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4, APRIL 2009
Abstract—Mobile-to-mobile networks are characterized by different from cellular ones [2][3]. Copious ad hoc networking
node mobility that makes the propagation environment time research exists on layers in the open system interconnection
varying and subject to fading. As a consequence, the statistical (OSI) model above the physical layer. However, neglecting
characteristics of the received signal vary continuously, giving
rise to a Doppler power spectral density (DPSD) which varies the physical layer while modeling wireless environment is
from one observation instant to the next. The current models error prone and should be considered more carefully [4]. The
do not capture and track the time varying characteristics. This experimental results in [5] show that the factors at the physical
paper is concerned with dynamical modeling of time varying layer not only affect the absolute performance of a protocol,
mobile-to-mobile channels, parameter estimation and identifica- but because their impact on different protocols is non-uniform,
tion from received signal measurements. The evolution of the
propagation environment is described by stochastic differential it can even change the relative ranking among protocols for
equations, whose parameters can be determined by approximat- the same scenario. The importance of the physical layer is
ing the band-limited DPSD using the Gauss-Newton method. demonstrated in [6] by evaluating the Medium Access Control
However, since the DPSD is not available online, we propose (MAC) performance.
to use a filter-based expectation maximization algorithm and Most of the research on mobile-to-mobile channel model-
Kalman filter to estimate the channel parameters and states, re-
spectively. The scheme results in a finite dimensional filter which ing, such as [2][3][7][8][9], deals mainly with deterministic
only uses the first and second order statistics. The algorithm wireless channel models. In these models the speed of the
is recursive allowing the inphase and quadrature components nodes are assumed to be constant and the statistical character-
and parameters to be estimated online from received signal istics of the received signal are assumed to be fixed in time.
measurements. The algorithms are tested using experimental The Doppler power spectral density (DPSD) is then fixed
data collected from moving sensor nodes in indoor and outdoor
environments demonstrating the method’s viability. from one observation instant to the next. But in reality, the
propagation environment varies continuously due to mobility
Index Terms—Mulipath fading channels, stochastic differential of the nodes at variable speeds causing network topology to
equations, Doppler spectral density, Kalman filter, expectation
maximization, estimation and identification. dynamically change, the angle of arrival of the wave upon
the receiver can vary continuously, and objects or scatters
move in between the transmitter and the receiver resulting
I. I NTRODUCTION in appearance or disappearance of existing paths from one
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OLAMA et al.: STOCHASTIC DIFFERENTIAL EQUATIONS FOR MODELING, ESTIMATION AND IDENTIFICATION OF MOBILE-TO-MOBILE 1755
3.5
simply because estimation is done recursively. This means 8
3
that there is no need to store and process all measurements; 6 2.5
rather, at each time step the estimator is updated using the 2
previous estimator values and the new innovations. In our 4
1.5
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1756 IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS, VOL. 8, NO. 4, APRIL 2009
where C(t; τ ) is the band-pass response of the channel at literature, where the weighting function gives less attention
time t, due to an impulse applied at time t − τ , J(t) is to high frequencies [24]. This approach is chosen since it is
the random number of multipath components, and the set highly accurate; however it requires moderate computational
J(t)
{Ij (t, τ ), Qj (t, τ ), τj (t)}j=1 describes the random TV cost and is sensitive to the initial state.
inphase component, quadrature component, and arrival time Fig. 2(a) shows the DPSD, S(f ), and its approximation
of the different paths, respectively. Let sl (t) be the transmitted S̃(f ) via different orders using the Gauss-Newton method.
