Programmable self-assembly has been widely studied because of its capability to create ordered patterns from a group of multiple disordered agents without an external controller. To achieve this, assembly units must exhibit different characteristics: they need to be small, to have the ability to latch and unlatch, and low-power consumption. In addition, they need to be easily programmable and able to communicate with each other. This thesis presents an experimental robotic platform for programmable self-assembly. In this work, we build in the Usbot modular robotic cubes making use of their advantages and simplicity as its passive magnetic latching mechanism, and we endow them with communication capabilities. The system allows only local communication between the modules, specifically with the most recent linked neighbor cube. The transmission of the relevant cube data is performed by a pair of LED and ambient light sensors in a binary format. The different experiments demonstrate and compare distributed programmable self-assembly using various algorithms from the literature as Singleton and Lynchpin.

Radio frequency (RF) spectrum congestion motivates the search for alternative communication techniques to complement radio systems. Visible light communications (VLC) is an emerging technology that exploits the recent and ever-growing increase in the usage of energy-efficient light emitting diodes (LEDs) to imperceptibly modulate the optical power output of LEDs to enable communication and augment RF networks. Orthogonal frequency-divison multiplexing (OFDM) has been proposed as a modulation scheme for VLC due to its high spectral efficiency, ease of channel estimation and equalization, resistance to inter-symbol interference (ISI) and frequency-selective fading, efficient implementation using the Fast Fourier Transform (FFT), and compatibility with RF and power-line communication (PLC) standards that use OFDM. One of the major drawbacks of conventional OFDM techniques is the high peak-to-average power ratio (PAPR) of OFDM signals. The peaks of the OFDM signals are clipped due to the limited dynamic range of the LED, which translates the high PAPR of the OFDM signal into non-linear distortion (NLD). This signal distortion causes bit-error rate (BER) performance degradation, especially at high optical signal-to-noise ratios (SNRs) typical of indoor VLC scenarios. In this thesis, a new family of modulation techniques, termed spatial optical OFDM (SO-OFDM), is proposed with the aim of reducing the PAPR of conventional DC-biased optical OFDM (DCO-OFDM) by making use of the large number of LEDs typically available in indoor lighting settings. Each LED group signal is a narrowband signal consisting of a small number of subcarriers, and thus has a smaller PAPR than the original OFDM signal. Firstly, SO-OFDM is introduced and its two key concepts of frequency-to-space mapping and spatial summing are explained. Frequency-to-space mapping is achieved by allocating a subset of OFDM subcarriers to each LED. Each LED group signal is a narrowband signal consisting of a small number of subcarriers, and thus has a smaller PAPR than the original OFDM signal. Several design variations of the subcarrier assignment to LEDs are introduced and are shown through simulations, to reduce PAPR, and NLD noise due to clipping, and improve the BER performance at high SNRs as compared to DCO-OFDM. In addition, luminous efficacy is identified as an important lighting design parameter that is impacted by modulation. Relative luminous efficacy is defined as the ratio of the luminous efficacy of a modulated LED to that of an LED driven by a DC signal, and is introduced as a metric to assess the impact of modulation on LED lighting. Relative luminous efficacy links communication parameters such as signal variance to lighting design requirements. Secondly, a low-complexity amplify-and-forward (AF) scheme is proposed for an integrated power-line communication/visible-light communication (PLC/VLC) where SO-OFDM is used for the VLC link. Frequency translation of the incoming PLC signal is used to increase the usable bandwidth of the LED. The use of both frequency translation and SO-OFDM leads to capacity gains over DCO-OFDM in the high SNR regime. Finally, a low-complexity variant of SO-OFDM, termed square-wave SO-OFDM (SW-SO-OFDM), is proposed. Square-wave SO-OFDM uses square-wave carriers instead of sinusoidal waves to modulate a single OFDM subcarrier signal per LED. By using square-wave carriers, SW-SO-OFDM eliminates the need for digital-to-analog converters (DACs), digital predistortion (DPD), and the FFT operation. Squarewave SO-OFDM is also shown, through simulations, to achieve BER performance gains over SO-OFDM and DCO-OFDM. In addition, an experimental demonstration of SW-SO-OFDM with 64 QAM modulation on subcarriers is described. / Thesis / Doctor of Philosophy (PhD) / Visible-light communications (VLC) is an emerging technology that exploits the increasingly widespread use of light-emitting diodes (LEDs) for indoor lighting, and modulates the optical power output of the LED for data transmission. Among the various modulation techniques that have been proposed for VLC, orthogonal frequency-division multiplexing (OFDM) offers high data rates, resistance to channel impairments, and simple channel estimation and equalization. However, OFDM signals suffer from a high peak-to-average power ratio (PAPR) which degrades the efficiency of the power amplifier in the transmitter and hinders the communication performance. In this thesis, a new multiple-LED modulation technique, termed spatial optical OFDM (SO-OFDM), is proposed to reduce the PAPR. Using a frequency-to-space mapping, SO-OFDM divides the wideband high-PAPR OFDM signal into multiple narrowband low-PAPR signals and assigns each signal to a group of LEDs. Spatial summing of the transmitted signals occurs at the receiver allowing for the use of a conventional OFDM receiver. Several variations of SO-OFDM are introduced and are shown, using simulations, to reduce the PAPR, combat non-linear distortion (NLD), and improve the bit-error rate (BER) performance at high signal-to-noise ratios (SNRs), typical of VLC systems. Spatial optical OFDM is also applied to a practical scenario where its PAPR reduction capability is used to improve the overall capacity of a proposed system that integrates power-line communication (PLC) and VLC. A low-complexity variant of SO-OFDM, that uses square-wave carriers and simplifies the transmitter design by eliminating the need for digital predistortion (DPD) and digital-to-analog converters (DACs) is also proposed, and tested experimentally.

