14,866 research outputs found
Phoenix-XNS - A Miniature Real-Time Navigation System for LEO Satellites
The paper describes the development of a miniature GPS receiver with integrated real-time navigation system for orbit determination of satellites in low Earth orbit (LEO). The Phoenix-XNS receiver is based on a commercial-off-the-shelf (COTS) single-frequency GPS receiver board that has been qualified for use in a moderate space environment. Its firmware is specifically designed for space applications and accounts for the high signal dynamics in the acquisition and tracking process. The supplementary eXtended Navigation System (XNS) employs an elaborate force model and a 24-state Kalman filter to provide a smooth and continuous reduced-dynamics navigation solution even in case of restricted GPS availability. Through the use of the GRAPHIC code-carrier combination, ionospheric path delays can be fully eliminated in the filter, which overcomes the main limitation of conventional single-frequency receivers. Tests conducted in a signal simulator test bed have demonstrated a filtered navigation solution accuracy of better than 1 m (3D rms)
A Novel Millimeter-Wave Channel Simulator and Applications for 5G Wireless Communications
This paper presents details and applications of a novel channel simulation
software named NYUSIM, which can be used to generate realistic temporal and
spatial channel responses to support realistic physical- and link-layer
simulations and design for fifth-generation (5G) cellular communications.
NYUSIM is built upon the statistical spatial channel model for broadband
millimeter-wave (mmWave) wireless communication systems developed by
researchers at New York University (NYU). The simulator is applicable for a
wide range of carrier frequencies (500 MHz to 100 GHz), radio frequency (RF)
bandwidths (0 to 800 MHz), antenna beamwidths (7 to 360 degrees for azimuth and
7 to 45 degrees for elevation), and operating scenarios (urban microcell, urban
macrocell, and rural macrocell), and also incorporates multiple-input
multiple-output (MIMO) antenna arrays at the transmitter and receiver. This
paper also provides examples to demonstrate how to use NYUSIM for analyzing
MIMO channel conditions and spectral efficiencies, which show that NYUSIM is an
alternative and more realistic channel model compared to the 3rd Generation
Partnership Project (3GPP) and other channel models for mmWave bands.Comment: 7 pages, 8 figures, in 2017 IEEE International Conference on
Communications (ICC), Paris, May 201
Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids
Real-life control tasks involve matters of various substances---rigid or soft
bodies, liquid, gas---each with distinct physical behaviors. This poses
challenges to traditional rigid-body physics engines. Particle-based simulators
have been developed to model the dynamics of these complex scenes; however,
relying on approximation techniques, their simulation often deviates from
real-world physics, especially in the long term. In this paper, we propose to
learn a particle-based simulator for complex control tasks. Combining learning
with particle-based systems brings in two major benefits: first, the learned
simulator, just like other particle-based systems, acts widely on objects of
different materials; second, the particle-based representation poses strong
inductive bias for learning: particles of the same type have the same dynamics
within. This enables the model to quickly adapt to new environments of unknown
dynamics within a few observations. We demonstrate robots achieving complex
manipulation tasks using the learned simulator, such as manipulating fluids and
deformable foam, with experiments both in simulation and in the real world. Our
study helps lay the foundation for robot learning of dynamic scenes with
particle-based representations.Comment: Accepted to ICLR 2019. Project Page: http://dpi.csail.mit.edu Video:
https://www.youtube.com/watch?v=FrPpP7aW3L
Application and Control Aware Communication Strategies for Transportation and Energy Cyber-Physical Systems
Cyber--Physical Systems (CPSs) are a generation of engineered systems in which computing, communication, and control components are tightly integrated. Some important application domains of CPS are transportation, energy, and medical systems. The dynamics of CPSs are complex, involving the stochastic nature of communication systems, discrete dynamics of computing systems, and continuous dynamics of control systems. The existence of communication between and among controllers of physical processes is one of the basic characteristics of CPSs. Under this situation, some fundamental questions are: 1) How does the network behavior (communication delay, packet loss, etc.) affect the stability of the system? 