signal, then the band pass representation of the received signal The higher the order of S̃(f ) the better the approximation
is given by obtained. It can be seen that approximation with 4th order
J(t)
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OLAMA et al.: STOCHASTIC DIFFERENTIAL EQUATIONS FOR MODELING, ESTIMATION AND IDENTIFICATION OF MOBILE-TO-MOBILE 1757
⎡ ⎤
bn−1 4.5
⎢ bn−2 ⎥
⎢ ⎥
⎢ .. ⎥ 4
BI = BQ = ⎢ . ⎥ , CI = CQ = [1, 0, · · · , 0] (10)
⎢ ⎥ alpha = 0.25
⎣ b1 ⎦ 3.5
b0 S(f)
3
and XI,j (t), XQ,j (t) are state vectors of the inphase and
quadrature components. Ij (t) and Qj (t) correspond to the 2.5
inphase and quadrature components, respectively, {WjI (t)}t≥0
and {WjQ (t)}t≥0 are independent standard Brownian mo- 2 Original S(f)
Appr. with order = 2
tions, which correspond to the inphase and quadrature Appr. with order = 4
Appr. with order = 6
components of the jth path respectively, the parameters 1.5
−50 −40 −30 −20 −10 0 10 20 30 40 50
mation of the deterministic DPSD, and fjI (t) and fjQ (t) are (a)
arbitrary functions representing the line-of-sight (LOS) of the
inphase and quadrature components respectively, characteriz-
S(w)
ing further dynamic variations in the environment. The LOS
alpha = 0.5
Appr. S(w)
Magnitude (W)
be performed by passing two independent white noise pro- 0.15
mobile channel with parameters ν1 = 36 km/hr (10 m/s) and Frequency (Hz)
As the DPSD varies from one instant to the next, the channel alpha = 0.33
and have to be estimated online from time domain measure- alpha = 0.2
Magnitude (W)
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1758 IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS, VOL. 8, NO. 4, APRIL 2009
Inphase
{an−1 , · · · , a0 , bn−1 , · · · , b0 }
Quadrature
2 2 are obtained from
1 1
approximating the deterministic DPSD. However, in reality
one can not have access to the DPSD online and at all
times during the estimation process. In the next section, we
Q(t)
I(t)
0 0
Attenuation Coefficient Attenuation Coefficient IV. M OBILE - TO -M OBILE C HANNEL E STIMATION V IA THE
2.5 10
EM A LGORITHM AND K ALMAN F ILTERING
2
0
This section describes the procedure employed to estimate
r(t) [dB]
1.5
−10 the mobile-to-mobile channel model parameters and states
r(t)
−20
associated with (11), using the EM algorithm [16][26] together
0.5
with Kalman filtering [17]. We consider the discrete-time
0
0 0.5 1 1.5 2
−30
0 0.5 1 1.5 2 (sampled) version of (11) given as [21]
Time (sec) Time (sec)
xk+1 = Ak xk + Bk wk
Fig. 3. Inphase and quadrature components {I(t), Q(t)}, and the
yk = Ck xk + Dk vk (18)
attenuation coefficient I 2 (t) + Q2 (t), for a mobile-to-mobile channel with
α = 0.66. where subscript k belongs to the index set {0, 1, · · · }, xk ∈
R2n is a discrete-time state vector, yk ∈ R1 is a discrete-
time measurement vector, wk ∈ R2 is a discrete-time state
D. Solution to the Stochastic State Space Model noise, vk ∈ R2 is a discrete-time measurement noise, Ak =
The stochastic TV state space model described in (11) and Φ(tk+1 , tk ) where Φ(t, t0 ) is the fundamental matrix of
t
(12) has a solution given by [21][32] (11), Bk2 = tkk+1 Φ(tk+1 , s)B(s)B(s)T ΦT (tk+1 , s) ds,
t yk = y(tk ), Ck = C(tk ), Dk = D(tk ), and vk = v(tk ). The
XL (t) = ΦL (t, t0 )XL (t0 ) + ΦL (t, u)BL (u)dWL (u) (13) noise processes wk and vk are assumed to be independent zero
t0 mean and unit variance Gaussian processes.
where L = I or Q, and ΦL (t, t0 ) is the fundamental matrix, The system parameters θk = {Ak , Bk , Ck , Dk } and states
which satisfies Φ̇L (t, t0 ) = AL (t)ΦL (t, t0 ) and ΦL (t0 , t0 ) are unknown and can be estimated through received signal
is the identity matrix. measurement data, YN = {y1 , y2 , · · · , yN }. The parameters
A simple computation shows that the mean of XL (t) is given are identified using a filter-based EM algorithm and the
by [21] channel states are estimated using the Kalman filter. The
Kalman filter is introduced next.
