Distortion analysis of nonlinear circuits is very important for designing analog integrated circuits and communication systems. In this letter, we propose an efficient frequency-domain approach for calculating frequency response curves, which is based on HB (harmonic balance) method combining with ABMs (Analog Behavior Models) of Spice. Firstly, nonlinear devices such as bipolar transistors and MOSFETs are transformed into the HB device modules executing the Fourier transformations. Using these modules, the determining equation of the HB method is formed by the equivalent sine-cosine circuit in the schematic form or net-list. It consists of the coupled resistive circuits, so that it can be efficiently solved by the DC analysis of Spice. In our algorithm, we need not to derive any troublesome circuit equations, and any kinds of the transformations.

An even harmonic quadrature mixer (EH-QMIX) with a balanced configuration is proposed for a direct conversion receiver. The unit even harmonic mixer (EHMIX) used for I/Q paths consists of two anti parallel diode pairs (APDPs) and a pair of diplexers. When the second harmonic of LO (2LO) from the LO section is applied to the LO port as a spurious component, a conventional single-ended EHMIX using APDP converts the 2LO leakage from the LO section into the baseband and the d.c. offset and the self-detected LO noise arise at the baseband degrade the sensitivity. This proposed balanced EHMIX configuration can cancel out the 2LO leakage in itself. Therefore, the d.c. offset and the LO noise are significantly suppressed and the degradation of the sensitivity can be avoided. The suppression characteristic of the d.c. offset and the LO noise are verified by the simulation and the measurements. By using this balanced configuration, the fabricated EH-QMIX achieves wider frequency band characteristic than that of the single-ended EH-QMIX, and it shows 20% relative bandwidth at L-band.

In this article, we considered the asymptotic expectations of the prediction error and the fitting error of a regression model, in which the component functions are chosen from a finite set of orthogonal functions. Under the least squares estimation, we showed that the asymptotic bias in estimating the prediction error based on the fitting error includes the true number of components, which is essentially unknown in practical applications. On the other hand, under a suitable shrinkage method, we showed that an asymptotically unbiased estimate of the prediction error is given by the fitting error plus a known term except the noise variance.

This paper analyzes the steady-state properties of a CORDIC-based adaptive ARMA lattice filter. In our previous study, the convergence properties of the filter in the non-steady state were clarified; however, its behavior in the steady state was not discussed. Therefore, we develop a distinct analysis technique based on a Markov chain in order to investigate the steady-state properties of the filter. By using the proposed technique, the relationship between step size and coefficient estimation error is revealed.

Pneumatic pressure, which is easy enough to be handled in comparison with hydraulic pressure and is endowed with high safety, is available for a power source of a robot arm to be utilized in concert with human beings to do various types of work. But pneumatic pressure is so low in comparison with hydraulic pressure that an air cylinder having a diameter long enough and stroke wide enough is required to obtain great output power. In this study, therefore, the investigation was made with layout of air cylinders and transmission mechanisms of the motion power directed toward the driving joints to be followed by development of a new humanoid robot arm with seven degrees of freedom in which air cylinders are compactly incorporated. To be concrete with this, contrivance was made with an endoskeleton structure allowing almost all of the structure materials of the individual arm joints to be shared by the air cylinder with incorporation of the air cylinder in the axes of the upper arm joint and forearm joints by paying attention to the fact that the cylinder itself has high strength. The evaluation experiments driving the robot arm referred to above were conducted by means of I-PD control. The results suggested that the mechanism of the robot with seven degrees of freedom having pneumatic actuators proposed in this study is useful as the humanoid robot arm. The quick and accurate motions were accomplished with I-PD control which is relatively easy to be dealt with but not suitable for non-linear actuator system.

A compact open-loop resonator bandpass filter is presented to suppress the spurious passband using compensated compact microstrip resonant cell (C-CMRC) feeding structure. Based on the inherently compact and stopband characteristics of the C-CMRC feeding, the proposed filters shows a better spurious rejection performance than the only open-loop resonator filter. The suppression is -57.4 dB, -49.5 dB, and -43.9 dB at the 2nd, 3rd and 4th harmonic signal separately. All the performance of proposed filters have been verified by the measured results.

