A survey on fractional order control techniques for unmanned aerial and ground vehicles

In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade

Digital Filters

The new technology advances provide that a great number of system signals can be easily measured with a low cost. The main problem is that usually only a fraction of the signal is useful for different purposes, for example maintenance, DVD-recorders, computers, electric/electronic circuits, econometric, optimization, etc. Digital filters are the most versatile, practical and effective methods for extracting the information necessary from the signal. They can be dynamic, so they can be automatically or manually adjusted to the external and internal conditions. Presented in this book are the most advanced digital filters including different case studies and the most relevant literature

Techniques to Improve the Efficiency of Data Transmission in Cable Networks

The cable television (CATV) networks, since their introduction in the late 1940s, have now become a crucial part of the broadcasting industry. To keep up with growing demands from the subscribers, cable networks nowadays not only provide television programs but also deliver two-way interactive services such as telephone, high-speed Internet and social TV features. A new standard for CATV networks is released every five to six years to satisfy the growing demands from the mass market. From this perspective, this thesis is concerned with three main aspects for the continuing development of cable networks: (i) efficient implementations of backward-compatibility functions from the old standard, (ii) addressing and providing solutions for technically-challenging issues in the current standard and, (iii) looking for prospective features that can be implemented in the future standard. Since 1997, five different versions of the digital CATV standard had been released in North America. A new standard often contains major improvements over the previous one. The latest version of the standard, namely DOCSIS 3.1 (released in late 2013), is packed with state-of-the-art technologies and allows approximately ten times the amount of traffic as compared to the previous standard, DOCSIS 3.0 (released in 2008). Backward-compatibility is a must-have function for cable networks. In particular, to facilitate the system migration from older standards to a newer one, the backward compatible functions in the old standards must remain in the newer-standard products. More importantly, to keep the implementation cost low, the inherited backward compatible functions must be redesigned by taking advantage of the latest technology and algorithms. To improve the backward-compatibility functions, the first contribution of the thesis focuses on redesigning the pulse shaping filter by exploiting infinite impulse response (IIR) filter structures as an alternative to the conventional finite impulse response (FIR) structures. Comprehensive comparisons show that more economical filters with better performance can be obtained by the proposed design algorithm, which considers a hybrid parameterization of the filter's transfer function in combination with a constraint on the pole radius to be less than 1. The second contribution of the thesis is a new fractional timing estimation algorithm based on peak detection by log-domain interpolation. When compared with the commonly-used timing detection method, which is based on parabolic interpolation, the proposed algorithm yields more accurate estimation with a comparable implementation cost. The third contribution of the thesis is a technique to estimate the multipath channel for DOCSIS 3.1 cable networks. DOCSIS 3.1 is markedly different from prior generations of CATV networks in that OFDM/OFDMA is employed to create a spectrally-efficient signal. In order to effectively demodulate such a signal, it is necessary to employ a demodulation circuit which involves estimation and tracking of the multipath channel. The estimation and tracking must be highly accurate because extremely dense constellations such as 4096-QAM and possibly 16384-QAM can be used in DOCSIS 3.1. The conventional OFDM channel estimators available in the literature either do not perform satisfactorily or are not suitable for the DOCSIS 3.1 channel. The novel channel estimation technique proposed in this thesis iteratively searches for parameters of the channel paths. The proposed technique not only substantially enhances the channel estimation accuracy, but also can, at no cost, accurately identify the delay of each echo in the system. The echo delay information is valuable for proactive maintenance of the network. The fourth contribution of this thesis is a novel scheme that allows OFDM transmission without the use of a cyclic prefix (CP). The structure of OFDM in the current DOCSIS 3.1 does not achieve the maximum throughput if the channel has multipath components. The multipath channel causes inter-symbol-interference (ISI), which is commonly mitigated by employing CP. The CP acts as a guard interval that, while successfully protecting the signal from ISI, reduces the transmission throughput. The problem becomes more severe for downstream direction, where the throughput of the entire system is determined by the user with the worst channel. To solve the problem, this thesis proposes major alterations to the current DOCSIS 3.1 OFDM/OFDMA structure. The alterations involve using a pair of Nyquist filters at the transceivers and an efficient time-domain equalizer (TEQ) at the receiver to reduce ISI down to a negligible level without the need of CP. Simulation results demonstrate that, by incorporating the proposed alterations to the DOCSIS 3.1 down-link channel, the system can achieve the maximum throughput over a wide range of multipath channel conditions

Digital Filters and Signal Processing

Digital filters, together with signal processing, are being employed in the new technologies and information systems, and are implemented in different areas and applications. Digital filters and signal processing are used with no costs and they can be adapted to different cases with great flexibility and reliability. This book presents advanced developments in digital filters and signal process methods covering different cases studies. They present the main essence of the subject, with the principal approaches to the most recent mathematical models that are being employed worldwide

Algorithms and Circuits for Analog-Digital Hybrid Multibeam Arrays

Fifth generation (5G) and beyond wireless communication systems will rely heavily on larger antenna arrays combined with beamforming to mitigate the high free-space path-loss that prevails in millimeter-wave (mmW) and above frequencies. Sharp beams that can support wide bandwidths are desired both at the transmitter and the receiver to leverage the glut of bandwidth available at these frequency bands. Further, multiple simultaneous sharp beams are imperative for such systems to exploit mmW/sub-THz wireless channels using multiple reflected paths simultaneously. Therefore, multibeam antenna arrays that can support wider bandwidths are a key enabler for 5G and beyond systems. In general, N-beam systems using N-element antenna arrays will involve circuit complexities of the order of N2. This dissertation investigates new analog, digital and hybrid low complexity multibeam beamforming algorithms and circuits for reducing the associated high size, weight, and power (SWaP) complexities in larger multibeam arrays. The research efforts on the digital beamforming aspect propose the use of a new class of discrete Fourier transform (DFT) approximations for multibeam generation to eliminate the need for digital multipliers in the beamforming circuitry. For this, 8-, 16- and 32-beam multiplierless multibeam algorithms have been proposed for uniform linear array applications. A 2.4 GHz 16-element array receiver setup and a 5.8 GHz 32-element array receiver system which use field programmable gate arrays (FPGAs) as digital backend have been built for real-time experimental verification of the digital multiplierless algorithms. The multiplierless algorithms have been experimentally verified by digitally measuring beams. It has been shown that the measured beams from the multiplierless algorithms are in good agreement with the exact counterpart algorithms. Analog realizations of the proposed approximate DFT transforms have also been investigated leading to low-complex, high bandwidth circuits in CMOS. Further, a novel approach for reducing the circuit complexity of analog true-time delay (TTD) N-beam beamforming networks using N-element arrays has been proposed for wideband squint-free operation. A sparse factorization of the N-beam delay Vandermonde beamforming matrix is used to reduce the total amount of TTD elements that are needed for obtaining N number of beams in a wideband array. The method has been verified using measured responses of CMOS all-pass filters (APFs). The wideband squint-free multibeam algorithm is also used to propose a new low-complexity hybrid beamforming architecture targeting future 5G mmW systems. Apart from that, the dissertation also explores multibeam beamforming architectures for uniform circular arrays (UCAs). An algorithm having N log N circuit complexity for simultaneous generation of N-beams in an N-element UCA is explored and verified