E[XL (t)] = ΦL (t, t0 ) E[XL (t0 )] (14)
and the covariance matrix of XL (t) is given by A. Channel State Estimation: The Kalman Filter
ΣL (t) = ΦL (t, t0 )V ar XL (t0 ) ΦTL (t, t0 ) (15) The Kalman filter estimates the channel states xk for given
t system parameter θk and measurements Yk . It is described by
+ ΦL (t, u)BL (u)BL T
(u)ΦTL (t, u) du the following equations [17][32]
t0 T −2
x̂k/k = Ak−1 x̂k−1/k−1 + Pk/k Ck−1 Dk−1 (yk − Ck−1 Ak−1
Differentiating (15) shows that ΣL (t) satisfies the Riccati
x̂k−1/k−1 ), x̂k/k−1 = Ak−1 x̂k−1/k−1 , x̂0/0 = m0 (19)
equation
where k = 1, 2, · · · , N , and Pk/k is given by
Σ̇L (t) = A(t)ΣL (t) + ΣL (t)AT (t) + B(t)B T (t) (16)
−1 −1
P̄k/k = Pk−1/k−1 + ATk−1 Bk−1
−2
Ak−1
For the time invariant case, AL (t) = AL and BL (t) = BL , −1 T −2 −2 −2
(13), (14), and (15) simplify to Pk/k = Ck−1 Dk−1 Ck−1 + Bk−1 − Bk−1 P̄k/k ATk−1 Bk−1
−2
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OLAMA et al.: STOCHASTIC DIFFERENTIAL EQUATIONS FOR MODELING, ESTIMATION AND IDENTIFICATION OF MOBILE-TO-MOBILE 1759
memory cost is modest and the filters are decoupled and hence
k
(4)
Lk = E xTi Syi + yiT S T xi |Yk
easy to implement in parallel on a multi-processor system [26].
i=1
The algorithm yields parameter estimates with nondecreasing
values of the likelihood function, and converges under mild where Q, R and S are given by
assumptions [27]. % &
ei eTj + ej eTi
Let θk = {Ak , Bk , Ck , Dk } denotes the system parame- Q =
ters in (18) and {Pθk ; θk ∈ Θ} denotes a family of probability 2
% &
measures induced by the system parameters θk , where Θ is ei ejT
the parameter space R2n×2n × R2n×2 × R2n × R2 in which R =
2
θk lives. The EM algorithm computes the ML estimate of e
the system parameters θk , given the data Yk . The expectation S =
i
; i, j = 1, 2, · · · , 2n (25)
step evaluates the conditional expectation of the log-likelihood 2
function given the complete data as in which ei is the unit vector in the Euclidean space; that
dPθk is ei = 1 in the ith position, and 0 elsewhere. For instance,
Λ(θk , θ̂k ) = Eθ̂k log | Yk (21) consider the case 2n = 2, then
dPθ̂k
! "
k
(3) (3)
Lk (R11 ) Lk (R21 )
where θ̂k denotes the estimated system parameters at time step E xi xi−1 |Yk =
T
(3) (3)
k. The maximization step finds i=1
Lk (R12 ) Lk (R22 )
θ̂k+1 ∈ arg max Λ(θk , θ̂k ) (22) where Rij = {ei eTj /2; i, j = 1, 2}. The other terms in
