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Recently, simultaneously transmitting and reflecting reconfigurable intelligent surfaces (STAR-RISs) have received significant research interest. The employment of large STAR-RIS and high-frequency signaling inevitably make the near-field propagation dominant in wireless communications. In this work, a STAR-RIS aided near-field multiple-input multiple-multiple (MIMO) communication framework is proposed. A weighted sum rate maximization problem for the joint optimization of the active beamforming at the base station (BS) and the transmission/reflection-coefficients (TRCs) at the STAR-RIS is formulated. The non-convex problem is solved by a block coordinate descent (BCD)-based algorithm. In particular, under given STAR-RIS TRCs, the optimal active beamforming matrices are obtained by solving a convex quadratically constrained quadratic program. For given active beamforming matrices, two algorithms are suggested for optimizing the STAR-RIS TRCs: a penalty-based iterative (PEN) algorithm and an element-wise iterative (ELE) algorithm. The latter algorithm is conceived for STAR-RISs with a large number of elements. Numerical results illustrate that: i) near-field beamforming for STAR-RIS aided MIMO communications significantly improves the achieved weighted sum rate compared with far-field beamforming; ii) the near-field channels facilitated by the STAR-RIS provide enhanced degrees-of-freedom and accessibility for the multi-user MIMO system; and iii) the BCD-PEN algorithm achieves better performance than the BCD-ELE algorithm, while the latter has a significantly lower computational complexity.

In this paper, we develop a hybrid multiple access (MA) protocol for an intelligent reflecting surface (IRS) aided uplink transmission network by incorporating the IRS-aided time-division MA (I-TDMA) protocol and the IRS-aided non-orthogonal MA (I-NOMA) protocol as special cases. Two typical communication scenarios, namely the transmit power limited case and the transmit energy limited case are considered, where the device's rearranged order, time and power allocation, as well as dynamic IRS beamforming patterns over time are jointly optimized to minimize the sum transmission delay. To shed light on the superiority of the proposed IRS-aided hybrid MA (I-HMA) protocol over conventional protocols, the conditions under which I-HMA outperforms I-TDMA and I-NOMA are revealed by characterizing their corresponding optimal solution. Then, a computationally efficient algorithm is proposed to obtain the high-quality solution to the corresponding optimization problems. Simulation results validate our theoretical findings, demonstrate the superiority of the proposed design, and draw some useful insights. Specifically, it is found that the proposed protocol can significantly reduce the sum transmission delay by combining the additional gain of dynamic IRS beamforming with the high spectral efficiency of NOMA, which thus reveals that integrating IRS into the proposed HMA protocol is an effective solution for delay-aware optimization. Furthermore, it reveals that the proposed design reduces the time consumption not only from the system-centric view, but also from the device-centric view.

Intelligent reflecting surface (IRS) has emerged as a promising technology to realize smart radio environment for future wireless communication systems. Existing works in this line of research have mainly considered the conventional passive IRS that reflects wireless signals without power amplification, while in this article, we give an overview of a new type of IRS, called active IRS, which enables simultaneous signal reflection and amplification, thus significantly extending the signal coverage of passive IRS. We first present the fundamentals of active IRS, including its hardware architecture, signal and channel models, as well as practical constraints, in comparison with those of passive IRS. Then, we discuss new considerations and open issues in designing active-IRS-aided wireless communications, such as the reflection optimization, channel estimation, and deployment for active IRS, as well as its integrated design with passive IRS. Finally, numerical results are provided to show the potential performance gains of active IRS as compared to passive IRS and traditional active relay.

We consider unmanned aerial vehicle (UAV)-enabled wireless systems where downlink communications between a multi-antenna UAV and multiple users are assisted by a hybrid active-passive reconfigurable intelligent surface (RIS). We aim at a fairness design of two typical UAV-enabled networks, namely the static-UAV network where the UAV is deployed at a fixed location to serve all users at the same time, and the mobile-UAV network which employs the time division multiple access protocol. In both networks, our goal is to maximize the minimum rate among users through jointly optimizing the UAV's location/trajectory, transmit beamformer, and RIS coefficients. The resulting problems are highly nonconvex due to a strong coupling between the involved variables. We develop efficient algorithms based on block coordinate ascend and successive convex approximation to effectively solve these problems in an iterative manner. In particular, in the optimization of the mobile-UAV network, closed-form solutions to the transmit beamformer and RIS passive coefficients are derived. Numerical results show that a hybrid RIS equipped with only 4 active elements and a power budget of 0 dBm offers an improvement of 38%-63% in minimum rate, while that achieved by a passive RIS is only about 15%, with the same total number of elements.

In conventional joint communications and sensing (JCAS) designs for multi-carrier multiple-input multiple-output (MIMO) systems, the dual-functional waveforms are often optimized for the whole frequency band, resulting in limited communications--sensing performance tradeoff. To overcome the limitation, we propose employing a subset of subcarriers for JCAS, while the communications function is performed over all the subcarriers. This offers more degrees of freedom to enhance the communications performance under a given sensing accuracy. We first formulate the rate maximization under the sensing accuracy constraint to optimize the beamformers and JCAS subcarriers. The problem is solved via Riemannian manifold optimization and closed-form solutions. Numerical results for an 8x4 MIMO system with 64 subcarriers show that compared to the conventional subcarrier sharing scheme, the proposed scheme employing 16 JCAS subcarriers offers 60% improvement in the achievable communications rate at the signal-to-noise ratio of 10 dB. Meanwhile, this scheme generates the sensing beampattern with the same quality as the conventional JCAS design.

