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41-60hit(1638hit)

  • Secure Revocation Features in eKYC - Privacy Protection in Central Bank Digital Currency

    Kazuo TAKARAGI  Takashi KUBOTA  Sven WOHLGEMUTH  Katsuyuki UMEZAWA  Hiroki KOYANAGI  

     
    PAPER

      Pubricized:
    2022/10/07
      Vol:
    E106-A No:3
      Page(s):
    325-332

    Central bank digital currencies require the implementation of eKYC to verify whether a trading customer is eligible online. When an organization issues an ID proof of a customer for eKYC, that proof is usually achieved in practice by a hierarchy of issuers. However, the customer wants to disclose only part of the issuer's chain and documents to the trading partner due to privacy concerns. In this research, delegatable anonymous credential (DAC) and zero-knowledge range proof (ZKRP) allow customers to arbitrarily change parts of the delegation chain and message body to range proofs expressed in inequalities. That way, customers can protect the privacy they need with their own control. Zero-knowledge proof is applied to prove the inequality between two time stamps by the time stamp server (signature presentation, public key revocation, or non-revocation) without disclosing the signature content and stamped time. It makes it possible to prove that the registration information of the national ID card is valid or invalid while keeping the user's personal information anonymous. This research aims to contribute to the realization of a sustainable financial system based on self-sovereign identity management with privacy-enhanced PKI.

  • Dual Bands and Dual Polarization Reflectarray for Millimeter Wave Application by Supercell Structure

    Hiroshi HASHIGUCHI  Takumi NISHIME  Naobumi MICHISHITA  Hisashi MORISHITA  Hiromi MATSUNO  Takuya OHTO  Masayuki NAKANO  

     
    PAPER-Antennas and Propagation

      Pubricized:
    2022/09/12
      Vol:
    E106-B No:3
      Page(s):
    241-249

    This paper presents dual bands and dual polarization reflectarrays for 5G millimeter wave applications. The frequency bands of 28GHz and 39GHz are allocated for 5G to realize high speed data transmission. However, these high frequency bands create coverage holes in which no link between base station and receivers is possible. Reflectarray has gained attention for reducing the size and number of coverage holes. This paper proposes a unit cell with swastika and the patch structure to construct the dual bands reflectrray operating at 28GHz and 39GHz by supercell. This paper also presents the detailed design procedure of the dual-bands reflectarray by supercell. The reflectarray is experimentally validated by a bistatic radar cross section measurement system. The experimental results are compared with simulation and reflection angle agreement is observed.

  • A SOM-CNN Algorithm for NLOS Signal Identification

    Ze Fu GAO  Hai Cheng TAO   Qin Yu ZHU  Yi Wen JIAO  Dong LI  Fei Long MAO  Chao LI  Yi Tong SI  Yu Xin WANG  

     
    PAPER-Fundamental Theories for Communications

      Pubricized:
    2022/08/01
      Vol:
    E106-B No:2
      Page(s):
    117-132

    Aiming at the problem of non-line of sight (NLOS) signal recognition for Ultra Wide Band (UWB) positioning, we utilize the concepts of Neural Network Clustering and Neural Network Pattern Recognition. We propose a classification algorithm based on self-organizing feature mapping (SOM) neural network batch processing, and a recognition algorithm based on convolutional neural network (CNN). By assigning different weights to learning, training and testing parts in the data set of UWB location signals with given known patterns, a strong NLOS signal recognizer is trained to minimize the recognition error rate. Finally, the proposed NLOS signal recognition algorithm is verified using data sets from real scenarios. The test results show that the proposed algorithm can solve the problem of UWB NLOS signal recognition under strong signal interference. The simulation results illustrate that the proposed algorithm is significantly more effective compared with other algorithms.

  • Aperture-Shared Multi-Port Waveguide Antenna with Rectangular Dielectric Resonator for 5G Applications

    Purevtseren BAYARSAIKHAN  Ryuji KUSE  Takeshi FUKUSAKO  Kazuma TOMIMOTO  Masayuki MIYASHITA  Ryo YAMAGUCHI  

     
    PAPER-Antennas and Propagation

      Pubricized:
    2022/06/29
      Vol:
    E106-B No:1
      Page(s):
    57-64

    An aperture-shared multi-port waveguide antenna with multiple feeds is presented in this paper. The antenna consists of sequentially rotated four traditional WR-28 waveguides at 28GHz so as to create a multi-polarized function with decoupling between the ports. In addition, a rectangular DR (Dielectric resonator) is mounted at the center of the four apertures to obtain lower mutual coupling over a wide band and to suppress the cross-polarization in the antenna boresight direction. The proposed antenna achieves high gain of 14.4dBi, low mutual coupling of ≤-20dB on average, sufficient cross-polarization discrimination level at ≃20dB in the 27-29GHz frequency band.