In order to reduce the traffic load and improve the system's lifetime, a cluster-based routing protocol has attracted more attention. In cluster-based sensor networks, energy can be conserved by combining redundant data from nearby sensors into cluster head nodes before forwarding the data to the destination. The lifespan of the whole network can also be expanded by the clustering of sensor nodes and through data aggregation. In this paper, we propose a cluster-based routing protocol which uses the location information of sensors to assist in network clustering. Our protocol partitions the entire network into several clusters by a particle swarm optimization (PSO) clustering algorithm. In each cluster, a cluster head is selected to deal with data aggregation or compression of nearby sensor nodes. For this clustering technique, the correct selection of the number of clusters is challenging and important. To cope with this issue, an energy dissipation model is used in our protocol to automatically estimate the optimal number of clusters. Several variations of PSO-clustering algorithm are proposed to improve the performance of our protocol. Simulation results show that the performance of our protocol is better than other protocols.

This paper proposes a gonio-spectral imaging system for measuring light reflection on an object surface by using two robot arms, a multi-band lighting system, and a monochrome digital camera. It allows four degrees of freedom in incident and viewing angles necessary for full parametrization of a reflection model function. Spectral images captured for various incident and viewing angles are warped as if they were all captured from the same viewing direction. The intensity of reflected light is thus recorded in a normalized image form for any incident and viewing directions. The normalized images are used to estimate reflection model parameters at each surface point. To ensure point-wise reflection modeling, a calibration method is also proposed based on a geometrical model of the robot arms and camera. The proposed system can deal with objects with surface texture. Experiments are done on system calibration, reflection model, and spectral estimation. The results using colored objects show the feasibility of the proposed imaging system.

The rapid hybrid acquisition of PN sequences is proposed for DS/CDMA systems. The system introduces the excision CFAR method into the background power estimation. A mathematical analysis is done for the single path and multipath environments. The detection performance of the proposed scheme is compared with that of other acquisition schemes. Results show that the proposed method has better detection performance if the excision coefficient is properly selected.

This paper presents an even harmonic quadrature mixer (EH-QMIX) with a simple filter configuration and an integrated LTCC module including LNAs, band rejection filters (BRFs), and the proposed EH-QMIX for W-CDMA direct conversion receiver (DCR). Since the DCR has no spurious responses, a BRF instead of a high-Q band pass filter can be applicable for eliminating undesired signals and it can be built in the LTCC substrates easily. As LO frequency is half of RF frequency in the EH-QMIX, diplexer can be composed of simple filters and it can be also integrated in the substrates. As a result, the whole RF circuits of the EH-DCR using a proposed EH-QMIX are integrated in the LTCC module and miniaturization of the receiver is achieved. Moreover, in order to suppress the degradation of the amplitude and the phase imbalances in the quadrature mixer caused by interferences of signals, RF characteristics of the circuits in the mixer such as reflection coefficients, isolations are discussed. A developed LTCC module shows good performances for W-CDMA direct conversion receiver.

This paper introduces a modified particle swarm optimizer (PSO) called the Multi-Species Particle Swarm Optimizer (MSPSO) for locating all the global minima of multi-modal functions. MSPSO extend the original PSO by dividing the particle swarm spatially into a multiple cluster called a species in a multi-dimensional search space. Each species explores a different area of the search space and tries to find out the global or local optima of that area. We test our MSPSO for several multi-modal functions with multiple global optima. Our MSPSO can successfully locate all the global optima of all the test functions, and in particular, can locate all 18 global optima of the two-dimensional Shubert function. We also examined how the performance of MSPSO depends on various algorithm parameters.

We consider oscillators consisting of a reactance circuit and a negative resistor. They may happen to have multi-mode oscillations around the anti-resonant frequencies of the reactance circuit. This kind of oscillators can be easily synthesized by setting the resonant and anti-resonant frequencies of the reactance circuits. However, it is not easy to analyze the oscillation phenomena, because they have multiple oscillations whose oscillations depend on the initial guesses. In this paper, we propose a Spice-oriented solution algorithm combining the harmonic balance method with Newton homotopy method that can find out the multiple solutions on the homotopy paths. In our analysis, the determining equations from the harmonic balance method are given by modified equivalent circuit models of "DC," "Cosine" and "Sine" circuits. The modified circuits can be solved by a simulator STC (solution curve tracing circuit), where the multiple oscillations are found by the transient analysis of Spice. Thus, we need not to derive the troublesome circuit equations, nor the mathematical transformations to get the determining equations. It makes the solution algorithms much simpler.

