Mixed-Signal Neural Network Implementation with Programmable Neuron

This thesis introduces implementation of mixed-signal building blocks of an artificial neural network; namely the neuron and the synaptic multiplier. This thesis, also, investigates the nonlinear dynamic behavior of a single artificial neuron and presents a Distributed Arithmetic (DA)-based Finite Impulse Response (FIR) filter. All the introduced structures are designed and custom laid out

Linearization using Digital Predistortion of a High-Speed, Pulsed, Radio Frequency Power Amplifier for VHF Radar Depth-Sounder Systems

Depth-sounding radar systems provide the scientific data that are useful in modeling polar ice sheets and predicting sea-level rise. These radars are typically deployed on crewed aircraft; however, crewed missions over polar regions are difficult and dangerous. Thus, CReSIS is developing uninhabited aerial vehicles (UAVs) from which fine-resolution measurements can be made over vast areas. These fine-resolution measurements require highly linear power amplifiers (PAs) to create low range side-lobe levels. However, highly linear PAs are typically less efficient and require large and bulky heat sinks for heat dissipation, which increases the payload weight and decreases flight time. Furthermore, the linear FM chirp signal used for these radar systems creates Fresnel ripples and side-lobes will be generated when there are deviations from the ideal rectangular spectrum amplitude even with efficient windowing techniques, such as a Tukey window. Therefore, a 100 W, high-speed, pulsed, VHF power amplifier was developed and linearized using memoryless digital predistortion (DP) to obtain high linearity and high efficiency. The DP linearization decreased near-range side-lobe levels 11 dB from -46 dBc to -57 dBc, with a maximum reduction in the far-range side-lobe levels of 17 dB over the Tukey (transmit) and Blackmann2 (receive) windowing alone. The high-speed switching circuit reduced current consumption to 117 mA (or 3.28 W at +28 V) for a 10-us pulse at 1-kHz PRF

Novel Predistortion System for 4G/5G Small-Cell and Wideband Transmitters

To meet the growing demand for mobile data, various technologies are being introduced to wireless networks to increase system capacity. On one hand, large number of small-cell base stations are adopted to serve the reduced cell size; on the other hand, millimeter wave (mm-wave) systems with large antenna arrays that transmit ultra-wideband signals are expected in fifth generation (5G) networks. Power amplifiers (PAs), responsible for boosting the radio frequency (RF) signal power, are the most critical components in base station transmitters, and dominate the overall efficiency and linearity of the system. The design challenges to balance the contradictory requirements of efficiency and linearity of the PAs are usually addressed by linearization techniques, particularly the digital predistortion (DPD) system. However, existing DPD solutions face increasing difficulties keeping up with new developments in base station technologies. When considering sub-6 GHz small-cell base station transmitters, analog and RF predistortion techniques have recently received renewed attention due to their inherent low power nature. Their achievable linearization capacity is significantly limited, however, largely by their implementation complexity in realizing the needed predistortion models in analog circuitry. On the other hand, despite significant developments in DPD models for wideband signals, the implementations of such DPD models in practical hardware have received relatively little attention. Yet the conventional implementation of a DPD engine is limited by the maximum clock frequency of the digital circuitry employed and cannot be scaled to satisfy the growing bandwidth of transmitted signals for 5G networks. Furthermore, both analog and digital solutions require a transmitter-observation-receiver (TOR) to capture the PA outputs, necessitates the use of analog-to-digital converters (ADCs) whose complexity and power consumption increase with signal bandwidth. Such trend is not scalable for future base stations, and new innovations in feedback and training methods are required. This thesis presents a number of contributions to address the above identified challenges. To reduce the power overhead of the linearization system, a digitally-assisted analog-RF predistortion (DA-ARFPD) system that uses a novel predistortion model is introduced. The proposed finite-impulse-response assisted envelope memory polynomial (FIR-EMP) model allows for a reduction of hardware implementation complexity while maintaining good linearization capacity and low power overhead. A two-step small-signal-assisted parameter identification (SSAPI) algorithm is devised to estimate the parameters of the two main blocks of the FIR-EMP model, such that the training can be completed efficiently. A DA-ARFPD test bench has been built, which incorporates major RF components, to assess the validity of the proposed FIR-EMP scheme and the SSAPI algorithm. Measurement results show that the proposed FIR-EMP model with SSAPI algorithm can successfully linearize multiple PAs driven with various wideband and carrier-aggregated signals of up to 80~MHz modulation bandwidths for sub-6 GHz systems. Next, a hardware-efficient real-time DPD system with scalable linearization bandwidth for ultra-wideband 5G mm-wave transmitters is proposed. It uses a novel parallel-processing DPD engine architecture to process multiple samples per clock cycle, overcomes the linearization bandwidth limit imposed by the maximum clock rate of digital circuits used in conventional DPD implementation. Potentially unlimited linearization bandwidth could be achieved by using the proposed system with current digital circuit technologies. The linearization performance and bandwidth scalability of the proposed system is demonstrated experimentally using a silicon-based Doherty (DPA) with 400 MHz wideband signal operating at 28 GHz, and over-the-air measurements using a 64-element beamforming array with 800 MHz wideband signal, also at 28 GHz. The proposed DPD system achieves over 2.4 GHz linearization bandwidth using only a 300 MHz core clock for the digital circuits. Finally, to reduce the power consumption and cost of the TOR, a new approach to train the predistorter using under-sampled feedback signal is presented. Using aliased samples of the PA's output captured at either baseband or intermedia frequency (IF), the proposed algorithm is able to compute the coefficients of the predistortion engine to linearize the PA using a direct learning architecture. Experimentally, both the baseband and IF schemes achieve linearization performance comparable to a full-rate system. Implemented together with a parallel-processing based DPD engine on a field-programmable gate array (FPGA) based system-on-chip (SOC), the proposed feedback and training solution achieves over 2.4~GHz linearization bandwidth using an ADC operating at a clock rate of 200 MHz. Its performance is demonstrated experimentally by linearizing a silicon DPA with 200 MHz and 400 MHz signals in conductive measurements, and a 64-element beamforming array with 400 MHz and 800 MHz signals in over-the-air testing