  • A Low Power 100-Gb/s PAM-4 Driver with Linear Distortion Compensation in 65-nm CMOS

    Xiangyu MENG  Kangfeng WEI  Zhiyi YU  Xinlun CAI  

     
    PAPER-Electronic Circuits

      Pubricized:
    2022/07/01
      Vol:
    E106-C No:1
      Page(s):
    7-13

    This paper proposes a low-power 100Gb/s four-level pulse amplitude modulation driver (PAM-4 Driver) based on linear distortion compensation structure for thin-film Lithium Niobate (LiNbO3) modulators, which manages to achieve high linearity in the output. The inductive peaking technology and open drain structure enable the overall circuit to achieve a 31-GHz bandwidth. With an area of 0.292 mm2, the proposed PAM-4 driver chip is designed in a 65-nm process to achieve power consumption of 37.7 mW. Post-layout simulation results show that the power efficiency is 0.37 mW/Gb/s, RLM is more than 96%, and the FOM value is 8.84.

  • A Novel Hierarchical V2V Routing Algorithm Based on Bus in Urban VANETs

    Xiang BI  Shengzhen YANG  Benhong ZHANG  Xing WEI  

     
    PAPER-Network

      Pubricized:
    2022/05/19
      Vol:
    E105-B No:12
      Page(s):
    1487-1497

    Multi-hop V2V communication is a fundamental way to realize data transmission in Vehicular Ad-hoc Networks (VANET). It has excellent potential in intelligent transportation systems and automatic vehicle driving, and positively affects the safety, reliability, and comfort of vehicles. With advantages in speed and trajectory, distribution along the route, size, etc., the urban buses have become prospective relay nodes for urban VANETs. However, it is a considerable challenge to construct stable and reliable (meeting the requirements of bandwidth, delay, and bit error rate) multi-hop routing because of the complexity of the urban road and bus line network in the communication area, as well as many unevenly distributed buses on the road, etc. Given this above, this paper proposes a new hierarchical routing algorithm based on V2V geographic topology segmentation. Urban hierarchical routing is divided into two layers. The first layer of routing is called coarse routing, which is composed of areas; the second layer of routing is called internal routing (bus routing within the area). Q-learning is used to formulate the sequence of buses that transmit information within each area. Details are as follows: Firstly, based on a city map containing road network information, the entire city is divided into small grids by physical streets. Secondly, based on an analysis of the characteristics of the adjacent grid bus lines, the grids with the same routing attributes are integrated into the same area, reducing the algorithm's computational complexity during route discovery. Then, for the calculated area set, a coarse route composed of the selected area is established by filtering out a group of areas satisfying from the source node to the destination node. Finally, the bus sequence between anchor intersections is selected within the chosen area, and a complete multi-hop route from the source node to the destination node is finally constructed. Sufficient simulations show that the proposed routing algorithm has more stable performance in terms of packet transmission rate, average end-to-end delay, routing duration, and other indicators than similar algorithms.

  • Ground Test of Radio Frequency Compatibility for Cn-Band Satellite Navigation and Microwave Landing System Open Access

    Ruihua LIU  Yin LI  Ling ZOU  Yude NI  

     
    PAPER-Satellite Communications

      Pubricized:
    2022/05/19
      Vol:
    E105-B No:12
      Page(s):
    1580-1588

    Testing the radio frequency compatibility between Cn-band Satellite Navigation and Microwave Landing System (MLS) has included establishing a specific interference model and reporting the effect of such interference. This paper considers two interference scenarios according to the interfered system. By calculating the Power Flux Density (PFD) values, the interference for Cn-band satellite navigation downlink signal from several visible space stations on MLS service is evaluated. Simulation analysis of the interference for MLS DPSK-data word signal and scanning signal on Cn-band satellite navigation signal is based on the Spectral Separation Coefficient (SSC) and equivalent Carrier-to-Noise Ratio methodologies. Ground tests at a particular military airfield equipped with MLS ground stations were successfully carried out, and some measured data verified the theoretical and numerical results. This study will certainly benefit the design of Cn-band satellite navigation signals and guide the interoperability and compatibility research of Cn-band satellite navigation and MLS.