Le spectre radiofréquence (RF) diminue en raison d'une augmentation de la demande d'applications sans fil. Par conséquent, il existe une demande importante de régions de spectre alternatifs pour les communications afin d'incliner le spectre RF conventionnel. Dans ce contexte, les communications optiques sans fil (OWC) sont explorées comme un candidat potentiel pour compléter les communications RF. Le travail actuel se concentre sur les techniques d'atténuation des déficiences et les approches de modulation efficaces en énergie pour OWC. Dans un premier temps, on étudie le rapport de puissance crête à moyenne (PAPR) pour le multiplexage par répartition orthogonale de la fréquence optique (O-OFDM) et on présente deux techniques de réduction de PAPR orientées vers la décision. La complexité de ces méthodes est comparativement plus faible que celle des autres méthodes de réduction PAPR, tandis que leurs performances sont également analogues à celles des autres alternatives. Deuxièmement, une approche d'accès multiple par répartition en fréquence optique-porteuse unique (O-SCFDMA), appelée O-SCFDMA sans symétrie d'Hermitain (HSFO-SCFDMA) est proposée. Ce dernier évite la symétrie hermiatienne normalement attendue pour d'autres O-OFDM et Approches O-SCFDMA. Les résultats de la simulation affirment que HSFO-SCFDMA est plus efficace que toute autre approche O-SCFDMA pour OWC et manifeste le plus faible PAPR parmi les autres alternatives. Troisièmement, la performance du précodage est analysée pour l'O-OFDM (LACO-OFDM) asymétriquement en couches. Deux types de précodage sont utilisés, à savoir le précodage par transformée de Fourier et le précodage par transformée d'Hartley. Il est établi que le LACO-OFDM précodé a transformée Hartley présente le PAPR le plus faible et est moins vulnérable à la distorsion non linéaire introduite par les diodes électroluminescentes (LED), mais le rapport signale sur bruit (SNR) augmente ( électrique et optique à la fois) en raison de la structure en couches qui est plus élevée que le LACO-OFDM conventionnelle. / The radio-frequency (RF) spectrum is dwindling due to an increase in the demand of wireless applications. Hence, there is substantial demand of alternative spectrum regions for communications to recline the conventional RF spectrum. In this context, optical wireless communications (OWC) is explored as a likely candidate to supplement the RF communications. The current work focuses on impairment mitigation techniques and energy-efficient modulation approaches for OWC. Firstly, the peak-to-average power ratio (PAPR) for optical-orthogonal frequency division multiplexing (O-OFDM) is studied and two decision-directed PAPR reduction techniques are presented. The complexity of these methods is comparatively lower than other PAPR reduction methods, whilst, their performance is likewise analogous with other alternatives. Secondly, an optical-single-carrier frequency division multiple access (O-SCFDMA) approach, referred to as Hermitain symmetry free O-SCFDMA (HSFO-SCFDMA) is proposed, that averts Hermiatian symmetry which is normally expected for other O-OFDM and O-SCFDMA approaches. The simulation results affirm that HSFO-SCFDMA is more efficient than any other O-SCFDMA approach for OWC and manifests the lowest PAPR among the other alternatives. Thirdly, the performance of precoding is analyzed for layered asymmetrically clipped O-OFDM (LACO-OFDM). Two types of precoding are employed, i.e., Fourier transform precoding and Hartley transform precoding. It is established that Hartley transform precoded LACO-OFDM exhibits the lowest PAPR and is less vulnerable to non-linear distortion introduced by the light emitting diodes (LEDs), howbeit, the signal-to-noise ratio (SNR) increase (both electrical and optical) owing to the layered structure is higher than conventional LACO-OFDM.

