Variable Gain Research Articles

Sliding mode active disturbance rejection control for manipulator considering actuator saturation

<p style="text-align: justify;">Considering the issue of low control accuracy in joint trajectory tracking control for manipulator systems with actuator saturation due to external disturbances, modelling inaccuracies, and joint friction, a sliding mode active disturbance rejection control approach was proposed. An improved extended state observer is employed to observe and estimate the lumped disturbances affecting the system, providing feedback compensation. A variable gain reaching law is devised, coupled with a fast non-singular terminal sliding mode to design the system control law, which mitigates chattering inherent and ensuring precision control. Additionally, a novel output error compensation-based anti-windup scheme is introduced to compensate for the detrimental impacts caused by actuator saturation. Simulation results collectively demonstrate that the proposed tracking control algorithm exhibits better control performance and robustness against disturbances.</p>

A 60 dB gain range programmable gain current amplifier for ultrasound sensing

This article presents a programmable gain current amplifier (CA) for ultrasound sensing applications. The design proposed consists of a current divider and a close-loop current amplifier. The CA utilizes switches to adjust the resistance of the shunt resistors and feedback resistors to achieve variable gain, thus realizing the time gain compensation (TGC) function. The proposed CA implemented in 180-nm BCD technology occupies an active area of 0.059 mm2. Measurement results show that the CA achieves a maximum gain of 36.6 dB and a gain range of 60 dB. The average input-referred noise spectral density is 0.32 pA/√Hz at maximum gain condition while consuming a power of 1.07 mW.

Landslide susceptibility assessment along the Karakoram highway, Gilgit Baltistan, Pakistan: A comparative study between ensemble and neighbor-based machine learning algorithms

This study addressed the complex challenges associated with landslide detection along the Karakoram Highway (KKH), where tectonic events and data availability limitations posed significant obstacles. To overcome these hurdles, the research framework encompassed several critical components. First, it tackled the issue of multicollinearity through the application of statistical measures such as Variable Inflation Factor (VIF) and Information Gain (IG). Secondly, the study emphasized the importance of selecting a study area that would comprehensively represent the multivariate landscape, with KKH serving as an illustrative example. In striving for an equilibrium between implementation ease and algorithmic performance, the research favored the adoption of Random Forest (RF) and Extremely Randomized Trees (EXT) over XGBoost. Lastly, to fine-tune the algorithms and optimize their parameters, the study employed Particle Swarm Optimization (PSO) and evaluated their performance using metrics like the Area Under the Curve (AUC). Remarkably, this comprehensive approach yielded accuracy rates exceeding 90% for all algorithms tested (RF, EXT, and K-Nearest Neighbor (KNN)), with specific AUC values of 0.967, 0.968, and 0.914, respectively. These findings offer invaluable insights into enhancing disaster prevention strategies and informing land-use planning efforts along the KKH highway.

Modified Universal Integral Regulator for Quadrotor UAV in the Presence of External Disturbances

Universal Integral Regulator (UIR) is a widely used control law for control problems, it is based on sliding mode control with the inclusion of a Conditional Integrator (CI). In the original approach of this control law, the main gain is considered a constant. The purpose of this paper is to solve a quadrotor tracking problem using a new nonlinear control law based on the quadrotor tracking problem using a new nonlinear control law based on the UIR, considering the main gain dependent on the tracking error (variable gain), the control law is called in the present work as Modified Universal Integral Regulator (MUIR). It is expected that the MUIR can improve the transient response and reduce the control demand when compared to previous approaches of similar controllers. The adopted Newton-Euler quadrotor model and the controller design are treated separately in two subsystems, attitude and position control loops. The stability of MUIR is demonstrated by the use of a candidate Lyapunov function. Finally, in order to validate the robustness and choice of the proposed controllers, several numerical simulations were developed in the presence of external disturbances. Less error and control activity during transient response were observed when compared to the original Universal Integral Regulator controller.