  • Performance Analysis of Mobile Cellular Networks Accommodating Cellular-IoT Communications with Immediate Release of Radio Resources

    Shuya ABE  Go HASEGAWA  Masayuki MURATA  

     
    PAPER-Network

      Pubricized:
    2022/06/20
      Vol:
    E105-B No:12
      Page(s):
    1477-1486

    It is now becoming important for mobile cellular networks to accommodate all kinds of Internet of Things (IoT) communications. However, the contention-based random access and radio resource allocation used in traditional cellular networks, which are optimized mainly for human communications, cannot efficiently handle large-scale IoT communications. For this reason, standardization activities have emerged to serve IoT devices such as Cellular-IoT (C-IoT). However, few studies have been directed at evaluating the performance of C-IoT communications with periodic data transmissions, despite this being a common characteristic of many IoT communications. In this paper, we give the performance analysis results of mobile cellular networks supporting periodic C-IoT communications, focusing on the performance differences between LTE and Narrowband-IoT (NB-IoT) networks. To achieve this, we first construct an analysis model for end-to-end performance of both the control plane and data plane, including random access procedures, radio resource allocation, establishing bearers in the Evolved Packet Core network, and user-data transmissions. In addition, we include the impact of the immediate release of the radio resources proposed in 3GPP. Numerical evaluations show that NB-IoT can support more IoT devices than LTE, up to 8.7 times more, but imposes a significant delay in data transmissions. We also confirm that the immediate release of radio resources increases the network capacity by up to 17.7 times.

  • 920MHz Path Loss Prediction Formula Based on FDTD Method for IoT Wireless System close to Ceiling with Concrete Beam

    Naotake YAMAMOTO  Taichi SASAKI  Atsushi YAMAMOTO  Tetsuya HISHIKAWA  Kentaro SAITO  Jun-ichi TAKADA  Toshiyuki MAEYAMA  

     
    PAPER-Antennas and Propagation

      Pubricized:
    2022/06/22
      Vol:
    E105-B No:12
      Page(s):
    1540-1547

    A path loss prediction formula for IoT (Internet of Things) wireless communication close to ceiling beams in the 920MHz band is presented. In first step of our investigation, we conduct simulations using the FDTD (Finite Difference Time Domain) method and propagation tests close to a beam on the ceiling of a concrete building. In the second step, we derive a path loss prediction formula from the simulation results by using the FDTD method, by dividing into three regions of LoS (line-of-sight) situation, situation in the vicinity of the beam, and NLoS (non-line-of-sight) situation, depending on the positional relationship between the beam and transmitter (Tx) and receiver (Rx) antennas. For each condition, the prediction formula is expressed by a relatively simple form as a function of height of the antennas with respect to the beam bottom. Thus, the prediction formula is very useful for the wireless site planning for the IoT wireless devices set close to concrete beam ceiling.

  • Design of a Dual-Wideband BPF with Parallel-Coupled Stepped Impedance Resonator and Open-Circuited Stubs

    Chun-Ping CHEN  Zhewang MA  Tetsuo ANADA  

     
    BRIEF PAPER-Microwaves, Millimeter-Waves

      Pubricized:
    2022/06/15
      Vol:
    E105-C No:12
      Page(s):
    761-766

    This brief paper proposes a dual-wideband filter consisting of a parallel-coupled stepped-impedance-resonator (SIR) and open-circuited stubs. Firstly, a notched UWB (ultra-wideband) bandpass filter (BPF) with steep skirt characteristics is theoretically designed. Then a bandstop filter(BSF) is implemented using an SIR and open stubs. By replacing the transmission line part of UWB filter with the BSF, a novel dual-wideband filter (DWBPF) is realized. As a design example, a DWBPF with two passbands, i.e. 3.4-4.8GHz and 7.25-10.25GHz, is designed to validate the design procedure. The designed filter exhibits steep skirt characteristics.

