Unary Coding Controlled Simultaneous Wireless Information and Power Transfer

Radio frequency (RF) signals have been relied upon for both wireless information delivery and wireless charging to the massively deployed low-power Internet of Things (IoT) devices. Extensive efforts have been invested in physical layer and medium-access-control layer design for coordinating simultaneous wireless information and power transfer (SWIPT) in RF bands. Different from the existing works, we study the coding controlled SWIPT from the information theoretical perspective with practical transceiver. Due to its practical decoding implementation and its flexibility on the codeword structure, unary code is chosen for joint information and energy encoding. Wireless power transfer (WPT) performance in terms of energy harvested per binary sign and of battery overflow/underflow probability is maximised by optimising the codeword distribution of coded information source, while satisfying required wireless information transfer (WIT) performance in terms of mutual information. Furthermore, a Genetic Algorithm (GA) aided coding design is proposed to reduce the computational complexity. Numerical results characterise the SWIPT performance and validate the optimality of our proposed GA aided unary coding design

Performance Analysis of the Unary Coding Aided SWIPT in a Single-User Z-Channel

Radio frequency (RF) signal based simultaneous wireless information and power transfer (SWIPT) has emerged as a promising technique for satisfying both the communication and charging requests of the massively deployed IoT devices. Different from the physical layer and the medium-access-control layer design for coordinating the SWIPT in the RF band, we study its coding-level control from the information theoretical perspective. Due to its practical implementation of the decoder and its flexibility on the codeword structure, the unary code is chosen as a potential joint information and energy encoder. By conceiving the classic Z-channel, the mutual information and the energy harvesting performance of the unary coding aided SWIPT transceiver is analysed. Furthermore, the optimal codeword distribution is obtained for maximising the mutual information, while satisfying the minimum energy harvesting requirement. Our theoretical analysis and the optimal coding design are demonstrated by the numerical results

Unary Coding Design for Simultaneous Wireless Information and Power Transfer with Practical M-QAM

Relying on the propagation of modulated radio-frequency (RF) signals, we can achieve simultaneous wireless information and power transfer (SWIPT) to support low-power communication devices. In this paper, we proposed a unary coding based SWIPT encoder by considering a practical M-QAM. Markov chains are exploited for characterising coherent binary information source and for modelling the generation process of modulated symbols. Therefore, both mutual information and the average energy harvesting performance at the SWIPT receiver are analysed in semi-closed-form. With the aid of the genetic algorithm, the sub-optimal codeword distribution of the coded information source is obtained by maximising the average energy harvesting performance, while satisfying the requirement of the mutual information. Simulation results demonstrate the advantage of the SWIPT encoder. Moreover, a higher-level unary code and a lower-order M-QAM results in higher WPT performance, when the maximum transmit power of the modulated symbol is fixed

Unary Coding Design for Simultaneous Wireless Information and Power Transfer With Practical M-QAM

Relying on the propagation of modulated radio-frequency (RF) signals, we can achieve simultaneous wireless information and power transfer (SWIPT) to support low-power communication devices. In this paper, we proposed a unary coding based SWIPT encoder by considering a practical M-QAM. Markov chains are exploited for characterising coherent binary information source and for modelling the generation process of modulated symbols. Therefore, both mutual information and the average energy harvesting performance at the SWIPT receiver are analysed in semi-closed-form. With the aid of the genetic algorithm, the sub-optimal codeword distribution of the coded information source is obtained by maximising the average energy harvesting performance, while satisfying the requirement of the mutual information. Simulation results demonstrate the advantage of the SWIPT encoder. Moreover, a higher-level unary code and a lower-order M-QAM results in higher WPT performance, when the maximum transmit power of the modulated symbol is fixed

Efficient human-machine control with asymmetric marginal reliability input devices

Input devices such as motor-imagery brain-computer interfaces (BCIs) are often unreliable. In theory, channel coding can be used in the human-machine loop to robustly encapsulate intention through noisy input devices but standard feedforward error correction codes cannot be practically applied. We present a practical and general probabilistic user interface for binary input devices with very high noise levels. Our approach allows any level of robustness to be achieved, regardless of noise level, where reliable feedback such as a visual display is available. In particular, we show efficient zooming interfaces based on feedback channel codes for two-class binary problems with noise levels characteristic of modalities such as motor-imagery based BCI, with accuracy <75%. We outline general principles based on separating channel, line and source coding in human-machine loop design. We develop a novel selection mechanism which can achieve arbitrarily reliable selection with a noisy two-state button. We show automatic online adaptation to changing channel statistics, and operation without precise calibration of error rates. A range of visualisations are used to construct user interfaces which implicitly code for these channels in a way that it is transparent to users. We validate our approach with a set of Monte Carlo simulations, and empirical results from a human-in-the-loop experiment showing the approach operates effectively at 50-70% of the theoretical optimum across a range of channel conditions