A novel class of microstrip bandpass filter is configured using the impedance transformers and an improved stepped impedance resonator (SIR). This SIR is composed of a central narrow strip section with an aperture on ground and two wide strip sections at the two sides. This low-high-low SIR resonator has a promising capability in achieving an extremely large ratio of first two resonant frequencies for design of a bandpass filter with ultra-broad stopband. The two quarter-wavelength transformers with low and high impedances, referred as to impedance- and admittance-inverters, are modeled and utilized as alternative types of inductive and capacitive coupling elements with highly tightened degrees for wideband filter design. After extensive investigation is made on the two transformers and the proposed SIR, the two novel bandpass filters are constructed, designed and implemented. Two sets of predicted and measured frequency responses over a wide frequency range both quantitatively exhibit their several attractive features, such as ultra-broad stopband with deep rejection and broadened dominant passband with low insertion loss.

A novel low-voltage low-distortion analog sampling switch is proposed in this letter. A "source tracker" techniuqe is used to distinguish the real source terminal of the sampling switch. The turn-on resistance of the sampling switch is kept exactly constant. The modified switch makes the rail-to-rail input signal swing possible for low voltage. TSMC 0.18 µm standard CMOS technology is utilized in this research. Results indicate that much lower Total Harmonic Distortion (THD) is achieved by the proposed circuit. The low THD meets the requirements in the application of the low-voltage low-distortion switched-capacitor circuits.

Image segmentation denotes a process by which an image is partitioned into non-intersecting regions and each region is homogeneous. Utilizing histogram information to aim at segmenting an image is a commonly used method for many applications. In this paper, we view the image segmentation as an optimization problem. We find a curve which gives the best fit to the given image histogram, and the parameters in the curve are determined by using the particle swarm optimization algorithm. The experimental results to confirm the proposed approach are also included.

The relative permittivity and permeability are discontinuous at the grating profile, and the electric and magnetic flux densities are continuous. As for the method of analysis for scattering waves by surface relief gratings placed in conical mounting, the spatial harmonic expansion approach of the flux densities are formulated in detail and the validity of the approach is shown numerically. The present method is effective for uniform regions such as air and substrate in addition to grating layer. The matrix formulations are introduced by using numerical calculations of the matrix eigenvalue problem in the grating region and analytical solutions separated for TE and TM waves in the uniform region are described. Some numerical examples for linearly and circularly polarized incidence show the usefulness of the flux densities expansion approach.

This paper describes a millimeter-wave pulse transmitter with a 38 GHz-band Voltage Controlled Oscillator (VCO) and a 77/38 GHz-band harmonic mixer. This harmonic mixer works as both of a pulse modulator and a multiplier. This configuration of the transmitter is very simple, and can be applied to high-speed pulse modulation like Ultra Wide Band. By using the harmonic mixer, furthermore, a fluctuation of the load impedance of the 38 GHz VCO can be reduced. Compared with the conventional configuration, the required amount of isolation between the VCO and the load has been able to be reduced by more than 30 dB as a result of the experiment in a millimeter-wave band.

This paper is devoted to the problem of force sensorless disturbance rejection in robot manipulators. In the proposed approach, the control system uses position sensor signals and estimated values of external forces, instead of force sensor signals. The estimation process is performed via an adaptive force estimator. Then the estimated force vector is utilized to compensate for the force disturbance effect in order to achieve a better trajectory tracking performance. The force estimation is carried out directly using no environment model. Asymptotical stability of the proposed control system is analyzed by the invariant set and Lyapunov direct method establishing an appropriate theorem. Finally, the performance of the proposed control system is verified using numerical simulation.

A side-coupled microstrip open-loop resonator is presented for design of harmonic-suppressed bandpass filters with compact size. In geometry, the open-ended microstrip feed line is put in close proximity to the loop resonator at the opposite side of an opened-gap. In design, its length is properly lengthened to establish the orthogonal even- and odd-symmetrical current distributions along the two coupled strip conductors. It thus results in cancellation the 1st parasitic resonance. The two-stage open-loop filter is first constructed and its performance is studied under varied feed line lengths. Furthermore, a four-stage filter block is optimally designed at 2.52 GHz and its circuit sample is fabricated with the overall length less than 60% of one guided wavelength. The measured insertion loss at the 1st harmonic is higher than 30 dB, the stopband covers the range from 2.8 GHz to 7.0 GHz, and the dominant pass bandwidth is about 9.0%.

This paper presents the novel method not only to suppress the input current harmonics but also to realize the low frequency output voltage ripple using the multiple-input ac-dc converter, which is considered from viewpoints of the relatively small power application and simple circuit configuration. The operation principle and control strategy of the proposed circuit are discussed. As a result, it is clarified that the new circuit has excellent performance characteristics such as high power factor over 0.99, low total harmonic current distortion factor less than 9.2% and low output voltage ripple of 40 mV.