θk ∈Θ
(23) can be computed similarly from (24). The conditional
(1) (2) (3) (4)
The expectation and maximization steps are repeated until the expectations {Lk , Lk , Lk , Lk } are estimated from mea-
sequence of model parameters converge to the real parameters. surements Yk as follows [26]
The EM algorithm is described by [16][26] (1)
1) Filter estimate of Lk ,
! "−1
k
k
Âk = E xi xTi−1 | Yk E xi xTi | Yk (1) #
k
$
i=1 i=1
Lk = E xTi Qxi |Yk (26)
1
k i=1
B̂k2 = E (xi − Ai−1 xi−1 )(xi − Ai−1 xi−1 )T |Yk 1 1
k
k i=1 =
(1)
− T r(Nk Pk|k ) −
(1)
T r(Ni−1 P̄i|i )
2 2 i=1
1
k
= E (xi xTi ) − Ai−1 (xi xTi−1 )T − (xi xTi−1 )ATi−1
1
k
k −1 (1) −1
i=1
− −2xTi|i Pi|i ri + 2xTi|i−1 Pi|i−1
+ Ai−1 (xi−1 xTi−1 )ATi−1 |Yk
2 i=1
! " (1) (1) −2
k
k −1 ri|i−1 − xTi|i Ni xi|i + xTi|i−1 Bi−1 Ai−1 P̄i|i
Ĉk = E T
yi x i | Y k E T
xi xi |Yk (23) (1) −2
i=1 i=1
Ni−1 P̄i|i ATi−1 Bi−1 xi|i−1
1
k
(1)
D̂k2 = E (yi − Ci−1 xi )(yi − Ci−1 xi )T |Yk where T r(·) denotes the matrix trace. In (26), ri and
k (1)
i=1 Ni satisfy the following recursions
1
k
⎧ (1) (1)
= E (yi yiT ) − (yi xTi )Ci−1
T
− Ci−1 (yi xTi )T ⎪ ri = Ai−1 − Pi|i Ci−1 T −2
Di−1 Ci−1 Ai−1 ri−1
k ⎪
⎪
i=1 ⎪
⎪ (1) −2
⎨ +2P
i/i Qxi|i−1 −Pi|i Ni Pi|i Ci−1 Di−1
T
+ Ci−1 (xi xTi )Ci−1
T
|Yk yi − Ci−1 xi|i−1 (27)
⎪
⎪ (1) (1)
where E(·) denotes the expectation operator. ⎪ ri|i−1
⎪ = Ai−1 ri
⎪
⎩ (1)
The system (23) gives the EM parameter estimates at each r = 02n×1
% 0
iteration for the model (18). Furthermore, since Λ(θk , θ̂k ) is (1) −2 (1) −2
Ni = Bi−1 Ai−1 P̄i|i Ni−1 P̄i|i ATi−1 Bi−1 − 2Q
continuous in both θk and θ̂k the EM algorithm converges to a (1)
stationary point in the likelihood surface [26][27]. The system N0 = 02n×2n
parameters {Âk , B̂k2 , Ĉk , D̂k2 } can be computed from the (2)
2) Filter estimate of Lk ,
conditional expectations [16]
#
k
$ (2) #
k
$
(1)
Lk = E xTi Qxi |Yk Lk = E xTi−1 Qxi−1 |Yk (28)
i=1
i=1
#
k
$ # $ #
k
$
(2)
Lk = E xTi−1 Qxi−1 |Yk (24) = Eθ xT0 Qx0 |Yk +Eθ xTi Qxi |Yk
i=1
i=1 # $
− Eθ xTk Qxk |Yk
(3)
k
T
Lk = E xi Rxi−1 + xTi−1 RT xi |Yk (2) (1)
i=1 Therefore, Lk can be obtained from Lk .
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1760 IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS, VOL. 8, NO. 4, APRIL 2009
(3)
3) Filter estimate of Lk , broadcast a packet containing a source address and the RSSI
of the most recently received packet from the other sensor.
