The Wigner-Smith (WS) time delay matrix relates a system's scattering matrix to its frequency derivative and gives rise to so-called WS modes that experience well-defined group delays when interacting with the system. For systems composed of nondispersive and lossless materials, the WS time delay matrix previously was shown to consist of volume integrals of energy-like densities plus correction terms that account for the guiding, scattering, or radiating characteristics of the system. This study extends the use of the WS time delay matrix to systems composed of dispersive and lossy materials. Specifically, it shows that such systems' WS time delay matrix can be expressed by augmenting the previously derived expressions with terms that account for the dispersive and lossy nature of the system, followed by a transformation that disentangles effects of losses from time delays. Analytical and numerical examples demonstrate the new formulation once again allows for the construction of frequency stable WS modes that experience well-defined group delays upon interacting with a system.
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We investigate the achievable secrecy sum-rate in a multi-user XL-MIMO system, on which user distances to the base station become comparable to the antenna array dimensions. We show that the consideration of spherical-wavefront propagation inherent to these set-ups is beneficial for physical-layer security, as it provides immunity against eavesdroppers located in similar angular directions that would otherwise prevent secure communication under classical planar-wavefront propagation. A leakage subspace precoding strategy is also proposed for joint secure precoding and user scheduling, which allows to improve the secrecy sum-rate compared to conventional zero-forcing based strategies, under different eavesdropper collusion strategies.
Navier-Stokes equations are significant partial differential equations that describe the motion of fluids such as liquids and air. Due to the importance of Navier-Stokes equations, the development on efficient numerical schemes is important for both science and engineer. Recently, with the development of AI techniques, several approaches have been designed to integrate deep neural networks in simulating and inferring the fluid dynamics governed by incompressible Navier-Stokes equations, which can accelerate the simulation or inferring process in a mesh-free and differentiable way. In this paper, we point out that the capability of existing deep Navier-Stokes informed methods is limited to handle non-smooth or fractional equations, which are two critical situations in reality. To this end, we propose the \emph{Deep Random Vortex Method} (DRVM), which combines the neural network with a random vortex dynamics system equivalent to the Navier-Stokes equation. Specifically, the random vortex dynamics motivates a Monte Carlo based loss function for training the neural network, which avoids the calculation of derivatives through auto-differentiation. Therefore, DRVM not only can efficiently solve Navier-Stokes equations involving rough path, non-differentiable initial conditions and fractional operators, but also inherits the mesh-free and differentiable benefits of the deep-learning-based solver. We conduct experiments on the Cauchy problem, parametric solver learning, and the inverse problem of both 2-d and 3-d incompressible Navier-Stokes equations. The proposed method achieves accurate results for simulation and inference of Navier-Stokes equations. Especially for the cases that include singular initial conditions, DRVM significantly outperforms existing PINN method.
In our time cybersecurity has grown to be a topic of massive proportion at the national and enterprise levels. Our thesis is that the economic perspective and investment decision-making are vital factors in determining the outcome of the struggle. To build our economic framework, we borrow from the pioneering work of Gordon and Loeb in which the Defender optimally trades-off investments for lower likelihood of its system breach. Our two-sided model additionally has an Attacker, assumed to be rational and also guided by economic considerations in its decision-making, to which the Defender responds. Our model is a simplified adaptation of a model proposed during the Cold War for weapons deployment in the US. Our model may also be viewed as a Stackelberg game and, from an analytic perspective, as a Max-Min problem, the analysis of which is known to have to contend with discontinuous behavior. The complexity of our simple model is rooted in its inherent nonlinearity and, more consequentially, non-convexity of the objective function in the optimization. The possibilities of the Attacker's actions add substantially to the risk to the Defender, and the Defender's rational, risk-neutral optimal investments in general substantially exceed the optimal investments predicted by the one-sided Gordon-Loeb model. We obtain a succinct set of three decision types that categorize all of the Defender's optimal investment decisions. Also, the Defender's optimal decisions exhibit discontinuous behavior as the initial vulnerability of its system is varied. The analysis is supplemented by extensive numerical illustrations. The results from our model open several major avenues for future work.
This paper presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Furthermore, our planner is able to minimize the tangential relative speed on the premise of safety and dynamic feasibility. This feature is especially notable on micro aerial robots with low maneuverability or scenarios where the space is not enough. Moreover, we design a flexible transformation strategy to eliminate terminal constraints along with reducing optimization variables. Besides, we take precise SE(3) motion planning into account to ensure that the drone would not touch the landing platform until the last moment. The proposed method is validated onboard by a palm-sized micro aerial robot with quite limited thrust and moment (thrust-to-weight ratio 1.7) perching on a mobile inclined surface. Sufficient experimental results show that our planner generates an optimal trajectory within 20ms, and replans with warm start in 2ms.
