Performance Improvement of QPSK Signal Predetection EGC Diversity Receiver

This paper proposes a modification of quadrature phase-shift-keying (QPSK) signal diversity reception with predetection equal gain combiner (EGC). The EGC combining is realized by using the constant modulus algorithm (CMA). Carrier synchronization is performed by the phase locked loop (PLL). Comparative analysis of the modified and ordinary diversity receiver in the presence of carrier frequency offset in the additive white Gaussian noise (AWGN) channel, as well as in Rician fading channel is shown. The proposed diversity receiver allows significant frequency offset compared to the diversity receiver that uses only PLL, and the error probability of the proposed receiver is very close to the error probability of the receiver with only PLL and zero frequency offset. The functionality of the proposed diversity receiver, as well as its properties is experimentally verified on a system based on universal software radio peripheral (USRP) hardware. The performed comparison confirms the expected behavior of the system

Round-off error propagation in four generally applicable, recursive, least-squares-estimation schemes

The numerical robustness of four generally applicable, recursive, least-squares-estimation schemes is analyzed by means of a theoretical round-off propagation study. This study highlights a number of practical, interesting insights of widely used recursive least-squares schemes. These insights have been confirmed in an experimental study as well

Spatio-temporal learning with the online finite and infinite echo-state Gaussian processes

Successful biological systems adapt to change. In this paper, we are principally concerned with adaptive systems that operate in environments where data arrives sequentially and is multivariate in nature, for example, sensory streams in robotic systems. We contribute two reservoir inspired methods: 1) the online echostate Gaussian process (OESGP) and 2) its infinite variant, the online infinite echostate Gaussian process (OIESGP) Both algorithms are iterative fixed-budget methods that learn from noisy time series. In particular, the OESGP combines the echo-state network with Bayesian online learning for Gaussian processes. Extending this to infinite reservoirs yields the OIESGP, which uses a novel recursive kernel with automatic relevance determination that enables spatial and temporal feature weighting. When fused with stochastic natural gradient descent, the kernel hyperparameters are iteratively adapted to better model the target system. Furthermore, insights into the underlying system can be gleamed from inspection of the resulting hyperparameters. Experiments on noisy benchmark problems (one-step prediction and system identification) demonstrate that our methods yield high accuracies relative to state-of-the-art methods, and standard kernels with sliding windows, particularly on problems with irrelevant dimensions. In addition, we describe two case studies in robotic learning-by-demonstration involving the Nao humanoid robot and the Assistive Robot Transport for Youngsters (ARTY) smart wheelchair