Goran T. Djordjevic

On the communication over strong atmospheric turbulence channels by adaptive modulation and coding

The free-space optical (FSO) communications can provide any connectivity need at high-speed. However, an optical wave propagating through the atmosphere experiences the variation in amplitude and phase due to scintillation. To enable high-speed communication over strong atmospheric turbulence channels, we propose to transmit the encoded sequence over both FSO and wireless channels, feedback channel state information of both channels by RF-feedback, and adapt powers and rates so that total channel capacity is maximized. The optimum power adaptation policy maximizing total channel capacity is derived. We show significant spectral efficiency performance improvement by employing this approach. We further show that deep fades in the order 35 dB and above can be tolerated by proposed hybrid communication scheme.

Partial Relay Selection With Outdated Channel State Estimation in Mixed RF/FSO Systems

We study a dual-hop relaying system, composed of mixed radio frequency (RF)/free-space optical (FSO) links. Partial amplify-and-forward relay selection is assumed, which is based on outdated channel state information (CSI). The RF link is subject to Rayleigh fading, while the FSO link is affected by atmospheric turbulence, modeled by Gamma-Gamma distribution. Novel analytical expressions for the outage probability and average bit error rate (BER) are derived. Numerical results are presented and validated by Monte-Carlo simulations. The outage probability and average BER dependence on turbulence strength, average signalto-noise ratio (SNR) over RF hop, average electrical SNR over FSO hop, number of relays, and rank of selected relay, are also investigated, while the effect of time correlation between current source-relay channel and its outdated CSI, is considered. The results illustrate that the outdated CSI used for the relay selection has a strong effect on the system performance, especially in weak turbulence conditions of the FSO hop. Furthermore, the improvement of the system performance with increase of the number of the relays is highly dependent on the FSO channel state.

Mixed RF/FSO Relaying With Outdated Channel State Information

We investigate the outage probability and the average bit error rate (BER) performance of a dual-hop amplify-and-forward (AF) relaying system, composed of a mixed radio frequency (RF)/free-space optical (FSO) link, when simultaneously outdated channel state information (CSI) is assumed at the relay and there is a misalignment between transmitter and receiver apertures in FSO link. In contrast to the majority of works on CSI-assisted AF relays, in this paper, we assume that the estimated CSI is outdated, when the relay amplifies the transmitted signal. The RF link experiences Rayleigh fading, while the FSO link is under the influence of atmospheric turbulence, modeled by the Gamma-Gamma distribution. Novel analytical expressions for the outage probability and the average BER are derived in a power series form, which in some special cases are simplified to offer engineering insight into the effects of important transceiver and channel parameters on the system performance. Numerical and simulation results show that there is an optimal value of the transmitter beam waist, which minimizes the overall outage probability. This optimal value strongly depends on the pointing errors standard deviation. Furthermore, the outage probability varies for several orders of magnitude depending on the transmitter beam waist.

Human-Like Behavior of Robot Arms: General Considerations and the Handwriting Task-Part I: Mathematical Description of Human-Like Motion: Distributed Positioning and Virtual Fatigue

Abstract This two-part paper is concerned with the analysis and achievement of human-like behavior by robot arms (manipulators). The analysis involves three issues: (i) the resolution of the inverse kinematics problem of redundant robots, (ii) the separation of the end-effectors motion into two components, i.e. the smooth (low accelerated) component and the fast (accelerated) component, and (iii) the fatigue of the motors (actuators) of the robot joints. In the absence of the fatigue, the human-like performance is achieved by using the partitioning of the robot joints into “smooth” and “accelerated” ones (called distributed positioning—DP). The actuator fatigue is represented by the so-called “virtual fatigue” (VF) concept. When fatigue starts, the human-like performance is achieved by engaging more the joints (motors) that are less fatigued, as does the human arm. Part I of the paper provides the theoretical issues of the above approach, while Part II applies it to the handwriting task and provides extensive simulation results that support the theoretical expectations.

Human-like behavior of robot arms: general considerations and the handwriting task*Part II: the robot arm in handwriting

Abstract This paper (Part II) investigates the motion of a redundant anthropomorphic arm during the writing task. Two approaches are applied. The first is based on the concept of distributed positioning which is suitable to model the “writing” task before the occurrence of fatigue symptoms. The second approach uses the concept of “virtual fatigue” (VF) which is a variable that dynamically behaves in a way analogous to the biological fatigue. VF enables the arm to reconfigure itself and take postures appropriate for the current level of fatigue. The study includes the analysis of legibility and inclination of handwriting, and a set of simulation results that show most practical aspects of robot human-like performance.

