Templates and anchors for antenna-based wall following in cockroaches and robots

The interplay between robotics and neuromechanics facilitates discoveries in both fields: nature provides roboticists with design ideas, while robotics research elucidates critical features that confer performance advantages to biological systems. Here, we explore a system particularly well suited to exploit the synergies between biology and robotics: high-speed antenna-based wall following of the American cockroach (Periplaneta americana). Our approach integrates mathematical and hardware modeling with behavioral and neurophysiological experiments. Specifically, we corroborate a prediction from a previously reported wall-following template - the simplest model that captures a behavior - that a cockroach antenna-based controller requires the rate of approach to a wall in addition to distance, e.g., in the form of a proportional-derivative (PD) controller. Neurophysiological experiments reveal that important features of the wall-following controller emerge at the earliest stages of sensory processing, namely in the antennal nerve. Furthermore, we embed the template in a robotic platform outfitted with a bio-inspired antenna. Using this system, we successfully test specific PD gains (up to a scale) fitted to the cockroach behavioral data in a "real-world" setting, lending further credence to the surprisingly simple notion that a cockroach might implement a PD controller for wall following. Finally, we embed the template in a simulated lateral-leg-spring (LLS) model using the center of pressure as the control input. Importantly, the same PD gains fitted to cockroach behavior also stabilize wall following for the LLS model. © 2008 IEEE.

Wide Area Passive UHF RFID System using Antenna Diversity Combined with Phase and Frequency Hopping

This paper presents a long range and effectively error-free ultra high frequency (UHF) radio frequency identification (RFID) interrogation system. The system is based on a novel technique whereby two or more spatially separated transmit and receive antennas are used to enable greatly enhanced tag detection performance over longer distances using antenna diversity combined with frequency and phase hopping. The novel technique is first theoretically modelled using a Rician fading channel. It is shown that conventional RFID systems suffer from multi-path fading resulting in nulls in radio environments. We, for the first time, demonstrate that the nulls can be moved around by varying the phase and frequency of the interrogation signals in a multi-antenna system. As a result, much enhanced coverage can be achieved. A proof of principle prototype RFID system is built based on an Impinj R2000 transceiver. The demonstrator system shows that the new approach improves the tag detection accuracy from <50% to 100% and the tag backscatter signal strength by 10dB over a 20 m x 9 m area, compared with a conventional switched multi-antenna RFID system.

Demonstration of Improved Passive UHF RFID Coverage using Optically-Fed Distributed Multi-Antenna System

Optically-fed distributed antenna system (DAS) technology is combined with passive ultra high frequency (UHF) radio frequency identification (RFID). It is shown that RFID signals can be carried on directly modulated radio over fiber links without impacting their performance. It is also shown that a multi-antenna DAS can greatly reduce the number of nulls experienced by RFID in a complex radio environment, increasing the likelihood of successful tag detection. Consequently, optimization of the DAS reduces nulls further. We demonstrate RFID tag reading using a three antenna DAS system over a 20mx6m area, limited by building constraints, where 100% of the test points can be successfully read. The detected signal strength from the tag is also observed to increase by an average of approximately 10dB compared with a conventional switched multi-antenna RFID system. This improvement is achieved at +31dBm equivalent isotropically radiated power (EIRP) from all three antenna units (AUs).

Computation of transient and steady turbulent isothermal flows with an impinging rectangular jet

The computation of both transient and steady turbulent incompressible isothermal flows is studied. The flow is very complex, having streamline curvature, large vortex structures and stagnation resulting from an impinging rectangular jet. For transient computations, the standard k-ε model is adopted. For steady flows, the k-ε, high and low Reynolds number k-l and mixing length models are tried. Zonal approaches combining the above turbulence models are also investigated. None of the models are found to give satisfactory agreement with velocity measurements.

Normal shock interactions in rectangular channels

Experiments have been conducted to examine the mechanisms behind the coupling between corner separation and centreline separation when holding a normal shock in a rectangular channel. The study has focused on a M ∞ = 1.5 normal shock held in a wind tunnel with a parallel rectangular cross-section. The primary mechanism explaining the link between the corner separation size and the centreline separation appears to be the generation of compression waves which act to smear the adverse pressure gradient imposed upon other parts of the flow. In addition, the origin of the λ-foot leading leg appears to be depended upon the size of the corner separations. Experimental results indicate that the alteration of the λ-region, which occurs in the supersonic portion of the SBLI, is more important than the generation of any blockage in the subsonic region downstream of the shock wave. Copyright © 2012 by H. Babinsky, D.M.F. Burton.

Near-field characterization of chemical vapor deposition graphene in the microwave regime

Near-field measurements were performed at X-band frequencies for graphene on copper microstrip transmission lines. An improvement in radiation of 0.88 dB at 10.2 GHz is exhibited from the monolayer graphene antenna which has dc sheet resistivity of 985 Ω/sq. Emission characteristics were validated via ab initio simulations and compared to empirical findings of geometrically comparable copper patches. This study contributes to the current knowledge of the electronic properties of graphene. © 2013 AIP Publishing LLC.

