Involved in designing and developing a GPS-denied position location system which integrates the RF radio location method with INS tracking device);Developed and implemented the localization algorithm based on Least Square method utilizing the RF radio.Integrated the RF localization with inertial navigation system (INS): designed and implemented the position estimator (Kalman Filter) to fuse the information from the RF localization and INS localization.RESEARCH Lab. of Signal, systems and networks,; Power allocations for the MIMO multiuser relay system:Designed a fast algorithm for a general convex optimization problem which has been used for power allocation in MIMO Relay systems. Designed and implemented joint source and relay design algorithms in MIMO multiuser relay system. Developed the Generalized Water filling algorithm Medium Access Control for ad hoc wireless networks:Proposed the centralized medium access control scheme: an opportunistic synchronous array method for large-scale ad hoc wireless network and studied the effects of traffic load and multiple antennas on the intranetwork throughput.Proposed and implemented a practical MAC scheme: distributed synchronous array method (D-SAM) protocol, and verified its performanceRESEARCH Lab. of Complex Systems, IA, CAS