Multi-functional and reconfigurable multiple-input multiple-output (MR-MIMO) can provide performance gains over traditional MIMO by introducing additional degrees of freedom. In this paper, we focus on the capacity maximization pattern design for MR-MIMO systems. Firstly, we introduce the matrix representation of MR-MIMO, based on which a pattern design problem is formulated. To further reveal the effect of the radiation pattern on the wireless channel, we consider pattern design for both the single-pattern case where the optimized radiation pattern is the same for all the antenna elements, and the multi-pattern case where different antenna elements can adopt different radiation patterns. For the single-pattern case, we show that the pattern design is equivalent to a redistribution of power among all scattering paths, and an eigenvalue optimization based solution is obtained. For the multi-pattern case, we propose a sequential optimization framework with manifold optimization and eigenvalue decomposition to obtain near-optimal solutions. Numerical results validate the superiority of MR-MIMO systems over traditional MIMO in terms of capacity, and also show the effectiveness of the proposed solutions.
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We present a method to simulate movement in interaction with computers, using Model Predictive Control (MPC). The method starts from understanding interaction from an Optimal Feedback Control (OFC) perspective. We assume that users aim to minimize an internalized cost function, subject to the constraints imposed by the human body and the interactive system. In contrast to previous linear approaches used in HCI, MPC can compute optimal controls for nonlinear systems. This allows us to use state-of-the-art biomechanical models and handle nonlinearities that occur in almost any interactive system. Instead of torque actuation, our model employs second-order muscles acting directly at the joints. We compare three different cost functions and evaluate the simulated trajectories against user movements in a Fitts' Law type pointing study with four different interaction techniques. Our results show that the combination of distance, control, and joint acceleration cost matches individual users' movements best, and predicts movements with an accuracy that is within the between-user variance. To aid HCI researchers and designers, we introduce CFAT, a novel method to identify maximum voluntary torques in joint-actuated models based on experimental data, and give practical advice on how to simulate human movement for different users, interaction techniques, and tasks.
This paper addresses the color image completion problem in accordance with low-rank quatenrion matrix optimization that is characterized by sparse regularization in a transformed domain. This research was inspired by an appreciation of the fact that different signal types, including audio formats and images, possess structures that are inherently sparse in respect of their respective bases. Since color images can be processed as a whole in the quaternion domain, we depicted the sparsity of the color image in the quaternion discrete cosine transform (QDCT) domain. In addition, the representation of a low-rank structure that is intrinsic to the color image is a vital issue in the quaternion matrix completion problem. To achieve a more superior low-rank approximation, the quatenrion-based truncated nuclear norm (QTNN) is employed in the proposed model. Moreover, this model is facilitated by a competent alternating direction method of multipliers (ADMM) based on the algorithm. Extensive experimental results demonstrate that the proposed method can yield vastly superior completion performance in comparison with the state-of-the-art low-rank matrix/quaternion matrix approximation methods tested on color image recovery.
Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the obstacle avoidance problem as an offline optimization problem. To address these challenges, we propose a duality-based safety-critical optimal control using nonsmooth control barrier functions for obstacle avoidance between polytopes, which can be solved in real-time with a QP-based optimization problem. A dual optimization problem is introduced to represent the minimum distance between polytopes and the Lagrangian function for the dual form is applied to construct a control barrier function. We validate the obstacle avoidance with the proposed dual formulation for L-shaped (sofa-shaped) controlled robot in a corridor environment. We demonstrate real-time tight obstacle avoidance with non-conservative maneuvers on a moving sofa (piano) problem with nonlinear dynamics.
Spectral efficiency improvement is a key focus in most wireless communication systems and achieved by various means such as using large antenna arrays and/or advanced modulation schemes and signal formats. This work proposes to further improve spectral efficiency through combining non-orthogonal spectrally efficient frequency division multiplexing (SEFDM) systems with index modulation (IM), which can efficiently make use of the indices of activated subcarriers as communication information. Recent research has verified that IM may be used with SEFDM to alleviate inter-carrier interference (ICI) and improve error performance. This work proposes new SEFDM signal formats based on novel activation pattern designs, which limit the locations of activated subcarriers and enable a variable number of activated subcarriers in each SEFDM subblock. SEFDM-IM system designs are developed by jointly considering activation patterns, modulation schemes and signal waveform formats, with a set of solutions evaluated under different spectral efficiency scenarios. Detailed modelling of coded systems and simulation studies reveal that the proposed designs not only lead to better bit error rate (BER) but also lower peak-to-average power ratio (PAPR) and reduced computational complexity relative to other reported index-modulated systems.