With data throughput increasing exponentially in wireless communication networks, the limited radio frequency (RF) spectrum is unable to meet the future data rate demand. As a promising complementary approach, optical wireless communication (OWC) has gained significant attention since its licence-free light spectrum provides a considerable amount of communication bandwidth. In conventional OWC systems, the information-carried signal has to be real-valued and non-negative due to the incoherent light output of the conventional optical transmitter, light emitting diode (LED). Therefore, an intensity modulation and direct detection (IM/DD) system is used for establishing the OWC link. Some modified orthogonal frequency division multiplexing (OFDM) schemes have been proposed to achieve suitable optical signals. In previous research, three OFDM-based schemes have been presented, including DC-biased optical orthogonal frequency division multiplexing (DCO-OFDM), asymmetrically clipped optical orthogonal frequency division multiplexing (ACO-OFDM) and unipolar orthogonal frequency division multiplexing (U-OFDM). Basic concepts of SPAD receivers are studied and a novel application in OWC is proposed for a permanent downhole monitoring (PDM) system in the gas and oil industry. In this thesis, a complete model of the SPAD-based OWC system is presented, including some related SPAD metrics, the photon counting process in SPAD and a specific nonlinear distortion caused by passive quenching (PQ) and active quenching (AQ) recharged circuits. Moreover, a practical SPAD-based visible light communication (VLC) system and its theoretical analysis are presented in a long-distance gas pipe with a battery-powered LED and a basic on-off keying (OOK) modulation scheme. In this thesis, two novel optical orthogonal frequency division multiplexing (O-OFDM) technologies are proposed: non-DC-biased orthogonal frequency division multiplexing (NDCOFDM) and OFDM with single-photon avalanche diode (SPAD). The former is designed for optical multiple-input multiple-output (O-MIMO) systems based on the optical spatial modulation (OSM) technique. In NDC-OFDM, signs of modulated O-OFDM symbols and absolute values of the symbols are separately transmitted by different information carrying units. This scheme can eliminate clipping distortion in DCO-OFDM and achieve high power efficiency. Furthermore, as the indices of transmitters carry extra information bits, NDC-OFDM gives a significant improvement in spectral efficiency over ACO-OFDM and U-OFDM. In this thesis, SPAD-based OFDM systems with DCO-OFDM and ACO-OFDM are presented and analysed by considering the nonlinear distortion effect of PQ SPAD and AQ SPAD. A comprehensive digital signal processing of SPAD-based OFDM is shown and theoretical functions of the photon counting distribution in PQ SPAD and AQ SPAD are given. Moreover, based on Bussgang theorem, a conventional method for analysing memoryless distortion, close-formed bit-error rate (BER) expressions of SPAD-based OFDM are derived. Furthermore, SPAD-based OFDM is compared with conventional photo-diode (PD) based OFDM systems, and a gain of 40 dB in power efficiency is observed.

