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Abstract

The breadth first signal decoder (BSIDE) is well known for its optimal maximum likelihood (ML) performance with lesser complexity. In this paper, we analyze a multiple-input multiple-output (MIMO) detection scheme that combines; column norm based ordering minimum mean square error (MMSE) and BSIDE detection methods. The investigation is carried out with a breadth first tree traversal technique, where the computational complexity encountered at the lower layers of the tree is high. This can be eliminated by carrying detection in the lower half of the tree structure using MMSE and upper half using BSIDE, after rearranging the column of the channel using norm calculation. The simulation results show that this approach achieves 22% of complexity reduction for 2x2 and 50% for 4x4 MIMO systems without any degradation in the performance.

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Authors and Affiliations

Ramya Jothikumar
Nakkeeran Rangaswamy
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Abstract

Robots that can comprehend and navigate their surroundings independently on their own are considered intelligent mobile robots (MR). Using a sophisticated set of controllers, artificial intelligence (AI), deep learning (DL), machine learning (ML), sensors, and computation for navigation, MR's can understand and navigate around their environments without even being connected to a cabled source of power. Mobility and intelligence are fundamental drivers of autonomous robots that are intended for their planned operations. They are becoming popular in a variety of fields, including business, industry, healthcare, education, government, agriculture, military operations, and even domestic settings, to optimize everyday activities. We describe different controllers, including proportional integral derivative (PID) controllers, model predictive controllers (MPCs), fuzzy logic controllers (FLCs), and reinforcement learning controllers used in robotics science. The main objective of this article is to demonstrate a comprehensive idea and basic working principle of controllers utilized by mobile robots (MR) for navigation. This work thoroughly investigates several available books and literature to provide a better understanding of the navigation strategies taken by MR. Future research trends and possible challenges to optimizing the MR navigation system are also discussed.
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Authors and Affiliations

Ravi Raj
1
ORCID: ORCID
Andrzej Kos
1

  1. Faculty of Computer Science, Electronics, and Telecommunications, AGH University of Science and Technology, Krakow, Poland
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Abstract

There were two aims of the research. One was to enable more or less automatic confirmation of the known associations – either quantitative or qualitative – between technological data and selected properties of concrete materials. Even more important is the second aim – demonstration of expected possibility of automatic identification of new such relationships, not yet recognized by civil engineers. The relationships are to be obtained by methods of Artificial Intelligence, (AI), and are to be based on actual results from experiments on concrete materials. The reason of applying the AI tools is that in Civil Engineering the real data are typically non perfect, complex, fuzzy, often with missing details, which means that their analysis in a traditional way, by building empirical models, is hardly possible or at least can not be done quickly. The main idea of the proposed approach was to combine application of different AI methods in a one system, aimed at estimation, prediction, design and/or optimization of composite materials. The paradigm of the approach is that the unknown rules concerning the properties of concrete are hidden in experimental results and can be obtained from the analysis of examples. Different AI techniques like artificial neural networks, machine learning and certain techniques related to statistics were applied. The data for the analysis originated from direct observations and from reports and publications on concrete technology. Among others it has been demonstrated that by combining different AI methods it is possible to improve the quality of the data, (e.g. when encountering outliers and missing values or in clustering problems), so that the whole data processing system will be giving better prediction, (when applying ANNs), or the newly discovered rules will be more effective, (e.g. with descriptions more complete and – at the same time – possibly more consistent, in case of ML algorithms).

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Authors and Affiliations

D. Alterman
J. Kasperkiewicz

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