Aberration correction for free space optical communications using rectangular zernike modal wavefront sensing

A time multiplexed rectangular Zernike modal wavefront sensor based on a nematic phase-only liquid crystal spatial light modulator and specially designed for a high power two-electrode tapered laser diode which is a compact and novel free space optical communication source is used in an adaptive beam steering free space optical communication system, enabling the system to have 1.25 GHz modulation bandwidth, 4.6° angular coverage and the capability of sensing aberrations within the system and caused by atmosphere turbulence up to absolute value of 0.15 waves amplitude and correcting them in one correction cycle. Closed-loop aberration correction algorithm can be implemented to provide convergence for larger and time varying aberrations. Improvement of the system signal-to-noise-ratio performance is achieved by aberration correction. To our knowledge, it is first time to use rectangular orthonormal Zernike polynomials to represent balanced aberrations for high power rectangular laser beam in practice. © 2014 IEEE.

MIMO System capacity improvements using radio-over-fibre distributed antenna system technology

The effect of antenna separation in a 3×3 MIMO system using RoF DAS technology is investigated. Larger antenna separation is found to improve the throughput due to reduced channel correlation and improved SNR. © OSA/OFC/NFOEC 2011.

Experimental investigation of antenna selection and transmit beamforming for capacity enhancement in 3×3 MIMO-enabled radio-over-fiber DAS

This paper examines the impact of two simple precoding schemes on the capacity of 3 × 3 MIMO-enabled radio-over-fiber (RoF) distributed antenna systems (DAS) with excess transmit antennas. Specifically, phase-shift-only transmit beamforming and antenna selection are compared. It is found that for two typical indoor propagation scenarios, both strategies offer double the capacity gain that non-precoding MIMO DAS offers over traditional MIMO collocated antenna systems (CAS), with capacity improvements of 3.2-4.2 bit/s/Hz. Further, antenna selection shows similar performance to phase-only beamforming, differing by <0.5% and offering median capacities of 94 bit/s/Hz and 82 bit/s/Hz in the two propagation scenarios respectively. Because optical DASs enable precise, centralized control of remote antennas, they are well suited for implementing these beamforming schemes. Antenna selection, in particular, is a simple and effective means of increasing MIMO DAS capacity. © 2013 IEEE.

Experimental evaluation of layout designs for 3 × 3 MIMO-enabled radio-over-fiber distributed antenna systems

This paper experimentally demonstrates that, for two representative indoor distributed antenna system (DAS) scenarios, existing radio-over-fiber (RoF) DAS installations can enhance the capacity advantages of broadband 3 × 3 multiple-input-multiple-output (MIMO) radio services without requiring additional fibers or multiplexing schemes. This is true for both single-and multiple-user cases with a single base station and multiple base stations. First, a theoretical example is used to illustrate that there is a negligible improvement in signal-to-noise ratio (SNR) when using a MIMO DAS with all N spatial streams replicated at N RAUs, compared with a MIMO DAS with only one of the N streams replicated at each RAU for N ≤ 4. It is then experimentally confirmed that a 3 × 3 MIMO DAS offers improved capacity and throughput compared with a 3 × 3 MIMO collocated antenna system (CAS) for the single-user case in two typical indoor DAS scenarios, i.e., one with significant line-of-sight (LOS) propagation and the other with entirely non-line-of-sight (NLOS) propagation. The improvement in capacity is 3.2% and 4.1%, respectively. Then, experimental channel measurements confirm that there is a negligible capacity increase in the 3 × 3 configuration with three spatial streams per antenna unit over the 3 × 3 configuration with a single spatial stream per antenna unit. The former layout is observed to provide an increase of ∼1% in the median channel capacity in both the single-and multiple-user scenarios. With 20 users and three base stations, a MIMO DAS using the latter layout offers median aggregate capacities of 259 and 233 bit/s/Hz for the LOS and NLOS scenarios, respectively. It is concluded that DAS installations can further enhance the capacity offered to multiple users by multiple 3 × 3 MIMO-enabled base stations. Further, designing future DAS systems to support broadband 3 × 3 MIMO systems may not require significant upgrades to existing installations for small numbers of spatial streams. © 2013 IEEE.

Experimental and numerical investigation of the seismic behavior of rectangular tunnels in soft soils

Underground structures constitute crucial components of the transportation networks. Considering their significance for modern societies, their proper seismic design is of great importance. However, this design may become very tricky, accounting of the lack of knowledge regarding their seismic behavior. Several issues that are significantly affecting this behavior (i.e. earth pressures on the structure, seismic shear stresses around the structure, complex deformation modes for rectangular structures during shaking etc.) are still open. The problem is wider for the non-circular (i.e. rectangular) structures, were the soilstructure interaction effects are expected to be maximized. The paper presents representative experimental results from a test case of a series of dynamic centrifuge tests that were performed on rectangular tunnels embedded in dry sand. The tests were carried out at the centrifuge facility of the University of Cambridge, within the Transnational Task of the SERIES EU research program. The presented test case is also numerically simulated and studied. Preliminary full dynamic time history analyses of the coupled soil-tunnel system are performed, using ABAQUS. Soil non-linearity and soil-structure interaction are modeled, following relevant specifications for underground structures and tunnels. Numerical predictions are compared to experimental results and discussed. Based on this comprehensive experimental and numerical study, the seismic behavior of rectangular embedded structures is better understood and modeled, consisting an important step in the development of appropriate specifications for the seismic design of rectangular shallow tunnels.