Selecting an appropriate statistical model for estimating genetic parameters: A case study of pig maternal breeds in Czechia

A three-trait statistical model was designed for backfat thickness (BFT) and loin eye muscle depth (LMD) with accompanying variable average daily gain (ADG). Data from 82,507 Czech Large White and 37,556 Czech Landrace pigs were collected during on-farm performance testing from 2013 to 2022. Several animal models were tested with different combinations of effects and complexity. Model performance was evaluated by the linear regression (LR) method and predictivity. In Czech Large White, the preferred model comprised fixed effects of sex, birth year, herd, and ultrasound device, as well as random effects of herd-year-season (HYS), litter, and animal. In Czech Landrace, HYS was treated as fixed instead. The inclusion of maternal effects was not supported due to questionable impact on the main statistics. The selected model yielded mean absolute bias of 0.11 and 0.19, mean determination of 0.39 and 0.21, mean population accuracy of 0.36 and 0.31, and mean predictivity of 0.13 and 0.08 in Large White and Landrace, respectively. Heritability estimates were overall lower than those reported by other authors: 0.23, 0.10, and 0.10 in Large White and 0.26, 0.10, and 0.09 in Landrace for ADG, BFT, and LMD, respectively. Genetic correlations, on the other hand, reached relatively high values: 0.61, 0.61, and 0.66 in Large White and 0.71, 0.92, and 0.70 in Landrace for ADG-BFT, ADG-LMD, and BFT-LMD, respectively.

A wideband and low-power mm-wave variable-gain phase shifter based on a source-switching scheme

This article presents a low-power and wideband variable-gain phase shifter (VGPS) designed and simulated in a CMOS 65 nm technology. It introduces a source-switching scheme for designing a variable gain amplifier (SSVGA) characterized by invariant linearity, impedance, and phase characteristics, showcasing improved gain and bandwidth compared to conventional VGAs. The current-reuse and staggered-tuning techniques are used to reduce power consumption and extend the bandwidth, respectively. The proposed VGPS enables gain tuning without the need for an additional gain tuning block, resulting in reduced chip area and sidelobe levels in phased array radar systems. The proposed VGPS, with a 5-bit resolution, achieves a 3-dB bandwidth of 18 GHz (53.5–71.5 GHz) and exhibits RMS gain error range from 0.23 to 0.5 dB and RMS phase error range from 0.54° to 2.65° with phase calibration based on simulation results. It achieves a peak average gain of 1.2 dB at 58.5 GHz while consuming a DC power consumption of only 5 mW with a 1.2 V power supply voltage. Moreover, it demonstrates a wide gain tuning of 20.6 dB, allowing for flexible gain adjustments.

A Current-Mode Analog Front-End for Capacitive Length Transducers in Pneumatic Muscle Actuators.

This paper reports on the design, implementation, and characterization of a current-mode analog-front-end circuit for capacitance-to-voltage conversion that can be used in connection with a large variety of sensors and actuators in industrial and rehabilitation medicine applications. The circuit is composed by: (i) an oscillator generating a square wave signal whose frequency and pulse width is a function of the value of input capacitance; (ii) a passive low-pass filter that extracts the DC average component of the square wave signal; (iii) a DC-DC amplifier with variable gain ranging from 1 to 1000. The circuit has been designed in the current-mode approach by employing the second-generation current conveyor circuit, and has been implemented by using commercial discrete components as the basic blocks. The circuit allows for gain and sensitivity tunability, offset compensation and regulation, and the capability to manage various ranges of variations of the input capacitance. For a circuit gain of 1000, the measured circuit sensitivity is equal to 167.34 mV/pF with a resolution in terms of capacitance of 5 fF. The implemented circuit has been employed to measure the variations of the capacitance of a McKibben pneumatic muscle associated with the variations of its length that linearly depend on the circuit output voltage. Under step-to-step conditions of movement of the pneumatic muscle, the overall system sensitivity is equal to 70 mV/mm with a standard deviation error of the muscle length variation of 0.008 mm.