This work presents a new wireless Visible Light Communication lighting system targeted to future Smart Buildings. A digitally controlled LLC resonant dc-dc converter targeted to white LED luminaires is demonstrated. Visible Light Communication is implemented with minimal incremental cost, by operating the LLC converter in burst mode, without causing any visible disturbance. The converter operates with a regulated average LED current by adjusting the switching frequency, while the burst pulse timing is controlled to minimize the current disturbance and minimize the value of the output capacitor. Variable Pulse Position Modulation is used to modulate the data, while supporting a range of dimming settings. A digital demodulation scheme that supports variable frequency transmission is demonstrated. The 80 W, 400 V to 23 V converter experimental prototype has a peak efficiency of 93.8 %. The bit error rate of the complete system is fully characterized versus distance and angle.

This work presents a new wireless Visible Light Communication lighting system targeted to future Smart Buildings. A digitally controlled LLC resonant dc-dc converter targeted to white LED luminaires is demonstrated. Visible Light Communication is implemented with minimal incremental cost, by operating the LLC converter in burst mode, without causing any visible disturbance. The converter operates with a regulated average LED current by adjusting the switching frequency, while the burst pulse timing is controlled to minimize the current disturbance and minimize the value of the output capacitor. Variable Pulse Position Modulation is used to modulate the data, while supporting a range of dimming settings. A digital demodulation scheme that supports variable frequency transmission is demonstrated. The 80 W, 400 V to 23 V converter experimental prototype has a peak efficiency of 93.8 %. The bit error rate of the complete system is fully characterized versus distance and angle.

Visible light communication (VLC) is an emerging form of optical wireless communication that transmits data by modulating light in the visible spectrum. To meet the growing demand for wireless communication capacity from mobile devices, we investigate multiple-input multiple-output (MIMO) VLC to achieve multiplexing capacity gains and to allow multiple users to simultaneously transmit without disrupting each other. Previous approaches to receive VLC signals have either been unable to simultaneously receive multiple independent signals from multiple transmitters, unable to adapt to moving transmitters and receivers, or unable to sample the received signals fast enough for high-speed VLC. In this dissertation, we develop and evaluate two novel approaches to receive high-speed MIMO VLC signals from mobile transmitters that can be practically scaled to support additional transmitters. The first approach, Token-Based Pixel Selection (TBPS) exploits the redundancy and sparsity of high-resolution transmitter images in imaging VLC receivers to greatly increase the rate at which complementary metal-oxide semiconductor (CMOS) active pixel sensor (APS) image sensors can sample VLC signals though improved signal routing to enable such high-resolution image sensors to capture high-speed VLC signals. We further model the CMOS APS pixel as a linear shift-invariant system, investigate how it scales to support additional transmitters and higher resolutions, and investigate how noise can affect its performance. The second approach, a spatial light modulator (SLM)-based VLC receiver, uses an SLM to dynamically control the resulting wireless channel matrix to enable relatively few photodetectors to reliably receive from multiple transmitters despite their movements. As part of our analysis, we develop a MIMO VLC channel capacity model that accounts for the non-negativity and peak-power constraints of VLC systems to evaluate the performance of the SLM VLC receiver and to facilitate the optimization of the channel matrix through the SLM.

To light up the world of technology, where wireless communication has bloomed to a great extend which requires a lot of data to be transmitted and received every fraction of the second a new era is coming. Electro-magnetic waves i.e., radio waves are the main way to transmit wireless data but certain limitations are there because radio waves can only support less bandwidth because of compact spectrum availability and intrusions. Visible Light Communication (VLC) has come to take way those issues. The new technology Li-Fi which stands for Light-Fidelity is a new kind of wireless communication system which uses light waves as a medium instead of radio frequency electromagnetic waves. This pro-ject presents an eco-friendly data communication system through visible light which consists of LEDs that transmit audio signals and sensor data to the receiver. A connection protection mechanism that co-operates with wireless network and visible light communication to achieve relia-bility and performance overcoming the drawbacks from the pre-existing system is proposed here.

