Considers one aspect of the problem of how to design the linear precoder in a linearly precoded block transmission system operating over an unknown finite impulse response (FIR) channel. It is argued that it is sensible to restrict attention to only those precoders which introduce a cyclic prefix if single blocks are transmitted in isolation (such as in a wireless packet network), or to restrict attention to only those precoders which introduce a null guard between each block if multiple blocks are transmitted consecutively. In both cases, the reason is to ensure that the channel can be accurately inverted at the receiver regardless of the phase of the channel. Connections between using a null guard and using a cyclic prefix are also drawn; using a null guard can be interpreted as being a special case of using a cyclic prefix.
{"title":"On the importance of using a cyclic prefix or null guard in block transmissions over FIR channels","authors":"J. Manton","doi":"10.1109/IDC.2002.995412","DOIUrl":"https://doi.org/10.1109/IDC.2002.995412","url":null,"abstract":"Considers one aspect of the problem of how to design the linear precoder in a linearly precoded block transmission system operating over an unknown finite impulse response (FIR) channel. It is argued that it is sensible to restrict attention to only those precoders which introduce a cyclic prefix if single blocks are transmitted in isolation (such as in a wireless packet network), or to restrict attention to only those precoders which introduce a null guard between each block if multiple blocks are transmitted consecutively. In both cases, the reason is to ensure that the channel can be accurately inverted at the receiver regardless of the phase of the channel. Connections between using a null guard and using a cyclic prefix are also drawn; using a null guard can be interpreted as being a special case of using a cyclic prefix.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"425 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122960099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Precoding data prior to its transmission over a fading channel can improve performance. When the channel is unknown, it may be desirable to use a linear precoder whose worst case performance is no worse than that of any other linear precoder. Such a precoder is said to be maximally robust. This paper derives necessary and sufficient conditions for a linear precoder to be maximally robust. It is proved that maximally robust linear precoders eliminate fading completely. Also derived is an explicit expression for a maximally robust linear precoder which introduces the least amount of redundancy possible.
{"title":"Minimally redundant maximally robust linear precoders","authors":"J. Manton","doi":"10.1109/IDC.2002.995404","DOIUrl":"https://doi.org/10.1109/IDC.2002.995404","url":null,"abstract":"Precoding data prior to its transmission over a fading channel can improve performance. When the channel is unknown, it may be desirable to use a linear precoder whose worst case performance is no worse than that of any other linear precoder. Such a precoder is said to be maximally robust. This paper derives necessary and sufficient conditions for a linear precoder to be maximally robust. It is proved that maximally robust linear precoders eliminate fading completely. Also derived is an explicit expression for a maximally robust linear precoder which introduces the least amount of redundancy possible.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114824521","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
When sensors are poorly registered, systematic errors or biases can appear in their measurements, hampering the formation of a fused surveillance picture. To estimate and correct for these biases, a method exploiting airlane information is proposed. Models of the bias state and bias measurement are first formulated. Then, based on the airlane associated with a target of opportunity, a Gaussian mixture model is formulated for the target's position. Particle filter estimation is employed to handle the nonlinear/non-Gaussian nature of the models. Simulation results are given to demonstrate the ability of this method to correct for biases in sensor measurements effectively.
{"title":"Estimating biases in sensor measurements using airlane information","authors":"H. Ong, M. Oxenham, B. Ristic","doi":"10.1109/IDC.2002.995390","DOIUrl":"https://doi.org/10.1109/IDC.2002.995390","url":null,"abstract":"When sensors are poorly registered, systematic errors or biases can appear in their measurements, hampering the formation of a fused surveillance picture. To estimate and correct for these biases, a method exploiting airlane information is proposed. Models of the bias state and bias measurement are first formulated. Then, based on the airlane associated with a target of opportunity, a Gaussian mixture model is formulated for the target's position. Particle filter estimation is employed to handle the nonlinear/non-Gaussian nature of the models. Simulation results are given to demonstrate the ability of this method to correct for biases in sensor measurements effectively.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124704959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Estimation of on-board camera's 3D motion has been a very important technique for autonomous robot navigation and other vision-based detecting and measuring tasks. Due to the nonlinearity and continuously changing background, on-board camera's 3D-motion analysis is very complex and always employs optical flows, line matching of road lane-marks or horizon tracking. It incurs a huge calculation cost and is very sensitive to noise. A new estimation method with the introduction of camera's focus of expansion (FOE) is presented in this paper. Using the motion features of the on-board camera and FOE, the camera 3D-motion parameters can theoretically be determined by our method using only three matching pairs, which make it fast and more efficient for real-time applications compared with the traditional methods. Experiments on simulation images and image sequences of real road scenes show the effectiveness and precision of the proposed approach.
