Sample indexed spatial orthogonal frequency division multiplexing

Optical spatial modulation （OSM） is a multiple-transmitter technique that can provide higher data rates with low system complexity as compared with single-input single-output systems. Orthogonal frequency division multiplexing （OFDM） is widely implemented to achieve better spectral efficiency in wireless channels. Asymmetrically clipped optical OFDM （O-OFDM） and DC-biased O-OFDM are two well-known O-OFDM techniques suitable for intensity-modulation direct-detection optical systems. In this work, sample indexed spatial OFDM （SIS-OFDM） is proposed to combine OSM and O-OFDM in a novel way and achieve significant per- formance gain. By assigning time-domain samples of the O-OFDM transmit symbol to different transmitters, SIS-OFDM achieves much better spectral efficiency and reduces computational complexity at the transmitter as compared with previous work that combines OSM with O-OFDM in the frequency domain. We also consider the impact of optical source biasing on overall performance, and the relative performance of imaging receiver （ImR） versus non-imaging receiver （NImR） design for our proposed SIS-OFDM technique. Results indicate that for an Ntx x Nrx multiple-input multiple-output configuration where Nix = N = 4, SIS-OFDM using ImR can achieve up to 135 dB of signal-to-noise ratio gain over comparable system using a NImR. Also, using Nc number of O-OFDM subcarriers provides up to Nsc × log2（Ntx） additional bits per symbol of spectral efficiency over technioues that combine OSM and O-OFDM in the freollencv domain.

Orthogonal transformation operation theorem of a spatial universal uniform rotating magnetic field and its application in capsule endoscopy

According to the anti-phase sine current superposition theorem, the orientation, the magnetic flux density, the angular speed and the rotational direction of the spatial universal rotating magnetic field (SURMF) can be controlled within the tri-axial orthogonal square Helmholtz coils (TOSHC). Nevertheless, three coupling direction angles of the normal vector of the SURMF in the Descartes coordinate system cannot be separately controlled, thus the adjustment of the orientation of the SURMF is difficult and the flexibility of the robotic posture control is restricted. For the dimension reduction and the decoupling of control variables, the orthogonal transformation operation theorem of the SURMF is proposed based on two independent rotation angular variables, which employs azimuth and altitude angles as two variables of the three-phase sine current superposition formula derived by the orthogonal rotation inverse transformation. Then the unique control rules of the orientation and the rotational direction of the SURMF are generalized in each spatial quadrant, thus the scanning of the normal vector of the SURMF along the horizontal or vertical direction can be achieved through changing only one variable, which simplifies the control process of the orientation of the SURMF greatly. To validate its feasibility and maneuverability, experiments were conducted in the animal intestine utilizing the innovative dual hemisphere capsule robot (DHCR) with active and passive modes. It was demonstrated that the posture adjustment and the steering rolling locomotion of the DHCR can be realized through single variable control, thus the orthogonal transformation operation theorem makes the control of the orientation of the SURMF convenient and flexible significantly. This breakthrough will lay a foundation for the human-machine interaction control of the SURMF.

A spatial orthogonal allocation and heterogeneous cultural hybrid algorithm for multirobot exploration mission planning

A spatial orthogonal allocation method is devised for multirobot tasks allocation.A 3D space model is adopted to describe exploration mission;meanwhile spatial orthogonal tentative technology is utilized to update the attractor position for load balance.Heterogeneous interactive cultural hybrid architecture is proposed to solve a robot route planning problem;it utilizes good-point-set to initialize population spaces,redefine novel evolution model and particle evolution ability,and introduce near-neighbor local search strategy in order to enhance search capability.Finally,spatial orthogonal allocation and heterogeneous cultural hybrid algorithm (SOAHCHA) are verified by simulation analysis and MORCS2 planning experiments;those results show that the proposed algorithm is efficient because of its successful performance and balanced allocation.

Downlink scheduling of multiuser MIMO systems with transmit beamforming

This article deals with downlink scheduling for multiuser multiple-input multiple-output （MIMO） systems, where the base station communicates with multiple users simultaneously through transmit beamforming. Most of the existing transmission schemes for multiuser MIMO systems focus on optimizing sum rate performance of the system. The individual quality of service （QoS） requirements （such as packet delay and minimum transmission rate for the data traffic） are rarely considered. In this article, a novel scheduling strategy is proposed, where we try to optimize the global system performance under individual QoS constraints. By performing scheduling into two steps, namely successive user selection and power allocation, the scheduler can achieve efficient resource utilization while maintaining the QoS requirements of all users. Extensive simulations and analysis are given to show the effectiveness of the proposed scheduler.