2) Under what conditions is a complex system stabilizable?;In cases where communication is a component of a control system, scalability of the system becomes a concern. Therefore, one of the first issues to consider is how information about a physical process should be communicated. For example, the timing for sampling and communication is one issue. The traditional approach is to sample the physical process periodically or at predetermined times. An alternative is to sample it when specific events occur. Event-based sampling requires continuous monitoring of the system to decide a sample needs to be communicated. The main contributions of this dissertation in energy cyber-physical system domain are designing and modeling of event-based (on-demand) communication mechanisms. We show that in the problem of tracking a dynamical system over a network, if message generation and communication have correlation with estimation error, the same performance as the periodic sampling and communication method can be reached using a significantly lower rate of data.;For more complex CPSs such as vehicle safety systems, additional considerations for the communication component are needed. Communication strategies that enable robust situational awareness are critical for the design of CPSs, in particular for transportation systems. In this dissertation, we utilize the recently introduced concept of model-based communication and propose a new communication strategy to address this need. Our approach to model behavior of remote vehicles mathematically is to describe the small-scale structure of the remote vehicle movement (e.g. braking, accelerating) by a set of dynamic models and represent the large-scale structure (e.g. free following, turning) by coupling these dynamic models together into a Markov chain. Assuming model-based communication approach, a novel stochastic model predictive method is proposed to achieve cruise control goals and investigate the effect of new methodology.;To evaluate the accuracy and robustness of a situational awareness methodology, it is essential to study the mutual effect of the components of a situational awareness subsystem, and their impact on the accuracy of situational awareness. The main components are estimation and networking processes. One possible approach in this task is to produce models that provide a clear view into the dynamics of these two components. These models should integrate continuous physical dynamics, expressed with ordinary differential equations, with the discrete behaviors of communication, expressed with finite automata or Markov chain. In this dissertation, a hybrid automata model is proposed to combine and model both networking and estimation components in a single framework and investigate their interactions.;In summary, contributions of this dissertation lie in designing and evaluating methods that utilize knowledge of the physical element of CPSs to optimize the behavior of communication subsystems. Employment of such methods yields significant overall system performance improvement without incurring additional communication deployment costs
Implementation and Evaluation of a Cooperative Vehicle-to-Pedestrian Safety Application
While the development of Vehicle-to-Vehicle (V2V) safety applications based
on Dedicated Short-Range Communications (DSRC) has been extensively undergoing
standardization for more than a decade, such applications are extremely missing
for Vulnerable Road Users (VRUs). Nonexistence of collaborative systems between
VRUs and vehicles was the main reason for this lack of attention. Recent
developments in Wi-Fi Direct and DSRC-enabled smartphones are changing this
perspective. Leveraging the existing V2V platforms, we propose a new framework
using a DSRC-enabled smartphone to extend safety benefits to VRUs. The
interoperability of applications between vehicles and portable DSRC enabled
devices is achieved through the SAE J2735 Personal Safety Message (PSM).
However, considering the fact that VRU movement dynamics, response times, and
crash scenarios are fundamentally different from vehicles, a specific framework
should be designed for VRU safety applications to study their performance. In
this article, we first propose an end-to-end Vehicle-to-Pedestrian (V2P)
framework to provide situational awareness and hazard detection based on the
most common and injury-prone crash scenarios. The details of our VRU safety
module, including target classification and collision detection algorithms, are
explained next. Furthermore, we propose and evaluate a mitigating solution for
congestion and power consumption issues in such systems. Finally, the whole
system is implemented and analyzed for realistic crash scenarios
End-to-End Simulation of 5G mmWave Networks
Due to its potential for multi-gigabit and low latency wireless links,
millimeter wave (mmWave) technology is expected to play a central role in 5th
generation cellular systems. While there has been considerable progress in
understanding the mmWave physical layer, innovations will be required at all
layers of the protocol stack, in both the access and the core network.
Discrete-event network simulation is essential for end-to-end, cross-layer
research and development. This paper provides a tutorial on a recently
developed full-stack mmWave module integrated into the widely used open-source
ns--3 simulator. The module includes a number of detailed statistical channel
models as well as the ability to incorporate real measurements or ray-tracing
data. The Physical (PHY) and Medium Access Control (MAC) layers are modular and
highly customizable, making it easy to integrate algorithms or compare
Orthogonal Frequency Division Multiplexing (OFDM) numerologies, for example.
The module is interfaced with the core network of the ns--3 Long Term Evolution
(LTE) module for full-stack simulations of end-to-end connectivity, and
advanced architectural features, such as dual-connectivity, are also available.
To facilitate the understanding of the module, and verify its correct
functioning, we provide several examples that show the performance of the
custom mmWave stack as well as custom congestion control algorithms designed
specifically for efficient utilization of the mmWave channel.Comment: 25 pages, 16 figures, submitted to IEEE Communications Surveys and
Tutorials (revised Jan. 2018
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