Blind adaptive constrained reduced-rank parameter estimation based on constant modulus design for CDMA interference suppression

This paper proposes a multistage decomposition for blind adaptive parameter estimation in the Krylov subspace with the code-constrained constant modulus (CCM) design criterion. Based on constrained optimization of the constant modulus cost function and utilizing the Lanczos algorithm and Arnoldi-like iterations, a multistage decomposition is developed for blind parameter estimation. A family of computationally efficient blind adaptive reduced-rank stochastic gradient (SG) and recursive least squares (RLS) type algorithms along with an automatic rank selection procedure are also devised and evaluated against existing methods. An analysis of the convergence properties of the method is carried out and convergence conditions for the reduced-rank adaptive algorithms are established. Simulation results consider the application of the proposed techniques to the suppression of multiaccess and intersymbol interference in DS-CDMA systems

Experiments in Neural-Network Control of a Free-Flying Space Robot

Four important generic issues are identified and addressed in some depth in this thesis as part of the development of an adaptive neural network based control system for an experimental free flying space robot prototype. The first issue concerns the importance of true system level design of the control system. A new hybrid strategy is developed here, in depth, for the beneficial integration of neural networks into the total control system. A second important issue in neural network control concerns incorporating a priori knowledge into the neural network. In many applications, it is possible to get a reasonably accurate controller using conventional means. If this prior information is used purposefully to provide a starting point for the optimizing capabilities of the neural network, it can provide much faster initial learning. In a step towards addressing this issue, a new generic Fully Connected Architecture (FCA) is developed for use with backpropagation. A third issue is that neural networks are commonly trained using a gradient based optimization method such as backpropagation; but many real world systems have Discrete Valued Functions (DVFs) that do not permit gradient based optimization. One example is the on-off thrusters that are common on spacecraft. A new technique is developed here that now extends backpropagation learning for use with DVFs. The fourth issue is that the speed of adaptation is often a limiting factor in the implementation of a neural network control system. This issue has been strongly resolved in the research by drawing on the above new contributions

Linear MMSE Receivers for Interference Suppression & Multipath Diversity Combining in Long-Code DS-CDMA Systems

This thesis studies the design and implementation of a linear minimum mean-square error (LMMSE) receiver in asynchronous bandlimited direct-sequence code-division multiple-access (DS-CDMA) systems that employ long-code pseudo-noise (PN) sequences and operate in multipath environments. The receiver is shown to be capable of multiple-access interference (MAI) suppression and multipath diversity combining without the knowledge of other users' signature sequences. It outperforms any other linear receiver by maximizing output signal-to-noise ratio (SNR) with the aid of a new chip filter which exploits the cyclostationarity of the received signal and combines all paths of the desired user that fall within its supported time span. This work is motivated by the shortcomings of existing LMMSE receivers which are either incompatible with long-code CDMA or constrained by limitations in the system model. The design methodology is based on the concept of linear/conjugate linear (LCL) filtering and satisfying the orthogonality conditions to achieve the LMMSE filter response. Moreover, the proposed LMMSE receiver addresses two drawbacks of the coherent Rake receiver, the industry's current solution for multipath reception. First, unlike the Rake receiver which uses the chip-matched filter (CMF) and treats interference as additive white Gaussian noise (AWGN), the LMMSE receiver suppresses interference by replacing the CMF with a new chip pulse filter. Second, in contrast to the Rake receiver which only processes a subset of strongest paths of the desired user, the LMMSE receiver harnesses the energy of all paths of the desired user that fall within its time support, at no additional complexity. The performance of the proposed LMMSE receiver is analyzed and compared with that of the coherent Rake receiver with probability of bit error, Pe, as the figure of merit. The analysis is based on the accurate improved Gaussian approximation (IGA) technique. Closed form conditional Pe expressions for both the LMMSE and Rake receivers are derived. Furthermore, it is shown that if quadriphase random spreading, moderate to large spreading factors, and pulses with small excess bandwidth are used, the widely-used standard Gaussian Approximation (SGA) technique becomes accurate even for low regions of Pe. Under the examined scenarios tailored towards current narrowband system settings, the LMMSE receiver achieves 60% gain in capacity (1. 8 dB in output SNR) over the selective Rake receiver. A third of the gain is due to interference suppression capability of the receiver while the rest is credited to its ability to collect the energy of the desired user diversified to many paths. Future wideband systems will yield an ever larger gain. Adaptive implementations of the LMMSE receiver are proposed to rid the receiver from dependence on the knowledge of multipath parameters. The adaptive receiver is based on a fractionally-spaced equalizer (FSE) whose taps are updated by an adaptive algorithm. Training-based, pilot-channel-aided (PCA), and blind algorithms are developed to make the receiver applicable to both forward and reverse links, with or without the presence of pilot signals. The blind algorithms are modified versions of the constant modulus algorithm (CMA) which has not been previously studied for long-code CDMA systems. Extensive simulation results are presented to illustrate the convergence behavior of the proposed algorithms and quantify their performance loss under various levels of MAI. Computational complexities of the algorithms are also discussed. These three criteria (performance loss, convergence rate, and computational complexity) determine the proper choice of an adaptive algorithm with respect to the requirements of the specific application in mind