  • Novel Configuration for Phased-Array Antenna System Employing Frequency-Controlled Beam Steering Method

    Atsushi FUKUDA  Hiroshi OKAZAKI  Shoichi NARAHASHI  

     
    PAPER-Microwaves, Millimeter-Waves

      Pubricized:
    2022/06/10
      Vol:
    E105-C No:12
      Page(s):
    740-749

    This paper presents a novel frequency-controlled beam steering scheme for a phased-array antenna system (PAS). The proposed scheme employs phase-controlled carrier signals to form the PAS beam. Two local oscillators (LOs) and delay lines are used to generate the carrier signals. The carrier of one LO is divided into branches, and then the divided carriers passing through the corresponding delay lines have the desired phase relationship, which depends on the oscillation frequency of the LO. To confirm the feasibility of the scheme, four-branch PAS transmitters are configured and tested in a 10-GHz frequency band. The results verify that the formed beam is successfully steered in a wide range, i.e., the 3-dB beamwidth of approximately 100 degrees, using LO frequency control.

  • Design of a Compact Triple-Mode Dielectric Resonator BPF with Wide Spurious-Free Performance Open Access

    Fan LIU  Zhewang MA  Weihao ZHANG  Masataka OHIRA  Dongchun QIAO  Guosheng PU  Masaru ICHIKAWA  

     
    PAPER

      Pubricized:
    2022/03/30
      Vol:
    E105-C No:11
      Page(s):
    660-666

    A novel compact 5-pole bandpass filter (BPF) using two different types of resonators, one is coaxial TEM-mode resonator and the other dielectric triple-mode resonator, is proposed in this paper. The coaxial resonator is a simple single-mode resonator, while the triple-mode dielectric resonator (DR) includes one TM01δ mode and two degenerate HE11 modes. An excellent spurious performance of the BPF is obtained due to the different resonant behaviors of these two types of resonators used in the BPF. The coupling scheme of the 5-pole BPF includes two cascade triplets (CTs) which produce two transmission zeros (TZs) and a sharp skirt of the passband. Behaviors of the resonances, the inter-resonance couplings, as well as their tuning methods are investigated in detail. A procedure of mapping the coupling matrix of the BPF to its physical dimensions is developed, and an optimization of these physical dimensions is implemented to achieve best performance of the filter. The designed BPF is operated at 1.84GHz with a bandwidth of 51MHz. The stopband rejection is better than 20dB up to 9.7GHz (about 5.39×f0) except 7.85GHz. Good agreement between the designed and theoretically synthesized responses of the BPF is reached, verifying well the proposed configuration of the BPF and its design method.

  • Penalized and Decentralized Contextual Bandit Learning for WLAN Channel Allocation with Contention-Driven Feature Extraction

    Kota YAMASHITA  Shotaro KAMIYA  Koji YAMAMOTO  Yusuke KODA  Takayuki NISHIO  Masahiro MORIKURA  

     
    PAPER-Terrestrial Wireless Communication/Broadcasting Technologies

      Pubricized:
    2022/04/11
      Vol:
    E105-B No:10
      Page(s):
    1268-1279

    In this study, a contextual multi-armed bandit (CMAB)-based decentralized channel exploration framework disentangling a channel utility function (i.e., reward) with respect to contending neighboring access points (APs) is proposed. The proposed framework enables APs to evaluate observed rewards compositionally for contending APs, allowing both robustness against reward fluctuation due to neighboring APs' varying channels and assessment of even unexplored channels. To realize this framework, we propose contention-driven feature extraction (CDFE), which extracts the adjacency relation among APs under contention and forms the basis for expressing reward functions in disentangled form, that is, a linear combination of parameters associated with neighboring APs under contention). This allows the CMAB to be leveraged with a joint linear upper confidence bound (JLinUCB) exploration and to delve into the effectiveness of the proposed framework. Moreover, we address the problem of non-convergence — the channel exploration cycle — by proposing a penalized JLinUCB (P-JLinUCB) based on the key idea of introducing a discount parameter to the reward for exploiting a different channel before and after the learning round. Numerical evaluations confirm that the proposed method allows APs to assess the channel quality robustly against reward fluctuations by CDFE and achieves better convergence properties by P-JLinUCB.