High-Speed Vision and Force Feedback for Motion-Controlled Industrial Manipulators

Over the last decades, both force sensors and cameras have emerged as useful sensors for different applications in robotics. This thesis considers a number of dynamic visual tracking and control problems, as well as the integration of these techniques with contact force control. Different topics ranging from basic theory to system implementation and applications are treated. A new interface developed for external sensor control is presented, designed by making non-intrusive extensions to a standard industrial robot control system. The structure of these extensions are presented, the system properties are modeled and experimentally verified, and results from force-controlled stub grinding and deburring experiments are presented. A novel system for force-controlled drilling using a standard industrial robot is also demonstrated. The solution is based on the use of force feedback to control the contact forces and the sliding motions of the pressure foot, which would otherwise occur during the drilling phase. Basic methods for feature-based tracking and servoing are presented, together with an extension for constrained motion estimation based on a dual quaternion pose parametrization. A method for multi-camera real-time rigid body tracking with time constraints is also presented, based on an optimal selection of the measured features. The developed tracking methods are used as the basis for two different approaches to vision/force control, which are illustrated in experiments. Intensity-based techniques for tracking and vision-based control are also developed. A dynamic visual tracking technique based directly on the image intensity measurements is presented, together with new stability-based methods suitable for dynamic tracking and feedback problems. The stability-based methods outperform the previous methods in many situations, as shown in simulations and experiments

A high-accuracy optical linear algebra processor for finite element applications

Optical linear processors are computationally efficient computers for solving matrix-matrix and matrix-vector oriented problems. Optical system errors limit their dynamic range to 30-40 dB, which limits their accuray to 9-12 bits. Large problems, such as the finite element problem in structural mechanics (with tens or hundreds of thousands of variables) which can exploit the speed of optical processors, require the 32 bit accuracy obtainable from digital machines. To obtain this required 32 bit accuracy with an optical processor, the data can be digitally encoded, thereby reducing the dynamic range requirements of the optical system (i.e., decreasing the effect of optical errors on the data) while providing increased accuracy. This report describes a new digitally encoded optical linear algebra processor architecture for solving finite element and banded matrix-vector problems. A linear static plate bending case study is described which quantities the processor requirements. Multiplication by digital convolution is explained, and the digitally encoded optical processor architecture is advanced

Control of an over-actuated nanopositioning system by means of control allocation

This Master’s Thesis is devoted to the analysis and design of a control structure for the nanopositioning system LAU based on the dynamic control allocation technique. The objective is to control the vertical displacement with nanometer precision under a control effort distribution criterion among the actuator set. In this case, the pneumatic actuator is used as a passive gravity compensator while the voice coil motor generates the transient forces. The analysis of the system characteristics allows defining the design criterion for the control allocation. In this direction, the proposed dynamic control allocation stage considers a frequency distribution of the control effort. The lower frequency components are assigned to the pneumatic actuator while the higher frequencies are handled by the voice coil drive. The significant actuator dynamics are compensated through a Kalman filter approach. The position controller is based on a feedback linearization framework with a disturbance observer for enhanced robustness. The experimental validation demonstrates the feasibility of the proposed technique.Diese Masterarbeit widmet sich der Analyse und dem Entwurf einer Regelungsstruktur für das Nanopositioniersystem LAU. Dabei werden Methoden untersucht, welche das notwendige Stellsignal auf zwei Aktoren aufteilen. Ziel ist es, die vertikale Verschiebung des LAU mit Nanometerpräzision zu regeln. In diesem Fall wird der pneumatische Aktor als passiver Schwerkraftkompensator verwendet, während die elktromagnetische Tauchspule die transienten Kräfte erzeugt. Die Analyse der Eigenschaften des LAUSystems ermöglicht die Definition der Entwurfskriterien zur Aufteilung der Stellgröße. In dieser Richtung berücksichtigt die vorgeschlagene dynamische Methode eine Aufteilung der Stellgröße bezüglich der Frequenzanteile. Die niederfrequenten Komponenten werden dem pneumatischen Aktor zugeordnet. Dem elektromagnetische Aktor werden die verbliebenen hochfrequenten Anteile zugeordnet. Die signifikanten Effekte der Aktordynamik in Bezug auf die Bewegungsdynamik werden durch einen Kalman- Filteransatz kompensiert. Nichtlineare Streckenanteile werden basierend auf dem Modell und einem Störbeobachter kompensiert, sodass der verbleibende Anteil des Positionsreglers mit linearen Methoden entworfen werden kann. Die experimentelle Validierung zeigt die Effektivität des untersuchten Konzeptes.Tesi

Approximate Nonlinear Regulation via Identification-Based Adaptive Internal Models

This article concerns the problem of adaptive output regulation for multivariable nonlinear systems in normal form. We present a regulator employing an adaptive internal model of the exogenous signals based on the theory of nonlinear Luenberger observers. Adaptation is performed by means of discrete-time system identification schemes, in which every algorithm fulfilling some optimality and stability conditions can be used. Practical and approximate regulation results are given relating the prediction capabilities of the identified model to the asymptotic bound on the regulated variables, which become asymptotic whenever a “right” internal model exists in the identifier's model set. The proposed approach, moreover, does not require “high-gain” stabilization actions