In this paper, we propose a novel radial line planar phased array in which helical antenna elements are individually rotated by their respective connected micromotors to realize dynamic beam-scanning. To our knowledge, this is the first radial line planar array (RLPA) that has antenna elements electromechanically rotated by their individual micromotors. To facilitate its fabrication, helix and its probe are directly metallized on a plastic shaft using molded interconnect device technology, and a motor shaft is press-fitted into the plastic shaft. We also present a new design methodology for RLPA, which combines the equivalent circuit theory and electromagnetic simulations of the unit cell element. The proposed procedure is practical to design an RLPA of antenna elements with arbitrary probe shape without large-scale full-wave analysis of the whole structure of the RLPA. We design, fabricate, and evaluate a 7-circle array with 168 helical antenna elements fabricated using molded interconnect device technology. The prototype antenna exhibits dynamic and accurate beam-scanning performance. Furthermore, the prototype antenna exhibits a low reflection coefficient (less than -17dB) and high antenna efficiency (above 77%), which validates the proposed design methodology.

This paper presents an efficient method for solving PnP, PnPf, and PnPfr problems, which are the problems of determining camera parameters from 2D-3D point correspondences. The proposed method is derived based on a simple usage of linear algebra, similarly to the classical DLT methods. Therefore, the new method is easier to understand, easier to implement, and several times faster than the state-of-the-art methods using Gröbner basis. Contrary to the existing Gröbner basis methods, the proposed method consists of three algorithms depending on the number of the points and the 3D point configuration. Experimental results show that the proposed method is as accurate as the state-of-the-art methods even in near-planar scenes while achieving up to three times faster.

Positioning information plays a significant role in multi-unmanned aerial vehicles (UAVs) applications. Traditionally, the positioning information is widely provided by Global Navigation Satellite System (GNSS) due to its good performance and global coverage. However, owing to complicated flight environment or signal blockage, jamming and unintentional interference, the UAVs may fail to locate themselves by using GNSS alone. As a new method to resolve these problems, cooperative positioning, by incorporating peer-to-peer range measurements and assisted information, has attracted more and more attentions due to its ability to enhance the accuracy and availability of positioning. However, achieving good performance of cooperative positioning of multi-UAVs is challenging as their mobility, arbitrary nonlinear state-evolution, measurement models and limited computation and communication resources. In this paper, we present a factor graph (FG) representation and message passing methodology to solve cooperative positioning problem among UAVs in 3-dimensional environment where GNSS cannot provide services. Moreover, to deal with the nonlinear state-evolution and measurement models while decreasing the computation complexity and communication cost, we develop a distributed algorithm for dynamic and hybrid UAVs by means of Spherical-Radial Cubature Rules (CR) method with belief propagation (BP) and variational message passing (VMP) methods (CRBP-VMP) on the FG. The proposed CRBP deals with the highly non-linear state-evolution models and non-Gaussian distributions, the VMP method is employed for ranging message, gets the simpler message representation and can reduce communication cost in the joint estimation problem. Simulation results demonstrate that the higher positioning accuracy, the better convergence as well as low computational complexity and communication cost of the proposed CRBP-VMP algorithm, which can be achieved compared with sum-product algorithm over a wireless network (SPAWN) and traditional Cubature Kalman Filters (CKF) method.

The high performance GaN power amplifier circuit operating at 7.1 GHz was demonstrated for potential use such as in a space ground station. First, the GaN HEMT chips were investigated for the high power amplifier circuit design. And next, the designed amplifier circuits matching with the load and source impedance of the non-linear models were fabricated. From measurement, the AB-class power amplifier circuit with the four-cell chip showed the power added efficiency (PAE) of 42.6% and output power with 41.7dBm at -3dB gain compression. Finally, the good performance of the power amplifier was confirmed in a 20-way radial power combiner with the PAE of 17.4% and output power of 52.6 dBm at -3dB gain compression.

Recently, cameras are equipped on cars in order to assist their drivers. These cameras often have a severe radial distortion because of their wide view angle, and sometimes it is necessary to compensate it in a fully automatic way in the field. We have proposed such a method, which uses the entropy of the histogram of oriented gradient (HOG) to evaluate the goodness of the compensation. Its performance was satisfactory, but the computational burden was too heavy to be executed by drive assistance devices. In this report, we discuss a method to speed up the algorithm, and obtain a new light algorithm feasible for such devices. We also show more comprehensive performance evaluation results then those in the previous reports.

This paper discusses how to design a Radial Line Slot Antenna (RLSA) whose waveguide is filled with high loss dielectric materials. We introduce a new design for the aperture slot coupling synthesis to restrain the dielectric losses and improve the antenna gain. Based on a newly defined slot coupling, a number of RLSAs with different sizes and loss factors are analyzed and their performances are predicted. Theoretical calculations suggest that the gain is sensitive to the material losses in the radial lines. The gain enhancement by using the new coupling formula is notable for larger antenna size and higher loss factor of the dielectric material. Three prototype RLSAs are designed and fabricated at 60GHz following different slot coupling syntheses, and their measured performances consolidate our theory.