(3)
k
T Sensor 3 never transmits; rather, it forwards packets from
Lk = E xi Rxi−1 + xTi−1 RT xi |Yk (29)
i=1
sensors 1 and 2 to a workstation for analysis. The mobile-
to-mobile channel between sensor 1 and 2 is time varying
1 (3) 1
(3) k
= − T r Nk Pk|k − T r Ni−1 P̄i|i since both sensors move with different (variable) velocities and
2 2 i=1 directions. Indoor and outdoor environments are considered. In
the estimation and identification process, a 4th order mobile-
1
k
−1 (3) −1 (3)
to-mobile channel model as described in (18) is considered.
− −2xTi|i Pi|i ri + 2xTi|i−1 Pi|i−1 ri|i−1
2 i=1 The system parameters θk = {Ak , Bk , Ck , Dk } can then be
−
(3) −2
xTi|i Ni xi|i + xTi|i−1 Bi−1 Ai−1 P̄i|i represented as
(3) T −2
⎡ ⎤ ⎡ ⎤
Ni−1 P̄i|i Ai−1 Bi xi|i−1 0 1 0 0 b1 δ12
⎢ a1 a2 0 0 ⎥ ⎢ b2 δ22 ⎥
(3) (3)
In this case, ri and Ni satisfy the following recursions Ak = ⎢ ⎥
⎣ 0 0 0 1 ⎦ , Bk = ⎣ δ31 b3 ⎦
⎢ ⎥
⎧ (3) (3)
⎪ ri = Ai−1 − Pi|i Ci−1 T −2
Di−1 Ci−1 Ai−1 ri−1 0 0 a3 a4 δ41 b4
⎪
⎪
⎪
⎪ −Pi|i Ni(3) Pi|i Ci−1
T −2
yi − Ci−1 xi|i−1 Ck = [cos(ωc tk ) 0 − sin(ωc tk ) 0]
⎪
⎪ Di−1
⎨ + 2P R + 2P B −2 A P̄ RT A Dk = [d1 cos(ωc tk ) − d2 sin(ωc tk )] (32)
i|i i|i i−1 i−1 i|i i−1
⎪
⎪ xi−1|i−1
⎪
⎪ (3) (3) Note that Bk in (32) is not block Diagonal as in (12). We
⎪
⎪ ri|i−1 = Ai−1 ri
⎪
⎩ (3) have included several variables, denoted δij , that have very
r = 02n×2n
⎧ 0 small values (close to zero) for the other entries to make Bk2
⎪ (3) −2 (3) −2
⎨ Ni = Bi−1 Ai−1 P̄i|i Ni−1 P̄i|i ATi−1 Bi−1 nonsingular which is required for the estimation algorithm.
