Use of a portable topographic mapping millimetre wave radar at an active lava flow

A ground-based millimetre wave radar, AVTIS (All-weather Volcano Topography Imaging Sensor), has been developed for topographic monitoring. The instrument is portable and capable of measurements over ranges up to similar to 7 km through cloud and at night. In April and May 2005, AVTIS was deployed at Arenal Volcano, Costa Rica, in order to determine topographic changes associated with the advance of a lava flow. This is the first reported application of mm-wave radar technology to the measurement of lava flux rates. Three topographic data sets of the flow were acquired from observation distances of similar to 3 km over an eight day period, during which the flow front was detected to have advanced similar to 200 m. Topographic differences between the data sets indicated a flow thickness of similar to 10 m, and a dense rock equivalent lava flux of similar to 0.20 +/- 0.08 m(3) s(-1).

Laser-radar data fusion with Gaussian Process Implicit Surfaces

This work considers the problem of building high-fidelity 3D representations of the environment from sensor data acquired by mobile robots. Multi-sensor data fusion allows for more complete and accurate representations, and for more reliable perception, especially when different sensing modalities are used. In this paper, we propose a thorough experimental analysis of the performance of 3D surface reconstruction from laser and mm-wave radar data using Gaussian Process Implicit Surfaces (GPIS), in a realistic field robotics scenario. We first analyse the performance of GPIS using raw laser data alone and raw radar data alone, respectively, with different choices of covariance matrices and different resolutions of the input data. We then evaluate and compare the performance of two different GPIS fusion approaches. The first, state-of-the-art approach directly fuses raw data from laser and radar. The alternative approach proposed in this paper first computes an initial estimate of the surface from each single source of data, and then fuses these two estimates. We show that this method outperforms the state of the art, especially in situations where the sensors react differently to the targets they perceive.

Characterisation of the Delphi Electronically Scanning Radar for robotics applications

Mm-wave radars have an important role to play in field robotics for applications that require reliable perception in challenging environmental conditions. This paper presents an experimental characterisation of the Delphi Electronically Scanning Radar (ESR) for mobile robotics applications. The performance of the sensor is evaluated in terms of detection ability and accuracy, for varying factors including: sensor temperature, time, target’s position, speed, shape and material. We also evaluate the sensor’s target separability performance.

Self-healing Techniques for RF and mm-Wave Transmitters and Receivers

With continuing advances in CMOS technology, feature sizes of modern Silicon chip-sets have gone down drastically over the past decade. In addition to desktops and laptop processors, a vast majority of these chips are also being deployed in mobile communication devices like smart-phones and tablets, where multiple radio-frequency integrated circuits (RFICs) must be integrated into one device to cater to a wide variety of applications such as Wi-Fi, Bluetooth, NFC, wireless charging, etc. While a small feature size enables higher integration levels leading to billions of transistors co-existing on a single chip, it also makes these Silicon ICs more susceptible to variations. A part of these variations can be attributed to the manufacturing process itself, particularly due to the stringent dimensional tolerances associated with the lithographic steps in modern processes. Additionally, RF or millimeter-wave communication chip-sets are subject to another type of variation caused by dynamic changes in the operating environment. Another bottleneck in the development of high performance RF/mm-wave Silicon ICs is the lack of accurate analog/high-frequency models in nanometer CMOS processes. This can be primarily attributed to the fact that most cutting edge processes are geared towards digital system implementation and as such there is little model-to-hardware correlation at RF frequencies.

All these issues have significantly degraded yield of high performance mm-wave and RF CMOS systems which often require multiple trial-and-error based Silicon validations, thereby incurring additional production costs. This dissertation proposes a low overhead technique which attempts to counter the detrimental effects of these variations, thereby improving both performance and yield of chips post fabrication in a systematic way. The key idea behind this approach is to dynamically sense the performance of the system, identify when a problem has occurred, and then actuate it back to its desired performance level through an intelligent on-chip optimization algorithm. We term this technique as self-healing drawing inspiration from nature's own way of healing the body against adverse environmental effects. To effectively demonstrate the efficacy of self-healing in CMOS systems, several representative examples are designed, fabricated, and measured against a variety of operating conditions.

We demonstrate a high-power mm-wave segmented power mixer array based transmitter architecture that is capable of generating high-speed and non-constant envelope modulations at higher efficiencies compared to existing conventional designs. We then incorporate several sensors and actuators into the design and demonstrate closed-loop healing against a wide variety of non-ideal operating conditions. We also demonstrate fully-integrated self-healing in the context of another mm-wave power amplifier, where measurements were performed across several chips, showing significant improvements in performance as well as reduced variability in the presence of process variations and load impedance mismatch, as well as catastrophic transistor failure. Finally, on the receiver side, a closed-loop self-healing phase synthesis scheme is demonstrated in conjunction with a wide-band voltage controlled oscillator to generate phase shifter local oscillator (LO) signals for a phased array receiver. The system is shown to heal against non-idealities in the LO signal generation and distribution, significantly reducing phase errors across a wide range of frequencies.

Liquid crystal tunable mm wave frequency selective surface

A frequency selective surface (FSS) which exploits the dielectric anisotropy of liquid crystals to generate an electronically tunable bandpass filter response at D Band (110-170 GHz) is presented. The device consists of two printed arrays of slot elements which are separated by a 130-mu m thick layer of liquid crystals. A 3% shift in the filter passband occurs when the substrate permittivity is increased by applying a control signal of 10 V. Measured results show that the insertion loss increases from -3.7 dB to -10.4 dB at resonance (134 GHz), thus demonstrating the potential to create a FSS which can be switched between a transmitting and a reflecting structure.

Two-layer mm-wave FSS of linear slot elements with low insertion loss

The performance of a very low loss frequency selective surface (FSS) comprising two air spaced planar arrays of linear slot elements is reported. The beamsplitter generates a low loss passband response with a very sharp transmission roll-off with frequency. Simulated and measured results in the 30 GHz and 300 GHz wavebands are used to quantify the performance improvement compared to a conventional multilayer dielectrically backed conducting ring FSS. The paper also discusses the effect of the array dimensions on the passband width and filter roll-off rate.