Secure Transmission in Multi-Cell Massive MIMO Systems

In this paper, we consider physical layer security provisioning in multi-cell massive multiple-input multiple-output (MIMO) systems. Specifically, we consider secure downlink transmission in a multi-cell massive MIMO system with matched-filter precoding and artificial noise (AN) generation at the base station (BS) in the presence of a passive multi-antenna eavesdropper. We investigate the resulting achievable ergodic secrecy rate and the secrecy outage probability for the cases of perfect training and pilot contamination. Thereby, we consider two different AN shaping matrices, namely, the conventional AN shaping matrix, where the AN is transmitted in the null space of the matrix formed by all user channels, and a random AN shaping matrix, which avoids the complexity associated with finding the null space of a large matrix. Our analytical and numerical results reveal that in multi-cell massive MIMO systems employing matched-filter precoding (1) AN generation is required to achieve a positive ergodic secrecy rate if the user and the eavesdropper experience the same path-loss, (2) even with AN generation secure transmission may not be possible if the number of eavesdropper antennas is too large and not enough power is allocated to channel estimation, (3) for a given fraction of power allocated to AN and a given number of users, in case of pilot contamination, the ergodic secrecy rate is not a monotonically increasing function of the number of BS antennas, and (4) random AN shaping matrices provide a favourable performance/complexity tradeoff and are an attractive alternative to conventional AN shaping matrices

New Damped-Jerk trajectory for vibration reduction

This paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. The ability of the jerk-limited profile to cancel the residual vibration of an undamped flexible mode is clearly explained using an equivalent continuous filter representation and the input shaping formalism. This motivates the design of a new jerk-shaped profile, named Damped-Jerk profile, to extend the previous result to the more common case of underdamped systems. Both simulations and experimental results demonstrate the effectiveness of the proposed Damped-Jerk profile to reduce damped vibration

Vibration control of pitch movement using command shaping techniques– Experimental investigation

This paper investigates the development of feedforward control strategies for vibration control of pitch movement (1 DOF) of a twin rotor multi-input multi-output system (TRMS) using command shaping techniques. Command shaping is a feedforward method used to reduce residual vibrations during motion in flexible systems. The TRMS is a laboratory platform designed for control experiments. In certain aspects, its behaviour resembles that of a helicopter. Feedforward controllers are designed for resonance suppression produced by the main rotor, which produces pitch movement around the longitudinal axis, while the lateral axis (yaw movement) is physically constrained. Three feed-forward controllers: input-shaper, low-pass filter and band-stop filter are designed based on the natural frequencies and damping ratios of the system. The three controllers are assessed in terms of level of vibration reduction at the system’s natural frequencies. Their performances are compared with an unshaped input (single-switch bang-bang signal) that is used to determine the dynamic response of the system

Command shaping techniques for vibration control of a flexible robot manipulator

This paper presents an investigation into development of feed-forward control strategies for vibration control of a flexible robot manipulator using command shaping techniques based on input shaping, low-pass and band-stop filtering. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the finite element method. An unshaped bang–bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the control techniques. Feed-forward controllers are designed based on the natural frequencies and damping ratios of the system. Simulation results of the response of the manipulator to the shaped and filtered inputs are presented in time and frequency domains. Performances of the techniques are assessed in terms of level of vibration reduction at resonance modes, speed of response, robustness and computational complexity. The effects of number of impulse sequence and filter order on the performance of the system are investigated. Finally, a comparative assessment of the input shaping and input-filtering techniques is presented and discussed

Damped Harmonic Smoother for Trajectory Planning and Vibration Suppression

In this brief, a novel filter for online trajectory generation is presented. The filter can be categorized as an input smoother since it acts on the input signal by increasing its continuity level. When fed with simple signals, as, e.g., a step input, it behaves like a trajectory generator that produces harmonic motions. Moreover, it can be combined with other filters, and in particular, with smoothers having a rectangular impulse response, in order to generate (online) more complex trajectories compliant with several kinematic constraints. On the other hand, being a filter, it possesses the capability of shaping the frequency spectrum of the output signal. This possibility can be profitably exploited to suppress residual vibration by imposing that the zeros of the filter cancel the oscillatory dynamics of the plant. For this purpose, the standard harmonic filter has been generalized in order to consider not only the natural frequency but also the damping coefficient of the plant. In this manner, the so-called ``damped harmonic filter" and the related ``damped harmonic trajectory" have been defined. By means of theoretical considerations, supported by experimental tests, the novel approach has been compared with the existing methods, and the advantages of its use have been proved