A variable gain impulsive observer for perturbed Lipschitz nonlinear systems with delayed discrete measurements

This paper addresses the impulsive observers design problem of perturbed Lipschitz nonlinear systems subject to noisy delayed discrete measurements. The transmission delay, state perturbation, and measurement noise simultaneously hinder the convergence of impulsive observer. To deal with the difficulty, the observation error system with delayed impulses is represented as an augmented system with switching delay-free impulses. By taking into account the switching structure of the impulse dynamics, the impulse observation gain matrix is modelled as a function of the time interval between two consecutive sampling instant and update instant. Such a structure of the observation gain matrix is able to adapt to the variation of sampling period and transmission delay. To obtain a tractable design condition, the idea of piecewise linear interpolation is applied to represent the impulse observation gain matrix as a piecewise linear form, which is determined by finite static impulse gains. A piecewise Lyapunov function which matches the piecewise linear structure of the observation gain is constructed to analyze the exponential input-to-state stability (EISS) property of the observation error system. The EISS gain quantifies the robustness performance of the designed impulsive observer. Sufficient conditions for the existence of the proposed variable gain impulsive observers are presented. Two numerical examples are provided to illustrate the effectiveness of the developed impulsive observation strategy.

Design and Simulation of variable gain amplifier using cadence Tool

The radio frequency (RF) amplifiers are widely used in a variety of communication systems. However, the conventional analog RF resulted in reduced volage gain, magnitude, and phase responses. So, this work provides an overview of a research paper focused on the design and analysis of a single-stage variable gain amplifier (SSVGA) utilizing cascaded linear transconductance amplifier (Gm cell) and linear transimpedance amplifier (TIA) blocks with feedback via shunt resistors. The SSVGA architecture aims to maintain constant bandwidth while offering controllable voltage gain, making it versatile for applications with varying input signal strengths. The first stage of the SSVGA is realized as a current mode TIA, converting the input voltage signal to an output current efficiently. The second stage features a Gm cell with source degeneration, enhancing bias current efficiency and transconductance at the supply voltage. The proposed SSVGA design offers flexibility and adaptability, making it suitable for diverse communication systems and signal processing applications. The incorporation of feedback control ensures consistent performance across different voltage gain settings, resulting in a robust and efficient solution for varying signal strengths.

Adaptive fuzzy tracking control for a class of time-varying output constrained nonlinear systems with non-affine nonlinear faults

This paper investigates a tracking control issue for a class of time-varying output constrained nonlinear systems subject to non-affine nonlinear faults and virtual control coefficients. In the controller design process, the nonlinear function is approximated by fuzzy logic systems. Utilizing a feasible function to convert the system, a new transformation strategy is proposed to handle the system with time-varying output constraints or without output constraints. The mean value theorem is applied to split non-affine faults, and the Nussbaum-type function is used to eliminate the effect of the unknown directional affine variable gain of input resulted from non-affine faults. Combined with adaptive fuzzy backstepping technology and the error transformation function, a new control strategy is presented, which not only deals with the time-varying output constraint but also handles non-affine faults, effectively. Finally, all closed-loop system signals are bounded, and the tracking error can converge to a small preset set. Two simulations are performed to confirm the validity of the presented strategy.

Hubungan antara Indeks Massa Tubuh pada Awal Kehamilan dan Kenaikan Berat Badan Ibu dengan Perdarahan Pasca Salin

The number of maternal deaths in Indonesia caused by postpartum bleeding can occur vaginally or sectio caesarean. This can be reduced if every mother is able to access quality health services from pregnancy to postpartum and health workers immediately make referrals if complications occur. The aim of this study was to determine the relationship between body mass index in early pregnancy and postpartum bleeding and the relationship between maternal weight gain and postpartum bleeding. This research uses design cross sectional. The population is 465 patients in the delivery room at the Tidore Islands City Hospital in August 2020-August 2021, using a total sampling technique, using secondary data from census books in the delivery room and medical records room at the Tidore Islands City Hospital and recorded in a collection sheet. data. Test results chi-square between the body mass index variable and postpartum hemorrhage, the p value = 0.000, there is a significant relationship with the contingency coefficient value (0.534). Test results chi-square between the variable maternal weight gain and postpartum bleeding, the p value = 0.000, there is a significant relationship with the contingency coefficient value (0.344). So it is very important to monitor weight gain during pregnancy as a form of early detection of postpartum bleeding.

