We have developed a new type of phase interpolation DDS with a digitally controlled delay generator. The new DDS is similar to a sine output DDS in that it produces low spurious signals, but it does not require a sine look-up table. Periodic jitter in the MSB of the DDS accumulator is reduced with the digitally controlled delay generator. Experimental results confirm successful frequency synthesizer operation in which the spurious signal level is successfully reduced to less than that the MSB of the accumulator.

Presently, mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. These systems each have their strengths and weaknesses. For example, although the visual system enables a rich input of data from the surrounding environment, allowing an accurate perception of the area, processing of the images invariably takes time. The sonar system, on the other hand, though quicker in response, is limited in terms of quality, accuracy and range of data. Therefore, any navigation methods that involves only any one system as the primary source for navigation, will result in the incompetency of the robot to navigate efficiently in a foreign, slightly-more-complicated-than-usual surrounding. Of course, this is not acceptable if robots are to work harmoniously with humans in a normal office/laboratory environment. Thus, to fully utilise the strengths of both the sonar and visual sensing systems, this paper proposes a fusion of navigating methods involving both the sonar and visual systems as primary sources to produce a fast, efficient and reliable obstacle-avoiding and navigating system. Furthermore, to further enhance a better perception of the surroundings and to improve the navigation capabilities of the mobile robot, active sensing modules are also included. The result is an active sensor fusion system for the collision avoiding behaviour of mobile robots. This behaviour can then be incorporated into other purposive behaviours (eg. Goal Seeking, Path Finding, etc. ). The validity of this system is also shown in real robot experiments.

A formal necessary and sufficient condition on the general Petri net reachability problem is presented by eliminating all spurious solutions among known nonnegative integer solutions of state equation and unifying all the causes of those spurious solutions into a maximal-strongly-connected and siphon-and-trap subnet Nw. This result is based on the decomposition of a given net (N, Mo) with Md and the concepts of "no immature siphon at the reduced initial marking Mwo" and "no immature trap at the reduced end marking Mwd" on Nw which are both extended from "no token-free siphon at the initial marking Mo" and "no token-free trap at the end marking Md" on N, respectively, which have been both effectively, explicitly or implicitly, used in the well-known fundamental and simple subclasses.

This paper presents a distributed power control scheme for next-generation multiservices CDMA systems. CDMA has inherent capability to control the quality-of-service (QoS) requirements by assigning different power levels to each traffic type. Toward this, optimum power control schemes have been investigated. The main drawback of the previously proposed algorithms is that they would require all users' transmission state necessiating a complicated control process or peak-rate badnwidth allocation. To overcome this, we exploit the Markovian property to obtain the statistics of the traffic. The statistical formulation is presented for allocating power distributedly so as to keep the "collision" probability below a predefined probability. Numerical examples show that the distributed power control scheme allows better utilization of wireless resources through statistical multiplexing than peak-rate bandwidth assignment, and it does not require a complicated control process while keeping total transmitted power at slightly greater than optimum power control.

M-ary orthogonal keying (MOK) systems under carrier frequency offset (CFO) are investigated. It is shown that spurious signals are introduced by the offset frequency components of spectrum after multiplication in correlation detection process, and some conditions on robust orthogonal signal sets are derived. Walsh function sets are found to be very weak against CFO, since they produce large spurious signals. As robust orthogonal signal sets against CFO, the rows of circulant Hadamard matrices are proposed and their error performanses are evaluated. The results show that they are good M-ary orthogonal signal sets in the presence of CFO.

This paper reports an overload control method for the Intelligent Network (IN). The IN, which is being investigated as a future communication network, facilitates both rapid introduction of new services and easy modification of existing services. In the IN, the call processing functions and data needed to achieve IN services are distributed over several nodes. Therefore, traffic demand for the various services may cause varying patterns of node overloads. It is therefore important to develop effective overload control methods and to evaluate their characteristics. We propose an overload control method and evaluate its characteristics in comparison with other methods under various overload traffic patterns with a network simulator that models all nodes and their relationships in the IN. In particular, we focus on three aspects of overload control: how can high throughput be maintained, how can an overloaded node be stabilized, and how can fair access be guaranteed.

A pseudoinverse rule, one of major rule to determine a weight matrix for associative memory, has large capacity comparing with other determining rules. However, it is wellknown that the rule has small domains of attraction of memory vectors on account of many spurious states. In this paper, we try to improve the problem by means of subtracting a constant from all diagonal elements of a weight matrix. By this method, many spurious states disappear and eigenvectors with negative eigenvalues are introduced for the orthocomplement of the subspace spanned by memory vectors. This method can be applied to two types of networks: binary network and analog network. Some computer simulations are performed for both two models. The results of the simulations show our improvement is effective to extend error correcting ability for both networks.

In this article, the autocorrelation associative neural network that is one of well-known applications of neural networks is improved to extend its capacity and error correcting ability. Our approach of the improvement is based on the consideration that negative self-feedbacks remove spurious states. Therefore, we propose a method to determine the self-feedbacks as small as possible within the range that all stored patterns are stable. A state transition rule that enables to escape oscillation is also presented because the method has a possibility of falling into oscillation. The efficiency of the method is confirmed by means of some computer simulations.

The problem of two-dimensional scattering of electromagnetic waves by a grating with several strips arbitrarily oriented in one period is analyzed by means of the Wiener-Hopf technique together with the formulation using the concept of the mutual field. A formulation for the analysis of multiple scattering from the grating is based on the representation of the scattered field by a grating composed of one strip in one period. The Wiener-Hopf equations and a representation of the scattered wave are obtained. The characteristic of the sampling function is used to expand the unknown function associated with the field on the strip into a series, and then the Wiener-Hopf equations are reduced to a set of simultaneous equations. For evaluation of the convergence and the errors in the numerical results, the relative error with respect to the extrapolated value and the square error for satisfaction of the boundary condition are computed. From numerical comparison of the present method with other various methods, it is found that the present method provides us accurate results. Some numerical examples of the reflection coefficients are presented for the reflection grating and transmission gratings.

Serious failures of the latest electronic equipments occur easily due to electrostatic discharge (ESD) , which can be caused frequently by the electrification phenomena of human-body walking on the floor. The number of the above damaging incidents has significantly been increasing with an increased use of integrated semiconductor elements with lower operation power. The most effective measures against the ESD consist in preventive ones, which are to obtain dynamic behaviors of the electric charge before the ESD happens, thereby preventing the charge accumulation. From this point of view, this paper describes new approaches for measurement of the static electricity directed toward preventing the ESD. First, a two-dimensional measurement method for visualizing charge distributions is described. This principle is based on visualizing the potential distribution induced in the array electrodes from the electrostatic fields. For showing usefulness of the visualization measurement, a prototype was built and attempts were made on the visualizations for the static electricity distributions of charged bodies. Second, a potential calculation of the human body charged by walking on the floor is described. A model was shown for analyzing the human-body potential on the floor, and the theoretical equation for describing the potential attenuation process was derived in the closed form in the Laplacian transformation domain. In order to obtain the typical half-life of the human-body potential, numerical computations were performed using a reverse Laplacian transformation. The experiments were also conducted for confirming the validity of the computed results. Finally, a new method is described for estimating dynamic behaviors of the occurrence charges of the human body electrified by walking-motions. Statistical measurements of the charges and potentials were made for the fundamental walking-motions specified here. The pace transitions of the potentials due to continuous walking and stepping were also measured and their results were explained from the electrification properties for the fundamental walking-motions.