Mobile Formation Coordination and Tracking Control for Multiple Non-holonomic Vehicles

This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles' position information and desired attitude, the translational and rotational control inputs are designed in two stages to solve the trajectory tracking problem. Secondly, the coordination relationships of relative positions and headings are explored thoroughly for a group of non-holonomic vehicles to maintain a mobile formation with rigid body motion constraints. We prove that, except for the cases of parallel formation and translational straight line formation, a mobile formation with strict rigid-body motion can be achieved if and only if the ratios of linear speed to angular speed for each individual vehicle are constants. Motion properties for mobile formation with weak rigid-body motion are also demonstrated. Thereafter, based on the proposed trajectory tracking approach, a distributed mobile formation control law is designed under a directed tree graph. The performance of the proposed controllers is validated by both numerical simulations and experiments

A BP-MF-EP Based Iterative Receiver for Joint Phase Noise Estimation, Equalization and Decoding

In this work, with combined belief propagation (BP), mean field (MF) and expectation propagation (EP), an iterative receiver is designed for joint phase noise (PN) estimation, equalization and decoding in a coded communication system. The presence of the PN results in a nonlinear observation model. Conventionally, the nonlinear model is directly linearized by using the first-order Taylor approximation, e.g., in the state-of-the-art soft-input extended Kalman smoothing approach (soft-in EKS). In this work, MF is used to handle the factor due to the nonlinear model, and a second-order Taylor approximation is used to achieve Gaussian approximation to the MF messages, which is crucial to the low-complexity implementation of the receiver with BP and EP. It turns out that our approximation is more effective than the direct linearization in the soft-in EKS with similar complexity, leading to significant performance improvement as demonstrated by simulation results.Comment: 5 pages, 3 figures, Resubmitted to IEEE Signal Processing Letter

Identification of Novel Cancer-Related Genes with a Prognostic Role Using Gene Expression and Protein-Protein Interaction Network Data

Early cancer diagnosis and prognosis prediction are necessary for cancer patients. Effective identification of cancer-related genes and biomarkers and survival prediction for cancer patients would facilitate personalized treatment of cancer patients. This study aimed to investigate a method for integrating data regarding gene expression and protein-protein interaction networks to identify cancer-related prognostic genes via random walk with restart algorithm and survival analysis. Known cancer-related genes in protein-protein interaction networks were considered seed genes, and the random walk algorithm was used to identify candidate cancer-related genes. Thereafter, using the univariant Cox regression model, gene expression data were screened to identify survival-related genes. Furthermore, candidate genes and survival-related genes were screened to identify cancer-related prognostic genes. Finally, the effectiveness of the method was verified through gene function analysis and survival prediction. The results indicate that the cancer-related genes can be considered prognostic cancer biomarkers and provide a basis for cancer diagnosis

Turbo-Equalization Using Partial Gaussian Approximation

This paper deals with turbo-equalization for coded data transmission over intersymbol interference (ISI) channels. We propose a message-passing algorithm that uses the expectation-propagation rule to convert messages passed from the demodulator-decoder to the equalizer and computes messages returned by the equalizer by using a partial Gaussian approximation (PGA). Results from Monte Carlo simulations show that this approach leads to a significant performance improvement compared to state-of-the-art turbo-equalizers and allows for trading performance with complexity. We exploit the specific structure of the ISI channel model to significantly reduce the complexity of the PGA compared to that considered in the initial paper proposing the method.Comment: 5 pages, 2 figures, submitted to IEEE Signal Processing Letters on 8 March, 201