A specific pole placement technique to minimise hardware requirements within a real time terrestrial and cable video echo canceller

The real time hardware architecture of a deterministic video echo canceller (deghoster) system is presented. The deghoster is capable of calculating all the multipath channel distortion characteristics from terrestrial and cable television in one single pass while performing real time video in-line ghost cancellation. The results from the actual system are also presented in this paper.

The findings from a single pass deghoster prototype for terrestrial transmitted video

A deterministic prototype video deghoster is presented which is capable of calculating all the multipath channel distortion characteristics in one single pass and subsequently removing the multipath distortions, commonly termed ghosts. Within the system, a channel identification algorithm finds in isolation all the ghost components while a dedicated DSP filter subsystem is capable of removing ghosts in real time. The results from the system are presented.

Equalisation with adaptive time lag

In an adaptive equaliser, the time lag is an important parameter that significantly influences the performance. Only with the optimum time lag that corresponds to the best minimum-mean-square-error (MMSE) performance, can there be best use of the available resources. Many designs, however, choose the time lag either based on preassumption of the channel or simply based on average experience. The relation between the MMSE performance and the time lag is investigated using a new interpretation of the MMSE equaliser, and then a novel adaptive time lag algorithm is proposed based on gradient search. The proposed algorithm can converge to the optimum time lag in the mean and is verified by the numerical simulations provided.

Structure adaptation of linear MMSE adaptive filters

The tap-length, or the number of the taps, is an important structural parameter of the linear MMSE adaptive filter. Although the optimum tap-length that balances performance and complexity varies with scenarios, most current adaptive filters fix the tap-length at some compromise value, making them inefficient to implement especially in time-varying scenarios. A novel gradient search based variable tap-length algorithm is proposed, using the concept of the pseudo-fractional tap-length, and it is shown that the new algorithm can converge to the optimum tap-length in the mean. Results of computer simulations are also provided to verify the analysis.

Adaptive least mean square CDMA detection with Gram–Schmidt pre-processing

The Gram-Schmidt (GS) orthogonalisation procedure has been used to improve the convergence speed of least mean square (LMS) adaptive code-division multiple-access (CDMA) detectors. However, this algorithm updates two sets of parameters, namely the GS transform coefficients and the tap weights, simultaneously. Because of the additional adaptation noise introduced by the former, it is impossible to achieve the same performance as the ideal orthogonalised LMS filter, unlike the result implied in an earlier paper. The authors provide a lower bound on the minimum achievable mean squared error (MSE) as a function of the forgetting factor λ used in finding the GS transform coefficients, and propose a variable-λ algorithm to balance the conflicting requirements of good tracking and low misadjustment.

Model predictive control using dynamic integrated system optimisation and parameter estimation (DISOPE)

DISOPE is a technique for solving optimal control problems where there are differences in structure and parameter values between reality and the model employed in the computations. The model reality differences can also allow for deliberate simplification of model characteristics and performance indices in order to facilitate the solution of the optimal control problem. The technique was developed originally in continuous time and later extended to discrete time. The main property of the procedure is that by iterating on appropriately modified model based problems the correct optimal solution is achieved in spite of the model-reality differences. Algorithms have been developed in both continuous and discrete time for a general nonlinear optimal control problem with terminal weighting, bounded controls and terminal constraints. The aim of this paper is to show how the DISOPE technique can aid receding horizon optimal control computation in nonlinear model predictive control.

Behaviour and learning in completely autonomous mobile robots

A number of Intelligent Mobile Robots have been developed at the University of Reading. They are completely autonomous in that no umbilical cord attaches to them to extra power supplies or computer station: further, they are not radio controlled. In this paper, the robots are discussed, in their various forms, and the individual behaviours and characteristics which appear are considered.

Queue-based agent communication architecture for intelligent human-like computer interfaces

Human-like computer interaction systems requires far more than just simple speech input/output. Such a system should communicate with the user verbally, using a conversational style language. It should be aware of its surroundings and use this context for any decisions it makes. As a synthetic character, it should have a computer generated human-like appearance. This, in turn, should be used to convey emotions, expressions and gestures. Finally, and perhaps most important of all, the system should interact with the user in real time, in a fluent and believable manner.

Towards a modular robotics standard for AGV design and programming

Across the world there are many bodies currently involved in researching into the design of autonomous guided vehicles (AGVs). One of the greatest problems at present however, is that much of the research work is being conducted in isolated groups, with the resulting AGVs sensor/control/command systems being almost completely nontransferable to other AGV designs. This paper describes a new modular method for robot design which when applied to AGVs overcomes the above problems. The method is explained here with respect to all forms of robotics but the examples have been specifically chosen to reflect typical AGV systems.

A comparative study of multilayered and single layered neural network based predictive controllers

The authors compare the performance of two types of controllers one based on the multilayered network and the other based on the single layered CMAC network (cerebellar model articulator controller). The neurons (information processing units) in the multi-layered network use Gaussian activation functions. The control scheme which is considered is a predictive control algorithm, along the lines used by Willis et al. (1991), Kambhampati and Warwick (1991). The process selected as a test bed is a continuous stirred tank reactor. The reaction taking place is an irreversible exothermic reaction in a constant volume reactor cooled by a single coolant stream. This reactor is a simplified version of the first tank in the two tank system given by Henson and Seborg (1989).