A Rotor Position Detection Method for Permanent Magnet Synchronous Motors Based on Variable Gain Discrete Sliding Mode Observer

The purpose of this paper is to study the sensor-less rotor position estimation method for permanent magnet synchronous motors, and to achieve accurate estimation of rotor position in different conditions. Firstly, the traditional super-twisting observer algorithm is analyzed, and a new discrete variable gain sliding mode observer is designed to solve the buffeting problem in discrete systems, taking the reaction force as the disturbance signal. By estimating the back potential of the observer, the buffeting problem in the sliding mode algorithm can be effectively improved as shown by the simulation results. Then, to solve the problem of phase delay in rotor position estimation, an adaptive orthogonal phase-locked loop method is used to compensate the estimation error caused by the change in motor speed and increase the estimation accuracy of rotor position. The stability of the method can be proven by Lyapunov’s second method. Simulation experiments verify the accuracy of the proposed PMSM rotor position estimation method.

Variable gain ADRC for delta parallel manipulators with disturbances

In this paper, a variable gain active disturbance rejection control (VGADRC) method is proposed for solving the trajectory tracking problem of delta parallel manipulators with disturbances. The VGADRC, including variable gain tracking differentiator (VGTD), variable gain extended state observer (VGESO), and variable gain controller (VGC), incorporates error-based variable gains to improve the control performances. Moreover, the stability analysis of VGADRC is performed, and the feasible solutions of matrix inequality are discussed. Finally, simulation results and experiment results show the effectiveness of the proposed method.

VGESO-Based Finite-Time Fault-Tolerant Tracking Control for Quadrotor Unmanned Aerial Vehicle

Based on the variable gain extended state observer, a finite-time fault-tolerant control strategy is developed for the quadrotor unmanned aerial vehicle with actuator faults and external disturbances. Firstly, a novel variable gain extended state observer is designed to estimate the unknown external disturbances, which mitigates the initial peaking phenomenon existing in traditional extended state observer-based methods. Meanwhile, the neural networks are applied to accurately approximate unknown couplings online. Moreover, with the help of the projection operator technique, the unknown actuator faults are observed in real time. Combined with the backstepping framework, the finite-time robust fault-tolerant control scheme is constructed and the stability is strictly proved via Lyapunov’s theory. Finally, the validity of the developed control scheme is demonstrated through numerical simulations.

Design and Characterization of a Variable Gain D-Band LNA for Optimized Link Budgeting for a 6G Receiver in 22FDX

Design and Characterization of a Variable Gain <i>D</i>-Band LNA for Optimized Link Budgeting for a 6G Receiver in 22FDX

A behavioral model for the linear variable gain amplifier

AbstractIn this paper, a behavioral model for the variable gain amplifiers working in the liner region is proposed. An iterative least‐square algorithm for complex curve fitting is proposed to model the variable gain amplifiers as an infinite impulse response filter. The polynomial fittings are used to obtain the coefficient matrix for the gain response and phase response to the frequency at different control voltages. The relationship between gain and control voltage is fitted by a hyperbolic tangent function. The modeling flow is given in this paper. Comparing the frequency response of the behavioral model and circuit model, the simulation results are similar at the operating frequency. Finally, an application is given, which is used to compare the effect of the nonlinear phase system with two different band signals modulated by 4QAM. This application proves that the model can be used in the simulation of large‐scale systems.

A behavioral model for RF vector‐sum phase shifter

AbstractIn this article, a behavioral model for RF vector‐sum phase shifters is developed to estimate their behavioral and guide the phased‐array front‐end system design. According to their building blocks, the model consists of two typical parts, quadrature signal generator and variable gain amplifiers (VGAs). The modeling process for the quadrature signal generator is based on a complex curve fitting method. For the linear VGA, the polynomial fitting method is used to fit the gain and phase responses of the VGA, the first variable is frequency, and the second variable is the control voltage. Then the complex curve fitting method is used to achieve the final frequency response. Finally, the layout simulation results of an actual phase shifter circuit are used as input, and the two modules are modeled and compared with the measured results to verify the usability of the model.