−2 −2
−2RP̄i|i Ai−1 Bi−1 − 2Bi−1 Ai−1 P̄i|i RT
T The estimation includes the channel parameters, inphase
⎪
⎩ N (3) = 0
2n×2n
and quadrature components, and the received signal, which
0
are then compared to the ones obtained from measurement
(4)
4) Filter Estimate of Lk , data. It is assumed that the received signal measurement
data are corrupted by white noise sequences. Fig. 4 and 5
(4)
k
T show respectively indoor and outdoor measured and estimated
Lk = E xi Syi + yiT S T xi |Yk (30)
i=1
received signals using the EM algorithm together with Kalman
filter for 500 sampled data taken from measurements between
k
T −1 (4)
= −1
xi|i Pi|i ri − xTi|i−1 Pi|i−1
(4)
ri|i−1 sensor 1 and 2. At a certain time instant (k = 400), indoor
i=1 system parameters are estimated as
(4) ⎡ ⎤
where ri satisfies the following recursions (see Eq. 31) 0 1 0 0
(i)
Using the filters for Lk (i = 1, 2, 3, 4) and the ⎢ −0.3066 0.0016 0 0 ⎥
Kalman filter described earlier, the system parameters θk = Â = ⎢ ⎣
⎥(33)
⎦
0 0 0 1
{Ak , Bk , Ck , Dk } can be estimated through the EM algorithm 0 0 −0.5940 0.0059
described in (23). Experimental results that show the viability ⎡
0.8531 −0.0369 −0.0284
of the above algorithm in estimating the channel parameters as ⎢ −0.3962 0.0649 0.0032
well as the inphase and quadrature components are discussed B̂ = ⎢
2
⎣ −0.0742 0.0074 0.0753
in the next section. 3.1804 · 10−4 −0.0532 0.0064
⎤
V. E XPERIMENTAL S ETUP AND L INK P ERFORMANCE 2.8531 · 10−4
−0.0193 ⎥ ⎥
In this section, we carry out an experiment to measure the ⎦ (34)
0.0021
received signal strength of moving sensors in a wireless sensor 0.0853
platform. Then the EM algorithm and the Kalman filter are
used to estimate the mobile-to-mobile channel parameters, Ĉ = [0.958 0 − 0.2868 0] , D̂2 = [2.0262] ,
the inphase and quadrature components from the measured
received signal. The wireless sensors used in our experiment while outdoor system parameters are estimated as
are Crossbow’s TelosB sensor nodes, which have the following ⎡ ⎤
specifications: IEEE 802.15.4 compliant, data rate is 250 0 1 0 0
⎢ −0.7151 0.0037 0 0 ⎥
kbps, carrier frequency is 2.4 GHz, and has USB interface. Â = ⎢ ⎥(35)
⎣ 0 0 0 1 ⎦
These sensors are implemented with a Chipcon CC2420 RF
transceiver chip which provides a built-in received signal 0 0 −0.1500 0.0515
⎡
strength indicator (RSSI) [18]. 0.5824 −0.0735 −0.0735
Our experimental setup consists of two moving transceivers ⎢ −0.7452 0.0846 0.0083
B̂ 2 = ⎢ ⎣
(sensors 1 and 2) and one passive receiver (sensor 3) con- −0.0864 0.0365 0.0454
nected to a workstation. At each time step, sensors 1 and 2 1.8643 · 10−4 −0.0643 0.0820
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OLAMA et al.: STOCHASTIC DIFFERENTIAL EQUATIONS FOR MODELING, ESTIMATION AND IDENTIFICATION OF MOBILE-TO-MOBILE 1761
⎧ (4) (4)
−2
⎪
⎨ ri = Ai−1 − Pi|i Ci−1 Di−1 Ci−1 Ai−1 ri−1 + 2Pi|i Syi
T
(4) (4)
ri/i−1 = Ai−1 ri (31)
⎪
⎩ (4)
r0 = 02n×1
0 0
Est. −20 Est.
−20 Meas. Meas.
−10 −40
−10
−40
−20 −60
−20 −60
−80
0 10 20 30 40 50 −30
Received Signal (dB)
−40
−50
−50 −60
−70
−60
−80
−70
−90
0 50 100 150 200 250 300 350 400 450 500 0 50 100 150 200 250 300 350 400 450 500
Samples Samples
Fig. 4. Indoor measured and estimated received signals from sensor 2 by Fig. 5. Outdoor measured and estimated received signals from sensor 2 by
using a 4th order ad hoc channel model. using a 4th order ad hoc channel model.
⎤ 30
1.5395 · 10−4 Indoor
−0.0375 ⎥ ⎥ 25
Outdoor
0.0264 ⎦
0.0753 20
Ĉ = [0.624 0 − 0.7815 0] , D̂2 = [1.1725].