  • A Multi-Modal Fusion Network Guided by Feature Co-Occurrence for Urban Region Function Recognition

    Nenghuan ZHANG  Yongbin WANG  Xiaoguang WANG  Peng YU  

     
    PAPER-Multimedia Pattern Processing

      Pubricized:
    2022/07/25
      Vol:
    E105-D No:10
      Page(s):
    1769-1779

    Recently, multi-modal fusion methods based on remote sensing data and social sensing data have been widely used in the field of urban region function recognition. However, due to the high complexity of noise problem, most of the existing methods are not robust enough when applied in real-world scenes, which seriously affect their application value in urban planning and management. In addition, how to extract valuable periodic feature from social sensing data still needs to be further study. To this end, we propose a multi-modal fusion network guided by feature co-occurrence for urban region function recognition, which leverages the co-occurrence relationship between multi-modal features to identify abnormal noise feature, so as to guide the fusion network to suppress noise feature and focus on clean feature. Furthermore, we employ a graph convolutional network that incorporates node weighting layer and interactive update layer to effectively extract valuable periodic feature from social sensing data. Lastly, experimental results on public available datasets indicate that our proposed method yeilds promising improvements of both accuracy and robustness over several state-of-the-art methods.

  • A 0.4-V 29-GHz-Bandwidth Power-Scalable Distributed Amplifier in 55-nm CMOS DDC Process

    Sangyeop LEE  Shuhei AMAKAWA  Takeshi YOSHIDA  Minoru FUJISHIMA  

     
    BRIEF PAPER

      Pubricized:
    2022/04/11
      Vol:
    E105-C No:10
      Page(s):
    561-564

    A power-scalable wideband distributed amplifier is proposed. For reducing the power consumption of this power-hungry amplifier, it is efficient to lower the supply voltage. However, there is a hurdle owing to the transistor threshold voltage. In this work, a CMOS deeply depleted channel process is employed to overcome the hurdle.

  • An 8.5-dB Insertion Loss and 0.8° RMS Phase Error Ka-Band CMOS Hybrid Phase Shifter Featuring Nonuniform Matching for Satellite Communication

    Xi FU  Yun WANG  Xiaolin WANG  Xiaofan GU  Xueting LUO  Zheng LI  Jian PANG  Atsushi SHIRANE  Kenichi OKADA  

     
    PAPER

      Pubricized:
    2022/04/11
      Vol:
    E105-C No:10
      Page(s):
    552-560

    This paper presents a high-resolution and low-insertion-loss CMOS hybrid phase shifter with a nonuniform matching technique for satellite communication (SATCOM). The proposed hybrid phase shifter includes three 45° coarse phase-shifting stages and one 45° fine phase-tuning stage. The coarse stages are realized by bridged-T switch-type phase shifters (STPS) with 45° phase steps. The fine-tuning stage is based on a reflective-type phase shifter (RTPS) with two identical LC load tanks for phase tuning. A 0.8° phase resolution is realized by this work to support fine beam steering for the SATCOM. To further reduce the chain insertion loss, a nonuniform matching technique is utilized at the coarse stages. For the coarse and fine stages, the measured RMS gain errors at 29GHz are 0.7dB and 0.3dB, respectively. The measured RMS phase errors are 0.8° and 0.4°, respectively. The proposed hybrid phase shifter maintains return losses of all phase states less than -12dB from 24GHz to 34GHz. The presented hybrid phase shifter is fabricated in a standard 65-nm CMOS technology with a 0.14mm2 active area.

  • Sub-Terahertz MIMO Spatial Multiplexing in Indoor Propagation Environments Open Access

    Yasutaka OGAWA  Taichi UTSUNO  Toshihiko NISHIMURA  Takeo OHGANE  Takanori SATO  

     
    INVITED PAPER

      Pubricized:
    2022/04/18
      Vol:
    E105-B No:10
      Page(s):
    1130-1138

    A sub-Terahertz band is envisioned to play a great role in 6G to achieve extreme high data-rate communication. In addition to very wide band transmission, we need spatial multiplexing using a hybrid MIMO system. A recently presented paper, however, reveals that the number of observed multipath components in a sub-Terahertz band is very few in indoor environments. A channel with few multipath components is called sparse. The number of layers (streams), i.e. multiplexing gain in a MIMO system does not exceed the number of multipaths. The sparsity may restrict the spatial multiplexing gain of sub-Terahertz systems, and the poor multiplexing gain may limit the data rate of communication systems. This paper describes fundamental considerations on sub-Terahertz MIMO spatial multiplexing in indoor environments. We examined how we should steer analog beams to multipath components to achieve higher channel capacity. Furthermore, for different beam allocation schemes, we investigated eigenvalue distributions of a channel Gram matrix, power allocation to each layer, and correlations between analog beams. Through simulation results, we have revealed that the analog beams should be steered to all the multipath components to lower correlations and to achieve higher channel capacity.

