It is well known that the performance of CDMA systems may degrade in the presence of spreading code mismatch. The diagonal loading multiple constrained minimum variance (DL-MCMV) approaches have been proposed to deal with the mismatch problem. However, they still cannot improve the robust capability efficiently due to the spreading code mismatch. In this letter, a detector based on the variable DL technique is presented that offers more robust capabilities than the MCMV and DL-MCMV detectors. Computer simulation results are provided that illustrate the effectiveness of the proposed detector.

This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. The significant point compared with analogous work is that virtual objects are touchable in this system owing to projectors. We also show the portable version of our system that does not require ceiling cameras. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. We make our robots utilize virtual balls in order to perform only quadruped locomotion in real environments, which is quite difficult to simulate accurately. Our robots autonomously learn and acquire more beneficial strategies without human intervention in our augmented environment than those in a fully simulated environment.

A channel code is constructed using sparse matrices for stationary memoryless channels that do not necessarily have a symmetric property like a binary symmetric channel. It is also shown that the constructed code has the following remarkable properties. 1. Joint source-channel coding: Combining channel code with lossy source code, which is also constructed by sparse matrices, a simpler joint source-channel code can be constructed than that constructed by the ordinary block code. 2. Universal coding: The constructed channel code has a universal property under a specified condition.

In this paper, we present a revision of using eigenvalues of covariance matrices proposed by Tsai et al. as a measure of significance (i.e., curvature) for boundary-based corner detection. We first show the pitfall of Tsai et al.'s approach. We then further investigate the properties of eigenvalues of covariance matrices of three different types of curves and point out a mistake made by Tsai et al.'s method. Finally, we propose a modification of using eigenvalues as a measure of significance for corner detection to remedy their defect. The experiment results show that under the same conditions of the test patterns, in addition to correctly detecting all true corners, the spurious corners detected by Tsai et al.'s method disappear in our modified measure of significance.

Orthogonal multi-carrier direct sequence code division multiple access (orthogonal MC DS-CDMA) is a combination of time-domain spreading and orthogonal frequency division multiplexing (OFDM). In orthogonal MC DS-CDMA, the frequency diversity gain can be obtained by applying frequency-domain equalization (FDE) based on minimum mean square error (MMSE) criterion to a block of OFDM symbols and can improve the bit error rate (BER) performance in a severe frequency-selective fading channel. FDE requires an accurate estimate of the channel gain. The channel gain can be estimated by removing the pilot modulation in the frequency domain. In this paper, we propose a pilot-assisted channel estimation suitable for orthogonal MC DS-CDMA with FDE and evaluate, by computer simulation, the BER performance in a frequency-selective Rayleigh fading channel.

This paper presents a content-based retrieval algorithm for motion capture data, which is required to re-use a large-scale database that has many variations in the same category of motions. The most challenging problem is that logically similar motions may not be numerically similar due to the motion variations in a category. Our algorithm can effectively retrieve logically similar motions to a query, where a distance metric between our novel short-term features is defined properly as a fundamental component in our system. We extract the features based on short-term analysis of joint velocities after dividing an entire motion capture sequence into many small overlapped clips. In each clip, we select not only the magnitude but also the dynamic pattern of the joint velocities as our features, which can discard the motion variations while keeping the significant motion information in a category. Simultaneously, the amount of data is reduced, alleviating the computational cost. Using the extracted features, we define a novel distance metric between two motion clips. By dynamic time warping, a motion dissimilarity measure is calculated between two motion capture sequences. Then, given a query, we rank all the motions in our dataset according to their motion dissimilarity measures. Our experiments, which are performed on a test dataset consisting of more than 190 motions, demonstrate that our algorithm greatly improves the performance compared to two conventional methods according to a popular evaluation measure P(NR).

Generalized quasi-cyclic (GQC) codes form a wide and useful class of linear codes that includes thoroughly quasi-cyclic codes, finite geometry (FG) low density parity check (LDPC) codes, and Hermitian codes. Although it is known that the systematic encoding of GQC codes is equivalent to the division algorithm in the theory of Grobner basis of modules, there has been no algorithm that computes Grobner basis for all types of GQC codes. In this paper, we propose two algorithms to compute Grobner basis for GQC codes from their parity check matrices; we call them echelon canonical form algorithm and transpose algorithm. Both algorithms require sufficiently small number of finite-field operations with the order of the third power of code-length. Each algorithm has its own characteristic. The first algorithm is composed of elementary methods and is appropriate for low-rate codes. The second algorithm is based on a novel formula and has smaller computational complexity than the first one for high-rate codes with the number of orbits (cyclic parts) less than half of the code length. Moreover, we show that a serial-in serial-out encoder architecture for FG LDPC codes is composed of linear feedback shift registers with the size of the linear order of code-length; to encode a binary codeword of length n, it takes less than 2n adder and 2n memory elements.

