On robot reliability and safety - bibliography

This paper presents several aspects of robot reliability and safety. An extensive list of selective references is presented.     

Performance comparison of quadrature amplitude modulation (QAM)-based single- and double-stage digital interpolators

In this article, the performance of quadrature amplitude modulation (QAM)-based single- and double-stage digital interpolators have been compared. The basic interpolator for up-sampling can be a combination of an expander unit with an interpolation lowpass filter in cascade. Complicated implementations can be done by connecting multiple expander and low-pass filter pairs in cascade. This article presents the efficient and effective implementation of digital interpolation systems for up-sampling of single- and double-stage digital interpolators. Comparison is done in terms of spectrum of generated signal, envelope power, modulated signal trajectory, input and output constellation and noise performance. In this article, the proposed interpolation filters have been simulated in Agilent's Advanced Design System (ADS).     

Adaptive Multiuser Channel Estimation using Reduced Kalman/LMS Algorithm

This paper presents an adaptive multiuser channel estimator using the reduced-Kalman least-mean-square (RK-LMS) algorithm. The frequency-selective fading channel is modeled as a tapped-delay-line filter with smoothly time-varying Rayleigh distributed tap coefficients. The multiuser channel estimator based on minimum-mean-square-error (MMSE) criterion is used to predict the filter coefficients. We also present its convergence characteristics and tracking performance using the RK-LMS algorithm. Unlike the previously available Kalman filtering algorithm based approach (Chen, Chen IEEE Trans Signal Process 49(7): 1523–1532, 2001) the incorporation of RK-LMS algorithm reduces the computational complexity of multiuser channel estimator used in the code division multiple access wireless systems. The computer simulation results are presented to demonstrate the substantial improvement in its tracking performance under the smoothly time-varying environment.

Adaptive DFE Multiuser Receiver for CDMA Systems using Two-Step LMS-Type Algorithm: An Equalization Approach

This paper presents an adaptive decision feedback equalizer (DFE) based multiuser receiver for code division multiple access (CDMA) systems over smoothly time-varying multipath fading channels using the two-step LMS-type algorithm. The frequency-selective fading channel is modeled as a tapped-delay-line filter with smoothly time-varying Rayleigh-distributed tap coefficients. The receiver uses an adaptive minimum mean square error (MMSE) multiuser channel estimator based on the reduced Kalman least mean square (RK-LMS) algorithm to predict these tap coefficients (Kohli and Mehra, Wireless Personal Communication 46:507–521, 2008). We propose the design of adaptive MMSE feedforward and feedback filters by using the estimated channel response. Unlike the previously available Kalman filtering algorithm based approach (Chen and Chen, IEEE Transactions on Signal Processing 49:1523–1532, 2001), the incorporation of RK-LMS algorithm reduces the computational complexity of multiuser receiver. The computer simulation results are presented to show the substantial improvement in its bit error rate performance over the conventional LMS algorithm based receiver. It can be inferred that the proposed multiuser receiver proves to be robust against the nonstationarity introduced due to channel variations, and it is also beneficial for the multiuser interference cancellation and data detection in CDMA systems.     

Gain Adapted Optimum Mixture Estimation Scheme for Single Channel Speech Separation

This paper presents the proof of an Optimum mixture estimator for the single channel speech separation problem, which is a technique for separating two speech signals from a single recording of their mixture. The presented work is an attempt to solve a fundamental limitation in the current single channel speech separation techniques, in which it is assumed that the data used in the training as well as test phases of the separation model have the same energy levels. To overcome this limitation, a gain adapted Optimum mixture estimator is derived, which estimates the mixture of speech signals under the different signal-to-signal ratios (SSRs). Specifically, the speakers’ gains are incorporated as unknown parameters into the separation model, and then the estimator is derived in terms of the source distributions and SSR. It is demonstrated that the use of the Optimum mixture estimator results in the lower estimation error than the non-linear mapping (log and inverse-log operations)-based Mixture-Maximization (MixMax) or Quadratic estimators. The experimental results based on the real speech data also depict that the proposed estimator improves the mixture estimation performance significantly when compared with MixMax or Quadratic estimators with the gain adaptation.     

Reliability evaluation of systems with critical human error

This paper presents four mathematical models to evaluate reliability of redundant systems with critical human error. Equations for system reliability, state probabilities and mean time to failure are developed. System reliability and mean time to failure plots are shown.     