In this paper, we propose a novel design, called MixNN, for protecting deep learning model structure and parameters. The layers in a deep learning model of MixNN are fully decentralized. It hides communication address, layer parameters and operations, and forward as well as backward message flows among non-adjacent layers using the ideas from mix networks. MixNN has following advantages: 1) an adversary cannot fully control all layers of a model including the structure and parameters, 2) even some layers may collude but they cannot tamper with other honest layers, 3) model privacy is preserved in the training phase. We provide detailed descriptions for deployment. In one classification experiment, we compared a neural network deployed in a virtual machine with the same one using the MixNN design on the AWS EC2. The result shows that our MixNN retains less than 0.001 difference in terms of classification accuracy, while the whole running time of MixNN is about 7.5 times slower than the one running on a single virtual machine.
This study clarifies the proper criteria to assess the modeling capacity of a general tensor model. The work analyze the problem based on the study of tensor ranks, which is not a well-defined quantity for higher order tensors. To process, the author introduces the separability issue to discuss the Cannikin's law of tensor modeling. Interestingly, a connection between entanglement studied in information theory and tensor analysis is established, shedding new light on the theoretical understanding for modeling capacity problems.
Simultaneous Localization and Mapping (SLAM) estimates agents' trajectories and constructs maps, and localization is a fundamental kernel in autonomous machines at all computing scales, from drones, AR, VR to self-driving cars. In this work, we present an energy-efficient and runtime-reconfigurable FPGA-based accelerator for robotic localization. We exploit SLAM-specific data locality, sparsity, reuse, and parallelism, and achieve >5x performance improvement over the state-of-the-art. Especially, our design is reconfigurable at runtime according to the environment to save power while sustaining accuracy and performance.
CP decomposition (CPD) is prevalent in chemometrics, signal processing, data mining and many more fields. While many algorithms have been proposed to compute the CPD, alternating least squares (ALS) remains one of the most widely used algorithm for computing the decomposition. Recent works have introduced the notion of eigenvalues and singular values of a tensor and explored applications of eigenvectors and singular vectors in areas like signal processing, data analytics and in various other fields. We introduce a new formulation for deriving singular values and vectors of a tensor by considering the critical points of a function different from what is used in the previous work. Computing these critical points in an alternating manner motivates an alternating optimization algorithm which corresponds to alternating least squares algorithm in the matrix case. However, for tensors with order greater than equal to $3$, it minimizes an objective function which is different from the commonly used least squares loss. Alternating optimization of this new objective leads to simple updates to the factor matrices with the same asymptotic computational cost as ALS. We show that a subsweep of this algorithm can achieve a superlinear convergence rate for exact CPD with known rank and verify it experimentally. We then view the algorithm as optimizing a Mahalanobis distance with respect to each factor with ground metric dependent on the other factors. This perspective allows us to generalize our approach to interpolate between updates corresponding to the ALS and the new algorithm to manage the tradeoff between stability and fitness of the decomposition. Our experimental results show that for approximating synthetic and real-world tensors, this algorithm and its variants converge to a better conditioned decomposition with comparable and sometimes better fitness as compared to the ALS algorithm.
We present a pipelined multiplier with reduced activities and minimized interconnect based on online digit-serial arithmetic. The working precision has been truncated such that $p<n$ bits are used to compute $n$ bits product, resulting in significant savings in area and power. The digit slices follow variable precision according to input, increasing upto $p$ and then decreases according to the error profile. Pipelining has been done to achieve high throughput and low latency which is desirable for compute intensive inner products. Synthesis results of the proposed designs have been presented and compared with the non-pipelined online multiplier, pipelined online multiplier with full working precision and conventional serial-parallel and array multipliers. For $8, 16, 24$ and $32$ bit precision, the proposed low power pipelined design show upto $38\%$ and $44\%$ reduction in power and area respectively compared to the pipelined online multiplier without working precision truncation.
Top-down visual attention mechanisms have been used extensively in image captioning and visual question answering (VQA) to enable deeper image understanding through fine-grained analysis and even multiple steps of reasoning. In this work, we propose a combined bottom-up and top-down attention mechanism that enables attention to be calculated at the level of objects and other salient image regions. This is the natural basis for attention to be considered. Within our approach, the bottom-up mechanism (based on Faster R-CNN) proposes image regions, each with an associated feature vector, while the top-down mechanism determines feature weightings. Applying this approach to image captioning, our results on the MSCOCO test server establish a new state-of-the-art for the task, achieving CIDEr / SPICE / BLEU-4 scores of 117.9, 21.5 and 36.9, respectively. Demonstrating the broad applicability of the method, applying the same approach to VQA we obtain first place in the 2017 VQA Challenge.
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