Simultaneous state estimation and parameter identification in linear fractional order systems using coloured measurement noise

In the present paper, the identification and estimation problem of a single-input–single-output (SISO) fractional order state-space system will be addressed. A SISO state-space model is considered in which parameters and also state variables should be estimated. The canonical fractional order state-space system will be transformed into a regression equation by using a linear transformation and a shift operator that are appropriate for identification. The identification method provided in this paper is based on a recursive identification algorithm that has the capability of identifying the parameters of fractional order state-space system recursively. Another subject that will be addressed in this paper is a novel fractional order Kalman filter suitable for the systems with coloured measurement noise. The promising performance of the proposed methods is verified using two stable fractional order systems.     

A Learning Behavior Based Controller for Maintaining Balance in Robotic Locomotion

The Behavior Based Locomotion Controller (BBLC) extends the applicability of the behavior based control (BBC) architecture to redundant systems with multiple task-space motions. A set of control behaviors are attributed to each task-space motion individually and a reinforcement learning algorithm is used to select the combination of behaviors which can achieve the control objective. The resulting behavior combination is an emergent control behavior robust to unknown environments due to the added learning capability. Hence, the BBLC is applicable to complex redundant systems operating in unknown environments, where the emergent control behaviors can satisfy higher level control objectives such as balance in locomotion. The balance control problem of two robotic systems, a bipedal robot walker and a mobile manipulator, are used to study the performance of this controller. Results show that the BBLC strategy can generate emergent balancing strategies capable of adapting to new unknown disturbances from the environment, using only a small fixed library of balancing behaviors.     

Hybrid routing scheme using imperialist competitive algorithm and RBF neural networks for VANETs

Wireless Networks - Vehicular ad hoc network (VANET), a special type of mobile ad-hoc networks (MANETs), is characterized by a very high mobility. Due to the dynamic nature of vehicle nodes and...     

Linking Glass-Transition Behavior to Photophysical and Charge Transport Properties of High-Mobility Conjugated Polymers

The measurement of the mechanical properties of conjugated polymers can reveal highly relevant information linking optoelectronic properties to underlying microstructures and the knowledge of the glass transition temperature (T_g) is paramount for informing the choice of processing conditions and for interpreting the thermal stability of devices. In this work, we use dynamical mechanical analysis to determine the T_g of a range of state-of-the-art conjugated polymers with different degrees of crystallinity that are widely studied for applications in organic field-effect transistors. We compare our measured values for T_g to the theoretical value predicted by a recent work based on the concept of effective mobility ζ. The comparison shows that for conjugated polymers with a modest length of the monomer units, the T_g values agree well with theoretically predictions. However, for the near-amorphous, indacenodithiophene–benzothiadiazole family of polymers with more extended backbone units, values for T_g appear to be significantly higher, predicted by theory. However, values for T_g are correlated with the sub-bandgap optical absorption suggesting the possible role of the interchain short contacts within materials’ amorphous domains.     

High IIP3 and Low-Noise CMOS Mixer Using Non-linear Feedback Technique

A third-order intermodulation cancelation technique using a non-linear feedback is proposed to design a low-power low-distortion mixer in a 65 nm standard CMOS technology. The IM3 cancelation is achieved by estimating distorting error at a non-linear feedback element and subtracting it from the input. The linearization technique is utilized in the input trans-conductance of the mixer. The circuit functionality is analyzed using Volterra series. The covering frequency range of the mixer is 800 MHz to 5 GHz. The technique increases the input-referred third-order intercept point (IIP3) and input 1 dB compression point to +16.4 dBm and −1.87 dBm, respectively. It obtains a gain of 9 dB and an input-referred noise of 1.84 nV/?{}/\sqrt{}Hz while consumes 8.75 mA from 1.2 V supply. The layout of the mixer occupies 0.315 mm × 0.296 mm of silicon area.     

Time-Domain Block and Per-Tone Equalization for MIMO–OFDM in Shallow Underwater Acoustic Communication

Shallow underwater acoustic (UWA) channel exhibits rapid temporal variations, extensive multipath spreads, and severe frequency-dependent attenuations. So, high data rate communication with high spectral efficiency in this challenging medium requires efficient system design. Multiple-input multiple-output orthogonal frequency-division multiplexing (MIMO–OFDM) is a promising solution for reliable transmission over highly dispersive channels. In this paper, we study the equalization of shallow UWA channels when a MIMO–OFDM transmission scheme is used. We address simultaneously the long multipath spread and rapid temporal variations of the channel. These features lead to interblock interference (IBI) along with intercarrier interference (ICI), thereby degrading the system performance. We describe the underwater channel using a general basis expansion model (BEM), and propose time-domain block equalization techniques to jointly eliminate the IBI and ICI. The block equalizers are derived based on minimum mean-square error and zero-forcing criteria. We also develop a novel approach to design two time-domain per-tone equalizers, which minimize bit error rate or mean-square error in each subcarrier. We simulate a typical shallow UWA channel to demonstrate the desirable performance of the proposed equalization techniques in Rayleigh and Rician fading channels.