This article develops a fuzzy-neural controller for the kinematic and collaborative control of multi-manipulator systems. The entire control scheme is designed based on quadratic programming and implemented by a constructed fuzzy-neural controller. A hybrid minimum joint velocity-acceleration index is introduced to adjust the operating performance of each manipulator and reduce the kinetic energy consumption of the system. Besides, a simple but effective set of membership functions and rules are used to describe the variation of controller parameters caused by the operational complexity and vagueness during task executions. The stability and robustness of the controller are verified through theoretical analysis. Finally, simulations and experimental studies of the multi-manipulator system are carried out supporting the practicality of our findings.

The single-radio-frequency (RF) multiple-input-multiple-output (MIMO) system has been proposed to pursue a high spectral efficiency while keeping a low hardware cost and complexity. Recently, the available degrees of freedom (DoF) in the polarization domain has been exploited to reduce the size of the transmit antenna array and provide 1 bit per channel use (bpcu) multiplexing gain for the single-RF MIMO system. Nevertheless, the polarization domain resource still has the potential to provide a higher multiplexing gain in the polarized single-RF MIMO system. In this paper, we propose a generalized polarization shift keying (PolarSK) modulation scheme that uses polarization states in the dual-polarized transmit antenna as an information-bearing unit to increase the overall spectral efficiency. At the receiver, the optimum maximum likelihood (ML) detector is employed to investigate the ultimate performance limit of the PolarSK. A closed-form union upper bound on the average bit error probability (ABEP) of the PolarSK with the optimum ML receiver is derived. Inspired by the analytic ABEP, a constellation diagram optimization algorithm is proposed. To reduce the computational complexity of the receiver, a linear successive interference cancellation (SIC) detection algorithm and a sphere-decoding (SD) detection algorithm are introduced. Through numerical results, performances of the proposed PolarSK in terms of ABEP and computational complexity are analyzed. Furthermore, the PolarSK is analyzed over measured indoor channels. Numerical and measurement results show that the PolarSK scheme outperforms the state-of-the-art dual-polarized/unipolarized SM schemes.

A time-modulated reflector array is described. The time-modulated reflector array is based on the topology of a conventional reflector array but uses discrete time switching, instead of phase shifters, to achieve beamforming functions. An experimental time-modulated reflector array based on an 8 element array of pin-diode controlled bow-tie dipole elements is designed and analysed using a full-wave commercial simulator. A hardware implementation of the system, including control circuitry is also described and measured data is presented. The simulated and measured results confirm that the time-modulated reflector array system performs the required function of harmonic beam steering.

The ideal phase shift model and the acquisition of channel state information (CSI) are practically difficult to realize in reconfigurable intelligent surface (RIS) assisted communication systems. Therefore, these have greatly troubled the beamforming design of multiple-input multiple-output (MIMO) systems via RIS. This paper presents a robust beamforming design framework in the RIS-enhanced MIMO communication networks in the presence of considering practical phase shifts for the RIS and imperfect CSI of the cascade channels. More specifically, we propose an alternative optimization framework and adopt the distributed alternating direction method of multipliers (ADMM) method to solve the sum-rate maximization problem by combining the true environment model (TEM) and the mismatch environment model (MEM) with beamforming. In particular, the proposed scheme is also used for the MEM scenario. It shows that the sum rate of the ADMM scheme with MEM under low SNR is about 3 bps/Hz more than the BFP method, approximately 6 bps/Hz more than the APG method. Next, when the SNR is 5dB, the above three schemes are greater than SDR method. But, the above methods are smaller than SDR method in MEM. Then, the sum rate of the SDR method with the TEM is approximately 1.6 times of the MEM, while the CPU time of both is consistent with the computational complexity. Therefore, the differences between the two models affect the performance achieved by different methods. The proposed approach sheds a light to engineers working in wireless communication on enhancing the transmission robustness of existing wireless networks.

The cooperative perception of the driving environment via the sharing of locally sensed information among automated vehicles plays the fundamental role in ensuring the basic safety of automated driving in complicated public traffic. However, demanding requirements ranging from high data rate and large user density, to ultra-high reliability and low latency, are imposed on the 5G network, who is considered the key enabler of cooperative automated driving. In this paper, we propose a novel ultra-dense 5G vehicular network architecture, which features the kinematic information aided user-centric access, to address these requirements. In particular, distributed Local Access & Application Centers (LAACs) are designed to perform application implementation and access control collectively, such that the kinematic information of the vehicles extracted at the application layer can be exploited in the dynamic management of network resources to sustain consistently high-performance wireless communications between vehicles and their serving LAACs. Focusing on the uplink transmission of the periodic Cooperative Sensing Messages (CSMs), the possible design of key elements in the kinematic information aided user-centric access, including access point (AP) association, radio resource allocation, mobility support etc., are discussed. Issues brought about by the practical network deployment and constraints are also considered. In addition, a practical benchmarking access strategy set, which addresses both the reliability and the latency requirements of CSMs, is proposed and evaluated by simulation under freeway and intersection scenarios.