The past decade witnessed the rapid development of III-nitride light-emitting diodes (LEDs) and laser diodes (LDs), for smart lighting, visible-light communication (VLC), optical storage, and internet-of-things. Recent studies suggested that the GaN-based LDs, which is free from efficiency droop, outperform LEDs as a viable high-power light source. Conventionally, the InGaN-based LDs are grown on polar, c-plane GaN substrates. However, a relatively low differential gain limited the device performance due to a significant polarization field in the active region. Therefore, the LDs grown on nonpolar m-plane and semipolar (2021)-plane GaN substrates are posed to deliver high-efficiency owing to the entirely or partially eliminated polarization field. To date, the smart lighting and VLC functionalities have been demonstrated based on discrete devices, such as LDs, transverse-transmission modulators, and waveguide photodetectors. The integration of III-nitride photonic components, including the light emitter, modulator, absorber, amplifier, and photodetector, towards the realization of III-nitride photonic integrated circuit (PIC) offers the advantages of small-footprint, high-speed, and low power consumption, which has yet to be investigated. This dissertation presents the design, fabrication, and characterization of the multi-section InGaN laser diodes with integrated functionalities on semipolar (2021)-plane GaN substrates for enabling such photonic integration. The blue-emitting integrated waveguide modulator-laser diode (IWM-LD) exhibits a high modulation efficiency of 2.68 dB/V. A large extinction ratio of 11.3 dB is measured in the violet-emitting IWM-LD. Utilizing an integrated absorber, a high optical power (250mW), droop-free, speckle-free, and large modulation bandwidth (560MHz) blue-emitting superluminescent diode is reported. An integrated short-wavelength semiconductor optical amplifier with the laser diode at ~404 nm is demonstrated with a large gain of 5.32 dB at 6 V. A high-performance waveguide photodetector integrated LD at 405 nm sharing the single active region is presented, showing a significant large modulation bandwidth of 230 MHz. Thus these seamlessly integrated elements enable photonic IC at the visible wavelength for many important applications, such as smart lighting and display, optical communication, switching, clocking, and interconnect. The findings are therefore significant in developing an energy-saving platform technology that powers up human activities in a safe, health- and environmental-friendly manner.

Unprecedented traffic growth is expected in future wireless networks and new technologies will be needed to satisfy demand. Optical wireless (OW) communication offers vast unused spectrum and high area spectral efficiency. In this work, optical cells are envisioned as supplementary access points within heterogeneous RF/OW networks. These networks opportunistically offload traffic to optical cells while utilizing the RF cell for highly mobile devices and devices that lack a reliable OW connection. Visible light communication (VLC) is considered as a potential OW technology due to the increasing adoption of solid state lighting for indoor illumination. Results of this work focus on a full system view of RF/OW HetNets with three primary areas of analysis. First, the need for network densication beyond current RF small cell implementations is evaluated. A media independent model is developed and results are presented that provide motivation for the adoption of hyper dense small cells as complementary components within multi-tier networks. Next, the relationships between RF and OW constraints and link characterization parameters are evaluated in order to define methods for fair comparison when user-centric channel selection criteria are used. RF and OW noise and interference characterization techniques are compared and common OW characterization models are demonstrated to show errors in excess of 100x when dominant interferers are present. Finally, dynamic characteristics of hyper dense OW networks are investigated in order to optimize traffic distribution from a network-centric perspective. A Kalman Filter model is presented to predict device motion for improved channel selection and a novel OW range expansion technique is presented that dynamically alters coverage regions of OW cells by 50%. In addition to analytical results, the dissertation describes two tools that have been created for evaluation of RF/OW HetNets. A communication and lighting simulation toolkit has been developed for modeling and evaluation of environments with VLC-enabled luminaires. The toolkit enhances an iterative site based impulse response simulator model to utilize GPU acceleration and achieves 10x speedup over the previous model. A software defined testbed for OW has also been proposed and applied. The testbed implements a VLC link and a heterogeneous RF/VLC connection that demonstrates the RF/OW HetNet concept as proof of concept.