  • Communication Quality Estimation Observer: An Approach for Integrated Communication Quality Estimation and Control for Digital-Twin-Assisted Cyber-Physical Systems Open Access

    Ryogo KUBO  

     
    INVITED PAPER

      Pubricized:
    2022/04/14
      Vol:
    E105-B No:10
      Page(s):
    1139-1153

    Cyber-physical systems (CPSs) assisted by digital twins (DTs) integrate sensing-actuation loops over communication networks in various infrastructure services and applications. This study overviews the concept, methodology, and applications of the integrated communication quality estimation and control for the DT-assisted CPSs from both communications and control perspectives. The DT-assisted CPSs can be considered as networked control systems (NCSs) with virtual dynamic models of physical entities. A communication quality estimation observer (CQEO), which is an extended version of the communication disturbance observer (CDOB) utilized for time-delay compensation in NCSs, is proposed to estimate the integrated effects of the quality of services (QoS) and cyberattacks on the NCS applications. A path diversity technique with the CQEO is also proposed to achieve reliable NCSs. The proposed technique is applied to two kinds of NCSs: remote motor control and haptic communication systems. Moreover, results of the simulation on a haptic communication system show the effectiveness of the proposed approach. In the end, future research directions of the CQEO-based scheme are presented.

  • An AM-PM Compensation of Cross-Coupled Capacitance Neutralization Technique in a Differential Power Amplifier

    Takuma TORII  Masaomi TSURU  

     
    PAPER

      Pubricized:
    2022/04/11
      Vol:
    E105-C No:10
      Page(s):
    492-500

    In this study, AM-PM compensation of the cross-coupled capacitance neutralization technique is discussed. Cgd neutralization leads to AM-PM compensation of a power amplifier with negligible change of AM-AM characteristics. AM-PM compensation was confirmed via circuit analysis and measurements. The formulation analysis showed that AM-PM compensation can be derived via gm variation against input power with capacitance neutralization. A differential power amplifier with capacitance neutralization was fabricated with GaN high-electron-mobility transistors. The AM-PM characteristic of the fabricated differential power amplifier was measured at 17.7 GHz. It showed AM-PM reduction of 22° at compared to a single-phase power amplifier without capacitance neutralization at output power of 35 dBm.

  • Lightweight and Compact Rectenna Array with 20W-Class Output at C-Band for Micro-Drone Wireless Charging

    Nobuyuki TAKABAYASHI  Bo YANG  Naoki SHINOHARA  Tomohiko MITANI  

     
    PAPER

      Pubricized:
    2022/04/21
      Vol:
    E105-C No:10
      Page(s):
    509-518

    Drones have been attractive for many kinds of industries, but limited power supply from batteries has impeded drones from being operated for longer hours. Microwave power transmission (MPT) is one of the most prospective technologies to release them from the limitation. Since, among several types of drones, micro-drone has shorter available flight time, it is reasonable to provide micro-drone with wireless charging access with an MPT system. However, there is no suitable rectenna for micro-drone charging applications in preceding studies. In this paper, an MPT system for micro-drone was proposed at C-band where a lightweight and compact rectenna array with 20-W class output power was developed. Under illumination of a flat-top beam with 203 mW/cm2 of power density, a 16-element rectenna array was measured. The 16-element rectenna was formed with the aid of a honeycomb substrate for lightness and GaAs Schottky barrier diodes for high output. It was 37.5 g in weight and 146.4 mm by 146.4 mm in size. It output 27.0 W of dc power at 19.0 V at 5.8 GHz when radio frequency power of 280 W was generated by the injection-locked magnetron and 134 W was transmitted from the transmitting phased array. The power-to-weight ratio was 0.72W/g. The power conversion efficiency was 61.9%. These numbers outperformed the rectennas in the preceding studies and are suitable for an MPT system to micro-drone.

41-60hit(1638hit)