MSE
15
From Fig. 4 and 5, it can be noticed that the received signals
from indoor and outdoor environments have been estimated 10
with very high accuracy. It takes a few iterations (about
5 iterations) for the estimation algorithm to converge. The 5
root mean square errors (RMSE) for indoor and outdoor
environments are shown in Fig. 6. It can be seen that indoor 0
RMSE is higher than the one for outdoor because of reflections 0 50 100 150 200 250
Samples
300 350 400 450 500
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1762 IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS, VOL. 8, NO. 4, APRIL 2009
−20
48%
Ad hoc
ACKNOWLEDGEMENT
−30
The authors would like to thank Dr. Y. Li, Mr. T. Kuruganti,
0 1 2 3 4 5
Time (sec)
6 7 8 9 10
and Mr. T. Goodspeed for providing the experimental data and
for their helpful comments and discussions.
Fig. 7. Rayleigh attenuation coefficient for cellular link and worst-case
mobile-to-mobile link.
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Authorized licensed use limited to: VELLORE INSTITUTE OF TECHNOLOGY. Downloaded on August 3, 2009 at 08:51 from IEEE Xplore. Restrictions apply.
OLAMA et al.: STOCHASTIC DIFFERENTIAL EQUATIONS FOR MODELING, ESTIMATION AND IDENTIFICATION OF MOBILE-TO-MOBILE 1763
[19] J. G. Proakis, Digital Communications. New York: McGraw-Hill, 1995. Seddik M. Djouadi received his Ph.D. degree from
[20] W. J. Rugh, Linear System Theory, 2nd ed. Prentice-Hall, 1996. McGill University, his M.Sc. degree from University
[21] K. J. Astrom, Introduction to Stochastic Control Theory. New York: of Montreal, both in Montreal, his B.S. (with first
Dover Publications, Inc., 1970. class honors) from Ecole Nationale Polytechnique,
[22] T. Aulin, “A modified model for fading signal at a mobile radio channel," Algiers, all in electrical engineering, respectively,
IEEE Trans. Veh. Technol., vol. 28, no. 3, pp. 182-203, 1979. in 1999, 1992, and 1989. He is currently an As-
[23] R. E. A. C. Paley and N. Wiener, “Fourier transforms in the complex sistant Professor in the Electrical Engineering and
domain," Amer. Math. Soc. Coll., Am. Math., vol. 9, 1934. Computer Science Department at the University of
[24] J. E. Dennis Jr. and R. B. Schnabel, Numerical Methods for Uncon- Tennessee, Knoxville. He was an assistant Professor
strained Optimization and Nonlinear Equations. Englewood Cliffs, NJ: in University of Arkansas at Little Rock, and held
Prentice-Hall, 1983. postdoctoral positions in the Air Force Research
[25] T. S. Rappaport, Wireless Communications: Principles And Practice. Laboratory and Georgia Institute of Technology, where he was also a Design
Prentice Hall, 2nd ed., 2002. Engineer with American Flywheel Systems Inc. He received five US Air
[26] R. J. Elliott and V. Krishnamurthy, “New finite-dimensional filters for Force Summer Faculty Fellowships, and an Oak Ridge National Laboratory
parameter estimation of discrete-time linear Guassian models," IEEE Summer Fellowship.
Trans. Automatic Control, vol. 44, no. 5, pp. 938-951, 1999. Dr. Djouadi is a member of IEEE, the American Mathematical Society and
[27] C. F. J. Wu, “On the convergence properties of the EM algorithm," la Societe Mathematique de France. He received the Best paper award in the
Annals of Statistics, vol. 11, pp. 95-103, 1983. 1st Conference on Intelligent Systems and Automation 2008, the Ralph E.