This paper presents new approaches for the estimation of range between the preceding vehicle and the experimental vehicle, estimation of vehicle size and its projective size, and dynamic camera calibration. First, our proposed approaches adopt a camera model to transform coordinates from the ground plane onto the image plane to estimate the relative position between the detected vehicle and the camera. Then, to estimate the actual and projective size of the preceding vehicle, we propose a new estimation method. This method can estimate the range from a preceding vehicle to the camera based on contact points between its tires and the ground and then estimate the actual size of the vehicle according to the positions of its vertexes in the image. Because the projective size of a vehicle varies with respect to its distance to the camera, we also present a simple and rapid method of estimating a vehicle's projective height, which allows a reduction in computational time for size estimation in real-time systems. Errors caused by the application of different camera parameters are also estimated and analyzed in this study. The estimation results are used to determine suitable parameters during camera installation to suppress estimation errors. Finally, to guarantee robustness of the detection system, a new efficient approach to dynamic calibration is presented to obtain accurate camera parameters, even when they are changed by camera vibration owing to on-road driving. Experimental results demonstrate that our approaches can provide accurate and robust estimation results of range and size of target vehicles.

Self-Organizing Map (SOM) is a powerful tool for the exploratory of clustering methods. Clustering is the most important task in unsupervised learning and clustering validity is a major issue in cluster analysis. In this paper, a new clustering validity index is proposed to generate the clustering result of a two-level SOM. This is performed by using the separation rate of inter-cluster, the relative density of inter-cluster, and the cohesion rate of intra-cluster. The clustering validity index is proposed to find the optimal numbers of clusters and determine which two neighboring clusters can be merged in a hierarchical clustering of a two-level SOM. Experiments show that, the proposed algorithm is able to cluster data more accurately than the classical clustering algorithms which is based on a two-level SOM and is better able to find an optimal number of clusters by maximizing the clustering validity index.

We have developed a novel downlink packet scheduling scheme for a multiuser OFDMA system in which a subchannel can be time-multiplexed among multiple users. This scheme which is called Matrixed-based Proportional Fairness can provide a high system throughput while ensuring fairness. The scheme is based on a Proportional Fairness (PF) utility function and can be applied to any of the PF-based schedulers. Our scheduler explores multichannel multiuser diversity by using a two-dimensional matrix combining user selection, subchannel assignment, and time slot allocation. Furthermore, unlike other PF-based schemes, our scheme considers finitely backlogged queues during the time slot allocation. By doing so, it can exploit multichannel multiuser diversity to utilize bandwidth efficiently and with throughput fairness. Additionally, fairness in the time domain is enhanced by limiting the number of allocated time slots. Intensive simulations considering finitely backlogged queues and user mobility prove the scheme's effectiveness.

In this paper, we propose a new approach to rotation invariant texture analysis. This method uses the Radon transform with some considerations in direction estimation of textural images. Furthermore, it utilizes the information obtained from the number of peaks in the variance array of the Radon transform as a realty feature. The textural features are then generated after rotation of texture along principle direction. Also, to eliminating the introduced error due to rotation of texture, a simple technique is presented. Experimental results on a set of images from the Brodatz album show a good performance achieved by the proposed method in comparison with some recent texture analysis methods.

Weighted graph matching is computationally challenging due to the combinatorial nature of the set of permutations. In this paper, a new relaxation approach to weighted graph matching is proposed, by which a new matching algorithm, named alternate iteration algorithm, is designed. It is proved that the algorithm proposed is locally convergent. Experiments are presented to show the effectiveness of the proposed algorithm.

The liquid metal current limiter (LMCL) is a possible alternative to limit the short current of power system due to its special merits. This paper is devoted to the investigation of the arc behavior in liquid metal GaInSn for current limiting application. Firstly, the arc evolution including arc initiation, arc expansion and arc extinguish is observed through an experimental device. The resistance of arc and the self healing property of liquid metal are described. Subsequently, the arc erosion on electrodes is presented with its causes analyzed. Finally, the arc characteristics with the influence of rise rate of prospective current and channel diameter are discussed in details.

Localization is one of the fundamental problems in many wireless sensor networks applications, but most of them require the node to equip special range-determining or angle-determining hardware in order to obtain the position related information. In this paper, we propose a concentric beacons localization algorithm which is a range-free approach. Four anchors are set in the four corners of the square target region, and emit localizing beacons at different power levels, with the information of their position and the estimated range of the beacon. The nodes in this region receive these beacons and compute their positions correspondingly. In region of different scale, we propose two alternative schemes. The one for small scale has lower calculation complexity, and the other has better stability on large scale applications. Simulation results show the estimation error is less than 0.4 times the beacon interval.

