A Novel Loop Filter Design for Phase-Locked Loops

[[abstract]]A new loop filter design method for phase locked loops (PLLs) is presented, which employs multi-objective control technique to deal with the various design objectives: small noise bandwidth, good transient response (small settling time, small overshoot), and large gain and phase margins. Trade-off among the conflicting objectives is made via recently developed convex optimization skill in conjunction with appropriate adjustment of certain design parameters. One salient feature of the proposed method is that it allows one to specify the filter poles in advance, including the special case of PI form filter. Moreover, the proposed method is applicable to PLL of any order. Numerical simulation on nonlinear PLL model is performed which demonstrates the effectiveness of the proposed method.[[conferencetype]]國際[[conferencedate]]20061008~20061011[[conferencelocation]]Taipei, Taiwa

Joint University Program for Air Transportation Research, 1991-1992

This report summarizes the research conducted during the academic year 1991-1992 under the FAA/NASA sponsored Joint University Program for Air Transportation Research. The year end review was held at Ohio University, Athens, Ohio, June 18-19, 1992. The Joint University Program is a coordinated set of three grants sponsored by the Federal Aviation Administration and NASA Langley Research Center, one each with the Massachusetts Institute of Technology (NGL-22-009-640), Ohio University (NGR-36-009-017), and Princeton University (NGL-31-001-252). Completed works, status reports, and annotated bibliographies are presented for research topics, which include navigation, guidance and control theory and practice, intelligent flight control, flight dynamics, human factors, and air traffic control processes. An overview of the year's activities for each university is also presented

Marine Vessel Inspection as a Novel Field for Service Robotics: A Contribution to Systems, Control Methods and Semantic Perception Algorithms.

This cumulative thesis introduces a novel field for service robotics: the inspection of marine vessels using mobile inspection robots. In this thesis, three scientific contributions are provided and experimentally verified in the field of marine inspection, but are not limited to this type of application. The inspection scenario is merely a golden thread to combine the cumulative scientific results presented in this thesis. The first contribution is an adaptive, proprioceptive control approach for hybrid leg-wheel robots, such as the robot ASGUARD described in this thesis. The robot is able to deal with rough terrain and stairs, due to the control concept introduced in this thesis. The proposed system is a suitable platform to move inside the cargo holds of bulk carriers and to deliver visual data from inside the hold. Additionally, the proposed system also has stair climbing abilities, allowing the system to move between different decks. The robot adapts its gait pattern dynamically based on proprioceptive data received from the joint motors and based on the pitch and tilt angle of the robot's body during locomotion. The second major contribution of the thesis is an independent ship inspection system, consisting of a magnetic wall climbing robot for bulkhead inspection, a particle filter based localization method, and a spatial content management system (SCMS) for spatial inspection data representation and organization. The system described in this work was evaluated in several laboratory experiments and field trials on two different marine vessels in close collaboration with ship surveyors. The third scientific contribution of the thesis is a novel approach to structural classification using semantic perception approaches. By these methods, a structured environment can be semantically annotated, based on the spatial relationships between spatial entities and spatial features. This method was verified in the domain of indoor perception (logistics and household environment), for soil sample classification, and for the classification of the structural parts of a marine vessel. The proposed method allows the description of the structural parts of a cargo hold in order to localize the inspection robot or any detected damage. The algorithms proposed in this thesis are based on unorganized 3D point clouds, generated by a LIDAR within a ship's cargo hold. Two different semantic perception methods are proposed in this thesis. One approach is based on probabilistic constraint networks; the second approach is based on Fuzzy Description Logic and spatial reasoning using a spatial ontology about the environment

The Future of the Operating Room: Surgical Preplanning and Navigation using High Accuracy Ultra-Wideband Positioning and Advanced Bone Measurement

This dissertation embodies the diversity and creativity of my research, of which much has been peer-reviewed, published in archival quality journals, and presented nationally and internationally. Portions of the work described herein have been published in the fields of image processing, forensic anthropology, physical anthropology, biomedical engineering, clinical orthopedics, and microwave engineering. The problem studied is primarily that of developing the tools and technologies for a next-generation surgical navigation system. The discussion focuses on the underlying technologies of a novel microwave positioning subsystem and a bone analysis subsystem. The methodologies behind each of these technologies are presented in the context of the overall system with the salient results helping to elucidate the difficult facets of the problem. The microwave positioning system is currently the highest accuracy wireless ultra-wideband positioning system that can be found in the literature. The challenges in producing a system with these capabilities are many, and the research and development in solving these problems should further the art of high accuracy pulse-based positioning

Emerging Communications for Wireless Sensor Networks

Wireless sensor networks are deployed in a rapidly increasing number of arenas, with uses ranging from healthcare monitoring to industrial and environmental safety, as well as new ubiquitous computing devices that are becoming ever more pervasive in our interconnected society. This book presents a range of exciting developments in software communication technologies including some novel applications, such as in high altitude systems, ground heat exchangers and body sensor networks. Authors from leading institutions on four continents present their latest findings in the spirit of exchanging information and stimulating discussion in the WSN community worldwide

Recent Trends in Communication Networks

In recent years there has been many developments in communication technology. This has greatly enhanced the computing power of small handheld resource-constrained mobile devices. Different generations of communication technology have evolved. This had led to new research for communication of large volumes of data in different transmission media and the design of different communication protocols. Another direction of research concerns the secure and error-free communication between the sender and receiver despite the risk of the presence of an eavesdropper. For the communication requirement of a huge amount of multimedia streaming data, a lot of research has been carried out in the design of proper overlay networks. The book addresses new research techniques that have evolved to handle these challenges

The Telecommunications and Data Acquisition Report

This quarterly publication provides archival reports on developments in programs managed by JPL's Office of Telecommunications and Data Acquisition (TDA). In space communications, radio navigation, radio science, and ground-based radio and radar astronomy, it reports on activities of the Deep Space Network (DSN) in planning, supporting research and technology, implementation, and operations. Also included are standards activity at JPL for space data and information systems and reimbursable DSN work performed for other space agencies through NASA. The papers included in this document cover satellite tracking and ground-based navigation, spacecraft-ground communications, and optical communication systems for the Deep Space Network

A critical analysis of mobility management related issues of wireless sensor networks in cyber physical systems

Mobility management has been a long-standing issue in mobile wireless sensor networks and especially in the context of cyber physical systems; its implications are immense. This paper presents a critical analysis of the current approaches to mobility management by evaluating them against a set of criteria which are essentially inherent characteristics of such systems on which these approaches are expected to provide acceptable performance. We summarize these characteristics by using a quadruple set of metrics. Additionally, using this set we classify the various approaches to mobility management that are discussed in this paper. Finally, the paper concludes by reviewing the main findings and providing suggestions that will be helpful to guide future research efforts in the area