Utilising Local Model Neural Network Jacobian Information in Neurocontrol

Student Number : 8315331 - MSc dissertation - School of Electrical and Information Engineering - Faculty of Engineering and the Built EnvironmentIn this dissertation an efficient algorithm to calculate the differential of the network output with respect to its inputs is derived for axis orthogonal Local Model (LMN) and Radial Basis Function (RBF) Networks. A new recursive Singular Value Decomposition (SVD) adaptation algorithm, which attempts to circumvent many of the problems found in existing recursive adaptation algorithms, is also derived. Code listings and simulations are presented to demonstrate how the algorithms may be used in on-line adaptive neurocontrol systems. Specifically, the control techniques known as series inverse neural control and instantaneous linearization are highlighted. The presented material illustrates how the approach enhances the flexibility of LMN networks making them suitable for use in both direct and indirect adaptive control methods. By incorporating this ability into LMN networks an important characteristic of Multi Layer Perceptron (MLP) networks is obtained whilst retaining the desirable properties of the RBF and LMN approach

Topics in Programming Languages, a Philosophical Analysis through the case of Prolog

[EN]Programming languages seldom find proper anchorage in philosophy of logic, language and science. is more, philosophy of language seems to be restricted to natural languages and linguistics, and even philosophy of logic is rarely framed into programming languages topics. The logic programming paradigm and Prolog are, thus, the most adequate paradigm and programming language to work on this subject, combining natural language processing and linguistics, logic programming and constriction methodology on both algorithms and procedures, on an overall philosophizing declarative status. Not only this, but the dimension of the Fifth Generation Computer system related to strong Al wherein Prolog took a major role. and its historical frame in the very crucial dialectic between procedural and declarative paradigms, structuralist and empiricist biases, serves, in exemplar form, to treat straight ahead philosophy of logic, language and science in the contemporaneous age as well. In recounting Prolog's philosophical, mechanical and algorithmic harbingers, the opportunity is open to various routes. We herein shall exemplify some: - the mechanical-computational background explored by Pascal, Leibniz, Boole, Jacquard, Babbage, Konrad Zuse, until reaching to the ACE (Alan Turing) and EDVAC (von Neumann), offering the backbone in computer architecture, and the work of Turing, Church, Gödel, Kleene, von Neumann, Shannon, and others on computability, in parallel lines, throughly studied in detail, permit us to interpret ahead the evolving realm of programming languages. The proper line from lambda-calculus, to the Algol-family, the declarative and procedural split with the C language and Prolog, and the ensuing branching and programming languages explosion and further delimitation, are thereupon inspected as to relate them with the proper syntax, semantics and philosophical élan of logic programming and Prolog

Design and Electronic Implementation of Machine Learning-based Advanced Driving Assistance Systems

200 p.Esta tesis tiene como objetivo contribuir al desarrollo y perfeccionamiento de sistemas avanzados a la conducción (ADAS). Para ello, basándose en bases de datos de conducción real, se exploran las posibilidades de personalización de los ADAS existentes mediante técnicas de machine learning, tales como las redes neuronales o los sistemas neuro-borrosos. Así, se obtienen parámetros característicos del estilo cada conductor que ayudan a llevar a cabo una personalización automatizada de los ADAS que equipe el vehículo, como puede ser el control de crucero adaptativo. Por otro lado, basándose en esos mismos parámetros de estilo de conducción, se proponen nuevos ADAS que asesoren a los conductores para modificar su estilo de conducción, con el objetivo de mejorar tanto el consumo de combustible y la emisión de gases de efecto invernadero, como el confort de marcha. Además, dado que esta personalización tiene como objetivo que los sistemas automatizados imiten en cierta manera, y siempre dentro de parámetros seguros, el estilo del conductor humano, se espera que contribuya a incrementar la aceptación de estos sistemas, animando a la utilización y, por tanto, contribuyendo positivamente a la mejora de la seguridad, de la eficiencia energética y del confort de marcha. Además, estos sistemas deben ejecutarse en una plataforma que sea apta para ser embarcada en el automóvil, y, por ello, se exploran las posibilidades de implementación HW/SW en dispositivos reconfigurables tipo FPGA. Así, se desarrollan soluciones HW/SW que implementan los ADAS propuestos en este trabajo con un alto grado de exactitud, rendimiento, y en tiempo real

Fundamentals of Java Programming

This book was born from the desire of having an introductory Java programming textbook whose contents can be covered in one semester. The book was written with two types of audience in mind: those who intend to major in computer science and those who want to get a glimpse of computer programming. The book does not cover graphical user interfaces or the materials that are taught in a data structure course. The book very quickly surveys the Java Collection Framework and the generics in the penultimate chapter. The book also covers the concepts of online and recursive algorithms in the last chapter. The instructors who choose to use this textbook are free to skip these chapters if there is no sufficient time. Except for the code examples that receive parameters from the command line, the code examples can be compiled and run in a command-line environment as well as in IDEs. To execute those code examples in an IDE, the user must follow the step of provide args before execution. The code examples appearing in the book have very few comments, since the actions of the code are explained in the prose. The code examples with extensive comments are available for the publisher. There are PDF lecture slides accompanying the book. They are prepared using the Beamer environment of LATEX. The source codes of the lecture slides may be available through the publisher