This paper considers the channel estimation of a single user in a MISO system with an intelligent reflecting surface (IRS). The performances of the minimum variance unbiased (MVU) and minimum mean square error (MMSE) estimators using the discrete Fourier transform activation pattern for the IRS, updated at every symbol interval, are compared. Numerical results show that the MMSE estimator provides over 10 dB SNR improvement compared to the MVU estimator.

Cognitive radio has been proposed to alleviate the scarcity of available spectrum. However, sensing performance is quite poor due to the low sensing signal-to-noise ratio. Fortunately, reconfigurable intelligent surface (RIS)-aided spectrum sensing can effectively tackle the above challenge due to its high array gain. Nevertheless, the traditional passive RIS suffers from the ``double fading'' effect, which severely restricts the performance of passive RIS-aided spectrum sensing. To this end, we introduce the active RIS into spectrum sensing and respectively formulate two optimization problems for the passive RIS and the active RIS to maximize the detection probability. In light of the intractability of the formulated problems, we develop a one-stage optimization algorithm with inner approximation and a two-stage optimization algorithm with a bisection method to obtain sub-optimal solutions, and apply the Rayleigh quotient to obtain the upper and lower bounds of the detection probability. Furthermore, in order to gain more insight into the impact of the RIS on spectrum sensing, we respectively investigate the number configuration for passive RIS and active RIS and analyze how many reflecting elements are needed to achieve the detection probability close to 1. Simulation results verify the effectiveness of the proposed algorithms.

Reconfigurable intelligent surface (RIS)-aided terahertz (THz) communications have been regarded as a promising candidate for future 6G networks because of its ultra-wide bandwidth and ultra-low power consumption. However, there exists the beam split problem, especially when the base station (BS) or RIS owns the large-scale antennas, which may lead to serious array gain loss. Therefore, in this paper, we investigate the beam split and beamforming design problems in the THz RIS communications. Specifically, we first analyze the beam split effect caused by different RIS sizes, shapes and deployments. On this basis, we apply the fully connected time delayer phase shifter hybrid beamforming architecture at the BS and deploy distributed RISs to cooperatively mitigate the beam split effect. We aim to maximize the achievable sum rate by jointly optimizing the hybrid analog/digital beamforming, time delays at the BS and reflection coefficients at the RISs. To solve the formulated problem, we first design the analog beamforming and time delays based on different RISs physical directions, and then it is transformed into an optimization problem by jointly optimizing the digital beamforming and reflection coefficients. Next, we propose an alternatively iterative optimization algorithm to deal with it. Specifically, for given the reflection coefficients, we propose an iterative algorithm based on the minimum mean square error technique to obtain the digital beamforming. After, we apply LDR and MCQT methods to transform the original problem to a QCQP, which can be solved by ADMM technique to obtain the reflection coefficients. Finally, the digital beamforming and reflection coefficients are obtained via repeating the above processes until convergence. Simulation results verify that the proposed scheme can effectively alleviate the beam split effect and improve the system capacity.

The use of Micro Aerial Vehicles (MAVs) for inspection and surveillance missions has proved to be extremely useful, however, their usability is negatively impacted by the large power requirements and the limited operating time. This work describes the design and development of a novel hybrid aerial-ground vehicle, enabling multi-modal mobility and long operating time, suitable for long-endurance inspection and monitoring applications. The design consists of a MAV with two tiltable axles and four independent passive wheels, allowing it to fly, approach, land and move on flat and inclined surfaces, while using the same set of actuators for all modes of locomotion. In comparison to existing multi-modal designs with passive wheels, the proposed design enables a higher ground locomotion efficiency, provides a higher payload capacity, and presents one of the lowest mass increases due to the ground actuation mechanism. The vehicle's performance is evaluated through a series of real experiments, demonstrating its flying, ground locomotion and wall-climbing capabilities, and the energy consumption for all modes of locomotion is evaluated.

The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is ReconROS, which enables nodes to be completely mapped to hardware. The follow-up work fpgaDDS extends ReconROS by an intra-FPGA data distribution service to process topic-based communication between nodes entirely in hardware. However, the application of this approach is strictly limited to communication between nodes implemented in hardware only. This paper introduces gateways to close the gap between topic communication in hardware and software. Gateways aim to reduce data transfers between hardware and software by synchronizing a hardware-and software-mapped topic. As a result, data must be transferred only once compared to a separate data transmission for each subscribing hardware node in the baseline. Our measurements show significant speedups in multi-subscriber scenarios with large message sizes. From the conclusions of these measurements, we present a methodology for the communication mapping of ROS 2 computation graphs. In the evaluation, an autonomous driving real-world example benefits from the gateway and achieves a speedup of 1.4.