Reconfigurable RF-Waveform Generation Based on Incoherent-Filter Design

Radio-frequency (RF) waveform generators are key devices for a variety of applications, including radar, ultra-wideband communications, and electronic test measurements. Following advances in broadband coherent pulsed sources and pulse-shaping technologies, reconfigurable RF waveform generators operating at bandwidths 1 GHz have become a reality. In this work, we demonstrate reconfigurable RF waveform generation using broadband spectrally incoherent optical sources. This is achieved in two steps. First, we implement an RF incoherent filter. The energy spectrum of the optical source is conveniently apodized using a commercially available computer-controlled D-WDM channel selector with 100-GHz resolution. The channel controller provides high flexibility for shaping the optical source energy spectrum and, hence, high reconfigurability capabilities in terms of the RF filter. Second, we show that by applying a short baseband electrical waveform to the input of the RF filter, the output RF spectrum of the electrical signal is a mapped version of the designed RF filter transfer function. Specifically, we illustrate the capabilities of our technique by generating RF signals with 10 GHz bandwidth and tunable repetition rate. Finally, we discuss how this method can be scaled up to the millimeter-wave range with current technolog

Intelligent Backstepping System to Increase Input Shaping Performance in Suppressing Residual Vibration of a Flexible-Joint Robot Manipulator

Input shaping technique can be used to suppress residual vibration, occurring from moving rapidly a flexible system from one point to another point. An input shaping filter produces a shaped input signal that avoids exciting the flexible modes of the flexible system. The technique requires accurate knowledge of mode parameters. When the plant model is not accurate, performance of the input shaper degrades. Several robust input shapers were proposed to handle this inaccuracy at the expense of longer move time. The purpose of this paper is, for the first time, to present an application of an intelligent backstepping system to matching of the resulting closed-loop system with a reference model. The input shaper can then be designed from the mode parameters of the reference model. Because the reference model is accurate even when the plant model is not, the input shaper needs not be robust, resulting in shorter move time. The intelligent backstepping system consists of a three-layer neural network, a variable structure controller, and a backstepping controller. The neural network is used as a black-box model in case when the plant model is unknown, making the proposed system model-independent. The adaptive property of the neural network also makes the proposed system suitable for nonlinear, time-varying, or configuration-dependent systems. The variable structure controller handles the uncertainty arisen in the system. The backstepping controller, through its virtual controls, provides a means for the control authority to reach the unmatched uncertainty in the system. This study contains simulation and experimental results on a flexible-joint robot manipulator. The results showed that this proposed intelligent input shaping system outperformed previously proposed robust input shapers in terms of allowable uncertainty amount and move time. The proposed system is also relatively easy to apply because it does not require the plant model

An energy efficient noise-shaping SAR ADC in 28 nm FDSOI

In a noise-shaping SAR ADC, oversampling and noise shaping are used to increase the conversion accuracy beyond that the SAR exhibits alone. To implement the noise shaping, the residue voltage present at the SAR DAC plates after each conversion is exploited, and fed into a loop filter connected to an extra input of the SAR comparator. In this thesis, an energy efficient noise-shaping SAR ADC for medical ultrasound applications is designed in 28 nm FDSOI. The design specification is minimum 11.0 bit ENOB of accuracy, signal bandwidth of minimum 2 MHz, and sample rate of minimum 32MHz. According to post-layout Monte Carlo simulations, the designed ADC has an accuracy of 11.1 bit ENOB, and thus satisfies the accuracy requirement. The signal bandwidth and sample rate are the same as in the design specification. Specifically, the topics of this thesis are the design of the loop filter and its inter- facing towards the SAR, as well as the overall high level design. The 9-bit SAR used in the system is an already existing implementation. A cascaded FIR-IIR filter topology is used for the loop filter. In this work, the circuit implementation of this topology is improved, most importantly through the introduction of chopped buffers at the filter input. This eliminates signal attenuation due to charge sharing, and a DAC capacitance that is smaller than the sampling capacitance in the loop filter can therefore be used. Also, auto-zeroed, cascoded inverters rather than a standard OTA are used as gain elements in the switched-capacitor filter structure, and this leads to better energy efficiency. The designed ADC achieves a figure of merit (FOM) of 7.5fJ/conv-step in post-layout Monte Carlo simulations, and to the best of the author s knowledge, this is better than the current state-of-the-art of noise-shaping ADCs. When all kinds of ADCs are taken into consideration, the achieved FOM seems to be similar to the current state-of-the-art in the same specification range

A laser pulse shaper for the low-emittance radiofrequency SPARC electron gun

To generate a very low emittance electron beam in a 3-GHz radiofrequency gun, the photocathode has to be driven by a powerful 10-ps light pulse with a rise time of less than 1 ps: This target pulse can be generated from a subpicosecond laser pulse by inserting an appropriate shaping device. We discuss a programmable 4f grating-lensshaper configured so as to transform a 100-fs pulse emitted by a Ti:Sa laser into a rectangular pulse with a fast rise time. We analyze the sensitivity of the system to perturbations of the optical-component alignment and input-signal characteristics. We then briefly discuss the acousto-optic programmable dispersive filter shaping system. r 2004 Elsevier B.V. All rights reserved