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This paper presents a control-theoretic framework which stably combines optimal feedback policies with online learning for control of uncertain nonlinear systems. Given unknown parameters within a bounded range, the resulting adaptive control laws guarantee convergence of the closed-loop system to the state of zero cost. The proposed framework is able to employ the certainty equivalence principle when designing optimal policies and value functions by online adjustment of the learning rate - a mechanism needed to guarantee stable learning and control. The approach is demonstrated on the familiar mountain car problem, where it is shown to yield near-optimal behavior despite the presence of parametric uncertainty.

In the research and application of vehicle ad hoc networks (VANETs), it is often assumed that vehicles obtain cloud computing services by accessing to roadside units (RSUs). However, due to the problems of insufficient construction quantity, limited communication range and overload of calculation load of roadside units, the calculation mode relying only on vehicle to roadside units is difficult to deal with complex and changeable calculation tasks. In this paper, when the roadside unit is missing, the vehicle mobile unit is regarded as a natural edge computing node to make full use of the excess computing power of mobile vehicles and perform the offloading task of surrounding mobile vehicles in time. In this paper, the OPFTO framework is designed, an improved task allocation algorithm HGSA is proposed, and the pre-filtering process is designed with full consideration of the moving characteristics of vehicles. In addition, vehicle simulation experiments show that the proposed strategy has the advantages of low delay and high accuracy compared with other task scheduling strategies, which provides a reference scheme for the construction of Urban Intelligent Transportation in the future.

Satellite networks are booming to provide high-speed and low latency Internet access, but the transport layer becomes one of the main obstacles. Legacy end-to-end TCP is designed for terrestrial networks, not suitable for error-prone, propagation delay varying, and intermittent satellite links. It is necessary to make a clean-slate design for the satellite transport layer. This paper introduces a novel Information-centric Hop-by-Hop transport layer design, INTCP. It carries out hop-by-hop packets retransmission and hop-by-hop congestion control with the help of cache and request-response model. Hop-by-hop retransmission recovers lost packets on hop, reduces retransmission delay. INTCP controls traffic and congestion also by hop. Each hop tries its best to maximize its bandwidth utilization and improves end-to-end throughput. The capability of caching enables asynchronous multicast in transport layer. This would save precious spectrum resources in the satellite network. The performance of INTCP is evaluated with the simulated Starlink constellation. Long-distance communication with more than 1000km is carried out. The results demonstrate that, for the unicast scenario INTCP could reduce 42% one-way delay, 53% delay jitters, and improve 60% throughput compared with the legacy TCP. In multicast scenario, INTCP could achieve more than 6X throughput.

Iterative hard thresholding (IHT) has gained in popularity over the past decades in large-scale optimization. However, convergence properties of this method have only been explored recently in non-convex settings. In matrix completion, existing works often focus on the guarantee of global convergence of IHT via standard assumptions such as incoherence property and uniform sampling. While such analysis provides a global upper bound on the linear convergence rate, it does not describe the actual performance of IHT in practice. In this paper, we provide a novel insight into the local convergence of a specific variant of IHT for matrix completion. We uncover the exact linear rate of IHT in a closed-form expression and identify the region of convergence in which the algorithm is guaranteed to converge. Furthermore, we utilize random matrix theory to study the linear rate of convergence of IHTSVD for large-scale matrix completion. We find that asymptotically, the rate can be expressed in closed form in terms of the relative rank and the sampling rate. Finally, we present various numerical results to verify the aforementioned theoretical analysis.

Permutation polynomials over finite fields are an interesting and constantly active research subject of study for many years. They have important applications in areas of mathematics and engineering. In recent years, permutation binomials and permutation trinomials attract people's interests due to their simple algebraic forms. By reversely using Tu's method for the characterization of permutation polynomials with exponents of Niho type, we construct a class of permutation trinomials with coefficients 1 in this paper. As applications, two conjectures of [19] and a conjecture of [13] are all special cases of our result. To our knowledge, the construction method of permutation polynomials by polar decomposition in this paper is new. Moreover, we prove that in new class of permutation trinomials, there exists a permutation polynomial which is EA-inequivalent to known permutation polynomials for all m greater than or equal to 2. Also we give the explicit compositional inverses of the new permutation trinomials for a special case.