{"title":"On-board camera 3D-motion analysis","authors":"K. Uchimura, Zhencheng Hu","doi":"10.1109/IDC.2002.995377","DOIUrl":"https://doi.org/10.1109/IDC.2002.995377","url":null,"abstract":"Estimation of on-board camera's 3D motion has been a very important technique for autonomous robot navigation and other vision-based detecting and measuring tasks. Due to the nonlinearity and continuously changing background, on-board camera's 3D-motion analysis is very complex and always employs optical flows, line matching of road lane-marks or horizon tracking. It incurs a huge calculation cost and is very sensitive to noise. A new estimation method with the introduction of camera's focus of expansion (FOE) is presented in this paper. Using the motion features of the on-board camera and FOE, the camera 3D-motion parameters can theoretically be determined by our method using only three matching pairs, which make it fast and more efficient for real-time applications compared with the traditional methods. Experiments on simulation images and image sequences of real road scenes show the effectiveness and precision of the proposed approach.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121415180","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Recent progress made in the application of decentralised data fusion (DDF) algorithms to a network of heterogeneous sensors, mounted aboard a group of unmanned aerial vehicles (UAVs) is reported. The paper refers to work conducted as part of the Autonomous Navigation and Sensing Experimental Research programme; a collaborative demonstration programme undertaken by BAE Systems and the Australian Centre for Field Robotics at the University of Sydney. The UAVs are equipped with GPS and inertial payload sensors, in addition to multiple terrain sensors chosen from passive vision systems and active mm-wave radar. The sensor nodes are constructed in a fully modular fashion and the decentralised paradigm is applied to both the intra and inter-UAV fusion algorithms. In the first instance, the complete test facility comprising flight platforms, ground station, test-site and simulation environment is used to demonstrate the operational benefits of DDF in a range of multiple-vehicle ground-target tracking scenarios. The advantages of decentralising the fusion algorithms around a sensor network, in terms of system flexibility, scalability and integrity are discussed. Issues of interfacing fundamental data fusion technology with operational and system requirements are also addressed.
{"title":"Decentralised data fusion applied to a network of unmanned aerial vehicles","authors":"J. Sutcliffe, P. Riseborough, H. Durrant-Whyte","doi":"10.1109/IDC.2002.995368","DOIUrl":"https://doi.org/10.1109/IDC.2002.995368","url":null,"abstract":"Recent progress made in the application of decentralised data fusion (DDF) algorithms to a network of heterogeneous sensors, mounted aboard a group of unmanned aerial vehicles (UAVs) is reported. The paper refers to work conducted as part of the Autonomous Navigation and Sensing Experimental Research programme; a collaborative demonstration programme undertaken by BAE Systems and the Australian Centre for Field Robotics at the University of Sydney. The UAVs are equipped with GPS and inertial payload sensors, in addition to multiple terrain sensors chosen from passive vision systems and active mm-wave radar. The sensor nodes are constructed in a fully modular fashion and the decentralised paradigm is applied to both the intra and inter-UAV fusion algorithms. In the first instance, the complete test facility comprising flight platforms, ground station, test-site and simulation environment is used to demonstrate the operational benefits of DDF in a range of multiple-vehicle ground-target tracking scenarios. The advantages of decentralising the fusion algorithms around a sensor network, in terms of system flexibility, scalability and integrity are discussed. Issues of interfacing fundamental data fusion technology with operational and system requirements are also addressed.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121990812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A generalization of the measurement feedback nonlinear H/sup /spl infin// control problem is posed which ensures that the closed loop system satisfies a practical dissipation property. Using information state ideas and the definition of the optimal cost presented, a dynamic programming equation for this optimal control problem is presented.
