  The combination of source coding with decoder side-information (Wyner-Ziv
problem) and channel coding with encoder side-information (Gel'fand-Pinsker
problem) can be optimally solved using the separation principle. In this work
we show an alternative scheme for the quadratic-Gaussian case, which merges
source and channel coding. This scheme achieves the optimal performance by a
applying modulo-lattice modulation to the analog source. Thus it saves the
complexity of quantization and channel decoding, and remains with the task of
"shaping" only. Furthermore, for high signal-to-noise ratio (SNR), the scheme
approaches the optimal performance using an SNR-independent encoder, thus it is
robust to unknown SNR at the encoder.