A treatment of stereochemistry in computer aided organic synthesis

This thesis describes the author’s contributions to a new stereochemical processing module constructed for the ARChem retrosynthesis program. The purpose of the module is to add the ability to perform enantioselective and diastereoselective retrosynthetic disconnections and generate appropriate precursor molecules. The module uses evidence based rules generated from a large database of literature reactions. Chapter 1 provides an introduction and critical review of the published body of work for computer aided synthesis design. The role of computer perception of key structural features (rings, functions groups etc.) and the construction and use of reaction transforms for generating precursors is discussed. Emphasis is also given to the application of strategies in retrosynthetic analysis. The availability of large reaction databases has enabled a new generation of retrosynthesis design programs to be developed that use automatically generated transforms assembled from published reactions. A brief description of the transform generation method employed by ARChem is given. Chapter 2 describes the algorithms devised by the author for handling the computer recognition and representation of the stereochemical features found in molecule and reaction scheme diagrams. The approach is generalised and uses flexible recognition patterns to transform information found in chemical diagrams into concise stereo descriptors for computer processing. An algorithm for efficiently comparing and classifying pairs of stereo descriptors is described. This algorithm is central for solving the stereochemical constraints in a variety of substructure matching problems addressed in chapter 3. The concise representation of reactions and transform rules as hyperstructure graphs is described. Chapter 3 is concerned with the efficient and reliable detection of stereochemical symmetry in both molecules, reactions and rules. A novel symmetry perception algorithm, based on a constraints satisfaction problem (CSP) solver, is described. The use of a CSP solver to implement an isomorph‐free matching algorithm for stereochemical substructure matching is detailed. The prime function of this algorithm is to seek out unique retron locations in target molecules and then to generate precursor molecules without duplications due to symmetry. Novel algorithms for classifying asymmetric, pseudo‐asymmetric and symmetric stereocentres; meso, centro, and C2 symmetric molecules; and the stereotopicity of trigonal (sp2) centres are described. Chapter 4 introduces and formalises the annotated structural language used to create both retrosynthetic rules and the patterns used for functional group recognition. A novel functional group recognition package is described along with its use to detect important electronic features such as electron‐withdrawing or donating groups and leaving groups. The functional groups and electronic features are used as constraints in retron rules to improve transform relevance. Chapter 5 details the approach taken to design detailed stereoselective and substrate controlled transforms from organised hierarchies of rules. The rules employ a rich set of constraints annotations that concisely describe the keying retrons. The application of the transforms for collating evidence based scoring parameters from published reaction examples is described. A survey of available reaction databases and the techniques for mining stereoselective reactions is demonstrated. A data mining tool was developed for finding the best reputable stereoselective reaction types for coding as transforms. For various reasons it was not possible during the research period to fully integrate this work with the ARChem program. Instead, Chapter 6 introduces a novel one‐step retrosynthesis module to test the developed transforms. The retrosynthesis algorithms use the organisation of the transform rule hierarchy to efficiently locate the best retron matches using all applicable stereoselective transforms. This module was tested using a small set of selected target molecules and the generated routes were ranked using a series of measured parameters including: stereocentre clearance and bond cleavage; example reputation; estimated stereoselectivity with reliability; and evidence of tolerated functional groups. In addition a method for detecting regioselectivity issues is presented. This work presents a number of algorithms using common set and graph theory operations and notations. Appendix A lists the set theory symbols and meanings. Appendix B summarises and defines the common graph theory terminology used throughout this thesis

Gaussian belief propagation for real-time decentralised inference

For embodied agents to interact intelligently with their surroundings, they require perception systems that construct persistent 3D representations of their environments. These representations must be rich; capturing 3D geometry, semantics, physical properties, affordances and much more. Constructing the environment representation from sensory observations is done via Bayesian probabilistic inference and in practical systems, inference must take place within the power, compactness and simplicity constraints of real products. Efficient inference within these constraints however remains computationally challenging and current systems often require heavy computational resources while delivering a fraction of the desired capabilities. Decentralised algorithms based on local message passing with in-place processing and storage offer a promising solution to current inference bottlenecks. They are well suited to take advantage of recent rapid developments in distributed asynchronous processing hardware to achieve efficient, scalable and low-power performance. In this thesis, we argue for Gaussian belief propagation (GBP) as a strong algorithmic framework for distributed, generic and incremental probabilistic estimation. GBP operates by passing messages between the nodes on a factor graph and can converge with arbitrary asynchronous message schedules. We envisage the factor graph being the fundamental master environment representation, and GBP the flexible inference tool to compute local in-place probabilistic estimates. In large real-time systems, GBP will act as the `glue' between specialised modules, with attention based processing bringing about local convergence in the graph in a just-in-time manner. This thesis contains several technical and theoretical contributions in the application of GBP to practical real-time inference problems in vision and robotics. Additionally, we implement GBP on novel graph processor hardware and demonstrate breakthrough speeds for bundle adjustment problems. Lastly, we present a prototype system for incrementally creating hierarchical abstract scene graphs by combining neural networks and probabilistic inference via GBP.Open Acces

Robust Localization in 3D Prior Maps for Autonomous Driving.