{"title":"A dynamic programming equation for measurement feedback almost-dissipative control","authors":"P. Dower","doi":"10.1109/IDC.2002.995428","DOIUrl":"https://doi.org/10.1109/IDC.2002.995428","url":null,"abstract":"A generalization of the measurement feedback nonlinear H/sup /spl infin// control problem is posed which ensures that the closed loop system satisfies a practical dissipation property. Using information state ideas and the definition of the optimal cost presented, a dynamic programming equation for this optimal control problem is presented.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115744072","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2002-08-07DOI: 10.1007/978-3-662-05592-2_27
Jinho Choi
{"title":"Open/closed-loop transmit antenna array over spatially correlated channels","authors":"Jinho Choi","doi":"10.1007/978-3-662-05592-2_27","DOIUrl":"https://doi.org/10.1007/978-3-662-05592-2_27","url":null,"abstract":"","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125867835","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Mobile IP is a network layer protocol that enables mobility across IP networks without having to change any configuration parameters or IP addresses. It is specified as an IETF standard and appears in two versions, MIPv4 and MIPv6. This paper describes a testbed and some experiments that were conducted to ascertain the functionality of an implementation of MIPv4. The testbed incorporated heterogenous bearers such as a satellite link and HF radio links. The link layer independence of MIP was also tested. Finally, the operation of a military application in the presence of MIP was tested with success. MIPv4 was found to be a fairly robust protocol, in the sense that successful operation was observed even in the presence of relatively low signal-to-noise ratios.
{"title":"Mobile IP in a heterogenous environment","authors":"S. Jayasinghe, J. Ball, C. Tran, C. Lee","doi":"10.1109/IDC.2002.995422","DOIUrl":"https://doi.org/10.1109/IDC.2002.995422","url":null,"abstract":"Mobile IP is a network layer protocol that enables mobility across IP networks without having to change any configuration parameters or IP addresses. It is specified as an IETF standard and appears in two versions, MIPv4 and MIPv6. This paper describes a testbed and some experiments that were conducted to ascertain the functionality of an implementation of MIPv4. The testbed incorporated heterogenous bearers such as a satellite link and HF radio links. The link layer independence of MIP was also tested. Finally, the operation of a military application in the presence of MIP was tested with success. MIPv4 was found to be a fairly robust protocol, in the sense that successful operation was observed even in the presence of relatively low signal-to-noise ratios.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115728700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The problem of disturbance decoupling with constant measurement feedback (DDPCM) has been studied for single-input single-output and left-invertible multi-input multi-output nonlinear systems. We deal with this problem for more general multi-input multi-output nonlinear systems. Conditions and a computational method for solving the DDPCM are presented in the differential vector space framework.
{"title":"Disturbance decoupling with constant measurement feedback for MIMO nonlinear systems","authors":"Yufan Zheng, Cisheng Zhang","doi":"10.1109/IDC.2002.995429","DOIUrl":"https://doi.org/10.1109/IDC.2002.995429","url":null,"abstract":"The problem of disturbance decoupling with constant measurement feedback (DDPCM) has been studied for single-input single-output and left-invertible multi-input multi-output nonlinear systems. We deal with this problem for more general multi-input multi-output nonlinear systems. Conditions and a computational method for solving the DDPCM are presented in the differential vector space framework.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115140857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Frequency-wavenumber spectral analysis is developed for analysis of signals captured by circular sonar arrays. Following a general discussion of the technique, it is then applied to sea trial data. The usefulness of the technique for investigating self-noise in circular sonar arrays is demonstrated.
{"title":"Frequency-wavenumber analysis of self-noise in circular sonar arrays","authors":"C. Bao, D. Bertilone","doi":"10.1109/IDC.2002.995403","DOIUrl":"https://doi.org/10.1109/IDC.2002.995403","url":null,"abstract":"Frequency-wavenumber spectral analysis is developed for analysis of signals captured by circular sonar arrays. Following a general discussion of the technique, it is then applied to sea trial data. The usefulness of the technique for investigating self-noise in circular sonar arrays is demonstrated.","PeriodicalId":385351,"journal":{"name":"Final Program and Abstracts on Information, Decision and Control","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2002-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127174116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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