Recurrent neural networks (RNNs) are wide-spread machine learning tools for modeling sequential and time series data. They are notoriously hard to train because their loss gradients backpropagated in time tend to saturate or diverge during training. This is known as the exploding and vanishing gradient problem. Previous solutions to this issue either built on rather complicated, purpose-engineered architectures with gated memory buffers, or - more recently - imposed constraints that ensure convergence to a fixed point or restrict (the eigenspectrum of) the recurrence matrix. Such constraints, however, convey severe limitations on the expressivity of the RNN. Essential intrinsic dynamics such as multistability or chaos are disabled. This is inherently at disaccord with the chaotic nature of many, if not most, time series encountered in nature and society. It is particularly problematic in scientific applications where one aims to reconstruct the underlying dynamical system. Here we offer a comprehensive theoretical treatment of this problem by relating the loss gradients during RNN training to the Lyapunov spectrum of RNN-generated orbits. We mathematically prove that RNNs producing stable equilibrium or cyclic behavior have bounded gradients, whereas the gradients of RNNs with chaotic dynamics always diverge. Based on these analyses and insights we suggest ways of how to optimize the training process on chaotic data according to the system's Lyapunov spectrum, regardless of the employed RNN architecture.
Zeroth-order optimization methods are developed to overcome the practical hurdle of having knowledge of explicit derivatives. Instead, these schemes work with merely access to noisy functions evaluations. The predominant approach is to mimic first-order methods by means of some gradient estimator. The theoretical limitations are well-understood, yet, as most of these methods rely on finite-differencing for shrinking differences, numerical cancellation can be catastrophic. The numerical community developed an efficient method to overcome this by passing to the complex domain. This approach has been recently adopted by the optimization community and in this work we analyze the practically relevant setting of dealing with computational noise. To exemplify the possibilities we focus on the strongly-convex optimization setting and provide a variety of non-asymptotic results, corroborated by numerical experiments, and end with local non-convex optimization.
Indoor multi-robot communications face two key challenges: one is the severe signal strength degradation caused by blockages (e.g., walls) and the other is the dynamic environment caused by robot mobility. To address these issues, we consider the reconfigurable intelligent surface (RIS) to overcome the signal blockage and assist the trajectory design among multiple robots. Meanwhile, the non-orthogonal multiple access (NOMA) is adopted to cope with the scarcity of spectrum and enhance the connectivity of robots. Considering the limited battery capacity of robots, we aim to maximize the energy efficiency by jointly optimizing the transmit power of the access point (AP), the phase shifts of the RIS, and the trajectory of robots. A novel federated deep reinforcement learning (F-DRL) approach is developed to solve this challenging problem with one dynamic long-term objective. Through each robot planning its path and downlink power, the AP only needs to determine the phase shifts of the RIS, which can significantly save the computation overhead due to the reduced training dimension. Simulation results reveal the following findings: I) the proposed F-DRL can reduce at least 86% convergence time compared to the centralized DRL; II) the designed algorithm can adapt to the increasing number of robots; III) compared to traditional OMA-based benchmarks, NOMA-enhanced schemes can achieve higher energy efficiency.
We consider reliable and secure communication over intersymbol interference wiretap channels (ISI-WTCs). In particular, we first examine the setup where the source at the input of an ISI-WTC is unconstrained and then, based on a general achievability result for arbitrary wiretap channels, we derive an achievable secure rate for this ISI-WTC. Afterwards, we examine the setup where the source at the input of an ISI-WTC is constrained to be a finite-state machine source (FSMS) of a certain order and structure. Optimizing the parameters of this FSMS toward maximizing the secure rate is a computationally intractable problem in general, and so, toward finding a local maximum, we propose an iterative algorithm that at every iteration replaces the secure rate function by a suitable surrogate function whose maximum can be found efficiently. Although the secure rates achieved in the unconstrained setup are potentially larger than the secure rates achieved in the constraint setup, the latter setup has the advantage of leading to efficient algorithms for estimating achievable secure rates and also has the benefit of being the basis of efficient encoding and decoding schemes.
Deep convolutional neural networks (CNNs) have recently achieved great success in many visual recognition tasks. However, existing deep neural network models are computationally expensive and memory intensive, hindering their deployment in devices with low memory resources or in applications with strict latency requirements. Therefore, a natural thought is to perform model compression and acceleration in deep networks without significantly decreasing the model performance. During the past few years, tremendous progress has been made in this area. In this paper, we survey the recent advanced techniques for compacting and accelerating CNNs model developed. These techniques are roughly categorized into four schemes: parameter pruning and sharing, low-rank factorization, transferred/compact convolutional filters, and knowledge distillation. Methods of parameter pruning and sharing will be described at the beginning, after that the other techniques will be introduced. For each scheme, we provide insightful analysis regarding the performance, related applications, advantages, and drawbacks etc. Then we will go through a few very recent additional successful methods, for example, dynamic capacity networks and stochastic depths networks. After that, we survey the evaluation matrix, the main datasets used for evaluating the model performance and recent benchmarking efforts. Finally, we conclude this paper, discuss remaining challenges and possible directions on this topic.
High spectral dimensionality and the shortage of annotations make hyperspectral image (HSI) classification a challenging problem. Recent studies suggest that convolutional neural networks can learn discriminative spatial features, which play a paramount role in HSI interpretation. However, most of these methods ignore the distinctive spectral-spatial characteristic of hyperspectral data. In addition, a large amount of unlabeled data remains an unexploited gold mine for efficient data use. Therefore, we proposed an integration of generative adversarial networks (GANs) and probabilistic graphical models for HSI classification. Specifically, we used a spectral-spatial generator and a discriminator to identify land cover categories of hyperspectral cubes. Moreover, to take advantage of a large amount of unlabeled data, we adopted a conditional random field to refine the preliminary classification results generated by GANs. Experimental results obtained using two commonly studied datasets demonstrate that the proposed framework achieved encouraging classification accuracy using a small number of data for training.
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