This paper represents an illumination modeling method for lighting control which can model the illumination distribution inside office buildings. The algorithm uses data from the illumination sensors to train Radial Basis Function Neural Networks (RBFNN) which can be used to calculate 1) the illuminance contribution from each luminaire to different positions in the office 2) the natural illuminance distribution inside the office. This method can be used to provide detailed illumination contribution from both artificial and natural light sources for lighting control algorithms by using small amount of sensors. Simulations with DIALux are made to prove the feasibility and accuracy of the modeling method.

This paper presents the design and radiation properties of a linearly polarized radial line microstrip antenna array (RL-MSAA) with U-slot circular microstrip antennas. A circular microstrip antenna (C-MSA) with U-shaped slot is used as a radiation element of the RL-MSAA. Radiation phase of the U-slot C-MSA is controlled by tuning the radius of the C-MSA and dimensions of the U-slot on the C-MSA; therefore, the desired phase distribution of the RL-MSAA can be realized. In this paper, a linearly polarized RL-MSAA with three concentric rows of C-MSAs at a spacing of 0.65 wavelengths is designed for 12GHz operation. In order to realize uniform phase distribution, the U-slot C-MSAs are arranged for inner two rows and normal C-MSAs are arranged for the termination row. Validity of the linearly polarized RL-MSAA with the U-slot C-MSAs for radiation phase control is demonstrated by simulation and measurement.

Honeycomb structures are widely used in aerospace industry because of the lightweight and durable properties they provide. Here we propose to use a honeycomb core as the wave guiding structure in Radial Line Slot Antennas (RLSAs). This paper quantifies the propagation characteristics, especially the loss due to the honeycomb. At 32GHz, by choosing the proper cell size, both good isotropy and reasonably low effective dielectric constants are realized with the honeycomb as a spacer in a radial line waveguide. To estimate the material loss factor, several methods are compared and a factor of about 0.014∼0.018dB/mm is predicted and measured. A fabricated 90cm diameter honeycomb RLSA suffers about a 3.5∼5dB loss, which coincides with the estimates using the predicted loss factor.

Light weight RLSAs with a honeycomb-type parallel plate are promising candidates for satellite antennas. However, the design of slot lengths and positions in honeycomb RLSAs consisting of a core, skin and adhesive layers involves time-consuming EM analysis. In this paper, an equivalent double layer model is devised for fast slot coupling analysis by the Method of moments (MoM) together with a simplified array design procedure. A fabricated antenna with a diameter of 900mm demonstrates the high directivity of 48.3dBi and a gain of 44.6dBi at 32GHz, with the reflection below -15dB. This antenna weighs only 1.16kg.

The classification of human motion is an important aspect of monitoring pedestrian traffic. This requires the development of advanced surveillance and monitoring systems. Methods to achieve this have been proposed using micro-Doppler radars. However, reliable long-term data and/or complicated procedures are needed to classify motion accurately with these conventional methods because their accuracy and real-time capabilities are invariably inadequate. This paper proposes an accurate and real-time method for classifying the movements of pedestrians using ultra wide-band (UWB) Doppler radar to overcome these problems. The classification of various movements is achieved by extracting feature parameters based on UWB Doppler radar images and their radial velocity distributions. Experiments were carried out assuming six types of pedestrian movements (pedestrians swinging both arms, swinging only one arm, swinging no arms, on crutches, pushing wheelchairs, and seated in wheelchairs). We found they could be classified using the proposed feature parameters and a k-nearest neighbor algorithm. A classification accuracy of 96% was achieved with a mean calculation time of 0.55s. Moreover, the classification accuracy was 99% using our proposed method for classifying three groups of pedestrian movements (normal walkers, those on crutches, and those in wheelchairs).

This paper presents design and radiation properties of a radial line microstrip antenna array (RL-MSAA) for linear polarization. A stacked circular microstrip antenna (C-MSA) is used as a radiation element for the RL-MSAA. Radiation phase of the stacked C-MSA is controlled by tuning radii of the lower and upper patches, therefore, the desired phase distribution of the RL-MSAA can be designed. In this paper, a linearly polarized RL-MSAA with three concentric rows of the stacked C-MSAs at a spacing of 0.65 wavelengths for uniform aperture distribution is designed and tested in 12GHz. The experimental results reveal that validity of the linearly polarized RL-MSAA with the stacked C-MSAs for radiation phase control is demonstrated.

Based on the substrate integrated waveguide (SIW) technology, a new type of varactor-tuned radial power divider has been developed with a single bias supply. The varactors are used as tuning elements and allow for a frequency agile behavior. In addition, bandwidth characteristics have been analysed with group-delay. It has been measured with a single bias supply ranging from 6 V to 12 V that the center frequency of the power divider can be adjusted from 6.6 GHz to 7.2 GHz (600 MHz, 11.5%) while maintaining a low insertion loss (< 1 dB) in the passband.