Analytical Model for Outage Probability of Interference-Limited Systems over Extended Generalized-K Fading Channels

In this letter, the novel analytical expressions for the probability density function, cumulative distribution function and moment generating function of the signal-to-interference ratio are derived for the interference-limited system operating over the extended generalized-K (EGK) fading channel. Since the EGK distribution can be used for modeling a great variety of fading channels, the new derived formulae have high level of generality and can be used for estimating the effects of interference and different composite fading channel conditions on system performance. The proposed analytical analysis is complemented by various outage performance results and confirmed by simulations.

Outage capacity of FSO link with pointing errors and link blockage.

In this paper, we analyze the outage capacity performance of free-space optical (FSO) systems. More precisely, taking the stochastic temporary blockage of the laser beam, atmospheric turbulence, misalignment between transmitter laser and receiver photodiode and path loss into account, we derive novel accurate analytical expressions for the outage capacity. The intensity fluctuations of the received signal are modeled by a Gamma-Gamma distribution with parameters directly related to the wide range of atmospheric conditions. The analytical results are validated by Monte Carlo simulations. Furthermore, when the intensity fluctuations are caused only by atmospheric turbulence, derived expressions are reduced to the simpler forms already presented in literature. The numerical and simulation results show that the link blockage causes appearance of the outage floor that is a significant energetic characteristic of an FSO system. The results also show that there exists an optimal value of the laser beam radius at the waist for minimizing outage probability in order to achieve the specified outage capacity. This optimal value depends on atmospheric turbulence strength and standard deviation of pointing errors, but it is also strongly dependent on the probability of link blockage.

Performance analysis of dual switched diversity over correlated Weibull fading channels with co-channel interference

This paper studies the performance of switch and stay combining (SSC) diversity in the presence of co-channel interference over correlated Weibull fading channels. SSC diversity based on signal-to-interference ratio (SIR) is a low-complexity and a very efficient technique that reduces fading and co-channel interference influence. New closed-form expressions for the probability density function and cumulative distribution function of the output SIRs are derived. These formulas are used in a detailed analysis of the average output SIR and outage probability. The influence of fading severity and correlation coefficient on the optimum switching threshold and system performance is investigated. Monte Carlo simulations are performed to verify obtained theoretical results and determine average bit error rate in detecting binary phase-shift keying (BPSK), differential BPSK and quadrature amplitude modulation signals. Copyright

Outage Analysis of Mixed FSO/WiMAX Link

In this paper, we study the outage performance of a complex system consisting of a free-space optical (FSO)/radio-frequency (RF) link. Using radio over free-space optics technology, the FSO link carries Worldwide Interoperability for Microwave Access (WiMAX) signals from a core network to a WiMAX base station, delivering traffic to multiple end RF users. A novel closed-form analytical expression for overall outage probability is derived when M-ary phase-shift keying (M-PSK) and M-ary quadrature amplitude modulation (M-QAM) are applied. The analysis is performed when the FSO link is under the influence of the Gamma-Gamma turbulence, path loss, and misalignment between the transmitter and receiver apertures, and the RF part is influenced by the Gamma-shadowed Nakagami-m multipath fading. To illustrate the usefulness of the derived expressions, we present some numerical results that enable us to estimate the effects of different transceiver and channel parameters on the outage probability. The results are used for optimizing the transmitter laser beam radius at the waist to achieve the minimal overall outage probability in the case of different conditions over the RF part. The numerical and simulation results show that multipath fading severity and shadowing spread over the RF part have a significant effect on the optimal value of the laser beam waist and can decrease the overall outage probability for several orders of magnitude.

An example of a hybrid system: coherent optical system with Costas loop in receiver-system for transmission in baseband

The possibility of hybrid system construction is considered in this paper. The coherent optical system is the constituent part of this system. The first part of the system is constructed in passband (optical cable is transmission medium), and the second part of the system is constructed in baseband. The heterodyne optical receiver is used as optical receiver. Estimation is not done just after demodulation, but it is done at the end of the section in baseband. Taking into account shot noise of photodetectors, laser phase noise (transmitter laser and local laser) and noise which is generated during transmission by means of the section in baseband, we determine the performances of the proposed system.