methods in the literature in terms of the modeling accuracy, parameter initialization, and required information from the system.     

Digital compensation of second‐ and third‐order nonlinear distortions generated by blocker signals

Deeply integrated systems in chips commonly include a digital and an analog front end on the same die. These analog front‐end schemes for wireless communications could be implemented under the concept called software‐defined radio (SDR). Digital signal processing is commonly used to perform signal filtering and channel equalization, and, recently, to improve front‐end radio performance by removing the undesirable effects of the analog front‐end imperfections. These wide‐band SDR are currently implemented without the surface acoustic wave (SAW) filter, because it is difficult to integrate a highly configurable one, as is required in wide‐band systems. An analog front end without this filter has no efficient protection against blocker signal effects, specifically against nonlinear distortions due to the analog front‐end imperfections. This paper proposes an algorithm to simultaneously remove second‐ and third‐order nonlinear distortions caused by a blocker signal, departing from a behavioral model and a band‐pass sampling pure digital algorithm to recover the blocker signal information. © 2016 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Filter & hold: a mixed continuous‐/discrete‐time technique for time‐constant scaling

The work reported in this paper introduces a periodic switching technique applied to continuous‐time filters, whose outcome is an equivalent filter with scaled time‐constants. The principle behind the method is based on a procedure that extends the integration time by periodically interrupting the normal integration of the filter. The net result is an up scaling of the time constant, inversely proportional to the switching duty‐cycle. This is particularly suitable for reducing the area occupied by passive devices in integrated circuits, as well as to accurately calibrate the filter dynamics. Previous works have been following this concept in an entirely continuous‐time perspective, either focusing on specific circuits or using approximations to provide an extended analysis. This paper includes input/output sampling to derive a closed‐form representation for the scaling technique herein coined as ‘Filter & Hold’ (F&H). A detailed mathematical analysis is described, demonstrating that the F&H concept represents an exact filtering solution. Simulation results and experimental measurements are provided to further validate the theoretical analysis for an F&H vector‐filter prototype. Copyright © 2014 John Wiley & Sons, Ltd.     

High‐tuning‐range CMOS band‐pass IF filter based on a low‐Q cascaded biquad optimization technique

A design procedure for high‐order continuous‐time intermediate‐frequency band‐pass filters based on the cascade of low‐Q biquadratic cells is presented. The approach is well suited for integrated‐circuit fabrication, as it takes into account the maximum capacitance spread dictated by the available technology and maximum acceptable sensitivity to component variations. A trade‐off between noise and maximum linear range is also met. A novel, wide‐tuning‐range transconductor topology is also described. Based on these results, a 10‐pole band‐pass filter for a code division multiple‐access satellite receiver has been designed and tested. The filter provides tunable center frequency (f₀) from 10 to 70 MHz and exhibits a 28‐MHz bandwidth around f₀ = 70 MHz with more than 39‐dB attenuation at f₀/2 and 2f₀. Third‐order harmonic rejection is higher than 60 dB for a 1‐Vpp 70‐MHz input, and equivalent output noise is lower than 1 mV_rms. The circuit is fabricated in a 0.25‐µm complementary metal oxide semiconductor process, and the core consumes 12 mA from a 2.5‐V supply, offering the best current/pole ratio figure. The die area resulted to be 0.9 × 1.1 mm². Copyright © 2014 John Wiley & Sons, Ltd.     

Analytical synthesis and comparison of voltage‐mode Nth‐order OTA‐C universal filter structures

Complementary single‐ended‐input operational transconductance amplifier (OTA)‐based filter structures are introduced in this paper. Through two analytical synthesis methods and two transformations, one of which is to convert a differential‐input OTA to two complementary single‐ended‐input OTAs, and the other to convert a single‐ended‐input OTA and grounded capacitor‐based one to a fully differential OTA‐based one, four distinct kinds of voltage‐mode nth‐order OTA‐C universal filter structures are proposed. TSMC H‐Spice simulations with 0.35µm process validate that the new complementary single‐ended‐input OTA‐based one holds the superiority in output precision, dynamic and linear ranges than other kinds of filter structures. Moreover, the new voltage‐mode band‐pass, band‐reject and all‐pass (except the fully differential one) biquad structures, all enjoy very low sensitivities. Both direct sixth‐order universal filter structures and their equivalent three biquad stage ones are also simulated and validated that the former is not absolutely larger in sensitivity than the latter. Finally, a very sharp increment of the transconductance of an OTA is discovered as the operating frequency is very high and leads to a modified frequency‐dependent transconductance. Copyright © 2010 John Wiley & Sons, Ltd.     

H∞ filtering for continuous‐time singular systems with time‐varying delay

This paper focuses on H_∞ filter design for continuous‐time singular systems with time‐varying delay. A delay‐dependent H_∞ performance analysis result is first established for error systems via a novel estimation method. By combining a well‐known inequality with a delay partition technique, the upper bound of the derivative of the Lyapunov functional is estimated more tightly and expressed as a convex combination with respect to the reciprocal of the delay rather than the delay. Based on the derived H_∞ performance analysis results, a regular and impulse‐free H_∞ filter is designed in terms of linear matrix inequalities (LMIs). A numerical example is given to demonstrate the merits of the proposed method. Copyright © 2010 John Wiley & Sons, Ltd.