Adaptive Filtering Techniques using Cyclic Prefix in OFDM Systems for Multipath Fading Channel Prediction

This paper presents adaptive channel prediction techniques for wireless orthogonal frequency division multiplexing (OFDM) systems using cyclic prefix (CP). The CP not only combats intersymbol interference, but also precludes requirement of additional training symbols. The proposed adaptive algorithms exploit the channel state information contained in CP of received OFDM symbol, under the time-invariant and time-variant wireless multipath Rayleigh fading channels. For channel prediction, the convergence and tracking characteristics of conventional recursive least squares (RLS) algorithm, numeric variable forgetting factor RLS (NVFF-RLS) algorithm, Kalman filtering (KF) algorithm and reduced Kalman least mean squares (RK-LMS) algorithm are compared. The simulation results are presented to demonstrate that KF algorithm is the best available technique as compared to RK-LMS, RLS and NVFF-RLS algorithms by providing low mean square channel prediction error. But RK-LMS and NVFF-RLS algorithms exhibit lower computational complexity than KF algorithm. Under typical conditions, the tracking performance of RK-LMS is comparable to RLS algorithm. However, RK-LMS algorithm fails to perform well in convergence mode. For time-variant multipath fading channel prediction, the presented NVFF-RLS algorithm supersedes RLS algorithm in the channel tracking mode under moderately high fade rate conditions. However, under appropriate parameter setting in \(2\times 1\) space–time block-coded OFDM system, NVFF-RLS algorithm bestows enhanced channel tracking performance than RLS algorithm under static as well as dynamic environment, which leads to significant reduction in symbol error rate.     

Fibrolytic potential of anaerobic fungi (Piromyces sp.) isolated from wild cattle and blue bulls in pure culture and effect of their addition on in vitro fermentation of wheat straw and methane emission by rumen fluid of buffaloes

BACKGROUND: Ten isolates of anaerobic fungi of Piromyces genus from wild cattle and blue bulls (five isolates from each host species) were evaluated for their fibrolytic ability in pure culture, their suitability for use as a microbial additive in buffaloes and their effect on methane emission. RESULTS: In pure culture, only two out of five isolates from wild cattle degraded wheat straw efficiently, whereas all five isolates from wild blue bulls did. Isolate CF1 (from cattle) showed the highest apparent digestibility (53.4%), true digestibility (70.8%) and neutral detergent fibre digestibility (75.0%) of wheat straw after 5 days of incubation. When added to buffalo rumen fluid, all five isolates from cattle increased (P < 0.05) in vitro apparent digestibility of wheat straw compared with the control (received autoclaved culture), but all five isolates from blue bulls failed to influence in vitro digestibility of wheat straw. Isolate CF1 showed the highest stimulating effect on straw digestion by buffalo rumen fluid microbes and increased apparent digestibility (51.9 vs 29.4%, P < 0.05), true digestibility (57.9 vs 36.5%, P < 0.05) and neutral detergent fibre digestibility (51.5 vs 26.9%, P < 0.05) of wheat straw compared with the control after 24 h of fermentation. There were also significant increases in fungal count and enzyme activities of carboxymethylcellulase and xylanase in the CF1‐added group compared with the control group. Gas and methane production g^?1 truly digested dry matter of straw were comparable among all groups including the control. CONCLUSION: Wild cattle and blue bulls harbour some anaerobic fungal strains with strong capability to hydrolyse fibre. The fungal isolate CF1 has high potential for use as a microbial feed additive in buffaloes to improve digestibility of fibrous feeds without increasing methane emission per unit of digested feed. Copyright © 2010 Society of Chemical Industry     

Design of efficient fir digital differentiators of second and higher degrees by using universal weights

We propose in this paper an efficient design of FIR digital differentiators of degree k, k= 1, 2, 3,…, and their implementation in a novel structure which allows the order to be varied without having to alter the weights used in it. More precisely, we show that by using these ‘universal weights’ in a structure of order N_max, the order can be varied from N= 3 to N_max while keeping the weights fixed and retaining the optimality of performance. Mathematical formulae have been derived for these ‘universal weights’ for differentiators performing in the low- or midband-frequency ranges.