Performance Analysis for Time-of-Arrival Estimation with Oversampled Low-Complexity 1-bit A/D Conversion

Analog-to-digtial (A/D) conversion plays a crucial role when it comes to the design of energy-efficient and fast signal processing systems. As its complexity grows exponentially with the number of output bits, significant savings are possible when resorting to a minimum resolution of a single bit. However, then the nonlinear effect which is introduced by the A/D converter results in a pronounced performance loss, in particular for the case when the receiver is operated outside the low signal-to-noise ratio (SNR) regime. By trading the A/D resolution for a moderately faster sampling rate, we show that for time-of-arrival (TOA) estimation under any SNR level it is possible to obtain a low-complexity $1$-bit receive system which features a smaller performance degradation then the classical low SNR hard-limiting loss of $2/\pi$ ($-1.96$ dB). Key to this result is the employment of a lower bound for the Fisher information matrix which enables us to approximate the estimation performance for coarsely quantized receivers with correlated noise models in a pessimistic way

Performance Analysis for Time-of-Arrival Estimation with Oversampled Low-Complexity 1-bit A/D Conversion

Analog-to-digtial (A/D) conversion plays a crucial role when it comes to the design of energy-efficient and fast signal processing systems. As its complexity grows exponentially with the number of output bits, significant savings are possible when resorting to a minimum resolution of a single bit. However, then the nonlinear effect which is introduced by the A/D converter results in a pronounced performance loss, in particular for the case when the receiver is operated outside the low signal-to-noise ratio (SNR) regime. By trading the A/D resolution for a moderately faster sampling rate, we show that for time-of-arrival (TOA) estimation under any SNR level it is possible to obtain a low-complexity $1$-bit receive system which features a smaller performance degradation then the classical low SNR hard-limiting loss of $2/\pi$ ($-1.96$ dB). Key to this result is the employment of a lower bound for the Fisher information matrix which enables us to approximate the estimation performance for coarsely quantized receivers with correlated noise models in a pessimistic way

3D angle-of-arrival positioning using von Mises-Fisher distribution

We propose modeling an angle-of-arrival (AOA) positioning measurement as a von Mises-Fisher (VMF) distributed unit vector instead of the conventional normally distributed azimuth and elevation measurements. Describing the 2-dimensional AOA measurement with three numbers removes discontinuities and reduces nonlinearity at the poles of the azimuth-elevation coordinate system. Our computer simulations show that the proposed VMF measurement noise model based filters outperform the normal distribution based algorithms in accuracy in a scenario where close-to-pole measurements occur frequently.Comment: 5 page

Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering

This paper investigates the use of depth images as localisation sensors for 3D map building. The localisation information is derived from the 3D data thanks to the ICP (Iterative Closest Point) algorithm. The covariance of the ICP, and thus of the localization error, is analysed, and described by a Fisher Information Matrix. It is advocated this error can be much reduced if the data is fused with measurements from other motion sensors, or even with prior knowledge on the motion. The data fusion is performed by a recently introduced specific extended Kalman filter, the so-called Invariant EKF, and is directly based on the estimated covariance of the ICP. The resulting filter is very natural, and is proved to possess strong properties. Experiments with a Kinect sensor and a three-axis gyroscope prove clear improvement in the accuracy of the localization, and thus in the accuracy of the built 3D map.Comment: Submitted to IROS 2012. 8 page

CO-PrOx over nano-Au/TiO2: Monolithic catalyst performance and empirical kinetic model fitting

In this work, the performance of ceramic monoliths washcoated with Au/TiO2 is studied on CO preferential oxidation (CO-PrOx) reaction in H2-rich environments under a wide range of operating conditions of practical interest. The parameter estimation of a nonlinear kinetic empirical model representing this system is made via genetic algorithms by fitting the model predictions against our laboratory observations. Parameter uncertainty leading to inaccurate predictions is often present when kinetic models with nonlinear rate equations are considered. Here, after the fitting was concluded, a statistical study was conducted to determine the accuracy of the parameter estimation. Activation energies of ca. 30 kJ/mol and 55 kJ/mol were adjusted for CO and H2 oxidations, respectively. The catalyst showed appropriate activity and selectivity values on the CO oxidation on a H2-rich environment. After ca. 45 h on stream the catalyst showed no deactivation. Results show that the model is suitable for reproducing the behavior of the CO-PrOx reactions and it can be used in the design of reactors for hydrogen purification.Peer ReviewedPostprint (author's final draft

Quantum Metrology with Cold Atoms

Quantum metrology is the science that aims to achieve precision measurements by making use of quantum principles. Attribute to the well-developed techniques of manipulating and detecting cold atoms, cold atomic systems provide an excellent platform for implementing precision quantum metrology. In this chapter, we review the general procedures of quantum metrology and some experimental progresses in quantum metrology with cold atoms. Firstly, we give the general framework of quantum metrology and the calculation of quantum Fisher information, which is the core of quantum parameter estimation. Then, we introduce the quantum interferometry with single and multiparticle states. In particular, for some typical multiparticle states, we analyze their ultimate precision limits and show how quantum entanglement could enhance the measurement precision beyond the standard quantum limit. Further, we review some experimental progresses in quantum metrology with cold atomic systems.Comment: 53 pages, 9 figures, revised versio