Accurate pose estimation plays an important role in solution of simultaneous localization and mapping (SLAM) problem, required for many robotic applications. This paper presents a new approach called R-SLAM, primarily to overcome systematic and non-systematic odometry errors which are generally caused by uneven floors, unexpected objects on the floor or wheel-slippage due to skidding or fast turns.The hybrid approach presented here combines the strengths of feature based and grid based methods to produce globally consistent high resolution maps within various types of environments.
The recent developments in full duplex (FD) commu-
nication promise doubling the capacity of cellular networks using
self interference cancellation (SIC) techniques. FD small cells
with device-to-device (D2D) communication links could achieve
the expected capacity of the future cellular networks (5G). In
this work, we consider joint scheduling and dynamic power
algorithm (DPA) for a single cell FD small cell network with
D2D links (D2DLs). We formulate the optimal user selection and
power control as a non-linear programming (NLP) optimization
problem to get the optimal user scheduling and transmission
power in a given TTI. Our numerical results show that using
DPA gives better overall throughput performance than full power
transmission algorithm (FPA). Also, simultaneous transmissions
(combination of uplink (UL), downlink (DL), and D2D occur
80% of the time thereby increasing the spectral efficiency and
network capacity
Rapid growth of wireless communication services in recent decades has created
a huge demand of radio spectrum. Spectrum scarcity and utilization inefficiency
limit the development of wireless networks. Cognitive radio is a promising tech-
nology that allows secondary users to reuse the underutilized licensed spectrum of
primary users. The major challenge for spectrum sharing is to achieve high spectrum
efficiency while making non-intrusive access to the licensed bands. This requires in-
formation of availability and quality of channel resources at secondary transmitters,
however, is difficult to be obtained perfectly in practice.
Mobile operators must continuously pursue cost‐
effective and efficient solutions to meet the high data
demand requirements of their subscribers. Limited spectrum
allocations and non‐contiguous spectrum blocks continue
to pose challenges for mobile operators supporting large
data uploads and downloads across their networks. With the
increase in video and social media content, the challenges
have increased exponentially.
This paper presents a Hidden Markov Model (HMM)-based speech
enhancement method, aiming at reducing non-stationary noise from speech
signals. The system is based on the assumption that the speech and the noise
are additive and uncorrelated. Cepstral features are used to extract statistical
information from both the speech and the noise. A-priori statistical
information is collected from long training sequences into ergodic hidden
Markov models. Given the ergodic models for the speech and the noise, a
compensated speech-noise model is created by means of parallel model
combination, using a log-normal approximation. During the compensation, the
mean of every mixture in the speech and noise model is stored. The stored
means are then used in the enhancement process to create the most likely
speech and noise power spectral distributions using the forward algorithm
combined with mixture probability. The distributions are used to generate a
Wiener filter for every observation. The paper includes a performance
evaluation of the speech enhancer for stationary as well as non-stationary
noise environment.
When 3GPP started standardizing the IMS a few years ago, most analysts expected the
number of IMS deploymentsto grow dramatically as soon the initial IMS specifications were
ready (3GPP Release 5 was functionallyfrozenin the first half of 2002and completedshortly
after that). While those predictions have proven to be too aggressive owing to a number of
upheavals hitting the ICT (Information and Communications Technologies) sector, we are
now seeing more and more commercial IMS-based service offerings in the market. At the
time of writing (May 2008), there are over 30 commercial IMS networks running live traffic,
addingup to over10million IMS users aroundthe world; the IMS is beingdeployedglobally.
In addition, there are plenty of ongoing market activities; it is estimated that over 130 IMS
contracts have been awarded to all IMS manufacturers. The number of IMS users will grow
substantially as these awarded contracts are launched commercially. At the same time, the
number of IMS users in presently deployed networks is steadily increasing as new services
are introduced and operators running these networks migrate their non-IMS users to their
IMS networks.
The Home Gateway Initiative (HGI) is a non-profit making organization which publishes guidelines,
requirements documents, white papers, vision papers, test plans and other documents concerning
broadband equipment and services which are deployed in the home.
RFID (radio-frequency identification) is the use of a wireless non-contact system
that uses radio-frequencyelectromagnetic fields to transfer datafrom a tag attached
to an object, for the purposes of automatic identification and tracking [38]. The
basic technologies for RFID have been around for a long time. Its root can be traced
back to an espionage device designed in 1945 by Leon Theremin of the Soviet
Union,whichretransmittedincidentradiowaves modulatedwith audioinformation.
After decades of development, RFID systems have gain more and more attention
from both the research community and the industry.