In order to navigate autonomously, many self-driving vehicles require precise localization within an a priori known map that is annotated with exact lane locations, traffic signs, and additional metadata that govern the rules of the road. This approach transforms the extremely difficult and unpredictable task of online perception into a more structured localization problem—where exact localization in these maps provides the autonomous agent a wealth of knowledge for safe navigation. This thesis presents several novel localization algorithms that leverage a high-fidelity three-dimensional (3D) prior map that together provide a robust and reliable framework for vehicle localization. First, we present a generic probabilistic method for localizing an autonomous vehicle equipped with a 3D light detection and ranging (LIDAR) scanner. This proposed algorithm models the world as a mixture of several Gaussians, characterizing the z-height and reflectivity distribution of the environment—which we rasterize to facilitate fast and exact multiresolution inference. Second, we propose a visual localization strategy that replaces the expensive 3D LIDAR scanners with significantly cheaper, commodity cameras. In doing so, we exploit a graphics processing unit to generate synthetic views of our belief environment, resulting in a localization solution that achieves a similar order of magnitude error rate with a sensor that is several orders of magnitude cheaper. Finally, we propose a visual obstacle detection algorithm that leverages knowledge of our high-fidelity prior maps in its obstacle prediction model. This not only provides obstacle awareness at high rates for vehicle navigation, but also improves our visual localization quality as we are cognizant of static and non-static regions of the environment. All of these proposed algorithms are demonstrated to be real-time solutions for our self-driving car.PhDComputer Science and EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/133410/1/rwolcott_1.pd

A STUDY OF MACHINE VISION IN THE AUTOMOTIVE INDUSTRY

With the growth of industrial automation, it has become increasingly important to validate the quality of every manufactured part during production. Until now, human visual inspection aided with hard tooling or machines have been the primary means to this end, but the speed of today's production lines, the complexity of production equipment and the highest standards of quality to which parts must adhere frequently, make the traditional methods of industrial inspection and control impractical, if not impossible. Subsequently, new solutions have been developed for the monitoring and control of industrial processes, in real­time. One such technology is the area of machine vision. After many years of research and development, computerised vision systems are now leaving the laboratory and are being used successfully in the factory environment. They are both robust and competitively priced as a sensing technique which has now opened up a whole new sector for automation. Machine vision systems are becoming an important integral part of the automotive manufacturing process, with applications ranging from inspection, classification, robot guidance, assembly verification through to process monitoring and control. Although the number of systems in current use is still relatively small, there can be no doubt, given the issues at stake, that the automotive industry will once again lead the way with the implementation of machine vision just as it has done robotic technology. The thesis considered the issue of machine vision and in particular, its deployment within the automotive industry. The thesis has presented work on machine vision for the prospective end-user and not the designer of such systems. It will provide sufficient background about the subject, to separate machine vision promises from reality and permit intelligent decisions regarding machine vision applications to be made. The initial part of the dissertation focussed on the strategic issues affecting the selection of machine vision at the planning stage, such as a listing of the factors to justify investment, the capability of the technology and type of problems that are associated with this relatively new but complex science. Though it is widely accepted that no two industrial machine vision systems are identical, knowledge of the basic fundamentals which underpin the structure of the technology in its application is presented. This work covered a structured description detailing typical hardware components such as camera technology, lighting systems, etc... which form an integral part of an industrial system and discussions regarding the criteria for selection are presented. To complement this work, a further section is specifically devoted to the bewildering array of vision software analysis techniques which are currently available today. A detailed description of the various techniques that are applied to images in order to make use of and understand the data contained within them are discussed and explored. Applications for machine vision fall into two main categories namely robotic guidance and inspection. Obviously within each category there are many further sub­groups. Within this context the latter part of the thesis reviews with a well structured description of several industrial case studies derived from the automotive industry, which illustrate that machine vision is capable of providing real time solutions to manufacturing based problems. In conclusion, despite the limited availability of industrially based machine vision systems, the success of implementation is not always guaranteed, as the technology imposes both technical limitations and introduce new human engineering considerations. By understanding the application and the implications of the technical requirements on both the "staging" and the "image-processing" power required of the machine vision system. The thesis has shown that the most significant elements of a successful application are indeed the lighting, optics, component design, etc... - the "Staging". From the case studies investigated, optimised "staging" has resulted in the need for less computing power in the machine vision system. Inevitably, greater computing power not only requires more time but is generally more expensive. The experience gained from the this project, has demonstrated that machine vision technology is a realistic alternative means of capturing data in real-time. Since the current limitations of the technology are well suited to the delivery process of the quality function within the manufacturing process