Integrated sensing and communication enables sensing capability for wireless networks. However, the interference management and resource allocation between sensing and communication have not been fully studied. In this paper, we consider the design of perceptive mobile networks (PMNs) by adding sensing capability to current cellular networks. To avoid the full-duplex operation and reduce interference, we propose the PMN with distributed target monitoring terminals (TMTs) where passive TMTs are deployed over wireless networks to locate the sensing target (ST). We then jointly optimize the transmit and receive beamformers towards the communication user terminals (UEs) and the ST by alternating-optimization (AO) and prove its convergence. To reduce computation complexity and obtain physical insights, we further investigate the use of linear transceivers, including zero forcing and beam synthesis (B-syn), and show that B-syn can achieve comparable sensing performance as AO especially when the communication requirement is high. Some interesting physical insights are also revealed. For example, instead of forming a dedicated sensing signal, it is more efficient to jointly design the communication signals for different UEs such that they ``collaboratively leak" energy to the ST. Furthermore, the amount of energy leakage from one UE to the ST depends on their relative locations.

Rinne et al. conduct an interesting analysis of the impact of wind turbine technology and land-use on wind power potentials, which allows profound insights into each factors contribution to overall potentials. The paper presents a detailed model of site-specific wind turbine investment cost (i.e. road- and grid access costs) complemented by a model used to estimate site-independent costs. We believe that propose a cutting edge model of site-specific investment costs. However, the site-independent cost model is flawed in our opinion. This flaw most likely does not impact the results presented in the paper, although we expect a considerable generalization error. Thus the application of the wind turbine cost model in other contexts may lead to unreasonable results. More generally, the derivation of the wind turbine cost model serves as an example of how applications of automated regression analysis can go wrong.

We explore the locomotion of soft robots in granular medium (GM) resulting from the elastic deformation of slender rods. A low-cost, rapidly fabricable robot inspired by the physiological structure of bacteria is presented. It consists of a rigid head, with a motor and batteries embedded, and multiple elastic rods (our model for flagella) to investigate locomotion in GM. The elastic flagella are rotated at one end by the motor, and they deform due to the drag from GM, propelling the robot. The external drag is determined by the flagellar shape, while the latter changes due to the competition between external loading and elastic forces. In this coupled fluid-structure interaction problem, we observe that increasing the number of flagella can decrease or increase the propulsive speed of the robot, depending on the physical parameters of the system. This nonlinearity in the functional relation between propulsion and the parameters of this simple robot motivates us to fundamentally analyze its mechanics using theory, numerical simulation, and experiments. We present a simple Euler-Bernoulli beam theory-based analytical framework that is capable of qualitatively capturing both cases. Theoretical prediction quantitatively matches experiments when the flagellar deformation is small. To account for the geometrically nonlinear deformation often encountered in soft robots and microbes, we implement a simulation framework that incorporates discrete differential geometry-based simulations of elastic rods, a resistive force theory-based model for drag, and a modified Stokes law for the hydrodynamics of the robot head. Comparison with experimental data indicates that the simulations can quantitatively predict robotic motion. Overall, the theoretical and numerical tools presented in this paper can shed light on the design and control of this class of articulated robots in granular or fluid media.

Because of the superior feature representation ability of deep learning, various deep Click-Through Rate (CTR) models are deployed in the commercial systems by industrial companies. To achieve better performance, it is necessary to train the deep CTR models on huge volume of training data efficiently, which makes speeding up the training process an essential problem. Different from the models with dense training data, the training data for CTR models is usually high-dimensional and sparse. To transform the high-dimensional sparse input into low-dimensional dense real-value vectors, almost all deep CTR models adopt the embedding layer, which easily reaches hundreds of GB or even TB. Since a single GPU cannot afford to accommodate all the embedding parameters, when performing distributed training, it is not reasonable to conduct the data-parallelism only. Therefore, existing distributed training platforms for recommendation adopt model-parallelism. Specifically, they use CPU (Host) memory of servers to maintain and update the embedding parameters and utilize GPU worker to conduct forward and backward computations. Unfortunately, these platforms suffer from two bottlenecks: (1) the latency of pull \& push operations between Host and GPU; (2) parameters update and synchronization in the CPU servers. To address such bottlenecks, in this paper, we propose the ScaleFreeCTR: a MixCache-based distributed training system for CTR models. Specifically, in SFCTR, we also store huge embedding table in CPU but utilize GPU instead of CPU to conduct embedding synchronization efficiently. To reduce the latency of data transfer between both GPU-Host and GPU-GPU, the MixCache mechanism and Virtual Sparse Id operation are proposed. Comprehensive experiments and ablation studies are conducted to demonstrate the effectiveness and efficiency of SFCTR.