Reconfigurable Microwave Multi-Beamforming Based on Optical Switching and Distributing Network

Optical beamforming in microwave photonics is promising for supporting broadband wireless communications. However, the current optical beamforming lacks freedom because of the fixed connection between radio frequency (RF) signal and antenna elements (AEs). This manuscript tackles this challenge by proposing a dynamical optical beamforming architecture that reconfigures the antenna subarray for signal transmission depending on the number of signals to be transmitted. The proposed architecture employs an optical switching and distributing network (SDN) to realize a flexible connection between signals and AEs. An instance of the proposed architecture in photonic integrated circuits, which enables three working modes and transmits four RF signals through sixteen AEs, was presented and numerically simulated. The optical field distribution and beam pattern plots illustrated the operational principle and validated the feasibility of the proposed SDN architecture. Furthermore, the impact of the introduced architecture on the signal amplitude–phase consistency and the comparison of the proposed dynamic architecture and conventional fixe architectures are analyzed and discussed. The results indicate that the proposed architecture exhibits variable beamforming gain with lower hardware complexity.

Unified performance analysis of interference-limited and interference-free dual-hop mixed RF/FSO systems with partial relay selection under pointing errors.

This paper investigates the performance of interference-limited and interference-free dual-hop mixed radio frequency (RF)/free space optical (FSO) systems with partial relay selection (PRS) for the variable-gain (VG) amplify-and-forward (AF) relaying scenario. We concentrate on the generalized channel model that not only describes different application scenarios but also allows a more accurate description of the channel characteristics. Specifically, the PRS-aided RF link is modeled by the κ-μ shadowed distribution, and the FSO link is expressed in terms of Fox's H-function, which unifies Fisher-Snedecor F, Gamma-Gamma (GG), and Malága (M) distributions for atmospheric turbulence along with pointing errors and detection modes. The interference signals at the selected relay are modeled by independent identically κ-μ shadowed distributions. Using our analytical framework, new unified closed-form expressions for the cumulative distribution function (CDF), the average bit error rate (BER), and the ergodic capacity are derived. Additionally, we provide asymptotic expressions of the average BER at high SNR. The analysis quantifies the impact of co-channel interference, pointing errors, number of relays, and rank of the selected relay on the considered system's performance. Finally, numerical results and Monte Carlo (MC) simulations are presented to confirm the effectiveness of the derived expressions. Note that our results provide a generalized framework for comprehensive studies of this kind of systems.

Performance assessment of full-duplex two-way Internet-of-vehicles relay networks under practical imperfect conditions

Contemporary Internet-of-Things (IoT) devices in general and Internet-of-Vehicles (IoV) networks in specific are taking the benefits from using full-duplex (FD) communication with the help of relay nodes to facilitate data transmission. However, self-interference between transmit and receive antennas at the relay node may cause big trouble if self-interference cancellation (SIC) is not applied. In this paper, a rigorous analysis on the performance of FD two-way relay networks (FDTWRNs) for IoV applications under imperfect conditions is provided. Different from earlier studies on the performance of FDTWRNs where one or two imperfect factors were considered, this work simultaneously takes into account many practical issues in the implementation of the IoV networks at the physical layer, including errors in channel state information at all channel links, imperfect SIC and transceiver hardware impairment at all nodes. For relaying protocol, we consider amplify-and-forward with both fixed-gain (FG) and variable-gain (VG) protocols. The exact closed-form expressions (in terms of the system parameters) of key performance factors such as signal-to-interference-plus-noise-distortion-and-error ratio (SINER), outage probability (OP), achievable data rate (ADR), and average symbol error probabilities (ASEP) of the considered system over Rayleigh fading channels and under the combined effect of imperfect CSI, SIC, and transceiver hardware are derived mathematically using probabilistic model analysis. The correctness of the analysis is then verified by Monte Carlo simulations. Drawing upon both analytical and numerical findings, the efficacy of the FDTWRNs under consideration is meticulously and comprehensively assessed in comparison to its performance in ideal conditions characterized by one or multiple critical factors. The disparity between perfect and imperfect scenarios serves as a valuable metric for appraising the practical viability of the considered FDTWRNs when deployed in practical IoV networks.