In this paper, we present a low complexity, yet accurate adaptive algorithm for the tracking of two-dimensional (2-D) direction of arrival (DOAs) based on a uniform rectangular array (URA). The new algorithm is a novel hybrid of tracking and beamforming processes by making use of three stages of one-dimensional (1-D) DOA tracking algorithms -- in a hierarchical tree structure -- to determine the two DOA components iteratively in a coarse-fine manner. In between every other 1-D DOA tracking algorithm, a complementary orthogonal beamforming process is invoked to partition the incoming signals into appropriate groups to enhance the tracking accuracy. Since the new algorithm only involves the 1-D subspace-based DOA tracking algorithm, the overall complexity is substantially less than the direct two-dimensional (2-D) extension of the existing 1-D DOA tracking algorithms, which requires an update of higher-dimensional vectors followed by a higher-dimensional eigendecomposition or a 2-D search. Furthermore, with the tree-structured DOA tracking scheme, the tracked 2-D DOA components are automatically paired without extra computational overhead. Furnished simulations show that the new algorithm can provide satisfactory tracking performance in various scenarios.

A method for accurate scene segmentation using two kinds of directed graph obtained by object matching and audio features is proposed. Generally, in audiovisual materials, such as broadcast programs and movies, there are repeated appearances of similar shots that include frames of the same background, object or place, and such shots are included in a single scene. Many scene segmentation methods based on this idea have been proposed; however, since they use color information as visual features, they cannot provide accurate scene segmentation results if the color features change in different shots for which frames include the same object due to camera operations such as zooming and panning. In order to solve this problem, scene segmentation by the proposed method is realized by using two novel approaches. In the first approach, object matching is performed between two frames that are each included in different shots. By using these matching results, repeated appearances of shots for which frames include the same object can be successfully found and represented as a directed graph. The proposed method also generates another directed graph that represents the repeated appearances of shots with similar audio features in the second approach. By combined use of these two directed graphs, degradation of scene segmentation accuracy, which results from using only one kind of graph, can be avoided in the proposed method and thereby accurate scene segmentation can be realized. Experimental results performed by applying the proposed method to actual broadcast programs are shown to verify the effectiveness of the proposed method.

The line-based method has been one of the most commonly-used methods of hardware implementation of two-dimensional (2D) discrete wavelet transform (DWT). However, data buffer is required between the row DWT processor and the column DWT processor to solve the data flow mismatch, which increases the on-chip memory size and the output latency. Since the incompatible data flow is induced from the intrinsic property of adopted lifting-based algorithm, a decomposed lifting algorithm (DLA) is presented by rearranging the data path of lifting steps to ensure that image data is processed in raster scan manner in row processor and column processor. Theoretical analysis indicates that the precision issue of DLA outperforms other lifting-based algorithms in terms of round-off noise and internal word-length. A memory-efficient and high-performance line-based architecture is proposed based on DLA without the implementation of data buffer. For an N M image, only 2N internal memory is required for 5/3 filter and 4N of that is required for 9/7 filter to perform 2D DWT, where N and M indicate the width and height of an image. Compared with related 2D DWT architectures, the size of on-chip memory is reduced significantly under the same arithmetic cost, memory bandwidth and timing constraint. This design was implemented in SMIC 0.18 µm CMOS logic fabrication with 32 kbits dual-port RAM and 20 K equivalent 2-input NAND gates in a 1.00 mm 1.00 mm die, which can process 512 512 image under 100 MHz.

This paper studies switched dynamical systems based on a simplified model of two-paralleled dc-dc buck converters in current mode control. In the system, we present novel four switching rules depending on both state variables and periodic clock. The system has piecewise constant vector field and piecewise linear solutions: they are well suited for precise analysis. We then clarify parameter conditions that guarantee generation of stable 2-phase synchronization and hyperchaos for each switching rule. Especially, it is clarified that stable synchronization is always possible by proper use of the switching rules and adjustment of clock period. Presenting a simple test circuit, typical phenomena are confirmed experimentally.

We propose a novel technique for estimating the number of people in a video sequence; it has the advantages of being stable even in crowded situations and needing no ground-truth data. By analyzing the geometrical relationships between image pixels and their intersection volumes in the real world quantitatively, a foreground image directly indicates the number of people. Because foreground detection is possible even in crowded situations, the proposed method can be applied in such situations. Moreover, it can estimate the number of people in an a priori manner, so it needs no ground-truth data unlike existing feature-based estimation techniques. Experiments show the validity of the proposed method.

IEEE 802.11 MAC protocol for medium access control in wireless Local Area Networks (LANs) is the de facto standard for wireless ad hoc networks. However, it does not perform well in terms of fairness, delay and throughput specially, in multihop networks. The problem is due to both the MAC and link layer contentions. Many research papers have been published in these fields. Among them, a modification of IEEE 802.11 MAC protocol was proposed to achieve per-node fairness, but modifications to the original MAC layer requires a change of hardware, therefore, it is difficult to implement. Moreover, it fails to solve the per-flow unfairness problem. In this paper, we propose a new scheduling method, Probabilistic Control on Round robin Queue (PCRQ) scheduling, aiming to achieve per-flow fairness in multihop ad hoc networks. PCRQ scheduling in the link layer is proposed without modifying IEEE 802.11 MAC protocol. Our proposed method achieves good performance results in both UDP and TCP traffic.