[28] E. Weinstein, A. V. Oppenheim, M. Feder, and J. R. Buck, “Iterative Powe Junior Faculty Enhancement Award in 2005, the Tibbet Award with
and sequential algorithms for multisensor signal enhancement," IEEE AFS Inc. in 1999 and the American Control Conference Best Student Paper
Trans. Signal Processing, vol. 42, pp. 846-859, 1994. Certificate (best five in competition) in 1998. He was selected by Automatica
[29] I. Ziskind and D. Hertz, “Maximum likelihood localization of narrow- as an outstanding reviewer for 2003-2004 and 2007-2007. His research inter-
band autoregressive sources via the EM algorithm," IEEE Trans. Signal ests include filtering and control of systems under communication constraints,
Processing, vol. 41, no. 8, pp. 2719-2723, 1993. modeling and control of wireless networks, model reduction and control of
[30] N. S. Jayant and P. Noll, Digital Coding Transforms. Prentice-Hall, fluid flows, active vision and identification.
1984.
[31] C. D. Charalambous, S. Z. Denic, S. M. Djouadi, and N. Menemenlis, Charalambos D. Charalambous (SM’2005) re-
“Stochastic power control for short-term flat fading wireless networks: ceived the Electrical Engineering B.S. degree in
almost sure QoS measures," in Proc. 40th IEEE Conf. Decision Control, 1987, the M.E. degree in 1988, and the Ph.D. in
pp. 1049-1052, Dec. 2001. 1992, all from Department of Electrical Engineering
[32] P. E. Caines, Linear Stochastic Systems. New-York: Wiley, 1988. from Old Dominion University, Virginia, USA.
In 2003 he joined the Department of Electrical
Mohammed M. Olama is currently a Research and Computer Engineering, University of Cyprus,
Associate in the Computational Sciences and Engi- where he is currently Associate Professor and Acting
neering Division at Oak Ridge National Laboratory. Dean of the School of Engineering. He was an
He received his Ph.D. degree from the Electrical and Associate Professor at University of Ottawa, School
Computer Engineering Department at the University of Information Technology and Engineering from
of Tennessee, Knoxville, in 2007, and his B.S. and 1999 to 2003. He has served on the faculty of McGill University, Department
M.S. (with first class honors) degrees in electrical of Electrical and Computer Engineering, as a non-tenure faculty member, from
engineering from the University of Jordan, in 1998 1995 to 1999. From 1993 to 1995 he was a Post-Doctoral Fellow at Idaho
and 2001, respectively. From 2001 to 2003, he State University, Engineering Department. His research group ICCCSystemS,
completed 33 credit hours towards his Ph.D. degree Information, Communication and Control of Complex Systems is interested in
in the Applied Science Department, University of theoretical and technological developments concerning large scale distributed
Arkansas at Little Rock (UALR). He held an internship position in Oak communication and control systems and networks in science and engineering.
Ridge National Laboratory in the summer of 2007. He received the Scholarly These include theory and applications of stochastic processes and systems
Activities Research Incentive Fund (SARIF) Summer Graduate Research subject to uncertainty, communication and control systems and networks, large
Assistantship for two consecutive years (2006 and 2007). From 1999 to deviations, information theory, robustness and their connections to statistical
2001, he served as a full-time control engineer at the National Electric Power mechanics.
Company (NEPCO) in Amman, Jordan. Dr. Olama received the best regular Dr. Charalambous is currently an associate editor of the IEEE C OMMUNI -
paper award in the 1st Mediterranean Conference on Intelligent Systems CATIONS L ETTERS , and from 2002 to 2004 he served as an Associate Editor
and Automation (CISA) in 2008. He also received a 2007 Significant Event of the IEEE T RANSACTIONS ON AUTOMATIC C ONTROL. He was a member
Award from the Computational Sciences and Engineering Division, Oak Ridge of the Canadian Centers of Excellence through MITACS (the mathematics of
National Laboratory. He is a member of the Phi Kappa Phi honor society. His information technology and complex systems), from 1998 to 2001. In 2001
research interests include modeling, power control and location services for he received the Premier’s Research Excellence Award of the Ontario Province
wireless networks, estimation and identification, control over communication of Canada.
networks, wide area measurement systems (WAMS), SCADA systems, and
discrete event systems.
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