A spiral array radial line slot antenna (SA-RLSA) is designed in 22 GHz band. A SA-RLSA excited with a coaxial feeder suffers from aperture illumination fluctuation in amplitude and phase in the circumferential (φ-) direction while in the radial direction, reasonably uniform distribution is observed. Rotational symmetry of radiation patterns is degraded and especially the sidelobe levels are unbalanced. This fluctuation is associated with the generation of the higher order modes in the φ-direction and is the unique defect of SA-RLSA which uses oversized waveguide. In this paper, a novel feeding structure with two pairs of parasitic pins around a coaxial feeder is proposed and designed so as to compensate the rotational asymmetry of aperture illumination. A measurement using the model antenna designed in 22 GHz band demonstrates the enhancement of the rotational symmetry; the circumferential fluctuation is reduced from 5.1 dB and 33 degrees to 1.8 dB and 12 degrees, while the fluctuation in the first sidelobe level suppressed from 10.7 dB to 1.2 dB.

In this paper, a new local matching algorithm, to estimate dense disparity map in stereo vision, consisting of two stages is presented. At the first stage, the reduction of search space is carried out with a high efficiency, i.e. remarkable decrease in the average number of candidates per pixel, with low computational cost and high assurance of retaining the correct answer. This outcome being due to the effective use of multiple radial windows, intensity information, and some usual and new constraints, in a reasonable manner, retains those candidates which satisfy more constraints and especially being more promising to satisfy the implied assumption in using support windows; i.e., the disparity consistency of the window pixels. Such an output from the first stage, while speeding up the final selection of disparity in the second stage due to search space reduction, is also promising a more accurate result due to having more reliable candidates. In the second stage, the weighted window, although not necessarily being the exclusive choice, is employed and examined. The experimental results on the standard stereo benchmarks for the developed algorithm are presented, confirming that the massive computations to obtain more precise matching costs in weighted window is reduced to about 1/11 and the final disparity map is also improved.

In this paper, we propose a reduced-complexity radial basis function (RBF)-assisted decision-feedback equalizer (DFE)-based turbo equalization (TEQ) scheme using a novel extended fuzzy c-means (FCM) algorithm, which not only is comparable in performance to the Jacobian RBF DFE-based TEQ but also is low-complexity. Previous TEQ research has shown that the Jacobian RBF DFE TEQ considerably reduces the computational complexity with similar performance, when compared to the logarithmic maximum a posteriori (Log-MAP) TEQ. In this study, the proposed reduced-complexity RBF DFE TEQ further greatly reduces the computational complexity and is capable of attaining a similar performance in contrast to the Jacobian RBF DFE TEQ in the context of both binary phase-shift keying (BPSK) modulation and 4 quadrature amplitude modulation (QAM). With this proposal, the materialization of the RBF-assisted TEQ scheme becomes more feasible.

A lightweight and high gain planar antenna for space use is realized with radial waveguide slotted array and honeycomb structure with the weight of 1.16 kg and the diameter of 920.5 mm. The slot coupling is analyzed by method of moments considering the hybrid mode in the multi-layer waveguide structure. The propagation constant of the honeycomb structure is measured and the low-loss property is obtained at the frequency range of 8 GHz. The fabricated RLSA is measured and the reflection is around -10 dB in 8 GHz band. The measured aperture fields agree with the calculation in the radial direction. In the azimuthal direction, on the other hand, the fields show ripples of 6 dB and 60 degree. The gain of 35.9 dBi with the efficiency of 58.7% is obtained at 8.6 GHz.

In this paper, a novel decentralized adaptive neural network controller is proposed for a class of large-scale nonlinear systems with unknown nonlinear, nonaffine subsystems and unknown nonlinear interconnections. The stability of the closed loop system is guaranteed by introducing a robust adaptive bound based on Lyapunov stability analysis. A radial-basis function type neural network is used in the paper. To show the effectiveness of the proposed method, we performed some simulation studies. The results of simulation become very promising.

In this work particle swarm optimization (PSO) aided with radial basis functions (RBF) has been suggested to carry out multiuser detection (MUD) for synchronous direct sequence code division multiple access (DS-CDMA) systems. The performance of the proposed algorithm is compared to that of other standard suboptimal detectors and genetic algorithm (GA) assisted MUD. It is shown to offer better performance than the others especially if there are many users.

We propose a wave analysis method for probe-fed Radial Line Planar Antennas (RLPAs) which yields an approximate solution for the aperture field distribution and scattering by loaded probes. Damping of electric power in the radial line due to radiation by antenna elements is included. The method can accommodate the effect of all conductors, including the terminating wall, by introducing the concept of equivalent posts. We have found good correspondence between the measured and calculated values of the aperture field distribution. The proposed method is effective for general geometries of probe-fed RLPAs.